An automatic pipe handling device

Abstract

The utility model discloses an automatic pipe arrangement device, including the machine table, the machine table is equipped with gradually: feeding mechanism, it is used for receiving and along Y directional conveying reagent pipe, poking mechanism, it includes multidirectional drive module, its drive end connects poking board, its drive poking board inserts into the two adjacent reagent pipe between feeding groove, and drives poking board to remove the several reagent pipe of the side of approaching positioning mechanism along Y synchronously to the material groove channel, positioning mechanism, it includes material groove channel, pipe arrangement side push air cylinder and pipe arrangement positioning board, material groove channel is closely arranged to the tail end of feeding groove, and the inlet is provided with along its length to material groove channel, and pipe arrangement side push air cylinder drive connects pipe arrangement positioning board, and its drive pipe arrangement positioning board along the inlet extends into material groove channel, or retracts. The utility model can make several reagent pipes form single row and fixed spacing accurate array simultaneously, and the batch reagent pipe is removed one time by convenient material taking jaw pincer, and production efficiency is improved significantly.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to an automatic tube-management device. Background Technology

[0002] With the rapid development of my country's medical testing and in vitro diagnostics industry, the demand for tubular medical devices such as reagent tubes is constantly expanding. These products usually require large-scale, high-efficiency mass production and packaging.

[0003] In the packaging and traying stage after reagent tube production, the key to overall production efficiency lies in how to quickly and accurately arrange loose reagent tubes into rows and load them into trays. Chinese Patent CN 112141418 A discloses a fully automatic micro-tube sorting and packing machine and its process, which includes a lifting and feeding mechanism, a conveying and sorting mechanism, a test tube picking and placing mechanism, and a boxing and unloading mechanism. This machine is used to automatically transport loose test tubes upwards, automatically sort and arrange loose test tubes into rows, and automatically circulate empty test tube boxes and automatically unload full test tube boxes. However, the above device has the following problem: when packing test tubes into trays, the conveying and sorting mechanism can only sort the test tubes one by one, resulting in low tube placement efficiency and difficulty in meeting higher production capacity requirements. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides an automatic pipe-handling device.

[0005] The technical solution of this utility model is: An automatic tube-handling device, characterized in that it includes a machine base, on which are arranged in sequence: The feeding mechanism is used to receive and convey reagent tubes in the Y direction, with the reagent tubes suspended vertically in the feeding trough of the feeding mechanism; The feeding mechanism is located on one side of the feeding mechanism. It includes a multi-directional drive module. The drive end of the multi-directional drive module is connected to the feeding plate. The feeding plate is driven to insert between two adjacent reagent tubes in the feeding groove and to move several reagent tubes near the positioning mechanism synchronously along the Y direction into the material handling channel. The positioning mechanism includes a material feeding channel, a tube-side push cylinder, and a tube-side positioning plate. The material feeding channel is located adjacent to the tail end of the feed trough. An inlet is provided along the length of the material feeding channel. The tube-side push cylinder drives the tube-side positioning plate, which extends into the material feeding channel along the inlet or retracts.

[0006] Furthermore, the feeding mechanism includes two chain plate conveying mechanisms that are arranged at relative intervals and driven in the Y direction. The gap between the transmission chain plates on the two chain plate conveying mechanisms forms the feeding trough. The bottom surface of the cap of each reagent tube abuts against the two transmission chain plates. The lower end of the tube body of the reagent tube hangs below the feeding trough. In addition, there is a gap for holding material between the upper ends of adjacent reagent tubes and the tube body in the feeding trough.

[0007] Furthermore, the multi-directional drive module includes a linear drive module for feeding material with the drive direction along the Y direction and a push cylinder for feeding material with the drive direction along the X direction. The drive end of the linear drive module for feeding material is slidably connected to a first support plate along the Y direction. The feeding side push cylinder (202) is located on the first support plate, and its drive end is connected to the feeding plate in the direction of the feed groove.

[0008] Furthermore, a pair of photoelectric sensors are provided at the middle part of the feeding trough and at the tail end adjacent to the material handling channel. The two pairs of photoelectric sensors are used to detect and determine in real time whether the number of reagent tubes accumulated from the tail end to the middle part of the feeding trough has reached a preset value.

