Blood frame storage and unloading system, storage and unloading method, and method for picking blood boxes of different blood types in the blood frame storage and unloading system

Abstract

The present invention discloses a blood frame in-and-out storage system, an out-of-stock method, and a method for the blood frame in-and-out storage system to hook blood boxes of different blood types, including a shelf, a grabbing manipulator assembly, an in-and-out storage transfer rack, and a blood frame placement table, wherein a plurality of blood frames are placed in the shelf; the grabbing manipulator assembly comprises a support frame, a manipulator support plate, a first hooking assembly is arranged on the manipulator support plate, the manipulator support plate moves up and down on the support frame, and the first hooking assembly carries the blood frames on the shelf and the manipulator support plate back and forth; the manipulator support plate can move to the bottom of the second hooking assembly through the driving of the first driving assembly and the second driving assembly, and the in-and-out storage transfer rack is provided with a second hooking assembly; the second hooking assembly can carry the blood frames on the blood frame placement table and the manipulator support plate below the in-and-out storage transfer rack back and forth. The present invention reduces the labor intensity of the staff and improves the in-and-out storage efficiency of frozen plasma.

Description

[0001] This application is a divisional application of the invention patent application whose applicant is Suzhou Yixun Biotechnology Co., Ltd., the application date is September 19, 2017, the application number is 201710851945.8, and the invention name is "Blood Frame Storage and In and Out System". Technical Field

[0002] The invention relates to the automatic storage of frozen plasma in a cold storage, and in particular to a blood frame storage-in and storage-out system and a storage-out method for automatically taking and placing frozen plasma in a medical intelligent blood bank, and a method for the blood frame storage-in and storage-out system to pick out blood boxes of different blood types. Background Art

[0003] Medical intelligent blood banks require frozen plasma to be stored and retrieved in a low-temperature environment of -25℃±5℃. The types of plasma stored in the blood bank include common positive types such as A, B, AB, O, and some rare blood types. Manual storage in an ultra-low temperature environment of -25℃±5℃ brings great inconvenience to the staff, who need to operate under a series of anti-freeze measures. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings, the object of the present invention is to provide a blood frame storage and unloading system which can reduce the labor intensity of the staff and improve the storage and unloading efficiency of frozen plasma.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is: a blood frame storage and warehousing system includes a shelf, a grabbing robot assembly, a transfer rack for storage and warehousing, and a blood frame placement table, a plurality of blood frames are placed in the shelf, each of the shelves is provided with a plurality of mutually parallel shelf boards, a plurality of blood frames are stored on each shelf board, each of the blood frames stores a type of blood type, and the shelf is arranged on at least one side of the grabbing robot assembly.

[0006] The grabbing robot assembly includes a support frame and a robot support plate, the robot support plate is L-shaped, the grabbing robot assembly can take out the blood frame on the shelf, or can store the blood frame on the shelf, a first hooking assembly is arranged on the robot support plate, the support frame can move left and right along the X-axis direction through a first driving assembly, the robot support plate can move up and down along the Z-axis direction of the support frame through a second driving assembly, the first hooking assembly can move forward and backward in the Y-axis direction of the robot support plate through a second driving assembly, the first hooking assembly carries the blood frames on the shelf and the robot support plate back and forth, and can move back and forth in the X-axis and Z-axis directions; the first hooking assembly can grab the blood frames in the shelf to the robot support plate of the robot assembly, or can grab the blood frames on the robot support plate to the shelf, and the first hooking assembly can sequentially grab the blood frames on the shelves on both sides. A turnover basket is arranged on the manipulator support plate, a material pushing mechanism in the X-axis direction is fixedly arranged on the side wall of the manipulator support plate, the blood frame has a plurality of blood box storage slots, and each of the blood box storage slots stores a blood box;

[0007] The in-and-out transfer rack is arranged at the right end of the grabbing manipulator assembly, and the manipulator pallet is moved to the bottom of the second hooking assembly by the driving energy of the first driving assembly and the second driving assembly, and the second hooking assembly is arranged on the in-and-out transfer rack, and the manipulator pallet is moved to the bottom of the second hooking assembly by the driving energy of the first driving assembly and the second driving assembly and is in the same plane as the blood frame placement table; the blood frame placement table is arranged at the front end of the in-and-out transfer rack, and the second hooking assembly is moved back and forth along the Y-axis by the driving energy of the second driving assembly, and the second hooking assembly can transport the blood frames on the blood frame placement table and the manipulator pallet under the in-and-out transfer rack back and forth, and the second hooking assembly can bring the blood frame on the manipulator pallet under the in-and-out transfer rack to the blood frame placement table, or can bring the blood frame from the blood frame placement table to the manipulator pallet under the in-and-out transfer rack.

