Blood bag access and storage machine

Abstract

The present invention discloses a blood bag access machine, comprising: a refrigeration box, inside which there are a storage chamber and a picking and placing chamber arranged from top to bottom, a separable partition door is arranged between the storage chamber and the picking and placing chamber, and a feeding port and a discharging port which communicate with the picking and placing chamber are arranged on the refrigeration box, and separable baffle plates are arranged in both the feeding port and the discharging port; a storage mechanism, which has a rotating rack that can rotate in the storage chamber, a plurality of turntables are connected to the rotating rack, and a plurality of storage boxes are respectively placed around the rotation axis of the rotating rack on the plurality of turntables; a picking and placing mechanism, which has a clamping hand; a transfer mechanism, which includes a conveying device, a moving device and a gripper, the conveying device has a conveying direction from the feeding port to the discharging port, and the gripper is connected to the moving device. The present invention can achieve efficient access to blood bags, reduce the influence on the temperature of stored blood bags during storage and picking of blood bags, and can improve the accuracy of accessing blood bags by using machinery instead of manual operation, which is beneficial to improving medical safety.

Description

Technical Field

[0001] The present invention relates to a medical device, and more particularly to a blood bag storage and retrieval machine. Background Art

[0002] When storing blood bags, they need to be placed in a cold storage. Currently, when storing or retrieving blood bags from the cold storage, medical staff first open the cold storage door, place the blood bags in the corresponding positions in the cold storage or retrieve the blood bags in the corresponding positions in the cold storage according to the number signals. After completion, repeated verification is still required to ensure the correct storage and retrieval of blood bags. If the cold storage door is opened for a long time during the whole operation process, it will affect the temperature in the cold storage, have an impact on the storage environment of the blood bags, and increase the energy consumption of the cold storage. In addition, medical staff are prone to make mistakes when storing and retrieving blood bags, leading to medical accidents. Summary of the Invention

[0003] The purpose of the present invention is to provide a blood bag storage and retrieval machine to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0004] The solution of the present invention to solve its technical problems is as follows:

[0005] A blood bag storage and retrieval machine, comprising: a refrigeration box, inside which a storage chamber and a pick-up and placement chamber are arranged from top to bottom. A switchable partition door is arranged between the storage chamber and the pick-up and placement chamber. The refrigeration box is provided with a feed port and a discharge port that communicate with the pick-up and placement chamber, and both the feed port and the discharge port are provided with switchable baffles; a storage mechanism, which has a rotating frame that can rotate in the storage chamber. The rotation axis of the rotating frame extends in the vertical direction. A plurality of turntables are connected to the rotating frame at intervals in the vertical direction. A plurality of storage boxes are respectively placed around the rotation axis of the rotating frame on the plurality of turntables; a pick-up and placement mechanism, which has a gripper that can move up and down in the rotating frame; a transfer mechanism, which includes a conveying device, a moving device and a gripper. The conveying device and the moving device are both connected to the pick-up and placement chamber. The conveying device has a conveying direction from the feed port to the discharge port. The moving device has a moving end that can move in three dimensions. The gripper is connected to the moving end, and the moving device can drive the gripper to move back and forth between the gripper and the conveying device.

[0006] The technical solution has at least the following beneficial effects: An inner enclosure of the refrigeration box forms two chambers, namely a storage chamber and a pick-up and placement chamber. A partition door is provided between the storage chamber and the pick-up and placement chamber. When the partition door is opened, the storage chamber and the pick-up and placement chamber communicate with each other. When the partition door is closed, the storage chamber and the pick-up and placement chamber are separated from each other. The blood bags are stored in a storage box. When it is necessary to pick up a blood bag, the baffle at the feed inlet is opened, an external storage box is placed on the conveying device, and then the baffle at the feed inlet is closed. Since the partition door separates the storage chamber and the pick-up and placement chamber, the temperature of the storage chamber will not be affected when the pick-up and placement chamber communicates with the outside. In this way, the influence on the storage temperature of the blood bags can be reduced. The conveying device moves the storage box into place, and the gripper in the pick-up and placement mechanism moves in the up and down direction to face the turntable where the blood bag to be picked up is located. Then the turntable rotates to drive the turntable to rotate simultaneously, so that the blood bag to be picked up faces the gripper. The gripper can clamp out the storage box where the blood bag is located and move downward. At this time, the partition door can be opened, and the gripper moves to the gripper under the drive of the moving device, grabs the storage box clamped by the gripper, and then the gripper releases and resets upward or continues to pick up blood bags. The gripper sends the grabbed storage box into the storage box on the conveying device. After picking up all the required blood bags, the partition door is closed, the conveying device moves the storage box to the discharge port, and the baffle at the discharge port is opened, and the storage box can be taken out. During the process of taking out the storage box, since the partition door separates the storage chamber and the pick-up and placement chamber, the influence on the storage temperature of the blood bags is reduced. In this way, efficient access to blood bags can be realized, the influence on the temperature of the stored blood bags during storage and pick-up of blood bags can be reduced, and the use of machinery instead of manual operation can improve the accuracy of accessing blood bags, which is beneficial to improving medical safety.

[0007] As a further improvement of the above technical solution, the storage mechanism includes a rotating device. The bottom side of the turntable is rotatably connected to the inner bottom surface of the storage chamber. A plurality of turntables are arranged at equal intervals along a direction away from its own rotation axis. Each turntable is provided with an avoidance area, and the storage box is placed on the turntable at a position other than the avoidance area. The rotating device can drive the plurality of turntables to rotate. There are a plurality of turntables on the plurality of turntables, and a plurality of storage boxes are placed around each turntable at positions other than the avoidance area. In this way, the overall number of blood bags that can be stored can be increased. When it is necessary to access blood bags on the outer turntable, first rotate the inner turntable so that the avoidance area on the corresponding turntable faces the gripper. The gripper can directly pass through the avoidance area on the inner turntable and reach the outer turntable to access blood bags on the outer turntable.

