Blood sample test tube grabbing manipulator for blood analyzer

Abstract

The utility model relates to a blood sample test tube grabbing manipulator for a blood analyzer, which relates to the technical field of medical instruments and comprises a conveying guide rail arranged above a workbench, a hydraulic cylinder is arranged at the lower end of the conveying guide rail, and the conveying guide rail and the hydraulic cylinder drive a clamping mechanism to move and position. The output end of the hydraulic cylinder is connected with the clamping mechanism and is used for clamping a blood sample test tube placed on the workbench through the clamping mechanism; the clamping mechanism comprises a telescopic outer cylinder, the outer side of the telescopic outer cylinder is fixedly sleeved with a lantern ring, clamping arms are symmetrically hinged to the two sides of the lantern ring, and the clamping arms clamp a blood sample test tube; the telescopic outer cylinder drives the lead screw and the suction cup to suck the blood sample test tube, in the process that the blood sample test tube is sucked up, the worms connected to the two sides of the lead screw in a transmission mode pull the clamping arms to clamp and fix the blood sample test tube, and in the process of grabbing the blood sample test tube, the clamping arms cannot collide with the surrounding blood sample test tube; and the accuracy of grabbing and subsequent detection is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of medical devices, and in particular to a robotic arm for grasping blood sample tubes in a blood analyzer. Background Technology

[0002] Blood analyzers are among the most widely used instruments in hospital clinical laboratories. They can test a patient's blood, reflect the patient's health status and physical condition, and analyze the data based on the test results to provide the patient with an effective treatment plan.

[0003] Current technology collects blood samples in test tubes. To achieve automation, robotic arms are typically used to grip the test tubes and place them into a blood analyzer for sample analysis. However, because the blood sample test tubes are densely packed in the test tube box with very little spacing, the robotic arms can easily bump into surrounding blood sample test tubes when gripping them, affecting subsequent sample testing. At the same time, it is impossible to guarantee the clamping stress when gripping the blood sample test tubes, and excessive stress can cause crushing damage to the blood sample test tubes. Utility Model Content

[0004] To address the problems mentioned above in the background art, this utility model provides a robotic arm for grasping blood sample tubes in a blood analyzer.

[0005] The present invention provides a blood sample tube gripping robot for a blood analyzer, which adopts the following technical solution:

[0006] A blood sample tube gripping robot for a blood analyzer includes a conveying guide rail positioned above a worktable. A hydraulic cylinder is located at the lower end of the conveying guide rail, and the output end of the hydraulic cylinder is connected to a clamping mechanism, which clamps the blood sample tube placed on the worktable. The clamping mechanism includes a telescopic outer cylinder, with a collar fixedly sleeved on the outer side of the telescopic outer cylinder. Clamping arms are symmetrically hinged to both sides of the collar, and the clamping arms clamp the blood sample tube. A lead screw is output from the bottom end of the telescopic outer cylinder, and a control box is provided to control the swing of the clamping arms. A suction cup for adsorbing blood sample tubes is sleeved at the end of the lead screw.

[0007] Preferably, a slide bar is provided on the inner side of the clamping arm, and a slider is slidably disposed on the slide bar; the lead screw passes through the inside of the control box and is driven by worm gears on both sides of the lead screw, and the output end of the worm gear passes through the side wall of the control box and is hinged to the slider.

[0008] Preferably, the bottom of the clamping arm is provided with a bent section, the bent section outputs a clamping claw, a spring is provided on the inner side of the bent section, the spring is sleeved on the rear section of the clamping claw, and the front section of the clamping claw clamps the blood sample tube.

[0009] Preferably, the side of the clamping claw that holds the blood sample tube has an anti-slip rubber layer.

[0010] In summary, this utility model has the following beneficial technical effects:

[0011] 1. This utility model uses a conveying guide rail and a hydraulic cylinder to drive the clamping mechanism to move and position. The telescopic outer cylinder drives the lead screw and suction cup to adsorb blood sample tubes. During the process of picking up the blood sample tubes, the worm gears connected to both sides of the lead screw pull the clamping arms to clamp and fix the blood sample tubes. When the suction cup adsorbs the blood sample tubes, the clamping arms are located above the blood sample tubes and at a certain distance from them. During the process of grasping the blood sample tubes, the clamping arms will not bump into the surrounding blood sample tubes, thus improving the accuracy of grasping and subsequent testing.

