Blood basket taking and placing device

Abstract

The invention relates to a blood basket taking and placing device. The blood basket taking and placing device comprises a taking and placing frame; a pick-and-place table; the lifting moving assembly is used for driving the pick-and-place table to move up and down; a telescopic moving assembly; the clamping and holding assembly comprises a clamping and holding mounting plate, a first clamping and holding arm, a second clamping and holding arm and a clamping and holding driving motor, the clamping and holding mounting plate is connected with the telescopic moving assembly, a clamping and holding space is formed between the first clamping and holding arm and the second clamping and holding arm, and the clamping and holding driving motor is in transmission connection with the first clamping and holding arm and the second clamping and holding arm. The clamping and holding driving motor can drive the first clamping and holding arm and the second clamping and holding arm to get close to each other or get away from each other. The telescopic moving assembly can drive the clamping assembly to horizontally move in a telescopic mode, so that the first clamping arm and the second clamping arm can be arranged on the two opposite sides of the blood basket respectively. The descending moving assembly can drive the first clamping arm and the second clamping arm to be supported on the bottom faces of the two opposite side edges of the blood basket correspondingly so as to lift the blood basket.

Description

Technical Field

[0001] The invention relates to the technical field of automated storage, and in particular to a blood basket taking and discharging device. Background Art

[0002] Plasma is usually stored in low-temperature blood banks in blood centers or medical institutions. Plasma is usually stored by first packing it in boxes and then placing the boxed plasma in a blood basket. Due to the uncertainty of plasma use, in order to ensure high-quality plasma preservation, plasma is usually stored in a low-temperature environment (minus 30°C).

[0003] Traditional cryogenic blood banks mostly use single-deep or double-deep shelves. It is necessary to go to the cryogenic blood bank manually to store or take out blood baskets from the shelves. Long-term low-temperature environment can easily cause harm to people, so an automated cryogenic blood bank is needed.

[0004] At present, in automated low-temperature blood banks, bottom forks or side forks are usually used. When using bottom forks, there is a risk of blood baskets falling when positioning errors occur; using side forks requires a pull-type blood basket, which causes contact friction between the blood basket and the shelf, which is easy to cause wear and damage to the blood basket and the shelf. Summary of the invention

[0005] The object of the present invention is to provide a blood basket taking and discharging device, so as to avoid wear and damage to the blood basket and the shelf during the transfer process of storing or taking out the blood basket in the low-temperature blood bank.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] According to one aspect of the present invention, the present invention provides a blood basket taking and discharging device, which is used to put a blood basket into a shelf or take a blood basket out of a shelf; the blood basket taking and discharging device comprises:

[0008] The pick-and-place rack is arranged extending in the up-and-down direction;

[0009] A pick-and-place platform, which is escalably mounted on the pick-and-place rack;

[0010] A lifting and moving assembly is connected to the pick-and-place platform in a transmission manner, and is used to drive the pick-and-place platform to move up and down along the height direction of the pick-and-place rack;

[0011] A telescopic moving component is arranged on the pick-and-place table and is used for linear telescopic movement;

[0012] Clamping assembly, comprising:

[0013] A clamping and mounting plate, arranged on the pick-and-place table and connected to the telescopic assembly;

[0014] A first clamping arm connected to the first clamping slide plate;

[0015] a second clamping arm connected to the second clamping slide plate; the first clamping arm and the second clamping arm are arranged at intervals on the same side of the clamping mounting plate, a clamping space is formed between the first clamping arm and the second clamping arm, and the clamping space is used to clamp the blood basket;

[0016] A clamping drive motor is arranged on the clamping mounting plate, and the output end of the clamping drive motor is respectively connected to the first clamping arm and the second clamping arm in transmission connection;

[0017] Wherein, the clamping drive motor can drive the first clamping arm and the second clamping arm to move closer to each other or farther away from each other, so as to adjust the distance between the first clamping arm and the second clamping arm;

[0018] The telescopic moving component can drive the clamping component to move horizontally on the pick-up and placement table, so that the blood basket enters the clamping space, and the first clamping arm and the second clamping arm can be arranged on opposite sides of the blood basket respectively;

[0019] The lifting and moving assembly can drive the pick-up and place platform to move upward along the pick-up and place frame, so that the first clamping arm and the second clamping arm can be supported on the bottom surfaces of the opposite side edges of the blood basket respectively to lift the blood basket.

[0020] The above technical solution has the following advantages or beneficial effects: the first clamping slide plate and the second clamping slide plate are driven by the clamping drive motor to slide towards each other or slide away from each other, so that the width between the first clamping arm and the second clamping arm can be adjusted, and the first clamping arm and the second clamping arm can be prevented from directly contacting the outer side wall of the blood basket when clamping the blood basket in cooperation with the telescopic moving component; and the first clamping arm and the second clamping arm can be respectively supported on the bottom surfaces of the opposite side edges of the blood basket in cooperation with the lifting moving component to lift the blood basket, thereby preventing the outer side wall of the blood basket from being damaged by friction during the transfer process of storing or taking out the blood basket, and also preventing the bottom surface of the blood basket from being damaged by friction and between the shelf.

[0021] In some embodiments of the present application, a supporting rib is respectively provided on the edges on both sides of opposite sides of the blood basket; the telescopic moving component can drive the first clamping arm and the second clamping arm to respectively extend under one of the supporting ribs; the lifting moving component can drive the clamping component to move upward, so that the first clamping arm and the second clamping arm are respectively supported on the bottom surface of one of the supporting ribs to lift the blood basket.

[0022] The above technical solution has the following advantages or beneficial effects: by respectively protruding supporting ribs on opposite sides of the blood basket, the first clamping arm and the second clamping arm are respectively supported on the bottom surface of a supporting rib, so as to lift the blood basket, clamp the blood basket, and transfer the blood basket. When the first clamping arm and the second clamping arm are supported on the bottom surface of the supporting rib, the first clamping arm and the second clamping arm may not contact the outer side wall of the blood basket, so that when the blood basket is transferred, the outer side wall of the blood basket can be prevented from being damaged by friction during repeated clamping.

[0023] In some embodiments of the present application, the clamping assembly includes: a first clamping slide, which is slidably disposed on one side of the clamping mounting plate, and the sliding direction of the first clamping slide is perpendicular to the telescopic direction of the telescopic moving assembly; a second clamping slide, which is slidably disposed on the same side of the clamping mounting plate, and the sliding direction of the second clamping slide is consistent with the sliding direction of the first clamping slide; one end of the first clamping arm is connected to the first clamping slide, and the other end is extended toward a side away from the clamping mounting plate; one end of the second clamping arm is connected to the second clamping slide, and the other end is extended toward a side away from the clamping mounting plate; the output end of the clamping drive motor is respectively connected to the first clamping slide and the second clamping slide for transmission; the clamping drive motor can drive the first clamping slide and the second clamping slide to slide toward each other or slide away from each other in the opposite direction, so that the first clamping arm and the second clamping arm are close to each other or away from each other.

[0024] The above technical solution has the following advantages or beneficial effects: the first clamping slide plate and the second clamping slide plate are driven by the clamping drive motor to slide toward each other or slide away from each other, so that the width of the clamping space between the first clamping arm and the second clamping arm can be adjusted, so that the first clamping arm and the second clamping arm can avoid contact with the outer side wall of the blood basket, thereby preventing the outer side wall of the blood basket from being damaged by friction when the blood basket is transferred.

[0025] In some embodiments of the present application, the clamping assembly also includes a clamping drive gear, which is arranged at the output end of the clamping drive motor; a first clamping rack is provided on the first clamping skateboard, and a second clamping rack is provided on the second clamping skateboard; the extension direction of the first clamping rack and the second clamping rack is consistent with the sliding direction of the first clamping skateboard and the second clamping skateboard; the first clamping rack and the second clamping rack are arranged on opposite sides of the clamping drive gear, and are respectively meshed and connected with the clamping drive gear.

[0026] The above technical solution has the following advantages or beneficial effects: when the clamping drive motor drives the clamping drive gear to rotate forward, the first clamping rack and the second clamping rack can approach each other, thereby driving the first clamping slide plate and the second clamping slide plate to slide toward each other. When the clamping drive motor drives the clamping drive gear to rotate reversely, the first clamping rack and the second clamping rack can move away from each other, thereby driving the first clamping slide plate and the second clamping slide plate to slide reversely and move away from each other.

[0027] In some embodiments of the present application, the clamping assembly also includes a first finger servo and a second finger servo; the first finger servo is rotatably disposed at one end of the first clamping arm away from the first clamping slide; the second finger servo is rotatably disposed at one end of the second clamping arm away from the second clamping slide; the first finger servo and the second finger servo can be respectively rotated to extend into the clamping space, or respectively rotated to exit the clamping space.

[0028] The above technical solution has the following advantages or beneficial effects: an entrance and exit of a clamping space can be formed between one end of the first clamping arm away from the first clamping slide and one end of the second clamping arm away from the second clamping slide. The first finger servo can be rotatably arranged on one side of the entrance and exit of the clamping space. The second finger servo can be rotatably arranged on the other side of the entrance and exit of the clamping space. When the first finger servo and the second finger servo are rotated and extended into the clamping space, the blood basket can be limited in the clamping space. When the first finger servo and the second finger servo are rotated and withdrawn from the clamping space, the blood basket can be allowed to enter and exit the clamping space.

[0029] In some embodiments of the present application, the blood basket loading and unloading device includes: a rotating table, rotatably disposed above the top of the loading and unloading table; a rotating movable component, disposed on the loading and unloading table, the rotating movable component is transmission-connected to the rotating table, and the rotating movable component is used to drive the rotating table to rotate horizontally on the loading and unloading table; the telescopic movable component and the clamping component are disposed on the rotating table and can rotate horizontally with the rotating table.

[0030] The above technical solution has the following advantages or beneficial effects: the rotating table is driven to rotate horizontally by the rotating moving assembly, so that the pick-and-place table and the clamping assembly can rotate horizontally with the rotating table, thereby allowing the shelves to be arranged or arranged in other directions.

[0031] In some embodiments of the present application, a plurality of storage positions are arranged in sequence along the height direction of the shelf; a plurality of cache positions are arranged in sequence along the height direction of the pick-and-place rack, and the cache positions are used to cache and place blood baskets; the lifting and moving component can drive the pick-and-place platform to move to a height corresponding to any one of the storage positions of the shelf, and to a height corresponding to any one of the cache positions of the pick-and-place rack; the rotating moving component can drive the rotating table and the clamping component to rotate toward the storage position, and rotate toward the cache position.

[0032] The above technical solution has the following advantages or beneficial effects: by using the lifting and moving assembly to drive the pick-up and placement table to move to a height corresponding to any storage position of the shelf, a blood basket can be transferred to any storage position on the shelf; by using the lifting and moving assembly to drive the pick-up and placement table to move to a height corresponding to any cache position of the pick-up and placement rack, a blood basket can be transferred to any cache position on the pick-up and placement rack. By using the rotating moving assembly, the pick-up and placement table and the clamping assembly can be driven to be arranged toward the storage position of the shelf or toward the cache position of the pick-up and placement rack. By using the telescopic moving assembly, the first clamping arm and the second clamping arm of the clamping assembly can be driven to extend into the storage position, and the blood basket in the storage position can be clamped and taken out, or the blood basket can be clamped and placed into the storage position. By using the telescopic moving assembly, the first clamping arm and the second clamping arm of the clamping assembly can be driven to extend into the cache position, and the blood basket in the cache position can be clamped and taken out, or the blood basket can be clamped and placed into the cache position. Therefore, multiple blood baskets can be transferred between the shelf and the pick-up and placement rack at one time, thereby improving the transportation efficiency. Through multiple cache positions on the pick-and-place rack, in conjunction with the pick-and-place table, telescopic moving components, clamping components, and lifting and moving components, the automated storage function of blood baskets in the cryogenic blood bank can be realized, and the efficiency of picking and placing blood baskets in the automated cryogenic blood bank can be improved.

[0033] In some embodiments of the present application, the telescopic moving component includes: a telescopic transition plate, which is slidably disposed on the rotating table, and the sliding direction of the telescopic transition plate is consistent with the telescopic moving direction of the clamping component; the clamping mounting plate is connected to the telescopic transition plate; a telescopic synchronous belt, which is disposed on the rotating table and connected to the telescopic transition plate; the moving direction of the telescopic synchronous belt is consistent with the sliding direction of the telescopic transition plate; a telescopic transmission shaft, which is rotatably disposed on the rotating table, and the extending direction of the telescopic transmission shaft is perpendicular to the sliding direction of the telescopic transition plate; a telescopic driving motor, which is disposed on the rotating table, and the output end of the telescopic driving motor is connected to the telescopic transmission shaft in driving connection; the telescopic driving motor can drive the telescopic transmission shaft to rotate in a forward or reverse direction, and drive the telescopic transition plate to slide in a forward or reverse direction on the rotating table through the telescopic synchronous belt, so that the clamping mounting plate can drive the first clamping arm and the second clamping arm to move horizontally telescopically on the rotating table.

[0034] The above technical solution has the following advantages or beneficial effects: through the transmission connection cooperation of the telescopic drive motor, the telescopic transmission shaft, the telescopic synchronous belt and the telescopic transition plate, the telescopic transition plate can be extended from one side of the rotating table. At this time, the clamping mounting plate can be extended to the same side of the telescopic transition plate relative to the telescopic transition plate, thereby allowing the first clamping arm and the second clamping arm to extend from the same side of the telescopic transition plate, thereby extending the extension distance of the first clamping arm and the second clamping arm.

[0035] In some embodiments of the present application, the telescopic transition plate includes a first telescopic transition plate and a second telescopic transition plate; the first telescopic transition plate is slidably arranged on the rotating table, and the telescopic synchronous belt is connected to the first telescopic transition plate; the second telescopic transition plate is slidably arranged on the first telescopic transition plate; the sliding directions of the first telescopic transition plate and the second telescopic transition plate are consistent; the telescopic moving component also includes: a telescopic movable plate, which is slidably arranged on the second telescopic transition plate, and the sliding direction of the telescopic movable plate is consistent with the sliding direction of the telescopic transition plate; the clamping mounting plate is connected to the telescopic movable plate; the first telescopic transmission belt is rotatably arranged on the first telescopic transition plate, and the first telescopic transmission belt is rotatably arranged on the first telescopic transition plate. One side of the moving belt is connected to the second telescopic transition plate, and the other side of the first telescopic transmission belt is connected to the side wall of the rotating table; the second telescopic transmission belt is rotatably arranged on the second telescopic transition plate, one side of the second telescopic transmission belt is connected to the first telescopic transition plate, and the other side of the second telescopic transmission belt is connected to the telescopic movable plate; when the telescopic synchronous belt drives the first telescopic transition plate to slide and extend to one side relative to the rotating table, the first telescopic transmission belt can drive the second telescopic transition plate to slide and extend to the same side relative to the first telescopic transition plate, and the second telescopic transmission belt can drive the telescopic movable plate and the clamping mounting plate to slide and extend to the same side relative to the second telescopic transition plate.

[0036] The above technical solution has the following advantages or beneficial effects: when the first telescopic transition plate is driven to slide and extend toward one side of the rotating platform by the telescopic synchronous belt, the second telescopic transition plate can be driven to slide and extend synchronously relative to the same side of the first telescopic transition plate by the first telescopic transmission belt. At this time, the telescopic movable plate can drive the clamping mounting plate, the first clamping arm and the second clamping arm to slide and extend relative to the same side of the second telescopic transition plate, so as to increase the extension distance of the first clamping arm and the second clamping arm.

