Posture Recognition Mechanism and Sample Tube Cartoning Robot

Abstract

The present invention provides an attitude recognition mechanism and a sample tube boxing robot. The sample tube includes a tube body and a tube cap connected to each other, and the cross-sectional dimension of the tube body is different from that of the tube cap. The attitude recognition mechanism includes a mounting member, a stop mechanism, and a sensor. The mounting member is provided with a conveying channel; the stop mechanism is arranged at the inlet end of the conveying channel and is provided with a stop and through port communicating with the conveying channel, and the stop and through port is used for clamping the connection position of the tube body and the tube cap; the sensor is arranged on the mounting member. When the sample tube is limited by the stop mechanism, the sensor determines the orientation of the sample tube according to whether the tube body or the tube cap enters the stop and through port. The technical solution of the present application facilitates the determination of the orientation of the sample tube during the conveying process.

Description

Technical Field

[0001] The present invention relates to the technical field of detection, and particularly relates to an attitude recognition mechanism and a sample tube loading robot for a box. Background Art

[0002] Sample tubes are usually used to store biological samples, etc. In order to facilitate storage and reduce storage space, sample tubes are often placed in sample tube boxes. In exemplary technologies, an automatic loading method is adopted to load sample tubes into sample tube boxes. However, during the transportation of sample tubes, it is easy to have a situation where the sample tubes are inverted and cannot be accurately loaded into the boxes because the orientation of the sample tubes cannot be judged. Summary of the Invention

[0003] The main object of the present invention is to provide an attitude recognition mechanism and a sample tube loading robot for a box, aiming to facilitate judging the orientation of the sample tubes.

[0004] To achieve the above object, an attitude recognition mechanism proposed by the present invention is used to detect the orientation of a sample tube. The sample tube includes a tube body and a tube cap, and the cross-sectional dimension of the tube body is different from that of the tube cap. The attitude recognition mechanism includes:

[0005] A mounting member provided with a conveying channel;

[0006] A stop mechanism provided at an inlet end of the conveying channel and having a stop-through port communicating with the conveying channel. The stop-through port is used to hold the connection position between the tube body and the tube cap; and

[0007] A sensor provided on the mounting member. When the sample tube is limited by the stop mechanism, the sensor detects whether the tube body or the tube cap enters the stop-through port to judge the orientation of the sample tube.

[0008] Optionally, taking the arrangement direction of the stop mechanism and the conveying channel as the conveying direction of the sample tube, the sensor is located behind the stop mechanism along the conveying direction;

[0009] Or, the sensor is located in front of the stop mechanism along the conveying direction;

[0010] Or, the sensor is arranged to face the stop-through port;

[0011] Or, the attitude recognition mechanism is provided with two sensors, one of the sensors is located behind the stop mechanism along the conveying direction, and the other sensor is located in front of the stop mechanism along the conveying direction;

[0012] Alternatively, the posture recognition mechanism is provided with a plurality of the sensors, the plurality of sensors are arranged at intervals along the conveying direction, and one of the sensors is arranged facing the stop-through port.

[0013] Optionally, define the length of the sample tube as L1. When a part of the sample tube is inserted into the stop-through port, the length of a section outside the stop-through port is L2, and the distance between the sensor and the stop position of the stop-through port is L.

[0014] When the sensor is located behind the stop mechanism along the conveying direction, L2 < L < L1 is satisfied.

[0015] Optionally, when a part of the sample tube is inserted into the stop-through port, define the length of a section entering the stop-through port as L3, the length of the stop structure along the conveying direction as L4, and the distance between the sensor and the stop mechanism as L.

[0016] When the sensor is located in front of the stop mechanism along the conveying direction, L < L3 - L4 is satisfied.

[0017] Optionally, the sensor is one of a photoelectric sensor, an optical fiber sensor, and a microswitch.

[0018] Optionally, the mounting member is further provided with a guiding channel, the guiding channel is communicated with the inlet end of the conveying channel, and the width of the guiding channel gradually contracts along the conveying direction.

[0019] Optionally, the stop mechanism includes:

[0020] A fixed stop block, the fixed stop block is arranged on the mounting member and is located at the inlet end of the conveying channel; and

[0021] A moving stop block, the moving stop block is arranged opposite to the fixed stop block to enclose and form the stop-through port, and the moving stop block is movably arranged to move towards or away from the fixed stop block.

