Vacuum suction device for storing and taking reagents

Abstract

The utility model provides a vacuum suction device for reagent storage and taking, and belongs to the technical field of medical automatic storage. The problems that reagents are various in variety and large in size and weight difference, various reagents are difficult to pick up by adopting a single suction cup, and various suction nozzle structures are large in occupied space and complex are solved. A vacuum suction device for reagent storing and taking comprises a support, a suction nozzle module, a vacuum pump system, a camera assembly, a mobile robot and a material box, the suction nozzle module is installed at the end of the mobile robot, the vacuum pump system is installed on the support and connected with the suction nozzle module, and the suction nozzle module comprises a middle suction nozzle assembly and a side suction nozzle assembly; the middle suction nozzle assembly and the side suction nozzle assembly are matched with each other to suck different reagents. The suction nozzle has the advantages that the working mode and the number of the suction nozzles can be adjusted according to the size of the reagent, so that the reagent can be sucked more stably and quickly.

Description

Technical Field

[0001] This utility model relates to the field of automated medical storage technology, specifically a vacuum suction device for reagent storage and retrieval. Background Technology

[0002] Currently, hospital reagent cold storage facilities typically rely on manual access, involving frequent opening and closing of doors. This can negatively impact the stability of the reagent storage environment and pose inconvenience for personnel working at low temperatures. However, given the wide variety of reagents available, varying significantly in size and weight, a single suction cup is insufficient for picking up all reagents. Using multiple nozzle structures is also bulky and complex. Therefore, a technological solution is needed that can automatically adjust the suction method based on the size and weight of the reagent. Utility Model Content

[0003] (a) Technical problems to be solved

[0004] To address the shortcomings of existing technologies, this utility model provides a vacuum suction device for reagent storage and retrieval. It has the advantages of being able to adjust the working mode and number of suction nozzles according to the size of the reagent, thereby achieving more stable and faster reagent suction. It solves the problems of the current situation where there are many types of reagents with large differences in size and weight, making it difficult to pick up various reagents using a single suction cup, and the use of multiple suction nozzle structures also results in a large volume and complexity.

[0005] (II) Technical Solution

[0006] To achieve the goal of adjusting the working mode and number of nozzles according to the size of the reagent for more stable and faster reagent aspiration, this utility model provides the following technical solution: A vacuum aspiration device for reagent storage and retrieval, comprising a support, a nozzle module, a vacuum pump system, a camera assembly, a mobile robot, and a material box. The mobile robot is mounted on the top of the support, the nozzle module is mounted on the end of the mobile robot, the vacuum pump system is mounted on the support and connected to the nozzle module, and the camera assembly is mounted on an external fixing component of the device. The mobile robot is used to control the nozzle module to aspirate reagents placed in the material box, and the camera assembly is used to determine the size and placement of the reagent kit.

[0007] The suction module includes a central suction nozzle assembly and a side suction nozzle assembly, which can be used individually or in combination to aspirate different reagents.

[0008] Preferably, the nozzle module further includes a first mounting base and a second mounting base, which are connected in a shelf-like manner. A central nozzle assembly is mounted in the middle of the lower part of the second mounting base, and side nozzle assemblies are mounted on both sides of the lower part of the second mounting base. The upper part of the first mounting base is mounted at the end of the mobile robot.

[0009] Preferably, a vacuum control component is also installed on the first mounting base.

[0010] Preferably, the intermediate suction nozzle assembly includes a long-handled suction nozzle rod, the end of which is provided with a first suction nozzle, and a buffer spring is sleeved on the long-handled suction nozzle rod.

[0011] Preferably, the side suction nozzle assembly includes a stepper motor and a linear bearing fixedly mounted on a second mounting base. A vertical motion component is inserted through the linear bearing. The motion component is assembled with the stepper motor via a gear and rack mechanism. Two buffer suction nozzle rods, each in two groups, are installed at the bottom of the vertical motion component. A second suction nozzle is installed on each of the buffer suction nozzle rods.

[0012] Preferably, a sensor is also provided on the second mounting base.