[0037] In some embodiments of the present application, the rotating moving component includes: a rotating drive motor, which is arranged on the pick-up and placement table; a rotating drive wheel, which is rotatably arranged on the pick-up and placement table, and the rotating drive wheel is transmission-connected to the output end of the rotating drive motor; a rotating support wheel, which is rotatably arranged on the pick-up and placement table, and the rotating support wheel is meshingly connected to the rotating drive wheel, and the rotating table is arranged on the top surface of the rotating support wheel; the rotating drive motor can drive the rotating drive wheel to rotate, so as to drive the rotating table to rotate horizontally relative to the pick-up and placement table through the rotating support wheel.

[0038] The above technical solution has the following advantages or beneficial effects: when the rotating driving wheel rotates forward or reversely, the rotating driving wheel can drive the rotating supporting wheel to rotate, and then drive the rotating table to rotate forward or reverse horizontally relative to the pick-and-place table, so that the first clamping arm and the second clamping arm on the pick-and-place table are arranged toward the storage position of the shelf or toward the cache position of the pick-and-place rack.

[0039] In some embodiments of the present application, the lifting and moving component includes: a lifting synchronous belt, which is arranged on the pick-up and placement rack, and is transmission-connected to the pick-up and placement table; the moving direction of the lifting synchronous belt is consistent with the lifting and sliding direction of the pick-up and placement table; a lifting transmission shaft, which is rotatably arranged on the pick-up and placement rack, and the extending direction of the lifting transmission shaft is perpendicular to the moving direction of the lifting synchronous belt; a lifting drive motor, and the output end of the lifting drive motor is transmission-connected to the lifting drive shaft; the lifting drive motor can drive the lifting drive shaft to rotate forward or reverse, and drive the pick-up and placement table to slide upward or downward on the pick-up and placement rack through the lifting synchronous belt.

[0040] The above technical solution has the following advantages or beneficial effects: by utilizing the transmission connection cooperation of the lifting drive motor, the lifting transmission shaft and the lifting synchronous belt, the pick-and-place table can slide up or down smoothly on the pick-and-place rack, and the moving position of the pick-and-place table can be easily controlled.

[0041] In some embodiments of the present application, the lifting and moving assembly includes: a lifting mounting seat, arranged at the bottom of the pick-up and placement rack; a lifting reducer, arranged in the lifting mounting seat; the lifting transmission shaft is transmission-connected to the lifting reducer; the lifting drive motor is arranged on the lifting mounting seat, and the output end of the lifting drive motor is transmission-connected to the lifting reducer.

[0042] The above technical solution has the following advantages or beneficial effects: the lifting mounting seat can be used to provide an installation position and installation space for the lifting drive motor, the lifting reducer, and the lifting transmission shaft.

[0043] In some embodiments of the present application, the blood basket loading and unloading device includes a horizontal moving component, which is arranged on one side of the shelf, and the horizontal moving component includes: two horizontal moving guide rails, which are arranged on one side of the shelf in parallel and at intervals; a horizontal moving platform, which is slidably arranged on the horizontal moving guide rail; the loading and unloading rack is supported and fixed on the horizontal moving platform; a horizontal driving motor, which is arranged on the horizontal moving platform, and a horizontal driving wheel, which is rotatably arranged on the horizontal moving platform, and the horizontal driving wheel is transmission-connected to the output end of the horizontal driving motor; a horizontal moving rack, which is arranged in parallel between the two horizontal moving guide rails; the horizontal driving wheel is meshingly connected to the horizontal moving rack; the horizontal driving motor can drive the horizontal driving wheel to rotate forward or reverse, and the horizontal driving wheel can move forward or reverse along the horizontal moving rack, so as to drive the loading and unloading rack to move horizontally forward or reverse relative to the horizontal moving guide rail through the horizontal moving platform.

[0044] The above technical solution has the following advantages or beneficial effects: by utilizing the horizontal moving guide rail, horizontal moving platform, horizontal driving motor, horizontal driving wheel and horizontal moving rack in the horizontal moving assembly, the horizontal moving platform can be driven to drive the pick-up and place rack to move horizontally smoothly relative to the horizontal moving guide rail, thereby facilitating the control of the horizontal moving distance of the horizontal moving platform and the pick-up and place rack.

[0045] In some embodiments of the present application, the horizontal movable guide rail includes a plurality of horizontal guide rail units, and the plurality of horizontal guide rail units are sequentially spliced ​​to form the horizontal movable guide rail, and a splicing seam is formed between adjacent horizontal guide rail units; the splicing seams on two horizontal movable guide rails are arranged in staggered intervals.

[0046] The above technical solution has the following advantages or beneficial effects: the joints on the two horizontal moving guide rails are arranged in a staggered manner, so that the horizontal moving sliders at the bottom of the horizontal moving platform can pass through the joints in sequence, that is, the corresponding horizontal moving sliders on the two horizontal moving guide rails will not pass through the corresponding joints at the same time, which can avoid resonance of multiple horizontal moving sliders, can help reduce the vibration amplitude of the horizontal moving sliders, and can improve the movement stability of the horizontal moving platform.

[0047] In some embodiments of the present application, a plurality of cache support plates are sequentially arranged at intervals along the height direction of the pick-and-place rack, and the cache positions are formed on the cache support plates.

[0048] The above technical solution has the following advantages or beneficial effects: when multiple blood baskets are temporarily stored on the pick-and-place rack, the multiple blood baskets can be supported on multiple different buffer support plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 11 is a schematic diagram of the structure of a blood basket according to an embodiment of the present invention.

[0050] Figure 2 yes Figure 1 A decomposition diagram of .

[0051] Figure 3 It is a schematic structural diagram of a low-temperature cold storage according to an embodiment of the present invention.

[0052] Figure 4 yes Figure 3 Top view of the .

[0053] Figure 5 yes Figure 3 Schematic diagram of the structure of the blood basket taking and discharging device.

[0054] Figure 6 yes Figure 5 Schematic diagram of the structure of the pick-and-place rack.

[0055] Figure 7 yes Figure 6 Schematic diagram of the structure from another perspective.

[0056] Figure 8 yes Figure 5 Schematic diagram of the partial structure of the lifting and moving components.

[0057] Fig. 9 yes Figure 5 Schematic diagram of some structures in .

[0058] Fig.10 yes Fig. 9 Schematic diagram of the local enlarged structure in.

[0059] Fig.11 yes Figure 5 Schematic diagram of the structure of the buffer support plate and blood basket.

[0060] Fig.12 yes Fig.11 A decomposition diagram of .

[0061] Fig.13 yes Figure 5 Schematic diagram of the structure of the pick-and-place platform, rotating moving component, rotating platform, telescopic moving component, clamping component and blood basket.

[0062] Fig.14 yes Fig.13 Side view of .

[0063] Fig.15 yes Fig.13 Schematic diagram of the structure of the pick-and-place table and the rotating moving component.

[0064] Fig.16 yes Fig.15 Side view of .

[0065] Fig.17 yes Fig.13 Schematic diagram of the structure of the central rotating table, telescopic moving assembly, clamping assembly and blood basket.

[0066] Fig.18 yes Fig.17 A decomposition diagram of .

[0067] Fig.19 yes Fig.17 Schematic diagram of the structure of the central rotating table, telescopic moving assembly and clamping assembly.

[0068] Fig. 20 yes Fig.19 A decomposition diagram of .

[0069] Fig.21 yes Fig. 20 Schematic diagram of the structure of the middle clamping assembly.

[0070] Fig. 22 yes Fig.21 Side view of .

[0071] Fig.23 yes Fig.17 Top view of the .

[0072] Fig.24 yes Fig.23 Schematic diagram of the structure in another state.

[0073] Fig.25 yes Fig.19 A cross-sectional view of .

[0074] Fig.26 yes Fig.25 Top view of the .

[0075] Fig. 27 yes Fig.19 Another cross-sectional view of .

[0076] Fig.28 yes Fig. 27 Top view of the .

[0077] Fig.29 yes Fig.10 Side view of.

[0078] Fig.30 yes Fig. 9 A magnified schematic diagram of area A in the middle.

[0079] Fig.31 yes Fig. 9 Schematic diagram of the structure of the horizontal movable guide rail.

[0080] Fig.32 yes Fig. 9Schematic diagram of the structure of the middle horizontal support platform.

[0081] The reference numerals are as follows: 10, blood basket; 100, blood box; 101, storage slot; 102, first end cover; 103, second end cover; 104, handle slot; 105, supporting rib; 106, clamping position; 1, cold storage body; 11, first door; 12, second door; 13, pick-up and put-away operation space; 2, shelf; 21, storage position; 211, first depth storage position; 212, second depth storage position; 3, blood basket pick-up and put-away device; 31, pick-up and put-away rack; 310, lifting and moving component; 3101, cache position; 3102, cache space; 311, pick-up and put-away platform; 312, lifting and moving guide rail; 3121, lifting and moving slider; 313, lifting synchronous belt; 3131, lifting driving wheel ; 3132, lifting driven wheel; 314, lifting transmission shaft; 315, lifting drive motor; 316, lifting reducer; 3161, coupling; 317, lifting mounting seat; 3171, through hole; 3172, lifting bearing seat; 3173, lifting anti-collision block; 318, counterweight balance block; 3181, lifting transmission belt; 3182, support wheel; 319, cache support plate; 3191, first limit block; 3192, first limit wall; 3193, second limit wall; 3194, second limit block; 32, horizontal moving assembly; 321, horizontal moving platform; 322, horizontal moving guide rail; 3220, horizontal guide rail unit; 3220a, first horizontal guide rail unit; 3220b, The second horizontal guide rail unit; 3221, horizontal moving slider; 3222, joint seam; 323, horizontal drive motor; 324, horizontal moving rack; 325, horizontal moving drag chain; 326, horizontal support platform; 3260, horizontal support rail; 3261, spacing area; 33, rotating moving assembly; 331, rotating support wheel; 332, rotating drive wheel; 333, rotating drive motor; 34, telescopic moving assembly; 341, telescopic transition plate; 3411, first telescopic transition plate; 3412, second telescopic transition plate; 342, telescopic synchronous belt; 3421, telescopic driving wheel; 343, telescopic transmission shaft; 345, telescopic drive motor; 346, telescopic drive belt; 347, first telescopic Transmission belt; 3471, first connection part; 3472, second connection part; 348, second telescopic transmission belt; 3481, third connection part; 3482, fourth connection part; 349, telescopic movable plate; 3491, reinforcement; 35, clamping assembly; 350, clamping space; 351, first clamping arm; 352, second clamping arm; 353, first clamping slide plate; 3531, first clamping rack; 354, second clamping slide plate; 3541, second clamping rack; 355, clamping mounting plate; 356, clamping drive motor; 357, clamping drive gear; 358, first finger servo; 359, second finger servo; 36, rotating table; 361, rotating bottom plate; 362, rotating side plate. DETAILED DESCRIPTION

[0082] Typical embodiments that embody the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different embodiments without departing from the scope of the present invention, and the descriptions and illustrations therein are essentially used for illustration purposes rather than for limiting the present invention.

[0083] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0084] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0085] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0086] Figure 1 FIG. 1 is a schematic diagram of the structure of a blood basket 10 according to an embodiment of the present invention. Figure 2 yes Figure 1 A decomposition diagram of .

[0087] like Figure 1 and Figure 2 As shown, a blood basket 10 provided in an embodiment of the present invention may be provided with a plurality of storage slots 101. The plurality of storage slots 101 may be arranged in sequence. Each storage slot 101 may be used to place a blood box 100. Therefore, a plurality of blood boxes 100 may be arranged in the blood basket 10.

[0088] It should be noted that a blood bag may be provided in the blood box 100, and the plasma is installed in the blood bag. The blood bag is made of soft material, has poor pressure resistance, and is easily broken during storage. Therefore, the existing blood bag is usually installed in the blood box 100, and the blood box 100 can be made of hard material. Packing the blood bag in the blood box 100 and then loading it into the blood basket 10 can facilitate the robot to grab it during storage, provide a basis for automated intelligent storage, and also facilitate the protection of the blood bag to prevent the blood bag from being directly punctured.

[0089] like Figure 2 As shown, in some embodiments, the top of the storage tank 101 may be provided with an opening. The blood box 100 may be placed into the storage tank 101 from the top opening of the storage tank 101 .

[0090] In some embodiments, the storage slot 101 may be vertically arranged inside the blood basket 10. When the blood cartridge 100 is placed in the storage slot 101, the blood cartridge 100 may be arranged vertically inside the blood basket 10.

[0091] like Figure 1 and Figure 2 As shown, in some embodiments, a label (not shown) may be attached to the outer wall of the blood box 100. An information code, such as a QR code, may be printed on the label. The information code on the label may record information such as the type of blood carrying plasma in the blood box 100, the collection time, and the storage time.

[0092] In some embodiments, when the blood box 100 is placed in the blood basket 10, the label on the outer wall of the blood box 100 can be arranged on the exposed top wall of the blood box 100. Therefore, when the blood basket 10 is stored or taken out, the information on the label of the blood box 100 can be easily read.

[0093] In some embodiments, the two ends of the blood basket 10 may be provided with a first end cap 102 and a second end cap 103. The first end cap 102 and the second end cap 103 may be provided at opposite ends of the blood basket 10. The first end cap 102 and the second end cap 103 may be provided with a handle groove 104, respectively, to facilitate manual carrying of the blood basket 10 by staff.

[0094] Figure 3 It is a schematic structural diagram of a low-temperature cold storage according to an embodiment of the present invention. Figure 4 yes Figure 3 Top view of the .

[0095] like Figure 3 and Figure 4 As shown, the low-temperature cold storage provided in the embodiment of the present invention may include a cold storage body 1. The cold storage body 1 may provide a low-temperature environment, for example, an ambient temperature below -30°C.

[0096] In some embodiments, a refrigeration device (not shown) may be provided in the cold storage body 1. The refrigeration device may deliver low-temperature cold air to the inside of the cold storage body 1 to achieve a low-temperature environment in the cold storage body 1.

[0097] like Figure 3 As shown, in some embodiments, a first door 11 may be provided on the outer wall of the cold storage body 1. A first door body (not shown in the figure) may be provided at the first door 11. The first door body may be an automatic door. The first door body may be used to automatically open and close the first door 11. The first door 11 may be used as an entrance or as an inspection port.

[0098] In some embodiments, a second door 12 may be provided on the outer wall of the cold storage body 1. A second door body (not shown) may be provided at the second door 12. The second door body may be an automatic door. The second door body may be used to automatically open and close the second door 12. The second door 12 may be used as an emergency exit or as an inspection port.

[0099] In some embodiments, the low temperature cold storage may include a shelf 2. The shelf 2 may be arranged inside the cold storage body 1. A plurality of storage positions 21 may be arranged on the shelf 2. Each storage position 21 may be used to store a blood basket 10. Each storage position 21 may form a storage coordinate, so that the blood basket 10 is stored in different storage coordinates.

[0100] like Figure 3 and Figure 4 As shown, in some embodiments, a plurality of storage positions 21 may be arranged in sequence along the height direction of the shelf 2. A multi-layer structure may be arranged along the height direction of the shelf 2, and the height of each layer of the structure may be the same, so as to facilitate automatic positioning and storage. The staff may determine the partial storage coordinates of the storage position 21 according to the layer height of the storage position 21. Multiple storage positions 21 may be arranged on each layer. The multiple storage positions 21 on each layer may be arranged in sequence at equal intervals along the length direction of the shelf 2. The staff may determine the partial storage coordinates of the storage position 21 according to the different positions of the storage positions 21 on each layer.

[0101] It should be noted that the number of layers of the shelf 2, the height of each layer, and the number of storage positions 21 on each layer can be adjusted as needed and are not limited here.

