Test tube racking machine

Abstract

The utility model provides a test tube racking machine. The test tube racking machine comprises a rack, an XYZ three-axis manipulator, a first clamping jaw manipulator and a first pair of clamping jaws, a workbench and a hopper are arranged on the rack, a first test tube table is arranged on the workbench, a plurality of test tube racks are arranged on the first test tube table, a test tube rolling device is arranged on one side of the test tube table, and a barcode printer is arranged above the test tube rolling device; the hopper is connected with the plate type elevator, and the plate type elevator is used for lifting test tubes in the hopper to the test tube rolling device; a test tube adjusting device is arranged at the tube outlet end of the test tube rolling device; with the adoption of the structure, a worker puts a test tube for collecting a blood sample into the hopper, uploads the test tube to the test tube rolling device through the plate type elevator, scans a two-dimensional code on the test tube through the bar code machine, records the information of the test tube, and continuously drives the first pair of clamping jaws to clamp the test tube through the three-axis manipulator and the first pair of clamping jaws; in this way, automatic test tube arrangement is completed, and follow-up test tube inspection is facilitated.

Description

Technical Field

[0001] The utility model belongs to the technical field of automated equipment, and in particular relates to a test tube racking machine. Background Art

[0002] Blood tests generally include routine blood tests, blood type, erythrocyte sedimentation rate, reticulocytes, blood biochemistry, blood immunity and serum tests. Test tubes are a commonly used blood test instrument. During the test process, the test tubes need to be arranged and loaded onto the machine. Traditional test tube arrangement and loading are manual operations, which are inefficient and easily cause test tube damage or wrong instrument loading. Utility Model Content

[0003] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0004] The utility model provides a test tube racking machine, comprising a frame, a Y-axis manipulator, an X-axis manipulator, a first Z-axis manipulator, a first gripping claw manipulator and a first pair of gripping claws, wherein the Y-axis manipulator is connected to a crossbeam of the frame, the X-axis manipulator is connected to the Y-axis manipulator, the first Z-axis manipulator is connected to the X-axis manipulator, the first gripping claw manipulator is connected to the first Z-axis manipulator, and the first pair of gripping claws is connected to the first gripping claw manipulator; a workbench and a hopper are provided on the frame, a first test tube table is provided on the workbench, a plurality of test tube racks are provided on the first test tube table, a test tube rolling device is provided on one side of the test tube table, and a barcode machine is provided above the test tube rolling device; the hopper is connected to a plate-type elevator, and the plate-type elevator is used to lift the test tubes in the hopper to the test tube rolling device; a test tube adjusting device is provided at the tube outlet end of the test tube rolling device.

[0005] For the improvement of the utility model, the test tube adjustment device includes an adjustment frame and an adjustment plate, and the adjustment plate is provided with a long strip through groove, the length of the long strip through groove is greater than the length of the test tube, the width is greater than the diameter of the test tube body and smaller than the diameter of the tube cap.

[0006] For the improvement of the utility model, the test tube adjustment device also includes a first motor, a driving wheel, a driven wheel, a belt and a push plate, the first motor and the driven wheel are connected to the adjustment frame, the driving wheel is connected to the output shaft of the first motor, the driven wheel is connected to the driving wheel through a belt, and the push plate is connected to the belt.

[0007] As an improvement of the utility model, a baffle is provided at one end of the adjustment plate away from the test tube rolling device.

[0008] The improvement of the utility model further comprises a test tube lifting device, and the test tube lifting device is connected to the adjustment frame.

[0009] For the improvement of the utility model, the test tube lifting device includes a first cylinder, a first clamping cylinder and a second pair of jaws, the first cylinder is connected to the adjustment plate, the first clamping cylinder is connected to the output shaft of the first cylinder, and the second pair of jaws is connected to the output shaft of the first clamping cylinder.

[0010] For the improvement of the utility model, the test tube rolling device includes a second motor, a gantry, a rolling bracket, an active roller, a driven roller and a second cylinder, the gantry is mounted on a workbench, the second motor is connected to the gantry, the active roller is connected to the output shaft of the second motor, the driven roller is connected to the rolling bracket, and the driven roller is arranged parallel to the active roller, the second cylinder is connected to the frame, and the output shaft of the second cylinder is connected to the rolling bracket.

[0011] For the improvement of the utility model, the X-axis manipulator is also provided with a second Z-axis manipulator, the output shaft of the second Z-axis manipulator is provided with a rotating cylinder, the output shaft of the rotating cylinder is provided with a second clamping cylinder, and the output shaft of the second clamping cylinder is provided with a third pair of jaws.