[0022] Optionally, the posture recognition mechanism further includes a driving mechanism, the driving mechanism is arranged on the mounting member and is in transmission connection with the moving stop block to drive the moving stop block to move towards or away from the fixed stop block.

[0023] Optionally, the driving mechanism includes:

[0024] A driving member, the driving member is in transmission connection with the moving stop block to drive the moving stop block away from the fixed stop block; and

[0025] A reset member, the reset member is respectively connected to the mounting member and the moving stop block to drive the moving stop block to approach the fixed stop block.

[0026] The present invention further provides a sample tube boxing robot, comprising the posture recognition mechanism described in any one of the above items, wherein the posture recognition mechanism comprises:

[0027] A mounting member, wherein the mounting member is provided with a conveying channel;

[0028] A stop mechanism, the stop mechanism is arranged at the entrance end of the conveying channel and is provided with a stop opening connected to the conveying channel, the stop opening is used to clamp the connection position between the tube body and the tube cap; and

[0029] A sensor is arranged on the mounting part. When the sample tube is limited to the stop mechanism, the sensor detects whether the tube body or the tube cap enters the stop opening to determine the direction of the sample tube.

[0030] In the posture recognition mechanism of the present invention, a conveying channel is formed on the mounting part, and a stop mechanism is arranged at the entrance end of the conveying channel. The stop mechanism is provided with a stop opening connected to the conveying channel. The stop opening can only allow a section with a smaller cross-sectional dimension of the tube body and the tube cap of the sample tube to pass through, so that a section with a larger cross-sectional dimension of the tube body and the tube cap of the sample tube will abut against the side of the stop mechanism away from the conveying channel. When the tube body of the sample tube is in front along the conveying direction and the cross-sectional dimension of the tube body is smaller than the tube cap, the tube body is arranged in the stop opening. When the tube body of the sample tube is in the rear along the conveying direction and the cross-sectional dimension of the tube body is smaller than the tube cap, the tube cap abuts against the position of the stop mechanism, and the tube body cannot enter the stop opening; at this time, the sensor can directly judge the direction of the sample tube by detecting whether the tube body enters the stop opening. When the tube body of the sample tube is in front along the conveying direction and the cross-sectional dimension of the tube body is larger than the tube cap, the tube body abuts against the position of the stop mechanism, and the tube cap cannot enter the stop opening. When the tube body of the sample tube is at the rear along the conveying direction and the cross-sectional dimension of the tube body is larger than the tube cap, the tube cap is inserted into the stop opening; at this time, the sensor can directly determine the orientation of the sample tube by detecting whether the tube cap enters the stop opening. That is, the technical solution of the present application can more conveniently detect the posture of the sample tube and improve the accuracy of subsequent boxing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0032] Figure 1 It is a structural schematic diagram of an embodiment of a gesture recognition mechanism of the present invention;

[0033] Figure 2For Figure 1 Front view of the attitude recognition mechanism in the middle;

[0034] Figure 3 Schematic structural view of a sample tube with a cap cross-sectional dimension larger than the body cross-sectional dimension.

[0035] Explanation of the reference numerals in the drawings:

[0036] Label Name Label Name 100 Posture recognition mechanism 21 Fixed stop 10 Mounting part 22 Moving stop 11 Mounting plate 30 Sensor 12 Guide protrusion 40 Driving mechanism 121 Sliding groove 200 Sample tube 13 Delivery channel 210 Tube body 14 Guide channel 220 Tube cap 20 Stop mechanism

[0037] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0039] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific attitude (as shown in the drawings). If the specific attitude changes, the directional indications will also change accordingly.

[0040] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0041] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0042] The present invention provides a posture recognition mechanism 100 for detecting the orientation of a sample tube 200 . The sample tube 200 includes a tube body 210 and a tube cap 220 , and the cross-sectional dimension of the tube cap 220 is different from the cross-sectional dimension of the tube body 210 .

[0043] Please refer to Figure 1 and Figure 2 The posture recognition mechanism 100 includes a mounting member 10, a stop mechanism 20 and a sensor 30. The mounting member 10 is formed with a conveying channel 13. The stop mechanism 20 is arranged at the entrance end of the conveying channel 13 and is provided with a stop opening connected to the conveying channel 13. The stop opening is used to clamp the connection position of the tube body 210 and the tube cap 220. The sensor 30 is arranged on the mounting member 10. When the sample tube 200 is limited to the stop mechanism 20, the sensor 30 determines the orientation of the sample tube 200 by detecting whether the tube body 210 or the tube cap 220 enters the stop opening.