[0102] In some embodiments, the shelf 2 may be provided in two groups. The two groups of shelves 2 may be arranged in the cold storage body 1 at intervals. Each group of shelves 2 may include a plurality of shelves 2. The plurality of shelves 2 may be arranged in sequence along the length direction thereof. The number of shelves 2 in each group of shelves 2 may be adjusted as needed, and is not limited here.

[0103] It should be noted that, in some other embodiments, there may be multiple groups of shelves 2. Two groups of shelves 2 may be arranged facing each other to form a unit group of shelves 2. Multiple groups of shelves 2 may form multiple unit groups of shelves 2.

[0104] like Figure 3 and Figure 4 As shown, in some embodiments, the low temperature cold storage may include a blood basket taking and discharging device 3. The blood basket taking and discharging device 3 may be arranged between two groups of shelves 2 to realize automatic storage and retrieval of blood baskets 10 in the two groups of shelves 2.

[0105] It should be noted that, in some other embodiments, the blood basket discharging device 3 may also be disposed one by one on one side of a group of shelves 2. The blood basket discharging device 3 may also be used only for the automatic storage and retrieval of the blood baskets 10 in the group of shelves 2.

[0106] In some embodiments, two groups of shelves 2 may be arranged in parallel and spaced apart. A pick-and-place operation space 13 may be formed between the two groups of shelves 2. The blood basket pick-and-place device 3 may be arranged in the pick-and-place operation space 13. The blood basket pick-and-place device 3 may move in the pick-and-place operation space 13, such as horizontally moving horizontally or vertically moving vertically, so as to store the blood basket 10 in different storage coordinates or take the blood basket 10 out from different storage coordinates.

[0107] Figure 5 yes Figure 3 Schematic diagram of the structure of the blood basket taking and discharging device 3.

[0108] like Figure 3 and Figure 5 As shown, in some embodiments, the blood basket loading and unloading device 3 may include a loading and unloading platform 311. When storing the blood basket 10 on the shelf 2, the blood basket 10 may be placed on the loading and unloading platform 311. The blood basket 10 is placed in the corresponding storage position 21 of the shelf 2 through the loading and unloading platform 311. When taking out the blood basket 10 from the shelf 2, the blood basket 10 may be taken out of the storage position 21 through the loading and unloading platform 311.

[0109] In some embodiments, the blood basket loading and unloading device 3 may include a loading and unloading rack 31. The loading and unloading rack 31 may be arranged to extend in the up-down direction. The loading and unloading rack 31 may be used to provide installation space and moving space for the loading and unloading table 311. The loading and unloading table 311 may be arranged on the loading and unloading rack 31 in a liftable manner. The loading and unloading table 311 may be arranged on the loading and unloading rack 31 in a slidable manner. The loading and unloading table 311 may slide up and down along the height direction of the loading and unloading rack 31, and then the relative height of the loading and unloading table 311 on the loading and unloading rack 31 may be adjusted, so that the loading and unloading table 311 may be moved to a relative height of any storage position 21 on the shelf 2, so as to facilitate the storage or removal of blood baskets 10 at different heights on the shelf 2.

[0110] Figure 6yes Figure 5 A schematic structural diagram of the middle pick-up and place rack 31. Figure 7 yes Figure 6 Schematic diagram of the structure from another perspective.

[0111] like Figures 5 to 7 As shown, in some embodiments, a lifting and moving guide rail 312 may be provided on the pick-and-place rack 31. The lifting and moving guide rail 312 may be arranged to extend vertically up and down. A lifting and moving slider 3121 may be connected to a side of the pick-and-place platform 311 close to the pick-and-place rack 31. The lifting and moving slider 3121 may be slidably arranged on the lifting and moving guide rail 312. Through the cooperation of the lifting and moving guide rail 312 and the lifting and moving slider 3121, the pick-and-place platform 311 may be lifted and slidably arranged on the pick-and-place rack 31.

[0112] In some embodiments, two lifting and moving guide rails 312 may be provided. The two lifting and moving guide rails 312 may be arranged in parallel and spaced apart on a side wall of the pick-and-place rack 31. Two lifting and moving sliders 3121 may be provided on the pick-and-place platform 311. The two lifting and moving sliders 3121 may be slidably connected in the two lifting and moving guide rails 312 in a one-to-one correspondence. The two lifting and moving guide rails 312 and the two lifting and moving sliders 3121 are slidably connected in a one-to-one correspondence, which can improve the stability of the lifting and sliding of the pick-and-place platform 311, so that the blood basket 10 can be placed on the pick-and-place platform 311 more stably during the process of picking up and placing the blood basket 10.

[0113] like Figure 5 As shown, in some embodiments, the blood basket material taking and placing device 3 may include a lifting and moving assembly 310. The lifting and moving assembly 310 may be in transmission connection with the taking and placing platform 311. The lifting and moving assembly 310 may be used to drive the taking and placing platform 311 to move up and down along the height direction of the taking and placing rack 31. The lifting and moving assembly 310 may provide power to enable the taking and placing platform 311 to controllably rise or fall along the height direction of the taking and placing rack 31, and autonomously change the height of the taking and placing platform 311 on the taking and placing rack 31.

[0114] like Figures 5 to 7 As shown, in some embodiments, the lifting and moving assembly 310 may include a lifting synchronous belt 313. The lifting synchronous belt 313 is provided on the pick-and-place rack 31. The lifting synchronous belt 313 may be arranged on the pick-and-place rack 31 in a long strip shape. The lifting synchronous belt 313 may be arranged to extend along the height direction of the pick-and-place rack 31. The lifting synchronous belt 313 may be rotatably provided on the pick-and-place rack 31, and the lifting synchronous belt 313 may be rotatably moved on the pick-and-place rack 31, and the moving direction of the lifting synchronous belt 313 may be consistent with the lifting and sliding direction of the pick-and-place platform 311. One side of the pick-and-place platform 311 may be connected to the lifting synchronous belt 313, so that the lifting synchronous belt 313 is transmission-connected to the pick-and-place platform 311.

[0115] When the lifting synchronous belt 313 rotates forward on the pick-up and placement rack 31, the pick-up and placement platform 311 can rise synchronously on the pick-up and placement rack 31 with the lifting synchronous belt 313; when the lifting synchronous belt 313 rotates backward on the pick-up and placement rack 31, the pick-up and placement platform 311 can descend synchronously on the pick-up and placement rack 31 with the lifting synchronous belt 313.

[0116] In some embodiments, the lifting and moving assembly 310 may include two lifting synchronous belts 313. The two lifting synchronous belts 313 may be arranged on the pick-and-place rack 31 in parallel and at intervals. Both sides of the pick-and-place platform 311 may be connected to the two lifting synchronous belts 313, respectively, so that the two lifting synchronous belts 313 are in transmission connection with the pick-and-place platform 311. The pick-and-place platform 311 may be driven to rise or fall synchronously on the pick-and-place rack 31 by the two lifting synchronous belts 313, thereby improving the lifting power and the stability of the lifting of the pick-and-place platform 311, and facilitating the control of the moving position of the pick-and-place platform.

[0117] Figure 8 yes Figure 5 A partial structural diagram of the lifting and moving component 310.

[0118] like Figures 5 to 8 As shown, in some embodiments, the lifting and moving assembly 310 may include a lifting driving wheel 3131 and a lifting driven wheel 3132. The lifting driving wheel 3131 may be arranged at the lower end of the lifting synchronous belt 313. The lifting driven wheel 3132 may be arranged at the upper end of the lifting synchronous belt 313. The lifting synchronous belt 313 may be a toothed transmission belt, so that the lower end of the lifting synchronous belt 313 may be meshed and connected to the lifting driving wheel 3131, and the upper end of the lifting synchronous belt 313 may be meshed and connected to the lifting driven wheel 3132.

[0119] When the lifting driving wheel 3131 rotates forward, the lifting synchronous belt 313 and the lifting driven wheel 3132 can be driven to rotate forward synchronously, so that the lifting synchronous belt 313 moves to drive the pick-and-place platform 311 to rise synchronously on the pick-and-place rack 31.

[0120] When the lifting driving wheel 3131 rotates in the opposite direction, the lifting synchronous belt 313 and the lifting driven wheel 3132 can be driven to rotate in the opposite direction synchronously, so that the lifting synchronous belt 313 moves to drive the pick-and-place platform 311 to descend synchronously on the pick-and-place rack 31 .

[0121] In some embodiments, two sets of lifting driving wheels 3131 and lifting driven wheels 3132 may be provided. The two sets of lifting driving wheels 3131 and lifting driven wheels 3132 may be provided at the upper and lower ends of the two lifting synchronous belts 313, respectively.

[0122] like Figure 5 and Figure 8As shown, in some embodiments, the lifting and moving assembly 310 may include a lifting transmission shaft 314, and the lifting transmission shaft 314 may be rotatably arranged at the bottom end of the pick-and-place rack 31. The lifting transmission shaft 314 may rotate with its axial direction as the axis. The lifting driving wheel 3131 may be arranged at the end of the lifting transmission shaft 314. The lower end of the lifting synchronous belt 313 may be sleeved on the end of the lifting transmission shaft 314. The lower end of the lifting synchronous belt 313 may be sleeved on the lifting driving wheel 3131. When the lifting transmission shaft 314 rotates forward or reverse, the lifting transmission shaft 314 may drive the lifting driving wheel 3131 to rotate forward or reverse synchronously, and then the pick-and-place platform 311 may be driven to rise or fall synchronously on the pick-and-place rack 31 through the lifting synchronous belt 313.

[0123] In some embodiments, the lifting driving wheels 3131 of the two lifting synchronous belts 313 can be respectively arranged at the two axial ends of the lifting transmission shaft 314. When the lifting transmission shaft 314 rotates, the two lifting synchronous belts 313 can be driven to move up and down synchronously through the two lifting driving wheels 3131.

[0124] like Figure 5 and Figure 8 As shown, in some embodiments, the lifting and moving assembly 310 may include a lifting drive motor 315. The lifting drive motor 315 may be disposed on the pick-and-place rack 31. The output end of the lifting drive motor 315 may be transmission-connected to the lifting drive shaft 314. The lifting drive motor 315 may rotate the motor in forward and reverse directions.

[0125] When the output end of the lifting drive motor 315 runs forward, it can drive the lifting transmission shaft 314 to rotate forward, and then drive the lifting driving wheel 3131 to rotate forward, so that the lifting synchronous belt 313 moves to drive the pick-and-place platform 311 to rise synchronously on the pick-and-place rack 31.

[0126] When the output end of the lifting drive motor 315 runs in reverse, the lifting transmission shaft 314 can be driven to rotate in reverse, and then the lifting driving wheel 3131 can be driven to rotate in reverse, so that the lifting synchronous belt 313 moves to drive the pick-and-place platform 311 to descend synchronously on the pick-and-place rack 31.

[0127] like Figure 5 and Figure 8 As shown, in some embodiments, the lifting and moving assembly 310 may include a lifting reducer 316. The lifting reducer 316 may be disposed between the output end of the lifting drive motor 315 and the lifting transmission shaft 314. The output end of the lifting drive motor 315 is transmission-connected to the input end of the lifting reducer 316, and the lifting transmission shaft 314 is transmission-connected to the output end of the lifting reducer 316. Therefore, when the lifting drive motor 315 is running, it can be decelerated by the lifting reducer 316 to drive the lifting transmission shaft 314 to rotate.

[0128] In some embodiments, the lifting reducer 316 may have an input end and two output ends. The two output ends of the lifting reducer 316 may be respectively disposed on opposite sides of the lifting reducer 316. The two output ends of the lifting reducer 316 are coaxially disposed.

[0129] Two lifting transmission shafts 314 may be provided. The two lifting transmission shafts 314 may be respectively arranged on opposite sides of the lifting reducer 316. One end of one lifting transmission shaft 314 may be coaxially connected to an output end of the lifting reducer 316 through a coupling 3161. The other end of the lifting transmission shaft 314 may be coaxially connected to a lifting driving wheel 3131. One end of another lifting transmission shaft 314 may be coaxially connected to the other output end of the lifting reducer 316 through another coupling 3161. The other end of the lifting transmission shaft 314 may be coaxially connected to another lifting driving wheel 3131.

[0130] Therefore, the lifting drive motor 315 cooperates with the two output ends of the lifting reducer 316 to drive the two lifting active wheels 3131 to rotate synchronously in the forward or reverse direction through the two lifting transmission shafts 314, and then drives the pick-up and placement platform 311 to rise or fall synchronously on the pick-up and placement rack 31 through the synchronous movement of the two lifting synchronous belts 313.

[0131] like Figure 5 and Figure 8 As shown, in some embodiments, the lifting and moving assembly 310 may include a lifting mounting seat 317. The lifting mounting seat 317 may be arranged at the bottom of the pick-and-place rack 31. The bottom of the pick-and-place rack 31 may be partially supported and fixed on the lifting mounting seat 317. The lifting mounting seat 317 may be arranged at the bottom end of the lifting synchronous belt 313. The lifting drive motor 315 and the lifting reducer 316 may be installed in the lifting mounting seat 317. The lifting transmission shaft 314 may be rotatably installed in the lifting mounting seat 317. The lifting mounting seat 317 may be used to provide an installation position and installation space for the lifting drive motor 315, the lifting reducer 316 and the lifting transmission shaft 314. By fixing the lifting mounting seat 317 at the bottom of the pick-and-place rack 31, the influence of the lifting mounting seat 317 on the up and down lifting stroke of the pick-and-place platform 311 can be reduced.

[0132] In some embodiments, the lifting driving wheel 3131 can be arranged in the lifting mounting seat 317 and sleeved on the lifting transmission shaft 314. A through hole 3171 can be opened on the top surface of the lifting mounting seat 317. The bottom end of the lifting synchronous belt 313 can pass through the through hole 3171 and extend into the lifting mounting seat 317, and be connected to the lifting driving wheel 3131 in transmission.

[0133] like Figure 8As shown, in some embodiments, the lifting and moving assembly 310 may include a lifting bearing seat 3172. The lifting bearing seat 3172 may be disposed in the lifting mounting seat 317. The lifting transmission shaft 314 may be rotatably disposed in the lifting bearing seat 3172. The lifting transmission shaft 314 may be supported and fixed in the lifting mounting seat 317 by the lifting bearing seat 3172.

[0134] like Figure 5 and Figure 8 As shown, in some embodiments, the lifting and moving assembly 310 may include a lifting and anti-collision block 3173. The lifting and anti-collision block 3173 may be convexly arranged on the top surface of the lifting and mounting seat 317. The pick-up and place platform 311 may be movably arranged above the top of the lifting and mounting seat 317.

[0135] When the pick-up and placement platform 311 descends in the height direction of the pick-up and placement rack 31, the bottom of the pick-up and placement platform 311 can abut against the lifting anti-collision block 3173, which can prevent the bottom of the pick-up and placement platform 311 from directly colliding with the lifting mounting seat 317 and preventing it from colliding with other components inside the pick-up and placement platform 311.

[0136] like Figures 5 to 7 As shown, in some embodiments, a counterweight balancing block 318 may be provided on the pick-and-place rack 31. The counterweight balancing block 318 may be slidably provided on the pick-and-place rack 31. The counterweight balancing block 318 and the pick-and-place platform 311 may be separately provided on opposite sides of the pick-and-place rack 31. A lifting transmission belt 3181 may be provided on the pick-and-place rack 31. One end of the lifting transmission belt 3181 may be connected to the pick-and-place platform 311. The other end of the lifting transmission belt 3181 may slidably pass around the top of the pick-and-place rack 31 and then be connected to the counterweight balancing block 318.

