Warehouse-in and warehouse-out device for soil sample bottles

Abstract

The utility model belongs to the field of manipulators, and provides a warehouse-in and warehouse-out device for soil sample bottles, which comprises a manipulator device, a conveying mechanism and a sample bottle placing frame, and the sample bottle placing frame is placed on the conveying mechanism and moves along with the manipulator device under the action of the conveying mechanism. The sample bottle placing frame is provided with the RFID identification device, whether the sample bottle in the placing position of the sample bottle placing frame is a target sample bottle or not can be identified, after the position of the sample bottle which is put in and out of a warehouse is judged, whether the sample bottle is the target sample bottle or not is further determined by identifying the RFID identification code of the sample bottle, and the accuracy of put-in and put-out of the warehouse is improved; according to the utility model, the distance between the clamping jaw and the sample bottle and the sample library is measured through the machine vision device and the range finder, and then the manipulator device and the conveying mechanism are controlled to realize full-automatic operation and automatically take and place the sample bottle according to the preset position and flow.

Description

Technical Field

[0001] The utility model belongs to the field of manipulators, and particularly relates to an in-out storage device for soil sample bottles. Background Art

[0002] At present, most laboratories store soil samples by encapsulating them in glass bottles and PVC bottles, numbering them, and placing them on fixed steel shelves. This method has disadvantages such as a small sample storage capacity, inconvenience in taking samples, and inconvenience in information management of samples. To solve the above problems, a soil sample storage library with sample bottles arranged vertically in a matrix and placed obliquely is invented, such as Chinese Patent CN115783596A, with the invention name of a soil sample storage system. However, since the sample storage library is placed obliquely and the placement racks for placing samples are arranged oppositely, the space for the manipulator to move is very limited. Also, since the current manipulator that can complete two-way picking and placing has a large volume, it is not suitable for the above-mentioned soil sample storage library. Therefore, those skilled in the art need to design a matching manipulator for this soil sample storage library that can perform in-out storage operations automatically and intelligently. Content of the Utility Model

[0003] To achieve the above object, the utility model provides the following technical solutions:

[0004] The utility model provides an in-out storage device for soil sample bottles, including a manipulator device, a conveying mechanism, and a sample bottle placement frame. The conveying mechanism is arranged on one side of the manipulator device, and the sample bottle placement frame is placed on the conveying mechanism and moves along with the manipulator device under the action of the conveying mechanism.

[0005] Further, a plurality of placement positions for sample bottles are provided on the sample bottle placement frame.

[0006] Further, an RFID identification device is provided on the sample bottle placement frame, and the RFID identification device is configured to identify whether the sample bottle in the placement position of the sample bottle placement frame is the target sample bottle.

[0007] Further, the manipulator device includes an X-axis moving mechanism, a Z-axis moving mechanism, and a clamping jaw mechanism. The clamping jaw mechanism is arranged on the Z-axis moving mechanism, the Z-axis moving mechanism is arranged on the X-axis moving mechanism, and the clamping jaw mechanism moves along the X-axis and Z-axis under the action of the X-axis moving mechanism and the Z-axis moving mechanism.

[0008] Further, the clamping jaw mechanism includes a Y-axis moving mechanism and a clamping jaw, and the Y-axis moving mechanism is configured to drive the clamping jaw to move along the Y-axis.

[0009] Further, the clamping jaw mechanism further includes a rotating mechanism, and the rotating structure is configured to drive the clamping jaw to rotate.

[0010] Furthermore, the jaw mechanism further includes a telescopic mechanism configured to drive the jaws to expand and contract.

[0011] Furthermore, the X-axis moving mechanism includes an X-axis driving machine and an X-axis guide rail. A gear is provided on the X-axis driving machine, and a rack is correspondingly provided on the X-axis guide rail. The X-axis driving machine is in meshing transmission with the X-axis guide rail.

[0012] Furthermore, the Z-axis moving mechanism includes a Z-axis driving machine and a Z-axis guide rail. A gear is provided on the Z-axis driving machine, and a rack is correspondingly provided on the Z-axis guide rail. The Z-axis driving machine is in meshing transmission with the Z-axis guide rail.

