Assembling and grabbing device and automatic kit production system

Abstract

The invention provides an assembling and grabbing device and an automatic kit production system. The assembling and grabbing device comprises a rack, a first conveying mechanism, a transfer mechanism, a first grabbing manipulator mechanism, a second conveying mechanism, a second grabbing manipulator mechanism and a controller. The first conveying mechanism is arranged on the rack, the transfer mechanism is arranged on the rack, a placing groove is formed in the transfer mechanism, and the transfer mechanism is used for adjusting the afterbay to a preset angle after the afterbay is placed in the placing groove; the first grabbing manipulator mechanism is used for grabbing the afterbay at the afterbay feeding position to the placing groove and then grabbing the afterbay adjusted to the preset angle to the afterbay assembling area of the kit semi-finished product of the first conveying mechanism; the first conveying mechanism is used for conveying the kit semi-finished product placed in the rear pool to a welding position for welding, and conveying the welded kit semi-finished product to a first position; and the loosening and clamping manipulator is used for loosening or clamping the box body of the semi-finished product of the kit, so that the production efficiency and the yield of the kit are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of biomedical device-related production equipment, and in particular to an assembly grasping device and a reagent kit automatic production system. Background Art

[0002] The blood cell analyzer, also known as the blood cell analyzer, is one of the most widely used instruments in clinical testing in hospitals. The existing POCT blood cell analyzer is equipped with a sealing ring, a microporous sheet and a back pool in the cavity of the test kit, such as the Chinese patent application number CN202121839169.8 or CN202110839658.1.

[0003] When the microporous sheet and the sealing ring are assembled into the reagent kit in sequence through the installation cavity, the rear cell is manually assembled into the reagent kit through the installation cavity at a predetermined angle, and then the semi-finished product is manually placed on an ultrasonic welding machine for ultrasonic welding, and then the semi-finished product after welding is manually filled with reagents and other steps.

[0004] However, the semi-finished products are manually placed on an ultrasonic welding machine for ultrasonic welding, and then the welded semi-finished products are manually filled with reagents. Due to the large number of manual handling times, not only is the production efficiency of the test kit low, but it is also easy for the product to be scrapped due to human errors. For example, the back cell is not accurately placed in the back cell assembly area according to the preset direction and welding is performed, resulting in the product being scrapped, resulting in a low yield rate of the test kit. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an assembly grabbing device and a reagent kit automatic production system with high production efficiency and yield rate.

[0006] The purpose of this disclosure is achieved through the following technical solutions: An assembly grabbing device, comprising: frame; A first conveying mechanism, disposed on the frame; A transfer mechanism is arranged on the frame, the transfer mechanism is provided with a placement slot, and the transfer mechanism is used to adjust the rear pool to a predetermined angle after the rear pool is placed in the placement slot; The first material grabbing manipulator mechanism is used to first grab the rear pool at the upper material position of the rear pool to the placement slot, and then grab the rear pool adjusted to the predetermined angle to the rear pool assembly area of ​​the reagent kit semi-finished product of the first conveying mechanism; the first conveying mechanism is used to convey the semi-finished reagent kit after the rear pool is placed to the welding position for welding, and convey the welded semi-finished reagent kit to the first position; A second conveying mechanism is disposed on the frame; The second material grabbing robot mechanism comprises a transporting drive mechanism and a clamping release robot, wherein the power output end of the transporting drive mechanism is connected to the clamping release robot, and the transporting drive mechanism is used to drive the clamping release robot to reciprocate between the first position and the second position of the second conveying mechanism; the clamping release robot is used to loosen or clamp the box body of the semi-finished test kit; the second conveying mechanism is used to convey the semi-finished test kit from the second position to the filling position and the sealing film cutting position in sequence; The controller is electrically connected to the control end of the first conveying mechanism, the control end of the first material grabbing robot mechanism, the control end of the second conveying mechanism and the control end of the second material grabbing robot mechanism respectively.

[0007] In one embodiment, the transport drive mechanism includes a first drive component, a first mounting base and a second drive component; the first drive component is installed on the frame, the first mounting base is installed on the drive end of the first drive component, the second drive component is installed on the first mounting base, and there is a preset angle between the driving direction of the first drive component and the driving direction of the second drive component; the clamping robot is installed and fixed on the power output end of the second drive component.

[0008] In one embodiment, the transport drive mechanism also includes a second mounting seat and a rotation drive assembly, the second mounting seat is mounted on the driving end of the second drive assembly, the rotation drive assembly is mounted on the second mounting seat, the clamping release robot is mounted and fixed on the rotation drive shaft of the rotation drive assembly, and the rotation drive assembly is used to drive the clamping release robot to rotate until the filling port of the semi-finished test kit is set upward.

[0009] In one of the embodiments, the clamping release robot includes a rotating shaft seat, a clamping release driving cylinder, a first clamp and a second clamp. The rotating shaft seat is rotatably connected to the second mounting seat, the driving rotating end of the rotating shaft seat is located in the avoidance groove and is connected to the gear sleeve, the clamping release driving cylinder is installed on the rotating shaft seat, and the power output end of the clamping release driving cylinder is respectively connected to the first clamp and the second clamp, and the clamping release driving cylinder is used to drive the first clamp and the second clamp to move closer to or away from each other.

[0010] In one embodiment, the first conveying mechanism includes a first conveying component and a plurality of horizontal carriers, wherein the plurality of horizontal carriers are spaced apart along the conveying direction of the first conveying component, and each of the horizontal carriers is provided with a horizontal positioning groove, and the horizontal positioning groove is used to horizontally place and position the semi-finished test kit so that the rear pool assembly area of ​​the semi-finished test kit is arranged upward.

[0011] In one embodiment, the second conveying mechanism includes a second conveying component and a plurality of longitudinal carriers, wherein the plurality of longitudinal carriers are spaced apart along the conveying direction of the second conveying component, and each of the longitudinal carriers is provided with a vertical positioning groove, and the vertical positioning groove is used to vertically place and position the semi-finished product of the test kit so that the filling port of the semi-finished product of the test kit is arranged upward.

[0012] In one embodiment, the transfer mechanism includes a transfer table, a rotating cylinder and a positioning fixture, the transfer table is fixed to the frame, the rotating cylinder is installed on the top of the transfer table, and the positioning fixture is arranged on the rotating drive shaft of the rotating cylinder; the placement groove is opened in the positioning fixture.

[0013] In one of the embodiments, the first material grabbing manipulator mechanism includes a rear pool horizontal drive mechanism, a linkage seat, a first rear pool material grabbing assembly and a second rear pool material grabbing assembly; the rear pool horizontal drive mechanism is arranged on the frame, the linkage seat is fixed to the driving end of the rear pool horizontal drive mechanism, and the rear pool horizontal drive mechanism is used to drive the linkage seat to reciprocate; the first rear pool material grabbing assembly and the second rear pool material grabbing assembly are both installed on the linkage seat; the first rear pool material grabbing assembly is used to grab the rear pool at the feeding end of the rear pool feeding device to the placement slot; the second rear pool material grabbing assembly is used to grab the rear pool of the placement slot to the rear pool assembly area.

[0014] An automatic production system for a test kit, comprising a rear tank loading device, an ultrasonic welding device, a filling device, an integrated film cutting and sealing device, and an assembly grabbing device as described in any of the above embodiments; The rear pool feeding device is arranged at the rear pool feeding position, and the rear pool feeding position is arranged adjacent to the first material grabbing manipulator mechanism, and the rear pool feeding device is used to feed the rear pool; The ultrasonic welding device is used to ultrasonically weld the semi-finished product of the test kit at the welding position; The filling device is used to fill the reagent into the filling port of the semi-finished reagent box at the filling position; The integrated film cutting and sealing device is used to punch out the film strip, and to heat-seal the filling port of the semi-finished test kit at the position of the cutting and sealing film with the punched film sheet; The controller is also electrically connected to the rear tank feeding device, the ultrasonic welding device, the filling device and the film cutting and sealing integrated device respectively.

