High-speed sorting machine

Abstract

The invention belongs to the technical field of medical instruments, and relates to a high-speed sorting machine, which comprises a tube sorting unit for sorting scattered blood collection tubes to enable the blood collection tubes to be arranged in sequence; the sorting unit is used for sorting the blood collection tubes entering the tube sorting unit; the blood collection tubes sorted out of the sorting unit enter the sorting track; the at least one mechanical arm unit is used for clamping and placing the blood collection tubes on the sorting track to a preset position; the blood collection tubes on the sorting track are inserted into the tube inserting unit through the mechanical arm unit. After the structure is adopted, the device has the beneficial effects that the vacuum blood collection tubes can be continuously and quickly distributed to a plurality of sorting tracks after being rotated by a certain angle from a single tube sorting track. The functions of pre-sorting of the blood collection tubes in the sorting system and the buffer are achieved, and it is ensured that the problem of secondary sorting does not exist in the follow-up process; and the continuity of high-speed sorting is also ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to a high-speed sorting machine. Background Art

[0002] With the advancement of science and technology and the continuous improvement of people's health level, clinical testing institutions have to deal with more and more vacuum blood collection tubes every day. Currently, there are mainly the following ways to sort samples:

[0003] The first is manual sorting: This is also the most common sorting method. The blood collection tube is manually held and scanned by the barcode. Then, based on the test items seen from the computer and the classification rules set by the hospital, the blood collection tube is manually placed into the appropriate container after manual judgment. This sorting efficiency is very low and prone to errors. Once the manually sorted samples are placed in the wrong place, it is difficult to trace them.

[0004] The second type is the first generation sorting machine: This is also the most widely used sorting machine on the market. It can automatically sort the blood collection tubes into multiple storage boxes, and the blood collection tubes are scattered freely. Clinical testing institutions also need to arrange manpower to manually transfer the preliminarily sorted blood collection tubes again before the samples can be loaded onto terminal equipment such as centrifuges and analyzers. Therefore, this method still has the problem of low efficiency.

[0005] The third type is the second generation sorting machine: this type of sorting machine is based on the first generation sorting machine, with the addition of a robotic arm that can insert some blood collection tubes into the centrifuge block or sample tray, and the degree of automation is improved to a certain extent; however, in order to increase the sorting speed, two sets of symmetrical robotic arms and management devices are installed in one sorting machine (the management device is used to sort the scattered blood collection tubes collected by clinical testing institutions into orderly test tube queues). Due to the limitation of the motion range of a single robotic arm, this type of sorting machine often requires secondary sorting and transfer (that is, the two sets of robotic arms exchange blood collection tubes) before the blood collection tubes can be delivered to the final required sample container; as the number of classifications increases, the probability of secondary sorting and transfer increases; therefore, the efficiency of this type of sorting machine is still not high.

[0006] In addition, the second-generation sorting machine, due to its large management device and the layout limitation that the track can only transport blood collection tubes horizontally, often has very high requirements for the internal space of the sorting machine and the external space of the sorting machine. It even requires more than 50 cm of operating space to be reserved in the front, back, left and right directions of the sorting machine, which is not conducive to its promotion and use in clinical testing institutions. Therefore, it is necessary to improve it. Summary of the invention

[0007] In order to solve the above problems in the prior art, the present invention provides a high-speed sorting machine, which can not only meet various sorting and classification requirements, but also achieve high-throughput operation.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] As one aspect of the present invention, a high-speed sorting machine is provided, comprising:

[0010] The management unit organizes the scattered blood collection tubes and arranges them in order;

[0011] The sorting unit sorts the blood collection tubes entering the management unit;

[0012] At least one sorting track, the blood collection tubes sorted out from the sorting unit enter the sorting track;

[0013] At least one robotic arm unit is used to clamp the blood collection tube on the sorting track and place it at a preset position;

[0014] The cannula unit is used to insert the blood collection tubes on the sorting track into the cannula unit through the mechanical arm unit;

[0015] The sorting track comprises a track support and a conveying power unit, wherein the conveying power unit is arranged on the track support; a first conveying belt and a second conveying belt are movably connected to the track support, and a conveying channel for blood collection tubes is formed between the first conveying belt and the second conveying belt, and the first conveying belt and the second conveying belt are respectively matched with a plurality of driven pulleys arranged on the track support; the plurality of driven pulleys are rotatably connected to the track support through axles; a driving pulley is connected to the movable end of the conveying power unit, and the first conveying belt and the second conveying belt are respectively matched with the driving pulley;

[0016] The size of the conveying channel of the sorting track matched with the robot arm unit is smaller than the tube cap size of the blood collection tube and larger than the tube diameter of the blood collection tube, so that the corresponding blood collection tube is conveyed on the corresponding sorting track in a vertical state.

[0017] Optionally, a bulk sample unit is also included to store the blood collection tubes dropped from the sorting track; the bulk sample unit includes a plurality of bulk sample storage bins, each of which has a bulk sample bin entrance and a bulk sample bin exit, and the bulk sample bin entrance and the bulk sample bin exit are connected.

[0018] Optionally, it also includes a tube-throwing unit and a sorting track matched with the tube-throwing unit, wherein the tube-throwing unit is arranged on the side of the corresponding sorting track, and performs a tube-throwing action on the blood collection tube thereon so that the blood collection tube enters the bulk sample unit;

[0019] The tube-dropping unit comprises a tube-dropping power unit and a swinging plate arranged on the corresponding sorting track, wherein the swinging plate is movably connected to the corresponding sorting track through a shaft, the swinging plate can swing relative to the sorting track, and the movable end of the tube-dropping power unit is movably connected to one end of the swinging plate;

[0020] The size of the conveying channel of the sorting track matched with the tube injection unit is smaller than the diameter of the blood sampling tube, so that the corresponding blood sampling tube is conveyed on the corresponding sorting track in a horizontal state.

[0021] Optionally, it further includes a tube holding unit, which is connected to the end of the sorting track that cooperates with the robot arm unit; the tube holding unit separates and positions the blood collection tubes on the sorting track and ensures that the blood collection tubes are in a vertical state;

[0022] The tube holding unit comprises a tube holding support, a first clamp and a second clamp are slidably connected to the tube holding support, the first clamp and the second clamp move relative to each other, a plurality of first half grooves are arranged on the first clamp, a plurality of second half grooves are arranged on the second clamp, when the first clamp and the second clamp are fitted together, the first half grooves cooperate with the corresponding second half grooves to form a tube holding channel adapted to the blood collection tube; a tube holding slider is respectively arranged at the bottom of the first clamp and the bottom of the second clamp, the tube holding slider and the tube holding guide rail arranged on the tube holding support; the first clamp and the second clamp can slide relative to the tube holding support through the cooperation of the tube holding slider and the tube holding guide rail;

[0023] The pipe holding unit further comprises a pipe holding motor connected to the pipe holding support and a pipe holding driven pulley rotatably connected to the pipe holding support, wherein the pipe holding driven pulley is spaced apart from the pipe holding motor; the movable end of the pipe holding motor is connected to a pipe holding driving pulley, and the pipe holding driving pulley and the pipe holding driven pulley are connected via a pipe holding synchronous belt;

[0024] The first clamp is connected to one side of the pipe-holding synchronous belt through a first connecting plate, and the second clamp is connected to the other side of the pipe-holding synchronous belt through a second connecting plate, so that the movement direction of the first clamp is opposite to the movement direction of the second clamp;

[0025] The tube holding unit also includes a partition, which is connected to the first clamp and the second clamp to separate the blood collection tubes outside the tube holding unit.

[0026] Optionally, the blood collection tube management unit includes a blood collection tube management silo, a blood collection tube management track and an intermediate transmission unit, and the intermediate transmission unit transports the blood collection tubes in the blood collection silo to the blood collection tube management track, and the blood collection tubes enter the sorting unit from the blood collection tube management track;

[0027] The intermediate transmission unit includes an intermediate support frame, which is arranged in an inclined shape, with the bottom of the intermediate support frame located in the tube handling bin, and the top of the intermediate support frame is higher than the conveying surface of the tube handling track, and the blood collection tube falls onto the tube handling track by gravity;

[0028] The upper and lower ends of the intermediate support frame are respectively provided with driven rollers, and a tube handling conveyor belt is connected between the two driven rollers. A plurality of tube handling blocks are arranged at intervals on the outer surface of the tube handling conveyor belt, and the height of the tube handling blocks is higher than the diameter of the tube cap of the blood collection tube, so that the tube handling blocks can transfer the blood collection tube in the blood collection tube handling bin to the blood collection tube handling track through the intermediate transmission unit; the blood collection tube handling blocks are arranged at intervals with tooth grooves, which cooperate with the inner bottom of the blood collection tube handling bin, and when the blood collection tube enters this position, the blood collection tube handling blocks can carry the blood collection tube;

[0029] The intermediate support frame is also provided with a tube handling power unit; the movable end of the tube handling power unit is connected with an active roller, and the active roller cooperates with the inner surface of the tube handling conveyor belt. Driven by the tube handling power unit, the tube handling conveyor belt reciprocates on the intermediate support frame to continuously transport the blood collection tubes in the tube handling bin to the tube handling track;

[0030] Since the bottom of the intermediate transmission unit is located at the inner bottom of the tube handling silo, the blood collection tubes are piled on the tube handling blocks after entering the tube handling silo. The blood collection tubes in a horizontal state are carried between two adjacent tube handling blocks and transported under the action of the intermediate transmission unit.

