Robotic labeling device, equipment and method

Abstract

The present application provides a manipulator-type labeling device, which includes a body, a plurality of test tube bins arranged on the body at upper and lower intervals, a first manipulator arm, a first driving mechanism, a second manipulator arm, a second driving mechanism, a clamp, a third driving mechanism and a labeling mechanism. Each test tube bin is used to place a plurality of test tubes at intervals; the first manipulator arm is slidably connected to the body; the second manipulator arm is slidably connected to the first manipulator arm; the clamp is slidably connected to the second manipulator arm and is used to clamp the test tubes. The first driving mechanism drives the first manipulator arm to slide back and forth along the first axis to the position of each test tube bin, the second driving mechanism drives the second manipulator arm to slide back and forth along the second axis, and the third driving mechanism drives the clamp to reciprocate along the third axis; thereby realizing the linkage between the first manipulator arm, the second manipulator arm and the clamp so that the clamp clamps the test tube to the labeling mechanism for labeling. The present application also provides a manipulator-type labeling device using the manipulator-type labeling device, and a method for automatically grabbing and labeling test tubes.

Description

Technical Field

[0001] The present application relates to the field of labeling, and more specifically, to a robotic labeling device, equipment and method. Background Art

[0002] In hospitals and health quarantine departments, a large number of people need to be sampled and analyzed, and it is usually necessary to bind the basic identity information of the sampling personnel and the sample information to the test tube.

[0003] Before sample collection, test tubes need to be distributed to a large number of people. The existing methods of distributing test tubes include manual distribution and vibrating plate sorting and distribution of test tubes. The manual distribution method is time-consuming and labor-intensive; the method of using a vibrating plate to sort and distribute test tubes takes up a lot of space and is generally used on the production line of the factory. After the test tubes are distributed, the staff prints out labels with the basic information of the samplers and the sample information, and then pastes the labels on the test tubes. In this way, the manual labeling method is time-consuming and labor-intensive, and it is inevitable that the sampler information, sample information and the sample sampled in the test tube will be incorrectly bound. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a robotic labeling device, equipment and method to solve the problem that the manual labeling method in the prior art is time-consuming and labor-intensive, and the manual labeling causes binding errors between sample information and pasted label information.

[0005] To achieve the above objectives, the present application provides a manipulator labeling device, comprising:

[0006] A machine body and a plurality of test tube compartments spaced apart from each other on the machine body, wherein each of the test tube compartments is used to place a plurality of test tubes at intervals;

[0007] A first mechanical arm, slidably connected to the body;

[0008] A first driving mechanism, disposed on the machine body and used for driving the first mechanical arm to slide reciprocatingly along the first axis to the position of each test tube bin;

[0009] A second mechanical arm, slidably connected to the first mechanical arm;

[0010] A second driving mechanism, disposed on the first mechanical arm and used to drive the second mechanical arm to slide reciprocatingly along the second axis;

[0011] A clamp, slidably connected to the second mechanical arm and used to clamp the test tube;

[0012] A third driving mechanism, disposed on the second mechanical arm and used to drive the clamp to reciprocate along a third axis;

[0013] a labeling mechanism, disposed on the machine body and used for labeling the test tube, and

[0014] The first axis, the second axis and the third axis intersect with each other, and the first mechanical arm, the second mechanical arm and the clamp are linked to enable the clamp to clamp the test tube to the labeling mechanism for labeling.

[0015] In one application embodiment, the body includes two rod portions arranged relatively parallel to each other, the first robotic arm slides and is vertically connected to the two rod portions; the second robotic arm slides and is vertically connected to the first robotic arm; the first axis, the second axis and the third axis are perpendicular to each other.

[0016] In one application embodiment, the first driving mechanism includes four first synchronous wheels, a rotating rod, two first synchronous belts, and a first driving device; one first synchronous wheel is respectively arranged at the opposite ends of each of the rod portions, each of the first synchronous belts is wound around the first synchronous wheels at the two ends of the rod portions and fixedly connected to the first robotic arm, the opposite ends of the rotating rod are respectively rotationally connected to one of the first synchronous wheels on the two rod portions, and the first driving device is rotationally connected to the rotating rod and is used to drive the rotating rod to rotate.

