CN218370530U - Blood bag stacking mechanism - Google Patents

Abstract

The application relates to the technical field of medical equipment, and discloses a blood bag stacking mechanism which comprises a transmission assembly, a stacking mechanism and a stacking mechanism, wherein the transmission assembly comprises a first transmission belt, the first transmission belt is used for transmitting a blood bag packaging box, and the outlet end of the transmission assembly is downwards inclined; the receiving part is arranged at the outlet end of the transmission assembly and is used for receiving the blood bag packaging box which slides down from the outlet end of the transmission assembly, so that the blood bag packaging box is changed from the horizontal direction to the vertical direction; and the manipulator part is used for grabbing the blood bag packaging box in the bearing part and stacking the blood bag packaging box in the blood basket. Carry blood bag packing carton through transmission assembly to cooperate with the accepting part and make blood bag packing carton place by the level and become vertical placing, so that the manipulator snatchs, snatch blood bag packing carton through manipulator repetitive work and accomplish the work of putting things in good order in blood basket, guarantee the security of blood bag packing carton in transportation and the in-process of putting things in good order, and convenient and fast, maneuverability are strong.

Description

Blood bag stacking mechanism

Technical Field

The application relates to the technical field of medical equipment, for example, relate to a blood bag stacking mechanism.

Background

The blood products currently in clinical use mainly include whole blood and separated component blood. Because blood products are required to enter human bodies, the life safety of patients is concerned, and the national ministry of health specially issues 'blood storage requirements' which put forward special requirements for the storage of the blood products.

The blood components of whole blood, red blood cells and blood plasma need to be packaged in a sealed bag under a low-temperature sterile state, and then are refrigerated or frozen in a refrigeration house after being packaged secondarily by a hard box.

Blood products are fragile, and if the blood products are impacted in a liquid state, cells are easily broken, so that the using effect is reduced. It is therefore desirable to place it in a blood basket for easy transport and shelved storage.

In the blood management automation, blood automatic sorting is an important work content in the freezer, if put into the blood basket by the manual work with the blood bag, then the unable discernment of letter sorting manipulator, for making things convenient for the manipulator to discern the blood bag in the blood basket, needs a basket equipment that degree of automation is high, and this basket equipment will avoid the operation in-process to cause the impact to blood products as far as possible.

SUMMERY OF THE UTILITY MODEL

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.

The embodiment of the disclosure provides a blood bag stacking mechanism to carry out safe automatic basket-loading operation on a blood bag packaging box containing a blood bag.

In some embodiments, the blood bag stacking mechanism comprises:

the transmission assembly comprises a first transmission belt, the first transmission belt is used for transmitting the blood bag packaging box, and the outlet end of the transmission assembly is inclined downwards;

the receiving part is arranged at the outlet end of the transmission assembly and is used for receiving the blood bag packaging box which slides down from the outlet end of the transmission assembly, so that the blood bag packaging box is changed from the horizontal direction to the vertical direction; and the combination of (a) and (b),

and the mechanical hand part is used for grabbing the blood bag packaging box in the bearing part and stacking the blood bag packaging box in the blood basket.

In some embodiments, the receiving portion is configured with a receiving cavity with an upward opening, and the outlet end of the transport assembly extends downward to the opening of the receiving cavity, so that the blood bag packing box slides down to the receiving cavity along the direction of the downward inclined outlet end.

In some embodiments, the blood bag stacking mechanism further comprises a machine platform located below the manipulator portion, the machine platform comprising:

the second conveying belt is used for conveying the blood basket;

the second conveying belt is located below the bearing part and is consistent with the conveying direction of the outlet end of the first conveying belt.

In some embodiments, the machine further comprises:

the third conveying belt is positioned on one side of the second conveying belt and used for placing an empty blood basket, and the blood bag packaging box is placed in the blood basket after being stacked by the mechanical hand part;

the conveying direction of the third conveying belt is perpendicular to the conveying direction of the second conveying belt, so that the blood baskets on the third conveying belt are conveyed to the second conveying belt after being filled with the blood baskets, and the empty blood baskets on the second conveying belt are conveyed to the third conveying belt.

