Transfer device and sample transfer and storage equipment for assembly line

Abstract

The utility model is suitable for the technical field of medical instruments, and provides a transfer device and sample transfer and storage equipment for an assembly line, the transfer device provided by the utility model moves in a second direction through a clamping hand to clamp an object, then carries the object to move in a first direction, and in the process of transferring the object by the clamping hand, the object is transferred by the clamping hand; the driving part drives the transfer seat to move in the third direction, so that the multiple placement positions on the bearing frame can receive the articles carried by the clamping hands one by one, and after the bearing frame is full, the articles can be transferred through the driving part; according to the transfer device provided by the invention, the transfer seat is driven by the driving part to move, so that the bearing frame can move along with the transfer seat to cooperate with the clamping hand to form three-axis movement, and the articles are quickly placed on the placing positions in a one-to-one correspondence manner; meanwhile, the transferring device is simple in structure and small in occupied space.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and in particular relates to a transfer device and a sample transport storage device for an assembly line. Background Art

[0002] The storage of biological samples, vaccines, etc. requires an ultra-low temperature environment (such as refrigerators, freezers, etc.) to ensure the stability and storage time of biological samples. At the same time, due to the large number of types and quantities of biological samples and vaccines, refrigerators are usually equipped with multi-unit, multi-layer classified storage compartments. In existing laboratories, it is generally managed manually, and the type of samples is manually confirmed and data is recorded, and then placed in the corresponding storage compartment of the refrigerator. However, as the number of samples increases, the workload of manual registration and preservation is large and the speed is slow, which cannot match the inspection line.

[0003] In order to meet the needs of sample storage and sampling after refrigeration on the production line, the prior art proposes an online refrigerator sample processing system, which uses a manipulator to clamp the sample tube from the production line and transfer it to the sample tube carrier, and then the sample tube carrier is sent into the refrigerator by a driving mechanism. The receiving mechanism in the refrigerator receives the sample tube carrier and transfers it to a designated storage compartment. Sampling after refrigeration reverses the order of the above process.

[0004] In the existing online refrigerator sample processing system, the manipulator for gripping and transferring samples generally transfers a sample tube to the sample tube carrier through the X-axis drive mechanism, the Y-axis drive mechanism and the Z-axis drive mechanism. However, the three-axis driven manipulator has a complex overall structure and a large mechanism. In addition, the manipulator needs to complete a set of three-axis movements to transfer a sample tube, and the speed of transferring sample tubes is slow and the efficiency is low. Utility Model Content

[0005] The present application provides a transfer device and a sample transport storage device for an assembly line, which can solve the problems of slow speed and low efficiency in clamping and transferring sample tubes from the assembly line in the existing online refrigerator sample processing system.

[0006] In a first aspect, the present application provides a transfer device, comprising:

[0007] The clamping module comprises a motion mechanism and a clamping hand arranged on the motion mechanism, wherein the clamping hand can move in a first direction and a second direction intersecting the first direction under the action of the motion mechanism;

[0008] The transfer module includes a driving unit and a transfer seat, the transfer seat is used to place the carrier, the carrier has a plurality of placement positions, and the transfer seat can move in a third direction under the action of the driving unit, and the third direction intersects the plane where the first direction and the second direction are located;

[0009] The gripping hand can move in the second direction to grip the object under the action of the moving mechanism, and transfer the object along the first direction. The driving unit drives the transfer seat to move along the third direction, so that the multiple placement positions on the carrier receive the objects transferred by the gripping hand one by one.

[0010] Optionally, the motion mechanism includes a first linear module and a second linear module, the second linear module is connected to the driving end of the first linear module, and the clamping hand is arranged at the driving end of the second linear module. The clamping hand can move along the first direction under the action of the first linear module and move along the second direction under the action of the second linear module.

[0011] Optionally, the driving unit includes a third linear module, and the transfer seat is connected to the driving end of the third linear module.

