A position verification and detection device and a transportation system
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- AIKANG MEDTECH CO LTD
- Filing Date
- 2025-05-23
- Publication Date
- 2026-05-26
Smart Images
Figure CN224285869U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of spatial position detection, specifically a position verification and detection device and a transportation system. Background Technology
[0002] When two docking modules in relative motion dock, their docking positions need to be checked to ensure that the relative docking positions of the two docking modules in the three spatial dimensions are accurate, thereby improving the accuracy and reliability of docking and avoiding safety accidents caused by inaccurate docking positions or obstacles between the two docking modules.
[0003] Currently available position sensors can only detect position and distance in a single dimension. There is no sensor that can simultaneously verify the position and distance in three spatial dimensions. Even if multiple position sensors are used to verify the position and distance in the three spatial dimensions respectively, the structure and software control are relatively complex, making it difficult to meet the requirements of multi-dimensional spatial position verification and detection in actual working conditions.
[0004] Therefore, it is necessary to design a simple position verification and detection device to achieve composite position detection in multi-dimensional space. Utility Model Content
[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention provides a position verification and detection device, a transportation system, and a docking method to achieve position verification in three dimensions.
[0006] A position verification and detection device according to a first aspect of the present invention includes:
[0007] The detection module includes a detector, a mounting base, and a sensing component. The detector is slidably mounted on the mounting base along a first direction. The detector has a first insertion part and a sensing reference part. The sensing component is used to sense the sensing reference part to detect the position of the detector relative to the mounting base in the first direction.
[0008] The alignment module is provided with a second mating portion, the second mating portion and the first mating portion are disposed opposite each other at a distance along the first direction, and are configured to be able to be mated with the first mating portion along the first direction.
[0009] A position verification and detection device according to an embodiment of the present utility model has at least the following beneficial effects:
[0010] This invention achieves position verification in two dimensions on a plane perpendicular to the first direction by interlocking the first and second interlocking parts. When the interlocking is successful, it indicates that the position alignment in the two dimensions is correct. The sensing reference part of the sensing component detects the position of the probe relative to the mounting base in the first direction, thus achieving position verification in the first direction. By combining the above verification steps, by setting the sensing component in one direction, position verification can be achieved in three mutually perpendicular dimensions, ensuring accurate alignment of two modules moving relative to each other in space, and meeting the requirements of multi-dimensional spatial position verification and detection in actual working conditions.
[0011] According to some embodiments of the present invention, the detection module further includes a buffer component, which is used to apply a buffering force to the detection element toward the second mating portion along the first direction.
[0012] According to some embodiments of the present invention, the buffer assembly includes a spring, the two ends of which act on the mounting base and the probe, respectively.
[0013] According to some embodiments of the present invention, the spring is sleeved on the outer periphery of the probe, the probe is provided with a first abutting part that abuts against one end of the spring, the mounting base is provided with a second abutting part that abuts against the other end of the spring, and the spring is located between the first abutting part and the second abutting part.
[0014] According to some embodiments of the present invention, the mounting base is provided with a through hole, the through hole is arranged along the first direction, and the probe is slidably disposed in the through hole.
[0015] According to some embodiments of the present invention, the end of the probe away from the second mating portion is provided with a limiting portion, and the limiting portion abuts against the side of the mounting base facing away from the second mating portion.
[0016] The transportation system according to the second aspect of this utility model is characterized in that it includes:
[0017] The aforementioned position verification and detection device;
[0018] A first docking module and a second docking module that move relative to each other along the first direction, wherein the detection module is installed on the first docking module and the alignment module is installed on the second docking module.
[0019] The docking method according to the third aspect of this utility model is characterized in that it is applicable to the above-mentioned transportation system, and the method includes:
[0020] Set a preset distance for the relative movement of the first docking module and the second docking module, and control the first docking module and the second docking module to start moving relative to each other along the first direction;
[0021] The travel distance of the first docking module and the second docking module relative to each other along the first direction and the signal feedback of the sensing components are acquired in real time.