[0013] Furthermore, a jaw mechanism is provided on at least one X-axis side of the Z-axis moving mechanism.

[0014] The utility model has the following beneficial effects:

[0015] (1) The utility model is provided with a conveying mechanism and a sample bottle placement frame, and the sample bottle placement frame can move with the manipulator device through the conveying mechanism. After the manipulator device picks up a sample bottle, it is directly placed in the sample bottle placement frame to continue working. When the sample bottle placement frame is full or emptied, it moves under the action of the conveying mechanism to replace the next sample bottle placement frame, reducing the time for the manipulator device to place the sample bottle back and forth during the warehousing and outbound operations, and improving the work efficiency.

[0016] (2) The sample bottle placement frame of the utility model is provided with an RFID identification device, which can identify whether the sample bottle in the placement position of the sample bottle placement frame is the target sample bottle. After judging the position of the sample bottle during warehousing and outbound, the RFID identification code of the sample bottle is further identified to determine whether it is the target sample bottle, improving the accuracy of warehousing and outbound.

[0017] (3) The jaw mechanism of the utility model is provided with a telescopic mechanism, which can drive the jaws to move and adjust the distance between the jaws and the sample placement position or the picking position.

[0018] (4) The jaw mechanism of the utility model is provided with a rotating mechanism, which can drive the jaws to rotate. According to which side of the sample library needs to be placed, the jaws are rotated to the corresponding side of the sample library to adapt to the inclined and double-sided sample library.

[0019] (5) The jaw mechanism of the utility model is further provided with a Y-axis moving mechanism, which drives the jaws to move along the Y-axis through the Y-axis moving mechanism, ensuring that the jaws can perform warehousing and outbound operations on the sample libraries on both sides.

[0020] (6) The present utility model is provided with jaw mechanisms on both sides in the X-axis direction of the Z-axis moving mechanism. When the X-axis guide rail does not protrude from the sample library, the entire area of the sample library can be operated. Also, by telescoping and rotating the jaw mechanisms, the overall volume of the warehousing and outwarehousing device is reduced, making it suitable for sample libraries with a relatively small space.

[0021] (7) The present utility model measures the distances between the jaws and the sample vial and the sample library through a machine vision device and a rangefinder, and then controls the manipulator device and the conveying mechanism to achieve full-automatic operation, automatically picking and placing the vials according to the predetermined positions and procedures. Description of the Drawings

[0022] Figure 1 is a schematic diagram of the overall structure of the present utility model.

[0023] Figure 2 is a schematic diagram of the conveying mechanism and the sample vial placement frame in the present utility model.

[0024] Figure 3 is a schematic diagram of the X-axis moving mechanism and the Z-axis moving mechanism in the present utility model.

[0025] Figure 4 is a schematic diagram of the jaw mechanism structure in the present utility model. Detailed Embodiment

[0026] The following describes in detail the specific embodiments of the present utility model with reference to the accompanying drawings. It should be noted that the embodiments are only specific elaborations of the utility model and should not be regarded as limitations of the utility model. The purpose of the embodiments is to enable those skilled in the art to better understand and reproduce the technical solutions of the present utility model. The protection scope of the present utility model should still be subject to the scope defined by the claims.

[0027] As Figure 1 shown, the present utility model provides a warehousing and outwarehousing device for soil sample vials, including a manipulator device 1, a conveying mechanism 2, and a sample vial placement frame 3. The conveying mechanism 2 is arranged on one side of the manipulator device 1, and the sample vial placement frame 3 is placed on the conveying mechanism 2 and moves with the manipulator device 1 under the action of the conveying mechanism 2.