[0015] In one embodiment, the filling device includes a filling machine, an alignment drive assembly, an injection head and a filling tube group. The filling machine is installed on a frame, and the injection head is connected to the power output end of the alignment drive assembly. The alignment drive assembly is used to drive the injection head to a predetermined injection position when the semi-finished product of the test kit is transported to the corresponding position of the filling machine. The filling machine is connected to the injection head through the filling tube group.

[0016] In one of the embodiments, the integrated film cutting and sealing device includes a film roll unloading assembly, a film cutting base, a film cutting and sealing drive assembly and a film cutting and heat sealing head; the film roll unloading assembly, the film cutting base and the film cutting and sealing drive assembly are all arranged on the frame, the film roll unloading assembly is used to convey the film material strip to the material transfer channel of the film cutting seat of the film cutting base, the film cutting seat is provided with a film cutting cavity connected to the material transfer channel, the film cutting heat sealing head is installed on the driving end of the cutting and sealing drive assembly, the cutting and sealing drive assembly is used to drive the film cutting heat sealing head to punch the film material strip through the film cutting cavity, and drive the film cutting heat sealing head to heat-seal the punched film sheet at the filling port of the semi-finished test kit on the second conveying mechanism.

[0017] Compared with the prior art, the present invention has the following advantages, including but not limited to: 1. In the above-mentioned automatic production system of the test kit, the controller first controls the first material grabbing manipulator mechanism to first grab the rear pool at the upper material position of the rear pool to the placement slot, and then grabs the rear pool adjusted to a predetermined angle to the rear pool assembly area of ​​the semi-finished test kit of the first conveying mechanism; then the controller controls the first conveying mechanism to convey the semi-finished test kit after the rear pool is placed to the welding position for welding, and conveys the welded semi-finished test kit to the first position; then the controller controls the conveying drive mechanism of the material grabbing mechanism to drive the clamping release manipulator to move to the first position, and controls the clamping release manipulator to clamp the semi-finished test kit at the first position; then the controller controls the conveying drive mechanism of the material grabbing mechanism to move, The unclamping manipulator is driven to move from the first position to the second position, so that the semi-finished reagent kit at the first position is transported to the second position, and the unclamping manipulator is controlled to loosen the semi-finished reagent kit at the second position; then the controller controls the second conveying mechanism to convey the semi-finished reagent kit at the second position to the filling position for filling operation; then the controller controls the second conveying mechanism to continue conveying the semi-finished reagent kit to the sealing film cutting position to heat-seal the filling port of the semi-finished reagent kit, so that the film is sealed at the filling port of the semi-finished reagent kit. In the process of assembling the reagent kit, no manual intervention such as manual handling is required, so that the automatic assembly of the reagent kit is realized, and the production efficiency of the reagent kit is improved; 2. After the rear cell is grabbed to the placement slot, the controller controls the transfer mechanism to adjust the rear cell to a predetermined angle, so that the rear cell adjusted to the predetermined angle by the first grabbing manipulator mechanism can be quickly and accurately automatically grabbed to the rear cell assembly area of ​​the semi-finished reagent kit of the first conveying mechanism, thereby realizing the precise alignment and assembly of the rear cell, avoiding the situation where the product is scrapped due to human error, and improving the finished product rate of the reagent kit; 3. When the controller controls the rear pool loading device to load the rear pool to the rear pool loading position, the automatic loading of the rear pool is realized; since the rear pool can be accurately aligned and assembled to the rear pool assembly area of ​​the semi-finished reagent box of the first conveying mechanism, when the first conveying mechanism conveys the semi-finished reagent box after the rear pool is placed to the welding position, the controller controls the ultrasonic welding device to ultrasonically weld the semi-finished reagent box at the welding position; after the second grabbing manipulator mechanism grabs the semi-finished reagent box from the first position to the second position, the controller controls the second conveying mechanism to convey the semi-finished reagent box at the second position to the filling machine. position, and then the controller controls the filling device to fill the reagent into the filling port of the semi-finished reagent kit; then the controller controls the second conveying mechanism to convey the semi-finished reagent kit from the filling position to the cutting and sealing film position, and at the same time controls the integrated cutting and sealing film device to punch the film material strip, and heat-seal the filling port of the semi-finished reagent kit at the cutting and sealing film position with the punched film sheet, so as to realize the automation of the rear pool assembly, welding, reagent filling and cutting and sealing film of the reagent kit, and the various processes are transferred through the assembly grabbing device, so as to realize the automatic production of the reagent kit and improve the production efficiency of the reagent kit; 4. Through the integrated control of the controller, the automatic assembly of the test kit is realized, which reduces the number of manual interventions and improves the yield rate of the test kit. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of an automatic test kit production system according to an embodiment; Figure 2 for Figure 1 A schematic diagram of a test kit assembled by a back-pool automatic assembly device of the test kit automatic production system shown; Figure 3 for Figure 2 Photographic diagram of the kit shown; Figure 4 for Figure 1A schematic diagram of the structure of an assembly grabbing device of a rear pool automatic assembly device of an automatic production system of a test kit shown; Figure 5 for Figure 4 A schematic structural diagram of the assembled grabbing device from another perspective; Figure 6 for Figure 5 A partial schematic diagram of another perspective of the assembled grabbing device shown; Figure 7 for Figure 5 A partial schematic diagram of another perspective of the assembled grabbing device shown; Figure 8 for Figure 5 A schematic diagram of a material grabbing mechanism of an assembled grabbing device is shown; Fig. 9 for Figure 5 A partial enlarged schematic diagram of the assembled grabbing device is shown; Fig.10 for Figure 5 A schematic diagram of a film cutting and sealing integrated device for assembling a gripping device is shown; Fig.11 for Fig.10 A schematic diagram of the film cutting and sealing device from another perspective; Fig.12 for Figure 5 A partial schematic diagram of a rear pool assembly device for assembling a grabbing device as shown; Fig.13 for Fig.12 A schematic diagram of a first material grabbing manipulator mechanism of a rear pool assembly device shown; Fig.14 for Figure 1 A partial schematic diagram of the automatic production system of the test kit shown; Reference numerals: 1. Automatic production system of test kit; 10. Assembly and grabbing device; 20. Semi-finished test kit; 20a. Test kit; 22. Back pool; 23. Filling port; 24. Box body; 30. Film strip; 32. Film; 40. Bag filling equipment; 100. Rack; 200. First conveying mechanism; 210. First conveying assembly; 220. Horizontal carrier; 222. Horizontal positioning groove; 300. Second conveying mechanism; 302. Heat seal proofreading frame; 302a. Alignment port; 310. Second conveying assembly; 320. Longitudinal carrier; 330. Second position sensor; 400. Filling and sealing device; 410. Grabbing mechanism; 410a. Transport drive mechanism; 412. First drive assembly; 414. First mounting seat; 416. Second drive assembly; 4162. First transport vertical cylinder; 4164. Intermediate slide; 4166, second transport vertical cylinder; 4167, second mounting seat; 41671, avoidance groove; 41672, slide rail groove; 4168, rotation drive assembly; 41682, rotation drive member; 41684, rack; 41686, gear; 410b, clamp release manipulator; 4101, shaft seat; 4103, clamp release drive cylinder; 4105, first clamp; 4106, second clamp; 420, filling device; 421, filling machine; 423, alignment drive group 4232, lifting drive member; 4234, lateral drive member; 4236, injection mounting seat; 425, injection head; 427, filling tube assembly; 427a, flow meter; 428, first position sensor; 430, film cutting and sealing integrated device; 431, film roll unwinding assembly; 4312, unwinding roll; 4314, feeding roller assembly; 432, film cutting base; 4322, film cutting seat; 432a, material passing channel; 432b, film cutting cavity; 4324, lifting assembly; 432 42, lifting assembly; 43244, lifting push block; 433, cutting and sealing drive assembly; 4331, translation drive member; 4332, translation seat; 4333, vertical drive member; 4334, vertical slide seat; 434, film cutting and heat sealing head; 510, rear pool feeding device; 520, first material grabbing manipulator mechanism; 521, rear pool horizontal drive mechanism; 522, linkage seat; 523, first rear pool material grabbing assembly; 523a, fixed block; 523b, elastic pressure column; 5232, first rear pool Lifting cylinder; 5234, first fixed plate; 5236, first grabbing cylinder; 5238, first grabbing claw; 524, second rear pool grabbing assembly; 5242, second rear pool lifting cylinder; 5244, second fixed plate; 5246, second grabbing cylinder; 5248, second grabbing claw; 530, transfer mechanism; 5302, placement trough; 532, transfer table; 534, rotating cylinder; 536, positioning fixture; 600, ultrasonic welding mechanism; 700, transfer robot. DETAILED DESCRIPTION

