Robot sample storage cabinet system

Abstract

The present invention discloses a robot sample storage cabinet system, which includes a robot module, more than one docking platform, and more than one sample storage module; the docking platform is used to realize the docking between each sample storage module and external devices, and the robot module is used to open or / and close the sample storage module, and is used to pick up and place sample bottles, and drive the sample bottles to flow between each sample storage module and each docking platform. The robot sample storage cabinet system of the present invention has the advantages of simple structure, convenient sample storage, high intelligent level, high space utilization rate, strong adaptability, strong scalability, etc.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of sample collection, preparation and storage equipment, and particularly refers to a robot sample storage cabinet system. Background Art

[0002] For the sample collection, preparation and analysis of materials (such as coal samples, ore samples), each country has mandatory standards, and the sample collection, preparation and analysis tests must be carried out in accordance with the standards. The criterion in the process of sample collection, preparation and analysis is to gradually reduce the particle size and mass of the collected sample without damaging the representativeness of the sample until the particle size and mass (weight) accuracy requirements of the sample for laboratory tests are met, and then conduct relevant experimental analysis on the qualified sample. There should be no loss of samples and no physical or chemical changes to the samples themselves during this process, otherwise it will affect the final experimental results.

[0003] In the sample collection, preparation and analysis work, the collected samples usually include analysis samples, total moisture samples, stored samples, etc. After being collected, the samples usually need to be placed in a sample storage cabinet system for temporary storage and retrieval during subsequent tests. The sample storage cabinet system can be used alone or in combination with an automatic sample preparation system, an automatic analysis system, a sample transmission system, etc.

[0004] At present, the sample storage cabinet system in the process of automatic sample collection, preparation and analysis of coal samples mainly has the following deficiencies:

[0005] 1. Complex structure, high construction cost and inconvenient maintenance. Some existing sample storage systems adopt a single cabinet structure form. The sample storage is realized through the coordinated action of XYZ manipulators, with a complex structure, high construction cost, poor maintainability and low positioning accuracy.

[0006] 2. Complex sample storage control program and low working efficiency. Some existing sample storage systems store one or more samples in each storage bin. If you want to take out the samples inside, you need to first take out the outer samples one by one and transfer them to other bins, then take out the required samples, and then put the transferred samples back one by one. The sample taking and placing control process is complex, the taking and placing path is long, the taking and placing time is long, and the working efficiency is low; at the same time, it is very easy to make mistakes during the sample transfer process.

[0007] 3. Low utilization rate of storage space. The layout space of some existing sample storage systems is set unreasonably, resulting in a small number of samples placed, low space utilization rate and a small storage quantity per unit volume.

[0008] 4. Single storage method and limited requirements for samples (sample bottles). The structural dimensions of the storage bins of some existing sample storage systems are relatively fixed, with limited requirements for the outer diameter size of the stored sample bottles and poor adaptability.

[0009] 5. Single structural form and poor applicability. Some existing sample storage systems use single cabinets arranged in rows, which not only leads to large floor space occupation, but also poor adaptability in the use of cabinets and site conditions, and is not conducive to use under variable on-site conditions.

[0010] 6. Single docking method with external systems and not conducive to personalized needs. Some existing sample storage systems have low intelligence level, cannot be smoothly docked with other external devices, do not have functions of automatic sample loading and unloading and sample discarding processing at the same time; and do not have docking interfaces with pneumatic transmission systems, automated laboratory systems, and automatic sample preparation systems.

[0011] 7. Low modularity. Some existing sample storage systems have low modularity, cannot flexibly increase or decrease functional modules according to the actual needs of customers, cannot well meet the actual needs of customers, increase the use cost, and reduce the market competitiveness.

[0012] 8. Low intelligence level. Some existing sample storage systems are not intelligent enough, cannot complete the inventory of sample information at any time and quickly, and even prone to sampling errors when taking and placing samples, seriously affecting the development of subsequent sample testing work. Summary of the Invention

[0013] The technical problem to be solved by the present invention is: aiming at the technical problems existing in the prior art, the present invention provides a robot sample storage cabinet system with a simple structure and a high intelligence level.

[0014] To solve the above technical problems, the technical solution proposed by the present invention is:

[0015] A robot sample storage cabinet system includes a robot module, more than one docking platform, and more than one sample storage module; the docking platform is used to realize the docking between each sample storage module and external devices, and the robot module is used to open or / and close the sample storage module, take and place sample bottles, and drive the sample bottles to flow between each sample storage module and each docking platform.

[0016] As a further improvement of the above technical solution:

[0017] Each of the docking platforms and each of the sample storage modules are located around the robot module and are in a ring shape or an L shape; or each of the docking platforms and each of the sample storage modules are located on one side of the robot module and are in a straight line.

