Automatic fast test tube cover taking robot and cover taking method

A technology of robots and test tubes, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as test tube damage, low manual operation efficiency, and contamination of biological samples, and achieve a wide range of applications

Active Publication Date: 2017-01-04
CHINA THREE GORGES UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In chemical experiments with considerable dangers, the risk of manual removal is high
[0003] At present, most of the above tasks are done manually by hand.
The disadvantage of manual uncapping is: during the process of uncapping, it may cause the risk of damage to the test tube and contaminate the biological samples in the test tube
The number of test tubes is huge, the efficiency of manual operation is low, and it is easy to introduce human error

Method used

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  • Automatic fast test tube cover taking robot and cover taking method
  • Automatic fast test tube cover taking robot and cover taking method
  • Automatic fast test tube cover taking robot and cover taking method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] Such as Figure 1-11 , an automatic and fast test tube capping robot, which includes a base 1, an X-axis mechanical arm 2 for controlling front and rear movement is installed on the base 1, and a Z-axis mechanical arm 2 for controlling up and down movement is vertically installed on the X-axis mechanical arm 2. Arm 3, the Z-axis mechanical arm 3 is vertically equipped with a Y-axis mechanical arm 4 that controls left and right movement, and the Y-axis mechanical arm 4 is equipped with a cover removal robot 5;

[0052] Further, one end of the cap removing manipulator 5 is equipped with a mechanical arm rotation drive mechanism, and the other end is equipped with a cap removing mechanism.

[0053] Further, the X-axis mechanical arm 2 is mounted on the base 1 by screws, the X-axis mechanical arm 2 includes an X-axis stepping motor 6, and the output shaft of the X-axis stepping motor 6 is connected to the X-axis through a coupling 36. The ball screw 40 is connected, the ba...

Embodiment 2

[0063] The method for automatically removing caps by using the automatic fast test tube cap removal robot described in any one of the rights includes the following steps:

[0064] Step 1: In the positioning stage, in the initial state, the cover removal manipulator 5 rotates to the direction where the test tube holder 34 is located, the test tube clamp 25 is in the open state, the cam follower 28 is in contact with the far rest point of the cam 23, and the Y-axis mechanical arm 4 is vertical. Rise to the highest point in the straight direction, the solenoid valve is locked, the robot is installed on the designated process position of the assembly line through the base 1, the test tube 33 with the sample is pre-fixed in the test tube rack 34, and the test tube rack 34 is stuck on the assembly line conveyor belt through the chute 35 , the test tube 34 can be placed horizontally or vertically on the conveyor belt. When the test tube rack and the test tube move to the middle positi...

Embodiment 3

[0074] Such as Figure 11 As shown, the robot control system for the automatic and rapid test tube cap removal of the present invention mainly adopts the control mode of the three-level distributed structure of "upper computer + embedded system + lower computer". The control device of the control system is composed of an upper computer and an Arduino control board. The upper computer is a tablet computer based on the Android system, a router equipped with an embedded system is used as a server for wireless communication, and an AVR single-chip microcomputer on the Arduino control board is used as a lower computer. The tablet computer is responsible for receiving the video signal from the camera and sending control instructions to the Arduino control board, and the control board is responsible for receiving the control instructions sent by the tablet computer and converting them into matching control signals to control the manipulator to complete specified actions. Each motor i...

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Abstract

The invention relates to an automatic fast test tube cover taking robot and a cover taking method. The robot comprises a base, wherein an X-axis mechanical arm for controlling movements in front and back directions is arranged on the base, a Z-axis mechanical arm for controlling up and down movements is vertically arranged on the X-axis mechanical arm, a Y-axis mechanical arm for controlling left and right movements is vertically arranged on the Z-axis mechanical arm, and a cover taking mechanical hand is arranged on the Y-axis mechanical arm; and a mechanical arm rotation driving mechanism is arranged at one end of the cover taking mechanical hand, and a cover taking mechanism is arranged at the other end. The automatic fast test tube cover taking robot can automatically complete a cover taking task of a blood collection test tube, can adapt to blood collection test tubes and test tube racks in different specifications, and can recover test tube covers.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to an automatic and rapid test tube cap removal robot and a cap removal method. Background technique [0002] Test tubes are widely used in hospitals, scientific research institutes, biochemistry and other fields. Most of the used test tubes are common cylindrical glass test tubes with an open upper end and a closed lower end. When the staff is doing chemical experiments or laboratory tests and inspections, the most frequent operation is to open and recycle the test tube cover. In the actual use process, various problems occur from time to time, such as the blood collection test tubes used in the hospital laboratory, due to the vacuum negative pressure test tubes used, there may still be negative pressure in the test tubes after the blood collection is completed, and the test tubes need to be removed during blood sample testing. The cover is open. Due to the influence of negative...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/02B25J9/16B25J15/02
CPCB25J9/023B25J9/161B25J15/02
Inventor 翟文海曾进余振张露
Owner CHINA THREE GORGES UNIV
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