[0044] The posture recognition mechanism 100 of the present application includes a mounting member 10 as a mounting base, and the mounting member 10 is provided with a conveying channel 13 for passing the sample tube 200. Generally, the conveying channel 13 receives the sample tube 200 transferred by the previous transport mechanism and completes the posture detection of the sample tube 200. In the technical solution of the present application, a stop mechanism 20 is provided at the entrance end of the conveying channel 13, and the stop mechanism 20 is provided with a stop opening connected to the conveying channel 13, and the stop opening is used to clamp the connection position of the tube body 210 and the tube cap 220 of the sample tube 200, so that the sample tube 200 is clamped at the stop structure position, and then the orientation of the sample tube 200 is detected by the sensor 30 arranged on the mounting member 10. When the sample tube 200 is transported to the posture recognition mechanism 100, taking the example that the cross-sectional dimension of the tube body 210 is smaller than the cross-sectional dimension of the tube cap 220, if the tube body 210 is at the front in the transport direction, the tube body 210 can be inserted into the transport channel 13 through the stop opening of the stop structure, and the tube cap 220 abuts against the side of the stop mechanism 20 that is away from the transport channel 13. If the tube cap 220 is at the front in the transport direction, the tube cap 220 abuts against the side of the stop mechanism 20 that is away from the transport channel 13, so the sample tube 200 cannot enter the stop opening, and the tube body 210 is located outside the transport channel 13. When the tube cap 220 abuts against the stop mechanism 20, the sensor 30 determines whether the position of the tube body 210 enters the stop opening at this time, so as to determine the orientation of the sample tube 200.

[0045] If the transverse dimension of the tube body 210 is greater than that of the tube cap 220, when the tube body 210 is in the front in the conveying direction, at this time the tube body 210 abuts against the side of the stop mechanism 20 away from the conveying channel 13, so the sample tube 200 cannot enter the stop and through opening, and the tube cap 220 is located outside the conveying channel 13. If the tube cap 220 is in the front in the conveying direction, at this time the tube cap 220 can pass through the stop and through opening of the stop mechanism 20 and be inserted into the conveying channel 13, and the tube body 210 abuts against the side of the stop mechanism 20 away from the conveying channel 13. When the tube body 210 abuts against the stop mechanism 20, the sensor 30 determines whether the position of the tube cap 220 enters the stop and through opening at this time to determine the orientation of the sample tube 200.

[0046] Therefore, it can be understood that in the attitude recognition mechanism 100 of the present invention, a conveying channel 13 for conveying the sample tube 200 is formed on the mounting member 10, and a stop mechanism 20 is provided at the inlet end of the conveying channel 13. The stop mechanism 20 is provided with a stop and through opening communicating with the conveying channel 13, and only a section with a smaller transverse dimension among the tube body 210 and the tube cap 220 of the sample tube 200 can pass through the stop and through opening, so that a section with a larger transverse dimension among the tube body 210 and the tube cap 220 of the sample tube 200 abuts against the stop mechanism 20. When the tube body 210 of the sample tube 200 is in the front in the conveying direction and the transverse dimension of the tube body 210 is smaller than that of the tube cap 220, the tube body 210 passes through the stop and through opening and enters the conveying channel 13, and the tube cap 220 abuts against the position of the stop mechanism 20. When the tube body 210 of the sample tube 200 is in the back in the conveying direction and the transverse dimension of the tube body 210 is smaller than that of the tube cap 220, the tube cap 220 abuts against the position of the stop mechanism 20, and the tube body 210 cannot enter the stop and through opening; at this time, the sensor 30 can directly determine the orientation of the sample tube 200 according to whether the tube body 210 enters the stop and through opening. When the tube body 210 of the sample tube 200 is in the front in the conveying direction and the transverse dimension of the tube body 210 is greater than that of the tube cap 220, the tube body 210 abuts against the position of the stop mechanism 20, and the tube cap 220 cannot enter the stop and through opening. When the tube body 210 of the sample tube 200 is in the back in the conveying direction and the transverse dimension of the tube body 210 is greater than that of the tube cap 220, the tube cap 220 passes through the stop and through opening; at this time, the sensor 30 can directly determine the orientation of the sample tube 200 according to whether the tube cap 220 enters the stop and through opening. That is, the technical solution of the present application can more conveniently detect the orientation of the sample tube 200 and improve the accuracy of subsequent box loading.