In some embodiments, the machine further comprises:

the telescopic first baffle is positioned between the third conveying belt and the second conveying belt;

the first baffle stops the transfer of the blood basket between the second conveyor belt and the third conveyor belt under the condition that the first baffle is extended to the first position; with the first flap retracted to the second position, a blood basket may be transferred between the second and third transfer belts.

In some embodiments, the machine further comprises:

and the second baffle is correspondingly arranged with the first baffle, is positioned on one side of the third conveying belt, is correspondingly arranged with the first baffle, and is used for stopping a vacant blood basket transferred to the third conveying belt from the second conveying belt so as to limit the position of the blood basket on the third conveying belt.

In some embodiments, the blood bag stacking mechanism further comprises a frame, the manipulator portion is disposed on the frame, and the manipulator portion comprises:

the first guide rail is arranged above the bearing part and stretches across the outlet end of the conveying assembly;

the second guide rail is arranged on the rack and is perpendicular to the first guide rail;

the third guide rail is arranged on the rack and is horizontally arranged relative to the second guide rail, and two ends of the first guide rail are respectively connected to the second guide rail and the third guide rail in a sliding manner;

the fourth guide rail is connected to the first guide rail in a sliding mode, and the direction of the guide rail is perpendicular to the direction of the guide rail of the first guide rail;

the manipulator is connected to the fourth guide rail in a sliding manner;

the manipulator moves up and down along the fourth guide rail, moves left and right along the first guide rail, moves front and back along the second guide rail and the third guide rail along the first guide rail and the fourth guide rail, and places the blood bag packaging boxes in different blood baskets.

In some embodiments, the robot comprises:

the clamping part comprises a first clamping hand and a second clamping hand which are opposite, and bosses which are correspondingly arranged are formed on the inner sides of the first clamping hand and the second clamping hand;

under the condition that the first clamping hand and the second clamping hand are clamped, the boss of the first clamping hand is abutted to the boss of the second clamping hand, the accommodating part is defined by the first clamping hand and the second clamping hand, and the accommodating part is used for accommodating a lifting lug of a blood bag packaging box and is hung on the boss.

In some embodiments, the blood basket comprises:

the clamping structure is matched with the blood bag packaging box so as to limit the placing position of the blood bag packaging box;

the mechanical hand part can rotate the blood bag packaging box to an angle corresponding to the clamping structure, so that the blood bag packaging box is stacked in the blood basket.

In some embodiments, the retaining structure comprises:

a plurality of spacing ribs, vertical locating the inside wall of blood basket, it is adjacent spacing rib inject a spacing space, and the vertical insertion of blood bag packing carton spacing space is with the limiting position.

The blood bag stacking mechanism provided by the embodiment of the disclosure can realize the following technical effects:

carry blood bag packing carton through transmission assembly to cooperate with the accepting part and make blood bag packing carton place by the level and become vertical placing, so that the manipulator snatchs, snatch blood bag packing carton through manipulator repetitive work and accomplish the work of putting things in good order in blood basket, guarantee the security of blood bag packing carton in transportation and the in-process of putting things in good order, and convenient and fast, maneuverability are strong.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated in the accompanying drawings, which correspond to the accompanying drawings and not in a limiting sense, in which elements having the same reference numeral designations represent like elements, and in which:

fig. 1 is a schematic structural diagram of the blood bag stacking mechanism provided in the embodiment of the present disclosure;

FIG. 2 is an enlarged partial schematic view at A of FIG. 1;

fig. 3 is a schematic structural diagram of another view angle of the blood bag stacking mechanism provided in the embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of another view angle of the blood bag stacking mechanism provided in the embodiment of the present disclosure;

FIG. 5 is an enlarged partial schematic view at B in FIG. 4;

fig. 6 is a schematic structural diagram of the robot provided in the embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of the blood bag packaging box provided in the embodiment of the present disclosure.