[0022] Determine whether the travel distance has reached the preset distance, and determine whether the signal feedback has changed;
[0023] Based on the judgment of the travel and the signal feedback, the docking status of the first docking module and the second docking module is obtained, and the relative movement of the first docking module and the second docking module along the first direction is controlled to continue or terminate.
[0024] According to some embodiments of this utility model, the step of obtaining the docking status of the first docking module and the second docking module based on the judgment of the travel and the signal feedback, and controlling the relative movement of the first docking module and the second docking module along the first direction to continue or terminate, includes:
[0025] If the travel distance is less than the preset distance, the signal feedback changes, indicating an abnormal docking situation, and the relative movement of the first docking module and the second docking module along the first direction terminates.
[0026] If the travel distance is less than the preset distance and the signal feedback does not change, it is determined that the docking is not completed, and the relative movement of the first docking module and the second docking module along the first direction continues;
[0027] When the travel distance reaches the preset distance and the signal feedback remains unchanged, it is determined that the docking is complete, and the relative movement of the first docking module and the second docking module along the first direction terminates.
[0028] According to some embodiments of this utility model, the step of obtaining the docking status of the first docking module and the second docking module based on the judgment of the travel and the signal feedback, and controlling the relative movement of the first docking module and the second docking module along the first direction to continue or terminate, includes:
[0029] If the travel distance is less than the preset distance, the signal feedback changes, indicating an abnormal docking situation, and the relative movement of the first docking module and the second docking module along the first direction terminates.
[0030] If the travel distance is less than the preset distance and the signal feedback does not change, it is determined that the docking is not completed, and the relative movement of the first docking module and the second docking module along the first direction continues;
[0031] When the travel distance exceeds the preset distance, the signal feedback changes, indicating that the docking is complete, and the relative movement of the first docking module and the second docking module along the first direction terminates.
[0032] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description
[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:
[0034] Figure 1 A front view of an embodiment of the position verification and detection device provided by this utility model;
[0035] Figure 2 An exploded view of an embodiment of the position verification and detection device provided by this utility model;
[0036] Figure 3 A cross-sectional view AA of an embodiment of the position verification and detection device provided by this utility model;
[0037] Figure 4 A cross-sectional view (AA) of the position verification and detection device provided by this utility model after docking;
[0038] Figure 5 A schematic diagram of an embodiment of the transportation system provided by this utility model;
[0039] Figure 6 This is a flowchart illustrating the docking method provided by this utility model.
[0040] Icon labels:
[0041] Detection module 100; Detector 110; First insertion part 111; Sensing reference part 112; First abutment part 113; Limiting part 114; Mounting base 120; Through hole 121; Second abutment part 122; Sensing assembly 130; Sensor 131; Mounting bracket 132; Buffer assembly 140; Spring 141;
[0042] Alignment module 200; Alignment block 210; Second mating part 211;
[0043] First docking module 310; Second docking module 320. Detailed Implementation
[0044] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0045] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0046] In the description of this utility model, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features or their sequential relationship.
[0047] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.
[0048] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this utility model, not all embodiments.
[0049] With the continuous development of automation technology, automated laboratory systems are increasingly being used in blood banks and other major medical institutions and related fields. These highly automated systems effectively improve sample processing efficiency, reduce human error, and provide strong support for medical diagnosis and scientific research. However, with the popularization of automated laboratory systems, they also face some new challenges and problems in actual operation, especially in the sample handover process. When two relatively moving docking modules are docking, their docking positions need to be verified. For example, in blood bank automated system projects, sample tubes often need to be automatically transferred between different floors. Generally, elevator equipment and blood bank automated system equipment are developed and designed by different companies, and elevator control and automated system control belong to two different control systems. During sample tube handover, the blood bank automated system equipment needs to extend into the elevator for docking. If the elevator does not stop accurately, the elevator car door malfunctions, or there is an obstruction between the two, the blood bank automated system equipment extending into the elevator could cause serious safety accidents and biochemical contamination risks. In this situation, verifying the docking accuracy is particularly important.