[0017] In one application embodiment, the second driving mechanism includes three second synchronous wheels, a second synchronous belt and a second driving device; the second driving device is fixedly set on the first robotic arm, rotatably connected to one of the second synchronous wheels and used to drive the second synchronous belt to rotate; the other two second synchronous wheels are respectively set at the opposite ends of the first robotic arm, and the second synchronous belt is wrapped around the three second synchronous wheels and fixedly connected to the second robotic arm.

[0018] In one embodiment of the application, the third driving mechanism includes two third synchronous wheels respectively arranged at opposite ends of the second robotic arm, a third synchronous belt wrapped around the two third synchronous wheels, and a third driving device rotationally connected to one of the third synchronous wheels, and the third driving device is used to drive the third synchronous wheel connected thereto to rotate.

[0019] In one embodiment of the application, a plurality of first detection switches are provided on the machine body, and the plurality of first detection switches are provided in one-to-one correspondence with the plurality of test tube bins, and each first detection switch is used to detect whether the first robotic arm slides to the test tube bin position corresponding to the first detection switch when sliding on the machine body.

[0020] In one embodiment of the application, a second detection switch is provided on the clamp; when the clamp clamps a test tube in the test tube bin, the second detection switch is used to detect whether the position of the test tube bin clamped by the clamp is empty.

[0021] In one embodiment of the application, the labeling mechanism includes a sliding plate slidably connected to the body, and a clamping mechanism, a labeling drive mechanism and a labeling machine arranged on the sliding plate. The clamping mechanism is used to clamp the test tube by the clamp, and the labeling machine is used to label the test tube clamped by the clamping mechanism.

[0022] In one application embodiment, the labeling drive mechanism includes a fourth drive device and a drive roller installed on one side of the sliding plate, one end of the drive roller is connected to the fourth drive device that drives the drive roller to rotate, and the other end passes through the sliding plate and cooperates with the clamping mechanism to clamp the test tube to be labeled.

[0023] In one application embodiment, the clamping mechanism includes a fixed plate fixedly connected to the sliding plate, a fifth driving device connected to one side of the fixed plate, a rotating member located on the other side of the fixed plate and rotatably connected to the fifth driving device, a support plate slidably connected to the fixed plate, and a driven roller arranged on the support plate, one end of the support plate is movably connected to the rotating member and the other end is used to place the test tube clamped by the clamp; the fifth driving device drives the rotating member to rotate to drive the support plate to slide on the fixed plate, so that the driven roller, the support plate and the driving roller cooperate to clamp the test tube to be labeled.

[0024] In one embodiment of the application, the clamping mechanism further includes an elastic elastic member, wherein the elastic member is located between the fixed plate and the supporting plate, and one end of the elastic member is fixedly connected to the supporting plate and the other end is fixedly connected to the fixed plate.

[0025] In one embodiment of the application, the clamping mechanism further includes a third detection switch disposed on a side of the fixed plate facing the support plate, and the third detection switch is used to detect an angle at which the fifth driving device drives the rotating member to rotate.

[0026] In one embodiment of the application, each of the test tube compartments is slidably connected to the body.

[0027] In the manipulator-type labeling device, the first driving mechanism drives the first mechanical arm to slide back and forth along the first axis, the second driving mechanism drives the second mechanical arm to slide back and forth along the second axis, and the third driving mechanism drives the clamp to slide back and forth along the third axis; and because the first mechanical arm is connected to the body, the second mechanical arm is connected to the first mechanical arm, and the clamp is connected to the second mechanical arm; therefore, the first driving mechanism, the second driving mechanism and the third driving mechanism enable the clamp to realize linkage along the first axis, the second axis and the third axis, so that the clamp automatically clamps the test tube in any test tube bin to the labeling mechanism to complete the labeling operation. The manipulator-type labeling device can automatically grab the test tube and automatically label the test tube. This method saves time and labor, and is conducive to reducing the phenomenon of errors in the judgment of collected sample information and label information caused by manual operation.

