CN109018795A - Store equipment and storage method - Google Patents
Store equipment and storage method Download PDFInfo
- Publication number
- CN109018795A CN109018795A CN201810652221.5A CN201810652221A CN109018795A CN 109018795 A CN109018795 A CN 109018795A CN 201810652221 A CN201810652221 A CN 201810652221A CN 109018795 A CN109018795 A CN 109018795A
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- Prior art keywords
- sample
- sample bottle
- installation part
- dish
- cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The present invention provides a kind of storage equipment and storage methods, belong to storing technology field.Storing equipment includes stock shelf, frame body, robot, conveying device, grabbing device and control device, stock shelf includes connection frame and multiple memory structures, frame body is located at notch, frame body is provided with sample dish storage position, robot is located in stock shelf, robot, which is used to sample dish storing the sample dish on position, is put into sample dish storage position, conveying device, which has, extracts station and output station, conveying device is used to sample bottle being delivered to output station, grabbing device, which is used to grab the sample bottle in sample dish in sample dish storage position and be put into, extracts station, control device and robot, conveying device and grabbing device electrical connection.The storage equipment can be realized the automation storage of sample bottle and extract, and work efficiency is high, and easy to operate, this is reasonable in design, practical.
Description
Technical field
The present invention relates to storing technology fields, in particular to a kind of storage equipment and storage method.
Background technique
Existing storing goods shelf is generally stereogenic, be mostly two sides is rectangle shelf, is provided with machinery among shelf
Walking mechanism is equipped with mechanical lifting mechanism thereon and controls this when generally requiring goods putting object or picking with crawl delivery device
A little device actions.
The 3-D storing goods shelf of these forms mostly applies servo-system.
Inventor has found under study for action, existing at least to have the disadvantage in that in the related technology
The not specially storage to the design Storage of sample bottle, it is inconvenient.
Summary of the invention
The present invention provides a kind of storage equipment, improve the deficiencies in the prior art, can be realized the automation storage of sample bottle
It deposits and extracts, work efficiency is high, and easy to operate, this is reasonable in design, practical.
The present invention also provides a kind of storage methods, use storage equipment mentioned above, it is quick that sample bottle may be implemented
Efficient storage and extraction.
The embodiment of the present invention is achieved in that
The embodiment provides a kind of storage equipment comprising:
Stock shelf, the stock shelf include connection frame and multiple memory structures, and the connection frame is to have arc jaggy
Frame, each memory structure are connect with the connection frame, and multiple memory structures are along the extension side of the connection frame
There is multilayer to store position along the equally distributed sample dish of short transverse for Xiang Junyu distribution, each memory structure；
Frame body, the frame body are located at the notch, and the frame body is provided with sample dish storage position；
Robot, the robot are located in the stock shelf, and the robot is used to store the sample dish on position
Sample dish are put into the sample dish storage position, or store position for the sample dish in the sample dish storage position to be put into the sample dish；
Conveying device, the conveying device, which has, extracts station and output station, and the conveying device corresponds to described lack
Mouthful, the conveying device is used to sample bottle being delivered to the output station；
Grabbing device, the grabbing device are used to that the sample bottle in sample dish in the sample dish storage position to be grabbed and is put into
On the extraction station, or for being put into the sample bottle in the output station in the sample dish in the sample dish storage position,
The grabbing device include the first installation part, first motor, the second installation part, the second motor, third installation part, third motor and
For grabbing the grasping mechanism of sample bottle, first installation part is fixedly connected with the frame body, and second installation part is slidably
Be connected to first installation part, the first motor connect with first installation part and for driving second installation
Part, the third installation part are slidably connected to second installation part, and second motor and second installation part connect
It connects and is used to drive the third installation part, the grasping mechanism is slidably connected to the third installation part, the third
Motor connect with the third installation part and for driving the grasping mechanism, the glide direction of second installation part, described
The glide direction of any two is vertical in the glide direction of third installation part and the glide direction of the grasping mechanism；
Control device, the control device are electrically connected with the robot, the conveying device and the grabbing device.
