Automatic sample loading system for test tubes and test tube racks

Abstract

An automatic sample loading system for test tubes and test tube racks comprises a test tube input unit, a test tube loading unit, a test tube transmission unit, a test tube rack transmission unit, a test tube rack positioning unit and a mechanical arm unit which are connected in sequence, the test tube feeding unit pushes external test tubes into the test tube conveying unit, the test tube conveying unit conveys the test tubes to a test tube clamping work area, the test tube rack conveying unit conveys test tube racks to a rack pushing position, and the test tube rack positioning unit pushes the test tube racks to a designated position and positions the test tube racks. The mechanical arm unit completes grabbing of test tubes, grabbing of a test tube rack and placing of the test tube rack on a blood analyzer. According to the utility model, the labor intensity of medical staff is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of hospital equipment, and particularly relates to an automatic sample loading system for test tubes and test tube racks. Background Art

[0002] Medically, various blood analyzers are widely used in various hospitals. At present, when medical staff need to use a blood analyzer, they often need to manually place the test tube into the jack of the test tube rack supporting the analyzer, and then manually place the test tube rack into the designated track of the blood analyzer, which greatly wastes the energy and time of the medical staff. There is an urgent need for an automatic sample loading system. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the utility model provides an automatic sample loading system for test tubes and test tube racks, which reduces the labor intensity of medical staff and improves work efficiency.

[0004] The technical solution adopted by the utility model to solve its technical problems is as follows:

[0005] An automatic sample loading system for test tubes and test tube racks includes a test tube input unit, a test tube feeding unit, a test tube transmission unit, a test tube rack transmission unit, a test tube rack positioning unit and a robotic arm unit connected in sequence. The test tube input unit feeds external test tubes into the system. The test tube feeding unit pushes the external test tubes into the test tube transmission unit. The test tube transmission unit transmits the test tubes to the test tube clamping working area. The test tube rack transmission unit sends the test tube rack to the position where the rack is to be pushed. The test tube rack positioning unit pushes the test tube rack to the designated position and positions it. The robotic arm unit completes the grasping of the test tube, the grasping of the test tube rack and the placement of the test tube rack on the blood analyzer.

[0006] Further, in the test tube rack transmission unit, a synchronous pulley is installed on the output shaft of the driving motor, a synchronous belt is sleeved on the synchronous pulley, the synchronous belt is connected with a synchronous belt pressing block, the synchronous belt pressing block is connected with a linear module, and a test tube rack carrier plate is installed on the linear module.

[0007] Still further, the test tube rack positioning unit includes a rack pushing mechanism and a detection mechanism. In the rack pushing mechanism, a synchronous pulley is installed on the output shaft of the driving motor, a synchronous belt is sleeved on the synchronous pulley, the synchronous belt is connected with a synchronous belt pressing block, the synchronous belt pressing block is connected with a linear module, a rack pushing module is installed on the linear module, and a buffer device is installed on the rack pushing module;

[0008] In the detection mechanism, the test tube rack detection sensor and the test tube rack positioning side walls are fixed at specific positions. The installation position of the test tube rack detection sensor avoids the movement path of the test tubes on the test tube rack carrier plate in the test tube rack transmission unit; the installation position of the test tube rack detection sensor also avoids the movement paths of the pushing module of the rack pushing mechanism and the buffer device; when the rack pushing mechanism pushes the test tube rack in place in the test tube rack transmission unit, the optical path of the test tube rack detection sensor shines on the test tube rack, and at this time, the movement trajectory of the test tube rack is within the area formed by the left and right side walls of the test tube rack positioning side walls.

[0009] Furthermore, in the test tube input unit, a flat belt is arranged inside, and the flat belt is connected to the test tube carrier. The movement of the flat belt drives the test tube carrier to move, and the test tube is flipped and lowered into the test tube feeding channel under the drive of the test tube carrier.