Reference numerals are as follows:

10: a transmission assembly; 101: a first conveyor belt; 102: an outlet end; 103: a base station; 104: a guard plate;

20: a receiving part; 201: an accommodating chamber;

30: a manipulator section; 301: a first guide rail; 302: a second guide rail; 303: a third guide rail; 304: a fourth guide rail; 305: a manipulator; 3051: a clamping portion; 3052: a first gripper; 3053: a second gripper; 3054: a boss; 3055: a receptacle portion;

40: a machine platform; 401: a second conveyor belt; 402: a third conveyor belt; 403: a first baffle plate; 404: a second baffle; 405: a third baffle plate; 406: a fourth baffle;

50: a blood basket; 501: a retaining structure; 502: limiting ribs; 503: a limiting space; 504: an accommodating portion;

60: a blood bag packing box; 601: lifting lugs;

70: and a frame.

Detailed Description

So that the manner in which the features and advantages of the embodiments of the present disclosure can be understood in detail, a more particular description of the embodiments of the disclosure, briefly summarized above, may be had by reference to the appended drawings, which are included to illustrate, but are not intended to limit the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the disclosed embodiments and their examples and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation. Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In addition, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. Specific meanings of the above terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art according to specific situations.

The term "plurality" means two or more unless otherwise specified.

In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. E.g., a and/or B, represents: a or B, or A and B.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

Referring to fig. 1 to 7, an embodiment of the present disclosure provides a blood bag stacking mechanism, which includes a transmission assembly 10, a receiving portion 20, and a manipulator portion 30. The blood bag in this embodiment is placed in the blood bag packaging box 60, and is convenient to grab, check and store. The transport assembly 10 transports the blood bag packing box 60 to the receiving portion 20, and the manipulator portion 30 picks up the blood bag packing box 60 located in the receiving portion 20 and places the blood bag packing box in the blood basket 50 for stacking.

The transport assembly 10 includes a first transport belt 101, the first transport belt 101 transports the blood bag packing box 60, and an outlet end 102 of the transport assembly 10 is inclined downward. After the blood bag is placed in the blood bag packaging box 60, the blood bag is transported to the first conveying belt 101 and is continuously conveyed through the first conveying belt 101. Wherein, blood bag packing carton 60 is square structure, and blood bag packing carton 60 is for the level in first conveyer belt 101 to place. At the outlet end 102 of the transport assembly 10, the blood bag package 60 is tilted downward by the outlet end 102 of the transport assembly 10, and is guided by the outlet end 102 to change from a horizontal state to a vertical state for grasping by the robot hand 30.

The receiving portion 20 is disposed at the outlet end 102 of the transmission assembly 10 for receiving the blood bag packing box 60 slid down from the outlet end 102 of the transmission assembly 10, so that the blood bag packing box 60 is turned from the horizontal direction to the vertical direction. The blood bag packing box 60 slides down from the outlet end 102 to the receiving portion 20 and is in a vertical state. The bay 20 is located below the outlet end 102 so that the blood bag cassette 60 is positioned vertically.

The manipulator 30 is used to grasp the blood bag packing box 60 in the receiving portion 20 and place the blood bag packing box 60 in the blood basket 50. The mechanical hand part 30 grabs the blood bag packing box 60 in the receiving part 20, carries the blood bag packing box 60 to move to the upper part of the blood basket 50 to be bagged, then places the blood bag packing box 60 in the blood basket 50, and the operation is repeated, so that the blood basket 50 is full of the blood basket, and the stacking operation is completed.

Adopt the blood bag stacking mechanism that this disclosed embodiment provided, carry blood bag packing carton 60 through transmission assembly 10 to cooperate with accepting part 20 and make blood bag packing carton 60 become vertical the placing by horizontal placing, so that manipulator 30 snatchs, snatch blood bag packing carton 60 through manipulator 30 repetitive work and accomplish the stacking work in to the blood basket 50, convenient and fast, and maneuverability is strong.

Alternatively, the first conveyor belt 101 is horizontally bent. As shown in fig. 1. Thus, when the blood bag package box 60 is conveyed to the first conveyor belt 101, the problem of the angle of the blood bag package box 60 on the first conveyor belt 101 can be corrected, so that the side part of the blood bag package box 60 is in a vertical state when the blood bag package box 60 slides down to the receiving part 20 through the outlet end 102.

Optionally, the transmission assembly 10 further comprises a base station 103, and the first transmission belt 101 is disposed on the base station 103. The outlet end 102 of the transport unit 10 is the outlet end 102 of the base station 103, and the outlet end 102 is disposed to be inclined downward from a horizontal surface to guide the blood bag packing box 60 transported by the first transport belt 101.