[0050] Currently available position sensors can only detect position and distance in a single dimension. There is no sensor that can simultaneously verify the position and distance in three spatial dimensions. Even if multiple position sensors are used to verify the position and distance in the three spatial dimensions respectively, the structure and software control are relatively complex, making it difficult to meet the requirements of multi-dimensional spatial position verification and detection in actual working conditions.
[0051] To address the aforementioned issues, this invention proposes a position verification and detection device, a transportation system, and a docking method, which can achieve position verification in three dimensions through a single sensing component.
[0052] refer to Figures 1 to 5 The following are embodiments of the position verification and detection device, transportation system and docking method of this utility model:
[0053] Reference Figure 1 and Figure 2 As shown, the position verification and detection device of this utility model embodiment includes a detection module 100 and an alignment module 200. The detection module 100 and the alignment module 200 are arranged at intervals. For ease of description, the direction of the line connecting the detection module 100 and the alignment module 200 is set as the first direction.
[0054] The detection module 100 includes a detection element 110, a mounting base 120, and a sensing component 130. The detection element 110 is slidably mounted on the mounting base 120 along a first direction. The detection element 110 is provided with a first insertion part 111 and a sensing reference part 112. The sensing component 130 detects the position of the detection element 110 relative to the mounting base 120 by sensing the sensing reference part 112.
[0055] The alignment module 200 includes an alignment block 210, on which a second engagement portion 211 is provided that matches and engages with the first engagement portion 111. The second engagement portion 211 and the first engagement portion 111 are arranged at a distance from each other along a first direction.
[0056] By matching and engaging the first engagement part 111 and the second engagement part 211, position alignment is ensured on the plane perpendicular to the first direction, thereby achieving position verification in two mutually perpendicular directional dimensions on the plane. After the first engagement part 111 and the second engagement part 211 are engaged, the probe 110 slides relative to the mounting base 120. The position of the probe 110 is detected by the sensing component 130, thereby achieving position verification along the first direction. By combining the position verification in the above three dimensions, spatial docking position verification can be achieved through a single-dimensional sensing component.
[0057] Specifically, refer to Figure 3 As shown, in this embodiment, the probe 110 is a rod-shaped structure extending along the first direction. The end of the probe 110 near the second insertion part 211 is the first insertion part 111, and the end away from the second insertion part 211 is the sensing reference part 112. The second insertion part 211 is a countersunk hole structure that matches and inserts with the end of the probe 110. The inner diameter of the countersunk hole is larger than the outer diameter of the probe rod and meets the docking error range requirements. When the first insertion part 111 extends into the countersunk hole along the first direction, it indicates that the positions of the probe module 100 and the alignment module 200 are accurately corresponding on the plane perpendicular to the first direction, thereby realizing position verification on a two-dimensional plane perpendicular to the first direction.
[0058] In some other embodiments, the first mating part 111 and the second mating part 211 may have other structures, such as the second mating part 211 being a boss structure and the first mating part 111 being a groove that matches the boss structure, as long as the first mating part 111 and the second mating part 211 match and fit together.
[0059] In order to limit the sliding direction of the probe 110 to extend along the first direction, the mounting base 120 is provided with a through hole 121 extending along the first direction. The probe 110 is slidably disposed in the through hole 121, and the end of the probe 110 near the second insertion part 211 extends out of the through hole 121. The through hole 121 serves as a guide for the probe 110. In some other embodiments, the probe 110 can be slidably disposed on the mounting base 120 in other ways, such as providing a slider and a guide rail that engage with each other on the probe 110 and the mounting base 120 respectively.
[0060] Furthermore, in order to prevent mechanical impact during docking from causing device failure, the detection module 100 also includes a buffer assembly 140. The buffer assembly 140 is used to apply a buffering force to the detection element 110 in the first direction toward the second mating part 211, so as to avoid excessive impact from the movement of the detection element 110 relative to the mounting base 120 during docking, which would cause damage to the parts. In this embodiment, the buffer assembly 140 includes a spring 141. The two ends of the spring 141 act on the mounting base 120 and the detection element 110 respectively, providing buffering when the detection element 110 is impacted, and converting the impact kinetic energy into elastic potential energy through elastic deformation.