[0028] The present application also provides a manipulator labeling device, comprising:

[0029] a housing; and

[0030] The manipulator-type labeling device is arranged in the shell.

[0031] In the manipulator-type labeling device, the manipulator-type labeling device can automatically grab the test tube and automatically label the test tube, which saves time and labor, and is conducive to reducing the phenomenon of errors in the judgment of collected sample information and label information caused by manual operation.

[0032] The present application also provides a test tube automatic grasping and labeling method, based on the manipulator type labeling device, the labeling mechanism includes a clamping mechanism, a labeling drive mechanism and a labeling machine, and the test tube automatic grasping and labeling method includes:

[0033] The first driving mechanism, the second driving mechanism and the third driving mechanism are used to drive the clamp to realize linkage on the first axis, the second axis and the third axis, so that the clamp clamps the test tube in the test tube warehouse;

[0034] The first driving mechanism, the second driving mechanism and the third driving mechanism are used to jointly drive the test tube clamped by the clamp to the pressing mechanism of the labeling mechanism;

[0035] clamping the test tube using the clamping mechanism and the labeling drive mechanism; and,

[0036] When the test tube is driven to rotate by the labeling drive mechanism, the labeling machine is used to print labels to label the test tube.

[0037] The test tube automatic grabbing and labeling method can effectively realize automatic grabbing of test tubes and labeling of test tubes, which saves time and labor, and is conducive to reducing the phenomenon of errors in the judgment of collected sample information and label information caused by manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 It is a schematic plan view of a manipulator-type labeling device according to an embodiment of the present application;

[0040] Figure 2 A three-dimensional schematic diagram of a manipulator-type labeling device according to an embodiment of the present application;

[0041] Figure 3 This is a schematic structural diagram of a first robotic arm, a second robotic arm, and a clamp of a robotic labeling device according to an embodiment of the present application;

[0042] Figure 4 It is another structural schematic diagram of the first mechanical arm, the second mechanical arm and the clamp of the manipulator type labeling device of the embodiment of the present application;

[0043] Figure 5 A schematic diagram of the structure of a labeling mechanism according to an embodiment of the present application;

[0044] Figure 6 It is another structural schematic diagram of the labeling mechanism of the embodiment of the present application;

[0045] Figure 7 This is a flow chart of the automatic test tube grabbing and labeling method according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0048] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0050] The robot-type labeling device provided in the embodiment of the present application is now described in conjunction with the accompanying drawings.

[0051] Refer to Figure 1 , Figure 2 and Figure 3 The robot-type labeling device 100 provided in the present application includes a body 101, a plurality of test tube warehouses 10, a first robot arm 20, a first driving mechanism 30, a second robot arm 40, a second driving mechanism 50, a clamp 60, a third driving mechanism 70 and a labeling mechanism 80.

[0052] Specifically, the plurality of test tube bins 10 are arranged on the body 101 at intervals, and each of the test tube bins 10 is used to place a plurality of test tubes at intervals; the first robotic arm 20 is slidably connected to the body 101; the first driving mechanism 30 is arranged on the body 101 and is used to drive the first robotic arm 20 to slide back and forth along the first axis to the position of each test tube bin 10; the second robotic arm 40 is slidably connected to the first robotic arm 20; the second driving mechanism 50 is arranged on the first robotic arm 20 and is used to drive the second robotic arm 40 to slide back and forth along the second axis The axis reciprocates; the clamp 60 is slidably connected to the second robotic arm 40 and is used to clamp the test tube; the third driving mechanism 70 is arranged on the second robotic arm 40 and is used to drive the clamp 60 to reciprocate along the third axis; the labeling mechanism 80 is arranged on the body 101 and is used to label the test tube; the first axis, the second axis and the third axis intersect with each other; the first robotic arm 20, the second robotic arm 40 and the clamp 60 are linked to enable the clamp 60 to clamp the test tube to the labeling mechanism 80 for labeling.