[0137] When the pick-up and place platform 311 moves downward along the height direction of the pick-up and place rack 31 , the pick-up and place platform 311 can pull the counterweight balancing block 318 to move upward along the height direction of the pick-up and place rack 31 through the lifting transmission belt 3181 .

[0138] When the pick-up and place platform 311 moves upward along the height direction of the pick-up and place rack 31 , the pick-up and place platform 311 can pull the counterweight balancing block 318 to move downward along the height direction of the pick-up and place rack 31 through the lifting transmission belt 3181 .

[0139] It should be noted that, by using the counterweight balancing block 318 and the pick-and-place platform 311 to balance gravity on opposite sides of the pick-and-place rack 31, the pick-and-place rack 31 can be made more stable and less likely to tip over. By using the counterweight balancing block 318, the lifting transmission belt 3181 and the pick-and-place platform 311 to balance gravity, the driving force of the lifting drive motor 315 in the lifting and moving assembly 310 can be reduced, so that the pick-and-place platform 311 can be lifted and lowered on the pick-and-place rack 31 more smoothly.

[0140] like Figures 5 to 7As shown, in some embodiments, a balancing support wheel 3182 may be provided on the top of the pick-and-place rack 31. The balancing support wheel 3182 may be rotatably disposed on the top of the pick-and-place rack 31. The lifting transmission belt 3181 may be wound around the balancing support wheel 3182. The lifting transmission belt 3181 may be in transmission connection with the balancing support wheel 3182. The lifting transmission belt 3181 is rollingly supported by the balancing support wheel 3182, so that the lifting transmission belt 3181 can slide smoothly on the top of the pick-and-place rack 31.

[0141] In some embodiments, a plurality of balancing support wheels 3182 may be provided on the top of the pick-and-place rack 31. The plurality of balancing support wheels 3182 may be sequentially arranged at intervals along the extension path of the lifting transmission belt 3181. The lifting transmission belt 3181 may be sequentially wound around the plurality of balancing support wheels 3182.

[0142] In some embodiments, two lifting belts 3181 may be provided. The two lifting belts 3181 may be arranged at intervals on the top of the pick-and-place rack 31 and on opposite sides of the top of the pick-and-place rack 31. The two lifting belts 3181 may improve the relative sliding stability between the pick-and-place platform 311 and the counterweight balancing block 318.

[0143] In some embodiments, the pick-up and placement rack 31 may be provided with a lifting and moving drag chain (not shown in the figure). One end of the lifting and moving drag chain may be fixed on the pick-up and placement rack 31. The other end of the lifting and moving drag chain may be fixed on the pick-up and placement table 311. The wire harness on the pick-up and placement table 311 may be arranged in the lifting and moving drag chain. When the pick-up and placement table 311 is raised and lowered along the lifting and moving guide rail 312, one end of the lifting and moving drag chain can move with the pick-up and placement table 311, thereby driving the wire harness in the lifting and moving drag chain to move synchronously.

[0144] Fig. 9 yes Figure 5 Schematic diagram of some structures in . Fig.10 yes Fig. 9 Schematic diagram of the local enlarged structure in.

[0145] like Figure 5 , Fig. 9 and Fig.10 As shown, in some embodiments, the blood basket material taking and placing device 3 may include a horizontal moving component 32. The horizontal moving component 32 is disposed on one side of the shelf 2. The taking and placing rack 31 may be disposed on the horizontal moving component 32. The horizontal moving component 32 may drive the taking and placing rack 31 to move horizontally. The horizontal moving component 32 may drive the taking and placing rack 31 to move toward the opposite ends of the taking and placing operation space 13.

[0146] The horizontal moving assembly 32 can drive the pick-up and placement rack 31 to move horizontally along the length direction of the shelf 2, so that the pick-up and placement rack 31 is correspondingly arranged at the storage positions 21 at different horizontal coordinate positions, and then the pick-up and placement rack 31 cooperates with the pick-up and placement table 311 to put the blood basket 10 into the storage positions 21 at different heights at the horizontal coordinate position of the shelf 2, or take the blood basket 10 out of the storage positions 21 at different heights at the horizontal coordinate position.

[0147] like Figure 5 , Fig. 9 and Fig.10 As shown, in some embodiments, the horizontal moving assembly 32 may include a horizontal moving platform 321. The bottom end of the pick-and-place rack 31 may be supported and fixed on the top surface of the horizontal moving platform 321. The top surface of the horizontal moving platform 321 may be used to provide an installation position and installation space for the bottom end of the pick-and-place rack 31, so that the pick-and-place rack 31 can be arranged upright on the horizontal moving platform 321.

[0148] In some embodiments, the lifting mount 317 can be supported and arranged on the top surface of the horizontal moving table 321. A portion of the bottom end of the pick-and-place rack 31 can be supported and fixed on the lifting mount 317, and supported and fixed on the top surface of the horizontal moving table 321 through the lifting mount 317. Another portion of the bottom end of the pick-and-place rack 31 can be directly supported and fixed on the top surface of the horizontal moving table 321.

[0149] It should be noted that, in some other embodiments, the bottom end of the pick-and-place rack 31 may also be completely supported on the top surface of the horizontal moving platform 321 .

[0150] like Figure 4 As shown, in some embodiments, the horizontal moving assembly 32 may include a horizontal moving rail 322. The horizontal moving rail 322 may be arranged in parallel on one side of the shelf 2. The horizontal moving rail 322 may be arranged in parallel in the pick-and-place operation space 13 between two groups of shelves 2. The extension direction of the horizontal moving rail 322 may be consistent with the length arrangement direction of the shelf 2 group. The extension direction of the horizontal moving rail 322 may be consistent with the extension direction of the pick-and-place operation space 13.

[0151] like Figure 5 , Fig. 9 and Fig.10 As shown, in some embodiments, the horizontal moving stage 321 can be slidably disposed on the horizontal moving guide rail 322. The horizontal moving stage 321 can move back and forth along the extension direction of the horizontal moving guide rail 322.

[0152] In some embodiments, a horizontal moving slider 3221 may be connected to the bottom of the horizontal moving platform 321. The horizontal moving slider 3221 may be slidably disposed on the horizontal moving guide rail 322. The horizontal moving platform 321 may be slidably connected to the horizontal moving guide rail 322 via the horizontal moving slider 3221. By cooperating with the horizontal moving guide rail 322 and the horizontal moving slider 3221, the horizontal moving platform 321 may be horizontally slidably disposed on the horizontal moving guide rail 322. Fig. 9 and Fig.10 As shown, in some embodiments, the horizontal moving assembly 32 may include a horizontal support platform 326. The horizontal support platform 326 may be arranged to extend along the length direction of the horizontal moving guide rail 322. The horizontal moving guide rail 322 may be supported on the horizontal support platform 326. The horizontal support platform 326 may be arranged on the bottom surface inside the cold storage body 1.

[0153] In some embodiments, two horizontal moving guide rails 322 may be provided. The two horizontal moving guide rails 322 may be arranged on the horizontal support platform 326 in parallel and at intervals. The two horizontal moving guide rails 322 may be arranged on one side of the shelf 2 in parallel and at intervals. Two horizontal moving sliders 3221 may be provided on the bottom surface of the horizontal moving platform 321. The two horizontal moving sliders 3221 may be slidably connected in the two horizontal moving guide rails 322 in a one-to-one correspondence. The two horizontal moving guide rails 322 and the two horizontal moving sliders 3221 are slidably connected in a one-to-one correspondence, which can improve the stability of the horizontal sliding of the horizontal moving platform 321, so that the pick-and-place rack 31 can move horizontally with the horizontal moving platform 321 more smoothly.

[0154] like Fig. 9 and Fig.10 As shown, in some embodiments, the horizontal moving assembly 32 may include a horizontal driving motor 323. The horizontal driving motor 323 may be disposed on the horizontal moving platform 321. The horizontal driving motor 323 is used to drive the horizontal moving platform 321 to move relative to the horizontal moving guide rail 322.

[0155] In some embodiments, the horizontal moving assembly 32 may include a horizontal driving wheel (not shown) and a horizontal moving rack 324. The horizontal driving wheel may be rotatably disposed on the horizontal moving platform 321. The horizontal driving wheel may be transmission-connected to the output end of the horizontal driving motor 323. The horizontal moving rack 324 may be arranged in parallel on one side of the horizontal moving guide rail 322. The horizontal moving rack 324 may be arranged in parallel between two horizontal moving guide rails 322. The horizontal driving wheel may be meshed and transmission-connected to the horizontal moving rack 324. The horizontal driving motor 323 may be a forward and reverse rotating motor. When the horizontal driving motor 323 rotates forward or reversely, the horizontal driving motor 323 can drive the horizontal driving wheel to rotate forward or reversely, and the horizontal driving wheel can move forward or reversely along the extension direction of the horizontal moving rack 324, so as to drive the pick-up and place rack 31 to move forward or reverse horizontally relative to the horizontal moving guide rail 322 through the horizontal moving table 321, thereby improving the stability of the horizontal movement of the horizontal moving table 321 and the pick-up and place rack 31, and thus facilitating the control of the horizontal movement distance of the horizontal moving table 321 and the pick-up and place rack 31.

[0156] Specifically, when the horizontal drive motor 323 rotates forward, the horizontal drive motor 323 can drive the horizontal drive wheel to rotate forward, and the horizontal drive wheel can move toward one end along the extension direction of the horizontal moving rack 324, so as to drive the pick-up and placement rack 31 to move horizontally toward one end of the horizontal moving guide rail 322 through the horizontal moving platform 321.

[0157] When the horizontal driving motor 323 rotates in the reverse direction, the horizontal driving motor 323 can drive the horizontal driving wheel to rotate in the reverse direction, and the horizontal driving wheel can move toward the other end along the extension direction of the horizontal moving rack 324, so as to drive the pick-up and place rack 31 to move horizontally toward the other end of the horizontal moving guide rail 322 through the horizontal moving platform 321.

[0158] In some embodiments, the horizontal moving rack 324 may be arranged in parallel between the two horizontal moving guide rails 322 .

[0159] In some embodiments, the horizontal moving assembly 32 may include a horizontal moving drag chain 325. One end of the horizontal moving drag chain 325 may be fixed on the horizontal moving platform 321. The other end of the horizontal moving drag chain 325 may be fixed on the horizontal support platform 326. The wire harnesses of the lifting drive motor 315 and the horizontal drive motor 323 may be arranged in the horizontal moving drag chain 325. When the horizontal moving platform 321 moves horizontally in the forward or reverse direction along the horizontal moving guide rail 322, one end of the horizontal moving drag chain 325 can move with the horizontal moving platform 321, thereby driving the wire harnesses in the horizontal moving drag chain 325 to move synchronously.

[0160] Fig.11 yes Figure 5Schematic diagram of the structure of the middle buffer support plate 319 and the blood basket 10. Fig.12 yes Fig.11 A decomposition diagram of .

[0161] like Figure 5 , Fig.11 and Fig.12 As shown, in some embodiments, a plurality of buffering positions 3101 may be sequentially arranged along the height direction of the pick-and-place rack 31. The buffering positions 3101 are used to buffer and place the blood baskets 10. The blood baskets 10 on the pick-and-place table 311 may be transferred and temporarily stored in the buffering positions 3101.

[0162] When the pick-up and place platform 311 can slide up and down along the height direction of the pick-up and place rack 31, the relative height of the pick-up and place platform 311 on the pick-up and place rack 31 can be adjusted, so that the pick-up and place platform 311 can be moved to a height relative to any buffer position 3101 on the pick-up and place rack 31, so as to facilitate the storage or removal of blood baskets 10 at different heights on the pick-up and place rack 31. Therefore, multiple blood baskets 10 can be cached and placed on the pick-up and place rack 31, and multiple blood baskets 10 can be arranged in multiple buffer positions 3101 at different heights.

[0163] When multiple blood baskets 10 need to be placed in the shelf 2, the multiple blood baskets 10 can be placed one by one in the multiple buffering positions 3101 on the pick-and-place rack 31 through the pick-and-place platform 311 cooperating with the lifting and moving assembly 310 at the input end of the blood basket 10. Then the pick-and-place rack 31 is moved to the corresponding shelf 2 along the horizontal moving assembly 32, and the blood baskets 10 in the multiple buffering positions 3101 on the pick-and-place rack 31 are transferred one by one to the storage positions 21 of the shelf 2, and the operation of placing multiple blood baskets 10 in the shelf 2 is completed at the same time, thereby improving the storage efficiency of the blood baskets 10.

[0164] When it is necessary to take out the multiple blood baskets 10 in the shelf 2, the multiple blood baskets 10 in the shelf 2 can be placed one by one in the multiple buffering positions 3101 on the pick-and-place rack 31 by means of the pick-and-place platform 311 cooperating with the lifting and moving assembly 310 beside the shelf 2. Then the pick-and-place rack 31 is moved to the output end of the blood basket 10 along the horizontal moving assembly 32, and the blood baskets 10 in the multiple buffering positions 3101 on the pick-and-place rack 31 are transferred one by one to the output end of the blood basket 10, and the removal operation of the multiple blood baskets 10 is completed at the same time, thereby improving the efficiency of taking out the blood baskets 10.

[0165] In this way, through the multiple cache positions 3101 on the pick-and-place rack 31, in conjunction with the pick-and-place platform 311, the lifting and moving assembly 310 and the horizontal moving assembly 32, the automated storage function of the blood baskets 10 in the low-temperature blood bank can be realized, and the efficiency of picking and placing the blood baskets 10 in the automated low-temperature blood bank can be improved.

[0166] like Figure 5 and Fig.12As shown, in some embodiments, a plurality of buffer support plates 319 may be sequentially arranged at intervals along the height direction of the pick-and-place rack 31. The buffer support plate 319 may be mounted on the pick-and-place rack 31. The buffer position 3101 may be formed on the top surface of the buffer support plate 319. When the blood basket 10 is transferred to the buffer position 3101, the blood basket 10 may be supported on the buffer support plate 319. When a plurality of blood baskets 10 are temporarily stored on the pick-and-place rack 31, the plurality of blood baskets 10 may be supported on a plurality of different buffer support plates 319.

[0167] like Fig.12 As shown, in some embodiments, an entrance is formed on one side of the top surface of the cache support plate 319. A first stopper 3191 may be provided on the top surface of the cache support plate 319. The first stopper 3191 may be provided at an edge of the top surface of the cache support plate 319 close to the entrance. A first stopper wall 3192 extending upward may be provided at the side edge of the top surface of the cache support plate 319 away from the entrance. The cache position 3101 may be formed in the area between the first stopper 3191 and the first stopper wall 3192.

[0168] In some embodiments, second limiting walls 3193 extending upward may be respectively provided at the edges of the two opposite sides of the top surface of the cache support plate 319. One end of the two second limiting walls 3193 may be respectively connected to the two ends of the first limiting wall 3192. An entrance to the top surface of the cache support plate 319 may be formed between the other ends of the two second limiting walls 3193.

[0169] In some embodiments, two second limit blocks 3194 arranged at intervals may be provided on the top surface of the cache support plate 319. The two second limit blocks 3194 may be provided on opposite sides of the cache position 3101. The cache position 3101 may be formed between the two second limit blocks 3194. The cache position 3101 may be formed between the first limit block 3191, the first limit wall 3192 and the two second limit blocks 3194.

[0170] Fig.13 yes Figure 5 Schematic diagram of the structure of the placing and picking platform 311, the rotating and moving assembly 33, the rotating platform 36, the telescopic moving assembly 34, the clamping assembly 35 and the blood basket 10. Fig.14 yes Fig.13 Side view of .