Specifically, the storage equipment can be realized the automation storage of sample bottle and extract, work efficiency is high, easy to operate,
This is reasonable in design, practical.
Optionally, the conveying device includes bracket, sample bottle conveyance conduit, master cylinder, sample bottle receiving barrel, cylinder installation
Plate, linear guide and rodless cylinder；
The sample bottle conveyance conduit is connect with the bracket, and one end of the sample bottle conveyance conduit is provided with sample bottle outlet；
The master cylinder includes the first cylinder body and First piston bar, and first cylinder body is connect with the cylinder mounting plate,
The cylinder mounting plate is slidably connected to the linear guide, and the rodless cylinder is for driving the cylinder mounting plate edge
The linear guide is mobile, and one end of the First piston bar is connected in first cylinder body, the First piston bar it is another
One end is connect with the sample bottle receiving barrel；
The storage equipment is located at the first predeterminated position with the cylinder mounting plate and the sample bottle receiving barrel corresponds to institute
It states the first state of sample bottle outlet and the cylinder mounting plate is located at the second predeterminated position and the sample bottle receiving barrel is located at institute
State the second state of output station.
Optionally, the conveying device further includes gasket, and the gasket is connected to the top of the sample bottle receiving barrel,
Under the first state, the sample bottle receiving barrel is tightly connected by the gasket and the sample bottle conveyance conduit.
Optionally, the scanning dress that the conveying device further includes scanning means mounting plate, is electrically connected with the control device
It sets and optoelectronic switch, the optoelectronic switch connect with the sample bottle conveyance conduit and for detecting whether the sample bottle exit has
Sample bottle；
The scanning means mounting plate is connect with the bracket, and the scanning means and the scanning means mounting plate connect
It connects, the scanning means is used to scan the RF I D chip for being located at sample bottle in the sample bottle receiving barrel, and typing sample bottle information.
Optionally, the conveying device further includes abandoning sample pipeline and sampling pipe, and the abandoning sample pipeline and the bracket connect
It connects, the top for abandoning sample pipeline, which is formed, abandons sample entrance, and the bottom for abandoning sample pipeline, which is formed, abandons sample outlet, the sampling pipe
Top form sampling entrance, sampling outlet is formed on the bottom of the sampling pipe；
The abandoning sample entrance and the sampling entrance form the extraction station.
Optionally, the storage equipment further includes abandoning sample trolley, and the opening for abandoning sample trolley corresponds to the abandoning sample outlet.
Optionally, the storage equipment further includes alarm, and the alarm is electrically connected with the control device.
Optionally, the storage equipment further includes shell and safety door, the stock shelf, the frame body, the robot,
The conveying device, the grabbing device and the control device are respectively positioned in the shell；
The safety door and the cage connection, the safety door are provided with coded lock；
The shell includes first shell and second shell interconnected, and the safety door is located at the first shell
On, the section of the first shell is rectangle, and the section of the second shell is hexagonal, a line of the hexagon at
For the rectangular a line.
Optionally, the grasping mechanism includes parallel cylinder and two claws, the parallel cylinder include the second cylinder body and
Second piston bar, second cylinder body and the third installation part are slidably connected and for by the third motor drivens, described
One end of second piston bar is slidably connected in second cylinder body, described in the other end of the second piston bar and two
Claw connection；
There are two the down state of the claw far from second cylinder body and away from each other for the storage equipment tool, and
Two claws are close to second cylinder body and seized condition close to each other.
The embodiments of the present invention also provide a kind of storage methods, use storage equipment mentioned above, the method
Including storing step and extraction step；
The storing step includes:
So that the conveying device is worked, sample bottle is delivered to the output station；
So that the grabbing device is worked, the sample bottle in the output station is put into the sample dish in the sample dish storage position
It is interior；
So that the robot is worked, the sample dish in the sample dish storage position are put on sample dish storage position；
The extraction step includes:
So that the robot is worked, the sample dish are stored into the sample dish on position and are put into the sample dish storage position；
So that the grabbing device is worked, the sample bottle in the sample dish storage position in sample dish is put on the extraction station.