[0010] Further, in the test tube loading unit, a loading synchronous pulley is installed on the output shaft of the loading motor, a loading synchronous belt is sleeved on the loading synchronous pulley, the loading synchronous belt is connected to the loading synchronous belt pressing block, the loading synchronous belt pressing block is connected to the linear module, and a loading push plate is installed on the linear module; the test tube storage bin is installed below the test tube feeding channel; the tube dropping slide plate is installed on the top of the test tube loading unit.

[0011] Further, in the test tube transmission unit, a transmission synchronous pulley is installed on the output shaft of the transmission motor, a transmission synchronous belt is sleeved on the transmission synchronous pulley and the double-pulley, a transmission belt is sleeved on the double-pulley, two sensors are arranged in the transmission unit, the test tube detection sensor is used to judge whether there is a test tube in the test tube clamping working area, the loading start-stop signal sensor is used to judge whether the test tube loading unit needs to work, and the side wall of the test tube conveying track is below the tube dropping slide plate.

[0012] In the robotic arm unit, a clamping module is installed on the robotic arm, clamping fingers are installed on the clamping module, an elastic device is installed on the clamping fingers, and the robotic arm and the clamping module cooperate with each other to complete the grasping of the test tube, the grasping of the test tube rack, and the placement of the test tube rack on the blood analyzer.

[0013] The system further includes a host computer for operation and display.

[0014] The system bottom plate is equipped with casters and fixed feet.

[0015] Working principle of the utility model: The utility model is started through the system's built-in host computer. The test tube feeding unit pushes the test tubes conveyed from the test tube input unit to the test tube transmission unit. At the same time, the test tube rack transmission unit sends the test tube rack to the position where it is to be pushed. After the detection mechanism in the test tube rack positioning unit detects the test tube rack, the pushing mechanism in the test tube rack positioning unit pushes and positions it. After the test tube rack is positioned and the test tubes are conveyed to the test tube clamping working area, the robotic arm unit sequentially transfers the test tubes into the respective sockets of the test tube rack. When all the sockets are filled or there are no test tubes to be clamped in the test tube clamping working area, the robotic arm unit transfers the test tube rack to the designated position of the blood analyzer, and then the robotic arm unit returns to zero, ending one working process. The above working process does not require the participation of medical staff, thus achieving the purpose of reducing the hospital's pressure, improving the working efficiency of medical staff, and reducing the labor intensity of medical staff.

[0016] The beneficial effects of the utility model are mainly manifested in: reducing the labor intensity of medical staff and improving work efficiency. Description of the drawings

[0017] Figure 1 is the external shape schematic diagram of the utility model.

[0018] Figure 2 is the integrated schematic diagram of the test tube input unit, test tube feeding unit, test tube transmission unit, test tube rack transmission unit, test tube rack positioning unit, and robotic arm unit.

[0019] Figure 3 is the schematic diagram of the test tube rack transmission unit.

[0020] Figure 4 is the schematic diagram of the pushing mechanism of the test tube rack positioning unit.

[0021] Figure 5 is the schematic diagram of the detection mechanism of the test tube rack positioning unit.

[0022] Figure 6 is the integrated schematic diagram of the test tube input unit and test tube feeding unit.

[0023] Figure 7 is the integrated schematic diagram of the test tube feeding unit and test tube transmission unit.

[0024] Figure 8 is the working flow chart of test tube rack positioning. Among them, (A) represents the state schematic diagram of the test tube rack positioning unit when there is no test tube rack on the corresponding slot of the test tube rack carrier plate of the test tube rack transmission unit; (B) represents the state schematic diagram of the test tube rack positioning unit when there is a test tube rack 8 on the corresponding slot of the test tube rack carrier plate of the test tube rack transmission unit; (C) represents the state schematic diagram of the test tube rack positioning unit positioning the test tube rack.

[0025] Figure 9It is a flowchart of the operation of transferring test tubes to the jacks of a test tube rack. Among them, (A) is a schematic diagram showing the robotic arm unit transferring test tubes into the respective jacks of the test tube rack, and (B) is a schematic diagram showing that test tubes have been inserted into all the jacks of the test tube rack.