[0009] Furthermore, the feeding plate includes an upper feeding bar and a lower feeding bar arranged vertically from top to bottom at intervals. Both the upper feeding bar and the lower feeding bar are long strips, and their length extends along the X direction towards the feeding groove. The top of the upper feeding bar facing the feeding groove is provided with flat, plate-shaped upper feeding teeth, and the top of the lower feeding bar is provided with flat, plate-shaped lower feeding teeth.

[0010] Furthermore, the multi-directional drive module also includes a return cylinder; The drive end of the feeding side push cylinder is slidably connected to a second bearing plate along the X direction. A return positioning plate is connected to the second bearing plate. A return port is opened on the return positioning plate along the Y direction. The return cylinder is installed on the second bearing plate, and its drive end passes through the return port and is connected to the feeding plate.

[0011] Furthermore, the material handling channel is composed of a first vertical plate and a second vertical plate that are fixed to the machine platform relatively vertically, and its inlet is connected to the tail end of the feeding trough. The first and second upright plates each have flanges along their length on their inner sidewalls facing each other, which are used to support the bottom surface of the reagent tube cap so that it hangs vertically; the second upright plate has the inlet below its flange (3011); A guide rod cylinder is installed on the tail end of the first or second vertical plate away from the feed trough. The driving end of the cylinder is connected to a pressure sensor and is used to extend along the Y direction to block or retract to allow the tail end opening of the material handling channel.

[0012] Furthermore, the tube positioning plate has several semi-circular tube grooves along its length on the top of the material channel, which are used to hold the tube body part of the reagent tube located at the lower end of its cap.

[0013] Furthermore, a baffle inlet is provided on the second upright plate, on the side of the inlet near the feed trough; On the machine platform, and located on one side of the second vertical plate, a baffle side push cylinder is installed with the driving direction along the X direction. The driving end of the baffle side push cylinder is connected to a baffle, which drives the baffle to extend into the material handling channel along the baffle inlet, or retract.

[0014] Furthermore, on the machine platform, and on the side opposite to the inlet, there is a material-grabbing gripper mechanism. The material-grabbing gripper mechanism includes a robotic arm and a material-grabbing gripper, which is used to grab and remove several reagent tubes that have been positioned in a row in the material sorting channel at one time.

[0015] The beneficial technical effects of this utility model are: High efficiency of automated management This invention uses a feeding mechanism to simultaneously feed a preset number of reagent tubes into a positioning mechanism, changing the traditional method of sorting reagent tubes one by one. With the coordinated action of the sorting and positioning plates, it ensures that each reagent tube can be accurately clamped into the predetermined position, thereby forming a single row of reagent tubes in an orderly and fixed-spaced precision array. This facilitates the material handling gripper mechanism to pick up and transfer the entire row of reagent tubes to the packaging area in one go, thus significantly shortening the sorting and packaging cycle and improving production efficiency.

[0016] High management accuracy and reliability Both the feeding trough and the sorting trough of this utility model are equipped with photoelectric sensors to monitor the number of reagent tubes in real time and ensure that only a preset number of reagent tubes are processed each time. Secondly, the back-pushing action of the back-pushing cylinder and the back-pushing positioning plate on the feeding mechanism effectively prevents the remaining reagent tubes in the feeding trough from becoming disordered due to inertia or gravity, further improving the reliability of the continuous sorting process. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall design of this utility model; Figure 2 This is a schematic diagram after removing the material gripper mechanism; Figure 3 yes Figure 2 Enlarged view of a portion of the feed plate insertion point into the feeding mechanism; Figure 4 This is a schematic diagram of the feeding mechanism after the protective sheet metal has been removed; Figure 5 This is a schematic diagram of the material feeding mechanism. Figure 6This is a schematic diagram of the feeding mechanism from another angle; Figure 7 This is a schematic diagram showing a reagent tube installed in a positioning mechanism; Figure 8 This is a schematic diagram of the positioning mechanism where the positioning plate of the feed tube is located in the feed channel; Figure 9 This is a schematic diagram of the second upright panel; Figure 10 This is a schematic diagram of the overall material handling gripper mechanism; Figure 11 This is a schematic diagram of a reagent tube.