[0028] As Figure 2As shown in the figure, multiple placement positions 31 for sample bottles 4 are provided on the sample bottle placement frame 3, which allows the manipulator device 1 to perform warehousing and outbound operations on multiple sample bottles 4 during a single X-direction movement. During warehousing, the sample bottles to be warehoused can be placed in the sample bottle placement frame 3. The sample bottle placement frame 3 follows the manipulator device 1 and moves to the target location in sequence, and the sample bottles are placed into the sample library. When the sample bottles in the sample bottle placement frame 3 are taken, under the action of the conveying mechanism 2, the sample bottle placement frame follows the gripper 134 and always places the required sample bottle on one side of the gripper 134. When all the sample bottles in a sample bottle placement frame 3 are taken, under the action of the conveying mechanism 2, the next sample bottle placement frame with samples is moved to one side of the gripper 134. If there are four placement positions (or more placement positions) on the sample bottle placement frame 3, the manipulator device 1 can place four sample bottles into the sample library during a single X-direction movement. Compared with the traditional manipulator device that moves back and forth four times, this application reduces the time for the manipulator device to move back and forth and improves work efficiency.

[0029] Preferably, multiple sample bottle placement frames 3 are placed on the conveying mechanism 2. When the samples in a sample bottle placement frame are full or taken out, they are moved to the target position under the action of the conveying mechanism 2, and another sample bottle placement frame is conveyed to one side of the gripper 134 to ensure the continuous normal operation of the manipulator device 1.

[0030] An RFID identification device is provided on the sample bottle placement frame 3, and a corresponding RFID identification code is provided on the sample bottle. The RFID identification device is configured to identify whether the sample bottle in the placement position of the sample bottle placement frame 3 is the target sample bottle, and by verifying the RFID identification code of the sample bottle, it is used to check whether the bottle taken and placed is consistent with the preset. Preferably, a wireless charging module 32 is also provided on the sample bottle placement frame 3, and the built-in battery of the RFID identification device can be charged through the wireless charging module.

[0031] Specifically, the conveying mechanism 2 includes a conveying drive motor 21 and a conveyor belt device 22. The conveying drive motor 21 is used to drive the conveyor belt device 22 to convey the sample bottle placement frame. The conveying drive motor 21 controls the running direction and speed through the position of the gripper to ensure that the required sample bottle placement frame is located on one side of the gripper.

[0032] As Figure 3 As shown in the figure, the manipulator device 1 includes an X-axis moving mechanism 11, a Z-axis moving mechanism 12, and a gripper mechanism 13. The gripper mechanism 13 is arranged on the Z-axis moving mechanism 12, and the Z-axis moving mechanism 12 is arranged on the X-axis moving mechanism 11. The gripper mechanism 13 moves in the X-axis and Z-axis directions under the action of the X-axis moving mechanism 11 and the Z-axis moving mechanism 12.

[0033] Specifically, the X-axis moving mechanism 11 includes an X-axis driving machine 111 and an X-axis guide rail 112. A gear is provided on the X-axis driving machine 111, and a rack is correspondingly provided on the X-axis guide rail 112. The X-axis driving machine 111 is in meshing transmission with the X-axis guide rail 112. The X-axis moving mechanism 11 further includes a first bottom plate 113 and an X-axis slider 114. The Z-axis moving mechanism 12 is arranged on the first bottom plate 113. The X-axis slider 114 is connected to the first bottom plate 113 and moves back and forth along the direction of the X-axis guide rail 112 under the drive of the X-axis driving machine 111. Since a gear is provided on the X-axis driving machine 111, it can move and position accurately in the X-axis direction.

[0034] The Z-axis moving mechanism 12 includes a Z-axis driving machine 121 and a Z-axis guide rail 122. A gear is provided on the Z-axis driving machine 121, and a rack is correspondingly provided on the Z-axis guide rail 122. The Z-axis driving machine 121 is in meshing transmission with the Z-axis guide rail 122. The Z-axis moving mechanism 12 further includes a second bottom plate 123 and a Z-axis slider 124. The jaw mechanism 13 is arranged on the second bottom plate 123. The Z-axis slider 124 is fixedly arranged at the bottom of the second bottom plate 123 and moves back and forth along the direction of the Z-axis guide rail 122 under the drive of the Z-axis driving machine 121. Since a gear is provided on the Z-axis driving machine 121, it can move and position accurately in the Z-axis direction.