[0031] Optionally, the tube-managing track includes a tube-managing support, on which a third conveyor belt and a fourth conveyor belt arranged at intervals are movably connected, a conveying channel for blood collection tubes is formed between the third conveyor belt and the fourth conveyor belt, and the third conveyor belt and the fourth conveyor belt are respectively matched with a plurality of driven wheels arranged on the tube-managing support; the plurality of driven wheels are rotatably connected to the tube-managing support via axles;

[0032] It also includes a transmission power unit arranged on the pipe management bracket, wherein the movable end of the transmission power unit is connected to a driving wheel, and the third conveyor belt and the fourth conveyor belt are respectively matched with the driving wheel;

[0033] The size of the conveying channel for the blood collection tube formed between the third conveyor belt and the fourth conveyor belt is smaller than the tube cap size of the blood collection tube and larger than the tube diameter of the blood collection tube, so that the corresponding blood collection tube is conveyed on the corresponding tube arrangement track in a vertical state;

[0034] A guide bevel is provided on the feeding end of the tube handling track, and the blood collection tubes dropped from the top of the intermediate transmission unit enter the tube handling track through the guide bevel. There are two groups of guide bevels, and the two groups of guide bevels are symmetrically arranged on the tube handling track.

[0035] After the blood collection tubes are dumped into the sorting bin, the sorting bin will drive the sorting conveyor belt upward through the sorting power unit to move the disordered test tubes to be sorted, thereby transmitting the blood collection tubes to be sorted upward to the sorting track; the sorting conveyor belt is provided with a toothed sorting block, which cooperates with the groove at the bottom of the sorting bin and the guide inclined block of the sorting track.

[0036] The guiding bevels on both sides are used to guide the blood collection tubes into the management track. The blood collection tubes entering the management track are combed into vertical blood collection tubes by gravity. The third conveyor belt and the fourth conveyor belt are driven by the transmission power unit to transport the blood collection tubes in the vertical state. The end of the management track is open to transport the blood collection tubes to the sorting unit.

[0037] Optionally, the sorting unit includes a support portion, the support portion includes a base and a mounting plate located above the base; the mounting plate is connected to a top plate via a plurality of connecting columns;

[0038] The rotating unit is connected to the support part; the rotating unit comprises a rotating power part, a rotating support member and a rotating disk, the rotating power part is connected to the base; the rotating support member is detachably connected to the base; a sleeve member is rotatably connected to the rotating support member through the rotating part, and the upper and lower ends of the sleeve member are respectively connected to the rotating support member through bearings; the rotating disk is connected to the upper end of the sleeve member, and a passive connecting member is formed on the outer wall of the sleeve member; the output end of the rotating power part cooperates with the sleeve member; the output end of the rotating power part is connected with an active connecting member, and the active connecting member is used in conjunction with the passive connecting part, the rotating disk is located on the inner side of the mounting plate, and the rotating disk is located below the top plate; there is a preset gap between the rotating disk and the mounting plate, so that the mounting plate does not interfere with the rotation of the rotating disk; the mounting plate also serves as a limiter for the blood collection tube, so that the corresponding blood collection tube will not fall out of the matching groove;

[0039] The edge of the rotating disk is formed with a plurality of matching grooves arranged at intervals and adapted to the blood collection tubes. The tube caps of the blood collection tubes entering the matching grooves are located above the matching grooves. The size of the tube caps of the blood collection tubes is larger than the size of the matching grooves, so that the blood collection tubes will not fall from the matching grooves.

[0040] The mounting plate of the support part is provided with an introduction slideway and at least one track distribution slideway, the introduction slideway cooperates with the tube arrangement track, and the blood collection tubes coming out of the tube arrangement track enter the introduction slideway;

[0041] It also includes a tube pushing unit, which is connected to the top plate of the support part. The tube pushing unit pushes the corresponding blood collection tube from the matching groove to the corresponding track distribution slide; one track distribution slide corresponds to one tube pushing unit.

[0042] Optionally, the tube pushing unit includes a push-pull power part connected to the top plate of the support part, the movable end of the push-pull power part is connected to a push rod, and when the movable end of the push-pull power part is in an extended state, the push rod is located directly opposite to the entrance end of the corresponding track distribution slide and behind the blood collection tube.

[0043] Optionally, the robot arm units are in two groups, and the two groups of robot arm units are arranged above the cannula unit at intervals to clamp the blood collection tubes on the sorting track and place them on the cannula unit;

[0044] The mechanical arm unit includes an X-axis transmission part, a Y-axis transmission part, a Z-axis transmission part and a clamping unit, wherein the X-axis transmission part is movably connected to the Y-axis transmission part, and the Z-axis transmission part is movably connected to the X-axis transmission part; the clamping unit is movably connected to the Z-axis transmission part; the clamping unit moves above the cannula unit through the cooperation of the X-axis transmission part, the Y-axis transmission part and the Z-axis transmission part, and the clamping unit clamps the blood collection tube on the sorting track and places it on the cannula unit;

[0045] The Y-axis transmission part comprises a Y-axis support, a Y-axis screw is rotatably connected to the Y-axis support through a bearing seat, a Y-axis screw block is threadedly connected to the Y-axis screw, a Y-axis driving part is connected to the Y-axis support, and an output end of the Y-axis driving part is connected to one end of the Y-axis screw; a main transmission pulley is connected to the output end of the Y-axis driving part, and a slave transmission pulley is connected to one end of the Y-axis screw, and the main transmission pulley and the slave transmission pulley are connected through a transmission belt;

[0046] The X-axis transmission part includes an X-axis support, and the X-axis support is connected to the Y-axis screw block; the X-axis support is rotatably connected to the X-axis screw through a bearing seat, and the X-axis screw block is threadedly connected to the X-axis screw, and the X-axis drive part is connected to the X-axis support, and the output end of the X-axis drive part is connected to one end of the X-axis screw; the output end of the X-axis drive part is connected to a main transmission pulley, and one end of the X-axis screw is connected to a slave transmission pulley, and the main transmission pulley and the slave transmission pulley are connected through a transmission belt;

[0047] The Z-axis transmission part includes a Z-axis support, which is connected to the X-axis screw block; the Z-axis support is connected to the Z-axis driving part, the movable end of the Z-axis driving part is connected to the Z-axis screw, and the Z-axis screw is threadedly connected to the Z-axis screw block; the clamping unit is connected to the Z-axis screw block.

[0048] Optionally, the clamping unit includes a clamping support, which is connected to the Z-direction screw block; the clamping support is connected to a first clamping assembly and a second clamping assembly,

[0049] The clamping support is connected with a transverse driving part, which is a motor, and the clamping support is movably connected with a driven support wheel, and the movable end of the transverse driving part is connected with an active support wheel, and the active support wheel and the driven support wheel are connected by a support wheel belt, and the second clamping assembly is connected with the support wheel belt, and the transverse driving part works to drive the support wheel belt to move, so that the second clamping assembly is close to or away from the first clamping assembly;

[0050] The structure of the second clamping assembly is the same as that of the first clamping assembly, and the first clamping assembly includes a connecting support, a clamping motor is connected to the connecting support, and a first clamping jaw and a second clamping jaw are movably connected to the connecting support, and the first clamping jaw and the second clamping jaw are arranged at intervals; the tops of the first clamping jaw and the second clamping jaw are respectively connected to rack plates, and the two rack plates are arranged opposite to each other; the two rack plates are respectively slidably matched with the connecting support, and the connecting support is provided with sliding grooves that match the two rack plates; the movable end of the clamping motor is connected to a driving gear, and the driving gear is meshed with the two rack plates; when the clamping motor works, it drives the driving gear to rotate, so that the two rack plates move relative to each other, thereby realizing the relative movement of the first clamping jaw and the second clamping jaw, and clamping or releasing the blood collection tube; the cross-section of the first clamping jaw and the second clamping jaw is arc-shaped; the inner surfaces of the first clamping jaw and the second clamping jaw are respectively provided with a plurality of convex ribs arranged at intervals.