[0018] in: 000, Machine base; 001, Mounting plate; 100, Feeding mechanism; 101, Chain conveyor mechanism; 102, Transmission chain plate; 103, Feed chute; 104, Through-beam photoelectric sensor; 200, Side push mechanism; 201, Material feeding linear drive module; 202, Material feeding side push cylinder; 203, Return cylinder; 204, Return positioning plate; 2041, Return port; 2042, Slide rail; 205, Material feeding plate; 2051, Upper feeding tooth; 2052, Lower feeding tooth; 206, First bearing plate; 2061, Positioning bolt; 207, Second bearing plate; 2071, Pressure sensor; 208, Connecting block; 209, Sliding plate; 300, Positioning mechanism; 301, First upright plate; 3011, Flange; 302, Second upright plate; 3021, Inlet port; 3022, Baffle inlet; 3001, Material handling channel; 303, Tube handling positioning plate; 3031, Tube groove; 304, Tube handling side push cylinder; 305, Baffle side push cylinder; 306, Baffle; 307, Guide rod cylinder; 400, Material handling gripper mechanism; 401, Robotic arm; 402, Finger gripper cylinder; 900, Reagent tube; 901, Cap. Detailed Implementation

[0019] In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0020] like Figures 1-10 As shown, this utility model provides an automatic tube handling device, which includes a feeding mechanism 100, a feeding mechanism 200, a positioning mechanism 300 and a picking claw mechanism 400 arranged sequentially on the machine base 000, wherein the picking claw mechanism 400 is located on the opposite side of the positioning mechanism 300.

[0021] The feeding mechanism 200 is used to simultaneously and in batches push several reagent tubes 900 from the feeding mechanism 100 into the positioning mechanism 300. Subsequently, the positioning mechanism 300 performs a sorting and alignment function, arranging the reagent tubes 900 into a single row and precisely positioning them. Then, the picking gripper mechanism 400 removes the row of reagent tubes 900 from the positioning mechanism 300 in one go. For example... Figure 11 As shown, the reagent tube 900 is a long tubular structure with a cap 901 encapsulated at the top. The diameter of the upper end of the cap 901 is smaller than the diameter of its bottom end, and the diameter of the bottom end of the cap 901 is larger than the diameter of the tube body of the reagent tube 900. This structural feature is beneficial for achieving stable guidance and preventing jamming during transportation and positioning.

[0022] Specifically, the feeding mechanism 100 includes two chain conveyor mechanisms 101 arranged along the Y direction. The two chain conveyor mechanisms 101 are arranged at intervals relative to each other, and two transmission chain plates 102 on the two chain conveyor mechanisms 101 are arranged opposite each other along the Y direction. The gap between the two transmission chain plates forms a feeding trough 103. Each reagent tube 900 is located vertically in the feeding trough 103 with its cap 901 facing upward. The two sides of the bottom surface of the cap 901 on each reagent tube 900 abut against the upper surfaces of the two transmission chain plates 102 respectively. The upper end of the cap 901 is located above the feeding trough 103, and the lower end of the reagent tube 900 is suspended below the feeding trough 103.

[0023] The two chain conveyor mechanisms 101 drive the two transmission chain plates 102 to move synchronously along the Y direction, thereby driving the reagent tubes 900 in the feed trough 103 to be smoothly conveyed along the Y direction towards the feeding mechanism 200 and the positioning mechanism 300. Furthermore, to facilitate the precise and unobstructed feeding action of the feeding mechanism 200, the feeding trough 103 has a clearance space on the side facing the feeding mechanism 200; in addition, several reagent tubes in the feeding trough 103 are arranged in a specific straight line: the bottom ends of the caps 901 of two adjacent reagent tubes 900 are adjacent to each other, and appropriate gaps are left between the upper ends of the caps 901 and between the tubes. This design ensures the smoothness and reliability of the feeding process.

[0024] On the machine tool 000, and on one side of the feed trough 103, there is a feeding mechanism 200. The feeding mechanism 200 includes a feeding linear drive module 201, a feeding side push cylinder 202, a return cylinder 203, a return positioning plate 204, and a feeding plate 205.

[0025] The driving direction of the feeding linear drive module 201 is parallel to the length direction of the feeding groove 103, that is, it is set along the Y direction; the feeding linear drive module 201 is fixed on the machine base 000, and its driving stroke covers the range of the feeding groove 103. The first bearing plate 206 is connected to its driving end through a set of linear guide components, which drives the first bearing plate 206 to slide smoothly along the Y direction. The feeding side push cylinder 202, which is driven in the X direction, is fixed to the first support plate 206. Its driving end faces the feed trough 103, and a second support plate 207 is slidably connected to it in the X direction through another set of linear guide components.