The receiving portion 20 is disposed at the outlet end 102 of the transmission assembly 10, i.e., the receiving portion 20 is disposed at the outlet end 102 of the base 103. Alternatively, the receiving portion 20 is integrally formed with the base 103.

Optionally, the outlet end 102 of the base 103 is a sloped slide with protective plates 104 on both sides to prevent the blood bag package box 60 from sliding out of the base 103 during the sliding process.

Optionally, the receiving portion 20 is configured with an accommodating cavity 201 with an upward opening, and the outlet end 102 of the transport assembly 10 extends downward to the opening of the accommodating cavity 201, so that the blood bag packing box 60 slides down to the accommodating cavity 201 guided by the downward inclined outlet end 102.

The blood bag packing box 60 slides down to the receiving part 20 from the outlet end 102 and is located in the accommodating cavity 201, and the position and the vertical state of the blood bag packing box 60 are limited by the accommodating cavity 201, so that the mechanical hand part 30 can position, identify and grab the blood bag.

The edge of the opening of the containing cavity 201 on the same side as the outlet end 102 is butted against the outlet end 102 to prevent the blood bag packing box 60 from sliding down to the position between the outlet end 102 and the opening of the receiving part 20, thereby preventing the blood bag packing box 60 from entering the containing cavity 201.

Optionally, the peripheral opening edge of the receiving cavity 201 is configured with a slope to guide the blood bag packing box 60 into the receiving cavity 201.

Wherein the depth of the accommodating cavity 201 is smaller than the length of the blood bag packing box 60. Thus, in the case where the blood bag packaging box 60 is located in the accommodating chamber 201, the blood bag packaging box 60 is only partially located in the accommodating chamber 201, and the remaining portion is located outside the accommodating chamber 201 so as to be grasped by the robot hand portion 30.

Optionally, the blood bag stacking mechanism further includes a machine table 40, the machine table 40 is located below the mechanical hand 30, and the machine table 40 includes: a second conveyor 401 for conveying the blood basket 50; the second conveyor belt 401 is located below the receiving portion 20 and is in the same direction as the conveying direction of the outlet end 102 of the first conveyor belt 101.

The baskets 50 are transported by the second conveyor 401, and the baskets 50 herein include not only the baskets 50 in a full state in which stacking is completed but also the baskets 50 in an empty state to be stacked.

The machine table 40 and the second conveying belt 401 are located below the receiving portion 20, so that the blood bag packaging box 60 is placed in the blood basket 50 after the mechanical hand portion 30 grabs the blood bag packaging box 60 from the receiving portion 20, and the mechanical hand portion 30 is prevented from falling off on the ground due to the fact that the moving range is too large, and the cleanliness of the surface of the blood bag packaging box 60 is affected.

Illustratively, the second conveying belt 401 conveys an empty blood basket to the lower part of the receiving part 20, the manipulator 30 grips the blood bag packing box 60 in the receiving part 20, then the blood bag packing box 60 is placed in the blood basket 50 until the blood basket 50 is fully loaded, and the second conveying belt 401 conveys the blood basket 50 away from the fully loaded state. Then, the second conveyor 401 conveys an empty blood basket to the lower part of the receiving part 20 for stacking and loading, and the operation is repeated.

The second conveyor belt 401 is aligned with the conveying direction of the outlet end 102 of the first conveyor belt 101 to adapt the arrangement of the blood bag stacking mechanism in the automated blood station.

The second conveyor belt 401 may also be arranged, for example, perpendicular to the conveying direction of the exit end 102 of the first conveyor belt 101. In this way, the second conveyor 401 can simultaneously convey a full basket and an empty basket. After the basket 50 corresponding to the receiving portion 20 is fully loaded, the basket is conveyed forward, and the empty basket positioned in the rear is conveyed to the position of the preceding basket 50 corresponding to the receiving portion 20 to wait for basket loading.

