Assembly of a gripping device and automatic production system of a kit

Abstract

The present disclosure provides an assembly and kit automatic production system. The assembly and kit automatic production system comprises a rack, a first conveying mechanism, a transfer mechanism, a first grabbing mechanical hand mechanism, a second conveying mechanism, a second grabbing mechanical hand mechanism and a controller. The first conveying mechanism is arranged on the rack, and the transfer mechanism is arranged on the rack. The transfer mechanism is provided with a placing groove, and is used for adjusting the rear pool to a predetermined angle after the rear pool is placed in the placing groove. The first grabbing mechanical hand mechanism is used for grabbing the rear pool at the feeding position of the rear pool to the placing groove, and then grabbing the rear pool adjusted to the predetermined angle to the rear pool assembly 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 after the rear pool to a welding position for welding, and conveying the kit semi-finished product after welding to a first position. The loose clamp mechanical hand is used for loosening or clamping the box body of the kit semi-finished product, thereby improving the production efficiency and yield of the kit.

Description

TECHNICAL FIELD

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

[0002] A blood cell analyzer, also known as a blood cell analyzer, is one of the instruments widely used in clinical laboratory of hospital. The existing POCT blood cell analyzer is assembled with a sealing ring, a microporous sheet and a rear pool in the cavity of the kit, such as Chinese patents with patent application numbers CN202121839169.8 or CN202110839658.1.

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

[0004] However, the semi-finished product is placed on the ultrasonic welding machine for ultrasonic welding by manual operation, and then the semi-finished product after welding is filled with reagent by manual operation. Since the number of manual operations is large, not only the production efficiency of the kit is low, but also the product scrap situation caused by manual error may occur, for example, the situation that the rear pool is not accurately placed in the rear pool assembly area in the preset direction to perform welding, resulting in low yield of the kit. SUMMARY

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

[0006] The purpose of the present disclosure is achieved by the following technical solutions:

[0007] An assembly grabbing device comprises:

[0008] a rack;

[0009] a first conveying mechanism arranged on the rack;

[0010] a transfer mechanism arranged on the rack, the transfer mechanism being provided with a placing groove, and the transfer mechanism being used to adjust the rear pool to a predetermined angle after the rear pool is placed in the placing groove;

[0011] The first grabbing mechanical hand mechanism is used for grabbing the rear tank of the rear tank on the upper loading position of the rear tank to the placing groove, and then grabbing the rear tank adjusted to the predetermined angle to the rear tank assembly 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 after the rear tank to the welding position for welding, and conveying the kit semi-finished product after welding to the first position;

[0012] The second conveying mechanism is arranged on the rack;

[0013] The second grabbing mechanical hand mechanism comprises a carrying driving mechanism and a loose clamping mechanical hand, the power output end of the carrying driving mechanism is connected with the loose clamping mechanical hand, the carrying driving mechanism is used for driving the loose clamping mechanical hand to reciprocate between the first position and the second position of the second conveying mechanism; the loose clamping mechanical hand is used for loosening or clamping the box body of the kit semi-finished product; and the second conveying mechanism is used for conveying the kit semi-finished product from the second position to the filling position and the sealing film cutting position in sequence.

[0014] The controller is electrically connected with the control end of the first conveying mechanism, the control end of the first grabbing mechanical hand mechanism, the control end of the second conveying mechanism and the control end of the second grabbing mechanical hand mechanism respectively.

[0015] In one of the embodiments, the carrying driving mechanism comprises a first driving assembly, a first mounting seat and a second driving assembly; the first driving assembly is mounted on the rack, the first mounting seat is mounted on the driving end of the first driving assembly, the second driving assembly is mounted on the first mounting seat, and there is a preset included angle between the driving direction of the first driving assembly and the driving direction of the second driving assembly; the loose clamping mechanical hand is fixedly mounted on the power output end of the second driving assembly.

[0016] In one of the embodiments, the carrying driving mechanism further comprises a second mounting seat and a rotary driving assembly, the second mounting seat is mounted on the driving end of the second driving assembly, the rotary driving assembly is mounted on the second mounting seat, the loose clamping mechanical hand is fixedly mounted on the rotary driving shaft of the rotary driving assembly, and the rotary driving assembly is used for driving the loose clamping mechanical hand to rotate until the filling port of the kit semi-finished product is arranged upwards.

[0017] In one of the embodiments, the loose clamping mechanical hand comprises a rotating shaft seat, a loose clamping driving cylinder, a first clamping jaw and a second clamping jaw, the rotating shaft seat is rotationally connected to the second mounting seat, the driving rotation end of the rotating shaft seat is located in the avoiding groove and is connected with the gear sleeve, the loose clamping driving cylinder is mounted on the rotating shaft seat, the power output end of the loose clamping driving cylinder is connected with the first clamping jaw and the second clamping jaw respectively, and the loose clamping driving cylinder is used for driving the first clamping jaw and the second clamping jaw to approach or move away from each other.

[0018] In one of the embodiments, the first conveying mechanism comprises a first conveying assembly and a plurality of horizontal carriers, the horizontal carriers are distributed along the conveying direction of the first conveying assembly, each of the horizontal carriers is provided with a horizontal positioning slot for positioning a kit semi-finished product horizontally, so that the back pool assembly area of the kit semi-finished product is arranged upward.

[0019] In one of the embodiments, the second conveying mechanism comprises a second conveying assembly and a plurality of vertical carriers, the vertical carriers are distributed along the conveying direction of the second conveying assembly, each of the vertical carriers is provided with a vertical positioning slot for positioning a kit semi-finished product vertically, so that the filling port of the kit semi-finished product is arranged upward.

[0020] In one of the embodiments, the transfer mechanism comprises a transfer table, a rotary air cylinder and a positioning jig, the transfer table is fixed to the rack, the rotary air cylinder is installed on the top of the transfer table, and the positioning jig is arranged on the rotary driving shaft of the rotary air cylinder; the placing slot is arranged in the positioning jig.

[0021] In one of the embodiments, the first grabbing mechanical hand mechanism comprises a back pool horizontal driving mechanism, a linkage seat, a first back pool grabbing assembly and a second back pool grabbing assembly; the back pool horizontal driving mechanism is arranged on the rack, the linkage seat is fixed to the driving end of the back pool horizontal driving mechanism, and the back pool horizontal driving mechanism is used for driving the linkage seat to reciprocate; the first back pool grabbing assembly and the second back pool grabbing assembly are both installed on the linkage seat; the first back pool grabbing assembly is used for grabbing the back pool at the feeding end of the back pool feeding device to the placing slot; the second back pool grabbing assembly is used for grabbing the back pool in the placing slot to the back pool assembly area.