[0171] like Fig.13 and Fig.14As shown, in some embodiments, the blood basket loading and unloading device 3 may include a rotating table 36. The rotating table 36 may be rotatably disposed above the top of the loading and unloading table 311. The blood basket 10 may be placed above the rotating table 36. The rotating table 36 may rotate forward or reverse relative to the loading and unloading table 311, so that the blood basket 10 on the rotating table 36 may be rotated toward the storage position 21 of the shelf 2, so that the blood basket 10 on the rotating table 36 may also be rotated toward the cache position 3101 of the loading and unloading rack 31, and so that the blood basket 10 on the rotating table 36 may also be rotated toward other directions.

[0172] In some embodiments, the rotating platform 36 can be arranged horizontally and can rotate horizontally above the top of the pick-and-place platform 311 along a vertical axis.

[0173] Fig.15 yes Fig.13 A schematic structural diagram of the pick-and-place platform 311 and the rotating moving assembly 33. Fig.16 yes Fig.15 Side view of .

[0174] like Figures 13 to 16 As shown, in some embodiments, the blood basket material taking and placing device 3 may include a rotating moving assembly 33. The rotating moving assembly 33 may be arranged on the taking and placing table 311. The rotating moving assembly 33 may be in transmission connection with the rotating table 36. The rotating moving assembly 33 may be used to drive the rotating table 36 to rotate horizontally above the taking and placing table 311, so that the rotating table 36 may automatically rotate horizontally above the top of the taking and placing table 311.

[0175] In some embodiments, the rotating moving assembly 33 may include a rotating support wheel 331. The rotating support wheel 331 may be rotatably disposed on the top surface of the pick-up and placement table 311. The rotating shaft of the rotating support wheel 331 may be a vertical rotating shaft. The rotating table 36 may be disposed on the top surface of the rotating support wheel 331. The blood basket 10 may be supported and fixed on the rotating support wheel 331 along with the rotating table 36, and further supported on the pick-up and placement table 311. When the rotating support wheel 331 rotates horizontally in the forward or reverse direction relative to the pick-up and placement table 311, the rotating support wheel 331 may drive the rotating table 36 to rotate horizontally in the forward or reverse direction relative to the pick-up and placement table 311.

[0176] In some embodiments, the rotational movement assembly 33 may include a rotational drive wheel 332. The rotational drive wheel 332 may be rotatably disposed on the top surface of the pick-and-place platform 311. The rotation axis of the rotational drive wheel 332 may be a vertical rotation axis. The rotational support wheel 331 may be meshedly connected with the rotational drive wheel 332. When the rotational drive wheel 332 rotates forward or reversely, the rotational drive wheel 332 can drive the rotational support wheel 331 to rotate, and then can drive the rotating platform 36 to rotate forward or reversely relative to the pick-and-place platform 311 horizontally.

[0177] like Figures 13 to 16 As shown, in some embodiments, the rotation and movement assembly 33 may include a rotation drive motor 333. The rotation drive motor 333 may be arranged on the bottom surface of the pick-and-place platform 311. The output shaft of the rotation drive motor 333 may be convexly arranged on the top surface of the pick-and-place platform 311 and connected to the rotation drive wheel 332. The rotation drive motor 333 may be a forward and reverse drive motor. When the rotation drive motor 333 rotates forward or reversely, the output end of the rotation drive motor 333 may drive the rotation drive wheel 332 to rotate forward or reversely, and then drive the rotating platform 36 to rotate forward or reversely relative to the pick-and-place platform 311 horizontally through the rotation support wheel 331.

[0178] It should be noted that, in some other embodiments, the output shaft of the rotary drive motor 333 may also be convexly disposed on the top surface of the pick-and-place platform 311 and directly connected to the rotary support wheel 331. In this case, the output shaft of the rotary drive motor 333 may also directly drive the rotary support wheel 331 to rotate in the forward or reverse direction, thereby driving the rotary table 36 to rotate in the forward or reverse direction relative to the pick-and-place platform 311.

[0179] Fig.17 yes Fig.13 Schematic diagram of the structure of the middle rotating platform 36, the telescopic moving assembly 34, the clamping assembly 35 and the blood basket 10. Fig.18 yes Fig.17 A decomposition diagram of . Fig.19 yes Fig.17 A schematic diagram of the structures of the middle rotating platform 36 , the telescopic moving assembly 34 and the clamping assembly 35 . Fig. 20 yes Fig.19 A decomposition diagram of .

[0180] like Figures 17 to 20 As shown, in some embodiments, the blood basket material taking and placing device 3 may include a clamping assembly 35. The clamping assembly 35 may be movably arranged on the rotating table 36. The clamping assembly 35 may be arranged on the taking and placing table 311 along with the rotating table 36. A clamping space 350 may be provided in the clamping assembly 35. The clamping space 350 may be used to clamp the blood basket 10, so that the blood basket 10 may be fixed in the clamping space 350, so that the blood basket 10 may be fixed in the clamping assembly 35. When the rotating table 36 rotates relative to the taking and placing table 311, the clamping assembly 35 on the rotating table 36 may rotate toward the cache position 3101 of the taking and placing rack 31, and the clamping assembly 35 on the rotating table 36 may also rotate toward the storage position 21 on the shelf 2.

[0181] Fig.21 yes Fig. 20 A schematic structural diagram of the middle clamping assembly 35.

[0182] like Figure 2 , Fig.18 and Fig.21As shown, in some embodiments, the clamping assembly 35 may include a first clamping arm 351 and a second clamping arm 352. The first clamping arm 351 and the second clamping arm 352 are arranged at intervals. The clamping space 350 may be formed in the area between the first clamping arm 351 and the second clamping arm 352. The first clamping arm 351 and the second clamping arm 352 may extend into the opposite sides of the blood basket 10, so that the blood basket 10 enters the clamping space 350, so that the first clamping arm 351 and the second clamping arm 352 clamp the opposite sides of the blood basket 10, and the blood basket 10 is fixed in the clamping space 350 between the first clamping arm 351 and the second clamping arm 352.

[0183] like Figure 2 and Fig.18 As shown, in some embodiments, a supporting rib 105 may be protruded at the edges of the opposite sides of the blood basket 10. The supporting rib 105 may be protruded on the outer wall of the blood basket 10. A clamping position 106 may be formed below the supporting rib 105. The two clamping positions 106 may be respectively provided for the first clamping arm 351 and the second clamping arm 352 of the clamping assembly 35 to extend therein, so that the first clamping arm 351 and the second clamping arm 352 of the clamping assembly 35 are respectively extended therein and arranged in one clamping position 106. As the lifting and moving assembly 310 controls the placing and taking platform 311 to move upward, the rotating platform 36 and the clamping assembly 35 may be driven to move upward, so that the first clamping arm 351 and the second clamping arm 352 can be supported on the bottom surface of one supporting rib 105 respectively, and the blood basket 10 is lifted by the first clamping arm 351 and the second clamping arm 352, so as to clamp and transfer the blood basket 10.

[0184] It should be noted that when the first clamping arm 351 and the second clamping arm 352 are respectively supported on the bottom surface of a supporting rib 105, the first clamping arm 351 and the second clamping arm 352 may not contact the outer wall of the blood basket 10, so that when the blood basket 10 is transferred, the outer wall of the blood basket 10 can be prevented from being damaged by friction during repeated clamping. The prior art uses a bottom fork or a side fork. When the bottom fork is used, there is a risk of the blood basket falling when positioning errors occur. When the side forks are used, a pull-type blood basket is used, and the blood basket and the shelf are prone to contact and friction, which is easy to cause wear and damage to the blood basket and the shelf.

[0185] like Fig. 20 and Fig.21As shown, in some embodiments, the clamping assembly 35 may include a clamping mounting plate 355. The clamping mounting plate 355 may be movably disposed on the rotating table 36. The first clamping arm 351 and the second clamping arm 352 may be disposed at intervals on the same side of the clamping mounting plate 355. The clamping space 350 may be formed in the area between the clamping mounting plate 355, the first clamping arm 351 and the second clamping arm 352. When the rotating table 36 rotates relative to the pick-and-place table 311, the side of the clamping space 350 away from the clamping mounting plate 355 may be rotated to be arranged toward the cache position 3101 of the pick-and-place rack 31, or may be rotated to be arranged toward the storage position 21 on the shelf 2.

[0186] In some embodiments, the first clamping arm 351 and the second clamping arm 352 may be arranged in parallel and spaced apart. The extension direction of the first clamping arm 351 and the second clamping arm 352 may be arranged perpendicular to the plane where the clamping mounting plate 355 is located. The first clamping arm 351 and the second clamping arm 352 may be arranged to extend perpendicularly in a direction away from the plane where the clamping mounting plate 355 is located.

[0187] like Fig. 20 and Fig.21 As shown, in some embodiments, the clamping assembly 35 may include a first clamping slide 353. The first clamping slide 353 may be slidably disposed on one side of the clamping mounting plate 355. The first clamping slide 353 may be disposed on a side of the clamping mounting plate 355 close to the first clamping arm 351. The sliding direction of the first clamping slide 353 may be perpendicular to the extension direction of the first clamping arm 351. One end of the first clamping arm 351 may be connected to the first clamping slide 353. The other end of the first clamping arm 351 may be arranged to extend vertically toward a side away from the clamping mounting plate 355.

[0188] When the first clamping slide plate 353 drives the first clamping arm 351 to slide relative to the clamping mounting plate 355, the first clamping arm 351 can slide closer to the second clamping arm 352 or slide away from the second clamping arm 352, thereby adjusting the width between the first clamping arm 351 and the second clamping arm 352, that is, the width of the clamping space 350 can be adjusted.

[0189] like Fig. 20 and Fig.21As shown, in some embodiments, the clamping assembly 35 may include a second clamping slide 354. The second clamping slide 354 may be slidably disposed on one side of the clamping mounting plate 355. The second clamping slide 354 may be disposed on a side of the clamping mounting plate 355 close to the second clamping arm 352. The first clamping slide 353 and the second clamping slide 354 may be located on the same side of the clamping mounting plate 355. The sliding direction of the second clamping slide 354 may be perpendicular to the extension direction of the second clamping arm 352. The sliding direction of the second clamping slide 354 may be consistent with the sliding direction of the first clamping slide 353. One end of the second clamping arm 352 may be connected to the second clamping slide 354. The other end of the second clamping arm 352 may be arranged to extend vertically toward a side away from the clamping mounting plate 355.

[0190] When the second clamping slide plate 354 drives the second clamping arm 352 to slide relative to the clamping mounting plate 355, the second clamping arm 352 can slide closer to the first clamping arm 351 or slide away from the first clamping arm 351, thereby adjusting the width between the first clamping arm 351 and the second clamping arm 352, that is, the width of the clamping space 350 can be adjusted.

[0191] In some embodiments, the clamping space 350 may be formed in an area enclosed by the first clamping slide plate 353 , the second clamping slide plate 354 , the first clamping arm 351 , and the second clamping arm 352 .

[0192] like Fig. 20 and Fig.21 As shown, in some embodiments, the clamping assembly 35 may include a clamping drive motor 356. The clamping drive motor 356 may be arranged on the clamping mounting plate 355. The clamping drive motor 356 may be arranged on a side of the clamping mounting plate 355 away from the first clamping arm 351 and the second clamping arm 352. The output end of the clamping drive motor 356 may pass through the clamping mounting plate 355 and be respectively connected to the first clamping slide plate 353 and the second clamping slide plate 354. The output end of the clamping drive motor 356 may be respectively connected to the first clamping arm 351 and the second clamping arm 352 through the first clamping slide plate 353 and the second clamping slide plate 354. The clamping drive motor 356 may be a forward and reverse motor.

[0193] When the clamping drive motor 356 rotates forward, the clamping drive motor 356 can drive the first clamping slide plate 353 and the second clamping slide plate 354 to slide toward each other, and then drive the first clamping arm 351 and the second clamping arm 352 to approach each other, so that the width of the clamping space 350 between the first clamping arm 351 and the second clamping arm 352 becomes smaller.

[0194] When the clamping drive motor 356 rotates in the opposite direction, the clamping drive motor 356 can drive the first clamping slide 353 and the second clamping slide 354 to slide in the opposite direction and move away from each other, thereby driving the first clamping arm 351 and the second clamping arm 352 to move away from each other, thereby increasing the width of the clamping space 350 between the first clamping arm 351 and the second clamping arm 352.

[0195] Fig. 22 yes Fig.21 Side view of .

[0196] like Figure 20 to Figure 22 As shown, in some embodiments, the clamping assembly 35 may include a clamping drive gear 357. The clamping drive gear 357 may be disposed at the output end of the clamping drive motor 356. The clamping drive gear 357 may be rotatably disposed on a side of the clamping mounting plate 355 close to the first clamping slide plate 353 and the second clamping slide plate 354. The clamping drive gear 357 may be respectively connected to the first clamping slide plate 353 and the second clamping slide plate 354 in a transmission manner. When the clamping drive motor 356 drives the clamping drive gear 357 to rotate forward or reversely, the clamping drive gear 357 may drive the first clamping slide plate 353 and the second clamping slide plate 354 to slide toward each other or slide in the reverse direction away from each other.

[0197] like Fig. 22 As shown, in some embodiments, a first clamping rack 3531 may be provided on the first clamping slide 353. A second clamping rack 3541 may be provided on the second clamping slide 354. The first clamping rack 3531 and the second clamping rack 3541 may be arranged in parallel and spaced apart. The extending direction of the first clamping rack 3531 and the second clamping rack 3541 may be consistent with the sliding direction of the first clamping slide 353 and the second clamping slide 354. The first clamping rack 3531 and the second clamping rack 3541 may be arranged on opposite sides of the clamping drive gear 357. The first clamping rack 3531 and the second clamping rack 3541 may be respectively meshed and connected with the clamping drive gear 357.

[0198] Therefore, when the clamping drive motor 356 drives the clamping drive gear 357 to rotate forward, the first clamping rack 3531 and the second clamping rack 3541 can approach each other, thereby driving the first clamping slide plate 353 and the second clamping slide plate 354 to slide toward each other. When the clamping drive motor 356 drives the clamping drive gear 357 to rotate reversely, the first clamping rack 3531 and the second clamping rack 3541 can move away from each other, thereby driving the first clamping slide plate 353 and the second clamping slide plate 354 to slide reversely and move away from each other.

[0199] like Figure 20 to Figure 22As shown, in some embodiments, an entrance and exit of the clamping space 350 may be formed between one end of the first clamping arm 351 away from the first clamping slide 353 and one end of the second clamping arm 352 away from the second clamping slide 354. The blood basket 10 may enter the clamping space 350 from the entrance and exit, or the blood basket 10 in the clamping space 350 may leave the clamping space 350 from the entrance and exit.

[0200] In some embodiments, the clamping assembly 35 may include a first finger servo 358. The first finger servo 358 may be rotatably disposed at an end of the first clamping arm 351 away from the first clamping slide 353. The first finger servo 358 may be rotatably disposed at one side of the entrance and exit of the clamping space 350. The first finger servo 358 may be rotatably extended into the clamping space 350, thereby limiting the blood basket 10 in the clamping space 350. The first finger servo 358 may also be rotatably withdrawn from the clamping space 350, so that the blood basket 10 can enter and exit the clamping space 350.

[0201] In some embodiments, the clamping assembly 35 may include a second finger servo 359. The second finger servo 359 may be rotatably disposed at an end of the second clamping arm 352 away from the second clamping slide 354. The second finger servo 359 may be rotatably disposed at one side of the entrance and exit of the clamping space 350. The second finger servo 359 may be rotatably extended into the clamping space 350, thereby limiting the blood basket 10 in the clamping space 350. The second finger servo 359 may also be rotatably withdrawn from the clamping space 350, so that the blood basket 10 can enter and exit the clamping space 350.