[0008] As a further improvement of the above technical solution, the gripper includes a first translation drive, a first clamping drive, and clamping fingers. The first clamping drive is connected to the first translation drive. The first translation drive can drive the first clamping drive to reciprocate horizontally. Two clamping fingers are connected to the first clamping drive. A side positioning block is connected to the side of the storage box facing the picking and placing mechanism. The first clamping drive can drive the two clamping fingers to clamp or release the side positioning block. The first translation drive can provide a driving force for the clamping fingers to reciprocate horizontally, drive the clamping fingers to translate and approach the rack to be accessed or retrieved, and return to the initial position after the access is completed. When it is necessary to pick up the blood bag on the rack, after the two clamping fingers move close to the storage box where the blood bag is located, the first clamping drive drives the two clamping fingers to approach each other to clamp the side positioning block, so that the entire storage box with the blood bag can be removed. When it is necessary to store the blood bag on the rack, the two clamping fingers clamp the storage box with the blood bag and move close to the corresponding turntable. Then the first clamping drive drives the two clamping fingers to move away from each other to release the side positioning block, so that the entire storage box with the blood bag is placed on the turntable.

[0009] As a further improvement of the above technical solution, the gripper further includes a guide plate. The guide plate is connected to the first translation drive. The side surface of the guide plate away from the first translation drive is a guide inclined surface. The guide inclined surface extends obliquely downward along the direction away from the first translation drive. The first clamping drive is slidably connected to the first translation drive in the vertical direction. The first translation drive can drive the first clamping drive to slide along the guide inclined surface onto the guide plate. The guide plate is fixed to the first translation drive. When it is necessary to pick up the blood bag, after the two clamping fingers clamp the side positioning block on the side of the storage box, the first translation drive drives the two clamping fingers to translate back. At this time, the first clamping drive slides along the guide inclined surface in the direction close to the first translation drive and lifts upward, thereby lifting the storage box and directly removing the storage box upward from the turntable and retrieving it. In this way, the friction between the storage box and the turntable can be reduced. Similarly, when it is necessary to store the blood bag, at this time, the two clamping fingers of the first clamping drive hold the storage box, and the first clamping drive is on the guide plate. As the first translation drive drives the storage box to approach the rack, the first clamping drive slides onto the guide inclined surface and moves downward along the guide of the guide inclined surface, so that the storage box is lowered at the same time and finally placed on the turntable. In this way, the process of lifting and removing the storage box from the turntable or moving it into and placing it on the turntable can be realized, and the whole action is more smooth and stable.

[0010] As a further improvement of the above technical solution, the picking and placing mechanism includes a bracket, a substrate, a conveyor and a first lifting drive. The bracket is connected to the inner bottom side of the storage chamber and is located within the turntable. The conveyor is connected to the bracket, the substrate is connected to the conveyor, the conveyor can drive the substrate to move in the vertical direction, the first lifting drive is connected to the substrate, and the first translation drive is connected to the first lifting drive. The first lifting drive can drive the first translation drive to move downward into the picking and placing chamber or upward into the storage chamber. The conveyor provides the main vertical movement drive for the gripper. When the gripper needs to access blood bags on different turntables, the conveyor drives the gripper to move up and down to adjust the height. When the gripper needs to pass through the opened partition door and enter the picking and placing chamber, the conveyor drives the gripper to move down to the end of its stroke, and the first lifting drive also provides a downward driving force for the gripper at the same time, so that the gripper can move out of the conveyor and enter the picking and placing chamber. After completion, the first lifting drive and the conveyor provide an upward driving force for the gripper, so that the gripper returns to the storage chamber.

[0011] As a further improvement of the above technical solution, there are multiple first translation drives, and the multiple first translation drives are connected in series in sequence. The first clamping drive is connected to the first translation drive located on the outermost side away from the rotation axis of the turntable. The multiple first translation drives are connected in series in sequence to form a multi-stage translation drive for the gripper. In this way, when there are multiple turntables, on the basis of ensuring that the gripper can reach the outermost turntable, the entire horizontal occupied space of the translation drive for the gripper is reduced, and the multiple first translation drives can act simultaneously to improve the translation speed of the gripper.

[0012] As a further improvement of the above technical solution, the gripper includes a second clamping drive and clamping blocks. A top positioning block is connected to the top side of the storage box. Two clamping blocks are connected to the second clamping drive. The second clamping drive can drive the two clamping blocks to clamp or release the top positioning block. The moving device drives the gripper to approach the gripper. When it is necessary to pick up a blood bag, the second clamping drive drives the two clamping blocks to clamp the top positioning block on the top side of the storage box clamped by the gripper. When it is necessary to store a blood bag, the second clamping drive drives the two clamping blocks to release the clamped top positioning block, so that the storage box is placed in the gripper, thereby realizing the exchange of clamping between the gripper and the storage box in the gripper.

[0013] As a further improvement of the above technical solution, the conveying device includes a conveying frame, a second translation drive and a positioning fixture. The conveying frame is located in the picking and placing chamber. The second translation drive is connected to the conveying frame, and the positioning fixture is connected to the second translation drive. The second translation drive can drive the positioning fixture to reciprocate between the feeding port and the discharging port. When it is necessary to pick and place the blood bag, the second translation drive drives the positioning fixture to move to the feeding port, and the externally provided storage box can be placed into the positioning fixture from the feeding port. The positioning fixture positions the storage box, and then the second translation drive moves the storage box in place in the picking and placing chamber through the positioning fixture. When the picking and placing of the blood bag is completed, the second translation drive moves the storage box to the discharging port through the positioning fixture, facilitating the picking and taking of the storage box from the discharging port.