[0053] It can be understood that the first robotic arm 20 is slidably connected to the body 101, and the first driving motor drives the first robotic arm 20 to slide reciprocatingly along the first axis on the body 101 to the position of each test tube warehouse 10; the second robotic arm 40 is slidably connected to the first robotic arm 20, and the second driving mechanism 50 is used to drive the second robotic arm 40 to slide reciprocatingly along the second axis on the first robotic arm 20; the clamp 60 is slidably connected to the second robotic arm 40, and the third driving mechanism 70 is used to drive the clamp 60 to slide reciprocatingly along the third axis on the second robotic arm 40.

[0054] In this embodiment, a plurality of the test tube bins 10 are arranged on the body 101 at intervals in the first axis direction, and each of the test tube bins 10 is slidably connected to the body 101, so that it is convenient to replace the test tubes in the test tube bins 10. A plurality of test tube bins 10 can be used to place test tubes of different sizes. In one embodiment, the same test tube bin 10 is used to place test tubes of the same size, and in other embodiments, the same test tube bin 10 can be used to place test tubes of different sizes.

[0055] In this embodiment, the first driving mechanism 30 drives the first mechanical arm 20 to slide back and forth along the first axis, the second driving mechanism 50 drives the second mechanical arm 40 to slide back and forth along the second axis, and the third driving mechanism 70 drives the clamp 60 to slide back and forth along the third axis; and since the first mechanical arm 20 is connected to the body 101, the second mechanical arm 40 is connected to the first mechanical arm 20, and the clamp 60 is connected to the second mechanical arm 40; therefore, the first driving mechanism 30, the second driving mechanism 50 and the third driving mechanism 70 enable the clamp 60 to realize linkage along the first axis, the second axis and the third axis, so that the clamp 60 automatically clamps the test tube in any test tube bin 10 to the labeling mechanism 80 to complete the labeling operation. The manipulator-type labeling device 100 can automatically grab the test tube and automatically label the test tube, which saves time and labor, and is conducive to reducing the phenomenon of errors in the judgment of the collected sample information and label information caused by manual operation.

[0056] Further references Figure 1 , Figure 2 and Figure 3 The body 101 includes two rods 102 arranged relatively parallel to each other, the first robotic arm 20 slides and is vertically connected to the two rods 102; the second robotic arm 40 slides and is vertically connected to the first robotic arm 20; the first axis, the second axis and the third axis are perpendicular to each other.

[0057] It can be understood that in one embodiment, in the XYZ rectangular coordinate system, the first axis is the Z axis, the second axis is the X axis, and the third axis is the Y axis. The test tube warehouses 10 are arranged on the body 101 at intervals along the Z axis.

[0058] Combined with reference Figure 2 , Figure 3 and Figure 4 The first driving mechanism 30 includes four first synchronous wheels 31, a rotating rod 32, two first synchronous belts 33, and a first driving device 34; one first synchronous wheel 31 is respectively arranged at the opposite ends of each of the rod portions 102, each of the first synchronous belts 33 is wound around the first synchronous wheels 31 at the two ends of the rod portions 102 and fixedly connected to the first robotic arm 20, the opposite ends of the rotating rod 32 are respectively rotationally connected to one of the first synchronous wheels 31 on the two rod portions 102, and the first driving device 34 is rotationally connected to the rotating rod 32 and is used to drive the rotating rod 32 to rotate.

[0059] Further references Figure 2 , Figure 3 and Figure 4 The second driving mechanism 50 includes three second synchronous wheels 51, a second synchronous belt 52 and a second driving device 53; the second driving device 53 is fixedly set on the first robotic arm 20, rotatably connected to one of the second synchronous wheels 51 and used to drive the second synchronous belt 52 to rotate; the other two second synchronous wheels 51 are respectively set at the opposite ends of the first robotic arm 20, and the second synchronous belt 52 is wrapped around the three second synchronous wheels 51 and fixedly connected to the second robotic arm.