[0202] like Fig.17 and Fig.19 As shown, in some embodiments, the blood basket material taking and placing device 3 may include a telescopic moving component 34, and the telescopic moving component 34 may be used for linear telescopic movement. The telescopic moving component 34 may be arranged on the rotating table 36. The telescopic moving component 34 may be arranged on the taking and placing table 311 along with the rotating table 36. The telescopic moving component 34 may be connected to the clamping component 35. The telescopic moving component 34 may be connected to the clamping mounting plate 355. The telescopic moving component 34 may be used to drive the clamping mounting plate 355 to move horizontally on the rotating table 36 and the taking and placing table 311, and then drive the first clamping arm 351 and the second clamping arm 352 to move horizontally on the rotating table 36 and the taking and placing table 311, so that the blood basket 10 can enter the clamping space 350, and the first clamping arm 351 and the second clamping arm 352 can be arranged on opposite sides of the blood basket 10 respectively.

[0203] In some embodiments, the telescopic moving assembly 34 can drive the first clamping arm 351 and the second clamping arm 352 to extend into the clamping position 106 respectively, so that the first clamping arm 351 and the second clamping arm 352 can clamp the blood basket 10 on opposite sides. The first clamping arm 351 and the second clamping arm 352 can extend into the lower side of a supporting rib 105, so that the first clamping arm 351 and the second clamping arm 352 can be supported on the supporting ribs 105 on both sides of the blood basket 10 to lift the blood basket 10.

[0204] When the rotary moving assembly 33 drives the rotating table 36 to rotate and arranges the clamping assembly 35 toward any storage position 21 of the shelf 2, the telescopic moving assembly 34 can drive the first clamping arm 351 and the second clamping arm 352 to extend into the storage position 21, so as to clamp and take out the blood basket 10 in the storage position 21, or to clamp and put the blood basket 10 in the clamping space 350 of the clamping assembly 35 into the storage position 21.

[0205] When the rotary moving component 33 drives the rotating table 36 to rotate and arranges the clamping component 35 toward any cache position 3101 of the pick-and-place rack 31, the telescopic moving component 34 can drive the first clamping arm 351 and the second clamping arm 352 to extend into the cache position 3101, so as to clamp and take out the blood basket 10 in the cache position 3101, or to clamp and put the blood basket 10 in the clamping space 350 into the cache position 3101.

[0206] like Figure 5 As shown, in some embodiments, a cache space 3102 may be formed between adjacent cache support plates 319. The cache space 3102 may be disposed above the top surface of the cache support plate 319. The cache space 3102 may be located above the cache position 3101.

[0207] When the blood basket 10 in the clamping space 350 needs to be placed in any buffer position 3101 of the pick-up and place rack 31, the rotating platform 36 can be driven to rotate by the rotating moving assembly 33, and the clamping assembly 35 can be controlled to be arranged facing the buffer position 3101, and the first clamping arm 351 and the second clamping arm 352 can be firstly extended into the buffer space 3102 arranged corresponding to the buffer position 3101 by the telescopic moving assembly 34, and arranged above the buffer position 3101. At this time, the bottom surface of the blood basket 10 does not contact the bottom surface of the buffer position 3101, and the bottom surface of the blood basket 10 does not contact the buffer support plate 319. Then, the lifting moving assembly 310 controls the pick-up and place rack 311 and the rotating platform 36 to move downward, so that the bottom surface of the blood basket 10 contacts the bottom surface of the buffer position 3101, and the bottom surface of the blood basket 10 contacts the buffer support plate 319. The first clamping arm 351 and the second clamping arm 352 can be separated from the supporting ribs 105 of the blood basket 10. At this time, the first clamping arm 351 and the second clamping arm 352 are driven out of the buffer space 3102 by the telescopic moving assembly 34, and the blood basket 10 can be placed in the buffer position 3101.

[0208] When it is necessary to take out the blood basket 10 in any buffer position 3101 of the pick-and-place rack 31, the rotating table 36 can be driven to rotate by the rotating moving assembly 33, and the clamping assembly 35 can be controlled to be arranged facing the buffer position 3101, and the first clamping arm 351 and the second clamping arm 352 can be firstly extended into the buffer space 3102 corresponding to the buffer position 3101 by the telescopic moving assembly 34, and arranged above the buffer position 3101. At this time, the bottom surface of the blood basket 10 is supported on the bottom surface of the buffer position 3101, and the bottom surface of the blood basket 10 is supported on the buffer support plate 319. Then, the lifting and moving assembly 310 controls the pick-and-place table 311 and the rotating table 36 to move upward, and the first clamping arm 351 and the second clamping arm 352 are respectively supported on the bottom surface of the supporting rib 105 of the blood basket 10, and the blood basket 10 is lifted and moved upward, so that the bottom surface of the blood basket 10 is separated from the bottom surface of the buffer position 3101, and the bottom surface of the blood basket 10 is separated from the buffer support plate 319. At this time, the telescopic moving assembly 34 drives the first clamping arm 351 and the second clamping arm 352 to withdraw from the buffer space 3102, and the blood basket 10 in the buffer position 3101 can be taken out.

[0209] It should be noted that, during the process of placing the blood basket 10 in and taking it out of the cache position 3101, no relative friction will be generated between the bottom surface of the blood basket 10 and the bottom surface of the cache position 3101, and no relative friction will be generated between the bottom surface of the blood basket 10 and the bottom surface of the cache support plate 319. Therefore, when the blood basket 10 is repeatedly placed in or taken out, friction damage to the bottom surface of the blood basket 10, friction damage to the bottom surface of the cache position 3101, and friction damage to the bottom surface of the cache support plate 319 can be avoided.

[0210] like Figure 3 As shown, in some embodiments, when the blood basket 10 in the clamping space 350 needs to be placed in any storage position 21 of the shelf 2, the rotating table 36 can be driven to rotate by the rotating moving component 33, and the clamping component 35 can be controlled to be arranged facing the storage position 21, and the first clamping arm 351 and the second clamping arm 352 are firstly extended into the storage position 21 by the telescopic moving component 34, and arranged above the bottom surface of the storage position 21. At this time, the bottom surface of the blood basket 10 does not contact the bottom surface of the storage position 21. Then, the lifting and moving component 310 controls the placing and taking table 311 and the rotating table 36 to move downward, so that the bottom surface of the blood basket 10 contacts the bottom surface of the storage position 21. And the first clamping arm 351 and the second clamping arm 352 can be separated from the supporting ribs 105 of the blood basket 10 respectively. At this time, the first clamping arm 351 and the second clamping arm 352 are driven to withdraw from the storage position 21 and the shelf 2 by the telescopic moving assembly 34 , and the blood basket 10 can be placed in the storage position 21 .

[0211] When it is necessary to take out the blood basket 10 in any storage position 21 of the shelf 2, the rotating table 36 can be driven to rotate by the rotating moving component 33, and the clamping component 35 can be controlled to be arranged facing the storage position 21. The first clamping arm 351 and the second clamping arm 352 are firstly made to extend into the storage position 21 and arranged above the bottom surface of the storage position 21 by the telescopic moving component 34. At this time, the bottom surface of the blood basket 10 is supported on the bottom surface of the storage position 21. Then, the lifting and moving component 310 controls the placing and taking table 311 and the rotating table 36 to move upward, and the first clamping arm 351 and the second clamping arm 352 are respectively supported on the bottom surface of the supporting rib 105 of the blood basket 10, and the blood basket 10 is lifted and moved upward, so that the bottom surface of the blood basket 10 is separated from the bottom surface of the storage position 21. At this time, the first clamping arm 351 and the second clamping arm 352 are driven to withdraw from the storage position 21 and the shelf 2 by the telescopic moving component 34, and the blood basket 10 in the storage position 21 can be taken out.

[0212] It should be noted that, during the process of placing the blood basket 10 in and taking it out of the storage position 21, the bottom surface of the blood basket 10 and the bottom surface of the storage position 21 will not generate relative friction, so that when the blood basket 10 is repeatedly placed in or taken out, the bottom surface of the blood basket 10 can be prevented from being damaged by friction, the bottom surface of the storage position 21 can be prevented from being damaged by friction, and the shelf 2 can be prevented from being damaged by friction.

[0213] Fig.23 yes Fig.17 Top view of the . Fig.24 yes Fig.23 Schematic diagram of the structure in another state.

[0214] like Fig.19 , Fig.23 and Fig.24As shown, in some embodiments, the telescopic moving assembly 34 can be arranged in a direction perpendicular to the sliding direction of the first clamping slide plate 353, so that the telescopic moving assembly 34 can be arranged in a direction consistent with the extension direction of the first clamping arm 351. The telescopic moving assembly 34 can be arranged in a direction perpendicular to the sliding direction of the second clamping slide plate 354, so that the telescopic moving assembly 34 can be arranged in a direction consistent with the extension direction of the second clamping arm 352.

[0215] In some embodiments, the telescopic moving assembly 34 may include a telescopic transition plate 341. The telescopic transition plate 341 may be slidably disposed on the rotating table 36. The telescopic transition plate 341 may be extended along its sliding direction. The sliding direction of the telescopic transition plate 341 is the telescopic direction of the telescopic moving assembly 34. The sliding direction of the telescopic transition plate 341 may be consistent with the telescopic moving direction of the clamping assembly 35. The telescopic transition plate 341 may be slidably connected to the clamping device. The telescopic transition plate 341 may be slidably connected to the clamping mounting plate 355.

[0216] When the telescopic transition plate 341 slides toward one side of the rotating platform 36, the telescopic transition plate 341 can extend from one side of the rotating platform 36, and the clamping mounting plate 355 can extend toward the same side of the telescopic transition plate 341 relative to the telescopic transition plate 341, so that the first clamping arm 351 and the second clamping arm 352 can extend from the same side of the telescopic transition plate 341. Fig.24 Status shown.

[0217] When the telescopic transition plate 341 slides to the other side of the rotating platform 36, the telescopic transition plate 341 can be retracted into the rotating platform 36, and the clamping mounting plate 355 can be retracted to the same side of the telescopic transition plate 341 relative to the telescopic transition plate 341, so that the first clamping arm 351 and the second clamping arm 352 can be retracted into the rotating platform 36. Fig.23 Status shown.

[0218] In some embodiments, the telescopic moving assembly 34 may include two groups of telescopic transition plates 341. The two groups of telescopic transition plates 341 may be arranged in parallel and spaced apart on opposite sides of the rotating platform 36. One group of telescopic transition plates 341 may be connected to one end of the clamping mounting plate 355. The other group of telescopic transition plates 341 may be connected to the other end of the clamping mounting plate 355. The sliding direction of the telescopic transition plates 341 may be arranged perpendicular to the plate surface direction of the clamping mounting plate 355. The two groups of telescopic transition plates 341 may slide synchronously on the rotating platform 36, thereby improving the telescopic stability of the clamping device.

[0219] like Fig.24As shown, in some embodiments, the rotating platform 36 may include a rotating bottom plate 361 and rotating side plates 362 disposed on opposite sides of the rotating bottom plate 361. The two rotating side plates 362 may be respectively protruded upwardly and extended from the opposite side edges of the rotating bottom plate 361. The telescopic transition plate 341 may be slidably disposed on the inner side wall of the rotating side plate 362. The two sets of telescopic transition plates 341 may be respectively slidably disposed on the inner side walls of the two rotating side plates 362.

[0220] like Fig.23 and Fig.24 As shown, in some embodiments, the telescopic moving assembly 34 may include a telescopic synchronous belt 342. The telescopic synchronous belt 342 may be rotatably disposed on the rotating table 36. The telescopic synchronous belt 342 may be rotatably disposed on the rotating base plate 361 of the rotating table 36. The telescopic synchronous belt 342 may be arranged on the rotating table 36 in a long strip shape. The telescopic synchronous belt 342 may be arranged to extend along the telescopic direction of the telescopic moving assembly 34. The telescopic synchronous belt 342 may be rotatably moved on the rotating table 36. The moving direction of the telescopic synchronous belt 342 may be consistent with the sliding direction of the telescopic transition plate 341. The telescopic synchronous belt 342 may be connected to the telescopic transition plate 341. The telescopic synchronous belt 342 may move in a forward or reverse direction, thereby driving the telescopic transition plate 341 to slide forward or reversely relative to the rotating table 36.

[0221] Specifically, when the telescopic synchronous belt 342 rotates in the forward direction on the rotating table 36, the telescopic transition plate 341 can be driven to slide toward one side of the rotating table 36 through the connection between the telescopic synchronous belt 342 and the telescopic transition plate 341, so that the telescopic transition plate 341 can protrude from one side of the rotating table 36.

[0222] When the telescopic synchronous belt 342 rotates in the reverse direction on the rotating table 36 , the telescopic transition plate 341 can be driven to slide toward the other side of the rotating table 36 through the connection between the telescopic synchronous belt 342 and the telescopic transition plate 341 , so that the telescopic transition plate 341 can be retracted into the rotating table 36 .

[0223] In some embodiments, the telescopic moving assembly 34 may include two telescopic synchronous belts 342. The two telescopic synchronous belts 342 may be arranged in parallel and spaced apart on the rotating table 36. One set of telescopic transition plates 341 may be connected to one lifting synchronous belt 313, and another set of telescopic transition plates 341 may be connected to another telescopic synchronous belt 342. The two telescopic synchronous belts 342 may be used to drive the two sets of telescopic transition plates 341 to synchronously slide forward and extend or slide backward and retract, thereby improving the stability of the telescopic movement of the clamping assembly 35 between the two sets of telescopic transition plates 341.

[0224] like Fig.19 and Fig.24As shown, in some embodiments, the telescopic moving assembly 34 may include a telescopic driving wheel 3421 and a telescopic driven wheel (not shown in the figure). The telescopic driving wheel 3421 may be arranged at one end of the telescopic synchronous belt 342. The telescopic driven wheel may be arranged at the other end of the telescopic synchronous belt 342. The telescopic synchronous belt 342 may be a toothed transmission belt, so that one end of the telescopic synchronous belt 342 may be meshed and connected to the telescopic driving wheel 3421, and the other end of the telescopic synchronous belt 342 may be meshed and connected to the telescopic driven wheel.

[0225] When the telescopic driving wheel 3421 rotates forward, the telescopic synchronous belt 342 and the telescopic driven wheel can be driven to rotate forward synchronously, so that the telescopic synchronous belt 342 moves to drive the telescopic transition plate 341 to slide forward and slide out to one side of the rotating platform 36.

[0226] When the telescopic driving wheel 3421 rotates in the reverse direction, the telescopic synchronous belt 342 and the telescopic driven wheel can be driven to rotate in the reverse direction synchronously, so that the telescopic synchronous belt 342 moves to drive the telescopic transition plate 341 to slide in the reverse direction and slide back into the rotating platform 36.

[0227] In some embodiments, two groups of telescopic driving wheels 3421 and telescopic driven wheels may be provided. The two groups of telescopic driving wheels 3421 and telescopic driven wheels may be provided at both ends of the two telescopic synchronous belts 342, respectively.