[0014] As a further improvement of the above technical solution, the conveying device further includes a driving motor, a transmission gear and a transmission rack. The driving motor is connected in the picking and placing chamber. The driving motor is drivingly connected to the transmission gear. The transmission rack is connected to the bottom side of the conveying frame. The transmission gear meshes with the transmission rack. The conveying frame is slidably connected in the picking and placing chamber, and the conveying frame can slide out of the feeding port or the discharging port. Through the transmission of the transmission gear and the transmission rack, the forward or reverse rotation of the driving motor can drive the conveying frame to reciprocate linearly in the picking and placing chamber. When it is necessary to pick and place the blood bag, the second translation moves the positioning fixture close to the feeding port, and the driving motor rotates to drive the conveying frame to slide out of the feeding port, so that the entire positioning fixture can be moved out of the feeding port, facilitating the direct placement of the externally provided storage box into the positioning fixture. When the picking and placing of the blood bag is completed, the second translation drive moves the positioning fixture close to the discharging port, and the driving motor rotates in reverse to drive the conveying frame to slide out of the discharging port, so that the entire positioning fixture can be moved out of the discharging port, facilitating the removal of the storage box from the positioning fixture.

[0015] As a further improvement of the above technical solution, a sterilizer is provided in the picking and placing chamber. When the externally provided storage box enters the picking and placing chamber, the storage box can be sterilized by the sterilizer, which can further ensure the overall sterility, reduce the risk of bacterial infection, and improve the environmental quality of storing the blood bag. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly describe the drawings required for the description of the embodiments. Obviously, the described drawings are only a part of the embodiments of the present invention, rather than all the embodiments. Those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative efforts.

[0017] Figure 1 It is an overall three-dimensional view of the refrigeration box of the present invention after hiding a part of the side wall;

[0018] Figure 2 is the overall front view after the side wall of the hidden part of the refrigerator of the present invention;

[0019] Figure 3 is the three-dimensional view of the picking and placing mechanism of the present invention when storing and retrieving blood bags on the turntable;

[0020] Figure 4 is the three-dimensional view of the present invention when the clamping hand and the gripping hand clamp the storage box at the same time.

[0021] In the drawings: 100 - refrigerator, 110 - storage chamber, 120 - picking and placing chamber, 130 - partition door, 140 - baffle, 200 - storage mechanism, 210 - rotating rack, 220 - turntable, 230 - storage box, 231 - side positioning block, 232 - top positioning block, 241 - servo motor, 242 - gear ring, 243 - telescopic driving member, 244 - transmission shaft, 245 - transmission sleeve, 246 - external gear, 300 - picking and placing mechanism, 311 - first translation drive, 312 - first clamping drive, 313 - clamping finger, 320 - guide plate, 321 - guide inclined surface, 330 - bracket, 340 - base plate, 350 - conveyor, 360 - first lifting drive, 411 - conveying rack, 412 - positioning jig, 413 - transmission gear, 414 - transmission rack, 420 - movable device, 430 - gripping hand, 431 - second clamping drive, 432 - clamping block. Detailed Embodiment

[0022] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 construed as a limitation of the present invention.

[0024] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or the sequence relationship of the indicated technical features.

[0025] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installation, connection, etc. shall be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0026] Refer to Figure 1 And Figure 2 , a blood bag access machine, comprising:

[0027] A refrigerating box 100, which itself has a refrigeration system, can form a low-temperature storage environment inside the box body. The refrigeration system adopts structures such as a compressor, an evaporator, and a condenser. Inside the refrigerating box 100, a storage chamber 110 and a picking and placing chamber 120 are arranged from top to bottom. A low-temperature storage environment can be formed in both the storage chamber 110 and the picking and placing chamber 120. A hole is arranged between the storage chamber 110 and the picking and placing chamber 120, and an opening and closing partition door 130 is arranged at the hole position. The partition door 130 can adopt an electric, pneumatic or hydraulic sealing door structure. The partition door 130 is driven by electricity, pneumatic or hydraulic pressure to open, so that the storage chamber 110 and the picking and placing chamber 120 are communicated through the hole, or the partition door 130 is driven to close to seal the hole, so that the storage chamber 110 and the picking and placing chamber 120 are separated from each other. An inlet and an outlet that communicate with the picking and placing chamber 120 are arranged on the refrigerating box 100. Openable baffles 140 are arranged in both the inlet and the outlet. Similarly, the baffle 140 can adopt an electric, pneumatic or hydraulic sealing door structure. The partition door 130 is driven by electricity, pneumatic or hydraulic pressure to open, so that the picking and placing chamber 120 is communicated with the outside through the inlet or the outlet, or the baffle 140 is driven to close the inlet or the outlet, so as to close the picking and placing chamber 120;

[0028] The storage mechanism 200 is mainly used for storing blood bags. The storage mechanism 200 has a rotating rack 210 in the storage chamber 110. The rotation axis of the rack 210 extends in the up and down direction. A plurality of turntables 220 are connected to the rack 210 at intervals in the up and down direction. A plurality of storage boxes 230 are respectively placed around the rotation axis of the rack 210 on the plurality of turntables 220;

[0029] The picking and placing mechanism 300 has a gripper that can move up and down in the rack 210. After the gripper is adjusted up and down to be directly opposite to the turntable 220 where the blood bag is located, the rack 210 drives the turntable 220 to rotate, so that the position of the blood bag to be accessed is directly opposite to the gripper, and then the gripper is used to pick and place the blood bag;

[0030] The transfer mechanism includes a conveying device, a movable device 420, and a gripper 430. The conveying device and the movable device 420 are both connected within the picking and placing chamber 120. The conveying device has a conveying direction from the feed inlet to the discharge outlet. The movable device 420 has a movable end that can move in three-dimensional directions. The gripper 430 is connected to the movable end. The movable device 420 can drive the gripper 430 to move back and forth between the gripper and the conveying device.