[0035] As Figure 4 shown, the jaw mechanism 13 includes a Y-axis moving mechanism 131, a rotating mechanism 132, a telescoping mechanism 133, and jaws 134. The Y-axis moving mechanism 131 is configured to drive the jaws 134 to move along the Y-axis. Since sample storage bins are provided on both sides of the manipulator device, in order to perform warehousing and outbound operations on the sample storage bins on both sides within a limited activity range, the Y-axis moving mechanism 131 drives the jaws 134 to move along the Y-axis towards the sample storage bin that needs to be operated, and then the jaws perform warehousing and outbound operations under the action of the telescoping mechanism 133.

[0036] Since the placement opening of the sample storage bin is inclined, the jaws also need to be inclined correspondingly. Since the inclination angle of the placement opening of the sample storage bin is fixed, the angle by which the rotating mechanism 132 drives the jaws to rotate is also fixed. The rotating angle is determined by the inclination angle of the placement opening of the sample storage bin. Considering the distance between the jaws and the sample storage bin, the telescoping mechanism drives the jaws to telescope.

[0037] The gripper mechanism 13 further includes a connecting plate 135. The connecting plate 135 is connected to the second bottom plate 123. The connecting plate 135 is arranged on both sides of the Z-axis moving mechanism 12. The Y-axis moving mechanism 131 is arranged between the two connecting plates 135. The Y-axis moving mechanism 131 can be a telescopic motor. The telescopic direction of the telescopic motor is the Y-axis direction. A first connecting block 1311 is provided on the driving shaft of the telescopic motor. The first connecting block 1311 is fixedly connected to the rotating mechanism 132, driving the rotating mechanism 132 to move back and forth in the Y-axis direction. The rotating mechanism 132 can be a rotating motor. The telescopic mechanism 133 includes a second connecting block 1331 and a telescopic motor 1332. The telescopic motor 1332 is fixed on the second connecting block 1331. The second connecting block 1331 is connected to the rotating shaft of the rotating motor 132. The telescopic motor is connected to the gripper 134. Under the action of the Y-axis moving mechanism 131, the rotating mechanism 132, and the telescopic mechanism 133, the gripper 134 can achieve movement in the Y-axis direction, rotation, and telescoping.

[0038] Preferably, a machine vision device 136 and a rangefinder 137 are provided on the gripper mechanism 13. The machine vision device 136 is configured to measure the relative position between the gripper 134 and the target sample vial. The rangefinder 137 is configured to measure the distance between the gripper 134 and the sample library. By measuring the distances between the gripper 134 and the target sample vial and the sample library, the movement of the gripper mechanism 13 is controlled to achieve automatic control of the inbound and outbound operations of the sample vials.

[0039] In some preferred solutions, the gripper mechanism 13 is provided on at least one X-axis side of the Z-axis moving mechanism 12. Preferably, the gripper mechanisms 13 are provided on both sides of the Z-axis moving mechanism 12. When the X-axis guide rail does not protrude from the sample library, the entire area of the sample library can be operated. Also, by telescoping and rotating the gripper mechanism, the overall volume of the inbound and outbound device is reduced, which is suitable for a sample library with a small space.

[0040] The outbound process of the sample vial is as follows:

[0041] Determine the sample vial 4 to be taken out of the warehouse, determine its exact position, and control the X-axis moving mechanism 11 to move to the specified X-axis coordinate by the controller. Then control the Z-axis moving mechanism 12 to move to the specified Z-axis coordinate. At the same time, the conveying mechanism drives the sample vial placement frame 3 to move correspondingly in the X-axis direction following the gripper. According to the direction of the target sample library, the gripper moves in the Y-axis direction under the action of the Y-axis moving mechanism 131. Then rotate by a corresponding angle through the rotating mechanism 132 to align the gripper 134 with the target sample vial. Then drive the gripper 134 to move to the sample library through the telescopic mechanism 133. The gripper 134 grabs the target sample vial, and then retracts the gripper 134 to its original position under the action of the telescopic mechanism 133. Then rotate to the vertical direction through the rotating mechanism 132, start the Y-axis moving mechanism 131, move the gripper 134 above the sample vial placement frame 3, and then place the sample vial 4 to the set placement position through the Z-axis moving mechanism 12. Then repeat the above operations to perform the next out-of-warehouse operation.