[0020] In order to facilitate the understanding of the present disclosure, the present disclosure will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present disclosure are given in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thoroughly and comprehensively understood.

[0021] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0023] In order to better understand the technical solutions and beneficial effects of the present invention, the present invention is further described in detail below in conjunction with specific embodiments: like Figures 1 to 6 As shown, the automatic reagent kit production system 1 of one embodiment is used to assemble the reagent kit semi-finished product 20 to obtain the reagent kit 20a. Further, the automatic reagent kit production system 1 includes a rear tank loading device 510, an ultrasonic welding device 600, a filling device 420, a film cutting and sealing device 430 and an assembly grabbing device 10.

[0024] See also Figures 7 to 13In one embodiment, the assembly grasping device 10 includes a frame 100, a first conveying mechanism 200, a transfer mechanism 530, a first grasping robot mechanism 520, a second conveying mechanism 300, a second grasping robot mechanism 410 and a controller (not shown); in one embodiment, the first conveying mechanism 200 is arranged on the frame 100, and the first conveying mechanism 200 is used to convey the semi-finished test kit 20 after the rear pool 22 is assembled to the first position. The transfer mechanism 530 is provided on the frame 100, and the transfer mechanism 530 is provided with a placement slot 5302. The transfer mechanism 530 is used to adjust the rear pool to a predetermined angle after the rear pool is placed in the placement slot 5302, so that the second rear pool grabbing assembly 524 can quickly and accurately grab the rear pool 22 in the placement slot 5302 and align and assemble it in the rear pool assembly area of ​​the semi-finished reagent box 20 of the horizontal carrier 220, and at the same time, it is convenient for the first rear pool grabbing assembly 523 to quickly and accurately grab the rear pool 22 at the feeding end of the rear pool feeding device 510 to the placement slot 5302 of the transfer mechanism 530. In this embodiment, the rear pool 22 is adjusted to the predetermined angle, which is the same as the angle at which the rear pool 22 is assembled in the rear pool assembly area, so as to avoid the problem of angle deviation when the rear pool 22 is assembled in the rear pool assembly area, so that the rear pool 22 can be reliably assembled in the rear pool assembly area of ​​the semi-finished reagent box 20, and at the same time, the efficiency of assembling the rear pool 22 in the rear pool assembly area is improved. The power direction of the rear pool horizontal drive mechanism 521 is parallel to the Y direction.

[0025] In one embodiment, the first grabbing robot mechanism 520 is used to first grab the rear pool at the upper material position of the rear pool to the placement groove 5302, and then grab the rear pool adjusted to the predetermined angle to the rear pool assembly area of ​​the reagent kit semi-finished product 20 of the first conveying mechanism 200; the first conveying mechanism 200 is used to convey the reagent kit semi-finished product 20 after the rear pool is placed to the welding position for welding, and convey the welded reagent kit semi-finished product 20 to the first position; the second conveying mechanism 300 is arranged on the frame 100. The second grabbing robot mechanism 410 includes a transporting drive mechanism 410a and a clamping release robot 410b, wherein the power output end of the transporting drive mechanism 410a is connected to the clamping release robot 410b, and the transporting drive mechanism 410a is used to drive the clamping release robot 410b to reciprocate between the first position and the second position of the second conveying mechanism 300; the clamping release robot 410b is used to loosen or clamp the box body 24 of the test kit semi-finished product 20. Since the transporting drive mechanism 410a drives the clamping release robot 410b to reciprocate between the first position and the second position, the transporting drive mechanism 410a drives the clamping release robot 410b to move from the first position to the second position after the clamping release robot 410b clamps the box body 24 of the test kit semi-finished product 20, and drives the clamping release robot 410b to move from the second position to the first position after the clamping release robot 410b loosens the box body 24 of the test kit semi-finished product 20, so as to transport the next test kit semi-finished product 20.

[0026] The second conveying mechanism 300 is used to convey the semi-finished product 20 of the test kit from the second position to the filling position and the sealing film cutting position in sequence; the controller is electrically connected to the control end of the first conveying mechanism 200, the control end of the first grabbing robot mechanism 520, the control end of the second conveying mechanism 300 and the control end of the second grabbing robot mechanism 410 respectively.

[0027] Further, the rear pool loading device 510 is arranged at the rear pool loading position, and the rear pool loading position is arranged adjacent to the first material grabbing manipulator mechanism 520, and the rear pool loading device 510 is used to load the rear pool; the ultrasonic welding device 600 is used to ultrasonically weld the semi-finished reagent box 20 at the welding position; the filling device 420 is used to fill the reagent at the filling port 23 of the semi-finished reagent box 20 at the filling position; the integrated cutting and sealing film device 430 is used to punch the film material strip 30, and heat-seal the filling port 23 of the semi-finished reagent box 20 at the cutting and sealing film position with the punched film sheet 32, such as Figure 3 The reagent kit 20a is shown with the film 32 heat-sealed.

[0028] The controller is also electrically connected to the rear pool loading device 510, the ultrasonic welding device 600, the filling device 420 and the integrated cutting and sealing device 430. In this embodiment, when the second conveying mechanism 300 conveys the semi-finished reagent kit 20 from the second position to the position corresponding to the filling device 420, the filling device 420 automatically fills the reagent into the filling port of the semi-finished reagent kit 20; when the second conveying mechanism 300 conveys the semi-finished reagent kit 20 to the position corresponding to the integrated cutting and sealing device 430, the integrated cutting and sealing device 430 heat-seals the film obtained by punching at the filling port of the semi-finished reagent kit 20 on the second conveying mechanism 300. It can be understood that the integrated cutting and sealing device 430 can punch the film strip before the semi-finished reagent kit 20 is conveyed to the position corresponding to the integrated cutting and sealing device 430, or can punch the film strip after the semi-finished reagent kit 20 is conveyed to the position corresponding to the integrated cutting and sealing device 430.