[0008] The beneficial effect of the blood frame storage-in and storage-out system of the present invention is that the blood frame storage-in and storage-out system is a mechanical structure that can automatically take and place frozen plasma in a -25°C±5°C low-temperature cold storage, and is mainly composed of a shelf, a grabbing manipulator assembly, a storage-in and storage-out transfer rack, and a blood frame placement table, so as to complete the automated storage-in and storage-out management of frozen plasma in the blood bank; the first hooking assembly on the manipulator pallet is mainly used to grab the blood frame on the manipulator pallet to the shelf when entering the warehouse, and to grab the blood frame in the shelf to the manipulator pallet of the grabbing manipulator assembly when leaving the warehouse; the blood frame placement table acts as a window table when the blood bank and the outside world enter and exit the warehouse, and the blood frames when entering and exiting the warehouse are placed on this table for operation, and the use of automated storage-in and storage-out replaces manual operations, which brings great convenience to the staff and improves the efficiency of storage-in and storage-out.

[0009] Preferably, the first driving assembly includes a slide rail, a first motor, a gear, a rack and a mobile platform, the slide rail and the rack are both arranged along the X-axis, the rack is arranged in the slide rail, and the slide rail is provided with a guide groove; the mobile platform is slidably arranged on the slide rail, and a guide wheel is arranged below the mobile platform to cooperate with the guide groove, the first motor is arranged on the mobile platform, the output shaft of the first motor faces downward and passes through the mobile platform, the gear is arranged at the end of the output shaft of the first motor, the gear is meshed with the rack, and the support frame of the grabbing manipulator assembly is fixedly arranged on the mobile platform. The meshing of the gear and the rack realizes the movement of the mobile platform (i.e., the grabbing manipulator assembly) in the X-axis direction of the slide rail, which has a smooth sliding effect.

[0010] Preferably, the second driving assembly includes a second motor, two steel belt pulleys and a steel belt, each of the steel belt pulleys is provided with a protrusion on its outer surface, the steel belt is provided with an opening, the steel belt is sleeved on the two steel belt pulleys through the opening and the protrusion, the two steel belt pulleys are arranged up and down, the output shaft of the second motor and the central axes of the two steel belt pulleys are arranged along the X-axis direction, the output shaft of the second motor is connected to one of the steel belt pulleys, the grabbing manipulator assembly, the first hook assembly and the second hook assembly are all fixed on one side of the steel belt. The steel belt can ensure normal operation in a low temperature environment, the second motor drives the steel belt through the opening on the steel belt and the protrusion on the steel belt pulley, the structure is simple, the setting of the protrusion and the opening can drive the steel belt to move back and forth smoothly, and then ensure that the grabbing manipulator assembly, the first hook assembly and the second hook assembly can move back and forth smoothly.

[0011] Preferably, the first hook assembly and the second hook assembly both include a first support plate, a hook motor, a connecting rod and a hook shaft, the hook motor is arranged on the upper end surface of the first support plate, the output shafts of the first support plate and the hook motor are both arranged horizontally, the hook shaft vertically passes through the first support plate, the end of the output shaft of the hook motor is rotatably connected to the upper end of the hook shaft through the connecting rod, the hook motor drives the hook shaft to move up and down in the first support plate through the connecting rod, the output shaft of the second motor of the second driving assembly that drives the first hook assembly and the center axes of the two steel belt pulleys are both arranged along the X-axis direction, and the two steel belt pulleys are arranged front and back.

[0012] When the hook shaft hooks the blood frame, the controller drives the hook motor to operate, and the output shaft of the hook motor extends out of the first support plate through the connecting rod. The first hook component is driven by the second drive component to move the blood frame carried on the manipulator pallet to the shelf, or move the blood frame on the shelf to the manipulator pallet; the second hook component moves the blood frame on the manipulator pallet under the transfer rack in and out of the warehouse to the blood frame placement table, or moves the blood frame on the blood frame placement table to the manipulator pallet under the transfer rack in and out of the warehouse. The use of the hook shaft to move and drag the blood frame can quickly transport the blood frames.

[0013] Preferably, the upper end surface of the blood frame is provided with a groove corresponding to the hook axis.

[0014] As a further improvement of the present invention, a sensor is arranged on the top of the hook motor, and a baffle is fixedly arranged on the output shaft of the hook motor, and the baffle can rotate with the output shaft of the hook motor to block the sensor. When the baffle blocks the sensor, a feedback signal will be given to the controller, and then the next action will be realized through the internal software of the controller, thereby realizing intelligent storage and access of the blood bank with a high degree of automation.

[0015] As a further improvement of the present invention, the first hook component is used to realize the storage and retrieval of the shelves. When the shelves are arranged on both sides of the grabbing robot arm component, if the hook shaft of the first hook component cannot rotate, it is impossible to hook the blood frame on the shelf on the other side, and it is necessary to go around to the same side of the other shelf to realize the grabbing of the blood frame on the other shelf. This brings about the problem of reducing the efficiency of storage and retrieval. In order to solve this problem, the first support plate of the first hook component is a rotating plate, and the first hook component also includes a second support plate parallel to the rotating plate and arranged up and down, and the second support plate can only move back and forth in the Y-axis direction. The rotating plate is rotated by the drive of the third drive component, and the second hook component can only move back and forth in the Y-axis direction, does not have the function of rotation, and does not have the third drive component.