[0012] 2. A spring is fitted at the rear of the gripper claw. The spring acts as a buffer, preventing the blood sample tube from being crushed or damaged due to excessive gripping stress when the gripper claw holds the blood sample tube. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall planar structure of a blood sample tube gripping robot for a blood analyzer according to an embodiment of the present invention;

[0014] Figure 2 This is a schematic diagram of the planar structure of the blood sample tube adsorbed by the suction cup according to an embodiment of the present invention;

[0015] Figure 3 This is a schematic diagram of the structure of the clamping arm holding the blood sample tube according to an embodiment of the present invention;

[0016] Figure 4 This is a perspective view of the internal structure of the control box according to an embodiment of the present invention;

[0017] Figure 5 This is a partial planar perspective view of the clamping arm according to an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached drawings: 1. Workbench; 2. Conveyor rail; 3. Hydraulic cylinder; 4. Clamping mechanism; 5. Blood sample tube; 6. Telescopic outer cylinder; 7. Collar; 8. Clamping arm; 9. Lead screw; 10. Control box; 11. Suction cup; 12. Slide rod; 13. Slider; 14. Worm gear; 15. Bending section; 16. Clamping claw; 17. Spring; 18. Anti-slip rubber layer; 19. Transverse guide rail; 20. Longitudinal guide rail; 21. Transverse moving block; 22. Longitudinal moving block; 23. Guide rail motor; 24. Control console; 25. Telescopic motor; 26. Reducer; 27. Gearbox. Detailed Implementation

[0019] The following combination Figures 1-5 The present invention will be described in further detail below.

[0020] This utility model discloses a robotic arm for grasping blood sample tubes in a blood analyzer.

[0021] Reference Figure 1 , Figure 2 , Figure 3 A blood sample tube gripping robot for a blood analyzer includes a conveying guide rail 2 positioned above a workbench 1, a hydraulic cylinder 3 positioned at the lower end of the conveying guide rail 2, a longitudinal guide rail 20 and the hydraulic cylinder 3 moving along the horizontal X-axis direction on a transverse guide rail 19, and the hydraulic cylinder 3 moving along the horizontal Y-axis direction on the longitudinal guide rail 20; the output end of the hydraulic cylinder 3 is connected to a clamping mechanism 4 and clamps the blood sample tube 5 placed on the workbench 1 through the clamping mechanism 4.

[0022] The clamping mechanism 4 includes a telescopic outer cylinder 6. A telescopic motor 25 is provided on the side of the telescopic outer cylinder 6 and drives the output screw 9 of the telescopic outer cylinder 6 through the telescopic motor 25. A reducer 26 and a gearbox 27 are provided at the output end of the telescopic motor 25. A collar 7 is fixedly sleeved on the outside of the telescopic outer cylinder 6. Clamping arms 8 are symmetrically hinged on both sides of the collar 7. The clamping arms 8 clamp the blood sample test tube 5.

[0023] The bottom end of the telescopic outer cylinder 6 outputs a lead screw 9 and is equipped with a control box 10 for controlling the swing of the clamping arm 8. The end of the lead screw 9 is fitted with a suction cup 11 for adsorbing blood sample test tubes 5.

[0024] Reference Figure 1 The conveying guide rail 2 includes a transverse guide rail 19 arranged along the horizontal X-axis and a longitudinal guide rail 20 arranged along the horizontal Y-axis. A transverse moving block 21 is slidably arranged on the transverse guide rail 19. The longitudinal guide rail 20 is fixedly arranged at the bottom of the transverse moving block 21 and perpendicular to the transverse guide rail 19. A longitudinal moving block 22 is slidably arranged on the longitudinal guide rail 20. A hydraulic cylinder 3 is fixedly arranged at the bottom of the longitudinal moving block 22. The transverse guide rail 19 and the longitudinal guide rail 20 are driven by guide rail motors 23. The guide rail motors 23 are communicatively connected to a control console 24 located at the front of the workbench 1. The control system in the control console 24 is programmed to control the conveying of the conveying guide rail 2 and the extension and retraction of the hydraulic cylinder 3, thereby driving the clamping mechanism 4 to sequentially grasp the blood sample tubes 5 placed on the workbench 1.

[0025] Reference Figure 3 , Figure 4 , Figure 5 A slide bar 12 is provided on the inner side of the clamping arm 8, and a slider 13 is slidably mounted on the slide bar 12; a lead screw 9 passes through the inside of the control box 10 and is connected to a worm gear 14 on both sides of the lead screw 9; the output end of the worm gear 14 passes through the side wall of the control box 10 and is hinged to the slider 13.