[0026] The linear guide component is existing technology and will not be described in detail here. It includes a slide rail and a slider.

[0027] Preferably, to achieve precise stroke control and end-of-line protection for the second support plate 207 driven by the push cylinder 202 along the X direction, two positioning bolts 2061 are provided on each of the two sides of the first support plate 206 along the Y direction, spaced apart along the X direction. On the two sides of the second support plate 207 corresponding to the positioning bolts 2061, a pressure sensor 2071 is fixedly connected, and each pressure sensor 2071 is located between the two positioning bolts 2061 on the same side. When the push cylinder 202 drives the second support plate 207 to move closer to or further away from the feed trough 103 along the X direction, once the pressure sensor 2071 contacts and detects the pressure signal generated by any of the positioning bolts 2061 at a preset position, the control system (not shown) will immediately stop the second support plate 207, which indicates that the second support plate 207 has moved forward or retracted to the correct position.

[0028] A return positioning plate 204 is fixedly connected to the front side of the second bearing plate 207 near the feed trough 103. A return port 2041 is opened on the return positioning plate 204, and the opening length of the return port 2041 is set along the Y direction. A return cylinder 203 with a drive direction along the Y direction is fixedly connected to the second bearing plate 207 and is located behind the return positioning plate 204. A connecting block 208 is fixedly connected to the drive end of the return cylinder 203, and the front end of the connecting block 208 passes through the return port 2041. On the front side of the return positioning plate 204 facing the feed trough 103, a slide rail 2042 is installed along the Y direction. The bottom surface of the sliding plate 209 is slidably connected to the slide rail 2042, and one side of it is fixedly connected to the front end of the connecting block 208. The material pushing plate 205 is fixedly connected to the front side of the sliding plate 209. The feeding plate 205 includes an upper feeding bar and a lower feeding bar spaced apart in the vertical direction. Both the upper feeding bar and the lower feeding bar are long strips, and their length extends along the X direction. The upper feeding bar has a flat plate-shaped upper feeding tooth 2051 facing the top of the feeding groove 103, and the lower feeding bar has a flat plate-shaped lower feeding tooth 2052 facing the top of the feeding groove 103. The size of the upper feeding tooth 2051 is suitable for the interval size between the two caps of two adjacent reagent tubes in the feeding groove 103, and the size of the lower feeding tooth 2052 is suitable for the interval size between the two tube bodies of two adjacent reagent tubes in the feeding groove 103. As a preferred option, to reduce friction and impact during the intervention process, the top surfaces and intervention edges of the upper tooth 2051 and the lower tooth 2052 are beveled with smooth arc surfaces.

[0029] When the feeding plate 205 approaches the feeding trough 103 under the drive of the feeding side push cylinder 202, the upper feeding tooth 2051 of the feeding plate 205 can be inserted between the two caps of two adjacent reagent tubes in the feeding trough 103, and the lower feeding tooth 2052 is inserted between the two tube bodies of these two adjacent reagent tubes. Subsequently, the feeding linear drive module 201 drives the upper feeding tooth 2051 and the lower feeding tooth 2052 to move along the Y direction toward the positioning mechanism 300. At the same time, the reagent tube 900 facing the positioning mechanism 300 on the side of the upper feeding tooth 2051 and the lower feeding tooth 2052 is pushed to the receiving station in the positioning mechanism 300.

[0030] To precisely control the number of reagent tubes pushed by the side-push mechanism each time, a pair of photoelectric sensors 104 are provided on the machine, corresponding to the tail end and the middle end of the feed trough 103. For ease of description, the middle end of the feed trough 103 corresponding to the pair of photoelectric sensors is the predetermined separation point. These two sets of photoelectric sensors 104 are used to detect and determine in real time whether the number of reagent tubes accumulated from the tail end to the predetermined separation point in the feed trough has reached the preset value. In this utility model, the preset number of reagent tubes 900 is 18.