[0047] Please refer to Figure 1 and Figure 2In some embodiments of the present invention, the arrangement direction of the stop mechanism 20 and the conveying channel 13 is the conveying direction of the sample tube 200, and the sensor 30 is located behind the stop mechanism 20 along the conveying direction; or, the sensor 30 is located in front of the stop mechanism 20 along the conveying direction; or, the sensor 30 is arranged toward the stop port.

[0048] In the technical solution of the aforementioned embodiment, the sensor 30 of the posture recognition mechanism 100 determines the orientation of the sample tube 200 by detecting whether the tube body 210 or the tube cap 220 of the sample tube 200 enters the stop opening. Optionally, the arrangement direction of the stop mechanism 20 and the conveying channel 13 is the conveying direction of the sample tube 200, and the sensor 30 is located behind the stop mechanism 20 along the conveying direction. Taking the example that the cross-sectional dimension of the tube body 210 is smaller than the cross-sectional dimension of the tube cap 220, when the tube body 210 of the sample tube 200 is in front along the conveying direction, the tube body 210 is inserted into the stop opening of the stop mechanism 20. At this time, the sensor 30 will not detect the tube body 210 outside the conveying channel 13, and it can be judged that the tube body 210 has entered the stop opening, and the sample tube 200 is in a posture with the tube body 210 in front; when the tube cap 220 of the sample tube 200 is in front along the conveying direction, since the tube cap 220 cannot pass through the stop opening of the stop mechanism 20 and abut against the stop mechanism 20, the tube body 210 cannot enter the conveying channel 13. At this time, the sensor 30 can detect that the tube body 210 sends a trigger signal, and then judge that the sample tube 200 is in a posture with the tube cap 220 in front. It can be understood that when the cross-sectional dimension of the tube body 210 is larger than the cross-sectional dimension of the tube cap 220 , it is detected whether the tube cap 220 is outside the stop hole to determine the orientation of the sample tube 200 .

[0049] At the same time, the sensor 30 is located on the side of the stop mechanism 20 away from the conveying channel 13 , and can detect whether a sample tube 200 enters the posture recognition mechanism 100 from the previous process.

[0050] Please refer to Figure 1 and Figure 3 In some embodiments of the present invention, the length of the sample tube 200 is defined as L1, and when the sample tube is inserted into the stop opening, a length of a section outside the stop opening is L2, and a distance between the sensor 30 and the stop position 20 of the stop opening is L. When the sensor 30 is located behind the stop mechanism 20 along the conveying direction, L2<L<L1 is satisfied.

[0051] In the technical solution of the foregoing embodiment, the sensor 30 is located behind the stop mechanism 20 along the conveying direction to determine the attitude of the sample tube 200 by detecting whether the body 210 or the cap 220 of the sample tube 200 is detected outside the stop-through opening. In this embodiment, the length of the sample tube 200 is defined as L1. When the sample tube 200 is inserted into the stop-through opening, the length of a section located outside the stop-through opening is L2, and the distance between the sensor 30 and the stop mechanism 20 is L, and it satisfies L2 < L < L1. Taking the cross-sectional dimension of the body 210 being smaller than the cross-sectional dimension of the cap 220 as an example, at this time, the cap 220 cannot enter the stop-through opening, and its length is L2, which can ensure that the sensor 30 accurately detects the sample tube 200 when the cap 220 is in the front, and the sensor 30 will not misjudge due to detecting the cap 220 when the body 210 is in the front, thereby ensuring the judgment accuracy of the attitude recognition mechanism 100.

[0052] In some embodiments of the present invention, the sensor 30 is located in front of the stop mechanism 20 along the conveying direction; or, the sensor 30 is arranged facing the stop-through opening.