Optionally, the machine table 40 further includes: the third belt 402 is positioned on the second belt 401 side, and is used to place an empty blood basket, and the hand unit 30 is ready to stack the blood bag packing box 60 in the blood basket 50. The transport direction of the third transport belt 402 is perpendicular to the transport direction of the second transport belt 401, so that the baskets 50 located on the third transport belt 402 are transported to the second transport belt 401 after being filled with the baskets, and the empty baskets located on the second transport belt 401 are transported to the third transport belt 402.

The blood basket 50 is temporarily stored through the third conveying belt 402, and the blood transfusion basket 50 is conveyed through the second conveying belt 401, so that the blood transfusion basket 50 conveyed through the second conveying belt 401 and the manipulator 30 can independently operate without interference, and the stacking efficiency is improved.

The second conveyor 401 first conveys the empty blood baskets to the third conveyor 402, and then the manipulator 30 stacks the blood bag packaging boxes 60 in the empty blood baskets on the third conveyor 402. After the basket 50 on the third conveyor belt 402 is fully loaded, the basket is conveyed to the second conveyor belt 401 by the third conveyor belt 402, and then is conveyed out of the blood bag stacking mechanism, and the next procedure is performed.

After the loaded basket on the third conveyer belt 402 is transported away, the second conveyer belt 401 transports the empty basket to the third conveyer belt 402, and so on.

Referring to fig. 1, in order to improve the working efficiency, third conveyor belts 402 are respectively disposed at left and right sides of the second conveyor belt 401, wherein the two third conveyor belts 402 operate independently. When the second conveyor belt 401 and one of the third conveyor belts 402 are exchanged to convey the blood basket 50, the stacking and basket loading work of the blood basket 50 on the other third conveyor belt 402 by the manipulator 30 is not influenced.

The third conveyor 402 has at least two basket stations, one for each basket 50. Thus, with two third conveyer belts 402, four blood baskets 50 can be placed, each blood basket 50 containing blood of one blood type. Therefore, the storage of blood bags of four blood types can be realized simultaneously. That is, the manipulator 30 identifies the label information of the blood bag packaging box 60 and/or the blood bag, and places the blood bags of the same blood type in the same blood basket 50 for storage according to the blood type of the blood in the blood bag.

Optionally, the machine table 40 further includes: a retractable first apron 403 is positioned between the third conveyor 402 and the second conveyor 401. With the first flap 403 extended to the first position, the first flap 403 stops the transfer of the blood basket 50 between the second conveyor 401 and the third conveyor 402; with the first flap 403 retracted to the second position, the blood basket 50 can be transported between the second transport belt 401 and the third transport belt 402.

The third conveyor 402 may provide one or more basket stations. In the case where the third conveyor belt 402 is provided with a plurality of basket stations, a retractable first shutter 403 is provided between the third conveyor belt 402 and the second conveyor belt 401, the first shutter 403 being provided corresponding to one basket station. Thus, when the third conveyor 402 is operated to convey a loaded basket at one basket station to the second conveyor 401, the first baffle 403 can stop the movement of the baskets 50 at the other basket stations, so that the single basket 50 can be conveyed.

Similarly, when the second conveyor belt 401 conveys an empty basket to the third conveyor belt 402, if the position of the empty basket on the second conveyor belt 401 is deviated, the empty basket may be stopped by the first stopper 403 on the adjacent basket station and may not be conveyed to the third conveyor belt 402. The second conveyor 401 adjusts the position of the basket 50 in such a way that the basket 50 is transported to the assigned basket position of the third conveyor 402.

When the first flap 403 is extended to the first position, the first flap 403 stops the transfer of the blood basket 50 between the second conveyor 401 and the third conveyor 402. The "first position" is only required to be satisfied that the first baffle 403 can stop the blood basket 50, and is at least higher than the height of the upper surface of the third transmission belt 402.

With the first flap 403 retracted to the second position, the corresponding basket 50 can be transported between the second conveyor 401 and the third conveyor 402. The "second position" here only needs to be satisfied in that the blood basket 50 is not stopped by the first flap 403. For example, the top surface of the first shutter 403 is flush with the upper surface of the third conveyor belt 402, or lower than the upper surface of the third conveyor belt 402.