[0012] For the improvement of the utility model, the first test tube table includes a third motor, a driving shaft, a driven shaft and a conveyor belt, the output shaft of the third motor is connected to the driving shaft, the driving shaft and the driven shaft are arranged at a predetermined distance, the driven shaft is transmission-connected to the driving shaft through the conveyor belt, and the test tube rack is arranged on the conveyor belt.

[0013] As an improvement of the utility model, a second test tube table having the same structure as the first test tube table is also provided on the workbench.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] The utility model provides a test tube racking machine, comprising a frame, an XYZ three-axis manipulator, a first gripper manipulator and a first pair of grippers, wherein the Y-axis manipulator of the three-axis manipulator is connected to the crossbeam of the frame, the X-axis manipulator is connected to the Y-axis manipulator, the first Z-axis manipulator is connected to the X-axis manipulator, the first gripper manipulator is connected to the first Z-axis manipulator, and the first pair of grippers is connected to the first gripper manipulator; a workbench and a hopper are provided on the frame, a first test tube table is provided on the workbench, a plurality of test tube racks are provided on the first test tube table, a test tube rolling device is provided on one side of the test tube table, and the test tubes are placed on the workbench. A barcode machine is provided above the test tube rolling device; the hopper is connected to a plate-type elevator, and the plate-type elevator is used to lift the test tubes in the hopper to the test tube rolling device; a test tube adjustment device is provided at the tube outlet end of the test tube rolling device; with the above structure, the staff puts the test tubes for collecting blood samples into the hopper, uploads the test tubes to the test tube rolling device through the plate-type elevator, scans the QR code on the test tube through the barcode machine, enters the test tube information, and then continues to manually drive the first pair of clamps to clamp the test tubes through the three-axis manipulator and the first pair of clamps, and puts them into the test tube rack in order, thereby completing the automated test tube sorting, which is convenient for subsequent test tube inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The utility model is a three-dimensional structural schematic diagram of a test tube racking machine in one direction.

[0017] Figure 2 It is a three-dimensional structural schematic diagram of the test tube racking machine of the utility model in another direction.

[0018] Figure 3 This is a schematic diagram of the three-dimensional structure of the test tube racking machine of the utility model in one direction (part of the structure is hidden).

[0019] Figure 4 This is a three-dimensional structural schematic diagram of the test tube racking machine of the utility model in another direction (part of the structure is hidden).

[0020] Figure 5 The utility model is a three-dimensional structural schematic diagram of a part of the device in the test tube racking machine in one direction.

[0021] Figure 6 It is a three-dimensional structural schematic diagram of a part of the device in the test tube racking machine of the utility model in another direction.

[0022] Figure 7 It is a three-dimensional structural schematic diagram of one direction of the rolling device in the test tube racking machine of the utility model (the gantry is exploded).

[0023] Figure 8 It is a three-dimensional structural schematic diagram of another direction of the rolling device in the test tube racking machine of the utility model.

[0024] Fig. 9 The utility model is a three-dimensional structural schematic diagram of a test tube adjusting device in a test tube racking machine in one direction.

[0025] Fig.10 It is a three-dimensional structural schematic diagram of another direction of the test tube adjusting device in the test tube racking machine of the utility model.

[0026] Fig.11 The present invention is a three-dimensional structural schematic diagram of the test tube adjusting device in the test tube racking machine in another direction.

[0027] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] As attached Figures 1 to 11As shown, the utility model provides a test tube racking machine, including a frame 1, a Y-axis manipulator 11, an X-axis manipulator 12, a first Z-axis manipulator 13, a first gripper manipulator 14 and a first pair of grippers 15, the Y-axis manipulator 11 is connected to the crossbeam of the frame 1, the X-axis manipulator 12 is connected to the Y-axis manipulator 11, the first Z-axis manipulator 13 is connected to the X-axis manipulator 12, the first gripper manipulator 14 is connected to the first Z-axis manipulator 13, and the first pair of grippers 15 is connected to the first gripper manipulator 14; a workbench 16 and a hopper 17 are provided on the frame 1, a first test tube table 18 is provided on the workbench 16, a plurality of test tube racks 200 are provided on the first test tube table 18, A test tube rolling device 2 is provided on one side of the test tube table, and a barcode machine 3 is provided above the test tube rolling device 2; the hopper 17 is connected to a plate elevator 4, and the plate elevator 4 is used to lift the test tubes in the hopper 17 to the test tube rolling device 2; a test tube adjustment device 5 is provided at the tube outlet end of the test tube rolling device 2; the staff puts the test tube 100 for collecting blood samples into the hopper 17, uploads the test tube to the test tube rolling device 2 through the plate elevator 4, scans the QR code on the test tube through the barcode machine 3, enters the test tube information, and then continues to manually drive the first pair of clamps 15 to clamp the test tube through the three-axis manipulator and the first pair of clamps, and puts them into the test tube rack 200 in order, thereby completing the automated test tube sorting, which is convenient for subsequent test tube inspection.