[0029] When the controller controls the rear pool loading device 510 to load the rear pool to the rear pool loading position, automatic loading of the rear pool is realized; since the rear pool can be accurately aligned and assembled to the rear pool assembly area of ​​the reagent kit semi-finished product 20 of the first conveying mechanism 200, when the first conveying mechanism 200 conveys the reagent kit semi-finished product 20 after the rear pool is placed to the welding position, the controller controls the ultrasonic welding device 600 to ultrasonically weld the reagent kit semi-finished product 20 at the welding position; after the second grabbing manipulator mechanism 410 grabs the reagent kit semi-finished product 20 from the first position to the second position, the controller controls the second conveying mechanism 300 to convey the reagent kit semi-finished product 20 at the second position to the welding position; The reagent box is sent to the filling position, and then the controller controls the filling device 420 to fill the filling port of the semi-finished product 20 with reagent; then the controller controls the second conveying mechanism 300 to convey the semi-finished product 20 of the reagent box from the filling position to the film cutting position, and at the same time controls the integrated film cutting device 430 to punch the film strip, and heat-seal the filling port of the semi-finished product 20 of the reagent box at the film cutting position with the film obtained by punching, so as to realize the automation of the rear pool assembly, welding, reagent filling and film cutting of the reagent box, and the various processes are circulated through the assembly grasping device 10, so as to realize the automated production of the reagent box, and improve the production efficiency of the reagent box.

[0030] The above-mentioned automatic production system 1 of the reagent kit and its assembly grasping device 10, first, the controller controls the first grasping manipulator mechanism 520 to first grasp the rear pool at the upper material position of the rear pool to the placement groove 5302, and then grasps the rear pool adjusted to a predetermined angle to the rear pool assembly area of ​​the reagent kit semi-finished product 20 of the first conveying mechanism 200; then the controller controls the first conveying mechanism 200 to convey the reagent kit semi-finished product 20 after the rear pool is placed to the welding position for welding, and conveys the welded reagent kit semi-finished product 20 to the first position; then the controller controls the conveying drive mechanism 410a of the grasping mechanism to drive the clamping release manipulator 410b to move to the first position, and controls the clamping release manipulator 410b to clamp the reagent kit semi-finished product 20 at the first position; then the controller controls the conveying drive mechanism 410a of the grasping mechanism to drive the clamping release manipulator 410b to move from the first position to the second position, so that the reagent kit semi-finished product 20 at the first position is conveyed to the second position, and controls the clamping release manipulator 410b to loosen the reagent kit semi-finished product 20 at the second position; then the controller The second conveying mechanism 300 is controlled to convey the semi-finished reagent kit 20 at the second position to the filling position for filling operation; then the controller controls the second conveying mechanism 300 to continue conveying the semi-finished reagent kit 20 to the cutting film position to heat-seal the filling port of the semi-finished reagent kit 20, so that the film is sealed at the filling port of the semi-finished reagent kit 20. During the assembly process of the reagent kit, no manual intervention such as manual handling is required, so that the automatic assembly of the reagent kit is realized, and the production efficiency of the reagent kit is improved; when the back pool is grabbed to the placement slot 5302, the controller controls the transfer mechanism 530 to move to adjust the back pool to a predetermined angle, so that the first grabbing manipulator mechanism 520 can adjust the back pool to a predetermined angle and automatically grab it quickly and accurately to the back pool assembly area of ​​the semi-finished reagent kit 20 of the first conveying mechanism 200, so as to realize the precise alignment assembly of the back pool, avoid the situation where the product is scrapped due to manual errors, and improve the yield rate of the reagent kit; through the integrated control of the controller, the automatic assembly of the reagent kit is realized, the number of manual interventions is reduced, and the yield rate of the reagent kit is improved.

[0031] like Figure 1 , Figure 4 , Figure 7 , Figure 8As shown, in one embodiment, the transport drive mechanism 410a includes a first drive assembly 412, a first mounting seat 414 and a second drive assembly 416; the first drive assembly 412 is mounted on the frame 100, the first mounting seat 414 is mounted on the driving end of the first drive assembly 412, the second drive assembly 416 is mounted on the first mounting seat 414, and the clamping manipulator 410b is fixed to the power output end of the second drive assembly 416. There is a preset angle between the driving direction of the first drive assembly 412 and the driving direction of the second drive assembly 416. When the first drive assembly 412 and the second drive assembly 416 are in motion, the clamping manipulator 410b is driven to better move between the first position and the second position, so that the semi-finished product 20 of the reagent box is better transported from the first position to the second position. In this embodiment, the preset angle is 90°. Among them, the driving direction of the first drive assembly 412 is parallel to the X-axis direction, and the driving direction of the second drive assembly 416 is parallel to the Z-axis. In other embodiments, the preset angle can also be other angles, such as 70°.

[0032] like Figure 1 , Figure 4 , Figure 7 , Figure 8 As shown, further, the first drive assembly 412 is a cylinder drive assembly. In this embodiment, the first drive assembly 412 is a prior art and will not be described in detail here. Further, the second driving assembly 416 includes a first transport vertical cylinder 4162, an intermediate slide 4164 and a second transport vertical cylinder 4166, the first transport vertical cylinder 4162 is fixed on the first mounting seat 414, the intermediate slide 4164 is slidably connected to the first mounting seat 414, the intermediate slide 4164 is connected to the power shaft of the first transport vertical cylinder 4162, the second transport vertical cylinder 4166 is installed on the intermediate slide 4164, and the clamping release manipulator 410b is installed and fixed to the power output end of the second transport vertical cylinder 4166. In this way, by designing the first transport vertical cylinder 4162 and the second transport vertical cylinder 4166 as a total of two-stage driving cylinders, the problem of insufficient driving stroke caused by the long distance between the gripping point of the clamping release manipulator 410b and the installation position of the first transport vertical cylinder 4162 is avoided. In this embodiment, the driving direction of the first transport vertical cylinder 4162 and the driving direction of the second transport vertical cylinder 4166 are parallel to each other.

[0033] like Figure 1 , Figure 4 , Figure 7 , Figure 8As shown, in one embodiment, the transport drive mechanism 410a also includes a second mounting seat 4167 and a rotation drive assembly 4168, the second mounting seat 4167 is mounted on the driving end of the second drive assembly 416, the rotation drive assembly 4168 is mounted on the second mounting seat 4167, the clamping release manipulator 410b is mounted and fixed on the rotation drive shaft of the rotation drive assembly 4168, and the rotation drive assembly 4168 is used to drive the clamping release manipulator 410b to rotate until the filling port of the semi-finished reagent box 20 is set upward, so that the semi-finished reagent box 20 does not need to be in a position where the filling port is facing upward in the first position, so that the rear pool 22 can be better assembled in the rear pool assembly area, and the transport drive mechanism 410a is rotated and adjusted when transporting the semi-finished reagent box 20 from the first position to the second position, so that the filling port of the semi-finished reagent box 20 is set upward when the semi-finished reagent box 20 is in the second position, so as to facilitate the next step of reagent filling, thereby better realizing the automation of the rear pool 22 assembly and reagent filling of the semi-finished reagent box 20. In this embodiment, the reagent kit semi-finished product 20 is in an inverted state at the first position, and the reagent kit semi-finished product 20 is in a vertical state at the second position. The transport drive mechanism 410a rotates 90 degrees when transporting the reagent kit semi-finished product 20 from the first position to the second position.

[0034] like Figure 1 , Figure 4 , Figure 7 , Figure 8 As shown, further, the second mounting seat 4167 is slidably connected to the first mounting seat 414, so that the second driving assembly 416 drives the second mounting seat 4167 to slide more smoothly relative to the first mounting seat 414. In this embodiment, the second mounting seat 4167 is slidably connected to the first mounting seat 414 through a slider guide structure, so that the second mounting seat 4167 slides more smoothly relative to the first mounting seat 414. The power output end of the second transport vertical cylinder 4166 is fixedly connected to the second mounting seat 4167.