[0031] As can be seen from the above, two chambers, namely a storage chamber 110 and a picking and placing chamber 120, are formed by enclosing the interior of the refrigeration box 100. A partition door 130 is provided between the storage chamber 110 and the picking and placing chamber 120. When the partition door 130 is opened, the storage chamber 110 and the picking and placing chamber 120 communicate with each other. When the partition door 130 is closed, the storage chamber 110 and the picking and placing chamber 120 are separated from each other. The blood bags are stored in the storage box 230. When it is necessary to take a blood bag, the baffle 140 at the feed inlet is opened, an external storage box is placed on the conveying device, and then the baffle 140 at the feed inlet is closed. Since the partition door 130 separates the storage chamber 110 and the picking and placing chamber 120 from each other, the temperature of the storage chamber 110 will not be affected when the picking and placing chamber 120 communicates with the outside. In this way, the influence on the storage temperature of the blood bags can be reduced. The conveying device moves the storage box in place. The gripper within the picking and placing mechanism 300 moves in the vertical direction to be aligned with the turntable 220 where the blood bag to be taken is located. Then the turntable support 210 rotates to drive the turntable 220 to rotate simultaneously, so that the blood bag to be taken is aligned with the gripper. The gripper can clamp out the storage box 230 where the blood bag is located and move downward. At this time, the partition door 130 can be opened. The gripper 430 moves to the gripper under the drive of the movable device 420, grabs the storage box 230 clamped by the gripper, and then the gripper releases and returns upward or continues to take blood bags. The gripper 430 sends the grabbed storage box 230 into the storage box on the conveying device. After taking all the required blood bags, the partition door 130 is closed. The conveying device moves the storage box to the discharge outlet, and the baffle at the discharge outlet is opened, and the storage box can be taken out. During the process of taking out the storage box, since the partition door 130 separates the storage chamber 110 and the picking and placing chamber 120 from each other, the influence on the storage temperature of the blood bags is reduced. In this way, efficient access to blood bags can be realized, the influence on the temperature of the stored blood bags during storage and taking is reduced, and the accuracy of accessing blood bags can be improved by using machinery instead of manual operation, which is beneficial to improving medical safety.

[0032] The turntable support 210 is mainly a connected frame, which includes two upper and lower connecting rings and a plurality of support rods connecting between the upper and lower connecting rings. An opening is provided at the center of the turntable 220. The outer side of the turntable 220 is connected to a plurality of support rods. The lower connecting ring is connected to the inner bottom side of the storage chamber 110 through a bearing, so as to realize rotation within the storage chamber 110.

[0033] When the blood bag needs to be stored, the external storage box with the blood bag is placed from the feed port onto the conveying device, which moves the storage box into place. Then the movable device 420 first drives the gripper 430 to move to the storage box to take out the storage box 230 where the blood bag is located, and the clamping hand in the pick-and-place mechanism 300 moves down into the pick-and-place chamber 120, and the gripper 430 moves the storage box 230 to the gripper position, and the gripper 430 and the clamping hand switch to clamp the storage box 230, and then the gripper 430 resets or continues to clamp and feed the storage box 230 in the storage box, and the clamping hand moves the clamped storage box 230 upward to its corresponding turntable 220 position, and the turntable 210 drives the turntable 220 to rotate, so that the turntable 220 rotates to the required position, and then the clamping hand puts the storage box 230 onto the turntable 220, and the blood bag storage is completed. The whole process has a higher degree of automation, improves work efficiency, and better ensures the low-temperature storage environment of the blood bag.

[0034] The storage mechanism 200 is mainly used to store blood bags. Only one rotating rack 210 can be used. In this case, the rotating disk 220 of the rotating rack 210 can be directly surrounded by the storage boxes 230. If there are multiple rotating racks 210, the storage capacity can be greatly increased. Specifically, the storage mechanism 200 includes a rotating device. The bottom side of the rotating rack 210 is rotatably connected to the inner bottom surface of the storage chamber 110. Multiple rotating racks 210 are equidistantly arranged in a direction away from their own rotation axis. Each rotating disk 220 is provided with an escape zone. The storage boxes 230 are placed on the rotating disk 220 at a position other than the escape zone. The rotating device can drive multiple rotating racks 210 to rotate. Figure 3 As shown, a plurality of rotating racks 210 are respectively provided with a plurality of rotating disks 220, and a plurality of storage boxes 230 are placed around each rotating disk 220 at positions other than the escape zone, so that the number of blood bags that can be stored as a whole can be increased. When the blood bags on the rotating rack 210 located on the outside need to be stored or retrieved, the rotating rack 210 located on the inside is first rotated so that the escape zone on the corresponding rotating disk 220 is directly opposite to the gripper, and the gripper can directly pass through the escape zone on the rotating rack 210 located on the inside and reach the rotating rack 210 located on the outside, so as to store or retrieve the blood bags on the rotating rack 210 located on the outside.

