CN214494847U - Full-automatic racking system based on cooperative robot - Google Patents
Full-automatic racking system based on cooperative robot Download PDFInfo
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- CN214494847U CN214494847U CN202120589674.5U CN202120589674U CN214494847U CN 214494847 U CN214494847 U CN 214494847U CN 202120589674 U CN202120589674 U CN 202120589674U CN 214494847 U CN214494847 U CN 214494847U
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Abstract
The utility model relates to the technical field of medical equipment, in particular to a full-automatic racking system based on a cooperative robot, which comprises a rack, an input module, a cooperative robot, a test tube rack working position, an empty test tube rack output module, a test tube rack conveying unit and a storage module, wherein the input module, the cooperative robot, the test tube rack working position, the empty test tube rack output module, the test tube rack conveying unit and the storage module are arranged on the rack, the test tube rack working position is used for placing an empty test tube rack, the output end of the empty test tube rack output module is correspondingly matched with the empty test tube rack conveying module, the empty test tube rack output module is used for storing a certain number of empty test tube racks, and the empty test tube racks are stored by single output, the input end of the storage module is correspondingly matched with the full test tube rack conveying module, the storage module is used for storing and placing test tube racks filled with vacuum blood collection tubes, the cooperative robot is used for clamping the vacuum blood collection tubes or the test tube racks, the transfer of the vacuum blood collection tubes and the transfer of the test tube racks are realized, the utility model discloses simple structure, man-hour efficient, space utilization is high, the human-computer interaction security is high.
Description
Technical Field
The utility model relates to a laboratory uses vacuum test tube to load blood or body fluid sample and to this type of sample the technical field of the pretreatment of testing, and concrete field is a full-automatic system of putting on shelf based on cooperation robot.
Background
In the pretreatment process of a specimen in a vacuum blood collection tube specimen inspection in a medical treatment/laboratory, a crucial flow-the specimen is put on shelf, and the market has the following main ways:
1. the manual sample taking and placing process includes:
A. manually taking a sample and placing the sample into a test tube rack;
B. the test tube rack filled with the specimen is taken away manually.
Method 1 problems and disadvantages: the manual mode is low in efficiency, high in labor intensity and high in danger. The manual error rate is high, the labor cost is high, and meanwhile, the production line cannot achieve automation.
2. The two axle/triaxial manipulator of tradition snatchs test tube specimen and puts into, and its flow is:
A. the manipulator A takes the test tube rack and puts the test tube rack into a feeding station;
B. the manipulator B takes the liquid separation sample and puts the liquid separation sample into a test tube rack of a feeding station;
C. a manipulator C takes a mother liquid sample and places the mother liquid sample into a test tube rack of a feeding station;
D. the manipulator A takes the test tube rack filled with the sample and places the test tube rack at a feeding position;
E. the test-tube rack full of specimens flows to follow-up station through the flow diversion line.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art exists, the utility model aims to provide a snatch the vacuum test tube and place in the test-tube rack through cooperation robot, can take out the vacuum test tube in the test-tube rack simultaneously, cooperation robot can snatch the transport to the test-tube rack in addition and place in the full-automatic system of putting on shelf on the test-tube rack transmission line.
In order to achieve the above object, the utility model provides a following technical scheme: a full-automatic racking system based on a cooperative robot comprises a rack, an input module, the cooperative robot, a test tube rack working position, an empty test tube rack output module, a test tube rack conveying unit and a storage module, wherein the input module, the cooperative robot, the test tube rack working position, the empty test tube rack output module, the test tube rack conveying unit and the storage module are arranged on the rack, the test tube rack conveying unit comprises an empty test tube rack conveying module and a full test tube rack conveying module, the input module is used for inputting vacuum blood collection tubes, the test tube rack working position is used for placing an empty test tube rack, the output end of the empty test tube rack output module is correspondingly matched with the empty test tube rack conveying module, the empty test tube rack output module is used for storing a certain number of empty test tube racks, and the empty test-tube rack of single output storage, storage module's input corresponds the cooperation with full test-tube rack transport module, and storage module is used for the storage to place the test-tube rack of filling with the vacuum test tube, and cooperation robot is used for centre gripping vacuum test tube or test-tube rack, realizes the transfer of vacuum test tube and the transfer of test-tube rack.