[0031] When both photoelectric sensors 104 detect the reagent tube positioning signal, the linear drive module 201 first moves the feeding plate 205 to the predetermined separation point of the feed trough 103. Then, the feeding side push cylinder 202 drives the upper feeding tooth 2051 and the lower feeding tooth 2052 of the feeding plate 205 to insert into the gap between the two reagent tubes at the preset position. Then, the linear drive module 201 again drives the upper feeding tooth 2051 and the lower feeding tooth 2052, as well as the 18 reagent tubes 900 facing the positioning mechanism 300 on the side of the upper feeding tooth 2051 and the lower feeding tooth 2052, to move synchronously to the positioning mechanism 300.

[0032] Furthermore, after the feeding plate 205 pushes a preset number of reagent tubes to the positioning mechanism 300, to prevent the remaining reagent tubes in the feed trough 103 from becoming disoriented due to inertia or gravity, the return cylinder 203 is activated to drive the feeding plate 205 to return the entire reagent tube 900 in the feed trough 103 along the return port 2041 by a distance equal to the diameter of a reagent tube. To precisely control this return stroke, a positioning bolt 2061 is provided at each end of the return positioning plate 204 along its Y direction. The return port 2041 and the sliding plate 209 are both located between the two positioning bolts 2061, which mechanically limit the maximum stroke of the return cylinder 203, thereby ensuring the consistency and accuracy of the return distance each time.

[0033] The positioning mechanism 300 includes a material handling channel 3001 composed of a first vertical plate 301 and a second vertical plate 302, a pipe positioning plate 303, a pipe side push cylinder 304, a baffle side push cylinder 305, a baffle 306, and a guide rod cylinder 307.

[0034] On the machine tool 000, and at the tail end of the feed trough 103, a mounting plate 001 is fixedly provided. The first vertical plate 301 and the second vertical plate 302 are fixedly and perpendicularly to the mounting plate 001. The lengths of the first vertical plate 301 and the second vertical plate 302 both extend along the Y direction. The distance between the first vertical plate 301 and the second vertical plate 302 is the material handling channel 3001. The inlet of the material handling channel 3001 is tightly connected to the tail end of the feed trough 103, and the width and height of the two are matched so that the feeding mechanism can smoothly transfer the reagent tubes 900 from the feed trough 103 to the material handling channel 3001 in batches. To ensure stable suspension and precise positioning of the reagent tubes, flanges 3011 are provided on the inner sidewalls of the first vertical plate 301 and the second vertical plate 302 along their length. The two flanges 3011 and the aforementioned transmission chain plate 102 are located in the same water surface to ensure a smooth transition of the reagent tubes. An inlet 3021 is provided below the flange 3011 on the second vertical plate 302. The inlet 3021 is parallel to the flange 3011 and the lengths of the two are approximately equal. A baffle inlet 3022 is provided on the second vertical plate 302, on the side of the inlet 3021 near the feed trough 103. In addition, hollowed-out portions are provided at the bottom of both ends of the first vertical plate 301 and the second vertical plate 302 along their length to facilitate real-time monitoring of the number of reagent tubes accumulated in the material handling channel 3001 by the photoelectric sensor 104.

[0035] When the reagent tube is pushed into the material channel 3001, the two ends of the bottom surface of the reagent tube cap abut against the two flanges 3011 respectively, so that the reagent tube can maintain vertical orientation (i.e. Z direction) and be stably suspended in the material channel 3001. Furthermore, a guide rod cylinder 307 is provided on the first upright plate 301, at the tail end of the material handling channel 3001 away from the feed trough 103, with its driving direction along the Y direction. A pressure sensor 2071 is connected to the driving end of the guide rod cylinder 307, which faces the opening at the tail end of the material handling channel 3001. When a reagent tube enters the material handling channel 3001, the guide rod cylinder 307 drives the pressure sensor 2071 to extend, sealing the opening at the tail end of the material handling channel 3001, effectively preventing the reagent tube from accidentally falling during the handling process. When the handling process is completed, the guide rod cylinder 307 drives the pressure sensor 2071 to retract, facilitating the removal of the arranged reagent tubes by the material handling gripper mechanism 400.

[0036] Preferably, a set of through-beam photoelectric sensors 104 is provided on the mounting plate 001 at both ends corresponding to the length of the inlet 3021. The through-beam photoelectric sensors 104 at both ends are used to detect and determine in real time whether the number of reagent tubes in the material handling channel 3001 has reached a preset value. In this utility model, the preset number of reagent tubes in the material handling channel 3001 is 18. When both through-beam photoelectric sensors in the material handling channel 3001 detect the reagent tube arrival signal, the tube handling and positioning process can be performed.