[0035] In practical applications, if the rotating device needs to drive multiple rotating racks 210 to rotate, different implementation methods can be adopted. In embodiment 1, the rotating device uses multiple drives to drive different rotating racks 210 to rotate. Specifically, the rotating device includes multiple servo motors 241 and gear plates. The top sides of all rotating racks 210 are connected to gear plates. The same number of servo motors 241 as the rotating racks 210 are connected to the inner top side of the storage chamber 110, and all motors are connected to all gear plates one-to-one through gears.

[0036] Embodiment 2: The rotating device only uses one drive to drive different turntables 210 respectively. Specifically, the rotating device includes a servo motor 241, a gear ring 242, a telescopic drive member 243, a transmission shaft 244, a transmission sleeve 245, and an external gear 246. The servo motor 241 and the telescopic drive member 243 are both connected to the inner top wall of the storage chamber 110. The servo motor 241 is drivingly connected to the transmission shaft 244. The transmission shaft 244 extends downward. The transmission sleeve 245 is sleeved on the outside of the transmission shaft 244. The telescopic drive member 243 is connected to the transmission sleeve 245 through a bearing. The drive member can drive the transmission sleeve 245 to move up and down. The external gear 246 is sleeved on the outside of the transmission sleeve 245. The transmission sleeve 245, the external gear 246, and the transmission shaft 244 rotate synchronously. A plurality of gear rings 242 are arranged at intervals in the up-down direction below the transmission shaft 244. The number of gear rings 242 is the same as the number of turntables 210. The turntables 210 arranged in sequence from the inside to the outside are respectively connected to the gear rings 242 arranged from the bottom to the top. The external gear 246 can be engaged with any one of the gear rings 242. When the rotating device needs to drive the innermost turntable 210 to rotate, the telescopic drive member 243 drives the external gear 246 to move downward through the transmission sleeve 245 and engages with the lowermost gear ring 242. At this time, the power is transmitted to the innermost turntable 210 through the engagement of the external gear 246 and the gear ring 242, thereby driving it to rotate. When it is necessary to drive the outermost turntable 210 to rotate, the telescopic drive member 243 drives the external gear 246 to move upward through the transmission sleeve 245 and engages with the uppermost gear ring 242. At this time, the power can be transmitted to the outermost turntable 210, thereby driving it to rotate.

[0037] The clamping hand has an openable and closable clamping space to clamp the storage box 230, and it can itself generate a displacement in the horizontal direction to approach or move away from the turntable 210. Specifically, the clamping hand includes a first translation drive 311, a first clamping drive 312, and clamping fingers 313. The first clamping drive 312 is connected to the first translation drive 311. The first translation drive 311 can drive the first clamping drive 312 to reciprocate in the horizontal direction. Two clamping fingers 313 are connected to the first clamping drive 312. A side positioning block 231 is connected to the side of the storage box 230 facing the picking and placing mechanism 300. The first clamping drive 312 can drive the two clamping fingers 313 to clamp or release the side positioning block 231. The first translation drive 311 can provide a driving force for the clamping fingers 313 to reciprocate in the horizontal direction, drive the clamping fingers 313 to translate and approach the turntable 210 where access is required, and return to the original position after the access is completed. When it is necessary to pick up the blood bag on the turntable 210, after the two clamping fingers 313 move close to the storage box 230 where the blood bag is located, the first clamping drive 312 drives the two clamping fingers 313 to approach each other to clamp the side positioning block 231, so that the entire storage box 230 with the blood bag can be removed. When it is necessary to store the blood bag on the turntable 210, the two clamping fingers 313 clamp the storage box 230 with the blood bag and move close to the corresponding turntable 220, and then the first clamping drive 312 drives the two clamping fingers 313 to move away from each other to release the side positioning block 231, so as to place the entire storage box 230 with the blood bag on the turntable 220.

[0038] When the clamping hand can only generate a displacement in the horizontal direction, there will be friction between the storage box 230 and the turntable 220 when picking up the storage box 230. In order to make the storage box 230 move more smoothly, an independent up and down movement drive structure can be set. The up and down movement drive structure is used to first drive the storage box 230 to move up until there is a gap between the top surface of the turntable 220, and then move it into or out of the turntable 220. In order to reduce the drive structure, such as Figure 4As shown, in this embodiment, the gripper further includes a guide plate 320. The guide plate 320 is connected to the first translation drive 311. One side of the guide plate 320 away from the first translation drive 311 is a guide inclined surface 321. The guide inclined surface 321 extends obliquely downward in a direction away from the first translation drive 311. The first clamping drive 312 is slidably connected to the first translation drive 311 in the up-down direction. The first translation drive 311 can drive the first clamping drive 312 to slide along the guide inclined surface 321 onto the guide plate 320. The guide plate 320 is fixed to the first translation drive 311. When it is necessary to pick up the blood bag, after the two clamping fingers 313 clamp the side positioning blocks 231 on the side of the storage box 230, the first translation drive 311 drives the two clamping fingers 313 to translate and return. At this time, the first clamping drive 312 slides along the guide inclined surface 321 in a direction close to the first translation drive 311 and lifts upward, thereby lifting the storage box 230, directly moving the storage box 230 upward out of the turntable 220 and retrieving it. In this way, the friction between the storage box 230 and the turntable 220 can be reduced. Similarly, when it is necessary to store the blood bag, at this time, the two clamping fingers 313 of the first clamping drive 312 clamp the storage box 230, and the first clamping drive 312 is on the guide plate 320. As the first translation drive 311 drives the storage box 230 to approach the turntable rack 210, the first clamping drive 312 slides onto the guide inclined surface 321 and moves downward along the guide of the guide inclined surface 321, and finally places the storage box 230 on the turntable 220. In this way, the process of lifting and removing the storage box 230 from the turntable 220 or moving it into and placing it on the turntable 220 can be realized, and the whole action is more smooth and stable.