Optionally, the machine table 40 further includes: the second blocking plate 404 is disposed corresponding to the first blocking plate 403, located at one side of the third conveying belt 402, and disposed corresponding to the first blocking plate 403, for blocking the empty blood basket transferred from the second conveying belt 401 to the third conveying belt 402, so as to limit the position of the blood basket 50 on the third conveying belt 402.

The second blocking plates 404 are disposed corresponding to the first blocking plates 403, and are respectively located on two sides of the third conveying belt 402 and in the conveying direction of the third conveying belt 402. When the second transport belt 401 transports the empty blood basket to the third transport belt 402, the second flap 404 prevents the blood basket 50 from being transported in the third transport belt 402, thereby defining the position of the blood basket 50 on the third transport belt 402.

Optionally, a second baffle 404 is fixed to the machine table 40. Alternatively, the second baffle 404 may be retractable. When stopping the basket 50, the second baffle 404 is extended to the first position.

Optionally, the machine table 40 further includes a third baffle 405 and/or a fourth baffle 406, the third baffle 405 is disposed at an edge of the third conveyor 402, and the length direction of the third baffle 405 is consistent with the conveying direction of the third conveyor 402. The baskets 50 can be prevented from moving out of the third conveyor 402 by the third flap 405. The fourth shutter 406 is located between adjacent two basket stations for spacing the adjacent two basket stations. Optionally, a fourth baffle 406 is disposed opposite the third baffle 405.

Optionally, the blood bag stacking mechanism further comprises a frame 70, the manipulator 30 is disposed on the frame 70, and the manipulator 30 comprises a first guide rail 301, a second guide rail 302, a third guide rail 303, a fourth guide rail 304, and a manipulator 305. The first guide rail 301 is arranged above the bearing part 20 and crosses the outlet end 102 of the conveying assembly 10; the second guide rail 302 is arranged on the frame 70 and is perpendicular to the first guide rail 301; the third guide rail 303 is arranged on the frame 70 and is horizontally arranged opposite to the second guide rail 302, and two ends of the first guide rail 301 are respectively connected to the second guide rail 302 and the third guide rail 303 in a sliding manner; the fourth guide rail 304 is slidably connected to the first guide rail 301, and the direction of the guide rail is perpendicular to the direction of the guide rail of the first guide rail 301; the robot 305 is slidably connected to the fourth guide rail 304; the manipulator 305 moves up and down along the fourth guide rail 304, moves left and right along the first guide rail 301 with the fourth guide rail 304, and moves back and forth along the second guide rail 302 and the third guide rail 303 with the first guide rail 301 and the fourth guide rail 304, so as to stack the blood bag packaging box 60 in different blood baskets 50.

In the grabbing process, the first guide rail 301 drives the fourth guide rail 304 and the manipulator 305 to move to the position above the receiving portion 20 along the second guide rail 302 and the third guide rail 303, the fourth guide rail 304 drives the manipulator 305 to move to the position above the receiving portion 20, and the manipulator 305 moves downwards to the receiving portion 20 along the fourth guide rail 304 to grab the blood bag packaging box 60 located in the receiving portion 20.

In the stacking process, the manipulator 305 gripping the blood bag packaging box 60 moves upwards along the fourth guide rail 304, so that the blood bag packaging box 60 is separated from the receiving part 20, the fourth guide rail 304 drives the manipulator 305 and the blood bag packaging box 60 to move along the first guide rail 301 towards the third conveying belt 402 on the side of the blood basket 50 to be bagged (relative to the second conveying belt 401, namely, move leftwards or rightwards), then, the first guide rail 301 drives the fourth guide rail 304, the manipulator 305 and the blood bag packaging box 60 to move along the second guide rail 302 and the third guide rail 303 to the position right above the blood basket 50 to be bagged, and the manipulator 305 moves downwards along the fourth guide rail 304.

In practical applications, the first guide rail 301, the fourth guide rail 304 and the robot 305 can move simultaneously in both the grabbing process and the stacking process, so as to save time and improve work efficiency. In addition, the manipulator 305 in this embodiment includes a recognition device and a control device, so that the manipulator 305 performs the grabbing and stacking work.