[0018] The docking platform includes one or more of a sample preparation docking platform for docking with a sample preparation system, a sample discarding docking platform for docking with a sample discarding system, or a pneumatic transmission docking platform for docking with a pneumatic transmission system.

[0019] The robot module includes a robot unit, a fixture unit, and a push-pull unit. The fixture unit is installed at the end of the robotic arm of the robot unit and is used to clamp the sample vial. The push-pull unit is installed at the end of the robotic arm of the robot unit and is used to cooperate with the robot unit to close and / or open the sample storage module.

[0020] The fixture unit includes a mounting base, a plurality of grippers, and a driving member. The plurality of grippers are located on the periphery of the mounting base and close together under the drive of the driving member to clamp the sample vial or spread apart to release the sample vial.

[0021] An anti-slip pad is provided on the inner wall of each gripper.

[0022] A first detection member for detecting whether there is a sample vial on the gripper is provided on the mounting base.

[0023] The driving member is a driving cylinder, and a second detection member for detecting the position of the driving cylinder is provided on the mounting base.

[0024] The push-pull unit includes a push-pull block.

[0025] The push-pull unit further includes a third detection member. The third detection member is installed on the push-pull block and is used to detect the distance between the push-pull block and the sample storage module.

[0026] The sample storage module includes more than one sample storage unit. When there are multiple sample storage units, the sample storage units are arranged vertically one above the other.

[0027] The sample storage unit includes a frame, a storage box, and a sliding assembly. The two sides of the storage box are slidably installed on the frame through the sliding assembly.

[0028] The sliding assembly includes a slide rail and a guide bar. One side of the guide bar is fastened to the frame, one side of the slide rail is fastened to one side of the storage box, and the other side of the slide rail is slidably disposed inside the other side of the guide bar.

[0029] Limit blocks are provided at both ends of the guide bar to limit the starting position of the sliding trajectory of the slide rail.

[0030] Position detection members are provided at both ends of the guide bar and are used to detect the position of the slide rail to determine whether the storage box is in the fully open or fully closed position.

[0031] A partition assembly is provided inside the storage box and is used to divide the inside of the storage box into a plurality of storage compartments for storing sample vials.

[0032] The partition assembly is a grid plate and is detachably installed inside the storage box.

[0033] Each of the sample storage modules is correspondingly provided with one or more of a buffer area, a laboratory test return area, a reference area, or a reserved area; each area corresponds to more than one sample storage unit.

[0034] The pneumatic transmission docking platform includes a support plate, a bottle picking and placing sleeve, a pneumatic docking sleeve, a horizontal driving assembly, and a vertical driving assembly; the bottle picking and placing sleeve and the horizontal driving assembly are both installed on the support plate, the horizontal driving assembly is connected to the bottle picking and placing sleeve and is used to drive the bottle picking and placing sleeve to horizontally move between the bottle picking and placing station and the pneumatic transmission docking station; the vertical driving assembly is installed below the support plate and is used to drive the support plate to move up and down, so that the bottle picking and placing sleeve located on the support plate and at the pneumatic transmission docking station rises upward to be hermetically docked with the pneumatic docking sleeve for pneumatic bottle transmission.

[0035] A sample bottle identification component is provided at the bottom of the bottle picking and placing sleeve for reading the chip at the bottom of the sample bottle to obtain sample information.

[0036] The sample information includes one or more of the sample type, weight, sample preparation date, or particle size.

[0037] A weighing component is provided at the bottom of the bottle picking and placing sleeve for weighing the sample bottle to compare with the sample weight obtained by the sample bottle identification component.

[0038] A fourth detection component is provided on the bottle picking and placing sleeve for detecting whether there is a sample bottle in the bottle picking and placing sleeve.

[0039] A fifth detection component is provided on the pneumatic docking sleeve for detecting whether there is a sample bottle in the pneumatic docking sleeve.

[0040] The horizontal driving assembly includes a sliding rod, a slider, and a guide groove. The sliding rod is located on the support plate, the slider slides on the sliding rod, and the guide groove is located on the support plate and is arranged in parallel with the sliding rod; the bottle picking and placing sleeve is installed on the slider and a positioning block extending into the guide groove is provided at one end.

[0041] Position sensors are provided at both ends of the sliding rod on the support plate for detecting the slider to determine whether the bottle picking and placing sleeve is at the bottle picking and placing station or the pneumatic transmission docking station.

[0042] The vertical driving assembly includes a telescopic air cylinder or a telescopic hydraulic cylinder or an electric cylinder.