[0022] A kit automatic production system comprises a back pool feeding device, an ultrasonic welding device, a filling device, a cutting and sealing film integrated device and the assembly grabbing device of any one of the above embodiments.

[0023] The back pool feeding device is arranged at a back pool feeding position, the back pool feeding position is adjacent to the first grabbing mechanical hand mechanism, and the back pool feeding device is used for feeding a back pool.

[0024] The ultrasonic welding device is used for ultrasonic welding of the kit semi-finished product at the welding position.

[0025] The filling device is used for reagent filling of the filling port of the kit semi-finished product at the filling position.

[0026] The cutting and sealing film integrated device is used for cutting the film material belt and heat sealing the film piece to the injection port of the kit semi-finished product at the cutting and sealing film position.

[0027] The controller is also electrically connected with the rear pool feeding device, the ultrasonic welding device, the filling device and the cutting and sealing film integrated device respectively.

[0028] In one embodiment, the filling device comprises a filling machine, an alignment driving assembly, a injection head and a filling pipe group, the filling machine is installed on the rack, the injection head is connected to the power output end of the alignment driving assembly, the alignment driving assembly is used for driving the injection head to move to a predetermined injection position when the kit semi-finished product is conveyed to the corresponding position of the filling machine, and the filling machine is communicated with the injection head through the filling pipe group.

[0029] In one embodiment, the cutting and sealing film integrated device comprises a film roll feeding assembly, a cutting film base, a cutting and sealing driving assembly and a cutting film heat sealing head, the film roll feeding assembly, the cutting film base and the cutting and sealing driving assembly are all arranged on the rack, the film roll feeding assembly is used for conveying the film material belt to the passing material channel of the cutting film seat of the cutting film base, the cutting film seat is provided with a cutting film cavity communicated with the passing material channel, the cutting film heat sealing head is installed on the driving end of the cutting and sealing driving assembly, the cutting and sealing driving assembly is used for driving the cutting film heat sealing head to cut the film material belt through the cutting film cavity and driving the cutting film heat sealing head to heat seal the film piece obtained by cutting to the injection port of the kit semi-finished product on the second conveying mechanism.

[0030] Compared with the prior art, the present disclosure includes but is not limited to the following advantages:

[0031] 1. The automatic production system of the above kit first controls the first grabbing mechanical hand mechanism to grab the rear tank at the rear tank loading position to the placement groove, and then grab the rear tank at the predetermined angle to the rear tank assembly area of the kit semi-finished product of the first conveying mechanism; then the controller controls the first conveying mechanism to convey the kit semi-finished product after the rear tank to the welding position for welding, and then convey the kit semi-finished product after welding to the first position; then the controller controls the carrying drive mechanism of the grabbing mechanism to drive the loose clamp mechanical hand to move to the first position, and controls the loose clamp mechanical hand to clamp the kit semi-finished product at the first position; then the controller controls the carrying drive mechanism of the grabbing mechanism to drive the loose clamp mechanical hand to move from the first position to the second position, so that the kit semi-finished product at the first position is carried to the second position, and the loose clamp mechanical hand is controlled to loosen the kit semi-finished product at the second position; then the controller controls the second conveying mechanism to convey the kit semi-finished product at the second position to the filling position for jar agent operation; then the controller controls the second conveying mechanism to continue conveying the kit semi-finished product to the sealing film cutting position to heat seal the filling port of the kit semi-finished product, so that the film piece is sealed at the filling port of the kit semi-finished product; in the kit assembly process, manual intervention such as manual carrying is not required, so that the automatic assembly of the kit is realized, and the production efficiency of the kit is improved;

[0032] 2. When the rear tank is grabbed to the placement groove, the controller controls the transfer mechanism to act, so that the rear tank is adjusted to a predetermined angle, so that the first grabbing mechanical hand mechanism can quickly and accurately grab the rear tank at the predetermined angle to the rear tank assembly area of the kit semi-finished product of the first conveying mechanism, realize accurate assembly of the rear tank, avoid product scrap due to manual error, and improve the yield of the kit;

[0033] 3. When the controller controls the rear tank loading device to load the rear tank to the rear tank loading position, the automatic loading of the rear tank is realized; since the rear tank can be accurately assembled to the rear tank assembly area of the kit semi-finished product of the first conveying mechanism, when the first conveying mechanism conveys the kit semi-finished product after the rear tank to the welding position, the controller controls the ultrasonic welding device to ultrasonically weld the kit semi-finished product at the welding position; after the second grabbing mechanical hand mechanism grabs the kit semi-finished product from the first position to the second position, the controller controls the second conveying mechanism to convey the kit semi-finished product at the second position to the filling position, and then controls the filling device to fill the kit semi-finished product with the agent; then the controller controls the second conveying mechanism to convey the kit semi-finished product from the filling position to the sealing film cutting position, and controls the sealing film cutting integrated device to punch the film material belt, and heat seals the film piece obtained by punching to the filling port of the kit semi-finished product at the sealing film cutting position, realizes the automation of the rear tank assembly, welding, agent filling and sealing film cutting of the kit, and realizes the automatic production of the kit through the assembly grabbing device between each process, improves the production efficiency of the kit;

[0034] 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 of the test kit. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 Schematic diagram of the structure of an automatic test kit production system according to one embodiment;

[0037] Figure 2 for Figure 1 Schematic diagram of the test kit assembled by the rear pool automatic assembly equipment of the test kit automatic production system shown;

[0038] Figure 3 for Figure 2 Photographic diagram of the kit shown;

[0039] Figure 4 for Figure 1 A schematic structural diagram of an assembly grabbing device of a back-pool automatic assembly device of an automatic test kit production system;

[0040] Figure 5 for Figure 4 A schematic structural diagram of the assembled grabbing device from another perspective;

[0041] Figure 6 for Figure 5 A partial schematic diagram of the assembled grabbing device from another perspective;

[0042] Figure 7 for Figure 5 A partial schematic diagram of another perspective of the assembled grasping device shown;

[0043] Figure 8 for Figure 5 A schematic diagram of the material grabbing mechanism of the assembled grabbing device is shown;

[0044] Figure 9 for Figure 5 A partially enlarged schematic diagram of the assembled grabbing device is shown;

[0045] Figure 10 for Figure 5 A schematic diagram of a film cutting and sealing device assembled with a gripping device;

[0046] Figure 11 Fig. 6 shows a schematic view of the cutting and sealing film integrated device from another perspective; Figure 10