Compared with prior art, the beneficial effect of the embodiment of the present invention includes, for example:
The storage equipment can be realized the automation storage of sample bottle and extract, and work efficiency is high, and easy to operate, which sets
Meter is rationally, practical.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram at storage the first visual angle of equipment provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram at storage the second visual angle of equipment provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram at storage equipment third visual angle provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of handgrip and sample dish in storage equipment provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of sample dish and sample bottle in storage equipment provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of conveying device provided in an embodiment of the present invention and its associated components；
Fig. 7 is the structural schematic diagram of grabbing device provided in an embodiment of the present invention；
Fig. 8 is conveying device provided in an embodiment of the present invention and the structural schematic diagram for abandoning sample trolley；
Fig. 9 is the structural schematic diagram of conveying device provided in an embodiment of the present invention.
Icon: 100- stores equipment；101- shell；102- first shell；103- second shell；104- safety door；105-
Coded lock；10- stock shelf；11- connection frame；12- memory structure；121- sample dish store position；20- frame body；21- sample dish storage position；
30- robot；31- handgrip；40- conveying device；41- bracket；42- sample bottle conveyance conduit；43- master cylinder；44- sample bottle receives
Cylinder；45- cylinder mounting plate；451- linear guide；452- rodless cylinder；46- abandons sample pipeline；461- abandons sample entrance；462- abandons sample
Outlet；47- sampling pipe；471- samples entrance；472- sampling outlet；48- admission line；50- grabbing device；51- first pacifies
Piece installing；52- first motor；The second installation part of 53-；The second motor of 54-；55- third installation part；56- third motor；57- crawl
Mechanism；60- abandons sample trolley；200- sample dish；300- sample bottle.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that if occur term " center ", "upper", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
Either the invention product using when the orientation or positional relationship usually put, be merely for convenience of the description present invention and simplification retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
In addition, being only used for distinguishing description if there is term " first ", " second ", " third " etc., and should not be understood as indicating
Or imply relative importance.
In addition, being not offered as requiring component abswolute level or outstanding if there are the terms such as term "horizontal", "vertical", " pendency "
It hangs down, but can be slightly tilted.It is not to indicate to be somebody's turn to do if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
Structure is had to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, if there is term
" setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to detachably connect
It connects, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
Embodiment 1
Fig. 1-Fig. 9 is please referred to, a kind of storage equipment 100 is present embodiments provided comprising:
Stock shelf 10, stock shelf 10 include connection frame 11 and multiple memory structures 12, and connection frame 11 is to have arc jaggy
Shape frame, each memory structure 12 are connect with connection frame 11, and multiple memory structures 12 along connection frame 11 extending direction with
There is multilayer to store position 121 along the equally distributed sample dish of short transverse for distribution, each memory structure 12；
Frame body 20, frame body 20 are located at notch, and frame body 20 is provided with sample dish storage position 21；
Robot 30, robot 30 are located in stock shelf 10, and robot 30 is used to storing sample dish into the sample dish on position 121
200 are put into sample dish storage position 21, or for the sample dish 200 in sample dish storage position 21 to be put into sample dish storage position 121；
Conveying device 40, conveying device 40, which has, extracts station and output station, and conveying device 40 corresponds to notch, conveying
Device 40 is used to sample bottle 300 being delivered to output station；
In conjunction with Fig. 7, grabbing device 50, grabbing device 50 will be for that will be located at the sample bottle in sample dish storage position 21 in sample dish 200
300 grab and are put on extraction station, or for the sample bottle 300 in output station to be put into the sample in sample dish storage position 21
In disk 200, grabbing device 50 includes the first installation part 51, first motor 52, the second installation part 53, the second motor 54, third peace
Piece installing 55, third motor 56 and the grasping mechanism 57 for grabbing sample bottle 300, the first installation part 51 are fixedly connected with frame body 20,
Second installation part 53 is slidably connected to the first installation part 51, and first motor 52 connect with the first installation part 51 and for driving
Second installation part 53, third installation part 55 are slidably connected to the second installation part 53, the second motor 54 and the second installation part 53
Connection and for driving third installation part 55, grasping mechanism 57 are slidably connected to third installation part 55, third motor 56 with
Third installation part 55 connects and for driving grasping mechanism 57, glide direction, the cunning of third installation part 55 of the second installation part 53
The glide direction of any two is vertical in the glide direction of dynamic direction and grasping mechanism 57；
Control device, control device are electrically connected with robot 30, conveying device 40 and grabbing device 50.