[0043] It further includes a safety protection module. The safety protection module includes a safety fence, a maintenance door, an emergency stop switch, and a safety door lock; the maintenance door is installed on the safety fence, the emergency stop switch is connected to the control module and is used to achieve emergency power-off; the safety door lock is installed on the maintenance door and is in a disconnected state when the maintenance door is opened for power-off protection.

[0044] Compared with the prior art, the advantages of the present invention are as follows:

[0045] For the robot sample storage cabinet system of the present invention, the control module controls the robot module to transfer samples or sample bottles between various sample storage modules and each docking platform. The overall structure has a high degree of automation; the docking platform is used to achieve smooth docking with various external devices, with a high degree of intelligence and the ability to meet different personalized requirements. The structure of the robot module is simple, with low manufacturing cost, good maintainability, and high positioning accuracy.

[0046] For the robot sample storage cabinet system of the present invention, each sample storage module is independently arranged, and flexible / personalized configuration can be realized according to actual needs during the overall layout; in addition, each module is arranged in a circular, L-shaped or linear layout according to the actual situation and actual needs on site, with high flexibility. The sample storage module includes more than one sample storage unit. When there are multiple sample storage units, the sample storage units are arranged one above the other in sequence to form a three-dimensional layout, with high space utilization rate and small overall floor area.

[0047] For the robot sample storage cabinet system of the present invention, the grid plate can be detachably placed in the storage box, and grid plates of different specifications can be replaced to place sample bottles of different sizes and specifications, with strong adaptability. Each sample storage module is correspondingly provided with a buffer area, a test return area, a reference area, and a reserved area, and each area corresponds to one or more storage boxes, so as to realize the storage of different types of samples. During the storage process, only the sample bottle needs to be deposited or taken out from the corresponding storage box, and the taking and placing process is simple and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a top view structural schematic diagram (circular layout) of the present invention in an embodiment.

[0049] Figure 2 It is a top view structural schematic diagram (L-shaped layout) of the present invention in an embodiment.

[0050] Figure 3 It is a top view structural schematic diagram (linear layout) of the present invention in an embodiment.

[0051] Figure 4 It is a three-dimensional structural schematic diagram (linear layout) of the present invention in an embodiment.

[0052] Figure 5 It is a structural schematic diagram of the sample storage module of the present invention in an embodiment.

[0053] Figure 6 It is a three-dimensional structural schematic diagram of the sample storage unit of the present invention in an embodiment.

[0054] Figure 7This is a top view structural schematic diagram of the sample storage unit in the embodiment of the present invention.

[0055] Figure 8 This is a structural schematic diagram of the fixture unit and the push-pull unit in the embodiment of the present invention.

[0056] Figure 9 This is a structural schematic diagram of the safety protection module in the embodiment of the present invention.

[0057] Figure 10 This is one of the structural schematic diagrams of the pneumatic transmission docking platform of the present invention.

[0058] Figure 11 This is the second structural schematic diagram of the pneumatic transmission docking platform of the present invention.

[0059] The reference numerals in the figure indicate: 1. Control module; 2. Robot module; 201. Robot unit; 2011. Base; 2012. Robot control system; 2013. Driving device; 2014. Manipulator; 202. Fixture unit; 2021. Mounting seat; 2022. Gripper; 2023. Driving part; 2024. Anti-slip pad; 2025. First detection part; 2026. Second detection part; 203. Push-pull unit; 2031. Push-pull block; 2032. Third detection part; 204. Adapter plate; 205. Track; 3. Sample storage module; 301. Sample storage unit; 3011. Frame; 3012. Storage box; 3013. Sliding assembly; 30131. Slide rail; 30132. Guide bar; 3014. Limit block; 3015. Position detection part; 3016. Partition assembly; 3017. Bin; 4. Docking platform; 401. Sample preparation docking platform; 402. Waste sample docking platform; 403. Pneumatic transmission docking platform; 4031. Support plate; 4032. Pick-and-place bottle sleeve; 4033. Pneumatic docking sleeve; 4034. Horizontal driving assembly; 40341. Slide bar; 40342. Slide block; 40343. Guide groove; 40344. Position sensor; 4035. Vertical driving assembly; 4036. Sample bottle identification assembly; 4037. Weighing assembly; 4038. Fourth detection part; 4039. Fifth detection part; 5. Safety protection module; 501. Safety fence; 502. Maintenance door; 503. Emergency stop switch; 504. Safety door lock; 6. Sample bottle. Detailed implementation manners

[0060] The present invention will be further described below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0061] As Figure 1As shown in the figure, the robot sample storage cabinet system of this embodiment includes a control module 1, a robot module 2, more than one docking platform 4, and more than one sample storage module 3. Among them, the docking platform 4 is used to dock the sample storage module 3 with external devices. The sample storage module 3 is used to store samples or sample bottles 6. The robot module 2 is connected to the control module 1 and is used to open or / and close the sample storage module 3 under the control of the control module 1, pick and place the sample bottles 6, and drive the sample bottles 6 to flow between the various sample storage modules 3 and the various docking platforms 4, so as to realize the flow of samples. In the robot sample storage cabinet system of the present invention, the control module 1 controls the robot module 2 to transfer samples or sample bottles 6 between the various sample storage modules 3 and the various docking platforms 4. The overall structure is highly automated. The docking platform 4 is used to achieve smooth docking with various external devices, with high intelligence and able to meet different personalized needs.