[0035] like Figure 1 , Figure 4 , Figure 7 , Figure 8 and Fig. 9As shown, further, the clamping release manipulator 410b is also rotatably connected to the second mounting seat 4167, and the rotation drive assembly 4168 drives the clamping release manipulator 410b to rotate more smoothly relative to the second mounting seat 4167. In this embodiment, the rotation drive assembly 4168 includes a rotation drive member 41682, a rack 41684 and a gear 41686. The rotation drive member 41682 is fixed to the second mounting seat 4167, the rack 41684 is slidably arranged on the second mounting seat 4167, the rack 41684 is fixed to the power output end of the rotation drive member 41682, and the rotation drive member 41682 drives the rack 41684 to slide relative to the second mounting seat 4167; the gear 41686 is connected to the clamping release manipulator 41 0b, and the gear 41686 is meshed with the rack 41684 for transmission. When the rotary drive member 41682 drives the rack 41684 to slide relative to the second mounting seat 4167, the rack 41684 is meshed with the gear 41686, and the gear 41686 drives the rotary drive member 41682 to rotate relative to the second mounting seat 4167, so as to drive the unclamping manipulator 410b to rotate relative to the second mounting seat 4167, so that the rotary drive assembly 4168 can better drive the unclamping manipulator 410b to rotate. Specifically, a relief groove 41671 is provided at the end side of the second mounting seat 4167, the driving rotating end of the clamp release manipulator 410b is located in the relief groove 41671, the gear 41686 is located in the relief groove 41671 and sleeved on the driving rotating end, the second mounting seat 4167 is provided with a slide rail groove 41672 connected to the relief groove 41671, and the rack 41684 is slidably penetrated in the slide rail groove 41672, so that the gear 41686 and the rack 41684 are better accommodated on the second mounting seat 4167. Specifically, the rotation driving member 41682 is a cylinder driving member.

[0036] like Figures 5 to 9 As shown, further, the clamping release robot 410b includes a rotating shaft seat 4101, a clamping release driving cylinder 4103, a first clamping jaw 4105 and a second clamping jaw 4106, the rotating shaft seat 4101 is rotatably connected to the second mounting seat 4167, the driving rotating end of the rotating shaft seat 4101 is located in the avoidance groove 41671 and is sleeved with the gear 41686, the clamping release driving cylinder 4103 is installed on the rotating shaft seat 4101, and the power output end of the clamping release driving cylinder 4103 is respectively connected to the first clamping jaw 4105 and the second clamping jaw 4106, and the clamping release driving cylinder 4103 is used to drive the first clamping jaw 4105 and the second clamping jaw 4106 to move closer to or away from each other, so that the clamping release robot 410b can loosen or clamp the box body 24 of the semi-finished test kit 20. In this embodiment, the second mounting seat 4167 is provided with a rotation avoidance area, the shaft seat 4101 is rotatably connected to the rotation avoidance area, and the clamp release driving cylinder 4103 is located in the rotation avoidance area and is fixedly installed on the shaft seat 4101.

[0037] like Figure 7 As shown, in one embodiment, the first conveying mechanism 200 includes a first conveying assembly 210 and a plurality of horizontal carriers 220, the plurality of horizontal carriers 220 are spaced apart along the conveying direction of the first conveying assembly 210, each horizontal carrier 220 is provided with a horizontal positioning groove 222, and the horizontal positioning groove 222 is used to horizontally position the semi-finished reagent kit 20, so that the rear pool assembly area of ​​the semi-finished reagent kit 20 is arranged upward, so as to realize batch rear pool 22 assembly of a plurality of semi-finished reagent kits 20. In this embodiment, the first conveying assembly 210 is mounted on the frame 100, and the first conveying assembly 210 is a chain conveying assembly. The conveying direction of the first conveying assembly 210 is parallel to the X-axis direction.

[0038] like Figure 5 and Figure 6 As shown, in one embodiment, the second conveying mechanism 300 includes a second conveying assembly 310 and a plurality of longitudinal carriers 320, the plurality of longitudinal carriers 320 are spaced apart along the conveying direction of the second conveying assembly 310, each longitudinal carrier 320 is provided with a vertical positioning groove 322, the vertical positioning groove 322 is used to vertically position the semi-finished reagent kit 20, so that the filling port of the semi-finished reagent kit 20 is set upward, so as to realize the batch filling of reagents and the assembly of sealing films of a plurality of semi-finished reagent kits 20. In this embodiment, the second conveying assembly 310 is mounted on the frame 100, and the second conveying assembly 310 is a chain conveying assembly. The conveying direction of the second conveying assembly 310 is parallel to the X-axis direction.

[0039] like Figure 5 and Figure 6As shown, in one embodiment, the filling device 420 includes a filling machine 421, an alignment drive assembly 423, an injection head 425 and a filling tube assembly 427. The filling machine 421 is installed on the frame 100, and the injection head 425 is connected to the power output end of the alignment drive assembly 423. The alignment drive assembly 423 is used to drive the injection head 425 to move to a predetermined injection position when the semi-finished reagent kit 20 is transported to the corresponding position of the filling machine 421. The filling machine 421 is connected to the injection head 425 through the filling tube assembly 427, so that the filling machine 421 performs an injection operation on the reagent port through the filling tube assembly 427 and the injection head 425. When the semi-finished reagent kit 20 is transported to the corresponding position of the filling machine 421, the alignment drive assembly 423 drives the injection head 425 to move to the predetermined injection position to inject the semi-finished reagent kit 20. In this embodiment, the semi-finished reagent kit 20 is transported to the corresponding position of the filling machine 421 through the longitudinal carrier 320. When the integrated film cutting and sealing device 430 is shut down or the injection head 425 is cleaned, the alignment drive component 423 does not operate, and the injection head 425 is located on one side of the second conveying component 310. At this time, the injection head 425 is located in the cleaning position; when the longitudinal carrier 320 is transported to the corresponding position of the filling machine 421 and there is no load, the alignment drive component 423 does not operate, and the injection head 425 is located above the second conveying component 310 and has a preset height with the predetermined injection position, so as to avoid the reagent being accidentally injected into the longitudinal carrier 320 and causing waste of reagent.

[0040] like Figure 5 and Figure 6 As shown, in one embodiment, the filling device 420 also includes a first position sensor 428, and the first position sensor 428 is used to sense the semi-finished reagent box 20 when the semi-finished reagent box 20 is transported to the corresponding position of the filling machine 421. The first position sensor 428 is electrically connected to the controller to sense whether there is a semi-finished reagent box 20 on the longitudinal carrier 320, that is, to determine whether there is an empty load when the longitudinal carrier 320 is transported to the corresponding position of the filling machine 421, so as to realize automatic filling control of the semi-finished reagent box 20.

[0041] like Figure 5 and Figure 6 As shown, in one embodiment, the filling tube group 427 includes a flow meter 427a, which is electrically connected to the controller; when the reagent port of the semi-finished reagent box 20 is injected, the controller controls the flow meter to open; when the reagent flow through the flow meter reaches a preset flow value, the controller controls the flow meter to close. Compared with the traditional weighing method to control the injection of the reagent port, the reagent port of the semi-finished reagent box 20 can be accurately injected, while the injection efficiency of the product is improved, thereby improving the assembly efficiency of the product.