[0039] In order to improve the stability of the storage box 230 placed on the turntable 220, a plurality of positioning grooves can be directly provided in a surrounding manner on the top side of the turntable 220. Each positioning groove can place a storage box 230. In this way, the problem that the storage box 230 slips on the turntable 220 during the rotation of the turntable 220 can be avoided. Since the gripper has an upward lifting action when clamping and removing the storage box 230 from the turntable 220, the storage box 230 can be disengaged from the positioning groove. When placing, similarly, the gripper clamps the storage box 230 and approaches the positioning groove on the turntable 220, and has a downward placing action, improving the stability of picking up and taking the storage box 230.

[0040] The pick-and-place mechanism 300 can mainly achieve the up-and-down movement of the gripper, and it is necessary to ensure that the gripper can enter and exit the picking and placing chamber 120 from the storage chamber 110. Specifically, the pick-and-place mechanism 300 includes a bracket 330, a substrate 340, a conveyor 350 and a first lifting drive 360. The bracket 330 is connected to the inner bottom side of the storage chamber 110 and is located within the turntable 210. The conveyor 350 is connected to the bracket 330. The conveyor 350 can be a chain-type conveyor 350. Both sides of the substrate 340 are respectively connected to the two chains of the chain conveyor 350. The conveyor 350 can drive the substrate 340 to move in the up-and-down direction. To improve the stability of the up-and-down movement of the substrate 340, the substrate 340 can also be slidably connected to the bracket 330 in the up-and-down direction. The first lifting drive 360 is connected to the substrate 340, and the first translation drive 311 is connected to the first lifting drive 360. The first lifting drive 360 can drive the first translation drive 311 to move downward into the picking and placing chamber 120 or upward into the storage chamber 110. The conveyor 350 provides the main up-and-down movement drive for the gripper. When the gripper needs to access different turntables 220 to pick and place blood bags, the conveyor 350 drives the gripper to move up and down to adjust the height. When the gripper needs to pass through the opened partition door 130 and enter the picking and placing chamber 120, the conveyor 350 drives the gripper to move down to the end of its stroke, and the first lifting drive 360 also provides a downward driving force for the gripper at the same time, so that the gripper can move out of the conveyor 350 and enter the picking and placing chamber 120. After completion, the first lifting drive 360 and the conveyor 350 provide an upward driving force for the gripper, so that the gripper returns to the storage chamber 110.

[0041] Only one first translation drive 311 may be used. When there are multiple turntables 210, since the first translation drive 311 needs to provide a translation driving force for the gripper so that the gripper reaches the outermost turntable 210, if only one first translation drive 311 is adopted at this time, the volume required by the first translation drive 311 is relatively large. To save the internal space, especially the space extending radially within the turntable 210, in this embodiment, there are multiple first translation drives 311, and the multiple first translation drives 311 are connected in series in sequence. The first clamping drive 312 is connected to the first translation drive 311 located on the side farthest from the rotation axis of the turntable 210. The multiple first translation drives 311 are connected in series in sequence to form a multi-stage translation drive for the gripper. In this way, when there are multiple turntables 210, on the basis of ensuring that the gripper can reach the outermost turntable 210, the overall horizontal occupied space of the translation drive for the gripper is reduced, and the multiple first translation drives 311 can act simultaneously to increase the translation speed of the gripper. For example, when the gripper needs to reach the outermost turntable 210, the first translation drive 311 farthest from the first clamping drive 312 is taken as the first one. The first translation drive is connected to the first lifting drive 360, and the first first translation drive 311 drives the second first translation drive 311 closer to the turntable 210, and the second first translation drive 311 drives the third first translation drive 311 closer to the turntable 210, and so on. The last first translation drive 311 drives the first clamping drive 312 closer to the turntable 210.

[0042] The gripper clamps the side positioning block 231 on the side of the storage box 230 to position the storage box 230, and the gripper 430 needs to continue to clamp the storage box 230 to realize the switching with the gripper. The gripper 430 clamps the storage box 230 from the top side of the storage box 230. Specifically, the gripper 430 includes a second clamping drive 431 and clamping blocks 432. A top positioning block 232 is connected to the top side of the storage box 230. Two clamping blocks 432 are connected to the second clamping drive 431. The second clamping drive 431 can drive the two clamping blocks 432 to clamp or release the top positioning block 232. The moving device 420 drives the gripper 430 closer to the gripper. When it is necessary to pick up the blood bag, the second clamping drive 431 drives the two clamping blocks 432 to clamp the top positioning block 232 on the top side of the storage box 230 clamped by the gripper. When it is necessary to store the blood bag, the second clamping drive 431 drives the two clamping blocks 432 to release the clamped top positioning block 232, so that the storage box 230 is placed in the gripper, thereby realizing the exchange of clamping of the storage box 230 between the gripper 430 and the gripper.

[0043] The movable device 420 is mainly used to provide a driving force for movement in three-dimensional directions. There are various structural forms, such as a robotic arm, or a combination of multiple linear driving components. For example, the movable device 420 includes a left-right translation driving component, a front-back translation driving component, and a lifting driving component. The left-right translation driving component is connected to the inner wall of the picking and placing chamber 120. The front-back translation driving component is connected to the left-right translation driving component. The left-right translation driving component can drive the front-back translation driving component to move in the left-right direction. The lifting driving component is connected to the front-back translation driving component. The front-back translation driving component can drive the lifting driving component to move in the front-back direction. And the gripper 430 is connected to the lifting driving component. The lifting driving component can drive the gripper 430 to move up and down. In this way, the left-right translation driving component, the front-back translation driving component, and the lifting driving component respectively provide driving forces for the gripper 430 to move in the left-right, front-back, and up-down directions, so that the gripper 430 can move back and forth between the clamping hand and the storage box on the conveying device.