[0061] In some other embodiments, the buffer assembly 140 may be in other forms, such as a hydraulic rod, an elastic airbag, etc., as long as it can buffer the relative movement of the probe 110 and the mounting base 120.
[0062] Specifically, regarding the installation method of the spring 141: the probe 110 is provided with a first abutting part 113 that abuts against one end of the spring 141, the mounting base 120 is provided with a second abutting part 122 that abuts against the other end of the spring 141, and the spring 141 is disposed between the first abutting part 113 and the second abutting part 122.
[0063] In this embodiment, the first abutment portion 113 is a first step provided on the outer peripheral wall of the detector 110. Since the detector 110 is a rod-shaped structure, by designing the outer diameter of the first insertion portion 111 of the detector 110 to be larger than the outer diameter of the sensing reference portion 112, an annular first step is formed on the outer peripheral wall of the detector 110. Similarly, by designing the inner diameter of the hole segment near the second insertion portion 211 on the inner peripheral wall of the through hole 121 to be larger than the inner diameter of the hole segment away from the second insertion portion 211, an annular second step is formed on the inner peripheral wall of the through hole 121.
[0064] The first step and the second step are arranged opposite to each other. The spring 141 is sleeved on the outer periphery of the probe 110. The two ends of the spring 141 abut against the first step and the second step respectively. The first step and the second step restrict the movement of the spring 141 along the first direction. The probe 110 prevents the spring 141 from moving perpendicular to the first direction, thereby completing the installation and fixing of the spring 141.
[0065] By providing a spring 141 at the end of the probe 110, on the one hand, when the probe 110 is subjected to pressure and slides relative to the mounting base 120, a buffer force is applied toward the second mating part 211, so that the sliding of the probe 110 has a collision buffer, avoiding impact damage to the device and extending its service life. On the other hand, after each position verification process, the probe 110 is automatically reset by the spring 141, without the need for manual adjustment of the probe 110 to return to the initial position.
[0066] In some other embodiments, the spring 141 may be installed in other ways, for example, the first engagement portion 111 is provided with a boss that extends beyond the outer edge, one end of the spring 141 is connected to the boss, and the other end is connected to the side of the mounting base 120 near the second engagement portion 211.
[0067] Since the spring 141 applies a buffering force to the probe 110 toward the second engagement portion 211, the probe 110 needs to be limited to prevent it from sliding out of the through hole 121 under the action of the spring 141. In this embodiment, a limiting portion 114 is provided at the end of the probe 110 away from the second engagement portion 211. The limiting portion 114 includes a gasket that is perpendicular to the first direction. The gasket is fixed to the end of the probe 110 by bolts.
[0068] Since the cross-sectional radius of the gasket is larger than the inner diameter of the through hole 121, the gasket abuts against the side of the mounting base 120 facing away from the second mating part 211, thereby limiting the position of the probe 110. The combined action of the spring 141 and the gasket keeps the probe 110 in its initial position without contacting the obstacle or the second mating part 211, avoiding interference from external factors such as gravity on the probe 110, and allowing the probe module 100 and the alignment module 200 to be set in various directions.
[0069] In this embodiment, the end of the detector 110 away from the second insertion part 211 is the sensing reference part 112. The sensing component 130 includes a sensor 131 and a mounting bracket 132. In this embodiment, the sensor 131 is a near-field photoelectric switch. The photoelectric switch is a non-contact switch. It utilizes the blocking or reflection of the light beam by the object being detected to connect the circuit in the synchronous circuit, thereby detecting the position or presence of the object being detected.
[0070] Mounting bracket 132 is located at one end of through hole 121 away from second insertion part 211. Sensor 131 is mounted on mounting bracket 132 and spaced apart from the end of probe 110 located in initial position. The distance between sensor 131 and end of probe 110 located in initial position is set as a safety distance.
[0071] Reference Figure 4 As shown, when the first mating part 111 abuts against the bottom end of the second mating part 211, if the relative movement of the detection module 100 and the alignment module 200 reaches a safe distance, the detection element 110 moves relative to the mounting base 120 due to the pressure of the alignment block 210, causing the sensing reference part 112 to slide to the sensor 131 and block the light beam. At this time, the sensor 131 is triggered to change the feedback signal.