[0037] The pipe positioning plate 303, the pipe side push cylinder 304, the baffle side push cylinder 305 and the baffle 306 are all mounted on the mounting plate 001 and are located on the side of the second upright plate 302 away from the first upright plate 301.

[0038] A baffle-side push cylinder 305, driven along the X-direction, is fixedly mounted on the mounting plate 001, with its drive end facing the second vertical plate 302. A baffle 306 is connected to the baffle-side push cylinder 305. When the feeding mechanism 200 simultaneously feeds a preset number of reagent tubes into the feeding channel 3001, the baffle-side push cylinder 305 drives the baffle 306 to insert into the feeding channel 3001 through the baffle inlet 3022, forming a temporary barrier to prevent subsequent reagent tubes in the feed trough 103 from interfering with the already positioned test tube array. When the reagent tubes in the feeding channel 3001 are removed, the baffle-side push cylinder 305 drives the baffle 306 to retract, releasing the blockage and preparing for the next cycle.

[0039] The fixed end of the tube-handling side push cylinder 304, which is driven in the X direction, is fixed to the mounting plate 001. Its driving end faces the second vertical plate 302. Its driving end is connected to the tube-handling positioning plate 303 through a set of linear guide components, thereby driving the tube-handling positioning plate 303 to slide smoothly in the X direction. The tube positioning plate 303 is a flat plate facing the top of the material channel 3001. Along its length, it is provided with a number of semi-circular tube grooves 3031. Each tube groove 3031 is used to hold the tube body of the reagent tube 900. Its inner diameter is compatible with the outer diameter of the reagent tube. In this utility model, the tube positioning plate 303 has 18 tube grooves 3031, which is consistent with the preset number of reagent tubes.

[0040] When both pairs of photoelectric sensors in the material handling channel 3001 detect the reagent tube arrival signal, it indicates that the reagent tubes in the material handling channel 3001 have reached the preset number. At this time, the tube-side push cylinder 304 drives the tube-handling positioning plate 303 to enter the material handling channel 3001 through the inlet 3021. Each reagent tube in the material handling channel 3001 is inserted into the corresponding tube groove 3031. This process forces the reagent tubes in the material handling channel 3001 to be arranged along the tube groove 3031 of the tube-handling positioning plate, so that all the reagent tubes in the material handling channel 3001 can achieve a single row, effective and fixed spacing precise array. After the reagent tube array is formed, the guide rod cylinder 307 drives the pressure sensor 2071 to retract.

[0041] The material-grabbing gripper mechanism 400 is located on the side of the first vertical plate 301 away from the second vertical side 302. When the material-grabbing gripper mechanism 400 moves downward, it will grab and remove the rows of reagent tubes on the tube positioning plate 303 in one go.

[0042] The material handling gripper mechanism 400 includes a robotic arm 401 and a material handling gripper connected to the robotic arm. The material handling gripper consists of a number of finger gripper cylinders 402 as many as the tube grooves 3031 on the tube positioning plate 303. Each finger gripper cylinder 402 grips one reagent tube. This is existing technology and will not be described in detail here.

[0043] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An automatic tube-handling device, characterized in that, Includes a machine base (000), on which are arranged in sequence: Feeding mechanism (100) is used to receive and convey reagent tubes in the Y direction, the reagent tubes being suspended vertically in the feed trough (103) of the feeding mechanism (100); The feeding mechanism (200) is located on one side of the feeding mechanism (100). It includes a multi-directional drive module. The drive end of the multi-directional drive module is connected to the feeding plate (205). The feeding plate (205) is driven to insert into the feeding groove (103) between two adjacent reagent tubes and to drive the feeding plate (205) to move several reagent tubes near the positioning mechanism side synchronously along the Y direction into the material handling channel (3001). The positioning mechanism (300) includes a material handling channel (3001), a pipe-side push cylinder (304), and a pipe-side positioning plate (303). The material handling channel (3001) is located adjacent to the tail end of the feed trough (103). An inlet (3021) is provided along the length of the material handling channel (3001). The pipe-side push cylinder (304) drives the pipe-side positioning plate (303) to extend into the material handling channel (3001) along the inlet (3021) or retract.