[0062] In this embodiment, the docking platform 4 includes one or more of a sample preparation docking platform 401, a waste sample docking platform 402, and a pneumatic transmission docking platform 403. Among them, the sample preparation docking platform 401 is used to dock with an automatic sample preparation system, the waste sample docking platform 402 is used to dock with an external waste sample collection device, and the pneumatic transmission docking platform 403 is used to dock with a pneumatic transmission system, so that the sample bottles 6 can flow between the sample storage cabinet system, the pneumatic transmission system, and the laboratory analysis system. Through the above settings of the docking platform 4, the whole system has functions such as automatic sample entry and exit and waste sample processing. The definition of high operation frequency is at the position where the robot can reach most easily, so as to simplify the movement path of the robot and improve the overall efficiency. Of course, the above docking platform 4 is not limited to the above three types. In other embodiments, corresponding docking platforms 4 can also be added according to external devices.

[0063] In this embodiment, the sample preparation docking platform 401, the waste sample docking platform 402, the pneumatic transmission docking platform 403, and the various sample storage modules 3 are all located on the periphery of the robot module 2 and are annular, suitable for a square site. Among them, the robot module 2 is fixed at the central position of the ring, as Figure 1 shown. In another embodiment, the sample preparation docking platform 401, the waste sample docking platform 402, the pneumatic transmission docking platform 403, and the various sample storage modules 3 are all located on the periphery of the robot module 2 and are in an L shape, suitable for a site with moderate length and width. Among them, the robot module slides on the track 205, as Figure 2 shown. In other embodiments, the sample preparation docking platform 401, the waste sample docking platform 402, the pneumatic transmission docking platform 403, and the various sample storage modules 3 are all located on one side of the robot module 2 and are in a straight line, suitable for a long and narrow site. Among them, the robot module slides on the track 205, as Figure 3 and Figure 4As shown in the figure. The above arrangement can be flexibly adjusted according to site conditions and the number of sample storage modules 3, etc.

[0064] As Figure 4 As shown in the figure, in this embodiment, the robot module 2 includes a robot unit 201, a fixture unit 202, and a push-pull unit 203. The fixture unit 202 is installed at the end of the robotic arm 2014 of the robot unit 201 for clamping the sample bottle 6; the push-pull unit 203 is installed at the end of the robotic arm 2014 of the robot unit 201 for cooperating with the robot unit 201 to open or / and close the sample storage module 3. Specifically, the robot module 2 includes a base 2011, a robot control system 2012, a driving device 2013, a robotic arm 2014, etc. Among them, the driving device 2013 and the robotic arm 2014 are both installed on the base 2011. After receiving the instruction from the control module 1, the robot control system 2012 drives the robotic arm 2014 to move through the driving device 2013; the structure of the robot unit 201 is simple, with low manufacturing cost, good maintainability, and high positioning accuracy.

[0065] As Figure 4 and Figure 5 As shown in the figure, the structure of a sample storage module 3 is shown. Each sample storage module 3 is independently arranged and can be flexibly / personally configured according to actual needs during the overall layout. Among them, the sample storage module 3 includes more than one sample storage unit 301. When there are multiple sample storage units 301, each sample storage unit 301 is arranged vertically one above the other, forming a three-dimensional layout with high space utilization, small overall floor area, and easy expansion. One type of sample bottle 6 can be stored in the sample storage module 3, or multiple types of sample bottles 6 can be stored. By adjusting the vertical position of each sample storage unit 301, sample bottles 6 with different height dimensions can be accommodated.

[0066] Specifically, each sample storage unit 301 includes a frame 3011, a storage box 3012, and a sliding component 3013. The frame 3011 is a cabinet structure with an open front side. The two sides of the storage box 3012 are slidably installed on the frame 3011 through the sliding component 3013 and can be pulled out from the open front side of the frame 3011. As Figure 3As shown in the figure, the sliding component 3013 includes a slide rail 30131 and a guide bar 30132. One side of the guide bar 30132 is fastened to the frame 3011, one side of the slide rail 30131 is fastened to one side of the storage box 3012, and the other side of the slide rail 30131 is slidably disposed inside the other side of the guide bar 30132. In addition, limit blocks 3014 are provided at both ends of the guide bar 30132 to limit the starting position of the sliding trajectory of the slide rail 30131. Position detection components 3015 are provided at both ends of the guide bar 30132, which are used to detect the position of the slide rail 30131 to determine whether the storage box 3012 is in the fully open or fully closed position, and feed back to the control module 1 to ensure the reliability of the movement of the storage box 3012. The above sample storage unit 301 adopts a drawer structure, which has a simple structure, low cost, and is convenient for installation and maintenance.