[0042] like Figure 5 and Figure 6As shown, further, the alignment drive assembly 423 includes a lifting drive member 4232, a transverse drive member 4234 and an injection mounting seat 4236. The lifting drive member 4232 is mounted on the frame 100, the transverse drive member 4234 is mounted on the power output end of the lifting drive member 4232, the injection mounting seat 4236 is mounted on the power output end of the transverse drive member 4234, and the injection head 425 is mounted on the injection mounting seat 4236. The power output direction of the transverse drive member 4234 and the power output direction of the lifting drive member 4232 have a first angle. In this embodiment, the power output direction of the lifting drive member 4232 is parallel to the Z axis, and the power output direction of the transverse drive member 4234 is parallel to the Y axis. When the integrated film cutting and sealing device 430 is shut down or the injection head 425 is cleaned, the lifting drive member 4232 and the horizontal drive member 4234 are reset, that is, the lifting drive member 4232 and the horizontal drive member 4234 do not extend, and the injection head 425 is located on one side of the second conveying component 310. At this time, the injection head 425 is located at the cleaning position 425a of the injection mounting seat 4236; when the longitudinal carrier 320 is transported to the corresponding position of the filling machine 421 and there is no load, the horizontal drive member 4234 and the lifting drive member 4232 are both extended, and the injection head 425 is located above the second conveying component 310 and has a preset height with the predetermined injection position, so as to avoid the reagent being accidentally injected into the longitudinal carrier 320 and causing reagent waste. When the longitudinal carrier 320 is transported to the corresponding position of the filling machine 421 and there is a semi-finished reagent kit 20 , the transverse driving member 4234 extends, and the lifting driving member 4232 contracts and descends, so that the injection head 425 injects the injection port of the semi-finished reagent kit 20 .

[0043] like Figures 4 to 6 , Fig.10 As shown, in one embodiment, the integrated film cutting and sealing device 430 includes a film roll unloading component 431, a film cutting base 432, a cutting and sealing drive component 433 and a film cutting heat sealing head 434; the film roll unloading component 431, the film cutting base 432 and the cutting and sealing drive component 433 are all arranged on the frame 100, and the film roll unloading component 431 is used to convey the film material strip 30 to the material transfer channel 432a of the film cutting seat 4322 of the film cutting base 432, and the film cutting seat 4322 is provided with a cutting The film cavity 432b, the film cutting and heat sealing head 434 is installed on the driving end of the cutting and sealing drive component 433, and the cutting and sealing drive component 433 is used to drive the film cutting and heat sealing head 434 to punch the film strip 30 through the film cutting cavity 432b, and drive the film cutting and heat sealing head 434 to heat-seal the punched film piece at the filling port of the reagent kit semi-finished product 20 on the second conveying mechanism 300, so as to punch the film strip 30, and heat-seal the punched film piece at the filling port of the reagent kit semi-finished product 20 on the second conveying mechanism 300.

[0044] like Figures 4 to 6 , Fig.10As shown, further, the film roll unwinding assembly 431 includes an unwinding roll 4312 and a feed roller set 4314. The unwinding roll 4312 is rotatably arranged on the frame 100. The unwinding roll 4312 is used to release the film material belt 30. The feed roller set 4314 is arranged on the frame 100. The film material belt 30 is released by the unwinding roll 4312, and then guided by the feed roller set 4314 to be transmitted to the material passage 432a of the film cutting seat 4322 of the film cutting base 432. In this embodiment, the feed roller set 4314 includes a plurality of feed rollers, and the plurality of feed rollers are arranged on the frame 100 at intervals.

[0045] like Figures 4 to 6 , Fig.10 , Fig.11 As shown, further, the film cutting base 432 includes a lifting component 4324 and a film cutting seat 4322, the film cutting seat 4322 and the lifting component 4324 are both installed and fixed on the frame 100, the film cutting seat 4322 is located above the lifting component 4324, the lifting component 4324 includes a lifting component 43242 and a lifting push block 43244, the lifting component 43242 is installed and fixed on the frame 100, the telescopic shaft of the lifting component 43242 is connected to the lifting push block 43244, the lifting push block 43244 is located in the film cutting cavity 432b and is slidably connected to the film cutting seat 4322, and the lifting component 43242 drives the lifting push block 43244 to slide in the film cutting cavity 432b. When the film cutting heat sealing head 434 punches the film strip 30 through the film cutting cavity 432b, the film obtained by punching is rushed into the film cutting cavity 432b from the film cutting port of the film cutting cavity 432b along with the film cutting heat sealing head 434 to ensure the accuracy of punching. Then, the lifting component 43242 drives the lifting push block 43244 to slide upward in the film cutting cavity 432b. At the same time, the film cutting heat sealing head 434 moves upward and absorbs the film to avoid the problem of misalignment between the film obtained by punching and the film cutting heat sealing head 434. Since the film cutting heat sealing head 434 moves upward and absorbs the film, the lifting component 43242 acts at the same time to drive the lifting push block 43244 to slide upward to avoid the film cutting heat sealing head 434 being unable to effectively absorb and bring the film out of the film cutting cavity 432b, so that the film can be reliably adsorbed and positioned on the film cutting heat sealing head 434, and the film can be reliably heat-sealed to the glue filling port of the test kit semi-finished product 20. In this embodiment, the lifting assembly 4324 is a cylinder assembly.

[0046] like Figures 4 to 6 , Fig.10 , Fig.11As shown, in one embodiment, the cutting and sealing driving assembly 433 includes a translation driving member 4331, a translation seat 4332, a vertical driving member 4333 and a vertical sliding seat 4334, the translation driving member 4331 is installed on the frame 100, the translation seat 4332 is slidably arranged on the frame 100, the power output end of the translation driving member 4331 is connected to the translation seat 4332, the vertical driving member 4333 is installed above the translation seat 4332, the vertical sliding seat 4334 is slidably connected to the translation seat 4332, and the vertical sliding seat 4334 is connected to the power output end of the vertical driving member 4333, and the film cutting and heat sealing head 43 The vertical slide seat 4334 is fixed thereon, and the power direction of the vertical driving member 4333 and the power direction of the translation driving member 4331 form a second angle. Under the joint action of the translation driving member 4331 and the vertical driving member 4333, the film cutting and heat sealing head 434 can reciprocate between the film cutting seat and the second conveying mechanism 300, so that the film cutting and heat sealing driving assembly 433 drives the film cutting and heat sealing head 434 to punch the film material strip 30 through the film cutting cavity 432b, and drives the film cutting and heat sealing head 434 to heat-seal the punched film sheet at the filling port of the reagent kit semi-finished product 20 on the second conveying mechanism 300. In this embodiment, the power output direction of the translation driving member 4331 is parallel to the Y axis, and the power output direction of the vertical driving member 4333 is parallel to the Z axis. The translation seat 4332 is slidably arranged on the frame 100 through the slider guide structure.

[0047] like Figures 4 to 6 , Fig.10 , Fig.11 As shown, further, the film cutting heat sealing head 434 is an integrated heat sealing and adsorption structure, that is, a heating layer is provided on the surface of the film cutting heat sealing head 434, and the heating layer of the film cutting heat sealing head 434 is provided with adsorption pores, so that the film cutting heat sealing head 434 has both heating and adsorption functions, so that the film cutting heat sealing head 434 can not only punch the film strip 30 through the film cutting cavity 432b, but also better adsorb the punched film and heat seal the film at the filling port of the semi-finished test kit 20.

[0048] like Figures 4 to 6 , Fig.10 , Fig.11As shown, further, the second conveying mechanism 300 is provided with a heat-sealing proofreading frame 302, and the heat-sealing proofreading frame 302 is provided with an alignment port 302a, and the alignment port 302a is used for alignment when the film cutting and heat-sealing head 434 heat-seals the film at the filling port of the reagent kit semi-finished product 20, thereby improving the heat-sealing accuracy of the film at the filling port of the reagent kit semi-finished product 20. Furthermore, the second conveying mechanism 300 also includes a second position sensor 330, and the second position sensor 330 is used to sense the reagent kit semi-finished product 20 when the reagent kit semi-finished product 20 is conveyed to the corresponding position of the heat-sealing proofreading frame 302. The second position sensor 320 is electrically connected to the controller to sense whether there is a reagent kit semi-finished product 20 on the longitudinal carrier 330, that is, to determine whether there is no load when the longitudinal carrier 320 is conveyed to the corresponding position of the heat-sealing proofreading frame 302, so as to realize the control of the automatic heat-sealing filling port of the reagent kit semi-finished product 20.