[0016] The first hook component adopts a rotating structure, which can alternately grab the blood frames on the shelves on both sides, improving the efficiency of entering and leaving the warehouse, and further realizing intelligent grabbing.

[0017] Preferably, the third driving assembly includes a third motor, a first gear, and a second gear. The third motor is fixedly arranged on the second support plate, and the output shaft of the third motor vertically passes through the second support plate. The first gear is fixedly arranged on the end of the output shaft of the third motor, and the second gear is fixedly arranged on the rotating plate. The second gear is meshed with the first gear. The third motor drives the first gear to rotate, and the first gear drives the second gear to rotate, and the rotating plate also rotates accordingly. The third motor drives the rotating plate to rotate by meshing with the first gear, and the rotation is relatively stable.

[0018] The present invention also provides a warehouse-out method, comprising: the warehouse-out process of the blood frame in-and-out warehouse system comprises: under the joint action of the first drive component and the second drive component, the manipulator support plate not carrying the blood frame moves in the X-axis and Y-axis directions until the manipulator support plate not carrying the blood frame is transported to the same horizontal plane as the shelf board and stops running; the first hooking component is driven by the second drive component to be located above the blood frame on the shelf board.

[0019] The hook motor drives the hook shaft to move down the first support plate through the connecting rod and insert it into the groove, and the first hook component hooks the blood frame; wherein, the blood frame on the shelf plate is dragged toward the manipulator support plate by reversing the second drive component that drives the first hook component.

[0020] At present, the blood frames in and out of the warehouse are all blood frames containing a single blood type, and it is impossible to carry out mixed out of multiple blood types. In order to solve this problem, a turnover basket is set on the manipulator support plate, and the turnover basket is lower than the blood frame placed on the manipulator support plate. The side wall of the manipulator support plate is fixedly provided with a pusher mechanism in the X-axis direction. The blood frame has multiple blood box storage slots, each of which stores a blood box. Each blood box storage slot has a pusher hole at both ends of the X-axis direction. The pusher mechanism can push the blood box from the pusher hole to the turnover basket. When out of the warehouse, the pusher mechanism cooperates with the first hook component to push the boxed frozen plasma in each blood frame on the manipulator support plate into the turnover basket in turn, so that different types and quantities of frozen plasma can be out of the warehouse at the same time. Then, the blood frame in and out of the warehouse system can not only realize the one-time out of the warehouse of different quantities and types of frozen plasma, but also complete the in and out of the warehouse of the whole frame of the same type of plasma, which is the core of the blood bank to realize automated in and out management.

[0021] The present invention also provides a method for hooking blood boxes of different blood types in a blood frame storage and retrieval system, comprising: the first hooking component drags the blood box of the first blood type to the manipulator support plate, the pushing mechanism is fixed, the first hooking component aligns the blood box storage slots corresponding to the required number of blood boxes of the blood frame of the first blood type with the pushing mechanism in sequence, and the pushing mechanism pushes the corresponding number of blood boxes of the first blood type into the turnover basket in sequence; the first hooking component then drags the blood box of the first blood type back to the shelf.

[0022] The first hooking component drags the blood frame of the second blood type to the manipulator support plate, and the first hooking component aligns the blood box storage slots of the required number of blood frames of the second blood type with the pushing mechanism in sequence, and the pushing mechanism pushes the corresponding blood boxes in the blood box storage slots into the turnover basket in sequence, that is, the turnover basket contains blood boxes of two blood types; when three blood types are needed, the operation is continued in accordance with the above method.

[0023] Preferably, the pushing mechanism comprises a screw motor and a push plate, wherein the screw motor is arranged on the side wall of the manipulator support plate, the output shaft of the screw motor is arranged along the X-axis, the output shaft of the screw motor passes through the side wall of the manipulator support plate, the push plate is arranged at the end of the output shaft of the screw motor, and the push plate can pass through the pushing hole, so as to ensure that the push plate can smoothly push the blood box in the blood box storage tank into the turnover basket. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A three-dimensional diagram of the embodiment with a shelf;

[0025] Figure 2 for Figure 1 A local enlarged view of point A in FIG.

[0026] Figure 3 for Figure 2 A partial enlarged view of point C in the middle;

[0027] Figure 4 for Figure 1 A local enlarged view of point B in FIG.

[0028] Figure 5 This is a three-dimensional diagram of another angle of this embodiment without the shelf;

[0029] Figure 6 for Figure 5 A partial enlarged view of point D in the middle;

[0030] Figure 7 This is a three-dimensional picture of the robot support plate in this embodiment without a blood frame placed thereon;

[0031] Figure 83D is a perspective view of the material pushing mechanism in this embodiment;

[0032] Fig. 9 This is a three-dimensional picture of the manipulator support plate in this embodiment with a blood frame placed thereon;

[0033] Fig.10 for Fig. 9 A partial enlarged view of point E in the middle.