In conjunction with Fig. 1, in the present embodiment, storage equipment 100 further includes shell 101 and safety door 104, stock shelf 10, frame body
20, robot 30, conveying device 40, grabbing device 50 and control device are respectively positioned in shell 101；
Safety door 104 is connect with shell 101, and safety door 104 is provided with coded lock 105；
Shell 101 includes first shell 102 interconnected and second shell 103, and safety door 104 is located at first shell
On 102, the section of first shell 102 is rectangle, and the section of second shell 103 is hexagonal, and a line of hexagon becomes
Rectangular a line.
In whole equipment is coated on by shell 101, and only by password or fingerprint etc. by just can enter after verifying,
Improve safety.In general, the outer surface of shell 101 can also smear paint.
In conjunction with Fig. 2 and Fig. 3, in general, storage function and abstraction function may be implemented by the equipment.
Storage function:
The sample bottle 300 that conveying device 40 exports enters in output station, and grabbing device 50 is by the sample bottle 300 from output station
It is placed on after crawl in the sample dish 200 in sample dish storage position 21, after robot 30 will grab the sample dish 200, is put into corresponding sample
It takes inventory in storage space 121.
Abstraction function:
Sample dish are stored after the sample dish 200 on position 121 grab and are put into sample dish storage position 21 by robot 30, then by grabbing
Device 50 grabs the sample bottle 300 in the sample dish 200, puts it into and extracts on station.
In the present embodiment, conveying device 40 selects pneumatic transport equipment, sample bottle 300 can be sent by pipeline to output work
On position, while control device selects electric control system, to realize automation control.It of courses, in other embodiments, conveying dress
Setting 40 can also select conveyer belt to be conveyed, and control device can also select PLC or computer etc..
Specifically, the connection frame 11 is arc-shaped, 13 memory structures 12 are distributed with thereon, each memory structure 12 has
Eleventh floor.In this way, robot 30 can store position to all sample dish by the slewing and the grasping system of itself of bottom
121 are covered.After the bottom of robot 30 is mounted with lifting device, the number of plies of the memory structure 12 can correspond to increase.
It should be understood that the quantity and the number of plies of memory structure 12 can be correspondingly arranged for different stock shelfs 10.
Meanwhile in conjunction with Fig. 3, the bottom of the conveying device 40, which is additionally provided with, abandons sample trolley 60, and discarded sample bottle 300 can pass through
The crawl of grabbing device 50 puts it into and extracts on station, abandons in sample trolley 60 so that discarded sample bottle 300 be made to enter.
The storage equipment 100 can be realized the automation storage of sample bottle 300 and extract, and work efficiency is high, easy to operate, should
It is reasonable in design, it is practical.
In conjunction with Fig. 4, handgrip 31 and sample dish 200 are shown in Fig. 4, which is mounted on the manipulator of robot 30,
Or the handgrip 31 is known as manipulator, robot 30 is for controlling handgrip 31, so that sample dish can be firmly grasped or be unclamped to the handgrip 31
200。
In conjunction with Fig. 5, sample dish 200 and sample bottle 300 are shown in Fig. 5, and multiple putting holes are distributed in the sample dish 200, so as to
Sample bottle 300 is put into.
In conjunction with Fig. 6, conveying device 40 is shown in Fig. 6, abandons sample trolley 60, grabbing device 50 and bracket 41.It below will be right
These structures describe in detail.
In conjunction with Fig. 7, grabbing device 50 is shown in Fig. 7.