[0228] like Fig.19 , Fig.23 and Fig.24 As shown, in some embodiments, the telescopic moving assembly 34 may include a telescopic transmission shaft 343. The telescopic transmission shaft 343 may be rotatably disposed on the rotating table 36. The telescopic transmission shaft 343 may rotate with its axial direction as the axis. The telescopic transmission shaft 343 may be disposed at one end of the telescopic synchronous belt 342. The telescopic driving wheel 3421 may be disposed at the end of the telescopic transmission shaft 343. The telescopic synchronous belt 342 is sleeved on the end of the telescopic transmission shaft 343, and further can be sleeved on the telescopic driving wheel 3421. When the telescopic transmission shaft 343 rotates forward or reversely, the telescopic transmission shaft 343 can drive the telescopic driving wheel 3421 to rotate forward or reverse synchronously, and further can drive the telescopic transition plate 341 to slide forward or reverse relative to the rotating table 36 through the telescopic synchronous belt 342.

[0229] In some embodiments, the extension direction of the telescopic transmission shaft 343 is perpendicular to the extension direction of the telescopic synchronous belt 342. The extension direction of the telescopic transmission shaft 343 is perpendicular to the sliding direction of the telescopic transition plate 341.

[0230] In some embodiments, the telescopic driving wheels 3421 of the two telescopic synchronous belts 342 can be respectively arranged at the two ends of the axial direction of the telescopic transmission shaft 343. When the telescopic transmission shaft 343 rotates, the two telescopic synchronous belts 342 can be driven to move synchronously through the two telescopic driving wheels 3421, and then the two sets of telescopic transition plates 341 can be driven to slide synchronously relative to the rotating platform 36.

[0231] like Fig.19 , Fig.23 and Fig.24 As shown, in some embodiments, the telescopic moving assembly 34 may include a telescopic drive motor 345. The telescopic drive motor 345 may be disposed on the rotating platform 36. The output end of the telescopic drive motor 345 may be transmission-connected to the telescopic transmission shaft 343. The telescopic drive motor 345 may be a forward and reverse rotating motor.

[0232] When the output end of the telescopic drive motor 345 runs in the forward direction, the telescopic drive motor 345 can drive the telescopic transmission shaft 343 to rotate in the forward direction, and drive the telescopic transition plate 341 to slide forward and extend out on the rotating table 36 through the telescopic synchronous belt 342, so that the clamping mounting plate 355 can drive the first clamping arm 351 and the second clamping arm 352 to move horizontally on the rotating table 36 and extend out of the rotating table 36.

[0233] When the output end of the telescopic drive motor 345 runs in reverse, the telescopic drive motor 345 can drive the telescopic transmission shaft 343 to rotate in the opposite direction, and drive the telescopic transition plate 341 to slide in the opposite direction and retract on the rotating table 36 through the telescopic synchronous belt 342, so that the clamping mounting plate 355 can drive the first clamping arm 351 and the second clamping arm 352 to move horizontally on the rotating table 36 and retract into the inside of the rotating table 36.

[0234] like Fig.19 , Fig.23 and Fig.24 As shown, in some embodiments, the telescopic moving assembly 34 may include a telescopic drive belt 346. One end of the telescopic drive belt 346 may be sleeved on the output shaft of the telescopic drive motor 345. The other end of the telescopic drive belt 346 may be sleeved on the telescopic transmission shaft 343.

[0235] When the output end of the telescopic driving motor 345 rotates forward or reversely, the telescopic driving motor 345 can drive the telescopic transmission shaft 343 to rotate forward or reverse synchronously through the telescopic driving belt 346 .

[0236] Fig.25 yes Fig.19 A cross-sectional view of . Fig.26 yes Fig.25 Top view of the .

[0237] like Figure 24 to Figure 26As shown, in some embodiments, the telescopic transition plate 341 may include a first telescopic transition plate 3411 and a second telescopic transition plate 3412. The first telescopic transition plate 3411 and the second telescopic transition plate 3412 form a group of telescopic transition plates 341. The first telescopic transition plate 3411 may be slidably disposed on the rotating table 36. The first telescopic transition plate 3411 may be slidably disposed on the inner side wall of the rotating side plate 362. The telescopic synchronous belt 342 is connected to the first telescopic transition plate 3411. The second telescopic transition plate 3412 may be slidably disposed on the first telescopic transition plate 3411. The second telescopic transition plate 3412 may be slidably disposed on the inner side wall of the first telescopic transition plate 3411. The sliding directions of the first telescopic transition plate 3411 and the second telescopic transition plate 3412 are consistent. The second telescopic transition plate 3412 may be connected to the clamping mounting plate 355 of the clamping assembly 35.

[0238] In this way, when the telescopic synchronous belt 342 drives the first telescopic transition plate 3411 to slide and extend toward one side of the rotating table 36, the second telescopic transition plate 3412 can slide and extend relative to the same side of the first telescopic transition plate 3411, which can increase the total extension length of the first telescopic transition plate 3411 and the second telescopic transition plate 3412, and then increase the extension distance of the first clamping arm 351 and the second clamping arm 352 of the clamping assembly 35.

[0239] like Figure 24 to Figure 26 As shown, in some embodiments, the telescopic moving assembly 34 may include a first telescopic transmission belt 347. The first telescopic transmission belt 347 is rotatably disposed on the first telescopic transition plate 3411. The first telescopic transmission belt 347 may be arranged on the first telescopic transition plate 3411 in a long strip shape. The first telescopic transmission belt 347 may be arranged to extend along the telescopic direction of the telescopic moving assembly 34. The opposite sides of the first telescopic transmission belt 347 may be convexly disposed on the inner and outer side walls of the first telescopic transition plate 3411. One side of the first telescopic transmission belt 347 may be connected to the second telescopic transition plate 3412 through a first connecting portion 3471. The other side of the first telescopic transmission belt 347 may be connected to the inner side wall of the rotating side plate 362 of the rotating platform 36 through a second connecting portion 3472.

[0240] In this way, when the telescopic synchronous belt 342 drives the first telescopic transition plate 3411 to slide and extend toward one side of the rotating table 36, since one side of the first telescopic transmission belt 347 is fixed to the side wall of the rotating table 36 through the second connecting portion 3472, the first telescopic transmission belt 347 can rotate relative to the first telescopic transition plate 3411, and then the second telescopic transition plate 3412 can be automatically driven to slide and extend relative to the same side of the first telescopic transition plate 3411 through the first telescopic transmission belt 347 and the first connecting portion 3471, thereby increasing the total extension length of the first telescopic transition plate 3411 and the second telescopic transition plate 3412.

[0241] like Figure 24 to Figure 26 As shown, in some embodiments, the telescopic movable assembly 34 may include a telescopic movable plate 349. The telescopic movable plate 349 may be slidably disposed on the second telescopic transition plate 3412. The sliding direction of the telescopic movable plate 349 may be consistent with the sliding direction of the second telescopic transition plate 3412. The sliding direction of the telescopic movable plate 349 is consistent with the sliding direction of the telescopic transition plate 341. The sliding direction of the telescopic movable plate 349 is consistent with the telescopic direction of the telescopic movable assembly 34. The telescopic movable plate 349 is connected to the clamping mounting plate 355 of the clamping assembly 35.

[0242] Thus, when the first telescopic transition plate 3411 slides out toward one side of the rotating platform 36, the first telescopic transmission belt 347 can drive the second telescopic transition plate 3412 to slide out synchronously relative to the same side of the first telescopic transition plate 3411. At this time, the telescopic movable plate 349 can drive the clamping mounting plate 355, the first clamping arm 351 and the second clamping arm 352 to slide out relative to the same side of the second telescopic transition plate 3412, so as to increase the extension distance of the first clamping arm 351 and the second clamping arm 352.

[0243] Fig. 27 yes Fig.19 Another cross-sectional view of . Fig.28 yes Fig. 27 Top view of the .

[0244] like Figure 24 to Figure 28 As shown, in some embodiments, the telescopic moving assembly 34 may include a second telescopic transmission belt 348. The second telescopic transmission belt 348 may be rotatably disposed on the second telescopic transition plate 3412. The second telescopic transmission belt 348 may be arranged on the second telescopic transition plate 3412 in a long strip shape. The second telescopic transmission belt 348 may be arranged to extend along the telescopic direction of the telescopic moving assembly 34. The opposite sides of the second telescopic transmission belt 348 may be convexly disposed on the inner and outer side walls of the second telescopic transition plate 3412. One side of the second telescopic transmission belt 348 may be connected to the inner side wall of the first telescopic transition plate 3411 through a third connecting portion 3481. The other side of the second telescopic transmission belt 348 may be connected to the outer side wall of the telescopic movable plate 349 through a fourth connecting portion 3482.

[0245] In combination with the foregoing, when the first telescopic transition plate 3411 slides and extends toward one side of the rotating table 36, the second telescopic transition plate 3412 can be driven to slide and extend synchronously relative to the same side of the first telescopic transition plate 3411 through the first telescopic transmission belt 347, and the telescopic movable plate 349 can be driven to slide synchronously relative to the same side of the second telescopic transition plate 3412 through the second telescopic transmission belt 348, so as to drive the clamping mounting plate 355, the first clamping arm 351 and the second clamping arm 352 to slide and extend relative to the same side of the second telescopic transition plate 3412, so as to increase the extension distance of the first clamping arm 351 and the second clamping arm 352.

[0246] It should be noted that, in some other embodiments, the telescopic transition plate 341 may also include only the first telescopic transition plate 3411, or the telescopic transition plate 341 may also include only the second telescopic transition plate 3412, so as to relatively shorten the extension distance of the first clamping arm 351 and the second clamping arm 352.

[0247] In some other embodiments, the telescopic transition plate 341 may also include a third telescopic transition plate (not shown). The first telescopic transition plate 3411, the second telescopic transition plate 3412 and the third telescopic transition plate can slide relative to each other to increase the extension distance of the first clamping arm 351 and the second clamping arm 352.

[0248] like Fig.19 , Fig. 20 and Fig.28 As shown, in some embodiments, a reinforcement member 3491 may be provided between the telescopic movable plate 349 and the clamping mounting plate 355. One end of the reinforcement member 3491 may be fixedly connected to the telescopic movable plate 349. The other end of the reinforcement member 3491 may be connected to the clamping mounting plate 355. In this way, the connection strength between the telescopic movable plate 349 and the clamping mounting plate 355 may be improved by the reinforcement member 3491.

[0249] like Figure 3 and Figure 4As shown, in some embodiments, a first deep storage position 211 and a second deep storage position 212 may be arranged side by side on the shelf 2. The second deep storage position 212 may be arranged on a side of the first deep storage position 211 away from the blood basket taking and discharging device 3. The distance between the second deep storage position 212 and the blood basket taking and discharging device 3 is greater than the distance between the first deep storage position 211 and the blood basket taking and discharging device 3. Two blood baskets 10 may be placed in the first deep storage position 211 and the second deep storage position 212, respectively. The blood basket taking and discharging device 3 may adjust the extension distance of the first clamping arm 351 and the second clamping arm 352 by adjusting the telescopic distance of the telescopic moving component 34, and then adjust the extension distance of the first clamping arm 351 and the second clamping arm 352, and then place the blood basket 10 in the first deep storage position 211 and the second deep storage position 212, respectively, and may also take out the blood basket 10 in the first deep storage position 211 and the second deep storage position 212.

[0250] Fig.29 yes Fig.10 Side view of.

[0251] like Fig.10 and Fig.29 As shown, in some embodiments, two horizontal moving sliders 3221 may be provided on the same horizontal moving guide rail 322, and the two horizontal moving sliders 3221 may be arranged at intervals along the extension direction of the horizontal moving guide rail 322. The two horizontal moving sliders 3221 may be arranged at intervals at the bottom of the horizontal moving platform 321, so that the horizontal moving platform 321 may be slidably disposed on the horizontal moving guide rail 322 through the two horizontal moving sliders 3221. In this way, two horizontal moving sliders 3221 may be provided on each of the two horizontal moving guide rails 322, so that the horizontal moving platform 321 may be slidably disposed on the two horizontal moving guide rails 322 through four horizontal moving sliders 3221.

[0252] In some embodiments, the two horizontal moving sliders 3221 on the two horizontal moving guide rails 322 may be arranged in a one-to-one correspondence. The four horizontal moving sliders 3221 may be arranged at the bottom of the horizontal moving platform 321 in a rectangular four-corner structure.

[0253] It should be noted that, in other embodiments, on the same horizontal moving guide rail 322 , the number of the horizontal moving sliders 3221 may be more than three, and the number of the horizontal moving sliders 3221 may be adjusted as needed, and is not limited here.

[0254] Fig.30 yes Fig. 9 A magnified schematic diagram of area A in the middle. Fig.31 yes Fig. 9 Schematic diagram of the structure of the horizontal movable guide rail.

[0255] like Fig. 9 , Fig.30 and Fig.31 As shown, in some embodiments, the horizontal moving guide rail 322 may include a plurality of horizontal guide rail units 3220. The plurality of horizontal guide rail units 3220 are sequentially connected along the extension direction of the horizontal moving guide rail 322, and then can be combined to form the horizontal moving guide rail 322. In this way, the two horizontal moving guide rails 322 of the horizontal moving assembly 32 can be respectively formed by sequentially splicing and combining a plurality of horizontal guide rail units 3220. This solution can shorten the length of a single horizontal guide rail unit 3220, reduce the difficulty of processing a single horizontal moving guide rail 322, and reduce the adjustment of the length of the horizontal moving guide rail 322.

[0256] It should be noted that the number of horizontal guide rail units 3220 can be adjusted according to the length design requirements of the horizontal movable guide rail 322, and is not limited here.

[0257] In some embodiments, on the horizontal moving guide rail 322, a joint seam 3222 may be formed between adjacent horizontal guide rail units 3220. In this way, a plurality of joint seams 3222 arranged at intervals may be formed on the same horizontal moving guide rail 322. A plurality of joint seams 3222 arranged at intervals are respectively provided on the two horizontal moving guide rails 322. When the horizontal moving slider 3221 slides on the horizontal moving guide rail 322, the horizontal moving slider 3221 may pass through the plurality of joint seams 3222 in sequence. It should be noted that when the horizontal moving slider 3221 passes through the joint seam 3222, the horizontal moving slider 3221 may vibrate slightly.

[0258] like Fig.31 As shown, in some embodiments, the joint seams 3222 on the two horizontal moving guide rails 322 may not be at the same position. The joint seams 3222 on the two horizontal moving guide rails 322 are arranged in a staggered interval. In this way, the horizontal moving sliders 3221 at the bottom of the horizontal moving stage 321 can pass through the joint seams 3222 in sequence, that is, the corresponding horizontal moving sliders 3221 on the two horizontal moving guide rails 322 will not pass through the corresponding joint seams 3222 at the same time, which can avoid resonance of multiple horizontal moving sliders 3221, which can help reduce the vibration amplitude of the horizontal moving sliders 3221, and improve the moving stability of the horizontal moving stage 321.

[0259] It should be noted that in a low temperature environment, due to the thermal expansion and contraction of the horizontal guide rail unit 3220, the width of the joint 3222 will increase. If multiple horizontal moving sliders 3221 at the bottom of the horizontal moving platform 321 pass through the corresponding joint 3222 at the same time, the vibration of the multiple horizontal moving sliders 3221 passing through the joint 3222 will resonate. In this embodiment, the joint 3222 on the two horizontal moving guide rails 322 is arranged in a staggered interval, so that the resonance phenomenon of the multiple horizontal moving sliders 3221 can be avoided.

[0260] like Fig.31 As shown, in some embodiments, in the extension direction of the horizontal moving guide rail 322, the interval between the joints 3222 on the two parallel horizontal moving guide rails 322 is L1. The length of L1 can be greater than the length of the horizontal moving slider 3221. In this way, the horizontal moving slider 3221 at the bottom of the horizontal moving platform 321 can pass through the joints 3222 in sequence, so that the corresponding two horizontal moving sliders 3221 on the two horizontal moving guide rails 322 will not pass through the corresponding joints 3222 at the same time, thereby preventing multiple horizontal moving sliders 3221 at the bottom of the horizontal moving platform 321 from passing through the joints 3222 at the same time, and preventing multiple horizontal moving sliders 3221 from resonating.