[0013] Preferably, both the first and second suction nozzles are accordion nozzles.

[0014] (III) Beneficial Effects

[0015] Compared with the prior art, the present invention provides a vacuum suction device for reagent storage and retrieval, which has the following beneficial effects:

[0016] This vacuum suction device for reagent storage and retrieval works in conjunction with a nozzle module, a vacuum pump system, a camera assembly, a mobile robot, a material bin, and a support frame. When the material bin passes beneath the camera assembly, the camera captures an image of the reagent inside, revealing its size and position, and transmits this information to the control unit. The control unit then moves the mobile robot based on the input and controls the nozzle module to change nozzle positions. After changing positions, the module moves above the reagent, and the vacuum assembly creates a vacuum to suction the reagent. After suction, the reagent can be placed in the storage area at an adjusted angle according to placement requirements. When suctioning small objects, a single-nozzle mode is used, with two side nozzle assemblies rising under the influence of stepper motors to avoid the object, and the middle nozzle assembly creating a vacuum independently. When suctioning slightly larger objects, a three-nozzle mode is used, with one side nozzle assembly rising under the influence of a stepper motor to avoid the object, and three nozzles creating a vacuum. When suctioning the largest reagents, all five nozzles work simultaneously to create a vacuum. This allows for adjustment of the nozzle operation mode and number of nozzles according to the reagent size, resulting in more stable and faster reagent suction. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a vacuum suction device for reagent storage and retrieval according to the present invention.

[0018] Figure 2 This is a schematic diagram of the suction nozzle module structure of a vacuum suction device for reagent storage and retrieval according to the present invention;

[0019] Figure 3 This is a schematic diagram of the side suction nozzle assembly of a vacuum suction device for reagent storage and retrieval according to the present invention.

[0020] In the diagram: 1. Suction nozzle module; 11. First mounting base; 12. Middle suction nozzle assembly; 121. Long-handled suction nozzle rod; 122. Buffer spring; 123. First suction nozzle; 13. Side suction nozzle assembly; 131. Stepper motor; 132. Linear bearing; 133. Sensor; 134. Up-down motion assembly; 135. Second suction nozzle; 136. Buffer suction nozzle rod; 14. Vacuum control assembly; 15. Second mounting base; 2. Vacuum pump system; 3. Camera assembly; 4. Mobile robot; 5. Material box; 6. Support frame. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1-3 A vacuum suction device for reagent storage and retrieval includes a support 6, a suction nozzle module 1, a vacuum pump system 2, a camera assembly 3, a mobile robot 4, and a material box 5. The support 6 is the basic support structure of the entire device, providing the physical location and support points for the installation of other components.

[0023] The nozzle module 1 is installed at the end of the mobile robot 4. The nozzle module 1 is the part that comes into direct contact with the reagent. It achieves the suction and release of the reagent by using the vacuum suction generated in conjunction with the vacuum pump system 2.

[0024] The vacuum pump system 2 is mounted on the bracket 6 and connected to the nozzle module 1. The vacuum pump is used to generate a vacuum environment and provide the suction force required for the nozzle module 1 to draw the reagent.

[0025] Camera assembly 3 is mounted on an external fixture of the device. Camera assembly 3 is used to acquire image information of the reagents in material box 5, and to obtain key information such as the size, dimensions, and position of the reagents through image processing and analysis technology. Using a 3D camera, multiple reagent images and their three-dimensional positions can be acquired simultaneously.

[0026] The mobile robot 4 is mounted on top of the support 6. The mobile robot 4 is used to control the nozzle module 1 to pick up the reagent placed in the material box 5. As the motion actuator of the whole device, the mobile robot 4 is responsible for controlling the movement and posture adjustment of the nozzle module 1 in three-dimensional space.

[0027] Material box 5 is used to store reagents to be retrieved, providing a relatively stable storage environment for the reagents.