The structure of the grabbing device 50 is above-mentioned to be had been described, which can be understood as X-axis motor, the second motor
54 can be understood as y-axis motor, which can be understood as Z axis motor.
Meanwhile second the glide direction of installation part 53 can be understood as X-direction.
The glide direction of third installation part 55 can be understood as Y direction.
The glide direction of grasping mechanism 57 can be understood as Z-direction.
That is, passing through the driving of first motor 52, the second motor 54 and third motor 56, grasping mechanism may be implemented
57 are located at any position that can be located at.
In the present embodiment, grasping mechanism 57 includes parallel cylinder and two claws, and parallel cylinder includes the second cylinder body and the
Two piston rods, the second cylinder body are slidably connected with third installation part 55 and for being driven by third motor 56, and the one of second piston bar
End is slidably connected in the second cylinder body, and the other end of second piston bar is connect with two claws；
Storing the tool of equipment 100, there are two claw down state far from the second cylinder body and away from each other and two claws
Close to the second cylinder body and seized condition close to each other.
By the different conditions of parallel cylinder in grasping mechanism 57, to realize crawl or unclamp sample bottle 300, and pass through second
Installation part 53, third installation part 55 are different with the position of grasping mechanism 57, thus after grasping mechanism 57 catches sample bottle 300, it can
Sample bottle 300 to be carried out to the transfer on position, it is made to be transferred to desired position.
It of courses, other more mature crawl technologies can be selected in the prior art.
Structure to be controlled needed for these is electrically connected with control device, so as to controlled device control.In general, also
It can be with position switches or position sensor etc., to improve the precision of movement.
In conjunction with Fig. 8, conveying device 40 is shown in Fig. 8 and abandons sample trolley 60.Below to conveying device 40 and abandoning sample trolley
60 are described in detail.
In conjunction with Fig. 9, in the present embodiment, conveying device 40 includes bracket 41, sample bottle conveyance conduit 42, master cylinder 43, sample bottle
Receiving barrel 44, cylinder mounting plate 45, linear guide 451 and rodless cylinder 452；
Sample bottle conveyance conduit 42 is connect with bracket 41, and one end of sample bottle conveyance conduit 42 is provided with the outlet of sample bottle 300；
Master cylinder 43 includes the first cylinder body and First piston bar, and the first cylinder body is connect with cylinder mounting plate 45, cylinder installation
Plate 45 is slidably connected to linear guide 451, and rodless cylinder 452 is for driving cylinder mounting plate 45 to move along linear guide 451
Dynamic, one end of First piston bar is connected in the first cylinder body, and the other end of First piston bar is connect with sample bottle receiving barrel 44；
There is storage equipment 100 cylinder mounting plate 45 to be located at the first predeterminated position and the corresponding sample bottle 300 of sample bottle receiving barrel 44
The first state and cylinder mounting plate 45 of outlet are located at the second predeterminated position and sample bottle receiving barrel 44 is located at the of output station
Two-state.
In Fig. 9, which is located at the first predeterminated position, and the sample bottle receiving barrel 44 has corresponded to sample bottle 300 at this time
Sample bottle 300, is if desired transferred out of, then needs to control rodless cylinder 452, make the cylinder mounting plate 45 in linear guide by outlet
Under the action of 451, sample bottle receiving barrel 44 is transferred to the position outside bracket 41, when cylinder mounting plate 45 is located at second in advance
If behind position, sample bottle receiving barrel 44 is in output station at this time, which can be to the sample bottle in sample bottle receiving barrel 44
300 are grabbed.
Conveying device 40 in Fig. 8 shows outer housing, and outer housing is not shown in Fig. 9.
In general, admission line 48 is also communicated on sample bottle conveyance conduit 42, sample bottle conveyance conduit 42 and admission line 48
By the interface reserved on outer housing and extraneous piping connection, to form air-transport system.
In the present embodiment, conveying device 40 further includes gasket, and gasket is connected to the top of sample bottle receiving barrel 44, and first
Under state, sample bottle receiving barrel 44 is tightly connected by gasket and sample bottle conveyance conduit 42.