[0042] The inbound process of the sample vial is as follows:

[0043] First, place the sample vial 4 to be put into the warehouse into the sample vial placement frame 2, determine the specific position where the sample vial 4 needs to be placed in the sample library, control the X-axis moving mechanism 11 to move to the specified X-axis coordinate by the controller. At the same time, the conveying mechanism drives the sample vial placement frame 3 to move correspondingly in the X-axis direction following the gripper. Then rotate to the vertical direction through the rotating mechanism 132, start the Y-axis moving mechanism 131, move the gripper 134 above the sample vial placement frame 3, and then drive the gripper 134 to grab the target sample vial through the telescopic mechanism 133. Then the telescopic mechanism 133 returns to its original position. Then control the Z-axis moving mechanism 12 to move to the specified Z-axis coordinate. Then according to the direction of the target sample library, the gripper moves in the Y-axis direction under the action of the Y-axis moving mechanism 131. Then rotate by a corresponding angle through the rotating mechanism 132 to align the grabbed target sample vial with the placement position of the sample library. Then drive the gripper 134 to put the target sample vial into the sample library through the telescopic mechanism 133 to complete the inbound operation.

[0044] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0045] It should be noted that the technical features not described in detail in the present invention can all be realized by any existing technology.

Claims

1. A storage device for soil sample bottles, characterized in that: The invention comprises a manipulator device, a conveying mechanism and a sample bottle placing frame. The conveying mechanism is arranged at one side of the manipulator device, and the sample bottle placing frame is placed on the conveying mechanism and moves with the manipulator device under the action of the conveying mechanism.

2. A storage and retrieval device for soil sample bottles according to claim 1, characterized in that: The sample bottle placement frame is provided with a plurality of sample bottle placement positions.

3. A storage and retrieval device for soil sample bottles according to claim 2, characterized in that: The sample bottle placement frame is provided with an RFID identification device, and the RFID identification device is configured to identify whether the sample bottle in the placement position of the sample bottle placement frame is a target sample bottle.

4. The storage and retrieval device for soil sample bottles according to claim 1, characterized in that: The manipulator device includes an X-axial moving mechanism, a Z-axial moving mechanism and a clamping mechanism, wherein the clamping mechanism is arranged on the Z-axial moving mechanism, and the Z-axial moving mechanism is arranged on the X-axial moving mechanism. The clamping mechanism moves along the X-axial and Z-axial directions under the action of the X-axial moving mechanism and the Z-axial moving mechanism.

5. The storage and retrieval device for soil sample bottles according to claim 4, characterized in that: The clamping jaw mechanism comprises a Y-axis moving mechanism and a clamping jaw, and the Y-axis moving mechanism is configured to drive the clamping jaw to move along the Y-axis direction.

6. The storage and retrieval device for soil sample bottles according to claim 5, characterized in that: The clamping jaw mechanism further comprises a rotating mechanism, and the rotating mechanism is configured to drive the clamping jaw to rotate.

7. The storage and retrieval device for soil sample bottles according to claim 5, characterized in that: The clamping jaw mechanism further comprises a telescopic mechanism, and the telescopic mechanism is configured to drive the clamping jaw to telescope.

8. The storage and unloading device for soil sample bottles according to claim 4, characterized in that: The X-axis moving mechanism includes an X-axis driving machine and an X-axis guide rail. The X-axis driving machine is provided with a gear, and the X-axis guide rail is correspondingly provided with a rack. The X-axis driving machine and the X-axis guide rail are engaged for transmission.

9. The storage and retrieval device for soil sample bottles according to claim 4, characterized in that: The Z-axis moving mechanism includes a Z-axis driving machine and a Z-axis guide rail. The Z-axis driving machine is provided with a gear, and the Z-axis guide rail is correspondingly provided with a rack. The Z-axis driving machine and the Z-axis guide rail are engaged for transmission.

10. The storage and unloading device for soil sample bottles according to claim 4, characterized in that: A clamping mechanism is provided on at least one X-axial side of the Z-axial moving mechanism.

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