Preferably, the input module includes motor and transport disc, the motor is installed in the frame, transport disc rotates and installs in the frame, and transport disc is connected with the axis of rotation linkage of motor, evenly distributed is provided with a plurality of and is used for the storage to place the hole of placing of vacuum test tube on the transport disc, and places the aperture in hole and the pipe diameter adaptation of vacuum test tube.
Preferably, the input module comprises a test tube seat and a conveying track, the test tube seat is arranged on the conveying track, and the vacuum blood collection tube is arranged on the test tube seat and conveyed through the conveying track.
Preferably, the input module is a vacuum blood collection tube conveying line.
Preferably, the empty test tube rack conveying module and the full test tube rack conveying module are test tube rack conveying belts, and conveying of the empty test tube rack or the full test tube rack is achieved through the test tube rack conveying belts.
Preferably, the empty test tube rack output module comprises a first storage rack and a material pushing unit, the first storage rack is used for being uniformly arranged to place empty test tube racks, the output end of the first storage rack corresponds to the position of the empty test tube rack conveying module and is matched with the position, away from the empty test tube rack conveying module, of the first storage rack, the material pushing unit is arranged at one end of the first storage rack, away from the empty test tube rack conveying module, and the material pushing end of the material pushing unit is matched with the empty test tube rack on the first storage rack.
Preferably, the material pushing unit comprises a material pushing plate and a synchronous belt motor, the material pushing plate is slidably mounted on the first storage rack, the synchronous belt motor is mounted on the lower side of the first storage rack, and the moving end of the synchronous belt motor is connected with the material pushing plate in a matched mode.
Preferably, the storage module includes storage rack two and pay-off unit, the storage rack two-purpose is used for arranging and places the test-tube rack of filling with the vacuum test tube, and the input of storage rack two is corresponding to full test-tube rack and carries module department cooperation setting, the pay-off unit is installed in the frame, and the pay-off terminal of pay-off unit corresponds to the input department cooperation setting of storage rack two, and the pay-off unit is located full test-tube rack and carries one side that module department kept away from storage rack two.
Preferably, the feeding unit comprises a telescopic cylinder and a push plate, the telescopic cylinder is installed on the rack, the push plate is installed at the telescopic end of the telescopic cylinder, and the push plate is arranged right opposite to the input end of the storage rack II.
Compared with the prior art, the beneficial effects of the utility model are that: through the matching relation between each module and the cooperative robot and through reasonable layout, the automatic integration of mechanical structures is reduced, the working hour utilization rate of a single industrial product is improved, the classified picking and placing of the vacuum blood collection tubes at any position of a full-automatic racking system in a three-dimensional space range where the cooperative robot can work is realized, and the limitation line of the traditional two-axis, three-axis or multi-axis manipulator is changed; meanwhile, the human-computer interaction interface of the cooperative robot is friendly, so that the safety of human-computer interaction is greatly improved, and the overall working efficiency is improved;
additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present application.
Drawings
FIG. 1 is a schematic diagram of the conveying structure of the disc type and conveying rail type vacuum blood collection tube of the present invention;
FIG. 2 is a schematic top view of the structure of FIG. 1;
FIG. 3 is a schematic view of the conveying structure of the conveying track and the conveying line type vacuum blood collection tube of the present invention;
FIG. 4 is a schematic top view of the structure of FIG. 3;
fig. 5 is a schematic view of the structure of the test tube rack working position of the present invention;
fig. 6 is a schematic structural view of an output module of the empty test tube rack of the present invention;
fig. 7 is a schematic structural diagram of the storage module according to the present invention.