[0034] In the figure:

[0035] 10-shelf; 11-shelf board;

[0036] 20-grasping manipulator assembly; 21-support frame; 22-manipulator support plate;

[0037] 30-Transfer rack for inbound and outbound storage;

[0038] 40-blood frame placement table;

[0039] 50-first drive assembly; 51-slide rail; 52-first motor; 53-rack; 54-moving platform; 55-guide wheel;

[0040] 60-second drive assembly; 61-second motor; 62-steel pulley; 63-steel belt; 64-protrusion; 65-opening;

[0041] 70a-first hook assembly; 70b-second hook assembly; 71-first support plate; 72-hook motor; 73-connecting rod; 74-hook shaft; 75-second support plate; 76-sensor; 77-blocking piece;

[0042] 80-blood box; 81-groove; 82-feeding hole; 83-blood box storage tank;

[0043] 90 - third driving assembly; 91 - third motor; 92 - first gear; 93 - second gear;

[0044] 100- turnover basket;

[0045] 110-push mechanism; 111-screw motor; 112-push plate. DETAILED DESCRIPTION

[0046] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0047] See attached Figure 1 As shown, a blood frame storage and unloading system in this embodiment includes a shelf 10, a grabbing robot assembly 20, a storage and unloading transfer rack 30 and a blood frame placement table 40.

[0048] The shelf 10 is arranged on at least one side of the grabbing robot assembly 20. The drawings only show the shelf 10 on one side, and the shelf 10 can also be arranged on the other side of the robot assembly 20. Each shelf 10 is provided with a plurality of mutually parallel shelf boards 11, and each shelf board 11 stores a plurality of blood frames 80, and each blood frame 80 stores a type of blood type.

[0049] The grabbing robot assembly 20 plays the role of taking out and storing the shelf 10, that is, it can take out the blood frame 80 on the shelf 10, and can also store the blood frame 80 on the shelf 10. The grabbing robot assembly 20 includes a support frame 21 and a robot support plate 22. The robot support plate 22 is provided with a first hooking assembly 70a, and the first hooking assembly 70a can move back and forth in the X-axis, Y-axis, and Z-axis directions. Specifically, it is achieved by the following structure:

[0050] like Figure 1 , Figure 4 , Figure 5 As shown, the support frame 21 can move left and right along the X-axis direction through the first driving assembly 50. The first driving assembly 50 includes a slide rail 51, a first motor 52, a gear, a rack 53 and a mobile platform 54. The slide rail 51 and the rack 53 are all arranged along the X-axis. The rack 53 is arranged in the slide rail 51. The mobile platform 54 is slidably arranged on the slide rail 51. The first motor 52 is arranged on the mobile platform 54. The output shaft of the first motor 52 faces downward and passes through the mobile platform 54. The gear is arranged at the end of the output shaft of the first motor 52 that passes through the mobile platform 54. The gear is meshed with the rack 53. The support frame 21 of the grabbing manipulator assembly 20 is fixedly arranged on the mobile platform 54. When the first motor 52 is driven, the gear is driven to rotate. Since the gear is meshed with the rack 53, and the rack 53 is fixed, the mobile platform 54 moves back and forth along the rack 53 in the X-axis direction, thereby realizing the movement of the first hooking assembly 70a in the X-axis direction. In order to ensure that the moving platform 54 can move smoothly, a guide groove can be provided on the slide rail 51 , and a guide wheel that cooperates with the guide groove is provided below the moving platform 54 .

[0051] like Figure 5As shown, the manipulator support plate 22 can move up and down along the Z-axis direction on the support frame 21 through the second driving component 60. The second driving component 60 includes a second motor 61, two steel pulleys 62 and a steel belt 63. The second motor 61 is fixedly set on the mobile platform 54, and the two steel pulleys 62 are arranged up and down. The output shaft of the second motor 61 and the center axes of the two steel pulleys 62 are all arranged along the X-axis direction. A protrusion 64 is provided on the outer surface of each steel pulley 62, and an opening 65 is provided on the steel belt 63. The steel belt 63 is arranged on the two steel pulleys 62 through the matching sleeve of the opening 65 and the protrusion 64. In this embodiment, the second motor 61 adopts a servo motor, and the output shaft of the second motor 61 is connected to one of the steel pulleys 62. The second motor 61 drives the steel pulley 62 to rotate, and the steel pulley 62 drives the steel belt 63 through the cooperation of the protrusion 64 and the opening 65. The grabbing robot assembly 20 is fixed on one side of the steel belt 63, so that the robot support plate 22 can be driven to move back and forth in the Z-axis direction, thereby realizing the back and forth movement of the first hooking assembly 70a in the Z-axis direction.

[0052] Figure 5 In the figure, the steel pulley 62, the steel belt 63, the protrusion 64, and the opening 65 in the second driving assembly 60 driving the manipulator support plate 22 are not shown. The specific structure of the second driving assembly 60 driving the manipulator support plate 22 can be referred to as Figure 2 , Figure 7 The second driving component 60 driving the first hooking component 70a shown in FIG. Figure 6 The second driving assembly 60 shown drives the second hooking assembly 70b. In order to ensure that the first hooking assembly 70a moves back and forth smoothly in the Z-axis direction, a guide rail and a slider can be provided in a matching manner.