It should be understood that in the first state, sample bottle receiving barrel 44 can seal sample bottle delivery pipe after having gasket
The end in road 42.
The scanning means that in the present embodiment, conveying device 40 further includes scanning means mounting plate, is electrically connected with control device
And optoelectronic switch, optoelectronic switch connect with sample bottle conveyance conduit 42 and for detecting whether 300 exit of sample bottle has sample bottle 300；
Scanning means mounting plate is connect with bracket 41, and scanning means is connect with scanning means mounting plate, and scanning means is used for
Scanning is located at the RF I D chip of sample bottle 300 in sample bottle receiving barrel 44, and 300 information of typing sample bottle.
Under normal circumstances, which seals sample bottle conveyance conduit 42 under the action of master cylinder 43 always,
That is being directly fallen on sample bottle receiving barrel 44, at this time optoelectronic switch after sample bottle 300 is fallen into from sample bottle conveyance conduit 42
It detects on the sample bottle receiving barrel 44 there is sample bottle 300, which is fed back into control device, control device can control correlation
Equipment work.In general, first control master cylinder 43 makes sample bottle receiving barrel 44 decline certain height, then pass through rodless cylinder
452, keep cylinder mounting plate 45 mobile, be located at sample bottle receiving barrel 44 in output station, is grabbed to be crawled device 50.
Scanning means is located on bracket 41, and by the RF I D chip of scanning sample bottle 300, its information is carried out typing.
In general, the RF I D chip is located on the bottle cap of sample bottle 300.
In the present embodiment, conveying device 40 further includes abandoning sample pipeline 46 and sampling pipe 47, abandons sample pipeline 46 and bracket 41
Connection, the top for abandoning sample pipeline 46, which is formed, abandons sample entrance 461, and the bottom for abandoning sample pipeline 46, which is formed, abandons sample outlet 462, sampling pipe
Sampling entrance 471 is formed on 47 top, and sampling outlet 472 is formed on the bottom of sampling pipe 47；
It abandons sample entrance 461 and sampling entrance 471 forms and extracts station.
In general, information is logged after sample bottle 300 is put into, and when reaching in the storage sample period of sample bottle 300, control device
Control robot 30 takes out corresponding sample dish 200 from sample dish storage position 121, and will be in sample dish 200 by grabbing device 50
Sample bottle 300 be put into abandon sample entrance 461 at, along abandon sample pipeline 46 fall.When if desired manually transferring some sample bottle 300,
It then controls grabbing device 50 and the sample bottle 300 is put into sampling entrance 471, enter sampling outlet 472 along sampling pipe 47, with
Just user takes.
In the present embodiment, storage equipment 100 further includes abandoning sample trolley 60, abandons the corresponding abandoning sample outlet of opening of sample trolley 60
462。
Sample trolley 60 is abandoned to include car body, be connected to the wheel of vehicle bottom and be connected to the handrail of side body, in general,
The car body is located at the lower section of bracket 41, and the corresponding sample of abandoning of its opening exports 462, directly to receive discarded sample bottle 300.
In the present embodiment, storage equipment 100 further includes alarm, and alarm is electrically connected with control device.
In general, just controlling alarm equipment alarm when system records current abandoning sample quantity and reaches 30, making to remind
User clears up the sample bottle 300 abandoned in sample trolley 60.
The working principle of a kind of storage equipment 100 provided according to embodiments of the present invention, storage equipment 100 is:
44 upper end of sample bottle receiving barrel is equipped with gasket, and sample bottle receiving barrel 44 is fixedly connected with the piston rod of master cylinder 43.It is main
Linear guide 451 and rodless cylinder 452 are installed below cylinder 43.Master cylinder 43 passes through cylinder mounting plate 45 and linear guide
451 and rodless cylinder 452 connect.When sample bottle 300 is not sent, master cylinder 43 pushes sample bottle receiving barrel 44 to move up, and sample bottle connects
It receives 44 upper surface of cylinder and 42 lower end face contact of sample bottle conveyance conduit is realized and sealed.Sample bottle 300 reaches sample through sample bottle conveyance conduit 42
Bottle receiving barrel 44, after Photoelectric Detection to sample bottle 300 reaches, control system issues instruction, and master cylinder 43 drives sample bottle receiving barrel 44
It moves down.When master cylinder 43 is moved down in place, rodless cylinder 452 starts to act, and master cylinder 43 is driven to set in advance to preset direction movement
Fixed distance.After rodless cylinder 452 stops operation, scanning means starting, the RF I D core that scanning 300 bottle cap of sample bottle top is pasted
Piece, 300 information of typing sample bottle.