[0028] The nozzle module 1 includes a central nozzle assembly 12 and side nozzle assemblies 13. The central nozzle assembly 12 and side nozzle assemblies 13 can be used individually or in combination for aspirating different reagents. The central nozzle assembly 12 is mainly used for handling smaller reagents requiring precise aspiration. Its central position facilitates accurate alignment with the center of the reagent container, enabling precise reagent aspiration. When dealing with small, dispersed, or specially sized reagents, the central nozzle assembly 12 can operate independently, avoiding interference from multiple nozzles and improving aspiration accuracy. The side nozzle assemblies 13 are used for aspirating larger volumes of reagents or requiring greater suction for stable aspiration. Multiple side nozzle assemblies 13 working simultaneously increase the contact area with the reagent container, providing greater suction and ensuring stable reagent aspiration. When used in conjunction with the central nozzle assembly 12, the side nozzle assemblies 13 assist in fixation and enhance the aspiration effect. For example, when aspirating some irregularly shaped reagent containers, the side suction nozzle assembly 13 can provide additional suction from the side to prevent the reagent containers from shaking or tilting during aspiration.

[0029] The nozzle module 1 also includes a first mounting base 11 and a second mounting base 15, which are connected in a tiered manner. The first mounting base 11 is mounted on the upper part of the mobile robot 4, serving as a connecting component between the nozzle module 1 and the mobile robot 4, acting as a bridge. It securely mounts the nozzle module 1 to the end of the mobile robot 4, enabling the nozzle module 1 to perform precise spatial movements with the mobile robot 4. The second mounting base 15 provides mounting positions for the central nozzle assembly 12 and the side nozzle assemblies 13. The central nozzle assembly 12 is mounted in the center below the second mounting base 15, and the side nozzle assemblies 13 are mounted on either side below the second mounting base 15.

[0030] A vacuum control assembly 14 is also installed on the first mounting base 11. The vacuum control assembly 14 is used to control the individual vacuum generation of each nozzle assembly and includes three vacuum solenoid valves and flow valves, etc.

[0031] The intermediate pipette assembly 12 includes a long-handled pipette rod 121, with a first pipette 123 at one end. A buffer spring 122 is fitted onto the long-handled pipette rod 121. The long-handled pipette rod 121 serves as the main support structure of the intermediate pipette assembly 12. One end of the long-handled pipette rod 121 is connected to the first pipette 123, and the other end is mounted on the second mounting base 15. When the first pipette 123 on the long-handled pipette rod 121 contacts the reagent, the long-handled pipette rod 121 often needs to advance a certain distance to allow the first pipette 123 to more fully conform to the surface of the reagent. During this advancement, the long-handled pipette rod 121 will retract a certain distance to prevent damage to the reagent, with the buffer spring 122 providing cushioning.

[0032] The side suction nozzle assembly 13 includes a stepper motor 131 and a linear bearing 132 fixedly mounted on the second mounting base 15. The stepper motor 131 is the power source of the side suction nozzle assembly 13. The gears on the stepper motor 131 engage with the rack on the up-and-down motion assembly 134, thereby driving the up-and-down motion assembly 134 to move up and down and adjust the working state of the side suction nozzle assembly 13. The linear bearing 132 houses the up-and-down motion assembly 134, providing precise linear guidance for its movement. It ensures that the up-and-down motion assembly 134 maintains a straight trajectory during its up-and-down movement, preventing deviation or wobbling, and ensuring that the second suction nozzle 135 can accurately align with the reagent for suction, improving the accuracy and stability of the suction.

[0033] Four buffer suction rods 136 are installed at the bottom of the up-and-down movement assembly 134, two in each group on the left and right sides. A second suction nozzle 135 is installed on each buffer suction rod 136. Similarly, during the process of the side suction assembly 13 drawing reagents, the second suction nozzle 135 needs to be pressed against the reagent surface and made to fit the reagent. The buffer suction rods 136 are needed to provide a certain buffer for the second suction nozzle 135.

[0034] The second mounting base 15 is also equipped with a sensor 133. The sensor 133 is used to detect whether the side suction nozzle assembly 13 has retracted into place, thereby determining whether the reagent can be accurately drawn.