[0026] Figure 10 It is a schematic diagram of the clamping module in the robotic arm unit.

[0027] Figure 11 It is a schematic diagram of the combination of clamping fingers and elastic devices in the clamping module.

[0028] Figure 12 It is a schematic diagram of the positional cooperation relationship between the test tube rack transmission unit and the test tube rack positioning unit. Among them, (A) is a top view of the positional cooperation relationship, and (B) is a front view of the positional cooperation relationship.

[0029] Among them, 1. Host computer; 2. Test tube input unit; 3. Test tube loading unit; 4. Test tube transmission unit; 5. Test tube rack transmission unit; 6. Test tube rack positioning unit; 7. Robotic arm unit; 8. Test tube rack; 9. Test tube; 10. Caster; 11. Fixed foot; 21. Test tube slide; 22. Test tube feeding channel; 31. Test tube storage bin; 32. Loading sensor; 33. Loading push plate; 34. Tube dropping slide; 41. Side wall of test tube conveying track; 42. Loading start-stop signal sensor; 43. Test tube detection sensor; 51. Test tube rack carrier plate; 52. Driving motor; 61. Pushing frame module; 62. Test tube rack detection sensor; 63. Test tube rack positioning side wall; 611. Buffer device; 71. Robotic arm; 72. Clamping module; 721. Clamping fingers; 722. Elastic device; 723. Annular groove. Detailed implementation manners

[0030] The present utility model will be further described below with reference to the accompanying drawings.

[0031] Refer to Figures 1 to 12 , an automatic sampling system for test tubes and test tube racks, includes a test tube input unit 2, a test tube loading unit 3, a test tube transmission unit 4, a test tube rack transmission unit 5, a test tube rack positioning unit 6, and a robotic arm unit 7 that are connected in sequence. The test tube input unit feeds external test tubes into the system. The test tube loading unit 3 pushes the external test tubes into the test tube transmission unit. The test tube transmission unit 4 transmits the test tubes to the test tube clamping working area. The test tube rack transmission unit 5 sends the test tube rack to the position where it is to be pushed. The test tube rack positioning unit 6 pushes the test tube rack to the designated position and positions it. The robotic arm unit 7 completes the grasping of test tubes, the grasping of test tube racks, and the placement of test tube racks on the blood analyzer.

[0032] As Figure 2, the test tube input unit 2, the test tube loading unit 3, the test tube transmission unit 4, the test tube rack transmission unit 5, the test tube rack positioning unit 6, and the robotic arm unit 7 are fixedly placed in a specific assembly relationship.

[0033] As Figure 3 , the test tube rack 8 is inserted along the placement groove direction of the test tube rack carrier plate 51, and multiple test tube racks 8 are arranged in parallel in the placement grooves of the test tube rack carrier plate 51. The test tube rack carrier plate 51 is designed to prevent incorrect insertion to ensure the placement direction of the test tube rack 8; in the test tube rack transmission unit 5, the drive motor 52 drives the test tube rack 8 placed on the test tube rack carrier plate 51 to move through a transmission structure.

[0034] As Figure 4 , in the test tube rack positioning unit 6, a synchronous pulley is installed on the output shaft of the drive motor, a synchronous belt is sleeved on the synchronous pulley, the synchronous belt is connected to a synchronous belt pressing block, the synchronous belt pressing block is connected to a linear module, and a pushing frame module 61 is installed on the linear module, and a buffer device 611 is installed on the pushing frame module 61. The drive motor drives the synchronous pulley to rotate, and then drives the pushing frame module 61, so that the buffer device 611 moves the test tube rack 8 in place in the test tube rack transmission unit 5 towards the final positioning position.

[0035] As Figure 5 , in the test tube rack positioning unit 6, a test tube rack detection sensor 62 for detecting whether the test tube rack 8 reaches the position where it can be pushed and a test tube rack positioning side wall 63 for ensuring the final positioning of the test tube rack 8 are provided. Further, the entrance position of the test tube rack positioning side wall 63 is designed with an open mouth to achieve the purpose of self-aligning during the pushing process.