[0031] Preferably, it can be understood that the test tube is in a lying state when being scanned by the barcode machine 3. In order to facilitate the clamping of the first pair of jaws 15, the state of the test tube can be changed from a lying state to a vertical state. The test tube adjustment device 5 includes an adjustment frame 51 and an adjustment plate 52. The adjustment plate 52 is provided with a long strip through groove 521. The length of the long strip through groove 521 is greater than the length of the test tube, and the width is greater than the diameter of the test tube body and less than the diameter of the tube cap; after the test tube is rolled onto the adjustment plate 52, since the width of the long strip through groove 521 is greater than the diameter of the test tube body, the tube body will fall from the long strip through groove 521 and be hung on the long strip through groove 521 through the tube cap, so that the vertical state of the test tube is adjusted.

[0032] Preferably, after the test tube is adjusted to a vertical state, its position is in a state of uncertain coordinates in the long strip through slot 521. In order to facilitate the first pair of jaws 15 to clamp the test tube, the coordinates of the test tube need to be determined. The method that can be used is to determine it by photographing with a barcode machine 3, or to determine the coordinates of the test tube in a vertical state by moving the test tube to a specified position. In this embodiment, the coordinates of the test tube are determined by adjusting the position of the test tube. Specifically, the test tube adjustment device 5 also includes a first motor 53, a driving wheel 54, a driven wheel 55, a belt 56 and a push plate 57. The first motor 53 and the driven wheel 55 are connected to the adjustment frame 51. The driving wheel 54 is connected to the output shaft of the first motor 53, the driven wheel 55 is connected to the driving wheel 54 through a belt 56, and the push plate 57 is connected to the belt 56; the driving wheel 54 is first driven by the first motor 53, and the push plate 57 is transmitted to the far end of the long strip through slot 521 through the belt 56. After the test tube is adjusted to a vertical state through the adjustment plate 52, the belt 56 is driven by the first motor 53, and the push plate 57 is used to push the test tube to the other end of the long strip through slot 521. In this way, the coordinates of the test tube are determined, which is convenient for the three-axis manipulator to drive the first pair of jaws to clamp the test tube and clamp the test tube to the specified position.

[0033] Preferably, because the test tube rolls freely onto the adjustment plate 52 after the test tube information is scanned by the barcode reader 3, in order to prevent the test tube from rolling out of the equipment, a baffle 58 is provided at one end of the adjustment plate 52 away from the test tube rolling device 2; it is used to stop the rolling of the test tube so that the test tube can be smoothly adjusted to a vertical state through the adjustment plate 52.

[0034] Preferably, when the test tube is in the long strip through groove 521, only the test tube cap is exposed outside. In order to facilitate clamping by the first pair of jaws, the height of the test tube needs to be raised a little, and a test tube lifting device 6 is also included. The test tube lifting device 6 is connected to the adjustment frame 51; the test tube in the long strip through groove 521 is raised by the Z-axis height through the test tube lifting device 6 to facilitate clamping by the first pair of jaws.

[0035] Preferably, the present embodiment provides a specific test tube lifting scheme, the test tube lifting device 6 includes a first cylinder 61, a first clamping cylinder 62 and a second pair of jaws 63, the first cylinder 61 is connected to the adjustment plate 52, the first clamping cylinder 62 is connected to the output shaft of the first cylinder 61, the second pair of jaws 63 is connected to the output shaft of the first clamping cylinder 62, after the test tube is pushed to one end of the long strip through slot 521, the second pair of jaws 63 is driven by the first clamping cylinder 62 to clamp the test tube, and then the output shaft of the first cylinder 61 is retracted to raise the first clamping cylinder 62 in the Z axis, thereby driving the test tube to rise in the Z axis, after the first pair of jaws 15 clamps the test tube, the first clamping cylinder 62 drives the second pair of jaws 63 to loosen, so that the first pair of jaws 15 can smoothly clamp the test tube to the specified position through the three-axis manipulator.