[0053] In the technical solution of the foregoing embodiment, the sensor 30 of the attitude recognition mechanism 100 determines the orientation of the sample tube 200 by detecting whether the body 210 or the cap 220 of the sample tube 200 enters the conveying channel 13. Optionally, taking the arrangement direction of the stop mechanism 20 and the conveying channel 13 as the conveying direction of the sample tube 200, the sensor 30 is located in front of the stop mechanism 20 along the conveying direction or arranged facing the stop-through opening. Taking the cross-sectional dimension of the body 210 being smaller than the cross-sectional dimension of the cap 220 as an example, when the body 210 of the sample tube 200 is in the front along the conveying direction, the body 210 is inserted into the conveying channel 13 from the stop-through opening of the stop mechanism 20. At this time, the sensor 30 can detect the body 210 in the conveying channel 13 or the stop-through opening, and thus it can be determined that the sample tube 200 is in the attitude with the body 210 in the front; when the cap 220 of the sample tube 200 is in the front along the conveying direction, since the cap 220 cannot pass through the stop-through opening of the stop mechanism 20, the body 210 cannot enter the stop-through opening and the conveying channel 13. At this time, the sensor 30 cannot detect the body 210, and thus it can be determined that the sample tube 200 is in the attitude with the cap 220 in the front. It can be understood that when the cross-sectional dimension of the body 210 is larger than the cross-sectional dimension of the cap 220, it is to detect whether the cap 220 enters the conveying channel 13 to determine the orientation of the sample tube 200.

[0054] Please refer to Figure 2 and Figure 3, in some embodiments of the present invention, when the sample tube 200 is inserted into the stop and through port, a length of the sample tube 200 entering the stop and through port is defined as L3, the length of the stop structure along the conveying channel 13 is L4, and the distance between the sensor 30 and the stop mechanism 20 is L. When the sensor 30 is located in front of the stop mechanism 20 along the conveying direction, it satisfies L3 - L4 > L.

[0055] In the technical solution of the foregoing embodiment, the sensor 30 of the attitude recognition mechanism 100 is located in front of the stop mechanism 20 along the conveying direction to determine the attitude of the sample tube 200 by detecting whether the tube body 210 or the tube cap 220 of the sample tube 200 is in the conveying channel 13. In this embodiment, when the section with a smaller cross-sectional dimension of the sample tube 200 is in front along the conveying direction, part of the sample tube 200 is inserted into the stop and through port. At this time, a length of the sample tube 200 entering the stop and through port is defined as L3, the length of the stop mechanism 20 along the conveying direction is L4, and the distance between the sensor 30 and the stop mechanism 20 is L. Taking the cross-sectional dimension of the tube body 210 being smaller than that of the tube cap 220 as an example, the tube body 210 can enter the stop and through port, and its length is L3, which can prevent the tube body 210 of the sample tube 200 from being blocked by the stop mechanism 20 when inserted into the conveying pipeline or misjudgment due to the sensor 30 being far away from the stop mechanism 20, thereby ensuring the judgment accuracy of the attitude recognition mechanism 100.

[0056] In some embodiments, taking the arrangement direction of the stop mechanism 20 and the conveying channel 13 as the conveying direction of the sample tube 200, the attitude recognition mechanism 100 is provided with two sensors 30, one of the sensors 30 is located behind the stop mechanism 20 along the conveying direction, and the other sensor 30 is located in front of the stop mechanism 20 along the conveying direction; or, the attitude recognition mechanism 100 is provided with a plurality of sensors 30, and the plurality of sensors 30 are arranged at intervals along the conveying direction, and one of the sensors 30 is arranged facing the stop and through port.

[0057] It can be understood that in this embodiment, the setting of two or more sensors 30 can more accurately determine the position of the tube body 210 or the tube cap 220 of the sample tube 200, and improve the judgment accuracy of the attitude recognition mechanism 100.

[0058] In some embodiments of the present invention, the sensor 30 is one of a photoelectric sensor, an optical fiber sensor, and a microswitch.

[0059] In the technical solution of the foregoing embodiment, a sensor 30 is provided in the attitude recognition mechanism 100 to determine the orientation of the sample tube 200 by detecting whether the tube body 210 or the tube cap 220 enters the conveying channel 13. In this embodiment, the sensor 30 is a photoelectric sensor or an optical fiber sensor. Taking the photoelectric sensor as an example, the photoelectric sensor has a transmitter and a receiver arranged oppositely. The transmitter and the receiver are arranged on both sides of the conveying path along the conveying path. The transmitter emits a light signal towards the receiver. Under normal circumstances, the receiver receives the light signal without generating a trigger signal. When there is an obstacle blocking between the receiver and the transmitter, the receiver cannot receive the light signal and generates a trigger signal. Then, by distinguishing whether a trigger signal is generated, it is possible to detect whether the tube body 210 or the tube cap 220 of the sample tube 200 enters the conveying channel 13, thereby determining the orientation of the sample tube 200.