[0036] As Figure 12 , the test tube rack transmission unit 5 and the test tube rack positioning unit 6 are cooperated at a specific position. When the pushing frame module 61 pushes the test tube rack 8 in place in the test tube rack transmission unit 5, the optical path of the test tube rack detection sensor 62 irradiates on the test tube rack, and at this time, the movement trajectory of the test tube rack 8 is within the area formed by the left and right side walls of the test tube rack positioning side wall 63.

[0037] As Figure 6 , in the test tube input unit 2, the test tube carrier 21 carries the test tube 9 and moves downward, and then the test tube 9 falls into the test tube storage bin 31 through the test tube feeding channel 22.

[0038] As Figure 6 , when there is a test tube 9 in the test tube storage bin 31 of the test tube loading unit 3, the loading sensor 32 will inform the upper computer 1 that there is a loading condition. The loading push plate 33 pushes the test tube 9 upward.

[0039] As Figure 7, after the test tube 9 is pushed to the top, it falls into the test tube transmission unit 4 along the dropping tube slide plate 34 and the side wall 41 of the test tube conveying track, and is conveyed in a vertical posture. The test tubes 9 will be stacked in the test tube conveying unit 4. When the feeding start-stop signal sensor 42 detects that there is a test tube 9 below, the feeding push plate 33 stops pushing the test tubes to prevent the test tubes 9 from being stacked in an abnormal posture in the test tube conveying unit 4 due to excessive number. When the test tube detection sensor 43 detects the test tube 9, it is determined that the test tube 9 has reached the test tube clamping working area.

[0040] As Figure 8 , the test tube rack carrier plate 51 and the test tube rack 8 thereon move. When the test tube rack detection sensor 62 does not detect the test tube rack 8, it will keep moving until it is detected. After being detected, the rack pushing module 61 works to move the test tube rack 8 towards the test tube rack positioning side wall 63. Specifically, a buffer device 611 is installed on the rack pushing module 61 to prevent the test tube rack 8 from being impacted and having unstable positioning.

[0041] As Figure 9 . After the test tube rack 8 is positioned and the test tube 9 reaches the test tube clamping working area, the robotic arm 71 drives the clamping module 72 mounted thereon to the test tube clamping working area to perform the operation of clamping the test tube, and transfers the test tubes 9 to the respective insertion holes of the test tube rack 8 in sequence. When all the insertion holes are filled or there are no test tubes to be clamped in the test tube clamping working area, the robotic arm unit clamps and transfers the test tube rack 8 to the designated position of the blood analyzer.

[0042] As Figure 10 . An annular groove 723 is provided on the clamping finger 721 of the clamping module 72 for stably clamping the test tube 9. Further, an elastic device 722 is installed on the clamping finger 721 for stably clamping the test tube rack 8.

[0043] As Figure 1 , casters 10 are assembled on the system base plate to facilitate the movement of the system; and fixed feet 11 are further assembled for fixing the system to prevent work mistakes caused by the movement of the system.

[0044] The automatic sampling system for test tubes and test tube racks in this embodiment can realize automatic docking with the blood analyzer without the participation of medical staff, achieving the purpose of reducing the hospital pressure, improving the work efficiency of medical staff, and reducing the burden on medical staff.

[0045] The content described in the embodiments of this specification is only a list of the implementation forms of the utility model concept and is only for illustrative purposes. The protection scope of the utility model should not be regarded as limited to the specific forms stated in this embodiment, and the protection scope of the utility model also extends to equivalent technical means that can be conceived by those of ordinary skill in the art based on the utility model concept.