[0051] The beneficial effects of the high-speed sorting machine of the present invention are specifically embodied in that the high-speed sorting machine of the present application can continuously and quickly distribute the vacuum blood collection tubes from a single management track to multiple sorting tracks at the same time after rotating a certain angle. The high-speed sorting machine has functional areas for pre-sorting and buffering. Blood collection tubes that have not received timely return information from the laboratory information system, as well as blood collection tubes in a busy state on the sorting track, can temporarily stay in the sorting tray. Since the sorting tray has many test tube positions, it can continue to sort new blood collection tubes from the management track and perform barcode scanning, which will not reduce the sorting efficiency of the whole machine, ensuring the high-efficiency operation of the sorting system; the pre-sorting and buffering functions of the blood collection tubes in the sorting system are realized, ensuring that there is no problem of secondary sorting in the subsequent process; and the continuity of high-speed sorting is also ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0053] Figure 1 It is a top view of the structure of the high-speed sorting machine of the present invention;

[0054] Figure 2 It is a structural front view of the high-speed sorting machine of the present invention;

[0055] Figure 3 It is a structural schematic diagram of the management unit of the present invention;

[0056] Figure 4 It is a structural stereogram of the bulk sample unit of the present invention;

[0057] Figure 5 It is a structural stereogram of the sorting unit and the sorting track of the present invention;

[0058] Figure 6 It is a structural stereogram of the sorting track of the present invention;

[0059] Figure 7 It is a structural stereogram of the sorting track and the pipe holding unit of the present invention;

[0060] Figure 8 It is a three-dimensional front view of the structure of the pipe holding unit of the present invention;

[0061] Fig. 9 It is a three-dimensional rear view of the structure of the pipe holding unit of the present invention;

[0062] Fig.10 It is a structural stereogram of the intermediate transmission unit of the present invention;

[0063] Fig.11 It is a schematic diagram of the cooperation between the pipe handling bin and the pipe handling block of the present invention;

[0064] Fig.12 is a structural stereogram of a mechanical arm unit of the present invention;

[0065] Fig.13 It is a structural front view of the mechanical arm unit of the present invention;

[0066] Fig.14 is a structural stereogram of the first clamping assembly of the present invention;

[0067] Fig.15 It is a structural schematic diagram of the first clamping assembly of the present invention;

[0068] Fig.16 It is a structural stereogram of the sorting unit of the present invention;

[0069] Fig.17 It is a structural schematic diagram of a rotating support member of the present invention;

[0070] Fig.18 It is a structural front view of the sorting unit of the present invention;

[0071] Fig.19 It is a structural cross-sectional view of the sorting unit of the present invention;

[0072] Fig. 20It is a structural schematic diagram of the rotating disk of the present invention;

[0073] Fig.21 It is a structural schematic diagram of the pipe pushing unit of the present invention;

[0074] Fig. 22 It is a structural schematic diagram of the first blood collection tube rotation driving unit of the present invention;

[0075] Fig.23 It is a structural schematic diagram of the blood collection tube height determination unit of the present invention. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0077] A high-speed sorting machine according to an embodiment of the present application, such as Figure 1-Figure 3 As shown, it includes:

[0078] The management unit 100 organizes the scattered blood collection tubes and arranges them in order;

[0079] The sorting unit 200 sorts the blood collection tubes entering the management unit 100;

[0080] At least one sorting track 300, the blood collection tubes sorted out from the sorting unit 200 enter the sorting track 300;

[0081] At least one robotic arm unit 400 is used to clamp the blood collection tube on the sorting track 300 and place it at a preset position;

[0082] The cannula unit 500 , the blood collection tubes on the sorting track 300 are inserted into the cannula unit 500 through the robot arm unit 400 .

[0083] The bulk sample unit 600 stores the blood collection tubes dropped from the sorting track 300;

[0084] It also includes a tube-throwing unit 700 , which is disposed on the side of the corresponding sorting track 300 and performs a tube-throwing action on the blood collection tube thereon so that the blood collection tube enters the bulk sample unit 600 .

[0085] In this embodiment, Figure 1-Figure 7As shown, there are three sorting tracks 300, and the blood collection tubes classified by the sorting unit 200 enter the corresponding sorting tracks 300 for transportation; one of the sorting tracks 300 is used in conjunction with the tube-injecting unit 700, and the other two sorting tracks 300 are used in conjunction with the robot arm unit 400; the sorting track 300 cooperating with the tube-injecting unit 700 makes the blood collection tubes thereon in a horizontal state; the sorting track 300 cooperating with the robot arm unit 400 makes the blood collection tubes thereon in a vertical state; the three sorting tracks 300 have the same structure, and the difference is that the size of the transportation channel of the sorting track 300 cooperating with the tube-injecting unit 700 is smaller than the size of the transportation channel of the sorting track 300 cooperating with the robot arm unit 400.

[0086] In this embodiment, Figure 1 As shown, the cannula unit 500 includes a cannula base 5001, on which are provided a plurality of trays with centrifugal blocks, sample trays and / or test tube racks 5002 for placing corresponding blood collection tubes; because different blood collection tubes correspond to different test items, different test items correspond to different trays or tube racks.

[0087] In this embodiment, Figure 4 As shown, the bulk sample unit 600 includes a plurality of bulk sample storage bins 6001, wherein the bulk sample storage bins 6001 have a bulk sample bin entrance 6002 and a bulk sample bin exit 6003, the bulk sample bin entrance 6002 and the bulk sample bin exit 6003 are connected, the corresponding blood collection tubes enter from the bulk sample bin entrance 6002, and a bin door is provided on the bulk sample bin exit 6003.

[0088] In this embodiment, Figure 1 and Figure 5 As shown, the tube-dropping unit 700 includes a tube-dropping power unit 7001 and a swinging piece 7002 arranged on the corresponding sorting track 300. The tube-dropping power unit 7001 is an electric telescopic rod, which is a prior art and will not be described in detail here; the swinging piece 7002 is movably connected to the corresponding sorting track 300 through an axis, and the swinging piece 7002 can swing relative to the sorting track 300. The movable end of the tube-dropping power unit 7001 is movably connected to one end of the swinging piece 7002. The tube-dropping power unit 7001 moves, driving the swinging piece 7002 to block the blood collection tube on the sorting track 300, so that the blood collection tube enters the corresponding bulk sample bin entrance 6002 of the bulk sample unit 600; it should be noted that the blood collection tube on the sorting track 300 corresponding to the tube-dropping unit 700 is in a horizontal state, that is, the blood collection tube is placed horizontally on the conveying channel, and it can quickly enter the bulk sample unit 600 after being blocked by the swinging piece 7002. Each tube-delivery unit 700 corresponds to a sensor, and when the sensor senses that the blood collection tube is in place, the corresponding tube-delivery unit 700 takes action.

[0089] In this embodiment, Figure 6 As shown, the sorting track 300 includes a track bracket 3001, on which a first conveyor belt 3002 and a second conveyor belt 3003 are movably connected and spaced apart, a conveying channel for blood collection tubes is formed between the first conveyor belt 3002 and the second conveyor belt 3003, and the first conveyor belt 3002 and the second conveyor belt 3003 are respectively matched with a plurality of driven pulleys 3004 arranged on the track bracket 3001; the plurality of driven pulleys 3004 are rotatably connected to the track bracket 3001 through axles;

[0090] It also includes a conveying power unit 3005 arranged on the track bracket 3001, and the conveying power unit 3005 is a motor, which is a prior art and will not be described in detail here; the movable end of the conveying power unit 3005 is connected to a driving pulley 3006, and the first conveyor belt 3002 and the second conveyor belt 3003 are respectively matched with the driving pulley 3006. When the conveying power unit 3005 works, the driving pulley 3006 is driven to rotate, and then the first conveyor belt 3002 and the second conveyor belt 3003 are driven to move synchronously;

[0091] The size of the conveying channel of the sorting track 300 matched with the robot arm unit 400 is smaller than the tube cap size of the blood collection tube and larger than the tube diameter of the blood collection tube, so that the corresponding blood collection tube is conveyed on the corresponding sorting track 300 in a vertical state;

[0092] The size of the conveying channel of the sorting track 300 matched with the tube injection unit 700 is smaller than the diameter of the blood collection tube, so that the corresponding blood collection tube is conveyed on the corresponding sorting track 300 in a horizontal state.

[0093] In one embodiment, if Figure 7-Figure 9 As shown, it also includes a tube holding unit 800, which is connected to the end of the sorting track 300 that cooperates with the robot arm unit 400; the tube holding unit 800 separates and positions the blood collection tubes on the sorting track 300, and ensures that the blood collection tubes are in a vertical state.

[0094] An identification sensor 80015 is provided at the end of the sorting track 300 that cooperates with the robotic arm unit 400. The identification sensor 80015 is used to determine whether there are blood collection tubes at each position after the tube holding unit 800 separates the blood collection tubes, so as to facilitate the robotic arm unit 400 to accurately grasp the blood collection tubes.