[0044] After placing the storage box of the external device on the conveying device, it is necessary for the conveying device to move the storage box into place, so as to facilitate the gripper 430 to accurately achieve the access of the blood bag. In this embodiment, the conveying device includes a conveying frame 411, a second translation drive, and a positioning fixture 412. The conveying frame 411 is located inside the picking and placing chamber 120. The second translation drive is connected to the conveying frame 411. The positioning fixture 412 mainly has slots that can limit the position of the storage box. After accurately placing the storage box into these slots, the positioning of the storage box can be achieved. The positioning fixture 412 is connected to the second translation drive. The second translation drive can drive the positioning fixture 412 to reciprocate between the feeding port and the discharging port. When it is necessary to pick and place the blood bag, the second translation drive drives the positioning fixture 412 to move to the feeding port. The storage box of the external device can be placed into the positioning fixture 412 from the feeding port. The positioning fixture 412 positions the storage box, and then the second translation drive moves the storage box into place inside the picking and placing chamber 120 through the positioning fixture 412. When the picking and placing of the blood bag is completed, the second translation drive moves the storage box to the discharging port through the positioning fixture 412, facilitating the picking of the storage box from the discharging port.

[0045] To improve the convenience of taking and placing the storage box on and from the conveying device, in this embodiment, the conveying device further includes a driving motor, a transmission gear 413 and a transmission rack 414. The driving motor is connected inside the taking and placing chamber 120. The driving motor is drivingly connected to the transmission gear 413. The transmission rack 414 is connected to the bottom side of the conveying rack 411. The transmission gear 413 meshes with the transmission rack 414. The conveying rack 411 is slidably connected inside the taking and placing chamber 120, and the conveying rack 411 can slide out of the feeding port or the discharging port. Through the transmission of the transmission gear 413 and the transmission rack 414, the forward or reverse rotation of the driving motor can drive the conveying rack 411 to reciprocate linearly inside the taking and placing chamber 120. When taking and placing blood bags, the second translation moves the positioning fixture 412 close to the feeding port, and the driving motor rotates to drive the conveying rack 411 to slide out of the feeding port, so that the entire positioning fixture 412 can be moved out from the feeding port, facilitating the direct placement of the external storage box into the positioning fixture 412. After the blood bag taking and placing is completed, the second translation drive moves the positioning fixture 412 close to the discharging port, and the driving motor rotates in reverse to drive the conveying rack 411 to slide out of the discharging port, so that the entire positioning fixture 412 can be moved out from the discharging port, facilitating the removal of the storage box from the positioning fixture 412.

[0046] In some embodiments, a disinfector is provided inside the taking and placing chamber 120. The disinfector can be an ultraviolet disinfector or an ozone disinfector, etc. When the external storage box enters the taking and placing chamber 120, the storage box can be disinfected by the disinfector, which can further ensure the overall sterility, reduce the risk of bacterial infection, and improve the environmental quality for storing blood bags.

[0047] In practical applications, the telescopic driving member 243, the first translation drive 311, the first lifting drive 360, the left - right translation driving member, the front - rear translation driving member, and the second translation drive are all used to provide a driving structure for reciprocating linear motion. There are various structural forms that can be adopted, such as electric push rods, pneumatic push rods, or hydraulic push rods, etc. The first clamping drive 312 and the second clamping drive 431 are used to provide clamping driving forces, and they can adopt pneumatic fingers 313 or electric fingers 313, etc.

[0048] The storage box 230 itself has a cavity with an upward - opening. In practical applications, an RFID reader - writer and an indicator light can be installed on the inner wall of the cavity of the storage box 230. Blood bags usually carry labels with blood information. After the blood bag is loaded into the storage box 230, the label information on the blood bag can be read by the RFID reader - writer inside the storage box 230, and then information such as the storage position of this storage box 230 can be confirmed. The color of the indicator light can be used to determine whether the label information on the blood bag has been read. For example, when the label information on the blood bag has not been read, the indicator light is red, and when the label information on the blood bag has been read, the indicator light shows green.

[0049] Since the storage box 230 contains electrical components such as an RFID reader / writer and an indicator light, a storage battery is required in the storage box 230 to charge the RFID reader / writer and the indicator light. To facilitate charging of the storage battery in the storage box 230, a magnetic charging contact piece may be provided on the inner bottom side of the positioning groove, and a corresponding mating power connection contact piece is provided on the bottom surface of the storage box 230. When the storage box 230 is positioned in the positioning groove, the magnetic charging contact piece and the power connection contact piece are in mutual abutment, and charging of the storage battery can be achieved.

[0050] Thus, the following blood bag storage method can be implemented using this machine, including the following steps:

[0051] Step S1, place the blood bag into the storage box 230, and the RFID reader / writer in the storage box 230 reads the information of the blood bag;

[0052] Step S2, encode the positions on all the turntables 220 where the storage boxes 230 are placed;

[0053] Step S3, open the baffle 140 of the feed inlet, pack the storage box 230 with the blood bag and place it on the conveying device, and the conveying device transfers it to the loading point of the picking chamber 120, then close the baffle 140 of the feed inlet, and then open the partition door 130 between the storage chamber 110 and the picking chamber 120;

[0054] Step S4, the gripper moves downward and extends into the picking chamber 120, the moving device 420 drives the gripper 430 to approach the loading point, the gripper 430 grabs the storage box 230 and moves it to the gripper, and the gripper clamps the storage box 230 and then the gripper 430 releases it;

[0055] Step S5, the gripper moves upward and places the storage box 230 onto the turntable 220, and associate and record the encoding of the position corresponding to the storage box 230 on the turntable 220 with the blood bag information;

[0056] Step S6, repeat Step S4 and Step S5 until the blood bag storage is completed, and then close the partition door 130 between the storage chamber 110 and the picking chamber 120;

[0057] Step S7, open the baffle 140 of the discharge outlet, the conveying device sends the empty box to the discharge outlet, and after taking out the box, close the baffle 140 of the discharge outlet.