[0053] like Figure 2 , 7 As shown, the first hook assembly 70a can move forward and backward in the Y-axis direction of the manipulator support plate 22 through the second drive assembly 60. Similarly, the second drive assembly 60 includes the above-mentioned second motor 61, two steel belt pulleys 62, steel belt 63, protrusion 64, and opening 65, and the first hook assembly 70a is fixed on one side of the steel belt 63; similarly, in order to ensure that the first hook assembly 70a can move back and forth smoothly in the Z-axis direction, a guide rail and a slider can be provided in a matching manner. Different from the second drive assembly 60 driving the manipulator support plate 22, the output shaft of the second motor 61 of the second drive assembly 60 driving the first hook assembly 70a and the central axes of the two steel belt pulleys 62 are all arranged along the X-axis direction, and the two steel belt pulleys 62 are arranged front and back.

[0054] like Figure 1 , Figure 2 , Figure 3As shown, the first hooking component 70a moves the blood frame 80 on the shelf 10 and the manipulator support plate 22 back and forth. Specifically, the first hooking component 70a can grab the blood frame 80 in the shelf 10 to the manipulator support plate 22 of the grabbing manipulator component 20, and can also grab the blood frame 80 on the manipulator support plate 22 to the shelf 10. The first hooking component 70a of this embodiment specifically moves the blood frame 80 back and forth between the manipulator support plate 22 and the shelf 10 by means of translation and dragging. The specific structure is as follows:

[0055] The first hooking assembly 70a includes a first support plate 71, a hooking motor 72, a connecting rod 73 and a hook shaft 74. The hooking motor 72 is arranged on the upper end surface of the first support plate 71. The output shafts of the first support plate 71 and the hooking motor 72 are both arranged horizontally. The hook shaft 74 vertically passes through the first support plate 71. The end of the output shaft of the hooking motor 72 is rotatably connected to the upper end of the hook shaft 74 through the connecting rod 73. The hooking motor 72 drives the hook shaft 74 to move up and down in the first support plate 71 through the connecting rod 73. The upper end surface of the blood frame 80 is provided with a groove 81 corresponding to the hook shaft 74. Taking the outbound delivery as an example, under the joint action of the first driving assembly 50 and the second driving assembly 60, the manipulator support plate 22 without the blood frame 80 moves in the X-axis and Z-axis directions until the manipulator support plate 22 without the blood frame 80 is transported to the same horizontal plane as the shelf plate 11 and stops running; then, the first hooking assembly 70a is driven by the second driving assembly 60 to move above the blood frame 80 on the shelf plate 11, more specifically, the hook shaft 74 is located above the groove 81 of the blood frame 80 on the shelf plate 11; then, the hooking motor 72 drives the hook shaft 74 to move down the first supporting plate 71 through the connecting rod 73 and insert into the groove 81; at this time, the first hooking assembly 70a hooks the blood frame 80 on the shelf plate 11. Dragging the blood frame 80 on the shelf plate 11 to the manipulator support plate 22 is achieved by driving the second motor 61 of the second driving assembly 60 of the first hooking assembly 70a to reverse.

[0056] A sensor 76 is provided on the hook motor 72, and a blocking piece 77 is fixedly provided on the output shaft of the hook motor 72. The blocking piece 77 can rotate with the output shaft of the hook motor 72 to block the sensor 76, thereby ensuring accuracy.

[0057] Since the shelves 10 can be arranged on both sides of the manipulator assembly 20, the first hooking assembly 70a in this embodiment can sequentially hook the blood frames 80 on the shelves 10 on both sides, without the need to equip the same side of each adjacent shelf 10 with a blood frame storage-in and storage-out system. The most important thing about using a blood frame storage-in and storage-out system to sequentially grab the blood frames 80 on the shelves 10 on both sides is to set the first support plate 71 to be rotatable. The specific structure is as follows:

[0058] like Figure 2 , Figure 3 As shown, the first support plate 71 of the first hook component 70a is a rotating plate, and the first hook component 70a also includes a second support plate 75 which is parallel to the rotating plate and arranged up and down. The second support plate 75 can only move back and forth in the Y-axis direction through the driving component 60, and the rotating plate rotates with the second support plate 75 through the driving of the third driving component 90. If the shelf 10 on which side needs to be put in or out of the warehouse, the rotating plate (first support plate 71) is turned to the shelf 10 on the corresponding side.

[0059] Among them, Figure 3 As shown, the third driving assembly 90 includes a third motor 91, a first gear 92, and a second gear 93. The third motor 91 is fixedly arranged on the second support plate 75. The third motor 91 adopts a stepping motor. The output shaft of the third motor 91 vertically passes through the second support plate 75. The first gear 92 is fixedly arranged at the end of the output shaft of the third motor 91. The second gear 93 is fixedly arranged on the rotating plate. The second gear 93 is meshed with the first gear 92. The third motor 91 drives the first gear 92 to rotate, and the first gear 92 drives the second gear 93 to rotate. Since the second gear 93 is fixed on the rotating plate, the rotating plate also rotates accordingly.