[0095] Specifically, the pipe holding unit 800 includes a pipe holding support 8001, on which a first clamp 8002 and a second clamp 8003 are slidably connected, the first clamp 8002 and the second clamp 8003 move relative to each other, a plurality of first half grooves 8004 are arranged at intervals on the first clamp 8002, and a plurality of second half grooves 8005 are arranged at intervals on the second clamp 8003. When the first clamp 8002 and the second clamp 8003 are fitted together, the first half grooves 8004 and the second half grooves 8005 are arranged at intervals. 004 cooperates with the corresponding second half groove 8005 to form a tube holding channel adapted to the blood collection tube; the bottom of the first clamp 8002 and the bottom of the second clamp 8003 are respectively provided with a tube holding slider 8006, and the tube holding slider 8006 is connected to a tube holding guide rail 8007 provided on the tube holding support 8001; the first clamp 8002 and the second clamp 8003 can slide relative to the tube holding support 8001 through the cooperation of the tube holding slider 8006 and the tube holding guide rail 8007;

[0096] The pipe holding unit 800 also includes a pipe holding motor 8008 connected to the pipe holding support 8001 and a pipe holding driven pulley 8009 rotatably connected to the pipe holding support 8001, wherein the pipe holding driven pulley 8009 is spaced apart from the pipe holding motor 8008; the movable end of the pipe holding motor 8008 is connected to a pipe holding active pulley 80010, and the pipe holding active pulley 80010 is connected to the pipe holding driven pulley 8009 via a pipe holding synchronous belt 80011;

[0097] The first clamp 8002 is connected to one side of the pipe-holding synchronous belt 80011 through the first connecting plate 80012, and the second clamp 8003 is connected to the other side of the pipe-holding synchronous belt 80011 through the second connecting plate 80013, so that the movement direction of the first clamp 8002 is opposite to the movement direction of the second clamp 8003.

[0098] When the tube holding motor 8008 runs clockwise, the first clamp 8002, the second clamp 8003 and the partition 80014 are opened at the same time, and the blood collection tube can pass through. When the tube holding motor 8008 runs counterclockwise, the first clamp 8002, the second clamp 8003 and the partition 80014 are tightened at the same time. After the first clamp 8002 and the second clamp 8003 are tightened, the tube holding channel cooperates with the blood collection tube, thereby separating multiple blood collection tubes, making the blood collection tubes in a vertical state and positioning them. The partition 80014 on the top is used to separate the blood collection tubes at the back.

[0099] In one embodiment, the tube holding unit 800 further includes a partition 80014 , which is connected to the first clamp 8002 and the second clamp 8003 to separate the blood collection tubes outside the tube holding unit 800 .

[0100] In this embodiment, Figure 1-Figure 3 and Fig.10 As shown, the management unit 100 includes a management bin 1001, a management track 1002 and an intermediate transmission unit 1003. The opening of the management bin 1001 is provided with a cover, and the cover has an automatic induction sensor, so that the operator can open and close the cover of the management bin automatically without hands when holding the vacuum blood collection tube container with both hands. The intermediate transmission unit 1003 transports the blood collection tube in the management bin 1001 to the management track 1002, and enters the sorting unit 200 from the management track 1002.

[0101] The intermediate transmission unit 1003 includes an intermediate support frame 10031, which is arranged in an inclined shape. The bottom of the intermediate support frame 10031 is located in the tube handling bin 1001, and the top of the intermediate support frame 10031 is higher than the conveying surface of the tube handling track 1002. The blood collection tubes fall onto the tube handling track 1002 by gravity.

[0102] The upper and lower ends of the intermediate support frame 10031 are respectively provided with driven rollers 10032, and a tube handling conveyor belt 10033 is connected between the two driven rollers 10032. A plurality of tube handling blocks 10034 are arranged at intervals on the outer surface of the tube handling conveyor belt 10033. The height of the tube handling blocks 10034 is higher than the diameter of the tube cap of the blood collection tube, so that the tube handling blocks 10034 can transfer the blood collection tube in the blood collection bin 1001 to the blood collection track 1002 through the intermediate transmission unit 1003; tooth grooves are arranged at intervals on the blood collection block 10034, which cooperate with the groove part 10011 on the inner bottom of the blood collection bin 1001. When the blood collection tube enters this position, the blood collection block 10034 can carry the blood collection tube. Fig.11 As shown,

[0103] The intermediate support frame 10031 is also provided with a tube handling power unit 10035, which is a motor, which is a prior art and will not be described in detail; the movable end of the tube handling power unit 10035 is connected to an active roller 10036, which cooperates with the inner surface of the tube handling conveyor belt 10033. Driven by the tube handling power unit 10035, the tube handling conveyor belt 10033 reciprocates on the intermediate support frame 10031 to continuously transport the blood collection tubes in the tube handling bin 1001 to the tube handling track 1002;

[0104] The bottom of the intermediate transmission unit 1003 is located at the inner bottom of the tube handling bin 1001 . After the blood collection tube enters the tube handling bin 1001 , the blood collection tube is carried in a horizontal state on the tube handling block 10034 and is transported under the action of the intermediate transmission unit 1003 .

[0105] In this embodiment, if Fig.10As shown, the tube-managing track 1002 includes a tube-managing support 10021, and the tube-managing support 10021 is movably connected with a third conveyor belt 10022 and a fourth conveyor belt 10023 that are spaced apart, and a conveying channel for blood collection tubes is formed between the third conveyor belt 10022 and the fourth conveyor belt 10023, and the third conveyor belt 10022 and the fourth conveyor belt 10023 are respectively matched with a plurality of driven wheels 10024 provided on the tube-managing support 10021; and the plurality of driven wheels 10024 are rotatably connected to the tube-managing support 10021 through a wheel shaft;

[0106] It also includes a transmission power unit 10025 disposed on the pipe management support 10021, and the transmission power unit 10025 is a motor, which is a prior art and will not be described in detail here; the movable end of the transmission power unit 10025 is connected to a driving wheel 10026, and the third conveyor belt 10022 and the fourth conveyor belt 10023 are respectively matched with the driving wheel 10026. When the transmission power unit 10025 works, it drives the driving wheel 10026 to rotate, thereby driving the third conveyor belt 10022 and the fourth conveyor belt 10023 to move synchronously;

[0107] The size of the conveying channel for the blood collection tube formed between the third conveyor belt 10022 and the fourth conveyor belt 10023 is smaller than the tube cap size of the blood collection tube and larger than the tube diameter of the blood collection tube, so that the corresponding blood collection tube is conveyed on the corresponding tube arrangement track 1002 in a vertical state;

[0108] A guide ramp 10027 is provided on the feed end of the pipe handling track 1002. Figure 2 As shown, the blood collection tube dropped from the top of the intermediate transfer unit 1003 enters the tube handling track 1002 through the guide bevel 10027 to prevent the blood collection tube from falling out of the tube handling track 1002 ; as an example, the guide bevel 10027 is divided into two groups, and the two groups of guide bevels 10027 are symmetrically arranged on the tube handling track 1002 .

[0109] After the blood collection tubes are dumped into the sorting bin 1001, the sorting bin 1001 will drive the sorting conveyor belt 10033 to move upwards through the sorting power unit 10035 to move the disordered test tubes to be sorted, thereby transmitting the blood collection tubes to be sorted upwards to the sorting track 1002; the sorting conveyor belt 10033 is annular and is provided with a toothed sorting block 10034, which cooperates with the groove portion at the bottom of the sorting bin 1001 and the guide bevel 10027 of the sorting track 1002, thereby shortening the distance between the blood collection tubes and the sorting track and avoiding the phenomenon of tube jamming of the blood collection tubes.

[0110] The guiding bevels 10027 on both sides are used to guide the blood collection tubes into the tube sorting track 1002. The blood collection tubes entering the tube sorting track 1002 are combed into vertical blood collection tubes by gravity. The tube part of the blood collection tube is located below the conveying channel, and the tube cap of the blood collection tube is located above the conveying channel, so that the blood collection tube is in a vertical state; the third conveyor belt 10022 and the fourth conveyor belt 10023 are driven by the transmission power unit 10025 to transport the blood collection tubes in the vertical state at the same time, and the end of the tube sorting track is open to transport the blood collection tubes to the sorting unit 200.