[0012] Optionally, the transfer module also includes a transfer part, the transfer seat is arranged at the driving end of the transfer part, the transfer part is connected to the driving part, and the carrier frame can move in the third direction under the action of the driving part and move in the fourth direction under the action of the transfer part. The fourth direction intersects with the third direction, and the plane where the fourth direction and the third direction are located intersects with the plane where the first direction and the second direction are located.

[0013] Optionally, the transfer device further includes an operating platform, the transfer module is disposed on the operating platform, the clamping module is disposed on the operating platform via a mounting frame, and the clamping module is located above the transfer module.

[0014] In a second aspect, the present application also provides a sample transport storage device for an assembly line, comprising:

[0015] frame;

[0016] A conveying device, arranged on the frame, and used for conveying the sample tube;

[0017] A storage device, disposed on one side of the rack, wherein the storage device is provided with a temporary storage cabinet for placing the sample tube carrier and a transport component for transporting the sample tube carrier to the temporary storage cabinet; and

[0018] As mentioned above, the transfer device is arranged on the rack and located between the storage device and the conveying device, and the transfer device is used to transfer the sample tube between the storage device and the conveying device.

[0019] Optionally, the conveying device includes a feed track, an incoming track and an outgoing track arranged on the frame, the feed track is provided with a first switching member and a blocking member for blocking the sample tube from moving forward, the incoming track is provided with a second switching member, and a transfer member is provided between the incoming track and the outgoing track;

[0020] The first switching member and the second switching member are used to switch the sample tube from the current track to another track, respectively, and the transfer member is used to transfer the sample tube between the incoming track and the outgoing track;

[0021] Detection components are provided at the locations of the material blocking member, the first switching member, the second switching member and the transfer member, and the detection components are respectively used to confirm the incoming materials and read the information of the sample tubes moved to the corresponding positions.

[0022] Optionally, a discharge scanning device is provided between the incoming track and the discharge track, and the discharge scanning device is used for performing a second scan and confirmation on the sample tube taken out from the storage device.

[0023] Optional shipping kit includes:

[0024] A first linear module is disposed in the storage device;

[0025] The second linear module is arranged on the first linear module;

[0026] A third linear module is disposed on the second linear module;

[0027] A rotary drive component is disposed on the third linear module; and

[0028] The tray is connected to the rotating end of the rotating driving member, and a notch is provided on a side of the transfer seat close to the storage device, and the tray corresponds to the notch in the vertical direction;

[0029] The tray can move in a first direction under the action of a first linear module, move in a second direction under the action of a second linear module, move in a third direction under the action of a third linear module, and rotate under the action of a rotary drive member to transport sample tubes between the temporary storage cabinet and the transfer device.

[0030] Optionally, a discarding port is provided on the frame, and the discarding port is located on the movement path of the clamping hand along the first direction. A waste collection bucket is provided in the frame, and the waste collection bucket is located below the discarding port.

[0031] The above solution of the present application has the following beneficial effects:

[0032] The transfer device provided in the present application moves the clamping hand along the second direction to clamp the article, and then moves along the first direction with the article. During the process of the clamping hand transferring the article, the driving unit drives the transfer seat to move in the third direction, so that the multiple placement positions on the carrier can receive the articles carried by the clamping hand one by one. After the carrier is full, the transfer can be carried out by the driving unit. The transfer device provided in the present application drives the transfer seat to move by the driving unit, so that the carrier can move accordingly, and cooperates with the clamping hand to form a three-axis motion, so as to place the articles quickly and one by one on the placement positions. At the same time, the transfer device has a simple structure and occupies a small space.

[0033] Other beneficial effects of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of the structure of a transfer device provided in one embodiment of the present application;

[0036] Figure 2 A schematic diagram of the structure of a sample transport storage device provided in an embodiment of the present application Figure 1 ;

[0037] Figure 3 A schematic diagram of the structure of a conveying device of a sample transport storage device provided in one embodiment of the present application;

[0038] Figure 4 A partial structural schematic diagram of a sample transport and storage device provided in one embodiment of the present application;

[0039] Figure 5 A schematic diagram of the structure of a transport component of a sample transport storage device provided in one embodiment of the present application;

[0040] Figure 6 A schematic diagram of the structure of a sample transport storage device provided in an embodiment of the present application Figure 2 .