[0060] Further references Figure 2 , Figure 3 and Figure 4 The third driving mechanism 70 includes two third synchronous wheels 71 respectively arranged at opposite ends of the second robotic arm 40, a third synchronous belt 72 wound around the two third synchronous wheels 71, and a third driving device 73 rotationally connected to one of the third synchronous wheels 71, and the third driving device 73 is used to drive the third synchronous wheel 71 connected thereto to rotate.

[0061] In this embodiment, the first driving device 34 drives the rotating rod 32 to rotate, so as to drive the first synchronous wheel 31 connected to the rotating rod 32 to rotate, thereby driving the two first synchronous belts 33 to rotate, so that the first mechanical arm 20 connected to the first synchronous belt 33 slides back and forth along the first axis on the body 101, which can be understood as sliding up and down. The second driving device 53 drives the second synchronous wheel 51 rotatably connected thereto to rotate, so as to drive the second synchronous belt 52 to rotate, so that the second mechanical arm 40 connected to the second synchronous belt 52 slides back and forth along the second axis on the first mechanical arm 20, which can be understood as sliding left and right. The third driving device 73 drives the third synchronous wheel 71 to rotate, so as to drive the third synchronous belt 72 to rotate, so that the clamp 60 connected to the third synchronous belt 72 slides back and forth along the third axis on the second mechanical arm 40, which can be understood as sliding forward and backward. Therefore, the first driving mechanism 30 , the second driving mechanism 50 and the third driving mechanism 70 enable the clamp 60 to achieve three-axis linkage, that is, the clamp 60 can move to a position of the test tube warehouse 10 at any height and grab a test tube at any position in a test tube warehouse 10 .

[0062] In one embodiment, the first driving device 34, the second driving device 53, and the third driving device 73 can be, but are not limited to, motors, specifically servo motors.

[0063] Further references Figure 2 The body 101 is provided with a plurality of first detection switches 103, and the plurality of first detection switches 103 are provided in a one-to-one correspondence with the plurality of test tube bins 10, and each first detection switch 103 is used to detect whether the first mechanical arm 20 slides to the position of the test tube bin 10 corresponding to the first detection switch 103 when sliding on the body 101. One first detection switch 103 is provided on the body 101 and is provided near one test tube bin 10.

[0064] In this embodiment, a second detection switch (not shown) is provided on the clamp 60; when the clamp 60 clamps a test tube in the test tube bin 10, the second detection switch is used to detect whether the position of the test tube bin 10 clamped by the clamp 60 is empty.

[0065] In this embodiment, the first detection switch 103 and the second detection switch are sensors, but are not limited thereto. In one embodiment, the first detection switch 103 and the second detection switch are diffuse reflection sensors, specifically U-shaped photoelectric sensors. In other embodiments, the first detection switch 103 and the second detection switch may be through-beam sensors.

[0066] Combined with reference Figure 2 , Figure 5 and Figure 6 The labeling mechanism 80 includes a sliding plate 81 slidably connected to the body 101, a pressing mechanism 82, a labeling driving mechanism 83 and a labeling machine 84 arranged on the sliding plate 81. The pressing mechanism 82 is used to clamp the clamp 60 to clamp the test tube, and the labeling machine 84 is used to label the test tube clamped by the pressing mechanism 82.

[0067] Further references Figure 6 The labeling drive mechanism 83 includes a fourth drive device 831 and a drive roller 832 installed on one side of the sliding plate 81. One end of the drive roller 832 is connected to the fourth drive device 831 that drives the drive roller 832 to rotate, and the other end passes through the sliding plate 81 and cooperates with the clamping mechanism 82 to clamp the test tube to be labeled.

[0068] Further references Figure 5 and Figure 6 The clamping mechanism 82 includes a fixed plate 821 fixedly connected to the sliding plate 81, a fifth driving device 822 connected to one side of the fixed plate 821, a rotating member 823 located at the other side of the fixed plate 821 and rotatably connected to the fifth driving device 822, a support plate 824 slidably connected to the fixed plate 821, and a driven roller 825 arranged on the support plate 824, one end of the support plate 824 is movably connected to the rotating member 823 and the other end is used to place the test tube clamped by the clamp 60; the fifth driving device 822 drives the rotating member 823 to rotate to drive the support plate 824 to slide on the fixed plate 821, so that the driven roller 825, the support plate 824 and the driving roller 832 cooperate to clamp the test tube to be labeled.