[0049] like Figure 1 , Figure 7 , Fig.12 As shown, in one embodiment, the rear pool loading device 510, the first material grabbing robot mechanism 520, the transfer mechanism 530 and the controller work together to assemble the rear pool 22 on the rear pool assembly area of ​​the reagent kit semi-finished product 20 on the first conveying mechanism 200, so that the rear pool 22 is assembled in the rear pool assembly area.

[0050] like Figure 1 , Figure 7 , Fig.12 and Fig.13 As shown, further, the first material grabbing manipulator mechanism 520 includes a rear pool horizontal drive mechanism 521, a linkage seat 522, a first rear pool material grabbing assembly 523 and a second rear pool material grabbing assembly 524; the rear pool horizontal drive mechanism 521 is arranged on the frame 100, the linkage seat 522 is fixed to the driving end of the rear pool horizontal drive mechanism 521, and the rear pool horizontal drive mechanism 521 is used to drive the linkage seat 522 to reciprocate. The first rear pool material grabbing assembly 523 and the second rear pool material grabbing assembly 524 are both installed on the linkage seat 522. The first rear pool material grabbing assembly 523 is used to grab the rear pool 22 of the feeding end of the rear pool feeding device 510 to the placement groove 5302; the second rear pool material grabbing assembly 524 is used to grab the rear pool 22 of the placement groove 5302 to the rear pool assembly area of ​​the reagent kit semi-finished product 20 of the horizontal carrier 220, so that the rear pool 22 is assembled in the rear pool assembly area of ​​the reagent kit semi-finished product 20.

[0051] In this embodiment, the rear tank loading device 510 is a vibration loading mechanism. Specifically, the rear tank loading device 510 is provided with a guide trough, which extends to the rear tank loading position, so that the rear tank 22 is vibrated from the guide trough at the initial placement angle to the rear tank loading position.

[0052] like Figure 1 , Figure 7 , Fig.12and Fig.13 As shown, further, the transfer mechanism 530 includes a transfer table 532, a rotating cylinder 534 and a positioning fixture 536, the transfer table 532 is fixed to the frame 100, the rotating cylinder 534 is installed on the top of the transfer table 532, and the positioning fixture 536 is arranged on the rotating drive shaft of the rotating cylinder 534. The placement groove 5302 is opened in the positioning fixture 536. When the first rear pool grabbing component 523 grabs the rear pool 22 of the feeding end of the rear pool feeding device 510 into the placement groove 5302 of the positioning fixture 536, the rotating cylinder 534 drives the positioning fixture 536 to rotate, so that the rear pool 22 rotates with the positioning fixture 536 until the rear pool 22 rotates to a predetermined angle.

[0053] like Figure 1 , Figure 7 , Fig.12 and Fig.13 As shown, further, when the first rear pool grabbing component 523 grabs the next rear pool 22 from the loading end of the loading mechanism and adjusts the angle of the rear pool 22 to be placed in the placement slot 5302 of the positioning fixture 536, the second rear pool grabbing component 524 grabs the previous rear pool 22 placed on the transfer mechanism to the rear pool assembly area of ​​the reagent reagent semi-finished product 20 of the horizontal carrier 220, so that the next rear pool 22 is grabbed by the first rear pool grabbing component 523 and placed in the placement slot 5302 of the positioning fixture 536, thereby realizing the linkage effect of the first rear pool grabbing component 523 and the second rear pool grabbing component 524, improving the linkage transportation of the rear pool 22 at the three positions of the loading end of the loading mechanism, the placement slot 5302 of the positioning fixture 536 and the rear pool assembly area of ​​the reagent reagent semi-finished product 20 of the horizontal carrier 220, thereby improving the loading speed of the rear pool 22.

[0054] like Figure 1 , Figure 7 , Fig.12 and Fig.13As shown, further, the first rear pool grabbing assembly 523 includes a first rear pool lifting cylinder 5232, a first fixed plate 5234, a first grabbing cylinder 5236 and two first grabbing claws 5238. The first rear pool lifting cylinder 5232 is installed and fixed on the linkage seat 522, the first fixed plate 5234 is connected to the power output shaft of the first rear pool lifting cylinder 5232, the first grabbing cylinder 5236 is installed on the first fixed plate 5234, and the two first grabbing claws 5238 are fixed on the linkage seat 522. The driving shaft of the first material grabbing cylinder 5236 drives the two first material grabbing claws 5238 to move closer to or away from each other, thereby achieving the release or clamping of the rear pool 22; when the first material grabbing cylinder 5236 drives the two first material grabbing claws 5238 to move closer to each other, the two first material grabbing claws 5238 jointly grab the rear pool 22; when the first material grabbing cylinder 5236 drives the two first material grabbing claws 5238 to move away from each other, the two first material grabbing claws 5238 jointly release the rear pool 22. In this embodiment, the power direction of the first rear pool lifting cylinder 5232 is parallel to the Z axis. Furthermore, the first rear pool material grabbing assembly 523 also includes a fixed block 523a and an elastic pressure column 523b, the fixed block is installed on the first fixed plate 5234, one end of the elastic pressure column is fixed to the fixed block, and the other end of the elastic pressure column elastically abuts against the top of the rear pool 22 when the rear pool is clamped between the two first material grabbing air claws 5238. When the two first material grabbing air claws 5238 move away from each other, the elastic pressure column presses the rear pool into the placement groove 5302 of the positioning fixture 536.

[0055] like Figure 1 , Figure 7 , Fig.12 and Fig.13 As shown, further, the second rear pool grabbing assembly 524 includes a second rear pool lifting cylinder 5242, a second fixed plate 5244, a second grabbing cylinder 5246 and two second grabbing claws 5248. The second rear pool lifting cylinder 5242 is installed and fixed on the linkage seat 522, the second fixed plate 5244 is connected to the power output shaft of the second rear pool lifting cylinder 5242, the second grabbing cylinder 5246 is installed on the second fixed plate 5244, and the two second grabbing claws 5248 are fixed on the linkage seat 522. The second grabbing cylinder 5246 is a driving shaft. The second grabbing cylinder 5246 drives the two second grabbing claws 5248 to move closer to or farther from each other, thereby releasing or clamping the rear pool 22. When the second grabbing cylinder 5246 drives the two second grabbing claws 5248 to move closer to each other, the two second grabbing claws 5248 jointly grab the rear pool 22. When the second grabbing cylinder 5246 drives the two second grabbing claws 5248 to move away from each other, the two second grabbing claws 5248 jointly release the rear pool 22. In this embodiment, the power direction of the second rear pool lifting cylinder 5242 is parallel to the Z axis.

[0056] like Figure 1 , Figure 7 and Fig.14 As shown, further, the ultrasonic welding mechanism 600 is installed on the frame 100, and the ultrasonic welding mechanism 600 is located above the first conveying assembly 210; the first conveying mechanism 200 also includes a stop lifting assembly 230, which is arranged on the first conveying assembly 210. The stop lifting assembly 230 is used to lift the horizontal carrier 220 to a predetermined height when the horizontal carrier 220 is transported to the welding position with the first conveying assembly 210, and the ultrasonic welding mechanism 600 welds the rear pool 22 to the rear pool assembly area of ​​the reagent kit semi-finished product 20 of the horizontal carrier 220 to avoid vibration during ultrasonic welding that affects the service life of the first conveying assembly. In this embodiment, the stop lifting assembly 230 is a prior art and is not described in detail here.