[0060] like Figure 1 , 5 As shown, the transfer rack 30 for entering and exiting the warehouse is arranged at the right end of the grabbing manipulator assembly 20, the blood frame placement table 40 is arranged at the front end of the transfer rack 30 for entering and exiting the warehouse, and a second hooking assembly 70b is arranged on the transfer rack 30 for entering and exiting the warehouse, and the manipulator support plate 22 can be moved to the bottom of the second hooking assembly 70b and be in the same plane with the blood frame placement table 40 by the driving energy of the first driving assembly 50 and the second driving assembly 60. The second hooking assembly 70b can be moved forward and backward along the Y axis by the driving energy of the second driving assembly 60, and the second hooking assembly 70b can carry the blood frame 80 on the blood frame placement table 40 and the manipulator support plate 22 below the transfer rack 30 for entering and exiting the warehouse back and forth. Specifically, the second hooking assembly 70b can bring the blood frame 80 on the manipulator support plate 22 below the transfer rack 30 for entering and exiting the warehouse to the blood frame placement table 40, and can also bring the blood frame 80 from the blood frame placement table 40 to the manipulator support plate 22 below the transfer rack 30 for entering and exiting the warehouse.

[0061] The structure of the second hooking component 70b is basically the same as that of the first hooking component 70a. Figure 6As shown, the second hook assembly 70b also includes a first support plate 71, a hook motor 72, a linkage rod 73 and a hook shaft 74. The hook motor 72 is arranged on the upper end surface of the first support plate 71. The output shafts of the first support plate 71 and the hook motor 72 are both arranged horizontally. The hook shaft 74 vertically passes through the first support plate 71. The end of the output shaft of the hook motor 72 is rotatably connected to the upper end of the hook shaft 74 through the linkage rod 73. The hook motor 72 drives the hook shaft 74 to move up and down in the first support plate 71 through the linkage rod 73. The upper end surface of the blood frame 80 is provided with a groove 81 corresponding to the hook shaft 74. Similarly, a sensor 76 is arranged on the hook motor 72, and a baffle 77 is fixedly arranged on the output shaft of the hook motor 72. The baffle 77 can rotate with the output shaft of the hook motor 72 to block the sensor 76. However, unlike the first hooking component 70 a , the second hooking component 70 b can only move back and forth in the Y-axis direction, does not have a rotation function, and does not have a third driving component 90 .

[0062] In addition, the second driving assembly 60 for driving the second hooking assembly 70b also includes a second motor 61, two steel belt pulleys 62 and a steel belt 63. The outer surface of each steel belt pulley 62 is provided with a protrusion 64, and the steel belt 63 is provided with an opening 65. The steel belt 63 is sleeved on the two steel belt pulleys 62 through the matching of the opening 65 and the protrusion 64. The output shaft of the second motor 61 is connected to one of the steel belt pulleys 62, and the second hooking assembly 70b is fixed to one side of the steel belt 63. The difference is that the output shaft of the second motor 61 of the second driving assembly 60 driving the second hooking assembly 70b and the central axes of the two steel belt pulleys 62 are all arranged along the Z-axis direction, and the two steel belt pulleys 62 are arranged front and back.

[0063] like Figure 1 , Figure 2 , Figure 5 , Figure 7 , Fig. 9 As shown, the manipulator support plate 22 is L-shaped, and a turnover basket 100 is arranged on the manipulator support plate 22. The turnover basket 100 is lower than the blood frame 80 placed on the manipulator support plate 22. A pusher mechanism 110 in the X-axis direction is fixedly arranged on the side wall of the manipulator support plate 22. The blood frame 80 has a plurality of blood box storage slots 83, each of which stores a blood box. Each of the blood box storage slots 83 is provided with a pusher hole 82 at both ends of the X-axis direction. The pusher mechanism 110 can push the blood box from the pusher hole 82 to the turnover basket 100. Figure 8 As shown, the pushing mechanism 110 includes a screw motor 111 and a push plate 112. The screw motor 111 is arranged on the side wall of the manipulator support plate 22. The output shaft of the screw motor 111 is arranged along the X-axis. The output shaft of the screw motor 111 passes through the side wall of the manipulator support plate 22. The push plate 112 is arranged at the end of the output shaft of the screw motor 111. The push plate 112 can pass through the pushing hole 82.