[0036] Preferably, the test tube rolling device 2 includes a second motor 21, a gantry 22, a rolling bracket 23, an active roller 24, a driven roller 25, and a second cylinder 26. The gantry 22 is arranged on the workbench 16, the second motor 21 is connected to the gantry 22, the active roller 24 is connected to the output shaft of the second motor 21, the driven roller 25 is connected to the rolling bracket 23, and the driven roller 25 is arranged in parallel with the active roller 24, the second cylinder 26 is connected to the frame 1, and the output shaft of the second cylinder 26 is connected to the rolling bracket 23 is connected, the test tube rolling device 2 is used to facilitate the bar code machine 3 to smoothly scan the two-dimensional code or long bar code on the test tube. In the initial state, the interval between the active roller 24 and the driven roller 25 is smaller than the diameter of the test tube, that is, the test tube can be placed between the active roller 24 and the driven roller 25. After the bar code machine 3 scans the code, the rolling bracket 23 is driven by the second cylinder 26 to drive the driven roller 25 to move away from the active roller 24, and the test tube falls from between the active roller 24 and the driven roller 25, passes through a guide plate, and rolls onto the adjustment plate 52, so that the test tube is adjusted to a vertical state.

[0037] Preferably, the X-axis manipulator 12 is also provided with a second Z-axis manipulator 7, a rotating cylinder 71 is provided on the output shaft of the second Z-axis manipulator 7, a second clamping cylinder 72 is provided on the output shaft of the rotating cylinder 71, and a third pair of clamping jaws 73 is provided on the output shaft of the second clamping cylinder 72; this device can be placed next to the inspection device, and the second Z-axis manipulator 7 can be driven to move by the Y-axis manipulator 11 and the X-axis manipulator 12, and the third pair of clamping jaws 73 can be driven by the second clamping cylinder 72 on the second Z-axis manipulator 7 to clamp the test tube rack 200 and place it on the adjacent inspection device.

[0038] Preferably, the first test tube table 18 includes a third motor 181, a driving shaft 182, a driven shaft 183 and a conveyor belt 184, the output shaft of the third motor 181 is connected to the driving shaft 182, the driving shaft 182 and the driven shaft 183 are arranged at a predetermined distance, the driven shaft 183 is transmission-connected to the driving shaft 182 through the conveyor belt 184, the test tube rack 200 is arranged on the conveyor belt 184, and in order to facilitate the three-axis manipulator to place the test tube on the test tube rack 200 and avoid insufficient travel of the three-axis manipulator, the test tube rack 200 can be placed on the conveyor belt 184, and the conveyor belt 184 is driven to move by the third motor 181, so that the test tube rack 200 can move in one direction.

[0039] Preferably, the workbench 16 is further provided with a second test tube table 19 having the same structure as the first test tube table 18; the second test tube table 19 having the same structure as the first test tube table 18 is provided to make the best use of the space of the device and to accommodate more test tubes.

[0040] Preferably, in order to further facilitate the three-axis manipulator to place the test tube on the test tube rack 200, a test tube rack transverse movement device 8 is also provided on the workbench 16, and the test tube rack transverse movement device 8 is arranged at one end of the first test tube table 18, and the test tube rack transverse movement device 8 includes a transverse movement cylinder 81, a clamping cylinder 82, a bearing plate 83 and a splint 84, the bearing plate 83 is connected to the output shaft of the transverse movement cylinder 81, the clamping cylinder 82 is connected to the bearing plate 83, and the splint 84 is connected to the output shaft of the clamping cylinder 82; when working, the bearing plate is first driven to one end of the first test tube table 18 by the transverse movement cylinder 81, and the belt is driven to rotate by the third motor 181, and then the test tube rack is driven to the bearing plate 83, and then the splint 84 is driven by the clamping cylinder 82 to fix the test tube rack on the bearing plate 83, and then the bearing plate 83 is moved to the end of the test tube adjustment device 5 away from the test tube rolling device 2 by the transverse movement cylinder 81.

[0041] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and utility model concept of the utility model, and all these changes or substitutions should fall within the protection scope of the claims attached to the utility model.