[0060] In some embodiments, the sensor 30 is a microswitch. The microswitch is provided with a contact spring piece. The contact spring piece is arranged towards the inner side of the conveying channel 13. When the recognized section of the sample tube 200 abuts against the contact spring piece, the contact spring piece deforms to generate a trigger signal. Then, it is possible to distinguish whether the tube body 210 or the tube cap 220 of the sample tube 200 enters the conveying channel 13, thereby determining the orientation of the sample tube 200.

[0061] Please refer to Figure 1 and Figure 2 , in some embodiments of the present invention, the mounting member 10 is further provided with a guiding channel 14. The guiding channel 14 is communicated with the input end of the conveying channel 13, and the width of the guiding channel 14 gradually shrinks along the conveying direction.

[0062] In the technical solution of the foregoing embodiment, the mounting member 10 is provided with a conveying channel 13 for conveying the sample tube 200. The orientation of the sample tube 200 is determined according to whether the tube body 210 of the sample tube 200 enters the conveying channel 13. In this embodiment, the mounting member 10 is further provided with a guiding channel 14 communicated with the conveying channel 13. The guiding channel 14 is arranged in front of the conveying channel 13 along the conveying direction, and the width of the guiding channel 14 gradually shrinks along the conveying direction, ensuring that the sample tube 200 moves towards the conveying channel 13 along the length direction of the sample tube 200, thereby avoiding the situation where the sample tube 200 cannot enter the conveying channel 13 due to misalignment with the stop and through port, resulting in misjudgment by the sensor 30.

[0063] Please refer to Figure 1 and Figure 2, in some embodiments of the present invention, the stop mechanism 20 includes a fixed stop 21 and a movable stop 22. The fixed stop 21 is disposed on the mounting member 10 and is located at the inlet end of the conveying channel 13. The movable stop 22 is disposed opposite to the fixed stop 21 and encloses to form the stop-through opening. The movable stop 22 is movably disposed to move towards or away from the fixed stop 21.

[0064] In the technical solution of the foregoing embodiment, a stop mechanism 20 is provided in the attitude recognition mechanism 100 to hold the connection position of the tube body 210 of the sample tube 200 and the tube cap 220. Then, it is determined whether the tube body 210 or the tube cap 220 enters the conveying channel 13 through the sensor 30 to judge the orientation of the sample tube 200. In this embodiment, the stop mechanism 20 includes a fixed stop 21 and a movable stop 22. The fixed stop 21 and the movable stop 22 are respectively disposed on both sides of the conveying channel to enclose and form a stop-through opening. At the same time, the movable stop 22 is slidably disposed to move towards or away from the fixed stop 21. On the one hand, after the attitude detection of a sample tube 200 is completed, the movable stop 22 moves away from the fixed stop 21 so that a section with a larger cross-sectional dimension of the sample tube 200 can pass through the stop mechanism 20 and enter the conveying channel 13 to enter the next process. Then, the movable stop 22 resets to prepare for the attitude detection of the next sample tube 200. On the other hand, the distance between the movable stop 22 and the fixed stop 21 can be adjusted to adjust the size of the stop-through opening, meet the usage requirements of sample tubes 200 of different sizes, and improve the applicability of the attitude recognition mechanism 100.

[0065] It should be noted that the movable stop 22 can be movably disposed, and can be slidably disposed on the mounting frame 10 or rotatably disposed on the mounting frame 10. It only needs to make the stop-through opening allow the sample tube 200 to completely pass through the stop-through opening when the movable stop 22 moves away from the fixed stop 21, and block a section with a larger cross-sectional dimension of the sample tube 200 from passing through when the movable stop 22 moves closer to the fixed stop 21.

[0066] Please refer to Figure 1 and Figure 2 , in some embodiments of the present invention, the attitude recognition mechanism 100 further includes a driving mechanism 40. The driving mechanism 40 is disposed on the mounting member 10 and is in transmission connection with the movable stop 22 to drive the movable stop 22 to move towards or away from the fixed stop 21.

[0067] In the technical solution of the foregoing embodiment, the stop mechanism 20 includes a fixed stop block 21 and a moving stop block 22 which are oppositely arranged. The moving stop block 22 can slide towards or away from the fixed stop block 21 to close or open the conveying channel 13. In this embodiment, the attitude recognition mechanism 100 further includes a driving mechanism 40. The driving mechanism 40 is arranged on the mounting member 10 and is in transmission connection with the moving stop block 22 to drive the moving stop block 22 to move towards or away from the fixed stop block 21, thereby improving the automation degree of the attitude recognition mechanism 100.