[0057] Furthermore, the automatic reagent kit production system 1 further includes a bagging device 40, which is used to pack the heat-sealed reagent kit into a packaging bag. The assembly grabbing device 10 further includes a transfer robot 700, which is arranged on the frame 100, and the transfer robot 700 is respectively arranged adjacent to the bagging device 40 and the output end of the second conveying mechanism 300, and the transfer robot 700 is used to grab the heat-sealed reagent kit to the third conveying mechanism of the bagging device 40 to pack the reagent kit into a packaging bag.

[0058] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the patent of the present disclosure shall be subject to the attached claims.

Claims

1. An assembly grabbing device, characterized in that: include: frame; A first conveying mechanism, disposed on the frame; A transfer mechanism is arranged on the frame, the transfer mechanism is provided with a placement slot, and the transfer mechanism is used to adjust the rear pool to a predetermined angle after the rear pool is placed in the placement slot; The first material grabbing manipulator mechanism is used to first grab the rear pool at the upper material position of the rear pool to the placement slot, and then grab the rear pool adjusted to the predetermined angle to the rear pool assembly area of ​​the reagent kit semi-finished product of the first conveying mechanism; the first conveying mechanism is used to convey the semi-finished reagent kit after the rear pool is placed to the welding position for welding, and convey the welded semi-finished reagent kit to the first position; A second conveying mechanism is disposed on the frame; The second material grabbing manipulator mechanism comprises a transporting drive mechanism and a clamping release manipulator, wherein a power output end of the transporting drive mechanism is connected to the clamping release manipulator, and the transporting drive mechanism is used to drive the clamping release manipulator to reciprocate between the first position and the second position of the second conveying mechanism; The clamping robot is used to loosen or clamp the box body of the semi-finished reagent box; the second conveying mechanism is used to convey the semi-finished reagent box from the second position to the filling position and the sealing film cutting position in sequence; The controller is electrically connected to the control end of the first conveying mechanism, the control end of the first material grabbing robot mechanism, the control end of the second conveying mechanism and the control end of the second material grabbing robot mechanism respectively.

2. The assembly grabbing device according to claim 1, characterized in that: The transport drive mechanism includes a first drive component, a first mounting seat and a second drive component; the first drive component is installed on the frame, the first mounting seat is installed on the drive end of the first drive component, the second drive component is installed on the first mounting seat, and there is a preset angle between the driving direction of the first drive component and the driving direction of the second drive component; the clamping robot is installed and fixed to the power output end of the second drive component.

3. The assembly grabbing device according to claim 2, characterized in that: The transport drive mechanism also includes a second mounting seat and a rotation drive assembly, the second mounting seat is mounted on the drive end of the second drive assembly, the rotation drive assembly is mounted on the second mounting seat, the clamping release manipulator is mounted and fixed on the rotation drive shaft of the rotation drive assembly, and the rotation drive assembly is used to drive the clamping release manipulator to rotate until the filling port of the semi-finished test kit is set upward.

4. The assembly grabbing device according to claim 3, characterized in that: The clamping release robot includes a rotating shaft seat, a clamping release driving cylinder, a first clamp and a second clamp. The rotating shaft seat is rotatably connected to the second mounting seat. The driving rotating end of the rotating shaft seat is located in the avoidance groove and is connected to the gear sleeve. The clamping release driving cylinder is installed on the rotating shaft seat. The power output end of the clamping release driving cylinder is respectively connected to the first clamp and the second clamp. The clamping release driving cylinder is used to drive the first clamp and the second clamp to move closer to or away from each other.

5. The assembly gripping device according to any one of claims 1 to 4, characterized in that: The first conveying mechanism comprises a first conveying assembly and a plurality of horizontal carriers, wherein the plurality of horizontal carriers are spaced apart along the conveying direction of the first conveying assembly, each of the horizontal carriers is provided with a horizontal positioning groove, and the horizontal positioning groove is used to horizontally position the semi-finished reagent kit so that the rear pool assembly area of ​​the semi-finished reagent kit is arranged upward; and / or, The second conveying mechanism includes a second conveying component and a plurality of longitudinal carriers, wherein the plurality of longitudinal carriers are spaced apart along the conveying direction of the second conveying component, and each of the longitudinal carriers is provided with a vertical positioning groove, and the vertical positioning groove is used to vertically place and position the semi-finished product of the test kit so that the filling port of the semi-finished product of the test kit is arranged upward.

6. The assembly gripping device according to any one of claims 1 to 4, characterized in that: The transfer mechanism includes a transfer table, a rotating cylinder and a positioning fixture. The transfer table is fixed to the frame, the rotating cylinder is installed on the top of the transfer table, and the positioning fixture is arranged on the rotating drive shaft of the rotating cylinder; the placement groove is opened in the positioning fixture.

7. The assembly gripping device according to any one of claims 1 to 4, characterized in that: The first material grabbing robot mechanism includes a rear pool horizontal drive mechanism, a linkage seat, a first rear pool material grabbing assembly and a second rear pool material grabbing assembly; the rear pool horizontal drive mechanism is arranged on the frame, the linkage seat is fixed to the driving end of the rear pool horizontal drive mechanism, and the rear pool horizontal drive mechanism is used to drive the linkage seat to reciprocate; the first rear pool material grabbing assembly and the second rear pool material grabbing assembly are both installed on the linkage seat; the first rear pool material grabbing assembly is used to grab the rear pool at the feeding end of the rear pool feeding device to the placement slot; the second rear pool material grabbing assembly is used to grab the rear pool of the placement slot to the rear pool assembly area.

8. A test kit automatic production system, characterized in that: It comprises a rear tank feeding device, an ultrasonic welding device, a filling device, an integrated film cutting and sealing device and an assembly grabbing device as described in any one of claims 1 to 7; The rear pool feeding device is arranged at the rear pool feeding position, and the rear pool feeding position is arranged adjacent to the first material grabbing manipulator mechanism, and the rear pool feeding device is used to feed the rear pool; The ultrasonic welding device is used to ultrasonically weld the semi-finished product of the test kit at the welding position; The filling device is used to fill the reagent into the filling port of the semi-finished reagent box at the filling position; The integrated film cutting and sealing device is used to punch out the film strip, and to heat-seal the filling port of the semi-finished test kit at the position of the cutting and sealing film with the punched film sheet; The controller is also electrically connected to the rear tank feeding device, the ultrasonic welding device, the filling device and the film cutting and sealing integrated device respectively.

9. The automatic reagent kit production system according to claim 8, characterized in that: The filling device includes a filling machine, an alignment drive assembly, an injection head and a filling tube group. The filling machine is installed on a frame, and the injection head is connected to the power output end of the alignment drive assembly. The alignment drive assembly is used to drive the injection head to a predetermined injection position when the semi-finished product of the test kit is transported to the corresponding position of the filling machine. The filling machine is connected to the injection head through the filling tube group.

10. The automatic reagent kit production system according to claim 8, characterized in that: The integrated film cutting and sealing device includes a film roll unloading component, a film cutting base, a film cutting and sealing drive component and a film cutting and heat-sealing head; the film roll unloading component, the film cutting base and the film cutting and sealing drive component are all arranged on the frame, the film roll unloading component is used to convey the film material strip to the material transfer channel of the film cutting seat of the film cutting base, the film cutting seat is provided with a film cutting cavity connected to the material transfer channel, the film cutting and heat-sealing head is installed on the driving end of the cutting and sealing drive component, the cutting and sealing drive component is used to drive the film cutting and heat-sealing head to punch the film material strip through the film cutting cavity, and drive the film cutting and heat-sealing head to heat-seal the punched film sheet at the filling port of the semi-finished test kit on the second conveying mechanism.

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