In the figure: 1. an input module; 2. a collaborative robot; 3. a test tube rack working position; 4. an output module of the empty test tube rack; 5. a test tube rack conveying unit; 6. a storage module; 7. a test tube seat; 8. a conveying track; 9. an empty test tube rack conveying module; 10. a full test tube rack conveying module; 11. a first storage rack; 12. a material pushing plate; 13. a second storage rack; 14. pushing the plate; 15. a conveying disc; 16. placing holes; 17. a motor; 18. and (5) conveying the line.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 7, the present invention provides a technical solution: a full-automatic shelving system based on a cooperation robot comprises a rack, an input module 1, a cooperation robot 2, a test tube rack working position 3, an empty test tube rack output module 4, a test tube rack conveying unit 5 and a storage module 6, wherein the input module 1, the cooperation robot 2, the test tube rack working position 3, the empty test tube rack output module 4, the test tube rack conveying unit 5 and the storage module 6 are arranged on the rack, the test tube rack conveying unit 5 comprises an empty test tube rack conveying module 9 and a full test tube rack conveying module 10, the input module 1 is used for inputting vacuum blood collection tubes, the test tube rack working position 3 is used for placing empty test tube racks, the output end of the empty test tube rack output module 4 is correspondingly matched with the empty test tube rack conveying module 9, the empty test tube rack output module 4 is used for storing a certain number of empty test tube racks and outputting stored empty test tube racks singly, the input end of the storage module 6 is correspondingly matched with the full test tube rack conveying module 10, the storage module 6 is used for storing and placing full-filled vacuum blood collection tubes, the cooperation robot 2 is used for clamping vacuum blood collection tubes or test tube racks, realize the transfer of vacuum test tube and the transfer of test-tube rack.
The vacuum blood collection tube processed by the previous procedure is placed on a test tube seat 7, the vacuum blood collection tube is conveyed to a cooperative robot 2 through an input module 1, the empty test tube rack stored in an empty test tube rack output module 4 is singly output and then placed on an empty test tube rack conveying module 9, the empty test tube rack is conveyed to a designated position through the empty test tube rack conveying module 9, the empty test tube rack is grabbed and placed on a test tube rack working position 3 through the cooperative robot 2, then the vacuum blood collection tube conveyed to the cooperative robot 2 is taken out of the test tube seat 7 through the cooperative robot 2 and placed in the empty test tube rack on the test tube rack working position 3, after the empty test tube rack is filled with the vacuum blood collection tube, the test tube rack is taken out of the test tube rack working position 3 and placed on a full test tube rack conveying module 10 through the cooperative robot 2, the test tube rack is conveyed to a storage module 6 through the full test tube rack conveying module 10 for storage, the vacuum blood collection tube is put on shelf and circulated through the process.
Be provided with a plurality of vacancies on test-tube rack work position 3 for a plurality of test-tube racks can be arranged and placed to test-tube rack work position 3, and can place the vacuum test tube on the test-tube rack that corresponds according to the sample information of vacuum test tube, realize that the classification of vacuum test tube is deposited.
As shown in fig. 1 to 4, the input module can be divided into a disk type vacuum blood collection tube input, a conveying rail type vacuum blood collection tube input and a conveying line type vacuum blood collection tube input according to the actual device installation mode, and the input mode can be used on the device alone or in combination;
for disc type evacuated blood collection tube input mode, input module 1 includes motor 17 and transport disc 15, motor 17 installs in the frame, transport disc 15 rotates and installs in the frame, and transport disc 15 is connected with motor 17's axis of rotation linkage, evenly distributed is provided with a plurality of and is used for storing the hole 16 of placing evacuated blood collection tube on transport disc 15, and the aperture of placing hole 16 and the pipe diameter adaptation of evacuated blood collection tube, evacuated blood collection tube after the completion of last process is placed in placing hole 16 on transport disc 15, and drive transport disc 15 through the rotation of motor 17 and rotate, make the evacuated blood collection tube of placing on transport disc 15 rotate and move to evacuated blood collection tube upper rack side and go on, snatch evacuated blood collection tube through cooperation robot 2, after snatching the completion, motor 17 drives transport disc 15 and continues to rotate, and the empty placing hole 16 is subjected to the placing of the vacuum blood collection tube by the previous process.
To carrying rail mounted vacuum test tube input mode, input module 1 includes test tube seat 7 and delivery track 8, and test tube seat 7 is installed on delivery track 8, and vacuum test tube transports through delivery track 8 on arranging test tube seat 7 in, and vacuum test tube after last process is accomplished arranges in on test tube seat 7, and delivery track 8 drives test tube seat 7 and removes for vacuum test tube on the test tube seat 7 transmits to the system department of putting on the shelf.
To the input mode of transfer line formula vacuum test tube, the input module is vacuum test tube transfer chain 18, and the vacuum test tube of output or other outside vacuum test tubes that need the frame after last process is accomplished transmit the vacuum test tube to the system department of putting on the shelf through the mode of transfer chain to snatch the vacuum test tube through cooperation robot 2, put on the shelf the operation in corresponding position department.