[0068] It should be noted that in this embodiment, the driving mechanism 40 is in transmission connection with the moving stop block 22. The driving mechanism 40 can be, but is not limited to, a driving motor or a cylinder, and its transmission connection method can be, but is not limited to, a connecting rod transmission, a gear transmission, or a belt transmission, etc., and is not limited herein.

[0069] In some embodiments of the present invention, the driving mechanism 40 includes a driving member and a reset member. The driving member is in transmission connection with the moving stop block 22 to drive the moving stop block 22 to move away from the fixed stop block 21; the reset member is respectively connected to the mounting member 10 and the moving stop block 22 to drive the moving stop block 22 to move close to the fixed stop block 21.

[0070] In the technical solution of the foregoing embodiment, the attitude recognition mechanism 100 is provided with a driving mechanism 40 for driving the moving stop block 22 to move close to and away from the fixed stop block 21. In some embodiments, the driving mechanism 40 includes a driving member and a reset member. The driving member is in transmission connection with the moving stop block 22 and is used to rigidly drive the moving stop block 22 to move away from the fixed stop block 21, so that the stop and through opening is opened to enable the sample tube 200 to pass through the stop and through opening. The driving member can be, but is not limited to, a driving motor, a cylinder, or an electromagnetic push rod, etc., and the transmission method between the driving member and the moving stop block 22 can be, but is not limited to, a connecting rod transmission, a gear transmission, or a belt transmission, etc.; it should be noted that the driving member only drives the moving stop block 22 to move away from the fixed stop block 21 to open the stop and through opening, and its transmission connection method can adopt a one-way transmission mechanism such as a cam transmission or a ratchet transmission.

[0071] In some embodiments, the driving member is a driving motor. The driving motor is installed on the mounting member 10, a cam is installed on the output shaft of the driving motor, a pulley is installed on the moving stop block 22, and the rolling surfaces of the cam and the pulley are in mutual contact. When the output shaft of the driving motor rotates, the cam rotates to drive the pulley and the moving stop block 22 to slide on the mounting member 10, so that the moving stop block 22 moves away from the fixed stop block 21 to open the stop and through opening.

[0072] In some embodiments, the driving mechanism 40 further includes a reset member, which may be, but is not limited to, a magnet, a spring or a spring piece. The reset member is respectively connected to the mounting member 10 and the moving stopper 22 to drive the moving stopper 22 to reset to reduce the through-stop port when the driving member relaxes the moving stopper 22. Such a setting makes the driving of the moving stopper 22 by the driving mechanism 40 a non-bidirectional rigid driving. Only when driving the moving stopper 22 away from the fixed stopper 21 to open the through-stop port, a rigid driving method such as a driving motor or a cylinder is adopted; when closing the through-stop port, the driving force for driving the moving stopper 22 to reset is a passive driving force provided by a reset member such as a spring and a magnet, so as to avoid damage to the sample tube 200 caused by the driving member such as a driving motor or a cylinder forcibly moving the moving stopper 22 to reset when there is a foreign object or a sample tube 200 in the through-stop port, resulting in leakage of the sample material and improving the use safety. In this embodiment, when the reset member is a magnet, a first magnet and a second magnet may be provided. The first magnet and the second magnet are respectively arranged on the mounting member 10 and the moving stopper 22 to provide magnetic attraction or repulsion to reset the moving stopper 22.

[0073] Please refer to Figure 2 , in some embodiments of the present invention, the mounting member 10 includes a mounting plate 11 and two guiding protrusions 12. The two guiding protrusions 12 are arranged on the same plate surface of the mounting plate 11 and are spaced apart to enclose and form the conveying channel 13; a sliding groove 121 is recessed on one side surface of one of the guiding protrusions 12 facing the conveying channel 13. The extending direction of the sliding groove 121 is arranged at an angle to the conveying direction. The moving stopper 22 is slidably arranged in the sliding groove 121, and the fixed stopper 21 is arranged on the other guiding protrusion 12.