Claims

1. An automatic loading system for test tubes and test tube racks, characterized in that: The system includes a test tube input unit, a test tube loading unit, a test tube transmission unit, a test tube rack transmission unit, a test tube rack positioning unit and a mechanical arm unit which are connected in sequence. The test tube input unit sends external test tubes into the system, the test tube loading unit pushes external test tubes into the test tube transmission unit, the test tube transmission unit transmits the test tubes to a test tube clamping work area, the test tube rack transmission unit sends the test tube rack to a position to be pushed, the test tube rack positioning unit pushes the test tube rack to a designated position and positions it, and the mechanical arm unit completes the grabbing of test tubes, the grabbing of test tube racks and the placement of the test tube rack on a blood analyzer.

2. The automatic loading system for test tubes and test tube racks according to claim 1, characterized in that: In the test tube rack transmission unit, a synchronous wheel is installed on the output shaft of the driving motor, a synchronous belt is sleeved on the synchronous wheel, the synchronous belt is connected to a synchronous belt clamping block, the synchronous belt clamping block is connected to a linear module, and a test tube rack carrier is installed on the linear module.

3. The automatic loading system for test tubes and test tube racks according to claim 1 or 2, characterized in that: The test tube rack positioning unit includes a pushing mechanism and a detection mechanism. In the pushing mechanism, a synchronous wheel is installed on the output shaft of the driving motor, a synchronous belt is sleeved on the synchronous wheel, the synchronous belt is connected to a synchronous belt clamping block, the synchronous belt clamping block is connected to a linear module, a pushing module is installed on the linear module, and a buffer device is installed on the pushing module.

4. The automatic loading system for test tubes and test tube racks according to claim 3, characterized in that: In the detection mechanism, the test tube rack detection sensor and the test tube rack positioning side wall are fixed at specific positions, and the installation position of the test tube rack detection sensor avoids the movement path of the test tube rack on the test tube rack carrier in the test tube rack transmission unit; the installation position of the test tube rack detection sensor avoids the movement path of the pushing rack module and the buffer device of the pushing rack mechanism; when the pushing rack mechanism pushes the test tube rack in place in the test tube rack transmission unit, the light path of the test tube rack detection sensor is irradiated on the test tube rack, and at this time, the movement trajectory of the test tube rack is within the area formed by the left and right side walls of the test tube rack positioning side wall; in the test tube input unit, a flat belt is arranged on the inside, and the flat belt is connected to the test tube carrier, and the movement of the flat belt drives the test tube carrier to move, and the test tube is turned over and descends to the test tube feeding channel under the drive of the test tube carrier.

5. The automatic loading system for test tubes and test tube racks according to claim 1 or 2, characterized in that: In the test tube loading unit, a loading synchronous wheel is installed on the output shaft of the loading motor, a loading synchronous belt is sleeved on the loading synchronous wheel, the loading synchronous belt is connected to a loading synchronous belt clamping block, the loading synchronous belt clamping block is connected to a linear module, and a loading push plate is installed on the linear module; the test tube storage bin is installed below the test tube feeding channel; and the tube drop slide is installed on the top of the test tube loading unit.

6. The automatic loading system for test tubes and test tube racks according to claim 1 or 2, characterized in that: The test tube transmission unit has a transmission synchronous wheel installed on the output shaft of the transmission motor, a transmission synchronous wheel and a double pulley are equipped with a transmission synchronous belt, and a double pulley is equipped with a transmission belt. Two sensors are arranged in the transmission unit. The test tube detection sensor is used to determine whether there is a test tube in the test tube clamping working area, and the loading start and stop signal sensor is used to determine whether the test tube loading unit needs to work. The side wall of the test tube conveying track is below the tube drop slide.

7. The automatic loading system for test tubes and test tube racks according to claim 1 or 2, characterized in that: In the robotic arm unit, the clamping module is installed on the robotic arm, the clamping fingers are installed on the clamping module, the elastic device is installed on the clamping fingers, and the robotic arm and the clamping module cooperate with each other to complete the grabbing of test tubes, the grabbing of test tube racks and the placement of test tube racks on the blood analyzer.

8. The automatic loading system for test tubes and test tube racks according to claim 1 or 2, characterized in that: The system also includes a host computer for operation and display.

Images