Empty test-tube rack output module 4 includes storage rack 11 and pushes away the material unit, storage rack 11 is used for align to grid places empty test-tube rack, and the empty test-tube rack output of storage rack 11 is corresponding to empty test-tube rack transport module 9 department cooperation setting, it sets up in storage rack 11 one end department of keeping away from empty test-tube rack transport module 9 to push away the material unit, and pushes away the material end of pushing away of material unit and the empty test-tube rack cooperation on storage rack 11, it includes scraping wings 12 and synchronous belt motor to push away the material unit, scraping wings 12 slidable mounting are on storage rack 11, the downside at storage rack 11 is installed to the synchronous belt motor, and the removal end and the scraping wings 12 cooperation of synchronous belt motor are connected.
The storage racks I11 are arranged according to actual needs in quantity, when a plurality of storage racks I11 are arranged, each storage rack I11 is provided with a material pushing unit, the output ends of the storage racks I11 are flush with the conveying surface of an empty test tube rack conveying belt, after a certain number of empty test tube racks are placed on the storage racks I11 or the empty test tube racks are fully placed, the synchronous belt motor moves at a fixed distance to drive the material pushing plate 12 to move on the storage racks I11, the empty test tube racks are pushed by the material pushing plate 12 to move on the storage racks I11, the empty test tube racks closest to the conveying belts are placed on the conveying belts and conveyed to a specified position through the conveying belts to be taken by the cooperative robot, when the empty test tube racks on the storage racks I11 are not output, the synchronous belt motor drives the material pushing plate 12 to return to the initial position, and then the next empty test tube racks are placed on the storage racks I11, and carrying out output circulation of the empty test tube racks.
The storage racks II 13 are arranged according to the number of the storage racks II 13 according to actual needs, when a plurality of storage racks II 13 are arranged, a feeding unit is arranged on each storage rack II 13 in a matched mode, meanwhile, the input end of each storage rack II 13 is flush with the conveying surface of a full test tube rack conveying belt, when the cooperative robot 2 places a test tube rack filled with vacuum blood collection tubes on the full test tube rack conveying belt, the test tube rack is conveyed to the feeding unit through the conveying belt, the push plate 14 is pushed to extend through the telescopic cylinder, the test tube rack is pushed to be placed in the storage rack II 13, then the telescopic cylinder retracts, the push plate 14 is recovered to the initial position, then the next test tube rack is continuously conveyed to the feeding unit through the conveying belt, and the storage of the vacuum blood collection tube rack is realized; when the test tube racks in the second storage rack 13 are full, the test tube racks are conveyed to the next feeding unit by the conveying belt, and the step operation of storing the test tube racks is carried out until all the test tube racks on the conveying belt are stored;
in addition, the second storage rack 13 can be correspondingly arranged according to the classification type of the vacuum blood collection tubes, so that the test tube racks of the same type are stored in the second storage rack 13 under the same classification information.
Through this technical scheme, the realization step of full-automatic system of putting on shelf based on cooperation robot includes:
step S1, outputting empty test tube racks, i.e.
Pushing out a single empty test tube rack by the material pushing unit, enabling the test tube rack to enter the conveying belt of the empty test tube rack, and conveying the test tube rack to a designated position by the conveying belt of the empty test tube rack;
step S2, empty test tube racks are put on shelf, i.e.
Grabbing the empty test tube rack conveyed in the step S1 by the cooperative robot, and then placing the empty test tube rack into the current empty test tube rack station;
step S3, test tube loading, i.e.