Claims

1. A test tube racking machine, characterized in that: The invention comprises a frame (1), a Y-axis manipulator (11), an X-axis manipulator (12), a first Z-axis manipulator (13), a first gripper manipulator (14) and a first pair of grippers (15), wherein the Y-axis manipulator (11) is connected to a crossbeam of the frame (1), the X-axis manipulator (12) is connected to the Y-axis manipulator (11), the first Z-axis manipulator (13) is connected to the X-axis manipulator (12), the first gripper manipulator (14) is connected to the first Z-axis manipulator (13), and the first pair of grippers (15) is connected to the first gripper manipulator (14); A workbench (16) and a hopper (17) are provided on the frame (1); a first test tube table (18) is provided on the workbench (16); a plurality of test tube racks (200) are provided on the first test tube table (18); a test tube rolling device (2) is provided on one side of the test tube table; a barcode machine (3) is provided above the test tube rolling device (2); the hopper (17) is connected to a plate-type elevator (4); the plate-type elevator (4) is used to lift the test tubes in the hopper (17) to the test tube rolling device (2); and a test tube adjustment device (5) is provided at the tube outlet end of the test tube rolling device (2).

2. The test tube racking machine according to claim 1, characterized in that: The test tube adjustment device (5) comprises an adjustment frame (51) and an adjustment plate (52); the adjustment plate (52) is provided with a long strip through slot (521); the length of the long strip through slot (521) is greater than the length of the test tube, and the width is greater than the diameter of the test tube body and less than the diameter of the tube cap.

3. The test tube racking machine according to claim 2, characterized in that: The test tube adjustment device (5) further comprises a first motor (53), a driving wheel (54), a driven wheel (55), a belt (56) and a push plate (57); the first motor (53) and the driven wheel (55) are connected to the adjustment frame (51); the driving wheel (54) is connected to the output shaft of the first motor (53); the driven wheel (55) is connected to the driving wheel (54) via a belt (56); and the push plate (57) is connected to the belt (56).

4. The test tube racking machine according to claim 2 or 3, characterized in that: A baffle (58) is provided at one end of the adjustment plate (52) away from the test tube rolling device (2).

5. The test tube racking machine according to claim 4, characterized in that: It also comprises a test tube lifting device (6), wherein the test tube lifting device (6) is connected to the adjustment frame (51).

6. The test tube racking machine according to claim 5, characterized in that: The test tube lifting device (6) comprises a first cylinder (61), a first clamping cylinder (62) and a second pair of clamping jaws (63); the first cylinder (61) is connected to the adjustment plate (52); the first clamping cylinder (62) is connected to an output shaft of the first cylinder (61); and the second pair of clamping jaws (63) is connected to the output shaft of the first clamping cylinder (62).

7. The test tube racking machine according to claim 1 or 2 or 3 or 5 or 6, characterized in that: The test tube rolling device (2) comprises a second motor (21), a gantry (22), a rolling support (23), a driving roller (24), a driven roller (25) and a second cylinder (26); the gantry (22) is arranged on a workbench (16); the second motor (21) is connected to the gantry (22); the driving roller (24) is connected to an output shaft of the second motor (21); the driven roller (25) is connected to the rolling support (23); and the driven roller (25) is arranged parallel to the driving roller (24); the second cylinder (26) is connected to the frame (1); and the output shaft of the second cylinder (26) is connected to the rolling support (23).

8. The test tube racking machine according to claim 1, 2, 3, 5 or 6, characterized in that: The X-axis manipulator (12) is also provided with a second Z-axis manipulator (7), the output shaft of the second Z-axis manipulator (7) is provided with a rotating cylinder (71), the output shaft of the rotating cylinder (71) is provided with a second clamping cylinder (72), and the output shaft of the second clamping cylinder (72) is provided with a third pair of clamping claws (73).

9. The test tube racking machine according to claim 1 or 2 or 3 or 5 or 6, characterized in that: The first test tube stand (18) comprises a third motor (181), a driving shaft (182), a driven shaft (183) and a conveyor belt (184); the output shaft of the third motor (181) is connected to the driving shaft (182); the driving shaft (182) and the driven shaft (183) are arranged at a predetermined distance from each other; the driven shaft (183) is transmission-connected to the driving shaft (182) via the conveyor belt (184); and the test tube stand (200) is arranged on the conveyor belt (184).

10. The test tube racking machine according to claim 9, characterized in that: The workbench (16) is also provided with a test tube rack transverse movement device (8), the test tube rack transverse movement device (8) being arranged at one end of the first test tube platform (18), the test tube rack transverse movement device (8) comprising a transverse movement cylinder (81), a clamping cylinder (82), a bearing plate (83) and a clamping plate (84), the bearing plate (83) being connected to the output shaft of the transverse movement cylinder (81), the clamping cylinder (82) being connected to the bearing plate (83), and the clamping plate (84) being connected to the output shaft of the clamping cylinder (82).

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