[0035] In this patent, the mobile robot 4 is a six-axis robot. The mobile robot 4 drives the nozzle module 1 and can perform six degrees of freedom adjustment at its end effector.

[0036] Both the first suction nozzle 123 and the second suction nozzle 135 are accordion nozzles, which are beneficial for adapting to surfaces with different flatness.

[0037] Working Principle: When the material bin 5 passes under the camera assembly 3, the camera assembly 3 captures an image of the reagent inside the bin, obtaining the size and position of the reagent, and transmits this information to the control terminal. The control terminal, based on the decision, controls the movement of the mobile robot 4 and controls the nozzle module 1 to change nozzle positions. After the change, it moves above the reagent, and the vacuum assembly generates a vacuum to suck up the reagent. After suction, the angle of the reagent can be adjusted according to placement requirements and placed in the storage area. When the object being sucked is small, a single-nozzle mode is used; the two side nozzle assemblies 13 rise under the drive of the stepper motor 131 to avoid the object, and the middle nozzle assembly 12 generates a vacuum independently. When the object being sucked is slightly larger, a three-nozzle mode is used; one side nozzle assembly 13 rises under the drive of the stepper motor 131 to avoid the object, and the three nozzles generate a vacuum. When sucking up the largest type of reagent, all five nozzles work simultaneously to vacuum and suck up the reagent. This achieves the effect of adjusting the nozzle working mode and the number of nozzles according to the size of the reagent, resulting in more stable and faster reagent suction.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vacuum suction device for reagent storage and retrieval, characterized in that: The device includes a support (6), a nozzle module (1), a vacuum pump system (2), a camera assembly (3), a mobile robot (4), and a material box (5). The mobile robot (4) is mounted on the top of the support (6), the nozzle module (1) is mounted on the end of the mobile robot (4), the vacuum pump system (2) is mounted on the support (6) and connected to the nozzle module (1), the camera assembly (3) is mounted on the external fixture of the device, the mobile robot (4) is used to control the nozzle module (1) to draw reagents placed in the material box (5), and the camera assembly (3) is used to determine the size and placement of the reagent kit. The suction module (1) includes a middle suction assembly (12) and a side suction assembly (13), which can be used alone or in combination to draw different reagents.

2. The vacuum suction device for reagent storage and retrieval according to claim 1, characterized in that: The suction module (1) also includes a first mounting base (11) and a second mounting base (15). The first mounting base (11) and the second mounting base (15) are connected in a shelf-like manner. A middle suction assembly (12) is installed in the middle below the second mounting base (15). Side suction assemblies (13) are installed on both sides below the second mounting base (15). The first mounting base (11) is installed at the end of the mobile robot (4).

3. The vacuum suction device for reagent storage and retrieval according to claim 2, characterized in that: A vacuum control assembly (14) is also installed on the first mounting base (11).

4. The vacuum suction device for reagent storage and retrieval according to claim 2, characterized in that: The intermediate suction nozzle assembly (12) includes a long-handled suction nozzle rod (121), the end of which is provided with a first suction nozzle (123), and a buffer spring (122) is sleeved on the long-handled suction nozzle rod (121).

5. The vacuum suction device for reagent storage and retrieval according to claim 4, characterized in that: The side suction nozzle assembly (13) includes a stepper motor (131) and a linear bearing (132) fixedly mounted on the second mounting base (15). A vertical motion assembly (134) is installed in the linear bearing (132). The motion assembly is assembled with the stepper motor (131) via a gear and rack mechanism. Two buffer suction nozzle rods (136) are installed on the bottom of the vertical motion assembly (134), with two groups on each side. A second suction nozzle (135) is installed on the buffer suction nozzle rod (136).

6. The vacuum suction device for reagent storage and retrieval according to claim 5, characterized in that: The second mounting base (15) is also equipped with a sensor (133).

7. The vacuum suction device for reagent storage and retrieval according to claim 4, characterized in that: Both the first suction nozzle (123) and the second suction nozzle (135) are accordion nozzles.

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