[0041] [Description of Reference Numerals]

[0042] 10. sample tube; 100. sample tube rack;

[0043] 1. Transfer device;

[0044] 11. Clamping module;

[0045] 111, motion mechanism; 1111, first linear module; 1112, second linear module; 112, clamping hand;

[0046] 12. Transfer module;

[0047] 121, driving unit; 1211, third linear module; 122, transfer base; 123, transfer unit; 1231, fourth linear module;

[0048] 13. Operation platform;

[0049] 14. Mounting frame;

[0050] 15. Position sensor;

[0051] 2. Rack;

[0052] 21. Disposal port; 22. Casing; 23. Inspection door;

[0053] 3. Conveying device;

[0054] 31. Feed track; 32. Incoming track; 33. Outgoing track; 34. First switching member; 35. Stop member; 36. Second switching member; 37. Transfer member; 38. Detection assembly; 381. Detection sensor; 382. Scanning reader; 39. Outgoing scanning member; 391. Sample tube rotating mechanism; 392. Scanner;

[0055] 4. Storage device;

[0056] 41. Box body; 42. Refrigeration mechanism;

[0057] 5. Temporary storage cabinet;

[0058] 6. Transport components;

[0059] 61. First linear module; 62. Second linear module; 63. Third linear module; 64. Rotary drive member; 65. Pallet. DETAILED DESCRIPTION

[0060] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0061] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0062] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0063] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0064] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0065] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0066] The transfer device provided by the present application and the sample transport and storage equipment for the assembly line are exemplarily described below in conjunction with specific embodiments.

[0067] First, as Figure 1As shown, the transfer device 1 provided in the embodiment of the present application includes a clamping module 11 and a transfer module 12, wherein the clamping module 11 includes a moving mechanism 111 and a clamping hand 112 arranged on the moving mechanism 111, and the clamping hand 112 can move in a first direction and a second direction intersecting the first direction under the action of the moving mechanism 111; the transfer module 12 includes a driving unit 121 and a transfer seat 122, and the transfer seat 122 is used to place a carrier rack, and the carrier rack has a plurality of placement positions, and the transfer seat 122 can move in a third direction under the action of the driving unit 121, and the third direction intersects with the plane where the first direction and the second direction are located; the clamping hand 112 can move in the second direction under the action of the moving mechanism 111 to clamp objects and transfer objects along the first direction, and the driving unit 121 drives the transfer seat 122 to move along the third direction, so that the plurality of placement positions on the carrier rack respectively receive the objects transferred by the clamping hand 112 one by one.

[0068] The transfer device 1 provided in the present application moves the gripping hand 112 in the second direction to grip the item, and moves the item along the first direction. At this time, the driving unit 121 drives the transfer seat 122 to move in the third direction, so that the multiple placement positions on the carrier can receive the items carried by the gripping hand 112 one by one. After the carrier is full, it can be transferred by the driving unit 121. The transfer device 1 provided in the present application drives the transfer seat 122 to move by the driving unit 121, so that the carrier can move accordingly, and cooperates with the gripping hand 112 to form a three-axis motion, so as to place the items quickly and one by one on the placement positions; at the same time, the transfer device 1 has a simple structure and occupies a small space.

[0069] To facilitate understanding of directions, an XYZ space coordinate system is established in the figure, wherein the direction of the X axis is the first direction, the direction of the Y axis is the second direction, and the direction of the Z axis is the third direction.

[0070] Preferably, Figure 1 As shown, the first direction, the second direction and the third direction are perpendicular to each other, so that the objects can be accurately received by the placement position on the carrier during the transfer process, and the overall structure can be made more compact.

[0071] In one embodiment, if Figure 1 As shown, the motion mechanism 111 includes a first linear module 1111 and a second linear module 1112. The second linear module 1112 is connected to the driving end of the first linear module 1111. The clamping hand 112 is arranged at the driving end of the second linear module 1112. The clamping hand 112 can move along the first direction under the action of the first linear module 1111 and move along the second direction under the action of the second linear module 1112.