[0047] Figure 12 Fig. 7 shows a partial schematic view of a rear pool assembly device for assembling the gripping device; Figure 5

[0048] Figure 13 Fig. 8 shows a schematic view of a first gripping mechanical hand mechanism of the rear pool assembly device; Figure 12

[0049] Figure 14 Fig. 9 shows a partial schematic view of a kit automatic production system; Figure 1

[0050] Reference signs:

[0051] ​​​​1. A kit automatic production system; 20. A kit semi-finished product; 20a. A kit; 22. A back pool; 23. A pouring port; 24. A box body; 30. A film strip; 32. A film sheet; 40. A bagging device; 100. A rack; 200. A first conveying mechanism; 210. A first conveying assembly; 220. A horizontal carrier; 222. A horizontal positioning groove; 300. A second conveying mechanism; 302. A heat sealing alignment frame; 302a. An alignment port; 310. A second conveying assembly; 320. A vertical carrier; 330. A second position sensor; 400. A filling and film sealing device; 410. A gripping mechanism; 410a. A carrying driving mechanism; 412. A first driving assembly; 414. A first mounting seat; 416. A second driving assembly; 4162. A first carrying vertical cylinder; 4164. An intermediate sliding plate; 4166. A second carrying vertical cylinder; 4167. A second mounting seat; 41671. An avoidance groove; 41672. A sliding rail groove; 4168. A rotary driving assembly; 41682. A rotary driving member; 41684. A rack; 41686. A gear; 410b. A loose clamping manipulator; 4101. A rotating shaft seat; 4103. A loose clamping driving cylinder; 4105. A first clamping jaw; 4106. A second clamping jaw; 420. A filling device; 421. A filling machine; 423. An alignment driving assembly; 4232. A lifting driving member; 4234. A horizontal driving member; 4236. A medicine injection mounting seat; 425. A medicine injection head; 427. A filling tube group; 427a. A flow meter; 428. A first position sensor; 430. A cutting and film sealing integrated device; 431. A film roll feeding assembly; 4312. A feeding roll; 4314. A feeding roller group; 432. A cutting film base; 4322. A cutting film seat; 432a. A feeding passage; 432b. A cutting film cavity; 4324. A jacking assembly; 43242. A jacking assembly; 43244. A jacking push block; 433. A cutting and sealing driving assembly; 4331. A translation driving member; 4332. A translation seat; 4333. A vertical driving member; 4334. A vertical sliding seat; 434. A cutting film heat sealing head; 510. A back pool feeding device; 520. A first gripping manipulator mechanism; 521. A back pool horizontal driving mechanism; 522. A linkage seat; 523. A first back pool gripping assembly; 523a. A fixed block; 523b. An elastic pressing column; 5232. A first back pool lifting cylinder; 5234. A first fixed plate; 5236. A first gripping cylinder; 5238. A first gripping claw; 524. A second back pool gripping assembly; 5242. A second back pool lifting cylinder; 5244. A second fixed plate; 5246. A second gripping cylinder; 5248. A second gripping claw; 530. A transfer mechanism; 5302. A placing groove; 532. A transfer table; 534. A rotary cylinder; 536. A positioning jig; 600. An ultrasonic welding mechanism; 700. A transfer manipulator. DETAILED DESCRIPTION

[0052] To facilitate understanding of the present disclosure, a more comprehensive description of the present disclosure will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present disclosure. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure.

[0053] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure pertains. The terms used herein in the specification of this disclosure are for the purpose of describing specific embodiments only and are not intended to limit this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0055] In order to better understand the technical solutions and beneficial effects of the present disclosure, the present disclosure is further described in detail below with reference to specific embodiments:

[0056] like Figures 1 to 6 As shown, an automatic reagent kit production system 1 of one embodiment is used to assemble a reagent kit 20a from a semi-finished reagent kit 20. Furthermore, the automatic reagent kit production system 1 includes a back-tank loading device 510, an ultrasonic welding device 600, a filling device 420, a film cutting and sealing device 430, and an assembly and gripping device.

[0057] See also Figures 7 to 13In one embodiment, the assembly device comprises a rack 100, a first conveying mechanism 200, a transfer mechanism 530, a first grabbing mechanical hand mechanism 520, a second conveying mechanism 300, a second grabbing mechanical hand mechanism 410, and a controller (not shown in the figure). In one embodiment, the first conveying mechanism 200 is arranged on the rack 100, and the first conveying mechanism 200 is used to convey the reagent box semi-finished product 20 after the assembly of the rear pool 22 to a first position. The transfer mechanism 530 is arranged on the rack 100, and the transfer mechanism 530 is provided with a placing groove 5302. The transfer mechanism 530 is used to adjust the rear pool to a predetermined angle after the rear pool is placed in the placing groove 5302, so that the second rear pool grabbing assembly 524 can quickly and accurately grab the rear pool 22 in the placing groove 5302 and assemble it to the rear pool assembly area of the reagent box semi-finished product 20 on the horizontal carrier 220, and at the same time, the first rear pool grabbing assembly 523 can quickly and accurately grab the rear pool 22 at the feeding end of the rear pool feeding device 510 to the placing groove 5302 of the transfer mechanism 530. In this embodiment, the adjustment of the rear pool 22 to the predetermined angle is the same as the angle of the assembly of the rear pool 22 to the rear pool assembly area, which avoids the problem of the angle deviation of the assembly of the rear pool 22 to the rear pool assembly area, and reliably assembles the rear pool 22 to the rear pool assembly area of the reagent box semi-finished product 20, while improving the efficiency of the assembly of the rear pool 22 to the rear pool assembly area. The power direction of the rear pool horizontal driving mechanism 521 is parallel to the Y direction.

[0058] In one of the embodiments, the first grabbing mechanical hand 520 is used to first grab the rear pool of the rear pool feeding position to the placing groove 5302, and then grab the rear pool adjusted to the predetermined angle to the rear pool assembly area of the kit semi-finished product 20 of the first conveying mechanism 200; the first conveying mechanism 200 is used to convey the kit semi-finished product 20 after placing the rear pool to the welding position for welding, and convey the kit semi-finished product 20 after welding to the first position; the second conveying mechanism 300 is arranged on the rack 100. The second grabbing mechanical hand 410 includes a carrying driving mechanism 410a and a loose clamping mechanical hand 410b, the power output end of the carrying driving mechanism 410a is connected with the loose clamping mechanical hand 410b, the carrying driving mechanism 410a is used to drive the loose clamping mechanical hand 410b to reciprocate between the first position and the second position of the second conveying mechanism 300; the loose clamping mechanical hand 410b is used to loosen or clamp the box body 24 of the kit semi-finished product 20; because the carrying driving mechanism 410a drives the loose clamping mechanical hand 410b to reciprocate between the first position and the second position, the carrying driving mechanism 410a drives the loose clamping mechanical hand 410b to move from the first position to the second position after the loose clamping mechanical hand 410b clamps the box body 24 of the kit semi-finished product 20, and drives the loose clamping mechanical hand 410b to move from the second position to the first position after the loose clamping mechanical hand 410b loosens the box body 24 of the kit semi-finished product 20, so as to carry the next kit semi-finished product 20.