After 300 data input of sample bottle, y-axis motor starting, grasping mechanism 57 moves to right above sample bottle 300 along Y-axis,
Z axis electric motor starting, parallel cylinder start to drive claw crawl sample bottle 300 after falling to designated position.Claw grabs sample bottle 300
Afterwards, grasping mechanism 57 is elevated.Grasping mechanism 57 moves in Y-axis and moves to move in X-axis with Y-axis on Z axis and matches,
To realize in sample dish 200 that sample bottle 300 is put at random in sample dish storage position 21.Until the sample dish 200 in sample dish storage position 21 fill
After full sample bottle 300, the robot 30 for the shelf center installation that is circular layout drives mechanical gripper 31 to grab sample dish 200, then by sample
Disk 200 is stored in annular storage rack.This process is the storage process of sample bottle 300.
When sample bottle 300 is stored in, after scanning means barcode scanning, each 300 Store time of sample bottle is logged system.It is set in system
The good storage sample period.When reaching in the storage sample period, robot 30 takes out the sample dish 200 where the sample bottle 300 that expires from shelf to be put
It sets in sample dish storage position 21.Grabbing device 50 acts, and the sample bottle that will expire 300 grabs, and is moved to and abandons right above sample pipeline 46, card
Pawl unclamps sample bottle 300, and the sample bottle that expires 300 is abandoned sample pipeline 46 and entered in abandoning sample trolley 60, abandons sample quantity when system record is current
It when reaching 30, sounds an alarm, by manually clearing up abandoning sample trolley 60.Since chemical examination needs, manual sampling bottle 300 is needed
When, the sample dish 200 in the storage sample period are removed to sample dish storage position 21 at random by robot 30, and grabbing device 50 acts, random to grab
Sample bottle 300 send sample bottle 300 to sampling pipe 47, is taken away sample bottle 300 from sampling outlet 472 by staff.
The equipment has at least the following advantages:
Reserves are big but occupied area is small, and failure rate is low, and manufacture, use cost are low, long service life.Can in the prior art
Common pneumatic transport equipment match.
Embodiment 2
The present embodiment also provides a kind of storage method, uses storage equipment 100 mentioned above, and this method includes storage
Deposit step and extraction step；
The structure for storing equipment 100 can be with reference implementation example 1.
Wherein, storing step includes:
So that conveying device 40 is worked, sample bottle 300 is delivered to output station；
So that grabbing device 50 is worked, the sample bottle 300 in output station is put into the sample dish 200 in sample dish storage position 21；
So that robot 30 is worked, the sample dish 200 in sample dish storage position 21 are put on sample dish storage position 121；
Extraction step includes:
So that robot 30 is worked, sample dish are stored into the sample dish 200 on position 121 and are put into sample dish storage position 21；
So that grabbing device 50 is worked, the sample bottle 300 in sample dish storage position 21 in sample dish 200 is put into and is extracted on station.
In conclusion the storage equipment 100 can be realized oneself of sample bottle 300 the present invention provides a kind of storage equipment 100
Dynamicization storage and extraction, work efficiency is high, and easy to operate, this is reasonable in design, practical.