[0058] Through the above storage method, mechanical automatic storage of blood bags can be achieved, improving the efficiency and accuracy of blood bag storage, and reducing the impact on the low-temperature storage environment of blood bags during storage.

[0059] Since the encoding on the turntable 220 is already associated with the blood bag information and recorded at the background controller, when it is necessary to retrieve a blood bag, the medical staff only need to input the required blood bag and send it to the background controller. The background controller can then send an instruction to this machine to automatically retrieve the blood bag from the position of the turntable 220 where it is located. In this way, when retrieving the blood bag, there is no need for the medical staff to manually retrieve and repeatedly check. Moreover, the clamping hand and the gripper 430 cooperate with each other, greatly improving the efficiency of blood bag retrieval. After the mechanical automatic retrieval of the blood bag into the storage box, the storage box is moved out of the pickup and placement room 120. The medical staff can directly take away the storage box, and then transfer the storage box with the required blood bag to the required department, providing valuable time for the development of medical treatment.

[0060] The preferred embodiments of the present invention have been specifically described above, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. Blood bag access machine, characterized in that: Comprising: A refrigeration box, inside which a storage chamber and a picking chamber are arranged from top to bottom. A switchable partition door is arranged between the storage chamber and the picking chamber. An inlet and an outlet that communicate with the picking chamber are arranged on the refrigeration box. Openable baffles are arranged in both the inlet and the outlet. A storage mechanism, which has a rotating rack that can rotate in the storage chamber. The rotation axis of the rotating rack extends in the vertical direction. A plurality of turntables are connected to the rotating rack at intervals in the vertical direction. A plurality of storage boxes are respectively placed around the rotation axis of the rotating rack on the plurality of turntables. A picking and placing mechanism, which has a gripper that can move up and down in the rotating rack. The gripper includes a first translation drive, a first clamping drive and clamping fingers. The first clamping drive is connected to the first translation drive. The first translation drive can drive the first clamping drive to reciprocate horizontally. Two clamping fingers are connected to the first clamping drive. A side positioning block is connected to the side of the storage box facing the picking and placing mechanism. The first clamping drive can drive the two clamping fingers to clamp or release the side positioning block. The gripper further includes a guide plate connected to the first translation drive. The side surface of the guide plate away from the first translation drive is a guide inclined surface, which extends obliquely downward in the direction away from the first translation drive. The first clamping drive is slidably connected to the first translation drive in the vertical direction. The first translation drive can drive the first clamping drive to slide along the guide inclined surface onto the guide plate. The picking and placing mechanism includes a bracket, a base plate, a conveyor and a first lifting drive. The bracket is connected to the inner bottom side of the storage chamber and is located inside the rotating rack. The conveyor is connected to the bracket. The base plate is connected to the conveyor. The conveyor can drive the base plate to move up and down. The first lifting drive is connected to the base plate. The first translation drive is connected to the first lifting drive. The first lifting drive can drive the first translation drive to move downward into the picking chamber or upward into the storage chamber. A transfer mechanism, which includes a conveying device, a moving device and a gripper. Both the conveying device and the moving device are connected to the picking chamber. The conveying device has a conveying direction from the inlet to the outlet. The moving device has a moving end that can move in three-dimensional directions. The gripper is connected to the moving end. The moving device can drive the gripper to move back and forth between the gripper and the conveying device.

2. The blood bag access machine according to claim 1, wherein: The storage mechanism includes a rotating device. The bottom side of the rotating rack is rotatably connected to the inner bottom surface of the storage chamber. A plurality of rotating racks are arranged equidistantly along the direction away from its own rotation axis. An avoidance area is arranged on each turntable. The storage box is placed on the turntable at a position other than the avoidance area. The rotating device can drive the plurality of rotating racks to rotate.

3. The blood bag access device according to claim 1, characterized in that: There are a plurality of the first translation drives, and the plurality of the first translation drives are connected in series in sequence. The first clamping drive is connected to the first translation drive located on the farthest side from the rotation axis of the turntable.

4. The blood bag access machine according to claim 1, characterized in that: The gripper includes a second clamping drive and clamping blocks. A top positioning block is connected to the top side of the storage box. Two clamping blocks are connected to the second clamping drive, and the second clamping drive can drive the two clamping blocks to clamp or release the top positioning block.

5. The blood bag access machine according to claim 1, wherein: The conveying device includes a conveying frame, a second translation drive, and a positioning fixture. The conveying frame is located in the picking and placing chamber. The second translation drive is connected to the conveying frame, and the positioning fixture is connected to the second translation drive. The second translation drive can drive the positioning fixture to reciprocate between the feeding port and the discharging port.

6. The blood bag access machine according to claim 5, characterized in that: The conveying device further includes a driving motor, a transmission gear, and a transmission rack. The driving motor is connected in the picking and placing chamber. The driving motor is drivingly connected to the transmission gear. The transmission rack is connected to the bottom side of the conveying frame. The transmission gear and the transmission rack mesh with each other. The conveying frame is slidably connected in the picking and placing chamber, and the conveying frame can slide out of the feeding port or the discharging port.

7. The blood bag access machine according to claim 1, characterized in that: A sterilizer is arranged in the picking and placing chamber.

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