[0059] The second conveying mechanism 300 is used to convey the kit semi-finished product 20 from the second position to the filling position and the film cutting and sealing position in sequence; the controller is electrically connected with the control end of the first conveying mechanism 200, the control end of the first grabbing mechanical hand 520, the control end of the second conveying mechanism 300 and the control end of the second grabbing mechanical hand 410 respectively.

[0060] Further, the rear pool feeding device 510 is arranged at the rear pool feeding position, the rear pool feeding position is arranged adjacent to the first grabbing mechanical hand 520, the rear pool feeding device 510 is used to feed the rear pool; the ultrasonic welding device 600 is used to ultrasonically weld the kit semi-finished product 20 at the welding position; the filling device 420 is used to fill the reagent into the reagent filling port 23 of the kit semi-finished product 20 at the filling position; the film cutting and sealing integrated device 430 is used to punch the film material belt 30, and the film piece 32 obtained by punching is used to heat seal the reagent filling port 23 of the kit semi-finished product 20 at the film cutting and sealing position, as shown in Figure 3 The kit 20a with the heat sealed film piece 32 is shown.

[0061] The controller is also electrically connected with the rear pool loading device 510, the ultrasonic welding device 600, the filling device 420 and the cutting and sealing film integrated device 430 respectively. In the embodiment, when the second conveying mechanism 300 conveys the kit semi-finished product 20 from the second position to the corresponding position of the filling device 420, the filling device 420 automatically fills the reagent into the reagent filling port of the kit semi-finished product 20; when the second conveying mechanism 300 conveys the kit semi-finished product 20 to the corresponding position of the cutting and sealing film integrated device 430, the cutting and sealing film integrated device 430 heat seals the film piece punched from the film strip to the reagent filling port of the kit semi-finished product 20 on the second conveying mechanism 300. It can be understood that the cutting and sealing film integrated device 430 can punch the film strip before the kit semi-finished product 20 is conveyed to the corresponding position of the cutting and sealing film integrated device 430, or punch the film strip after the kit semi-finished product 20 is conveyed to the corresponding position of the cutting and sealing film integrated device 430.

[0062] When the controller controls the rear pool loading device 510 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 positioned and assembled to the rear pool assembly area of the kit semi-finished product 20 on the first conveying mechanism 200, when the first conveying mechanism 200 conveys the kit semi-finished product 20 with the rear pool to the welding position, the controller controls the ultrasonic welding device 600 to ultrasonically weld the kit semi-finished product 20 at the welding position; after the second grasping mechanical hand 410 grasps the kit semi-finished product 20 from the first position to the second position, the controller controls the second conveying mechanism 300 to convey the kit semi-finished product 20 at the second position to the filling position, and then controls the filling device 420 to fill the reagent into the reagent filling port of the kit semi-finished product 20; then the controller controls the second conveying mechanism 300 to convey the kit semi-finished product 20 from the filling position to the cutting and sealing film position, controls the cutting and sealing film integrated device 430 to punch the film strip, and heat seals the film piece punched from the film strip to the reagent filling port of the kit semi-finished product 20 at the cutting and sealing film position, realizing the automation of the rear pool assembly, welding, reagent filling and cutting and sealing film of the kit, and realizing the automatic production of the kit through the flow transfer between each process by the assembly grasping device, and improving the production efficiency of the kit.

[0063] The reagent box automatic production system 1 and the assembly grabbing device thereof first control the controller to control the first grabbing mechanical hand mechanism 520 to grab the rear pool at the rear pool feeding position to the placing groove 5302, and then grab the rear pool adjusted to the predetermined angle to the rear pool assembly area of the reagent box semi-finished product 20 of the first conveying mechanism 200; then the controller controls the first conveying mechanism 200 to convey the reagent box semi-finished product 20 after the rear pool to the welding position for welding, and then convey the reagent box semi-finished product 20 after welding to the first position; then the controller controls the carrying driving mechanism 410a of the grabbing mechanism to drive the loose clamp mechanical hand 410b to move to the first position, and controls the loose clamp mechanical hand 410b to clamp the reagent box semi-finished product 20 at the first position; then the controller controls the carrying driving mechanism 410a of the grabbing mechanism to drive the loose clamp mechanical hand 410b to move from the first position to the second position, so that the reagent box semi-finished product 20 at the first position is carried to the second position, and the loose clamp mechanical hand 410b is controlled to loosen the reagent box semi-finished product 20 at the second position; then the controller controls the second conveying mechanism 300 to convey the reagent box semi-finished product 20 at the second position to the filling position for the jar reagent operation; then the controller controls the second conveying mechanism 300 to continue conveying the reagent box semi-finished product 20 to the sealing film cutting position to heat seal the jar reagent port of the reagent box semi-finished product 20, so that the film is sealed at the jar reagent port of the reagent box semi-finished product 20; in the reagent box assembly process, no manual intervention such as manual carrying is needed, so that the automatic assembly of the reagent box is realized, and the production efficiency of the reagent box is improved; after the rear pool is grabbed to the placing groove 5302, the controller controls the transfer mechanism 530 to adjust the rear pool to the predetermined angle, so that the first grabbing mechanical hand mechanism 520 can quickly and accurately grab the rear pool adjusted to the predetermined angle to the rear pool assembly area of the reagent box semi-finished product 20 of the first conveying mechanism 200, the accurate alignment assembly of the rear pool is realized, the situation that the product is scrapped due to manual error is avoided, and the yield of the reagent box is improved; through the integrated control of the controller, the automatic assembly of the reagent box is realized, the number of manual interventions is reduced, and the yield of the reagent box is improved.