[0072] In the above embodiment, the first linear module 1111 and the second linear module 1112 are used to enable the gripping hand 112 to move in the first direction and the second direction.

[0073] In another embodiment, the clamping hand 112 is disposed at the driving end of the first linear module 1111, the first linear module 1111 is connected to the driving end of the second linear module 1112, the first linear module 1111 drives the clamping hand 112 to move in the second direction, and the second linear module 1112 drives the clamping hand 112 and the first linear module 1111 to move in the first direction.

[0074] In one embodiment, if Figure 1 As shown, the driving unit 121 includes a third linear module 1211 , and the transfer base 122 is connected to the driving end of the third linear module 1211 .

[0075] In the above embodiment, the third linear module 1211 is used to move the transfer base 122 in the third direction.

[0076] In one embodiment, if Figure 1 As shown, the transfer module 12 also includes a transfer part 123, a transfer seat 122 is arranged at the driving end of the transfer part 123, the transfer part 123 is connected to the driving part 121, and the carrier frame can move in the third direction under the action of the driving part 121 and move in the fourth direction under the action of the transfer part 123. The fourth direction intersects with the third direction, and the plane where the fourth direction and the third direction are located intersects with the plane where the first direction and the second direction are located.

[0077] In the above embodiment, after the placement position on the carrier is fully loaded with articles, the carrier is transferred by the transfer unit 123. By providing the transfer unit 123, the movement direction of the carrier can be flexibly adjusted according to the position relationship during operation to avoid interference with other components.

[0078] Specifically, the transfer unit 123 includes a fourth linear module 1231 . The fourth linear module 1231 is disposed at a driving end of the third linear module 1211 , and the transfer base 122 is disposed on the fourth linear module 1231 .

[0079] In one embodiment, if Figure 1 As shown, position sensors 15 are disposed on the first linear module 1111 , the second linear module 1112 , the third linear module 1211 , and the fourth linear module 1231 to read position information.

[0080] In the above embodiment, the position information of the first linear module 1111, the second linear module 1112, the third linear module 1211 and the fourth linear module 1231 are obtained by the position sensor 15 to track their positions in real time and perform coordinated movements, thereby achieving precise positioning and adjustment.

[0081] Specifically, the position sensor 15 may be a micro photoelectric sensor.

[0082] Preferably, Figure 1 As shown, preferably, the first direction and the fourth direction are in the same direction to make the overall structure more compact.

[0083] Preferably, Figure 1 As shown, the first linear module 1111, the second linear module 1112, the third linear module 1211 and the fourth linear module 1231 can all be ball screw assemblies. The use of ball screws can achieve high-speed and high-precision linear motion to accurately transfer objects.

[0084] In one embodiment, if Figure 1 As shown, the transfer device 1 further includes an operating platform 13 , the transfer module 12 is disposed on the operating platform 13 , the clamping module 11 is disposed on the operating platform 13 via a mounting frame 14 , and the clamping module 11 is located above the transfer module 12 .

[0085] In the above embodiment, the clamping module 11 is located above the transfer module 12, so as to avoid interference between the two modules.

[0086] Second, as Figure 2 As shown, the present application also provides a sample transfer and storage device for an assembly line, comprising a transfer device 1, a rack 2, a conveying device 3 and a storage device 4 as described in any of the above embodiments; the transfer device 1 is arranged on the rack 2; the conveying device 3 is arranged on the rack 2, and the conveying device 3 is used to convey the sample tube 10; the storage device 4 is arranged on one side of the rack 2, and a temporary storage cabinet 5 for placing a sample tube rack 100 and a transport component 6 for transporting the sample tube rack 100 to the temporary storage cabinet 5 are arranged in the storage device 4; the transfer device 1 is located between the storage device 4 and the conveying device 3, and the transfer device 1 is used to transfer the sample tube 10 between the storage device 4 and the conveying device 3.