[0069] In this embodiment, one end of the support plate 824 is movably connected to the rotating member 823 and the other end is used to place the test tube issued by the issuing mechanism, and the driven roller 825 is located between the two ends of the support plate 824.

[0070] In this embodiment, the contact points of the driving roller 832 and the test tube to be labeled, the contact points of the driven roller 825 and the test tube to be labeled, and the contact points of the support plate 824 and the test tube to be labeled form a circle. With this structure, when the labeling machine 84 labels the test tube to be labeled, the test tube to be labeled is always clamped between the driven roller 825, the support plate 824, and the driving roller 832. In one embodiment, the contact points of the driving roller 832 and the test tube to be labeled, the contact points of the driven roller 825 and the test tube to be labeled, and the contact points of the support plate 824 and the test tube to be labeled form a circle, and the three contact points bisect the arc of the circle; in this way, when the labeling machine 84 labels the test tube to be labeled, the test tube to be labeled is better clamped between the driven roller 825, the support plate 824, and the driving roller 832.

[0071] It can be understood that when the labeling machine 84 labels the test tube to be labeled, the fourth driving device 831 drives the driving roller 832 to rotate, and the driving roller 832 drives the test tube to be labeled and the driven roller 825 to rotate, so that the label output by the labeling machine 84 is attached to the test tube to be labeled.

[0072] Further references Figure 5 and Figure 6 The clamping mechanism 82 further includes an elastic elastic member 826, which is located between the fixing plate 821 and the supporting plate 824, and one end of the elastic member 826 is fixedly connected to the supporting plate 824 and the other end is fixedly connected to the fixing plate 821. The different deformation processes of the elastic member 826 enable the driven roller 825, the supporting plate 824 and the driving roller 832 to adapt to different test tube sizes during the process of clamping the test tube. In one embodiment, the elastic member 826 may be, but is not limited to, a compressible spring.

[0073] Further references Figure 6 The clamping mechanism 82 further includes a third detection switch 827 disposed on the side of the fixing plate 821 facing the supporting plate 824 , and the third detection switch 827 is used to detect the angle at which the fifth driving device 822 drives the rotating member 823 to rotate.

[0074] The first detection switch 103 senses the angle of rotation of the rotating member 823 driven by the fifth driving device 822, thereby accurately controlling the rotation of the rotating member 823 to drive the support plate 824 to slide to a suitable position, wherein the suitable position is a position that enables the labeling machine 84 to label the test tube to be labeled on the support plate 824.

[0075] Further references Figure 5, the labeling mechanism 80 further includes a fourth detection switch (not shown) and a fifth detection switch (not shown) both disposed on the sliding plate 81, and the pressing mechanism 82 further includes a vibrator 828 mounted on the side of the support plate 824 facing the fixed plate 821. Specifically, when the fourth detection switch and the fifth detection switch are used to detect whether the test tube to be labeled on the support plate 824 is close to the driving roller 832, if it is not close to the driving roller 832, the vibrator 828 is used to vibrate the support plate 824. The fourth detection switch and the fifth detection switch detect whether the test tube to be labeled on the support plate 824 is close to the driving roller 832 by a cross-beam method.

[0076] In one embodiment, the labeling machine 84 includes a printer, which prints and outputs a label including the identity information of the user and the sample information. The fourth detection switch and the fifth detection switch are sensors, but are not limited thereto, and are specifically through-beam sensors. The fourth drive device 831 and the fifth drive device 822 can be, but are not limited to, motors, specifically servo motors.

[0077] The embodiment of the present application also provides a robot-type labeling device using the above-mentioned robot-type labeling device, and the robot-type labeling device includes a shell and a robot-type labeling device arranged in the shell.

[0078] The manipulator-type labeling device can automatically grab the test tube and automatically label the test tube, which saves time and labor, and is conducive to reducing the phenomenon of errors in the judgment of collected sample information and label information caused by manual operation.