[0111] In this embodiment, Figure 16-Figure 23 As shown, the sorting unit 200 includes a support portion 2001, and the support portion 2001 includes a base 20011 and a mounting plate 20012 located above the base 20011; the mounting plate 20012 is connected to a top plate 20014 via a plurality of connecting columns 20013;

[0112] The rotating unit 2002 is connected to the support part 2001; the rotating unit 2002 includes a rotating power unit 20021, a rotating support member 20022 and a rotating disk 20023, the rotating power unit 20021 is connected to the base 20011; the rotating support member 20022 is detachably connected to the base 20011; the rotating support member 20022 is rotatably connected to a sleeve member 20024 via a rotating part, as an example, the rotating part is a bearing, and the upper and lower ends of the sleeve member 20024 are The ends are connected to the rotating support member 20022 through bearings respectively; the rotating disk 20023 is connected to the upper end of the sleeve member 20024, and a passive connecting member 200241 is formed on the outer wall of the sleeve member 20024. As an example, the passive connecting member 200241 is an annular tooth groove; the rotating power unit 20021 is a motor with an encoder, which is a prior art and is not described here; the output end of the rotating power unit 20021 cooperates with the sleeve member 20024, and the rotating power unit 20021 The output end of the rotating power unit 20021 is connected with an active connecting member 200211, and the active connecting member 200211 is used in conjunction with a passive connecting member 200241. As an example, the passive connecting member 200241 is an annular tooth groove, and the active connecting member 200211 is an active gear matched with the annular tooth groove. In order to facilitate the layout of the structure, the active gear and the annular tooth groove are synchronized by The belt 200242 is connected to realize the transmission between the driving gear and the annular tooth groove; the rotating disk 20023 is located on the inner side of the mounting plate 20012, and the rotating disk 20023 is located below the top plate 20014; there is a preset gap between the rotating disk 20023 and the mounting plate 20012, so that the mounting plate 20012 does not interfere with the rotation of the rotating disk 20023; the mounting plate 20012 also serves as a limit for the blood collection tube 2003, so that the corresponding blood collection tube 2003 will not fall out of the matching groove 200231;

[0113] The rotating disk 20023 is circular, and a plurality of matching grooves 200231 are formed on its edge and are arranged at intervals and are matched with the blood collection tube 2003. The notches of the matching grooves 200231 are chamfered to facilitate the blood collection tube 2003 to enter the corresponding matching grooves 200231. The tube cap of the blood collection tube 2003 entering the matching grooves 200231 is located above the matching grooves 200231. The tube cap of the blood collection tube 2003 is larger than the size of the matching grooves 200231, so that the blood collection tube 2003 will not fall from the matching grooves 200231.

[0114] The mounting plate 20012 of the support part 2001 is provided with an introduction slide 200121 and at least one track distribution slide 200122. The introduction slide 200121 cooperates with the tube arrangement track 1002, and the blood collection tubes coming out of the tube arrangement track 1002 enter the introduction slide 200121.

[0115] When there are two or more track distribution slides 200122, the two or more track distribution slides 200122 are arranged at intervals; the introduction slide 200121 serves as a channel for the blood collection tube 2003 to be sent into the corresponding matching groove 200231, and the track distribution slide 200122 serves as a channel for the blood collection tube 2003 to be pushed out of the corresponding matching groove 200231.

[0116] In this embodiment, there are three track distribution slides 200122, so that different blood collection tubes 2003 enter the preset track distribution slides 200122 and enter the next process; one of the track distribution slides 200122 cooperates with the sorting track 300 that cooperates with the tube injection unit 700, and the other two track distribution slides 200122 cooperate with the sorting track 300 that cooperates with the robot arm unit 400, that is, the blood collection tubes coming out of the track distribution slides 200122 enter the corresponding sorting track 300;

[0117] The outlet end of the introduction slide 200121 is higher than the upper surface of the notch of the matching groove 200231, so as to facilitate the blood collection tube 2003 entering from the introduction slide 200121 to directly reach the corresponding matching groove 200231; the inlet end of the track distribution slide 200122 is lower than the upper surface of the notch of the matching groove 200231, or the inlet end of the track distribution slide 200122 is flush with the upper surface of the notch of the matching groove 200231, so as to facilitate the blood collection tube 2003 to enter the track distribution slide 200122; a buffer block 20015 is provided on the top plate 20014 or the mounting plate 20012 of the support part 2001, and the buffer block 20015 is located directly opposite to the introduction slide 200121, and is used for auxiliary guidance of the blood collection tube 2003 entering the corresponding matching groove 200231.

[0118] It also includes a tube pushing unit 2004, which is connected to the top plate 20014 of the support part 2001. The tube pushing unit 2004 pushes the corresponding blood collection tube 2003 from the matching groove 200231 to the corresponding track distribution slide 200122, and the corresponding blood collection tube 2003 enters the corresponding process from the corresponding track distribution slide 200122; one track distribution slide 200122 corresponds to one tube pushing unit 2004.

[0119] In one embodiment, if Fig.21As shown, the tube pushing unit 2004 includes a push-pull power unit 20041 connected to the top plate 20014 of the support unit 2001, and the push-pull power unit 20041 is an electric telescopic rod, which is a prior art and will not be described in detail here; the movable end of the push-pull power unit 20041 is connected to a push rod 20042, and the movable end of the push-pull power unit 20041 is in an extended state, and the push rod 20042 is located directly opposite to the entrance end of the corresponding track distribution slide 200122, and is located behind the blood collection tube 2003, so as to facilitate pushing the corresponding blood collection tube 3 into the corresponding track distribution slide 200122.

[0120] In one embodiment, the push tube unit 2004 also includes a mounting support plate 20043, and the push-pull power unit 20041 is connected to the top plate 20014 of the support part 2001 through the mounting support plate 20043. The mounting support plate 20043 is provided with a clearance groove 20044, and the push rod 20042 moves in the clearance groove 20044.

[0121] Since the orientation of the barcode information surface is random and uncertain when the blood collection tube enters the rotating disk, the blood collection tube needs to be axially rotated to ensure that the barcode information can be completely read by the scanner. Therefore, a first blood collection tube rotation drive unit 2005 is designed. The first blood collection tube rotation drive unit 2005 includes a rotation drive unit 20051 disposed on a rotation support 20022 of the support part 2001. The rotation drive unit 20051 is a rotation motor, which is a prior art and will not be described in detail here. The rotation drive unit 20051 is connected to the rotating support 20022 of the support part 2001. The connecting plate 20052 is connected to the rotating support 20022; the rotating driving part 20051 is located on the inner side of the blood collection tube 2003, and the movable end of the rotating driving part 20051 is connected to the rotating roller 20053, which is used to drive the blood collection tube 2003 to rotate axially; the blood collection tube is driven to rotate by the rotating force so that the code scanner can scan the code on the blood collection tube; a rubber material with greater friction may be provided on the rotating roller to increase the friction between the blood collection tube and the rotating roller, thereby ensuring the stability of the blood collection tube during rotation.

[0122] The first blood sampling tube rotation drive unit 2005 also includes a first auxiliary rotating wheel 20054 and a second auxiliary rotating wheel 20055 which are arranged at intervals. The first auxiliary rotating wheel 20054 and the second auxiliary rotating wheel 20055 are respectively rotatably connected to the mounting plate 20012 of the support part 2001; the rotating roller 20053, the first auxiliary rotating wheel 20054 and the second auxiliary rotating wheel 20055 cooperate to form a rotating space for axially rotating the blood sampling tube 2003. When the blood sampling tube 2003 enters the rotating space, the blood sampling tube is driven to rotate so that the code scanner can scan the code on the blood sampling tube. It should be noted that when the code position is within a reasonable range, it will not be rotated.

[0123] In order to make the first blood sampling tube rotation driving unit 2005 more convenient during operation, a clearance space is formed on the front and rear sides of the matching groove 200231 of the rotating disk 20023, so that the tube wall of the blood sampling tube 2003 located in the matching groove 200231 is exposed outside the matching groove 200231. Since the blood sampling tube 2003 is connected to the upper surface of the matching groove 200231 through its tube cap, the relative connection of the blood sampling tube 2003 is achieved. The clearance space does not affect the position of the blood sampling tube 2003 in the matching groove 200231. The clearance space enables the rotating roller 20053, the first auxiliary rotating wheel 20054 and the second auxiliary rotating wheel 20055 to cooperate with the tube wall of the blood sampling tube 2003 for convenient rotation.

[0124] Furthermore, it also includes a linkage plate 20056, and the first auxiliary rotating wheel 20054 and the second auxiliary rotating wheel 20055 are rotatably connected to the linkage plate 20056 respectively; the mounting plate 20012 is connected to a fixing seat 20057, and the fixing seat 20057 is connected to at least two guide rods 20058, which has good stability; the linkage plate 20056 is movably penetrated on the guide rod 20058, and the guide rod 20058 is penetrated by an elastic member 20059, and the elastic member 20059 is a spring, and the elastic member 20059 is located between the linkage plate 20056 and the fixing seat 20057, and the elastic member 20059 squeezes the linkage plate 20056 to make the first auxiliary rotating wheel 20054 and the second auxiliary rotating wheel 20055 fit the outer wall of the blood collection tube 2003.