[0064] As Figure 1 , Figure 4 , Figure 7 , Figure 8As shown, in one of the embodiments, the carrying driving mechanism 410a comprises a first driving assembly 412, a first mounting base 414 and a second driving assembly 416; the first driving assembly 412 is mounted on the rack 100, the first mounting base 414 is mounted on the driving end of the first driving assembly 412, the second driving assembly 416 is mounted on the first mounting base 414, and the loose-clamping manipulator 410b is fixedly mounted on the power output end of the second driving assembly 416. The driving direction of the first driving assembly 412 and the driving direction of the second driving assembly 416 have a preset included angle, when the first driving assembly 412 and the second driving assembly 416 act, the loose-clamping manipulator 410b is better moved between the first position and the second position, and the reagent box semi-finished product 20 is better carried from the first position to the second position. In this embodiment, the preset included angle is 90°. Among them, the driving direction of the first driving assembly 412 is parallel to the X-axis direction, and the driving direction of the second driving assembly 416 is parallel to the Z-axis. In other embodiments, the preset included angle can also be other angles, for example, 70°.

[0065] As shown in Figure 1 , Figure 4 , Figure 7 , Figure 8 Further, the first driving assembly 412 is a cylinder driving assembly. In this embodiment, the first driving assembly 412 is a prior art, which is not described here. Further, the second driving assembly 416 comprises a first carrying vertical cylinder 4162, an intermediate sliding plate 4164 and a second carrying vertical cylinder 4166, the first carrying vertical cylinder 4162 is fixed on the first mounting base 414, the intermediate sliding plate 4164 is slidingly connected to the first mounting base 414, the intermediate sliding plate 4164 is connected to the power shaft of the first carrying vertical cylinder 4162, the second carrying vertical cylinder 4166 is mounted on the intermediate sliding plate 4164, and the loose-clamping manipulator 410b is fixedly mounted on the power output end of the second carrying vertical cylinder 4166. Thus, by designing two-stage driving cylinders of the first carrying vertical cylinder 4162 and the second carrying vertical cylinder 4166, the problem of insufficient driving stroke caused by the long distance between the grabbing point of the loose-clamping manipulator 410b and the mounting position of the first carrying vertical cylinder 4162 is avoided. In this embodiment, the driving direction of the first carrying vertical cylinder 4162 and the driving direction of the second carrying vertical cylinder 4166 are parallel to each other.

[0066] As shown in Figure 1 , Figure 4 , Figure 7 , Figure 8As shown, in one embodiment, the carrying driving mechanism 410a further comprises a second mounting base 4167 and a rotating driving assembly 4168, the second mounting base 4167 is mounted on the driving end of the second driving assembly 416, the rotating driving assembly 4168 is mounted on the second mounting base 4167, the loose clamping manipulator 410b is fixedly mounted on the rotating driving shaft of the rotating driving assembly 4168, and the rotating driving assembly 4168 is used to drive the loose clamping manipulator 410b to rotate until the filling port of the kit semi-finished product 20 is arranged upward, so that the kit semi-finished product 20 does not need to be arranged with the filling port upward at the first position, so that the rear pool 22 is better assembled in the rear pool assembly area. The carrying driving mechanism 410a is adjusted in rotation when carrying the kit semi-finished product 20 from the first position to the second position, so that the filling port of the kit semi-finished product 20 is arranged upward at the second position, so that the next step of reagent filling is better realized. The automation of the kit semi-finished product 20 rear pool 22 assembly and reagent filling. In this embodiment, the kit semi-finished product 20 is in an inverted state at the first position, and the kit semi-finished product 20 is in a vertical state at the second position. The carrying driving mechanism 410a rotates 90° when carrying the kit semi-finished product 20 from the first position to the second position.

[0067] As shown in Figure 1 , Figure 4 , Figure 7 , Figure 8 Further, the second mounting base 4167 is slidingly connected to the first mounting base 414, so that the second driving assembly 416 drives the second mounting base 4167 to slide relatively stably with respect to the first mounting base 414. In this embodiment, the second mounting base 4167 is slidingly connected to the first mounting base 414 through a sliding block guide rail structure, so that the second mounting base 4167 slides more stably with respect to the first mounting base 414. The power output end of the second carrying vertical air cylinder 4166 is fixedly connected with the second mounting base 4167.

[0068] As shown in Figure 1 , Figure 4 , Figure 7 , Figure 8 and Figure 9As shown, further, the loose clamping mechanical arm 410b is also rotationally connected to the second mounting seat 4167, and the rotary driving assembly 4168 drives the loose clamping mechanical arm 410b to rotate more stably relative to the second mounting seat 4167. In the embodiment, the rotary driving assembly 4168 comprises a rotary driving member 41682, a rack 41684 and a gear 41686. The rotary driving member 41682 is fixedly installed on the second mounting seat 4167. The rack 41684 is slidingly arranged on the second mounting seat 4167. The rack 41684 is fixed to the power output end of the rotary driving member 41682, and the rotary driving member 41682 drives the rack 41684 to slide relative to the second mounting seat 4167. The gear 41686 is connected to the loose clamping mechanical arm 410b, and the gear 41686 is in meshing transmission with the rack 41684. When the rotary driving member 41682 drives the rack 41684 to slide relative to the second mounting seat 4167, the rack 41684 is in meshing transmission with the gear 41686, and the gear 41686 drives the rotary driving member 41682 to rotate relative to the second mounting seat 4167, so as to drive the loose clamping mechanical arm 410b to rotate relative to the second mounting seat 4167, so that the rotary driving assembly 4168 better drives the loose clamping mechanical arm 410b to rotate. Specifically, the end side of the second mounting seat 4167 is provided with an avoidance slot 41671, and the driving rotation end of the loose clamping mechanical arm 410b is located in the avoidance slot 41671. The gear 41686 is located in the avoidance slot 41671 and is sleeved on the driving rotation end. The second mounting seat 4167 is provided with a sliding rail slot 41672 which is in communication with the avoidance slot 41671. The rack 41684 is slidingly arranged in the sliding rail slot 41672, so that the gear 41686 and the rack 41684 are better accommodated on the second mounting seat 4167. Specifically, the rotary driving member 41682 is a cylinder driving member.

[0069] As shown, Figures 5 to 9 further, the loose clamping mechanical arm 410b comprises a rotating shaft seat 4101, a loose clamping driving cylinder 4103, a first clamping jaw 4105 and a second clamping jaw 4106. The rotating shaft seat 4101 is rotationally connected to the second mounting seat 4167. The driving rotation end of the rotating shaft seat 4101 is located in the avoidance slot 41671 and is sleeved with the gear 41686. The loose clamping driving cylinder 4103 is installed on the rotating shaft seat 4101. The power output end of the loose clamping driving cylinder 4103 is connected with the first clamping jaw 4105 and the second clamping jaw 4106 respectively. The loose clamping driving cylinder 4103 is used to drive the first clamping jaw 4105 and the second clamping jaw 4106 to approach or move away from each other, so that the loose clamping mechanical arm 410b can be loosened or clamped on the box body 24 of the reagent box semi-finished product 20. In the embodiment, the second mounting seat 4167 is provided with a rotary avoidance area, and the rotating shaft seat 4101 is rotationally connected to the rotary avoidance area. The loose clamping driving cylinder 4103 is located in the rotary avoidance area and is fixedly installed on the rotating shaft seat 4101.