[0079] Reference Figure 7 The embodiment of the present application also provides a test tube automatic grasping and labeling method, which is based on the manipulator-type labeling device, and the labeling mechanism of the manipulator-type labeling device includes a clamping mechanism, a labeling drive mechanism and a labeling machine. The test tube automatic grasping and labeling method includes the following steps:

[0080] Step S1: using the first driving mechanism, the second driving mechanism and the third driving mechanism to drive the clamp to realize linkage on the first axis, the second axis and the third axis, so that the clamp clamps the test tube in the test tube bin;

[0081] Step S2: using the first driving mechanism, the second driving mechanism and the third driving mechanism to jointly drive the test tube clamped by the clamp to the pressing mechanism of the labeling mechanism;

[0082] Step S3: clamping the test tube using the clamping mechanism and the labeling drive mechanism;

[0083] Step S4: when the test tube is driven to rotate by the labeling drive mechanism, the test tube is labeled by printing a label by the labeling machine.

[0084] The test tube automatic grasping and labeling method can effectively realize the automatic grasping of test tubes and the labeling of test tubes, which saves time and labor, and is conducive to reducing the phenomenon of errors in the judgment of collected sample information and label information caused by manual operation.

[0085] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot-type labeling device, characterized in that: include: A machine body and a plurality of test tube compartments spaced apart from each other on the machine body, wherein each of the test tube compartments is used to place a plurality of test tubes at intervals; A first mechanical arm, slidably connected to the body; A first driving mechanism, disposed on the machine body and used for driving the first mechanical arm to slide reciprocatingly along the first axis to the position of each test tube bin; A second mechanical arm, slidably connected to the first mechanical arm; A second driving mechanism, disposed on the first mechanical arm and used to drive the second mechanical arm to slide reciprocatingly along a second axis; A clamp, slidably connected to the second mechanical arm and used to clamp the test tube; A third driving mechanism, disposed on the second mechanical arm and used to drive the clamp to reciprocate along a third axis; a labeling mechanism, disposed on the machine body and used to label the test tube, and The first axis, the second axis and the third axis intersect each other, and the first mechanical arm, the second mechanical arm and the clamp are linked to enable the clamp to clamp the test tube to the labeling mechanism for labeling; The labeling mechanism comprises a sliding plate slidably connected to the body, a pressing mechanism, a labeling drive mechanism and a labeling machine arranged on the sliding plate, wherein the pressing mechanism is used to clamp the fixture to clamp the test tube, and the labeling machine is used to label the test tube clamped by the pressing mechanism; The labeling drive mechanism comprises a fourth drive device and a drive roller installed on one side of the sliding plate, one end of the drive roller is connected to the fourth drive device for driving the drive roller to rotate, and the other end passes through the sliding plate and cooperates with the clamping mechanism to clamp the test tube to be labeled; The clamping mechanism comprises a fixed plate fixedly connected to the sliding plate, a fifth driving device connected to one side of the fixed plate, a rotating member located at the other side of the fixed plate and rotatably connected to the fifth driving device, a supporting plate slidably connected to the fixed plate, and a driven roller arranged on the supporting plate, one end of the supporting plate being movably connected to the rotating member and the other end being used for placing the test tube clamped by the clamp; the fifth driving device drives the rotating member to rotate to drive the supporting plate to slide on the fixed plate, so that the driven roller, the supporting plate and the driving roller cooperate to clamp the test tube to be labeled; The clamping mechanism further comprises an elastic elastic member, the elastic member is located between the fixing plate and the supporting plate, one end of the elastic member is fixedly connected to the supporting plate and the other end is fixedly connected to the fixing plate; The labeling mechanism further includes a fourth detection switch and a fifth detection switch both of which are arranged on the sliding plate, and the pressing mechanism further includes a vibrator installed on one side of the support plate, the fourth detection switch and the fifth detection switch are used to detect whether the test tube to be labeled on the support plate is close to the driving roller, if not close to the driving roller, the vibrator is used to vibrate the support plate, and the fourth detection switch and the fifth detection switch detect whether the test tube to be labeled on the support plate is close to the driving roller by a counter-shooting method; The contact points of the driving roller and the test tube to be labeled, the contact points of the driven roller and the test tube to be labeled, and the contact points of the support plate and the test tube to be labeled form a circle, and the three contact points bisect the arc of the circle; in this way, when the labeling machine labels the test tube to be labeled, the test tube to be labeled is clamped between the driven roller, the support plate and the driving roller.