[0064] If it is necessary to pick blood boxes of different blood types, the first picking component 70a drags the blood boxes 80 of the first blood type to the manipulator support plate 22, and the pushing mechanism 110 is fixed. The first picking component 70a aligns the blood box storage slots 83 corresponding to the required number of blood boxes of the first blood type 80 with the pushing mechanism 110 in sequence, and the pushing mechanism 110 pushes the corresponding number of blood boxes of the first blood type into the turnover basket 100 in sequence; the first picking component 70a then pulls the blood boxes 80 of the first blood type to the manipulator support plate 22, and the pushing mechanism 110 is fixed. 0 is dragged and dropped back to the shelf 10; then, the first hooking component 70a drags the blood frame 80 of the second blood type to the manipulator support plate 22, and the first hooking component 70a aligns the blood box storage slots 83 of the required number of blood frames 80 of the second blood type with the pushing mechanism 110 in sequence, and the pushing mechanism 110 pushes the corresponding blood boxes in these blood box storage slots 83 into the turnover basket 100 in sequence. At this time, there are blood boxes of two blood types in the turnover basket 100; when three blood types are needed, continue the operation in accordance with the above method.

[0065] The above implementation modes are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A blood frame storage and warehousing system, characterized by: It comprises a shelf (10), a grabbing robot assembly (20), a storage transfer rack (30) and a blood frame placement table (40), A plurality of blood frames (80) are placed in the shelf (10), each of the shelf (10) is provided with a plurality of shelf boards (11) parallel to each other, a plurality of blood frames (80) are stored on each shelf board (11), and each of the blood frames (80) stores one type of blood type, and the shelf (10) is arranged on at least one side of the grasping manipulator assembly (20); The grabbing robot assembly (20) comprises a support frame (21) and a robot support plate (22); the robot support plate (22) is L-shaped; the grabbing robot assembly (20) can take out the blood frame (80) on the shelf (10), or can store the blood frame (80) on the shelf (10); a first hooking assembly (70a) is arranged on the robot support plate (22); the support frame (21) can move left and right along the X-axis direction through a first driving assembly (50); the robot support plate (22) can move up and down along the Z-axis direction on the support frame (21) through a second driving assembly (60); the first hooking assembly (70a) can move up and down along the Z-axis direction on the support frame (21) through a second driving assembly (60); The component (60) can move forward and backward in the Y-axis direction of the robot support plate (22); the first hooking component (70a) carries the blood frames (80) on the shelf (10) and the robot support plate (22) back and forth, and can move back and forth in the X-axis and Z-axis directions; the first hooking component (70a) can grab the blood frame (80) in the shelf (10) onto the robot support plate (22) of the grabbing robot component (20), or can grab the blood frame (80) on the robot support plate (22) onto the shelf (10), and the first hooking component (70a) can sequentially grab the blood frames (80) on the shelves (10) on both sides; A turnover basket (100) is arranged on the manipulator support plate (22), a material pushing mechanism (110) in the X-axis direction is fixedly arranged on the side wall of the manipulator support plate (22), and the blood frame (80) has a plurality of blood box storage slots (83), each of the blood box storage slots (83) storing a blood box; The in-and-out transfer rack (30) is arranged at the right end of the grabbing manipulator assembly (20), and the manipulator support plate (22) is moved to the bottom of the second hooking assembly (70b) by the driving energy of the first driving assembly (50) and the second driving assembly (60). The second hooking assembly (70b) is arranged on the in-and-out transfer rack (30), and the manipulator support plate (22) is moved to the bottom of the second hooking assembly (70b) by the driving energy of the first driving assembly (50) and the second driving assembly (60) and is in the same plane as the blood frame placement table (40); The blood frame placement table (40) is arranged at the front end of the transfer rack (30) for entering and exiting the warehouse. The second hooking component (70b) can move forward and backward along the Y-axis through the drive of the second driving component (60). The second hooking component (70b) can move the blood frame (80) on the blood frame placement table (40) and the robot support plate (22) below the transfer rack (30) for entering and exiting the warehouse back and forth. The second hooking component (70b) can bring the blood frame (80) on the robot support plate (22) below the transfer rack (30) for entering and exiting the warehouse to the blood frame placement table (40), or can bring the blood frame (80) from the blood frame placement table (40) to the robot support plate (22) below the transfer rack (30) for entering and exiting the warehouse.

2. The blood frame storage and retrieval system according to claim 1, characterized in that: The first driving assembly (50) comprises a slide rail (51), a first motor (52), a gear, a rack (53) and a mobile platform (54); the slide rail (51) and the rack (53) are both arranged along the X-axis; the rack (53) is arranged in the slide rail (51); the slide rail (51) is provided with a guide groove; the mobile platform (54) is slidably arranged on the slide rail (51); a guide wheel is provided below the mobile platform (54) and is arranged to cooperate with the guide groove; the first motor (52) is arranged on the mobile platform (54); the output shaft of the first motor (52) faces downward and passes through the mobile platform (54); the gear is arranged at the end of the output shaft of the first motor (52); the gear is meshed with the rack (53); and the support frame (21) of the grasping manipulator assembly (20) is fixedly arranged on the mobile platform (54).