[0072] In some other embodiments, the sensing reference 112 and the sensor 131 may take other forms and structures. For example, the sensor 131 may be a Hall sensor, and the sensing reference 112 may be a magnet disposed on the detector 110. The magnetic field is changed by the magnet following the movement of the detector 110, so that the sensor 131 can sense the position change of the detector 110.
[0073] This utility model also proposes a transportation system, with the following embodiments:
[0074] The transportation system of this embodiment includes the first docking module 310, the second docking module 320 and the position verification and detection device described above. The first docking module 310 and the second docking module 320 move relative to each other along a first direction. The detection module 100 is installed on the first docking module 310 and the alignment module 200 is installed on the second docking module 320.
[0075] Regarding the usage of the transportation system: the first docking module 310 and the second docking module 320 move relative to each other along the first direction, and a preset distance for relative movement is set. If, during the movement to the preset distance, the detector 110 touches an obstacle, fails to align or engage, or the relative movement exceeds the preset distance, the detector 110 is subjected to pressure and slides. The sensing reference unit 112 slides to trigger the sensor 131. The transportation system judges the docking abnormality based on the feedback signal from the sensor 131 and terminates the docking. Thus, by cooperating with other components through a single sensor 131, position verification can be achieved in three mutually perpendicular dimensions. Only one sensor 131 is used, which is relatively simple in structure and software control and can effectively reduce costs.
[0076] Reference Figure 5 As shown, the following is an embodiment of the transportation system used for the blood bank sample tube handover process. The first docking module 310 and the second docking module 320 are respectively the output end of the sample tube transmission pipeline equipment and the receiving end located inside the elevator. The transportation system also includes a docking drive mechanism and a control system. The docking drive mechanism is used to control the first docking module 310 and the second docking module 320 to move relative to each other in a first direction. The control system is signal-connected to the docking drive mechanism and the sensing component.
[0077] Since the blood bank's automated equipment needs to be inserted into the elevator for docking during the sample tube handover process, the position verification and detection device can realize the position verification requirements in multiple dimensions of space. This ensures that the docking is completed when the elevator position is accurate, the elevator car door is opened smoothly, and there are no obstructions between the two. This ensures that the process of the blood bank's automated equipment being inserted into the elevator is safe and reliable, and avoids safety accidents and biochemical contamination.
[0078] Reference Figure 6 As shown, this embodiment of the present invention also provides a docking method applicable to the above-mentioned transportation system, the method comprising:
[0079] S100: Set a preset distance for the relative movement of the first docking module 310 and the second docking module 320, and control the first docking module 310 and the second docking module 320 to start moving relative to each other along the first direction;
[0080] (It should be noted that, here, controlling the first docking module 310 and the second docking module 320 to start moving relative to each other along the first direction means that there is a relative displacement change between the first docking module 310 and the second docking module 320. That is, the second docking module 320 can remain stationary while the first docking module 310 moves relative to the second docking module 320 along the first direction, or the first docking module 310 can remain stationary while the second docking module 320 moves relative to the first docking module 310 along the first direction, or the first docking module 310 and the second docking module 320 can move towards each other along the first direction.)
[0081] S200: Real-time acquisition of the stroke of the first docking module 310 and the second docking module 320 relative to each other along the first direction and the signal feedback of the sensing components;
[0082] S300: Determines whether the travel distance has reached the preset distance and whether the signal feedback has changed;
[0083] S400: Based on the judgment of the travel and signal feedback, obtain the docking status of the first docking module 310 and the second docking module 320, and control the first docking module 310 and the second docking module 320 to continue or terminate the relative movement along the first direction.
[0084] Specifically, for S400, based on the judgment of the stroke and signal feedback, the docking status of the first docking module 310 and the second docking module 320 is obtained, and the relative movement of the first docking module 310 and the second docking module 320 along the first direction is controlled to continue or terminate. This can include various judgment logics. The following details two embodiments of the docking method.