[0067] In this embodiment, a partition component 3016 is detachably provided inside the storage box 3012, which is used to divide the inside of the storage box 3012 into multiple storage compartments 3017 for storing sample bottles 6, and each storage compartment 3017 stores one sample bottle 6; the partition component 3016 is a grid plate, and a plurality of placement holes are opened on the grid plate, and the inside of the storage box 3012 is formed into an array of storage compartments 3017 through the grid plate. Since the above grid plate can be detachably placed inside the storage box 3012, different specifications of grid plates can be replaced to place sample bottles 6 of different sizes and specifications, with strong adaptability. Each sample storage module 3 is correspondingly provided with a buffer area, a test return area, a reference area, and a reserved area, and each area corresponds to one or more storage boxes 3012, so as to realize the storage of different types of samples, such as Figure 5 shown. During the storage process, it is only necessary to deposit or take out the sample bottle 6 from the corresponding storage box 3012, and the storage and retrieval process is simple and efficient. The area with a high operation frequency is defined at the position where the robot module 2 can reach most easily, so as to simplify the movement path of the robot module 2 and improve the overall efficiency.

[0068] Specifically, the compartments 3017 inside the storage box 3012 are managed using a three-level coding rule, as Figure 5 and 7 shown. Among them, the sample storage unit 301 is named and managed from bottom to top by A, B, C...; the compartments 3017 inside the storage box 3012 are named and managed by (1, 1), (1, 2), (1, 3)...; finally, each compartment 3017 is named and managed by A1(1, 1), A1(1, 2), A1(1, 3).... Among them, A1(1, 1) represents the (1, 1) compartment 3017 of the A sample storage unit 301 of the 1st sample storage module 3. The information of each compartment 3017 is associated with the sample information, one-to-one correspondence, and stored in the control module 1.

[0069] such as Figure 8As shown, in this embodiment, the fixture unit 202 includes a mounting base 2021, two clamping jaws 2022, and a driving member 2023. The two clamping jaws 2022 are arc-shaped clamping pieces located on the symmetric two sides at the bottom of the mounting base 2021. The driving member 2023 is a driving cylinder, an electric cylinder, a hydraulic cylinder, etc., preferably a driving cylinder, which is installed on the mounting base 2021 and drives the two clamping jaws 2022 to close each other to clamp the sample bottle 6 or to spread apart from each other to release the sample bottle 6 under the control of the control module 1. Of course, the number of the above clamping jaws 2022 can also be three or more. An anti-slip pad 2024 is provided on the inner wall of each clamping jaw 2022 to prevent the sample bottle 6 from accidentally falling when clamping the sample bottle 6. In addition, a first detection member 2025 (such as a photoelectric sensor, etc.) for detecting whether there is a sample bottle 6 on the clamping jaw 2022 is provided on the mounting base 2021 to ensure reliable clamping and feedback of the sample bottle 6. Similarly, a second detection member 2026 for detecting the position of the driving cylinder is also provided on the mounting base 2021, which is also used to detect whether the action of the driving cylinder is normal or in place to ensure reliable clamping and normal feedback.

[0070] As Figure 8 shown, the mounting base 2021 is installed at the end of the robotic arm 2014 through an adapter plate 204. The pushing and pulling unit 203 is installed at the other end of the adapter plate 204. The pushing and pulling unit 203 specifically includes a pushing and pulling block 2031 and a third detection member 2032. When receiving the sample storage or sampling instruction, first, the pushing and pulling block 2031 is extended into the sample storage module 3 (similar to a drawer structure) by controlling the robotic arm 2014, and then the sample storage module 3 is pulled out in cooperation with the linear movement of the robotic arm 2014. Then, the sample bottle 6 is stored and retrieved through the clamping jaws 2022. After the storage and retrieval action is completed, the sample storage module 3 is closed by the pushing and pulling block 2031, so as to realize the opening or closing of the sample storage module 3. In addition, the third detection member 2032 is installed on the pushing and pulling block 2031 to detect the distance between the pushing and pulling block 2031 and the sample storage module 3, ensure reliable pushing and pulling of the storage box 3012 by the pushing and pulling block 2031, and at the same time, it can judge whether the current or upper and lower storage boxes 3012 are in the open / closed state, prevent the pushing and pulling block 2031 from accidentally colliding with the abnormally opened upper or lower storage boxes 3012, and further ensure the safety and reliability of the pushing and pulling operation.