Alternatively, the robot 305 includes: the clamping part 3051 comprises a first clamping hand 3052 and a second clamping hand 3053 which are opposite, and bosses 3054 are correspondingly arranged on the inner sides of the first clamping hand 3052 and the second clamping hand 3053. Under the condition that the first clamping hand 3052 and the second clamping hand 3053 are clamped, the boss 3054 of the first clamping hand 3052 is abutted to the boss 3054 of the second clamping hand 3053, and the accommodating part 3055 is defined by the boss 3054 of the first clamping hand 3052 and the second clamping hand 3053, so that the lifting lug for accommodating the blood bag packaging box 60 is hung on the boss 3054.

The robot 305 includes one or two gripping portions 3051. When there are two clamping portions 3051, the two clamping portions 3051 clamp two lifting lugs on both sides of the blood bag packing box 60, respectively. This contributes to improving the stability of the clamping of the blood bag packing box 60 by the manipulator 305. In the case of one clamping unit 3051, the hand 305 clamps the lifting lug 601 of the blood bag package 60 by the clamping unit 3051 or directly clamps the middle of the blood bag package 60.

When the clamping part 3051 clamps the lug 601 of the blood bag package box 60, the lug 601 is hung on the boss 3054 by the boss 3054 of the first clamping hand 3052 and the boss 3054 of the second clamping hand 3053 abutting against the receiving part 3055, so that the clamping part 3051 is prevented from directly pressing the lug 601 of the blood bag package box 60, and irreversible damage to the lug can be caused in the past.

Optionally, the first gripper 3052 and the second gripper 3053 are in a plate-like structure. Preferably, the boss 3054 is a block structure or a ball structure, but not limited to the above structure, and the boss 3054 only protrudes from the inner side of the gripper and abuts against the boss 3054 of the adjacent gripper in a clamping state.

Optionally, the basket 50 comprises: the clamping structure 501 is matched with the blood bag packaging box 60 to limit the placement position of the blood bag packaging box 60; the manipulator 30 can rotate the blood bag packaging box 60 to an angle corresponding to the retaining structure 501, so as to stack the blood bag packaging box 60 in the blood basket 50.

After the blood bag packaging box 60 is placed on the blood basket 50, the position of the blood bag packaging box 60 is limited by the retaining structure 501, so that the blood bag packaging box 60 is kept in a vertical state. Thus, the blood bag packaging boxes 60 are placed in the blood basket 50 in a matrix, so that subsequent sorting and taking and placing are facilitated.

Optionally, one or more receptacles 504 are configured in the basket 50, and the retaining structures 501 are disposed in the receptacles 504 to ensure that the blood bag packaging boxes 60 in each receptacle 504 are arranged side by side. In practice, a row of blood bag packaging boxes 60 are placed in a containing portion 504. The clamping structure is disposed on a sidewall of one side or sidewalls of both sides of the accommodating portion 504. When the side walls on the two sides of the accommodating portion 504 are provided, the clamping structures on the two sides are correspondingly arranged, so as to limit the two opposite sides of the blood bag packaging box 60.

Optionally, catch structure 501 comprises: a plurality of limiting ribs 502 are vertically arranged on the inner side wall of the blood basket 50, a limiting space 503 is defined by adjacent limiting ribs 502, and the blood bag packing box 60 is vertically inserted into the limiting space 503 to limit the position.

The blood bag packing box 60 is vertically placed in the limiting space 503 defined by the adjacent limiting ribs 502, so that the placing position is limited. In the case that the retaining structures 501 are disposed on two opposite side walls of the blood basket 50, the limiting ribs 502 on the two side walls are respectively disposed correspondingly, so that the limiting spaces 503 are correspondingly disposed, and the two side portions of the blood bag packaging box 60 can be vertically inserted into the two opposite limiting spaces 503.

Optionally, the limiting space formed by adjacent limiting ribs is wide at the top and narrow at the bottom. Thus, the blood bag packing box is convenient to insert.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and illustrated in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A blood bag stacking mechanism, comprising:

the transmission assembly comprises a first transmission belt, the first transmission belt is used for transmitting the blood bag packaging box, and the outlet end of the transmission assembly is inclined downwards;

the receiving part is arranged at the outlet end of the transmission assembly and is used for receiving the blood bag packaging box which slides down from the outlet end of the transmission assembly, so that the blood bag packaging box is changed from the horizontal direction to the vertical direction; and (c) and (d),

the mechanical hand part is used for grabbing the blood bag packaging box in the bearing part and stacking the blood bag packaging box in the blood basket.