[0125] In one embodiment, if Fig.23 As shown, it also includes a blood collection tube height judgment unit 2006, which includes a connecting frame 20061, and the connecting frame 20061 is connected to the base 20011 of the support part 2001; three sensors 20062 are arranged on the connecting frame 20061 at intervals, and the distances of the three sensors 20062 relative to the base 20011 are all different. The sensor 20062 is used to sense whether there is a blood collection tube 2003 on the corresponding matching groove 200231, or to judge the height specification of the blood collection tube 2003 under the corresponding matching groove 200231; according to the signal of the sensor, it can be judged whether there is a blood collection tube or the specification of the blood collection tube, so as to allocate the final sorting destination of the blood collection tube. It should be noted that the structure and working principle of the sensor 20062 are existing technologies and will not be repeated here; for example: the positions of the centrifugal block trays of different detection devices are different, and there are certain restrictions on the height of the inserted blood collection tubes to be detected. Generally speaking, blood collection tubes with different heights cannot be mixed and inserted into the centrifugal block tray of the same detection device.

[0126] In one embodiment, if Fig.16As shown, it also includes a scanning unit 2007, and the scanning unit 2007 includes a mounting frame 20071, and the mounting frame 20071 is connected to the top plate 20014 of the support part 1. The mounting frame 20071 is connected to a scanner 20072. After the blood sampling tube height judgment unit 2006 determines that the blood sampling tube 2003 is used, the scanner 20072 reads the information on the blood sampling tube 2003 and determines which track distribution slide 200122 the blood sampling tube 2003 enters. It should be noted that the structure and working principle of the scanner 20072 are prior art and will not be repeated here.

[0127] In one embodiment, if Fig.16 As shown, it also includes a coding rotation drive unit 2008, which is used to print the corresponding code on the blood collection tube 2003 to help the personnel of the clinical testing institution quickly identify the ownership and serial number of the test tube. It should be noted that the composition of the code and the corresponding information are prior art and will not be repeated here; the coding rotation drive unit 2008 is arranged on the rotating support 20022 of the support part 2001, and the coding rotation drive unit 2008 includes a coder and a second blood collection tube rotation drive unit. The structure of the second blood collection tube rotation drive unit is the same as that of the first blood collection tube rotation drive unit 2005, but the position is different. The second blood collection tube rotation drive unit axially rotates the blood collection tube, and the coder prints the corresponding code on the surface of the blood collection tube. It should be noted that the structure and working principle of the coder are prior art and will not be repeated here.

[0128] After the blood collection tube height judgment unit determines the blood collection tube, the scanning unit 2007 starts to work, reads the information on the blood collection tube and ultimately determines which track distribution slide 200122 the blood collection tube enters; according to the information determined by the scanning device, the blood collection tube is pushed into the corresponding track distribution slide 200122 through the tube pushing unit 2004.

[0129] The function of the sorting disk of this embodiment is to introduce mixed sample blood collection tubes into the slide 200121, and drive the rotating disk 20023 with sixteen stations to make periodic rotation through the rotating unit 2002 composed of a motor with an encoder. The corresponding positions are respectively designed with structures such as blood collection tube height judgment, blood collection tube barcode scanner, inkjet printing, and track distribution slides set according to needs, and blood collection tube rotation drive, tube pushing and other mechanisms are respectively designed at the scanning, inkjet printing, and each track channel position, so as to realize the accurate and orderly actions of blood collection tube height judgment, scanning, inkjet printing, and track distribution, and complete the sorting of samples.

[0130] The sorting tray provides multiple test tube buffer positions after scanning the blood collection tube barcode. When sending information to the hospital's laboratory information system to obtain the test items of the blood collection tube to determine the sorting channel, the sorting tray can still keep rotating and continue the subsequent scanning of the blood collection tube. The total sorting processing time will not be affected by the difference in network query waiting time, thereby ensuring the high-efficiency operation of the sorting system; on the sorting tray, one or more structures with rotating test tubes and inkjet printing functions are set; with a high and low tube identification sensor, the final distribution track of the blood collection tube can be allocated in advance to avoid inserting blood collection tubes of different heights into the same centrifugal block tray.

[0131] In this embodiment, Figure 1 and Figure 2 As shown, there are two groups of robot arm units 400 , which are spaced apart above the cannula unit 500 to clamp the blood collection tubes on the sorting track 300 and place them on the cannula unit 500 .

[0132] Specifically, Fig.12 and Fig.13 As shown, the robot arm unit 400 includes an X-axis transmission part 4001, a Y-axis transmission part 4002, a Z-axis transmission part 4003 and a clamping unit 4004, wherein the X-axis transmission part 4001 is movably connected to the Y-axis transmission part 4002, and the Z-axis transmission part 4003 is movably connected to the X-axis transmission part 4001; the clamping unit 4004 is movably connected to the Z-axis transmission part 4003; the clamping unit 4004 moves above the cannula unit 500 through the cooperation of the X-axis transmission part 4001, the Y-axis transmission part 4002 and the Z-axis transmission part 4003, and the clamping unit 4004 clamps the blood collection tube on the sorting track 300 and places it on the cannula unit 500;

[0133] Further, the Y-axis transmission part 4002 includes a Y-axis support 40021, on which a Y-axis screw is rotatably connected via a bearing seat, and a Y-axis screw block is threadedly connected to the Y-axis screw, and a Y-axis driving part 40023 is connected to the Y-axis support 40021, and the output end of the Y-axis driving part 40023 is connected to one end of the Y-axis screw. When the Y-axis driving part 40023 works, it drives the Y-axis screw to rotate, and then drives the Y-axis screw block to move on the Y-axis screw; as an example, a main transmission pulley is connected to the output end of the Y-axis driving part 40023, and a slave transmission pulley is connected to one end of the Y-axis screw, and the main transmission pulley and the slave transmission pulley are connected by a transmission belt; in order to ensure stability during movement, a Y-axis guide rail is provided on the Y-axis support 40021, and a Y-axis slider matching the Y-axis guide rail is provided on the Y-axis screw block;

[0134] The X-axis transmission part 4001 includes an X-axis support 40011, and the X-axis support 40011 is connected to the Y-axis screw block; the X-axis support 40011 is rotatably connected to an X-axis screw through a bearing seat, and the X-axis screw block is threadedly connected to the X-axis screw, and the X-axis support 40011 is connected to an X-axis driving part 40012, and the output end of the X-axis driving part 40012 is connected to one end of the X-axis screw. When the X-axis driving part 40012 works, it drives the X-axis screw to rotate, and then drives the X-axis screw block to move on the X-axis screw; as an example, the output end of the X-axis driving part 40012 is connected to a main transmission pulley, and one end of the X-axis screw is connected to a slave transmission pulley, and the main transmission pulley and the slave transmission pulley are connected by a transmission belt; in order to ensure stability during movement, the X-axis support 40011 is provided with an X-guide rail, and the X-axis screw block is provided with an X-direction slider that cooperates with the X-guide rail;

[0135] The Z-axis transmission part 4003 includes a Z-axis support 40031, and the Z-axis support 40031 is connected to the X-axis screw block; the Z-axis support 40031 is connected to a Z-axis driving part 40032, and the movable end of the Z-axis driving part 40032 is connected to a Z-axis screw 40033, and the Z-axis screw 40033 is threadedly connected to a Z-axis screw block 40034. When the Z-axis driving part 40032 works, it drives the Z-axis screw block 40034 to move on the Z-axis screw 40033. In order to ensure stability during the movement, a Z-axis support 40031 is provided with a Z-guide rail, and the Z-direction screw block 40034 is provided with a Z-direction slider that cooperates with the Z-guide rail; the clamping unit 4004 is connected to the Z-direction screw block 40034.

[0136] Specifically, the clamping unit 4004 includes a clamping support 40041, and the clamping support 40041 is connected to the Z-direction screw block 40034; the clamping support 40041 is connected to a first clamping component 40042 and a second clamping component 40043.

[0137] The clamping support 40041 is connected to a transverse driving unit, which is a motor. The clamping support 40041 is movably connected to a driven support wheel 40047. The movable end of the transverse driving unit is connected to an active support wheel 40048. The active support wheel 40048 and the driven support wheel 40047 are connected by a support wheel belt 40049. The second clamping component 40043 is connected to the support wheel belt 40049. When the transverse driving unit works, it drives the support wheel belt 40049 to move, so that the second clamping component 40043 moves closer to or away from the first clamping component 40042. To ensure greater stability during movement, the clamping support 40041 is provided with a first guide rail, and the second clamping component 40043 is provided with a first slider that cooperates with the first guide rail.