[0085] Example 1
[0086] When the travel distance is less than the preset distance, the signal feedback changes. That is, the first mating part 111 is pushed by other external forces before it is mated with the second mating part 211, causing it to slide relative to the detection module 100. This causes the sensing reference part 112 to trigger the sensing component 130 to change the signal feedback, indicating that there is an obstacle or inaccurate docking during the relative movement of the first docking module 310 and the second docking module 320. It is determined that the docking is incomplete and abnormal, and the relative movement of the first docking module 310 and the second docking module 320 along the first direction is terminated.
[0087] If the travel distance is less than the preset distance and the signal feedback does not change, it indicates that no obstacle has appeared during the relative movement of the first docking module 310 and the second docking module 320. It is determined that the docking is not completed and no abnormality has occurred. The relative movement of the first docking module 310 and the second docking module 320 along the first direction continues.
[0088] When the travel reaches the preset distance and the signal feedback does not change, it indicates that the first docking module 310 and the second docking module 320 have docked with each other, the first mating part 111 and the second mating part 211 are matched and mated, it is determined that the docking has been completed and no abnormality has occurred, and the relative movement of the first docking module and the second docking module along the first direction terminates.
[0089] Based on the above assessments, the docking method of this embodiment can dynamically detect the alignment of the docking modules, thereby enabling automated intervention in the docking process, ensuring the safety and reliability of the docking process, eliminating the need for manual supervision, and reducing manpower waste.
[0090] Reference Figure 5 As shown, the docking method in this embodiment is applied to the blood bank sample tube handover scenario:
[0091] For example, the first docking module 310 is a blood bank assembly line device, the second docking module 320 is an elevator device, the detection module 100 is installed in the first docking module 310, and the alignment module 200 is installed in the second docking module 320. When the elevator car door malfunctions, the elevator alignment is inaccurate, or there is an obstruction between the two, the travel distance is not reached. The detection element 110 on the detection module 100 comes into contact with the obstruction or the elevator car door and is subjected to pressure. The detection element 110 slides under the pressure, and the sensing reference unit 112 triggers the sensor 131, causing the signal feedback to change. The transportation system receives the signal feedback transmitted by the sensor 131, judges that the docking situation is abnormal, terminates the docking according to the signal feedback, and issues an alarm.
[0092] When the elevator is aligned accurately, if the travel reaches the preset distance, the detector 110 will contact the bottom of the second mating part 211 and the relative movement will stop. The sensor 131 will not be triggered, which means that the position is correctly calibrated in all three dimensions. It is determined that the first docking module 310 and the second docking module 320 have reached the docking position and the docking process is normal.
[0093] Based on the above assessments, the docking method of this embodiment is applicable to the application scenario of blood bank sample tube handover. It can terminate the docking in cases such as elevator car door malfunction or inaccurate elevator matching, thereby ensuring the safety of the sample tube handover process and effectively avoiding safety accidents and biochemical contamination risks.
[0094] Example 2
[0095] When the travel distance is less than the preset distance, the signal feedback changes, and the docking is judged to be abnormal. The relative movement of the first docking module 310 and the second docking module 320 along the first direction is terminated.
[0096] If the travel distance is less than the preset distance and the signal feedback does not change, it is determined that the docking is not completed, and the first docking module 310 and the second docking module 320 continue to move relative to each other in the first direction.
[0097] When the travel exceeds the preset distance, the signal feedback changes. It should be noted that "exceeding the preset distance" means that after the first joint 111 abuts against the second joint 211 to complete the matching and engagement, the relative movement of the first docking module 310 and the second docking module 320 continues to travel a safe distance, causing the contact member 110 to slide relative to the mounting base 120, which in turn causes the sensing reference part 112 to slide, triggering a change in the signal feedback of the sensor 131, determining that the docking is complete, and the relative movement of the first docking module 310 and the second docking module 320 along the first direction terminates. The portion of the relative movement that exceeds the preset distance is within the safe range, and the docking is completed normally at this time.