[0071] As Figure 1 and Figure 9As shown, in this embodiment, a safety protection module 5 is also included, which is used for safety protection during the inspection and maintenance of the sample storage cabinet system, as well as the safe management of the storage of sample bottles 6. The main structure of the safety protection module 5 includes a safety fence 501, a maintenance door 502, an emergency stop switch 503 and a safety door lock 504. The maintenance door 502 is installed on the safety fence 501, and the emergency stop switch 503 is connected to the control module 1 for emergency power off; the safety door lock 504 is installed on the maintenance door 502, and is in a disconnected state when the maintenance door 502 is opened, so as to provide power off protection; when the safety door lock 504 is closed (the lock pin has been inserted into the lock hole), it is necessary to confirm the status on the system human-computer interaction interface, and the system can be powered on and operated only after confirmation.

[0072] In this embodiment, the functions of the control module 1 are: 1) communicating with external systems (sample preparation system, testing system, pneumatic transmission system), receiving / issuing instructions, so that samples can flow between external systems; 2) communicating with internal modules, issuing instructions to each module, controlling each module to execute its own process, grabbing / storing sample bottles 6, and controlling the robot module 2 to grab the sample bottles 6 and circulate between various stations in the system; 3) managing the information of samples stored in the system (coal type, weight, sample preparation date, particle size, etc.); 4) managing the information of sample storage bin 3017 (full / empty bin, sample storage bin 3017, bin 3017 information is associated with sample information); 5) managing the sample storage area (including cache area, test return area, reference area and reserved area, etc.).

[0073] like Figure 10 and Figure 11 As shown, in this embodiment, the pneumatic transmission docking platform 403 includes a support plate 4031, a bottle pick-up and placement sleeve 4032, a pneumatic docking sleeve 4033, a horizontal drive component 4034 and a vertical drive component 4035; the bottle pick-up and placement sleeve 4032 and the horizontal drive component 4034 are both installed on the support plate 4031, and the horizontal drive component 4034 is connected to the bottle pick-up and placement sleeve 4032, and is used to drive the bottle pick-up and placement sleeve 4032 to move horizontally between the bottle pick-up and placement station and the pneumatic transmission docking station; the vertical drive component 4035 is installed below the support plate 4031, and is used to drive the support plate 4031 to rise and fall, so that the bottle pick-up and placement sleeve 4032 located on the support plate 4031 and at the pneumatic transmission docking station rises upward to seal and dock with the pneumatic docking sleeve 4033 for pneumatic bottle transport.

[0074] In this embodiment, a sample bottle identification component 4036 (such as a barcode reader) is provided at the bottom of the bottle picking and placing sleeve 4032, which is used to read the identification such as the chip at the bottom of the sample bottle 6 to obtain sample information. The sample information includes information such as sample type, weight, sample preparation date, and particle size. In addition, a weighing component 4037 is provided at the bottom of the bottle picking and placing sleeve 4032, which is used to weigh the sample bottle 6 and compare it with the sample weight obtained by the sample bottle identification component 4036 to ensure the accuracy of the sample information in the sample bottle 6 during the transfer process.

[0075] In this embodiment, a fourth detection component 4038 (such as a photoelectric switch) is provided on the bottle picking and placing sleeve 4032, which is used to detect whether there is a sample bottle 6 in the bottle picking and placing sleeve 4032 to ensure the reliability of the subsequent transfer of the sample bottle 6. A fifth detection component 4039 (such as a photoelectric switch) is provided on the pneumatic docking sleeve 4033, which is used to detect whether there is a sample bottle 6 in the pneumatic docking sleeve 4033 to ensure the reliability of the subsequent pneumatic bottle transfer.

[0076] In this embodiment, the horizontal drive component 4034 includes a slide bar 40341, a slider 40342, and a guide groove 40343. The slide bar 40341 is located on the support plate 4031, the slider 40342 is slidably disposed on the slide bar 40341, and the guide groove 40343 is located on the support plate 4031 and is arranged in parallel with the slide bar 40341; the bottle picking and placing sleeve 4032 is installed on the slider 40342 and a positioning block extending into the guide groove 40343 is provided at one end. Position sensors 40344 are provided at both ends of the slide bar 40341 on the support plate 4031, which are used to detect the slider 40342 to determine whether the bottle picking and placing sleeve 4032 is located at the bottle picking and placing station or the pneumatic transmission docking station. The vertical drive component 4035 includes a telescopic cylinder or a hydraulic cylinder or an electric cylinder.