[0138] like Fig.14 and Fig.15 As shown, the structure of the second clamping assembly 40043 is the same as that of the first clamping assembly 40042. The first clamping assembly 40042 includes a connecting support 400421, to which a clamping motor 400422 is connected. A first clamping jaw 400423 and a second clamping jaw 400424 are movably connected on the connecting support 400421, and the first clamping jaw 400423 and the second clamping jaw 400424 are arranged at intervals; the tops of the first clamping jaw 400423 and the second clamping jaw 400424 are respectively connected to rack plates 400425, and the two rack plates 400425 are arranged opposite to each other; the two rack plates 400425 are respectively slidably matched with the connecting support 400421, and the connecting support 400421 is provided with two racks The movable end of the clamping motor 400422 is connected with a driving gear 400426, and the driving gear 400426 is meshed with the two rack plates 400425; the clamping motor 400422 works to drive the driving gear 400426 to rotate, so that the two rack plates 400425 move relative to each other, thereby realizing the relative movement of the first clamping jaw 400423 and the second clamping jaw 400424 to clamp or release the blood collection tube; the cross-sections of the first clamping jaw 400423 and the second clamping jaw 400424 are arc-shaped, which is convenient for adapting to the tube cap of the blood collection tube; the inner surfaces of the first clamping jaw 400423 and the second clamping jaw 400424 are respectively provided with a plurality of convex ribs 400427 arranged at intervals to increase the friction of clamping.

[0139] The robot arm unit 400 is matched with 1 to n sorting tracks 300 that can provide intubation function, n is a positive integer, n is greater than 2, and each sorting track 300 is equipped with a tube holding unit 800 with multiple blood collection tubes, which can hold N blood collection tubes, N is a positive integer, N is greater than 1, and is at least equal to the number of channels M+1 of the intubation area served by each sorting track 300, M is a positive integer, M is greater than 1, or more; the first clamping component 40042 and the second clamping component 40043 on each robot arm unit 400 automatically adjust the spacing, and the adjustable range of the spacing can accommodate multiple blood collection tubes, ensuring that two blood collection tubes can be selectively grabbed each time from the multiple blood collection tubes in the tube holding unit 800, thereby realizing high-speed sorting and intubation.

[0140] The cannula unit 500 is divided into two parts arranged at intervals, serving two groups of robot arm units 400 respectively; each part has M channels (M is currently 4), M is a positive integer, M is greater than 1, and the optimal number of channels of M is ≤ the number of sorting tracks - 1, which is one of the core of the design; under this proportional relationship, it can be ensured that each time the robot arm unit 400 can grab at least two blood collection tubes and put them into the same tray with a centrifugal block, sample tray and / or test tube rack 5002, thereby maximizing the sorting throughput.

[0141] The high-speed sorting machine of the present application can continuously and quickly distribute vacuum blood collection tubes from a single management track to multiple sorting tracks at the same time after rotating them by a certain angle. The high-speed sorting machine has functional areas for pre-sorting and buffering. Blood collection tubes that have not received timely return information from the laboratory information system, as well as blood collection tubes in a busy state on the sorting track, can temporarily stay in the sorting tray. Since the sorting tray has many test tube positions, it can continue to sort new blood collection tubes from the management track and perform barcode scanning, which will not reduce the sorting efficiency of the entire machine, ensuring the high-efficiency operation of the sorting system. The pre-sorting and buffering functions of the blood collection tubes in the sorting system are realized, ensuring that there is no problem of secondary sorting in the subsequent process; it also ensures the continuity of high-speed sorting.

[0142] The robot arm unit 400 is matched with 1 to n sorting tracks 300 that can provide intubation function, n is a positive integer, n is greater than 2, and each sorting track 300 is provided with a tube holding unit 800 with multiple blood collection tubes, which can hold a number of blood collection tubes, which is at least equal to the number of channels M+1 of the intubation area served by each sorting track 300, or more, M is a positive integer, M is greater than 1; the first clamping component 40042 and the second clamping component 40043 on each robot arm unit 400 automatically adjust the spacing, and the adjustable range of the spacing can accommodate multiple blood collection tubes, ensuring that two blood collection tubes can be selectively grabbed each time from the multiple blood collection tubes in the tube holding unit 800, thereby realizing high-speed sorting and intubation.

[0143] In addition to the sorting tracks 300 with 1 to n intubation functions that cooperate with the robot arm unit 400, the sorting tray can also connect to 1 to n sorting tracks 300 that cooperate with the tube delivery unit 700. The blood collection tubes thereon do not rely on the robot arm. n is a positive integer, n is greater than 2, and can be directly delivered to the bulk sample unit 600 through the tube delivery unit 700 to achieve high-speed sorting, and provide numerous sorting channels.

[0144] The material handling silo is equipped with an automatic inductive sensor, which allows the operator to operate the silo without hands while holding the vacuum blood collection tube container with both hands, and automatically open and close the lid of the silo.

[0145] The tube handling conveyor belt is provided with a toothed tube handling block, which cooperates with the groove at the bottom of the silo and the guide inclined block of the tube handling track to shorten the distance between the blood collection tube and the tube handling track and avoid tube jamming.

[0146] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0147] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0148] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0149] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0150] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0151] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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 the present invention can be understood according to specific circumstances.

[0152] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A high-speed sorting machine, characterized in that: It includes: The management unit organizes the scattered blood collection tubes and arranges them in order; The sorting unit sorts the blood collection tubes entering the management unit; At least one sorting track, the blood collection tubes sorted out from the sorting unit enter the sorting track; At least one robotic arm unit is used to clamp the blood collection tube on the sorting track and place it at a preset position; The cannula unit is used to insert the blood collection tubes on the sorting track into the cannula unit through the mechanical arm unit; The size of the conveying channel of the sorting track matched with the robot arm unit is smaller than the tube cap size of the blood collection tube and larger than the tube diameter of the blood collection tube, so that the corresponding blood collection tube is conveyed on the corresponding sorting track in a vertical state.

2. The high-speed sorting machine according to claim 1, characterized in that: It also includes a bulk sample unit for storing the blood collection tubes dropped from the sorting track; the bulk sample unit includes a plurality of bulk sample storage bins, each of which has a bulk sample bin entrance and a bulk sample bin exit, and the bulk sample bin entrance and the bulk sample bin exit are connected.

3. The high-speed sorting machine according to claim 2, characterized in that: It also includes a tube-throwing unit and a sorting track matched with the tube-throwing unit. The tube-throwing unit is arranged on the side of the corresponding sorting track, and performs a tube-throwing action on the blood collection tube thereon so that the blood collection tube enters the bulk sample unit. The tube-dropping unit comprises a tube-dropping power unit and a swinging plate arranged on the corresponding sorting track, wherein the swinging plate is movably connected to the corresponding sorting track through a shaft, the swinging plate can swing relative to the sorting track, and the movable end of the tube-dropping power unit is movably connected to one end of the swinging plate; The size of the conveying channel of the sorting track matched with the tube injection unit is smaller than the diameter of the blood sampling tube, so that the corresponding blood sampling tube is conveyed on the corresponding sorting track in a horizontal state.

4. The high-speed sorting machine according to claim 1, characterized in that: It also includes a tube holding unit, which is connected to the end of the sorting track that cooperates with the mechanical arm unit; the tube holding unit separates and positions the blood collection tubes on the sorting track and ensures that the blood collection tubes are in a vertical state; The tube holding unit comprises a tube holding support, a first clamp and a second clamp are slidably connected to the tube holding support, the first clamp and the second clamp move relative to each other, a plurality of first half grooves are arranged on the first clamp, a plurality of second half grooves are arranged on the second clamp, when the first clamp and the second clamp are fitted together, the first half grooves cooperate with the corresponding second half grooves to form a tube holding channel adapted to the blood collection tube; a tube holding slider is respectively arranged at the bottom of the first clamp and the bottom of the second clamp, the tube holding slider and the tube holding guide rail arranged on the tube holding support; the first clamp and the second clamp can slide relative to the tube holding support through the cooperation of the tube holding slider and the tube holding guide rail; The pipe holding unit further comprises a pipe holding motor connected to the pipe holding support and a pipe holding driven pulley rotatably connected to the pipe holding support, wherein the pipe holding driven pulley is spaced apart from the pipe holding motor; the movable end of the pipe holding motor is connected to a pipe holding driving pulley, and the pipe holding driving pulley and the pipe holding driven pulley are connected via a pipe holding synchronous belt; The first clamp is connected to one side of the pipe-holding synchronous belt through a first connecting plate, and the second clamp is connected to the other side of the pipe-holding synchronous belt through a second connecting plate, so that the movement direction of the first clamp is opposite to the movement direction of the second clamp.

5. The high-speed sorting machine according to claim 1, characterized in that: The blood collection tube sorting unit comprises a blood collection tube sorting bin, a blood collection tube sorting track and an intermediate transmission unit. The intermediate transmission unit transports the blood collection tubes in the blood collection bin to the blood collection tube sorting track, and the blood collection tubes enter the sorting unit from the blood collection tube sorting track. The intermediate transmission unit includes an intermediate support frame, which is arranged in an inclined shape, with the bottom of the intermediate support frame located in the tube handling bin, and the top of the intermediate support frame is higher than the conveying surface of the tube handling track, and the blood collection tube falls onto the tube handling track by gravity; The upper and lower ends of the intermediate support frame are respectively provided with driven rollers, and a tube handling conveyor belt is connected between the two driven rollers. A plurality of tube handling blocks are arranged at intervals on the outer surface of the tube handling conveyor belt, and the height of the tube handling blocks is higher than the diameter of the tube cap of the blood collection tube, so that the tube handling blocks can transfer the blood collection tube in the blood collection tube handling bin to the blood collection tube handling track through the intermediate transmission unit; the blood collection tube handling blocks are arranged at intervals with tooth grooves, which cooperate with the inner bottom of the blood collection tube handling bin, and when the blood collection tube enters this position, the blood collection tube handling blocks can carry the blood collection tube; The intermediate support frame is also provided with a tube handling power unit; the movable end of the tube handling power unit is connected with an active roller, and the active roller cooperates with the inner surface of the tube handling conveyor belt. Driven by the tube handling power unit, the tube handling conveyor belt reciprocates on the intermediate support frame to continuously transport the blood collection tubes in the tube handling silo to the tube handling track.