Placing the vacuum blood collection tube in the feeding area into a test tube rack corresponding to the label content of the vacuum blood collection tube through a cooperative robot;
step S4, take out the full test tube rack, that is
Taking out the test tube rack filled with the vacuum blood collection tubes on the test tube rack working position by a cooperative robot and placing the test tube rack on a full test tube rack conveyor belt;
step S5-1, storing the full test tube racks in classification, namely
Conveying the full test tube racks finished in the step S4 to the storage bin positions of the corresponding test tube racks through the full test tube rack conveying belt, and pushing the full test tube racks into the corresponding storage bin positions of the test tube racks through the corresponding feeding units;
step S5-2, empty test tube racks are put in, namely
Repeating the step S1 and the step S2 to complete the placement of the empty test tube racks;
and (4) follow-up action: and repeating the steps S1-S5.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a full-automatic system of putting on shelf based on cooperation robot which characterized in that: including frame and the input module of setting in the frame, the cooperation robot, the test-tube rack work position, empty test-tube rack output module, test-tube rack conveying unit, storage module, test-tube rack conveying unit includes empty test-tube rack conveying module and full test-tube rack conveying module, input module is used for the input of vacuum test tube, test-tube rack work position is used for placing empty test-tube rack, empty test-tube rack output module's output corresponds the cooperation with empty test-tube rack conveying module, empty test-tube rack output module is used for storing the empty test-tube rack of a certain quantity, and the empty test-tube rack of single output storage, storage module's input corresponds the cooperation with full test-tube rack conveying module, storage module is used for the storage to place the test-tube rack of vacuum test tube, the cooperation robot is used for centre gripping vacuum test tube or test-tube rack, realize the transfer of vacuum test tube and the transfer of test-tube rack.
2. The fully automatic shelving system based on cooperative robots as claimed in claim 1, wherein: input module includes motor and transport disc, the motor is installed in the frame, transport disc rotates and installs in the frame, and transport disc is connected with the axis of rotation linkage of motor, evenly distributed is provided with a plurality of and is used for the storage to place the hole of placing of vacuum test tube on the transport disc, and places the aperture in hole and the pipe diameter adaptation of vacuum test tube.
3. The fully automatic shelving system based on cooperative robots as claimed in claim 1, wherein: the input module comprises a test tube seat and a conveying track, the test tube seat is installed on the conveying track, and the vacuum blood collection tube is placed on the test tube seat and conveyed through the conveying track.
4. The fully automatic shelving system based on cooperative robots as claimed in claim 1, wherein: the input module is a vacuum blood collection tube conveying line.
5. The fully automatic shelving system based on cooperative robots as claimed in claim 1, wherein: the empty test tube rack conveying module and the full test tube rack conveying module are test tube rack conveying belts, and conveying of the empty test tube rack or the full test tube rack is achieved through the test tube rack conveying belts.
6. A fully automatic shelving system based on cooperative robots, according to claim 1 or 5, characterized in that: the empty test tube rack output module comprises a first storage rack and a material pushing unit, the first storage rack is used for being uniformly arranged to place empty test tube racks, the output ends of the first storage rack are matched with the empty test tube rack conveying module, the material pushing unit is arranged at one end of the first storage rack far away from the empty test tube rack conveying module, and the material pushing end of the material pushing unit is matched with the empty test tube rack on the first storage rack.
7. The fully automatic shelving system based on cooperative robots as claimed in claim 6, wherein: the material pushing unit comprises a material pushing plate and a synchronous belt motor, the material pushing plate is slidably mounted on the first storage rack, the synchronous belt motor is mounted on the lower side of the first storage rack, and the moving end of the synchronous belt motor is connected with the material pushing plate in a matched mode.
8. A fully automatic shelving system based on cooperative robots, according to claim 1 or 5, characterized in that: storage module includes storage rack two and pay-off unit, the storage rack two-purpose is used for arranging the test-tube rack of placing the vacuum test tube of filling with, and the input of storage rack two is corresponding to full test-tube rack transport module department cooperation setting, the pay-off unit is installed in the frame, and the pay-off terminal of pay-off unit corresponds to the input department cooperation setting of storage rack two, and the pay-off unit is located full test-tube rack transport module department and keeps away from one side of storage rack two.
9. The fully automatic shelving system based on cooperative robots as claimed in claim 8, wherein: the feeding unit comprises a telescopic cylinder and a push plate, the telescopic cylinder is installed on the rack, the push plate is installed at the telescopic end of the telescopic cylinder, and the push plate is arranged right opposite to the input end of the storage rack II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120589674.5U CN214494847U (en) | 2021-03-23 | 2021-03-23 | Full-automatic racking system based on cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120589674.5U CN214494847U (en) | 2021-03-23 | 2021-03-23 | Full-automatic racking system based on cooperative robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214494847U true CN214494847U (en) | 2021-10-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120589674.5U Active CN214494847U (en) | 2021-03-23 | 2021-03-23 | Full-automatic racking system based on cooperative robot |
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| Country | Link |
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| CN (1) | CN214494847U (en) |
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2021
- 2021-03-23 CN CN202120589674.5U patent/CN214494847U/en active Active
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