[0087] The object transferred by the transfer device 1 is a sample tube 10 , which is mainly used to store blood samples, HPV samples or throat swab samples, etc. The carrier is a sample tube carrier 100 .

[0088] In the above embodiment, the transport component 6 can first transport the empty sample tube carrier 100 from the compartment of the temporary storage cabinet 5 to the transfer device 1, the transfer device 1 clamps the sample tubes 10 from the conveying device 3, and places them one by one on the sample tube carrier 100, and then transfers the sample tube carrier 100 to the transport component 6, and the sample tube carrier 100 is transported to the compartment of the temporary storage cabinet 5 for storage by the transport component 6. To take samples after storage, the above process can be reversed.

[0089] In one embodiment, if Figure 3 As shown, the conveying device 3 includes a feed track 31, an incoming track 32 and an outgoing track 33 arranged on the frame 2, the feed track 31 is provided with a first switching member 34 and a blocking member 35 for blocking the sample tube 10 from moving forward, the incoming track 32 is provided with a second switching member 36, and a transfer member 37 is provided between the incoming track 32 and the outgoing track 33; the first switching member 34 and the second switching member 36 are respectively used to switch the sample tube 10 from the current track to another track, and the transfer member 37 is used to transfer the sample tube 10 between the incoming track 32 and the outgoing track 33; the positions of the blocking member 35, the first switching member 34, the second switching member 36 and the transfer member 37 are all provided with detection components 38, and the detection components 38 are respectively used to confirm the incoming material and read the information of the sample tube 10 moved to the corresponding position.

[0090] Among them, Figure 3 As shown, the direction indicated by the arrow is the moving direction of the sample tube 10, and the incoming track 32 is used to dock with the assembly line to receive the sample tube 10. When the sample tube 10 moves to the second switching member 36 on the incoming track 32, the detection component 38 confirms the incoming material of the sample tube 10 and reads the information, and switches the sample tube 10 to the feeding track 31 through the second switching member 36. The material blocking member 35 on the feeding track 31 blocks the sample tube 10 from continuing to move, and the detection component 38 reads the sample information, so that the transfer device 1 clamps the sample tube 10 from the feeding track 31.

[0091] When the sample tube 10 needs to be returned to the assembly line after being taken out of the storage device 4, the transfer device 1 clamps the sample tube 10 and places it upstream of the material blocking member 35, blocks its movement through the material blocking member 35, reads the sample information of the sample through the detection component 38, and then switches the sample tube 10 to the incoming track 32 through the first switching member 34, and the second switching member 36 on the incoming track 32 (the second switching member 36 is not shown in the figure) switches the sample tube 10 to the outgoing track 33 for transportation.

[0092] In addition, the sample tubes 10 transported on the incoming track 32 may be empty or wrongly loaded, and therefore need to be directly transferred to the outgoing track 33 for recycling, while the samples transported on the outgoing track 33 may need to be stored again or the sample tubes 10 with incorrect sample information may be taken out from the storage device 4, and therefore need to be directly transferred to the incoming track 32 for storage again. The above process uses the transfer member 37 to transfer the sample tubes 10 between the incoming track 32 and the outgoing track 33.

[0093] Specifically, Figure 3As shown, the blocking member 35 can extend into or out of the feed track 31. When the gripping hand 112 grips the sample tube 10 from the feed track 31 or places the sample tube 10 on the feed track 31, the blocking member 35 can extend into the feed track 31 to block the sample tube 10 from moving forward. When the sample tube 10 is taken out of the storage device 4, or the detection assembly 38 where the blocking member 35 is located detects that the sample tube 10 is empty or mis-installed, the blocking member 35 can withdraw from the feed track 31 to allow the sample tube 10 to move on the feed track 31.

[0094] Specifically, Figure 3 As shown, the incoming track 32 is arranged between the feeding track 31 and the discharging track 33 .

[0095] Preferably, Figure 3 As shown, the transfer member 37 is arranged upstream of the second switching member 36 . When the detection component 38 at the position of the transfer member 37 detects that the sample tube 10 may be empty or mis-installed, it is directly transferred to the discharge track 33 for transportation through the transfer member 37 .