2. The automatic tube-handling device according to claim 1, characterized in that, The feeding mechanism (100) includes two chain plate conveying mechanisms (101) arranged at intervals and driven in the Y direction. The gap between the transmission chain plates (102) on the two chain plate conveying mechanisms (101) forms the feeding trough (103). The bottom surface of the cap of each reagent tube abuts against the two transmission chain plates (102). The lower end of the tube body of the reagent tube hangs below the feeding trough (103). There is a gap between the upper end of adjacent reagent tubes and the tube body in the feeding trough (103).

3. An automatic tube-managing device according to claim 2, characterized in that, The multi-directional drive module includes a linear drive module (201) with the drive direction along the Y direction and a push cylinder (202) with the drive direction along the X direction. The drive end of the linear drive module (201) is slidably connected to the first support plate (206) along the Y direction. The push cylinder (202) is located on the first support plate (206), and its drive end is connected to the push plate (205) in the direction of the feed groove (103).

4. An automatic tube-handling device according to claim 3, characterized in that, A pair of photoelectric sensors (104) are provided at the middle part of the feed trough (103) and at the tail end of the feed channel (3001). The two pairs of photoelectric sensors (104) are used to detect and determine in real time whether the number of reagent tubes accumulated from the tail end to the middle part of the feed trough has reached the preset value.

5. An automatic tube-managing device according to claim 3, characterized in that, The feeding plate (205) includes an upper feeding bar and a lower feeding bar arranged vertically from top to bottom. Both the upper feeding bar and the lower feeding bar are long strips, and their length extends along the X direction toward the feed groove (103). The top of the upper feeding bar facing the feed groove (103) is provided with a flat plate-shaped upper feeding tooth (2051), and the top of the lower feeding bar is provided with a flat plate-shaped lower feeding tooth (2052).

6. An automatic tube-managing device according to claim 3, characterized in that, The multi-directional drive module also includes a retraction cylinder (203). The drive end of the feeding side push cylinder (202) is slidably connected to a second support plate (207) along the X direction. A return positioning plate (204) is connected to the second support plate (207). A return port (2041) is opened on the return positioning plate (204) along the Y direction. The return cylinder (203) is installed on the second support plate (207), and its drive end passes through the return port (2041) and is connected to the feeding plate (205).

7. An automatic tube-handling device according to claim 1, characterized in that, The material handling channel (3001) is composed of a first vertical plate (301) and a second vertical plate (302) that are fixed vertically to the machine base (000), and its inlet is connected to the tail end of the feed chute (103). The first upright plate (301) and the second upright plate (302) have flanges (3011) along their length on their inner sidewalls facing each other, which are used to support the bottom surface of the cap of the reagent tube so that it hangs vertically; the second upright plate (302) has the inlet (3021) below its flange (3011). A guide rod cylinder (307) is installed on the tail end of the first upright plate (301) or the second upright plate (302) away from the feed trough (103), and a pressure sensor (2071) is connected to its driving end. It is used to extend along the Y direction to block or retract to allow the tail end opening of the material handling channel (3001).

8. An automatic tube-handling device according to claim 7, characterized in that, The tube positioning plate (303) facing the top of the material channel (3001) has several semi-circular tube grooves (3031) along its length direction, which are used to hold the tube body part of the reagent tube (900) located at the lower end of its cap.

9. An automatic tube-handling device according to claim 7, characterized in that, A baffle inlet (3022) is provided on the second upright plate (302) and on the side of the inlet (3021) near the feed trough (103). On the machine base (000), and located on one side of the second vertical plate (302), a baffle side push cylinder (305) with the driving direction along the X direction is installed. The driving end of the baffle side push cylinder (305) is connected to a baffle (306), which drives the baffle (306) to extend into the material handling channel (3001) along the baffle inlet (3022), or retract.

10. An automatic tube-managing device according to claim 1, characterized in that, On the machine base (000), and on the side opposite to the inlet (3021), there is a material picking gripper mechanism (400). The material picking gripper mechanism (400) includes a robot arm (401) and a material picking gripper, which is used to pick up and remove a number of reagent tubes that have been positioned in a row in the material sorting channel (3001) at one time.

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