[0077] After the sample bottle 6 is grabbed by the fixture unit 202 and transferred into the bottle picking and placing sleeve 4032 at the bottle picking and placing station, the sample bottle identification component 4036 reads the chip at the bottom of the sample bottle 6 through the barcode reading function to obtain information such as the type, weight, sample preparation date, and particle size of the sample (coal sample). Then, the weighing component 4037 is used to verify the coal type weight information in the sample bottle 6 to ensure the accuracy of the information before the sample is transferred. Then, the bottle picking and placing sleeve 4032 horizontally moves the sample bottle 6 from the bottle picking and placing station to the pneumatic transmission docking station under the drive of the horizontal drive component 4034. The vertical drive component 4035 at the lower part of the support plate 4031 vertically lifts the bottle picking and placing sleeve 4032 moved to the pneumatic transmission docking station upward to be hermetically docked with the bottom of the pneumatic docking sleeve 4033. The upper part of the pneumatic docking sleeve 4033 is connected to the transmission pipeline of the external pneumatic transmission system for pneumatic bottle transfer.

[0078] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. Any technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should be regarded as within the protection scope of the present invention.

Claims

1. A robot sample storage cabinet system, characterized in that, It includes a robot module (2), more than one docking platform (4), and more than one sample storage module (3); the docking platform (4) is used to realize the docking between each sample storage module (3) and external devices, and the robot module (2) is used to open or / and close the sample storage module (3), pick and place the sample bottles (6), and drive the sample bottles (6) to flow between each sample storage module (3) and each docking platform (4). The docking platform (4) includes one or more of a sample preparation docking platform (401) for docking with a sample preparation system, a waste sample docking platform (402) for docking with a waste sample system, or a pneumatic transmission docking platform (403) for docking with a pneumatic transmission system. The pneumatic transmission docking platform (403) includes a support plate (4031), a pick-and-place bottle sleeve (4032), a pneumatic docking sleeve (4033), a horizontal drive assembly (4034), and a vertical drive assembly (4035); the pick-and-place bottle sleeve (4032) and the horizontal drive assembly (4034) are both installed on the support plate (4031), and the horizontal drive assembly (4034) is connected to the pick-and-place bottle sleeve (4032) and is used to drive the pick-and-place bottle sleeve (4032) to move horizontally between the pick-and-place bottle station and the pneumatic transmission docking station; the vertical drive assembly (4035) is installed below the support plate (4031) and is used to drive the support plate (4031) to move up and down, so that the pick-and-place bottle sleeve (4032) located on the support plate (4031) and at the pneumatic transmission docking station rises to be hermetically docked with the pneumatic docking sleeve (4033) for pneumatic bottle transmission. Each of the docking platforms (4) and each of the sample storage modules (3) are located on the periphery of the robot module (2) and are in a ring shape or an L shape; or each of the docking platforms (4) and each of the sample storage modules (3) are located on one side of the robot module (2) and are in a straight line.

2. The robot sample storage cabinet system according to claim 1, characterized in that, The robot module (2) includes a robot unit (201), a fixture unit (202), and a push-pull unit (203). The fixture unit (202) is installed at the end of the robotic arm (2014) of the robot unit (201) and is used to grip the sample bottles (6); the push-pull unit (203) is installed at the end of the robotic arm (2014) of the robot unit (201) and is used to cooperate with the robot unit (201) to close or / and open the sample storage module (3).

3. The robot sample storage cabinet system according to claim 2, wherein The fixture unit (202) includes a mounting base (2021), a plurality of grippers (2022), and a driving member (2023); the plurality of grippers (2022) are located on the periphery of the mounting base (2021) and close together under the drive of the driving member (2023) to grip the sample bottles (6) or spread apart to release the sample bottles (6).

4. The robot sample storage cabinet system according to claim 3, wherein, An anti-slip pad (2024) is provided on the inner wall of each of the grippers (2022).

5. The robot sample storage cabinet system according to claim 3, wherein A first detection member (2025) for detecting whether there is a sample bottle (6) on the gripper (2022) is provided on the mounting base (2021).

6. The robot sample storage cabinet system according to claim 3, characterized in that The driving member (2023) is a driving cylinder, and a second detecting member (2026) for detecting the position of the driving cylinder is provided on the mounting seat (2021).

7. The robot sample storage cabinet system according to claim 2, wherein, The pushing and pulling unit (203) includes a pushing and pulling block (2031).

8. The robot sample storage cabinet system according to claim 7, characterized in that, The pushing and pulling unit (203) further includes a third detecting member (2032). The third detecting member (2032) is installed on the pushing and pulling block (2031) and is used for detecting the distance between the pushing and pulling block (2031) and the sample storage module (3).