[0096] In one embodiment, if Figure 3 As shown, the feed track 31, the incoming track 32 and the outgoing track 33 are all in the form of conveying by conveyor belts, and channel side plates are provided on both sides of each conveyor belt to limit the two sides of the conveyor belt so that the sample tube 10 conveyed on the conveyor belt will not fall off, and the width of the conveyor belt is preferably consistent with the sample tube 10 (or the clamp of the sample tube 10), so that the sample tube 10 can be stably conveyed on the conveyor belt without deviation or shaking. The channel side plates are provided with openings so that the first switching member 34, the second switching member 36 and the transfer member 37 can smoothly transfer the sample tube 10.

[0097] Specifically, Figure 3 As shown, the first switching member 34 is an arc-shaped baffle plate, which has an arc-shaped guide surface and is disposed on the feed track 31. The first switching member 34 includes a guide plate and a guide plate driving member connected to the guide plate, the guide plate having a guide surface, and the guide plate driving member is used to drive the guide plate to extend into or exit the incoming track 32. The transfer member 37 includes a turntable and a turntable driving mechanism connected to the turntable, the turntable driving mechanism is used to drive the turntable to rotate, so that the turntable transfers the sample tube 10 between the incoming track 32 and the outgoing track 33.

[0098] Specifically, Figure 3 As shown, the detection component 38 includes a detection sensor 381 and a scanning reader 382. The detection sensor 381 is used to detect the incoming material of the sample tube 10, and the scanning reader 382 is used to scan and read the sample information of the sample tube 10. The detection sensor 381 can be a photoelectric sensor, and the scanning reader 382 can be an RFID reader.

[0099] In one embodiment, if Figure 3 As shown, a discharge scanning device 39 is provided between the incoming track 32 and the discharge track 33 , and the discharge scanning device 39 is used to perform a second scan confirmation on the sample tube 10 taken out from the storage device 4 .

[0100] In the above embodiment, the material discharging scanning device 39 is used to perform a second scanning confirmation on the sample tube 10 taken out from the storage device 4 to ensure accuracy.

[0101] Specifically, the discharge scanning part 39 includes a sample tube rotating mechanism 391 and a scanner 392. The sample tube rotating mechanism 391 can extend into the incoming track 32 to block the movement of the sample tube 10, and clamp the sample tube 10 to rotate it, and then scan and identify the sample tube 10 through the scanner 392 to confirm the sample information of the sample tube 10.

[0102] In one embodiment, if Figure 2 and Figure 6 As shown, the storage device 4 includes a box body 41, a transparent observation window is provided on one side of the box body 41, and a docking port is provided on the other side of the box body 41. The transfer device 1 transfers the sample tube carrier 100 to the transport component 6 through the docking port. A refrigeration mechanism 42 is provided in the box body 41. The temporary storage cabinet 5 and the transport component 6 are both arranged in the box body 41. The refrigeration mechanism 42 is used to make the box body 41 reach the temperature conditions required for preserving samples.

[0103] In one embodiment, if Figure 5 As shown, the transport assembly 6 includes a first linear module 61, a second linear module 62, a third linear module 63, a rotary drive member 64 and a tray 65; the first linear module 61 is arranged in the storage device 4, the second linear module 62 is arranged on the first linear module 61, the third linear module 63 is arranged on the second linear module 62, and the rotary drive member 64 is arranged on the third linear module 63; the tray 65 is connected to the rotating end of the rotary drive member 64, and a notch is provided on the side of the transfer seat 122 close to the storage device 4, and the tray 65 corresponds to the notch in the vertical direction; the tray 65 can move in the first direction under the action of the first linear module 61, move in the second direction under the action of the second linear module 62, move in the third direction under the action of the third linear module 63, and rotate under the action of the rotary drive member 64, so as to transport the sample tube 10 between the temporary storage cabinet 5 and the transfer device 1.