[0070] AsFigure 7 As shown in the figure, in one embodiment, the first conveying mechanism 200 comprises a first conveying assembly 210 and a plurality of horizontal carriers 220, which are spaced apart along the conveying direction of the first conveying assembly 210. Each horizontal carrier 220 is provided with a horizontal positioning slot 222 for positioning the reagent box semi-finished product 20 horizontally, so that the rear pool assembly area of the reagent box semi-finished product 20 is arranged upward, and the batch rear pool 22 assembly of a plurality of reagent box semi-finished products 20 is realized. In this embodiment, the first conveying assembly 210 is installed on the rack 100, and the first conveying assembly 210 is a chain belt conveying assembly. The conveying direction of the first conveying assembly 210 is parallel to the X-axis direction.

[0071] As shown in the figure, Figure 5 and Figure 6 As shown in the figure, in one embodiment, the second conveying mechanism 300 comprises a second conveying assembly 310 and a plurality of vertical carriers 320, which are spaced apart along the conveying direction of the second conveying assembly 310. Each vertical carrier 320 is provided with a vertical positioning slot 322 for positioning the reagent box semi-finished product 20 vertically, so that the reagent filling port of the reagent box semi-finished product 20 is arranged upward, and the batch reagent filling and film sealing assembly of a plurality of reagent box semi-finished products 20 is realized. In this embodiment, the second conveying assembly 310 is installed on the rack 100, and the second conveying assembly 310 is a chain belt conveying assembly. The conveying direction of the second conveying assembly 310 is parallel to the X-axis direction.

[0072] As shown in the figure, Figure 5 and Figure 6As shown in the drawings, in one embodiment, the filling device 420 comprises a filling machine 421, an alignment driving assembly 423, a reagent head 425, and a filling pipe set 427. The filling machine 421 is installed on the rack 100. The reagent head 425 is connected to the power output end of the alignment driving assembly 423. The alignment driving assembly 423 is used to drive the reagent head 425 to move to a predetermined reagent position when the reagent box semi-finished product 20 is transported to the corresponding position of the filling machine 421. The filling machine 421 is communicated with the reagent head 425 through the filling pipe set 427, so that the filling machine 421 performs reagent filling operation on the reagent port through the filling pipe set 427 and the reagent head 425. When the reagent box semi-finished product 20 is transported to the corresponding position of the filling machine 421, the alignment driving assembly 423 drives the reagent head 425 to move to the predetermined reagent position to perform reagent filling on the reagent box semi-finished product 20. In this embodiment, the reagent box semi-finished product 20 is transported to the corresponding position of the filling machine 421 by the longitudinal carrier 320. When the cutting and sealing film integrated device 430 is stopped or the reagent head 425 is cleaned, the alignment driving assembly 423 does not act, and the reagent head 425 is located on one side of the second conveying assembly 310, that is, the reagent head 425 is located at the cleaning position. When there is no load when the longitudinal carrier 320 is transported to the corresponding position of the filling machine 421, the alignment driving assembly 423 does not act, and the reagent head 425 is located above the second conveying assembly 310 and has a preset height from the predetermined reagent position, so as to avoid reagent waste caused by reagent misfilling into the longitudinal carrier 320.

[0073] As shown in the drawings, Figure 5 and Figure 6 In one embodiment, the filling device 420 further comprises a first position sensor 428. The first position sensor 428 is used to sense the reagent box semi-finished product 20 when the reagent box semi-finished product 20 is transported to the corresponding position of the filling machine 421. The first position sensor 428 is electrically connected to the controller, so as to sense whether the reagent box semi-finished product 20 exists on the longitudinal carrier 320, that is, to judge whether there is no 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 reagent box semi-finished product 20.

[0074] As shown in the drawings, Figure 5 and Figure 6 In one embodiment, the filling pipe set 427 comprises a flow meter 427a. The flow meter is electrically connected to the controller. When the reagent port of the reagent box semi-finished product 20 is filled with reagent, 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 for controlling the reagent filling of the reagent port, the reagent port of the reagent box semi-finished product 20 is accurately filled with reagent, and the reagent filling efficiency of the product is improved, thereby improving the assembly efficiency of the product.

[0075] As shown in the drawings, Figure 5 and Figure 6As shown, further, the alignment driving assembly 423 comprises a lifting driving member 4232, a transverse driving member 4234 and a reagent mounting base 4236, the lifting driving member 4232 is mounted on the rack 100, the transverse driving member 4234 is mounted on the power output end of the lifting driving member 4232, the reagent mounting base 4236 is mounted on the power output end of the transverse driving member 4234, the reagent head 425 is mounted on the reagent mounting base 4236, and the power output direction of the transverse driving member 4234 has a first included angle with the power output direction of the lifting driving member 4232. In the embodiment, the power output direction of the lifting driving member 4232 is parallel to the Z axis, and the power output direction of the transverse driving member 4234 is parallel to the Y axis. When the cutting and sealing film integrated device 430 is stopped or the reagent head 425 is cleaned, the lifting driving member 4232 and the transverse driving member 4234 are reset, i.e. neither of the lifting driving member 4232 and the transverse driving member 4234 is extended, and the reagent head 425 is located on one side of the second conveying assembly 310, at this time, the reagent head 425 is located at a cleaning position 425a of the reagent mounting base 4236; when the longitudinal carrier 320 is conveyed to the corresponding position of the filling machine 421 and there is no load, the transverse driving member 4234 and the lifting driving member 4232 are both extended, the reagent head 425 is located above the second conveying assembly 310 and has a preset height from the predetermined reagent position, so as to avoid that the reagent is mistakenly injected into the longitudinal carrier 320 and causes waste of the reagent. When the longitudinal carrier 320 is conveyed to the corresponding position of the filling machine 421 and there is the reagent box semi-finished product 20, the transverse driving member 4234 is extended, and the lifting driving member 4232 is retracted and lowered, so that the reagent head 425 injects the reagent into the reagent injection port of the reagent box semi-finished product 20.