9. The robot sample storage cabinet system according to claim 1 or 2, characterized in that, The sample storage module (3) includes more than one sample storage unit (301). When there are multiple sample storage units (301), the sample storage units (301) are arranged one above the other in sequence.

10. The robot sample storage cabinet system according to claim 9, wherein, The sample storage unit (301) includes a frame (3011), a storage box (3012) and a sliding assembly (3013). Both sides of the storage box (3012) are slidably installed on the frame (3011) through the sliding assembly (3013).

11. The robot sample storage cabinet system according to claim 10, characterized in that, The sliding assembly (3013) includes a slide rail (30131) and a guiding strip (30132). One side of the guiding strip (30132) is fastened to the frame (3011), one side of the slide rail (30131) is fastened to one side of the storage box (3012), and the other side of the slide rail (30131) is slidably arranged inside the other side of the guiding strip (30132).

12. The robot sample storage cabinet system according to claim 11, characterized in that, Limit blocks (3014) are arranged at both ends of the guiding strip (30132) to limit the starting position of the sliding track of the slide rail (30131).

13. The robot sample storage cabinet system according to claim 12, wherein, Position detecting members (3015) are arranged at both ends of the guiding strip (30132) and are used for detecting the position of the slide rail (30131) to determine whether the storage box (3012) is in a fully open or fully closed position.

14. The robot sample storage cabinet system according to claim 10, wherein A partitioning assembly (3016) is arranged inside the storage box (3012) and is used for partitioning the inside of the storage box (3012) into multiple storage compartments (3017) for storing sample bottles (6).

15. The robot sample storage cabinet system according to claim 14, wherein, The partitioning assembly (3016) is a grid plate (30161) and is detachably installed inside the storage box (3012).

16. The robot sample storage cabinet system according to claim 9, wherein, Each sample storage module (3) is correspondingly provided with one or more of a buffer zone, a chemical analysis return zone, a reference check zone or a reserved zone; each zone corresponds to more than one sample storage unit (301).

17. The robot sample storage cabinet system according to claim 16, wherein A sample bottle identification assembly (4036) is provided at the bottom of the bottle picking and placing sleeve (4032) and is used for reading the chip at the bottom of the sample bottle (6) to obtain sample information.

18. The robot sample storage cabinet system according to claim 17, wherein, The sample information includes one or more of sample type, weight, sample preparation date or particle size.

19. The robot sample storage cabinet system according to claim 18, wherein, A weighing assembly (4037) is provided at the bottom of the bottle picking and placing sleeve (4032) and is used for weighing the sample bottle (6) to compare with the sample weight obtained by the sample bottle identification assembly (4036).

20. The robot sample storage cabinet system according to any one of claims 1, 17-19, characterized in that, A fourth detecting member (4038) is provided on the bottle picking and placing sleeve (4032) and is used for detecting whether there is a sample bottle (6) inside the bottle picking and placing sleeve (4032).

21. The robot sample storage cabinet system according to any one of claims 1, 17 - 19, characterized in that, A fifth detector (4039) is provided on the pneumatic docking sleeve (4033) for detecting whether there is a sample bottle (6) inside the pneumatic docking sleeve (4033).

22. The robot sample storage cabinet system according to any one of claims 1, 17 - 19, characterized in that, The horizontal drive assembly (4034) includes a slide bar (40341), a slider (40342) and a guide groove (40343). The slide bar (40341) is located on the support plate (4031), the slider (40342) is slidably arranged on the slide bar (40341), and the guide groove (40343) is located on the support plate (4031) and arranged in parallel with the slide bar (40341); the bottle picking and placing sleeve (4032) is installed on the slider (40342) and a positioning block extending into the guide groove (40343) is provided at one end.

23. The robot sample storage cabinet system according to claim 22, characterized in that, Position sensors (40344) are provided at both ends of the slide bar (40341) on the support plate (4031) for detecting the slider (40342) to determine whether the bottle picking and placing sleeve (4032) is at the bottle picking and placing station or the pneumatic transmission docking station.

24. The robot sample storage cabinet system according to any one of claims 1, 17-19, characterized in that, The vertical drive assembly (4035) includes a telescopic air cylinder or a telescopic hydraulic cylinder or an electric cylinder.

25. The robot sample storage cabinet system according to claim 1 or 2, characterized in that, It further includes a safety protection module (5). The safety protection module (5) includes a safety fence (501), a maintenance door (502), an emergency stop switch (503) and a safety door lock (504); the maintenance door (502) is installed on the safety fence (501), the emergency stop switch (503) is connected to the control module (1) for realizing emergency power off; the safety door lock (504) is installed on the maintenance door (502) and is in an off state when the maintenance door (502) is opened for power off protection.

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