[0104] In the above embodiment, the first linear module 61 drives the tray 65 to move in the first direction until the tray 65 is located below the notch of the transfer seat 122, and the second linear module 62 drives the tray 65 to move in the second direction. The tray 65 passes through the notch and holds up the sample tube carrier 100, and then the first linear module 61, the second linear module 62, the third linear module 63 and the rotating drive member 64 transport the tray 65 to the designated compartment of the temporary storage cabinet 5.

[0105] To facilitate understanding of directions, an XYZ space coordinate system is established in the figure, wherein the direction of the X axis is the first direction, the direction of the Y axis is the second direction, and the direction of the Z axis is the third direction.

[0106] Among them, the second linear module 62 is arranged on the first linear module 61, and the first linear module 61 can drive the second linear module 62 to move along the first direction; the third linear module 63 is arranged on the second linear module 62, and the second linear module 62 can drive the third linear module 63 to move along the second direction; the rotary drive component 64 is arranged on the third linear module 63, and the third linear module 63 can drive the rotary drive component 64 to move along the third direction.

[0107] In a specific embodiment, Figure 4 As shown, a notch is provided at the bottom of each compartment of the temporary storage cabinet 5, and the width of the notch is greater than the width of the tray 65, and the width of the notch is less than the width of the sample tube carrier 100. After the tray 65 carrying the sample tube carrier 100 enters the compartment, it moves downward along the second direction through the second linear module 62, and the tray 65 passes through the notch and puts down the sample tube carrier 100.

[0108] Preferably, Figure 4 and Figure 5 As shown, the first linear module 61, the second linear module 62 and the third linear module 63 can all be ball screw assemblies, and the rotary drive member 64 can be a rotary motor.

[0109] The first linear module 61, the second linear module 62 and the third linear module 63 are all provided with position sensors 15 to read position information. An RFID tag is attached to the sample tube carrier 100, and an RFID reader is provided on the tray 65. The RFID reader scans the RFID tag of the sample tube carrier 100 to obtain sample information. The system determines the compartment to which the sample tube carrier 100 belongs based on the sample information.

[0110] In one embodiment, if Figure 3 As shown, a discarding port 21 is provided on the frame 2 , and the discarding port 21 is located on the movement path of the clamping hand 112 along the first direction. A waste collection bucket is provided in the frame 2 , and the waste collection bucket is located below the discarding port 21 .

[0111] In the above embodiment, when an empty or misloaded sample tube 10 enters the feed track 31 from the incoming track 32, or the sample in the storage device 4 is inactivated due to improper storage, the sample tube 10 can be discarded into the waste collection bucket through the discard port 21 by the clamping hand 112.

[0112] In one embodiment, if Figure 6 As shown, a housing 22 is disposed outside the frame 2, and a docking through hole is disposed on the housing 22 for docking the incoming material track 32 and the outgoing material track 33 with the external assembly line. An inspection door 23 is hinged on one side of the housing 22.

[0113] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A transfer device (1), characterized in that: include: A clamping module (11), comprising a motion mechanism (111) and a clamping hand (112) arranged on the motion mechanism (111), wherein the clamping hand (112) is capable of moving in a first direction and a second direction intersecting the first direction under the action of the motion mechanism (111); The transfer module (12) comprises a driving unit (121) and a transfer seat (122), wherein the transfer seat (122) is used to place a carrier frame, the carrier frame has a plurality of placement positions, and the transfer seat (122) can move in a third direction under the action of the driving unit (121), wherein the third direction intersects a plane where the first direction and the second direction are located; The clamping hand (112) is capable of moving in the second direction to clamp an object and transferring the object along the first direction under the action of the moving mechanism (111), and the driving unit (121) drives the transfer seat (122) to move along the third direction, so that the plurality of placement positions on the carrier receive the objects transferred by the clamping hand (112) one by one.

2. The transfer device according to claim 1, characterized in that The motion mechanism (111) comprises a first linear module (1111) and a second linear module (1112); the second linear module (1112) is connected to the driving end of the first linear module (1111); the clamping hand (112) is arranged at the driving end of the second linear module (1112); the clamping hand (112) can move along the first direction under the action of the first linear module (1111) and can move along the second direction under the action of the second linear module (1112).