6. The high-speed sorting machine according to claim 5, characterized in that: The tube-managing track includes a tube-managing support, on which a third conveyor belt and a fourth conveyor belt arranged at intervals are movably connected, a conveying channel for blood collection tubes is formed between the third conveyor belt and the fourth conveyor belt, and the third conveyor belt and the fourth conveyor belt are respectively matched with a plurality of driven wheels arranged on the tube-managing support; the plurality of driven wheels are rotatably connected to the tube-managing support through wheel shafts; It also includes a transmission power unit arranged on the pipe management bracket, wherein the movable end of the transmission power unit is connected to a driving wheel, and the third conveyor belt and the fourth conveyor belt are respectively matched with the driving wheel; The size of the conveying channel for the blood collection tube formed between the third conveyor belt and the fourth conveyor belt is smaller than the tube cap size of the blood collection tube and larger than the tube diameter of the blood collection tube, so that the corresponding blood collection tube is conveyed on the corresponding tube arrangement track in a vertical state; A guide bevel is provided on the feeding end of the tube handling track, and the blood collection tubes dropped from the top of the intermediate transmission unit enter the tube handling track through the guide bevel. There are two groups of guide bevels, and the two groups of guide bevels are symmetrically arranged on the tube handling track. After the blood collection tubes are dumped into the sorting bin, the sorting bin will drive the sorting conveyor belt upward through the sorting power unit to move the disordered test tubes to be sorted, thereby transmitting the blood collection tubes to be sorted upward to the sorting track; the sorting conveyor belt is provided with a toothed sorting block, which cooperates with the groove at the bottom of the sorting bin and the guide inclined block of the sorting track. The guiding bevels on both sides are used to guide the blood collection tubes into the management track. The blood collection tubes entering the management track are combed into vertical blood collection tubes by gravity. The third conveyor belt and the fourth conveyor belt are driven by the transmission power unit to transport the blood collection tubes in the vertical state. The end of the management track is open to transport the blood collection tubes to the sorting unit.

7. The high-speed sorting machine according to claim 6, characterized in that: The sorting unit comprises a supporting part, wherein the supporting part comprises a base and a mounting plate located above the base; the mounting plate is connected to a top plate via a plurality of connecting columns; The rotating unit is connected to the support part; the rotating unit comprises a rotating power part, a rotating support member and a rotating disk, the rotating power part is connected to the base; the rotating support member is detachably connected to the base; a sleeve member is rotatably connected to the rotating support member through the rotating part, and the upper and lower ends of the sleeve member are respectively connected to the rotating support member through bearings; the rotating disk is connected to the upper end of the sleeve member, and a passive connecting member is formed on the outer wall of the sleeve member; the output end of the rotating power part cooperates with the sleeve member; the output end of the rotating power part is connected with an active connecting member, and the active connecting member is used in conjunction with the passive connecting part, the rotating disk is located on the inner side of the mounting plate, and the rotating disk is located below the top plate; there is a preset gap between the rotating disk and the mounting plate, so that the mounting plate does not interfere with the rotation of the rotating disk; the mounting plate also serves as a limiter for the blood collection tube, so that the corresponding blood collection tube will not fall out of the matching groove; The edge of the rotating disk is formed with a plurality of matching grooves arranged at intervals and adapted to the blood collection tubes. The tube caps of the blood collection tubes entering the matching grooves are located above the matching grooves. The size of the tube caps of the blood collection tubes is larger than the size of the matching grooves, so that the blood collection tubes will not fall from the matching grooves. The mounting plate of the support part is provided with an introduction slideway and at least one track distribution slideway, the introduction slideway cooperates with the tube arrangement track, and the blood collection tubes coming out of the tube arrangement track enter the introduction slideway; It also includes a tube pushing unit, which is connected to the top plate of the support part. The tube pushing unit pushes the corresponding blood collection tube from the matching groove to the corresponding track distribution slide; one track distribution slide corresponds to one tube pushing unit.

8. The high-speed sorting machine according to claim 7, characterized in that: The tube pushing unit includes a push-pull power part connected to the top plate of the support part, the movable end of the push-pull power part is connected to a push rod, and when the movable end of the push-pull power part is in an extended state, the push rod is located directly opposite to the entrance end of the corresponding track distribution slide and behind the blood collection tube.

9. The high-speed sorting machine according to claim 1, characterized in that: The mechanical arm units are divided into two groups, and the two groups of mechanical arm units are arranged above the cannula unit at intervals to clamp the blood collection tubes on the sorting track and place them on the cannula unit; The mechanical arm unit includes an X-axis transmission part, a Y-axis transmission part, a Z-axis transmission part and a clamping unit, wherein the X-axis transmission part is movably connected to the Y-axis transmission part, and the Z-axis transmission part is movably connected to the X-axis transmission part; the clamping unit is movably connected to the Z-axis transmission part; the clamping unit moves above the cannula unit through the cooperation of the X-axis transmission part, the Y-axis transmission part and the Z-axis transmission part, and the clamping unit clamps the blood collection tube on the sorting track and places it on the cannula unit; The Y-axis transmission part comprises a Y-axis support, a Y-axis screw is rotatably connected to the Y-axis support through a bearing seat, a Y-axis screw block is threadedly connected to the Y-axis screw, a Y-axis driving part is connected to the Y-axis support, and an output end of the Y-axis driving part is connected to one end of the Y-axis screw; a main transmission pulley is connected to the output end of the Y-axis driving part, and a slave transmission pulley is connected to one end of the Y-axis screw, and the main transmission pulley and the slave transmission pulley are connected through a transmission belt; The X-axis transmission part includes an X-axis support, and the X-axis support is connected to the Y-axis screw block; the X-axis support is rotatably connected to the X-axis screw through a bearing seat, and the X-axis screw block is threadedly connected to the X-axis screw, and the X-axis drive part is connected to the X-axis support, and the output end of the X-axis drive part is connected to one end of the X-axis screw; the output end of the X-axis drive part is connected to a main transmission pulley, and one end of the X-axis screw is connected to a slave transmission pulley, and the main transmission pulley and the slave transmission pulley are connected through a transmission belt; The Z-axis transmission part includes a Z-axis support, which is connected to the X-axis screw block; the Z-axis support is connected to the Z-axis driving part, the movable end of the Z-axis driving part is connected to the Z-axis screw, and the Z-axis screw is threadedly connected to the Z-axis screw block; the clamping unit is connected to the Z-axis screw block.

10. The high-speed sorting machine according to claim 9, characterized in that: The clamping unit comprises a clamping support, which is connected to the Z-direction screw block; the clamping support is connected to a first clamping assembly and a second clamping assembly, The clamping support is connected with a transverse driving part, which is a motor, and the clamping support is movably connected with a driven support wheel, and the movable end of the transverse driving part is connected with an active support wheel, and the active support wheel and the driven support wheel are connected by a support wheel belt, and the second clamping assembly is connected with the support wheel belt, and the transverse driving part works to drive the support wheel belt to move, so that the second clamping assembly is close to or away from the first clamping assembly; The structure of the second clamping assembly is the same as that of the first clamping assembly, and the first clamping assembly includes a connecting support, a clamping motor is connected to the connecting support, and a first clamping jaw and a second clamping jaw are movably connected to the connecting support, and the first clamping jaw and the second clamping jaw are arranged at intervals; the tops of the first clamping jaw and the second clamping jaw are respectively connected to rack plates, and the two rack plates are arranged opposite to each other; the two rack plates are respectively slidably matched with the connecting support, and the connecting support is provided with sliding grooves that match the two rack plates; the movable end of the clamping motor is connected to a driving gear, and the driving gear is meshed with the two rack plates; when the clamping motor works, it drives the driving gear to rotate, so that the two rack plates move relative to each other, thereby realizing the relative movement of the first clamping jaw and the second clamping jaw, and clamping or releasing the blood collection tube; the cross-section of the first clamping jaw and the second clamping jaw is arc-shaped; the inner surfaces of the first clamping jaw and the second clamping jaw are respectively provided with a plurality of convex ribs arranged at intervals.

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