[0026] Reference Figure 2 , Figure 5 The bottom of the clamping arm 8 is provided with a bending section 15, the bending section 15 outputs a clamping claw 16, a spring 17 is provided on the inner side of the bending section 15, the spring 17 is sleeved on the rear section of the clamping claw 16, and the front section of the clamping claw 16 clamps the blood sample test tube 5.

[0027] Reference Figure 5 The front end of the gripper 16 grips the blood sample tube 5 and has an anti-slip rubber layer 17 on one side.

[0028] The implementation principle of the blood sample tube gripping robot for a blood analyzer according to this embodiment of the utility model is as follows:

[0029] When the robotic arm grasps the blood sample tube 5, firstly, the clamping mechanism 4 is transported to a position above the blood sample tube 5 to be grasped through the cooperation of the conveying guide rail 2 and the hydraulic cylinder 3; the telescopic motor 25 drives the telescopic outer cylinder 6 to output the lead screw 9, and the suction cup 11 sleeved at the end of the lead screw 9 adsorbs the blood sample tube 5. At the same time, during the rotation and feeding process of the lead screw 9, the worm gears 14 connected to both sides of the lead screw 9 push the clamping arm 8 to swing away from the lead screw 9. The clamping arm 8 is located above the blood sample tube 5 and at a certain distance from the blood sample tube 5, so as not to bump into the surrounding blood sample tubes 5; the telescopic outer cylinder 6 retracts the lead screw 9 and picks up the blood sample tube 5. At the same time, during the reverse rotation of the lead screw 9, the worm gears 14 connected to both sides of the lead screw 9 pull the clamping arm 8 to swing closer to the lead screw 9. The clamping arm 8 clamps and fixes the blood sample tube 5 through the clamping claws 16 at the bottom; Figure 3 and Figure 5 As shown, during the clamping process of the blood sample tube 5, the two clamping arms 8 are positioned by the corresponding worm gear 14. At this time, the two clamping claws 16 clamp the outer wall of the blood sample tube 5 and the position of the clamping claws 16 is stable, thereby achieving stable clamping of the blood sample tube 5.

[0030] The above are all preferred embodiments of this utility model, and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape and principle of this utility model should be covered within the scope of protection of this utility model.

Claims

1. A robotic arm for grasping blood sample tubes in a blood analyzer, characterized in that: Includes a conveying guide rail (2) set above the workbench (1), and a hydraulic cylinder (3) is provided at the lower end of the conveying guide rail (2). The output end of the hydraulic cylinder (3) is connected to a clamping mechanism (4) and clamps the blood sample test tube (5) placed on the workbench (1) through the clamping mechanism (4). The clamping mechanism (4) includes a telescopic outer cylinder (6), a collar (7) is fixedly sleeved on the outside of the telescopic outer cylinder (6), and clamping arms (8) are symmetrically hinged on both sides of the collar (7). The clamping arms (8) clamp the blood sample tube (5). The bottom end of the telescopic outer cylinder (6) outputs a lead screw (9) and is equipped with a control box (10) for controlling the swing of the clamping arms (8). The end of the lead screw (9) is sleeved with a suction cup (11) for adsorbing the blood sample tube (5).

2. The blood sample tube gripping robotic arm for a blood analyzer according to claim 1, characterized in that: The clamping arm (8) is provided with a slide rod (12) on its inner side, and a slider (13) is slidably provided on the slide rod (12); the lead screw (9) passes through the inside of the control box (10) and the two sides of the lead screw (9) are connected to the worm gear (14) for transmission, and the output end of the worm gear (14) passes through the side wall of the control box (10) and is hinged to the slider (13).

3. The blood sample tube gripping robotic arm for a blood analyzer according to claim 1, characterized in that: The bottom of the clamping arm (8) is provided with a bent section (15), the bent section (15) outputs a clamping claw (16), a spring (17) is provided on the inner side of the bent section (15), the spring (17) is sleeved on the rear section of the clamping claw (16), and the front section of the clamping claw (16) clamps the blood sample tube (5).

4. The blood sample tube gripping robotic arm for a blood analyzer according to claim 3, characterized in that: The front end of the clamping claw (16) clamps the blood sample tube (5) and has an anti-slip rubber layer (18) on one side.

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