[0261] like Fig.31 As shown, in some embodiments, on the horizontal moving guide rail 322, the distance between two adjacent horizontal moving sliders 3221 may be L2. The length of L2 may be less than the length of the horizontal guide rail unit 3220. In this way, the two horizontal moving sliders 3221 on the same horizontal moving guide rail 322 will not pass through the joint 3222 at the same time, and resonance of the two horizontal moving sliders 3221 can be avoided.

[0262] In some embodiments, the length of L2 may be greater than the length of L1. In this way, two non-corresponding horizontal moving sliders 3221 on the two horizontal moving guide rails 322 will not pass through the joint 3222 at the same time, thereby preventing the two horizontal moving sliders 3221 from resonating.

[0263] like Fig.31 As shown, in some embodiments, the interval between the joint seam 3222 on one horizontal moving guide rail 322 and the corresponding joint seam 3222 on another horizontal moving guide rail 322 may be L1. The interval between the joint seam 3222 on the one horizontal moving guide rail 322 and the adjacent joint seam 3222 on another horizontal moving guide rail 322 may be L3. The sum of the lengths of L1 and L3 may be the length of the horizontal guide rail unit 3220. The length of L3 may be less than the length of L3. In this way, two non-corresponding horizontal moving sliders 3221 on the two horizontal moving guide rails 322 will not pass through the joint seam 3222 at the same time, and resonance of the two horizontal moving sliders 3221 can be avoided.

[0264] like Fig.31As shown, in some embodiments, the plurality of horizontal guide rail units 3220 constituting the same horizontal movable guide rail 322 may include a first horizontal guide rail unit 3220a and a plurality of second horizontal guide rail units 3220b. The length of the first horizontal guide rail unit 3220a may be less than the length of the second horizontal guide rail unit 3220b. In this way, after the plurality of second horizontal guide rail units 3220b are spliced ​​in sequence, the first horizontal guide rail unit 3220a is arranged at one end of the plurality of second horizontal guide rail units 3220b, and then a horizontal movable guide rail 322 may be spliced. After the plurality of second horizontal guide rail units 3220b are spliced ​​in sequence, the first horizontal guide rail unit 3220a is arranged at the other end of the plurality of second horizontal guide rail units 3220b, and then another horizontal movable guide rail 322 may be spliced. After the two horizontal movable guide rails 322 are arranged in parallel and relative to each other, the splicing seams 3222 of the two horizontal movable guide rails 322 may be arranged alternately and spaced in sequence.

[0265] It should be noted that the number of the second horizontal guide rail units 3220b can be adjusted according to the length design requirements of the horizontal movable guide rail 322, and is not limited here.

[0266] Fig.32 yes Fig. 9 Schematic diagram of the structure of the middle horizontal support platform.

[0267] like Fig. 9 , Fig.30 and Fig.32 As shown, in some embodiments, the horizontal support platform 326 may include two sets of horizontal support rails 3260. The two sets of horizontal support rails 3260 may be arranged in parallel and spaced apart. The two horizontal movable guide rails 322 may be supported on a set of horizontal support rails 3260, respectively.

[0268] like Fig.32 As shown, in some embodiments, the two groups of horizontal support rails 3260 may include a plurality of horizontal support rails 3260, and the plurality of horizontal support rails 3260 may be sequentially spaced and arranged along the extension direction of the horizontal movable guide rail 322. A spacing area 3261 may be formed between adjacent horizontal support rails 3260. The spacing area 3261 may prevent adjacent horizontal support rails 3260 from contacting and squeezing each other when the horizontal support rails 3260 expand and contract due to heat.

[0269] It should be noted that the number of horizontal support rails 3260 can be adjusted according to the length design requirements of the horizontal support platform 326, and is not limited here.

[0270] like Fig.30As shown, in some embodiments, the spacing area 3261 between the horizontal support rails 3260 and the joint seam 3222 between the adjacent horizontal guide rail units 3220 are not located at the same position. In this way, resonance between the horizontal guide rail units 3220 and the horizontal support rails 3260 can be avoided.

[0271] Although the present invention has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present invention can be embodied in a variety of forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A blood basket loading and unloading device, used to put a blood basket into a shelf or take a blood basket out of a shelf; characterized in that: The blood basket material taking and discharging device comprises: The pick-and-place rack is arranged extending in the up-and-down direction; A pick-and-place platform, which is escalably mounted on the pick-and-place rack; A lifting and moving assembly is connected to the pick-and-place platform in a transmission manner, and is used to drive the pick-and-place platform to move up and down along the height direction of the pick-and-place rack; A telescopic moving component is arranged on the pick-and-place table and is used for linear telescopic movement; Clamping assembly, comprising: A clamping mounting plate is arranged on the pick-and-place platform and connected to the telescopic assembly; a first clamping arm is connected to the first clamping slide plate; a second clamping arm connected to the second clamping slide plate; the first clamping arm and the second clamping arm are arranged at intervals on the same side of the clamping mounting plate, a clamping space is formed between the first clamping arm and the second clamping arm, and the clamping space is used to clamp the blood basket; A clamping drive motor is arranged on the clamping mounting plate, and the output end of the clamping drive motor is respectively connected to the first clamping arm and the second clamping arm in transmission connection; Wherein, the clamping drive motor can drive the first clamping arm and the second clamping arm to move closer to each other or farther away from each other, so as to adjust the distance between the first clamping arm and the second clamping arm; The telescopic moving component can drive the clamping component to move horizontally on the pick-up and placement table, so that the blood basket enters the clamping space, and the first clamping arm and the second clamping arm can be arranged on opposite sides of the blood basket respectively; The lifting and moving assembly can drive the pick-up and place platform to move upward along the pick-up and place frame, so that the first clamping arm and the second clamping arm can be supported on the bottom surfaces of the opposite side edges of the blood basket respectively to lift the blood basket.

2. The blood basket taking and discharging device according to claim 1, characterized in that: The blood basket is provided with a supporting rib at two opposite sides of the edge. The telescopic moving assembly can drive the first clamping arm and the second clamping arm to extend under one of the supporting ribs respectively; The lifting and moving assembly can drive the clamping assembly to move upward, so that the first clamping arm and the second clamping arm are respectively supported on the bottom surface of the supporting rib to lift the blood basket.

3. The blood basket taking and discharging device according to claim 1, characterized in that: The clamping assembly comprises: A first clamping slide plate is slidably disposed on one side of the clamping mounting plate, wherein the sliding direction of the first clamping slide plate is perpendicular to the telescopic direction of the telescopic moving assembly; A second clamping slide plate is slidably disposed on the same side of the clamping mounting plate, and a sliding direction of the second clamping slide plate is consistent with a sliding direction of the first clamping slide plate; One end of the first clamping arm is connected to the first clamping slide plate, and the other end is extended toward a side away from the clamping mounting plate; One end of the second clamping arm is connected to the second clamping slide plate, and the other end is extended toward a side away from the clamping mounting plate; The output end of the clamping drive motor is respectively connected to the first clamping slide plate and the second clamping slide plate in a transmission manner; The clamping drive motor can drive the first clamping slide plate and the second clamping slide plate to slide towards each other or slide away from each other, so that the first clamping arm and the second clamping arm are moved closer to each other or away from each other.

4. The blood basket taking and discharging device according to claim 3, characterized in that: The clamping assembly further comprises a clamping drive gear, and the clamping drive gear is arranged at the output end of the clamping drive motor; The first clamping slide plate is provided with a first clamping rack, and the second clamping slide plate is provided with a second clamping rack; the extension direction of the first clamping rack and the second clamping rack is consistent with the sliding direction of the first clamping slide plate and the second clamping slide plate; The first clamping rack and the second clamping rack are respectively arranged on opposite sides of the clamping drive gear and are respectively meshed and connected with the clamping drive gear.

5. The blood basket taking and discharging device according to claim 3, characterized in that: The clamping assembly also includes a first finger steering gear and a second finger steering gear; The first finger steering gear is rotatably disposed at an end of the first clamping arm away from the first clamping slide plate; The second finger servo is rotatably disposed at an end of the second clamping arm away from the second clamping slide; The first finger-shifting servo and the second finger-shifting servo can be respectively rotated to extend into the clamping space, or respectively rotated to exit the clamping space.

6. The blood basket taking and discharging device according to claim 1, characterized in that: The blood basket material taking and discharging device comprises: A rotating table, rotatably disposed above the top of the pick-and-place table; A rotating moving assembly is arranged on the pick-up and placement platform, the rotating moving assembly is in transmission connection with the rotating platform, and the rotating moving assembly is used to drive the rotating platform to rotate horizontally on the pick-up and placement platform; The telescopic moving component and the clamping component are arranged on the rotating platform and can rotate horizontally with the rotating platform.

7. The blood basket taking and discharging device according to claim 6, characterized in that: The shelf is provided with a plurality of storage positions arranged in sequence along its height direction; The pick-and-place rack is provided with a plurality of buffer positions arranged in sequence along its height direction, and the buffer positions are used for buffering and placing blood baskets; The lifting and moving assembly can drive the pick-up and place platform to move to a height corresponding to any one of the storage positions of the shelf, and to a height corresponding to any one of the cache positions of the pick-up and place rack; The rotary moving assembly can drive the rotating platform and the clamping assembly to rotate toward the storage position and rotate toward the cache position.

8. The blood basket taking and discharging device according to claim 6, characterized in that: The telescopic moving component comprises: A telescopic transition plate is slidably disposed on the rotating platform, wherein the sliding direction of the telescopic transition plate is consistent with the telescopic movement direction of the clamping assembly; the clamping mounting plate is connected to the telescopic transition plate; A telescopic synchronous belt is arranged on the rotating platform, and the telescopic synchronous belt is connected to the telescopic transition plate; the moving direction of the telescopic synchronous belt is consistent with the sliding direction of the telescopic transition plate; A telescopic transmission shaft is rotatably disposed on the rotating platform, and an extending direction of the telescopic transmission shaft is perpendicular to a sliding direction of the telescopic transition plate; A telescopic drive motor is arranged on the rotating platform, and an output end of the telescopic drive motor is drivingly connected to the telescopic transmission shaft; The telescopic drive motor can drive the telescopic transmission shaft to rotate forward or reversely, and drive the telescopic transition plate to slide forward or reversely on the rotating table through the telescopic synchronous belt, so that the clamping mounting plate can drive the first clamping arm and the second clamping arm to move horizontally and telescopically on the rotating table.

9. The blood basket taking and discharging device according to claim 8, characterized in that: The telescopic transition plate includes a first telescopic transition plate and a second telescopic transition plate; The first telescopic transition plate is slidably disposed on the rotating platform, and the telescopic synchronous belt is connected to the first telescopic transition plate; The second telescopic transition plate is slidably disposed on the first telescopic transition plate; The sliding directions of the first telescopic transition plate and the second telescopic transition plate are consistent; The telescopic moving component also includes: A telescopic movable plate is slidably disposed on the second telescopic transition plate, wherein the sliding direction of the telescopic movable plate is consistent with the sliding direction of the telescopic transition plate; the clamping mounting plate is connected to the telescopic movable plate; a first telescopic transmission belt rotatably disposed on the first telescopic transition plate, one side of the first telescopic transmission belt being connected to the second telescopic transition plate, and the other side of the first telescopic transmission belt being connected to the side wall of the rotating platform; A second telescopic transmission belt is rotatably disposed on the second telescopic transition plate, one side of the second telescopic transmission belt is connected to the first telescopic transition plate, and the other side of the second telescopic transmission belt is connected to the telescopic movable plate; When the telescopic synchronous belt drives the first telescopic transition plate to slide and extend to one side relative to the rotating table, the first telescopic transmission belt can drive the second telescopic transition plate to slide and extend to the same side relative to the first telescopic transition plate, and the second telescopic transmission belt can drive the telescopic movable plate and the clamping mounting plate to slide and extend to the same side relative to the second telescopic transition plate.

10. The blood basket taking and discharging device according to claim 6, characterized in that: The rotary moving assembly comprises: A rotary drive motor is arranged on the pick-and-place table; A rotary drive wheel is rotatably disposed on the pick-and-place table, and the rotary drive wheel is drivingly connected to the output end of the rotary drive motor; A rotating support wheel is rotatably disposed on the pick-and-place platform, the rotating support wheel is meshingly connected with the rotating drive wheel, and the rotating platform is disposed on the top surface of the rotating support wheel; The rotary drive motor can drive the rotary drive wheel to rotate, so as to drive the rotating platform to rotate horizontally relative to the pick-and-place platform through the rotary support wheel.

11. The blood basket taking and discharging device according to claim 1, characterized in that: The lifting and moving assembly comprises: A lifting synchronous belt, the lifting synchronous belt is arranged on the pick-and-place rack, the lifting synchronous belt is transmission-connected with the pick-and-place platform; the moving direction of the lifting synchronous belt is consistent with the lifting and sliding direction of the pick-and-place platform; A lifting transmission shaft is rotatably arranged on the pick-and-place rack, and an extending direction of the lifting transmission shaft is perpendicular to a moving direction of the lifting synchronous belt; A lifting drive motor, wherein the output end of the lifting drive motor is drivingly connected to the lifting drive shaft; The lifting drive motor can drive the lifting transmission shaft to rotate in a forward or reverse direction, and drive the pick-up and place platform to slide upward or downward on the pick-up and place rack through the lifting synchronous belt.

12. The blood basket taking and discharging device according to claim 11, characterized in that: The lifting and moving assembly comprises: A lifting mounting seat, arranged at the bottom of the pick-and-place rack; A lifting reducer is arranged in the lifting mounting seat; The lifting transmission shaft is drivingly connected to the lifting reducer; The lifting drive motor is arranged on the lifting mounting seat, and the output end of the lifting drive motor is drivingly connected to the lifting reducer.

13. The blood basket taking and discharging device according to claim 1, characterized in that: The blood basket material taking and discharging device comprises a horizontal moving component, which is arranged on one side of the shelf, and the horizontal moving component comprises: There are two horizontal movable guide rails, which are arranged parallel to each other and spaced apart on one side of the shelf; A horizontal moving platform is slidably arranged on the horizontal moving guide rail; the pick-and-place rack is supported and fixed on the horizontal moving platform; A horizontal driving motor is arranged on the horizontal moving platform. A horizontal driving wheel is rotatably disposed on the horizontal moving platform, and the horizontal driving wheel is drivingly connected to the output end of the horizontal driving motor; A horizontally movable rack is arranged in parallel between the two horizontally movable guide rails; the horizontal driving wheel is meshedly connected with the horizontally movable rack; The horizontal driving motor can drive the horizontal driving wheel to rotate forward or reversely, and the horizontal driving wheel can move forward or reversely along the horizontal moving rack, so as to drive the pick-and-place rack to move forward or reversely horizontally relative to the horizontal moving guide rail through the horizontal moving platform.

14. The blood basket taking and discharging device according to claim 13, characterized in that: The horizontal movable guide rail comprises a plurality of horizontal guide rail units, wherein the plurality of horizontal guide rail units are sequentially spliced ​​to form the horizontal movable guide rail, and a splicing seam is formed between adjacent horizontal guide rail units; The joint seams on the two horizontal movable guide rails are arranged in a staggered manner.

15. The blood basket taking and discharging device according to claim 7, characterized in that: A plurality of cache support plates are sequentially and spaced apart on the pick-and-place rack along the height direction thereof, and the cache positions are formed on the cache support plates.

Images