[0074] In the technical solution of the foregoing embodiment, the stopping mechanism 20 includes a fixed stopper 21 and a moving stopper 22 arranged oppositely. The moving stopper 22 can slide towards or away from the fixed stopper 21 to adjust the size of the through-stop port, which is applicable to sample tubes 200 of different sizes, and can directly pass the sample tube 200 through the conveying channel 13 for boxing after the detection is completed to prepare for the detection of the next sample tube 200. In this embodiment, the mounting member 10 includes a mounting plate 11 and two guiding protrusions 12. The two guiding protrusions 12 are arranged on the same plate surface of the mounting plate 11 and are spaced apart to enclose and form the conveying channel 13; a sliding groove 121 is recessed on one side surface of one of the guiding protrusions 12 facing the conveying channel 13. The extending direction of the sliding groove 121 is arranged at an angle to the conveying direction. The moving stopper 22 is slidably arranged in the sliding groove 121, and the fixed stopper 21 is arranged on the other guiding protrusion 12; at this time, the sliding groove 121 can limit the moving stopper 22 to limit its sliding direction and improve the running stability.

[0075] The present application also provides a sample tube boxing robot, which includes the posture recognition mechanism 100 described in any of the foregoing embodiments. For the specific structure of the posture recognition mechanism 100, reference may be made to the foregoing embodiments. Since the sample tube boxing robot provided by the present application applies all the technical solutions of all the foregoing embodiments, it has at least all the beneficial effects brought by the foregoing technical solutions, which will not be elaborated herein one by one.

[0076] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. An attitude recognition mechanism for detecting the orientation of a sample tube, the sample tube comprising a tube body and a tube cap connected to each other, and the transverse dimension of the tube body being different from the transverse dimension of the tube cap, characterized in that, The posture recognition mechanism includes: a mounting member, the mounting member includes a mounting plate and two guiding protrusions, the two guiding protrusions are arranged on the same plate surface of the mounting plate and are spaced apart to enclose a conveying channel; a stop mechanism, the stop mechanism is arranged at the inlet end of the conveying channel and is provided with a stop and through port communicating with the conveying channel, and the stop and through port is used for clamping the connection position of the tube body and the tube cap; and a sensor, the sensor is arranged on the mounting member, when the sample tube is limited by the stop mechanism, the sensor detects whether the tube body or the tube cap enters the stop and through port to judge the orientation of the sample tube; the stop mechanism includes a fixed stop block and a movable stop block, the fixed stop block is arranged on the mounting member and is located at the inlet end of the conveying channel; the movable stop block is arranged opposite to the fixed stop block and encloses the stop and through port, and the movable stop block is movably arranged to move towards or away from the fixed stop block to adjust the size of the stop and through port; taking the arrangement direction of the stop mechanism and the conveying channel as the conveying direction of the sample tube, the sensor is located in front of the stop mechanism along the conveying direction; alternatively, the posture recognition mechanism is provided with two such sensors, one of the sensors is located behind the stop mechanism along the conveying direction, and the other sensor is located in front of the stop mechanism along the conveying direction; when a part of the sample tube is inserted into the stop and through port, a length of the part entering the stop and through port is defined as L3, the length of the stop mechanism along the conveying direction is L4, and the distance between the sensor located in front of the stop mechanism along the conveying direction and the stop mechanism is L, satisfying L < L3 - L4.

2. The attitude recognition mechanism according to claim 1, wherein, when there is a sensor located behind the stop mechanism, the length of the sample tube is defined as L1, when a part of the sample tube is inserted into the stop and through port, a length of the part outside the stop and through port is L2, and the distance between the sensor and the stop position of the stop and through port is L, satisfying L2 < L < L1.

3. The attitude recognition mechanism according to claim 1, characterized in that, The sensor is one of a photoelectric sensor, an optical fiber sensor, and a microswitch.

4. The attitude recognition mechanism according to claim 1, characterized in that The mounting member is further provided with a guiding channel, the guiding channel communicates with the inlet end of the conveying channel, and the width of the guiding channel gradually shrinks along the conveying direction.

5. The attitude recognition mechanism according to claim 1, characterized in that, The posture recognition mechanism further includes a driving mechanism, the driving mechanism is arranged on the mounting member and is in transmission connection with the movable stop block to drive the movable stop block to move towards or away from the fixed stop block.

6. The gesture recognition mechanism according to claim 5, wherein, The driving mechanism includes: a driving member, the driving member is in transmission connection with the movable stop block to drive the movable stop block away from the fixed stop block; and a reset member, the reset member is respectively connected to the mounting member and the movable stop block to drive the movable stop block close to the fixed stop block.

7. A sample tube boxing robot, characterized in that, including the posture recognition mechanism according to any one of claims 1 to 6.

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