2. The robot-type labeling device according to claim 1, characterized in that: The machine body includes two rods arranged relatively parallel to each other; the first mechanical arm slides and is vertically connected to the two rods; the second mechanical arm slides and is vertically connected to the first mechanical arm; the first axis, the second axis and the third axis are perpendicular to each other.

3. The robot-type labeling device according to claim 2, characterized in that: The first driving mechanism includes four first synchronous wheels, a rotating rod, two first synchronous belts, and a first driving device; one first synchronous wheel is respectively arranged at the opposite ends of each of the rod parts, each of the first synchronous belts is wound around the first synchronous wheels at the two ends of the rod parts and fixedly connected to the first robotic arm, the opposite ends of the rotating rod are respectively rotationally connected to one of the first synchronous wheels on the two rod parts, and the first driving device is rotationally connected to the rotating rod and is used to drive the rotating rod to rotate.

4. The robot-type labeling device according to claim 1, characterized in that: The second driving mechanism includes three second synchronous wheels, a second synchronous belt and a second driving device; the second driving device is fixedly set on the first mechanical arm, rotatably connected to one of the second synchronous wheels and used to drive the second synchronous belt to rotate; the other two second synchronous wheels are respectively set at the opposite ends of the first mechanical arm, and the second synchronous belt is wrapped around the three second synchronous wheels and fixedly connected to the second mechanical arm.

5. The robot-type labeling device according to claim 1, characterized in that: The third driving mechanism includes two third synchronous wheels respectively arranged at opposite ends of the second robotic arm, a third synchronous belt wound around the two third synchronous wheels, and a third driving device rotationally connected to one of the third synchronous wheels, and the third driving device is used to drive the third synchronous wheel connected thereto to rotate.

6. The robot-type labeling device according to claim 1, characterized in that: A plurality of first detection switches are arranged on the machine body, and the plurality of first detection switches are arranged in one-to-one correspondence with the plurality of test tube bins. Each first detection switch is used to detect whether the first robot arm slides to the test tube bin position corresponding to the first detection switch when sliding on the machine body.

7. The robot-type labeling device according to claim 1, characterized in that: The clamp is provided with a second detection switch; when the clamp clamps a test tube in the test tube bin, the second detection switch is used to detect whether the position of the test tube bin clamped by the clamp is empty.

8. The robot-type labeling device according to claim 1, characterized in that: The clamping mechanism further includes a third detection switch disposed on a side of the fixing plate facing the supporting plate, and the third detection switch is used to detect an angle at which the fifth driving device drives the rotating member to rotate.

9. The robot-type labeling device according to claim 1, characterized in that: Each of the test tube bins is slidably connected to the machine body.

10. A robot-type labeling device, characterized in that: include: case; as well as The robotic labeling device according to any one of claims 1 to 9 is arranged in the housing.

11. A method for automatically grabbing and labeling test tubes, based on the manipulator labeling device according to claim 1, wherein the labeling mechanism comprises a clamping mechanism, a labeling drive mechanism and a labeling machine, characterized in that: include: The first driving mechanism, the second driving mechanism and the third driving mechanism are used to drive the clamp to realize linkage on the first axis, the second axis and the third axis, so that the clamp clamps the test tube in the test tube warehouse; The first driving mechanism, the second driving mechanism and the third driving mechanism are used to jointly drive the test tube clamped by the clamp to the pressing mechanism of the labeling mechanism; Clamping the test tube using the clamping mechanism and the labeling drive mechanism; as well as When the test tube is driven to rotate by the labeling drive mechanism, the labeling machine is used to print labels to label the test tube.

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