[0076] As shown in the drawings, Figures 4 to 6 , Figure 10 In one embodiment, the cutting and sealing film integrated device 430 comprises a film roll feeding assembly 431, a film cutting base 432, a cutting and sealing driving assembly 433 and a film cutting and sealing head 434; the film roll feeding assembly 431, the film cutting base 432 and the cutting and sealing driving assembly 433 are all arranged on the rack 100, the film roll feeding assembly 431 is used to convey the film material strip 30 to the material passing channel 432a of the film cutting seat 4322 of the film cutting base 432, the film cutting seat 4322 is provided with a film cutting cavity 432b which is in communication with the material passing channel 432a, the film cutting and sealing head 434 is mounted on the driving end of the cutting and sealing driving assembly 433, the cutting and sealing driving assembly 433 is used to drive the film cutting and sealing head 434 to cut the film material strip 30 through the film cutting cavity 432b, and drive the film cutting and sealing head 434 to heat seal the cut film piece to the reagent box semi-finished product 20 on the second conveying mechanism 300 at the reagent injection port, so as to cut the film material strip 30 and heat seal the cut film piece to the reagent box semi-finished product 20 on the second conveying mechanism 300 at the reagent injection port.

[0077] As shown in the drawings, Figures 4 to 6 , Figure 10As shown, the film roll unwinding assembly 431 further includes a unwinding reel 4312 and a feed roller assembly 4314. The unwinding reel 4312 is rotatably mounted on the frame 100. The unwinding reel 4312 is used to release the film strip 30. The feed roller assembly 4314 is mounted on the frame 100. The film strip 30 is released by the unwinding reel 4312 and then guided by the feed roller assembly 4314 to the feed channel 432a of the film slitting seat 4322 of the film slitting base 432. In this embodiment, the feed roller assembly 4314 includes a plurality of feed rollers, which are spaced apart and mounted on the frame 100.

[0078] like Figures 4 to 6 、 Figure 10 、 Figure 11 As shown, further, the film cutting base 432 includes a lifting component 4324 and a film cutting seat 4322, and the film cutting seat 4322 and the lifting component 4324 are both installed and fixed on the frame 100, and the film cutting seat 4322 is located above the lifting component 4324, and the lifting component 4324 includes a lifting component 43242 and a lifting push block 43244, and the lifting component 43242 is installed and fixed on the frame 100, and the telescopic shaft of the lifting component 43242 is connected to the lifting push block 43244, and 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 punched into the film cutting cavity 432b from the film cutting opening of the film cutting cavity 432b along with the film cutting heat sealing head 434, ensuring 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, avoiding the problem of misalignment between the punched film 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, avoiding the film cutting heat sealing head 434 from 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 can reliably heat seal the film to the glue filling port of the test kit semi-finished product 20. In this embodiment, the lifting assembly 4324 is a cylinder assembly.

[0079] like Figures 4 to 6 、 Figure 10 、 Figure 11As shown, in one of the embodiments, the cutting and sealing driving assembly 433 comprises 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 rack 100, the translation seat 4332 is slidingly arranged on the rack 100, the power output end of the translation driving member 4331 is connected with the translation seat 4332, the vertical driving member 4333 is installed above the translation seat 4332, the vertical sliding seat 4334 is slidingly connected with the translation seat 4332 and connected with the power output end of the vertical driving member 4333, the film cutting and sealing head 434 is fixedly installed on the vertical sliding seat 4334, the power direction of the vertical driving member 4333 has a second included angle with the power direction of the translation driving member 4331, under the joint action of the translation driving member 4331 and the vertical driving member 4333, the film cutting and sealing head 434 can realize the reciprocating motion between the film cutting seat and the second conveying mechanism 300, so that the cutting and sealing driving assembly 433 drives the film cutting and sealing head 434 to cut the film strip 30 through the film cutting cavity 432b and drives the film cutting and sealing head 434 to heat seal the film piece to the reagent box semi-finished product 20 at the ampoule port of the reagent box 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 slidingly arranged on the rack 100 through the sliding block guide rail structure.

[0080] As shown in Figures 4 to 6 , Figure 10 , Figure 11 Further, the film cutting and sealing head 434 is a heat sealing and adsorption integrated structure, that is, the surface of the film cutting and sealing head 434 is provided with a heating layer, and the heating layer of the film cutting and sealing head 434 is provided with adsorption apertures, so that the film cutting and sealing head 434 has the functions of heating and adsorption at the same time, so that the film cutting and sealing head 434 can better adsorb the cut film piece and heat seal the film piece to the reagent box semi-finished product 20 at the ampoule port in addition to cutting the film strip 30 through the film cutting cavity 432b.

[0081] As shown in Figures 4 to 6 , Figure 10 , Figure 11As shown, the second conveying mechanism 300 is further provided with a heat seal calibration frame 302, which is provided with an alignment opening 302a. The alignment opening 302a is used to align the film when the film cutting and heat sealing head 434 heat seals the film at the filling port of the semi-finished reagent test kit 20, thereby improving the heat sealing accuracy of the film at the filling port of the semi-finished reagent test kit 20. Furthermore, the second conveying mechanism 300 also includes a second position sensor 330. The second position sensor 330 is used to sense the semi-finished reagent test kit 20 when the semi-finished reagent test kit 20 is conveyed to the corresponding position of the heat seal calibration frame 302. The second position sensor 320 is electrically connected to the controller to sense whether there is a semi-finished reagent test kit 20 on the longitudinal carrier 330, that is, to determine whether the longitudinal carrier 320 is empty when conveyed to the corresponding position of the heat seal calibration frame 302, thereby realizing control of the automatic heat sealing of the filling port of the semi-finished reagent test kit 20.

[0082] like Figure 1 、 Figure 7 、 Figure 12 As shown, in one embodiment, the rear pool loading device 510, the first 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.

[0083] like Figure 1 、 Figure 7 、 Figure 12 and Figure 13 As shown, further, the first material grabbing manipulator mechanism 520 includes a rear pool transverse 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 transverse drive mechanism 521 is arranged on the frame 100, and the linkage seat 522 is fixed to the driving end of the rear pool transverse drive mechanism 521. The rear pool transverse 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 rear pool loading end of the rear pool loading device 510 to the placement slot 5302; the second rear pool material grabbing assembly 524 is used to grab the rear pool 22 of the placement slot 5302 to the rear pool assembly area of ​​the semi-finished reagent test kit 20 on the horizontal carrier 220, so that the rear pool 22 is assembled in the rear pool assembly area of ​​the semi-finished reagent test kit 20.

[0084] 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 according to the initial placement angle to the rear tank loading position.