3. The blood frame storage and retrieval system according to claim 1, characterized in that: The second driving assembly (60) comprises a second motor (61), two steel belt pulleys (62) and a steel belt (63); the outer surface of each of the steel belt pulleys (62) is provided with a protrusion (64); an opening (65) is provided on the steel belt (63); the steel belt (63) is sleeved on the two steel belt pulleys (62) through the matching opening (65) and the protrusion (64); the two steel belt pulleys (62) are arranged up and down; the output shaft of the second motor (61) and the central axes of the two steel belt pulleys (62) are both arranged along the X-axis direction; the output shaft of the second motor (61) is connected to one of the steel belt pulleys (62); and the grabbing robot assembly (20), the first hook assembly (70a) and the second hook assembly (70b) are all fixed on one side of the steel belt (63).

4. The blood frame storage and retrieval system according to claim 3, characterized in that: The first hook assembly (70a) and the second hook assembly (70b) both comprise a first support plate (71), a hook motor (72), a connecting rod (73) and a hook shaft (74); the hook motor (72) is arranged on the upper end surface of the first support plate (71); the output shafts of the first support plate (71) and the hook motor (72) are both arranged horizontally; the hook shaft (74) vertically passes through the first support plate (71); the end of the output shaft of the hook motor (72) is rotatably connected to the upper end of the hook shaft (74) through the connecting rod (73); the hook motor (72) drives the hook shaft (74) to move up and down in the first support plate (71) through the connecting rod (73); the output shaft of the second motor (61) of the second driving assembly (60) of the first hook assembly (70a) and the central axes of the two steel belt wheels (62) are both arranged along the X-axis direction; the two steel belt wheels (62) are arranged front and back.

5. The blood frame storage and retrieval system according to claim 4, characterized in that: The upper end surface of the blood frame (80) is provided with a groove (81) corresponding to the hook axis (74).

6. The blood frame storage and retrieval system according to claim 4, characterized in that: The hooking motor (72) is provided with a sensor (76), and the output shaft of the hooking motor (72) is fixedly provided with a blocking piece (77), and the blocking piece (77) can rotate along with the output shaft of the hooking motor (72) to block the sensor (76).

7. The blood frame storage and retrieval system according to claim 4, characterized in that: The first support plate (71) of the first hooking component (70a) is a rotating plate. The first hooking component (70a) further comprises a second support plate (75) which is parallel to the rotating plate and arranged up and down. The second support plate (75) can only move back and forth in the Y-axis direction. The rotating plate is rotated by the driving of the third driving component (90). The second hooking component (70b) can only move back and forth in the Y-axis direction and does not have the function of rotating. There is no third driving component (90).

8. The blood frame storage and retrieval system according to claim 7, characterized in that: The third driving assembly (90) comprises a third motor (91), a first gear (92), and a second gear (93); the third motor (91) is fixedly arranged on the second supporting plate (75); an output shaft of the third motor (91) vertically passes through the second supporting plate (75); the first gear (92) is fixedly arranged at the end of the output shaft of the third motor (91); the second gear (93) is fixedly arranged on the rotating plate; the second gear (93) meshes with the first gear (92); the third motor (91) drives the first gear (92) to rotate; the first gear (92) drives the second gear (93) to rotate; and the rotating plate also rotates accordingly.

9. A method for removing a blood sample from a storage container, applied to the blood sample storage and removing system according to any one of claims 4 to 8, characterized in that: include: Under the joint action of the first driving assembly (50) and the second driving assembly (60), the manipulator support plate (22) not carrying the blood frame (80) moves in the X-axis and Y-axis directions until the manipulator support plate (22) not carrying the blood frame (80) is transported to the same horizontal plane as the shelf plate (11) and stops operating; The first hooking component (70a) is driven by the second driving component (60) to be located above the blood frame (80) on the shelf (11); The hooking motor (72) drives the hooking shaft (74) to move downward on the first support plate (71) through the connecting rod (73) and insert into the groove (81), so that the first hooking component (70a) hooks the blood frame (80); Wherein, the blood frame (80) on the shelf plate (11) is dragged toward the manipulator support plate (22) by driving the second driving component (60) of the first hooking component (70a) to reverse.

10. A method for picking out blood boxes of different blood types in a blood box storage and retrieval system, applied to the blood box storage and retrieval system according to any one of claims 1 to 8, characterized in that: include: The first hooking component (70a) drags the blood boxes (80) of the first blood type to the manipulator support plate (22); the pushing mechanism (110) is fixed; the first hooking component (70a) sequentially aligns the blood box storage slots (83) corresponding to the required number of blood boxes of the blood boxes (80) of the first blood type with the pushing mechanism (110); and the pushing mechanism (110) sequentially pushes the corresponding number of blood boxes of the first blood type into the turnover basket (100); The first hooking component (70a) then drags and places the blood frame (80) of the first blood type back to the shelf (10); The first hooking component (70a) drags the blood boxes (80) of the second blood type to the manipulator support plate (22), and the first hooking component (70a) also sequentially aligns the blood box storage slots (83) of the blood boxes (80) of the second blood type required with the pushing mechanism (110), and the pushing mechanism (110) sequentially pushes the corresponding blood boxes in the blood box storage slots (83) into the turnover basket (100), that is, the turnover basket (100) stores blood boxes of two blood types; When three blood types are required, continue the operation with reference to the second blood type.

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