3. The transfer device according to claim 1, characterized in that The driving part (121) comprises a third linear module (1211), and the transfer seat (122) is connected to the driving end of the third linear module (1211).

4. The transfer device according to any one of claims 1 to 3, characterized in that: The transfer module (12) further comprises a transfer part (123), the transfer seat (122) being arranged at a driving end of the transfer part (123), the transfer part (123) being connected to the driving part (121), the carrier being capable of moving in a third direction under the action of the driving part (121) and moving in a fourth direction under the action of the transfer part (123), the fourth direction intersecting with the third direction, and a plane where the fourth direction and the third direction are located intersecting with a plane where the first direction and the second direction are located.

5. The transfer device according to claim 1, characterized in that: The transfer device (1) further comprises an operating platform (13), the transfer module (12) being arranged on the operating platform (13), the clamping module (11) being arranged on the operating platform (13) via a mounting frame (14), and the clamping module (11) being located above the transfer module (12).

6. A sample transport and storage device for an assembly line, characterized in that: include: Rack (2); A conveying device (3) is arranged on the frame (2), and the conveying device (3) is used to convey the sample tube (10); A storage device (4) is arranged on one side of the rack (2), wherein the storage device (4) is provided with a temporary storage cabinet (5) for placing the sample tube carrier (100) and a transport component (6) for transporting the sample tube carrier (100) to the temporary storage cabinet (5); and The transfer device according to any one of claims 1 to 5 is arranged on the frame (2) and located between the storage device (4) and the conveying device (3), and the transfer device is used to transfer the sample tube (10) between the storage device (4) and the conveying device (3).

7. The sample transport storage device according to claim 6, characterized in that: The conveying device (3) comprises a feed track (31), an incoming track (32) and an outgoing track (33) arranged on the frame (2); the feed track (31) is provided with a first switching member (34) and a blocking member (35) for blocking the sample tube (10) from moving forward; the incoming track (32) is provided with a second switching member (36); and a transfer member (37) is provided between the incoming track (32) and the outgoing track (33); The first switching member (34) and the second switching member (36) are respectively used to switch the sample tube (10) from a current track to another track, and the transfer member (37) is used to transfer the sample tube (10) between the incoming track (32) and the outgoing track (33); Detection components (38) are provided at the locations of the material blocking member (35), the first switching member (34), the second switching member (36) and the transfer member (37), and the detection components (38) are respectively used to confirm the incoming material and read the information of the sample tube (10) moved to the corresponding position.

8. The sample transport storage device according to claim 7, characterized in that: A material discharging scanning device (39) is provided between the incoming material track (32) and the material discharging track (33), and the material discharging scanning device (39) is used to perform a secondary scanning confirmation on the sample tube (10) taken out from the storage device (4).

9. The sample transport storage device according to claim 6, characterized in that: The transport component (6) comprises: A first linear module (61) is disposed in the storage device (4); A second linear module (62) is arranged on the first linear module (61); A third linear module (63) is arranged on the second linear module (62); A rotary drive member (64) is disposed on the third linear module (63); and A tray (65) is connected to the rotating end of the rotating drive member (64); a notch is formed on a side of the transfer seat (122) close to the storage device (4); and the tray (65) corresponds to the notch in the vertical direction; The tray (65) is capable of moving in the first direction under the action of the first linear module (61), moving in the second direction under the action of the second linear module (62), moving in the third direction under the action of the third linear module (63), and rotating under the action of the rotary drive (64) to transport the sample tube (10) between the temporary storage cabinet (5) and the transfer device (1).

10. The sample transport storage device according to claim 6, characterized in that: The frame (2) is provided with a discarding opening (21), the discarding opening (21) being located on a movement path of the clamping hand (112) along the first direction, and a waste collection bucket is provided inside the frame (2), the waste collection bucket being located below the discarding opening (21).

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