[0085] like Figure 1 、 Figure 7 、 Figure 12and Figure 13 As shown, the transfer mechanism 530 further includes a transfer table 532, a rotary cylinder 534, and a positioning jig 536. The transfer table 532 is fixed to the frame 100, the rotary cylinder 534 is mounted on the top of the transfer table 532, and the positioning jig 536 is provided on the rotating drive shaft of the rotary cylinder 534. A placement slot 5302 is provided in the positioning jig 536. When the first rear pool grabbing assembly 523 grabs the rear pool 22 from the feeding end of the rear pool feeding device 510 into the placement slot 5302 of the positioning jig 536, the rotary cylinder 534 drives the positioning jig 536 to rotate, causing the rear pool 22 to rotate with the positioning jig 536 until the rear pool 22 rotates to a predetermined angle.

[0086] like Figure 1 、 Figure 7 、 Figure 12 and Figure 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, 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, and improving the loading speed of the rear pool 22.

[0087] like Figure 1 、 Figure 7 、 Figure 12 and Figure 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 drive shaft of the first grabbing cylinder 5236 drives the two first grabbing claws 5238 toward or away from each other, thereby releasing or clamping the rear pool 22. When the first grabbing cylinder 5236 drives the two first grabbing claws 5238 toward each other, the two first grabbing claws 5238 jointly grasp the rear pool 22. When the first grabbing cylinder 5236 drives the two first grabbing claws 5238 away from each other, the two first 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 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. 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 grabbing air claws 5238. When the two first 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.

[0088] like Figure 1 、 Figure 7 、 Figure 12 and Figure 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 to 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 to the linkage seat 522. The drive shaft of the second grabbing cylinder 5246 drives the two second grabbing claws 5248 toward or away from each other, thereby releasing or clamping the rear pool 22. When the second grabbing cylinder 5246 drives the two second grabbing claws 5248 toward each other, the two second grabbing claws 5248 jointly grasp the rear pool 22. When the second grabbing cylinder 5246 drives the two second grabbing claws 5248 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.

[0089] like Figure 1 、Figure 7 and Figure 14 As shown in FIG. 6, further, the ultrasonic welding mechanism 600 is installed on the rack 100, and the ultrasonic welding mechanism 600 is located above the first conveying assembly 210; the first conveying mechanism 200 further comprises a stop lifting assembly 230, which is arranged on the first conveying assembly 210, and is used to lift the horizontal carrier 220 to a predetermined height when the horizontal carrier 220 is conveyed to the welding position with the first conveying assembly 210, so that the ultrasonic welding mechanism 600 welds the rear pool 22 to the rear pool assembly area of the kit semi-finished product 20 of the horizontal carrier 220, avoiding the influence of vibration on the service life of the first conveying assembly during ultrasonic welding. In this embodiment, the stop lifting assembly 230 is a prior art, which is not described here.

[0090] Further, the kit automatic production system 1 further comprises a bagging device 40, which is used to pack the heat-sealed kit into a packaging bag. The assembly grabbing device further comprises a transfer robot 700, which is arranged on the rack 100, and is arranged adjacent to the bagging device 40 and the output end of the second conveying mechanism 300, respectively, and is used to grab the heat-sealed kit to the third conveying mechanism of the bagging device 40, so as to pack the kit into a packaging bag.

[0091] The above-described embodiments only express several embodiments of the present disclosure, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present disclosure, several modifications and improvements can be made, which belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure patent should be subject to the appended claims.

Claims

1. An assembly grabbing device, characterized in that: include: frame; A first conveying mechanism is provided on the frame; A transfer mechanism is provided 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 rear pool upper position 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 provided on the frame; The second material-grabbing manipulator mechanism includes a transport drive mechanism and a clamping manipulator, wherein the power output end of the transport drive mechanism is connected to the clamping manipulator, and the transport drive mechanism is used to drive the clamping 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; a controller electrically connected to a control end of the first conveying mechanism, a control end of the first material-grabbing manipulator mechanism, a control end of the second conveying mechanism, and a control end of the second material-grabbing manipulator mechanism; The transport drive mechanism includes a first drive assembly, a first mounting base, and a second drive assembly; the first drive assembly is mounted on the frame, the first mounting base is mounted on the drive end of the first drive assembly, and the second drive assembly is mounted on the first mounting base. There is a preset angle between the driving direction of the first drive assembly and the driving direction of the second drive assembly; the unclamping manipulator is mounted and fixed on the power output end of the second drive assembly; The transfer mechanism includes a transfer table, a rotary cylinder and a positioning fixture. The transfer table is fixed to the frame, the rotary cylinder is installed on the top of the transfer table, and the positioning fixture is provided on the rotating drive shaft of the rotary cylinder. The placement slot is provided on the positioning fixture. 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.

2. The assembly grabbing device according to claim 1, 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 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 robot to rotate until the filling port of the semi-finished test kit is set upward.

3. The assembly grabbing device according to claim 2, characterized in that: The clamping robot includes a rotating shaft seat, a clamping release driving cylinder, a first clamping jaw and a second clamping jaw. 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 clamping jaw and the second clamping jaw. The clamping release driving cylinder is used to drive the first clamping jaw and the second clamping jaw to move closer to or away from each other.

4. The assembly gripping device according to any one of claims 1 to 3, characterized in that: The first conveying mechanism includes 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, and each of the horizontal carriers is provided with a horizontal positioning groove, and the horizontal positioning groove is used to position the semi-finished reagent kit in a horizontal manner so that the rear cell assembly area of ​​the semi-finished reagent kit is arranged upward; and / or, The second conveying mechanism includes a second conveying assembly and a plurality of longitudinal carriers, wherein the plurality of longitudinal carriers are spaced apart along the conveying direction of the second conveying assembly, 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 set upward.

5. A test kit automatic production system, characterized in that: It includes a rear tank feeding device, an ultrasonic welding device, a filling device, an integrated film cutting and sealing device, and an assembly grabbing device according to any one of claims 1 to 4; The rear pool loading device is provided at the rear pool loading position, and the rear pool loading position is provided adjacent to the first material grabbing manipulator mechanism, and the rear pool loading device is used to load the rear pool; The ultrasonic welding device is used to ultrasonically weld the semi-finished test kit at the welding position; The filling device is used to fill the reagent into the filling port of the semi-finished reagent kit at the filling position; The integrated film cutting and sealing device is used to punch out the film strip and heat-seal the punched film sheet to the filling port of the semi-finished test kit at the cutting and sealing film position; 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.

6. The automatic reagent kit production system according to claim 5, 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.

7. The automatic reagent kit production system according to claim 5, 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 feeding 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 feeding channel, the film cutting 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 product of the test kit on the second conveying mechanism.

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