[0098] Based on the above assessments, the docking method of this embodiment can dynamically detect the alignment of the docking modules, thereby enabling automated intervention in the docking process, ensuring the safety and reliability of the docking process, eliminating the need for manual supervision, and reducing manpower waste.
[0099] Reference Figure 5 As shown, the docking method in this embodiment is applied to the blood bank sample tube handover scenario:
[0100] For example, the first docking module 310 is a blood bank assembly line device, the second docking module 320 is an elevator device, the detection module 100 is installed in the first docking module 310, and the alignment module 200 is installed in the second docking module 320. When the elevator car door malfunctions, the elevator alignment is inaccurate, or there is an obstruction between them, the travel distance is not reached. The detection element 110 comes into contact with the obstruction or the car door and is subjected to pressure. Under the pressure, the detection element 110 slides, and the sensing reference part 112 slides to trigger the sensor 131, causing a change in the signal feedback. The transportation system receives the signal feedback transmitted by the sensor 131, judges the docking abnormality, terminates the docking according to the signal feedback, and issues an alarm.
[0101] When the elevator is accurately aligned, after the travel reaches the preset distance, the detector 110 contacts the bottom end of the second mating part 211. The first docking module 310 and the second docking module 320 continue to move relative to each other for a safe distance. The detector 110 slides relative to the mounting base 120 under pressure. The sensing reference part 112 triggers the sensor 131, causing a change in the signal feedback. The transportation system receives the signal feedback transmitted by the sensor 131. The transportation system terminates the docking according to the signal feedback. The first docking module 310 and the second docking module 320 reach the docking position, and the relative movement does not exceed the safe range, indicating that the docking is normal.
[0102] Based on the above assessments, the docking method of this embodiment is suitable for the application scenario of blood bank sample tube handover. It can terminate the docking in cases such as elevator car door malfunction or inaccurate elevator matching, ensuring the safety of the sample tube handover process and effectively avoiding safety accidents and biochemical contamination risks.
[0103] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0104] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.
Claims
1. A position verification and detection device, characterized in that, include: The detection module includes a detector, a mounting base, and a sensing component. The detector is slidably mounted on the mounting base along a first direction. The detector has a first insertion part and a sensing reference part. The sensing component is used to sense the sensing reference part to detect the position of the detector relative to the mounting base in the first direction. The alignment module includes an alignment block, the alignment block having a second engagement portion, the second engagement portion and the first engagement portion being disposed opposite each other at a distance along the first direction, and being configured to be able to engage with the first engagement portion along the first direction.
2. The position verification and detection device according to claim 1, characterized in that: The detection module further includes a buffer component, which is used to apply a buffering force to the detection element along the first direction toward the second mating portion.
3. The position verification and detection device according to claim 2, characterized in that: The buffer assembly includes a spring, the two ends of which act on the mounting base and the probe, respectively.
4. The position verification and detection device according to claim 3, characterized in that: The spring is sleeved on the outer periphery of the detector, the detector has a first abutting part that abuts against one end of the spring, the mounting base has a second abutting part that abuts against the other end of the spring, and the spring is located between the first abutting part and the second abutting part.
5. The position verification and detection device according to claim 4, characterized in that: The mounting base is provided with a through hole, which is arranged along the first direction, and the probe is slidably disposed in the through hole.
6. The position verification and detection device according to claim 5, characterized in that: The end of the probe away from the second mating part is provided with a limiting part, and the limiting part abuts against the side of the mounting base opposite to the second mating part.
7. The position verification and detection device according to claim 1, characterized in that: The detector is a rod-shaped structure extending along a first direction.
8. The position verification and detection device according to claim 7, characterized in that: The end of the probe near the second mating part is the first mating part, and the end of the probe away from the second mating part is the sensing reference part. The second mating part is a countersunk hole structure that matches and mates with the end of the probe.
9. The position verification and detection device according to claim 1, characterized in that: The sensing component includes a sensor and a mounting bracket.
10. A transportation system, characterized in that, include: The position verification and detection device as described in any one of claims 1 to 9; A first docking module and a second docking module move relative to each other along the first direction, the detection module is installed on the first docking module, and the alignment module is installed on the second docking module.