2. The blood bag stacking mechanism according to claim 1,

the bearing part is provided with an accommodating cavity with an upward opening, and the outlet end of the transmission assembly extends downwards to the opening of the accommodating cavity, so that the blood bag packaging box slides to the accommodating cavity along the direction of the downward inclined outlet end.

3. The blood bag stacking mechanism of claim 1, further comprising a machine station located below the robotic hand, the machine station comprising:

the second conveying belt is used for conveying the blood basket;

the second conveying belt is positioned below the bearing part and is consistent with the conveying direction of the outlet end of the first conveying belt.

4. The blood bag stacking mechanism of claim 3, wherein the machine further comprises:

the third conveying belt is positioned on one side of the second conveying belt and used for placing an empty blood basket, and the blood bag packaging box is placed in the blood basket after the manipulator part stacks the blood bag packaging box;

the conveying direction of the third conveying belt is perpendicular to the conveying direction of the second conveying belt, so that the blood baskets on the third conveying belt are conveyed to the second conveying belt after being filled with the blood baskets, and the empty blood baskets on the second conveying belt are conveyed to the third conveying belt.

5. The blood bag stacking mechanism of claim 4, wherein the machine further comprises:

the first telescopic baffle is positioned between the third conveying belt and the second conveying belt;

the first baffle stops the transfer of the blood basket between the second conveying belt and the third conveying belt under the condition that the first baffle is extended to the first position; with the first flap retracted to the second position, a blood basket may be transferred between the second and third transfer ribbons.

6. The blood bag stacking mechanism of claim 5, wherein the machine further comprises:

and the second baffle is correspondingly arranged with the first baffle, is positioned on one side of the third conveying belt, is correspondingly arranged with the first baffle, and is used for stopping a vacant blood basket transferred to the third conveying belt from the second conveying belt so as to limit the position of the blood basket on the third conveying belt.

7. The blood bag stacking mechanism according to claim 1, further comprising a frame, wherein the manipulator portion is provided on the frame, and the manipulator portion comprises:

the first guide rail is arranged above the bearing part and stretches across the outlet end of the conveying assembly;

the second guide rail is arranged on the rack and is perpendicular to the first guide rail;

the third guide rail is arranged on the rack and is horizontally arranged relative to the second guide rail, and two ends of the first guide rail are respectively connected to the second guide rail and the third guide rail in a sliding manner;

the fourth guide rail is connected to the first guide rail in a sliding mode, and the direction of the guide rail is perpendicular to the direction of the guide rail of the first guide rail;

the manipulator is connected to the fourth guide rail in a sliding manner;

the manipulator moves up and down along the fourth guide rail, moves left and right along the first guide rail, moves front and back along the second guide rail and the third guide rail along the first guide rail and the fourth guide rail, and places the blood bag packaging box in different blood baskets.

8. The blood bag stacking mechanism of claim 7, wherein the manipulator comprises:

the clamping part comprises a first clamping hand and a second clamping hand which are opposite, and bosses which are correspondingly arranged are formed on the inner sides of the first clamping hand and the second clamping hand;

under the condition that the first clamping hand and the second clamping hand are clamped, the boss of the first clamping hand is abutted to the boss of the second clamping hand, the accommodating part is defined by the first clamping hand and the second clamping hand, and the lifting lug for accommodating the blood bag packaging box is hung on the boss.

9. The blood bag stacking mechanism according to any one of claims 1 to 8, wherein the blood basket includes:

the clamping structure is matched with the blood bag packaging box so as to limit the placing position of the blood bag packaging box;

the mechanical hand part can rotate the blood bag packaging box to an angle corresponding to the clamping structure, so that the blood bag packaging box is stacked in the blood basket.

10. The blood bag stacking mechanism of claim 9, wherein the retaining structure comprises:

a plurality of spacing ribs are vertically arranged on the inner side wall of the blood basket, and are adjacent to each other, a spacing space is limited by the spacing ribs, and the blood bag packaging box is vertically inserted into the spacing space to limit the position.

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