It should be noted that in the absence of conflict, the feature in the embodiment of the present invention can be combined with each other.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of storage equipment characterized by comprising
Stock shelf, the stock shelf include connection frame and multiple memory structures, and the connection frame is to have arc frame jaggy, often
A memory structure is connect with the connection frame, and multiple memory structures along the connection frame extending direction with
There is multilayer to store position along the equally distributed sample dish of short transverse for distribution, each memory structure；
Frame body, the frame body are located at the notch, and the frame body is provided with sample dish storage position；
Robot, the robot are located in the stock shelf, and the robot is used to storing the sample dish into the sample dish on position
It is put into the sample dish storage position, or stores position for the sample dish in the sample dish storage position to be put into the sample dish；
Conveying device, the conveying device, which has, extracts station and output station, and the conveying device corresponds to the notch, institute
Conveying device is stated for sample bottle to be delivered to the output station；
Grabbing device, the grabbing device are used to grab the sample bottle in sample dish in the sample dish storage position and be put into described
It extracts on station, or for being put into the sample bottle in the output station in the sample dish in the sample dish storage position, it is described
Grabbing device includes the first installation part, first motor, the second installation part, the second motor, third installation part, third motor and is used for
The grasping mechanism of sample bottle is grabbed, first installation part is fixedly connected with the frame body, and second installation part slidably connects
It is connected to first installation part, the first motor connect with first installation part and for driving second installation part,
The third installation part is slidably connected to second installation part, second motor connect with second installation part and
For driving the third installation part, the grasping mechanism is slidably connected to the third installation part, the third motor
It is connect with the third installation part and for driving the grasping mechanism, glide direction, the third of second installation part
The glide direction of any two is vertical in the glide direction of installation part and the glide direction of the grasping mechanism；
Control device, the control device are electrically connected with the robot, the conveying device and the grabbing device.
2. storage equipment according to claim 1, which is characterized in that the conveying device includes bracket, sample bottle delivery pipe
Road, master cylinder, sample bottle receiving barrel, cylinder mounting plate, linear guide and rodless cylinder；
The sample bottle conveyance conduit is connect with the bracket, and one end of the sample bottle conveyance conduit is provided with sample bottle outlet；
The master cylinder includes the first cylinder body and First piston bar, and first cylinder body is connect with the cylinder mounting plate, described
Cylinder mounting plate is slidably connected to the linear guide, and the rodless cylinder is for driving the cylinder mounting plate described in
Linear guide is mobile, and one end of the First piston bar is connected in first cylinder body, the other end of the First piston bar
It is connect with the sample bottle receiving barrel；
The storage equipment is located at the first predeterminated position with the cylinder mounting plate and the sample bottle receiving barrel corresponds to the sample
The first state of bottle outlet and the cylinder mounting plate are located at the second predeterminated position and the sample bottle receiving barrel is positioned at described defeated
Second state of station out.
3. storage equipment according to claim 2, which is characterized in that the conveying device further includes gasket, described close
Packing is connected to the top of the sample bottle receiving barrel, under the first state, the sample bottle receiving barrel by the gasket with
The sample bottle conveyance conduit is tightly connected.
4. storage equipment according to claim 2, which is characterized in that the conveying device further includes scanning means installation
Plate, the scanning means being electrically connected with the control device and optoelectronic switch, the optoelectronic switch and the sample bottle conveyance conduit connect
It connects and for detecting whether the sample bottle exit has sample bottle；
The scanning means mounting plate is connect with the bracket, and the scanning means is connect with the scanning means mounting plate, institute
Scanning means is stated for scanning the RF I D chip for being located at sample bottle in the sample bottle receiving barrel, and typing sample bottle information.
5. storage equipment according to claim 2, which is characterized in that the conveying device further includes abandoning sample pipeline and sampling
Pipeline, the abandoning sample pipeline are connect with the bracket, and the top for abandoning sample pipeline, which is formed, abandons sample entrance, the abandoning sample pipeline
Bottom, which is formed, abandons sample outlet, and sampling entrance is formed on the top of the sampling pipe, and the bottom of the sampling pipe, which is formed, to be sampled out
Mouthful；
The abandoning sample entrance and the sampling entrance form the extraction station.
6. storage equipment according to claim 5, which is characterized in that the storage equipment further includes abandoning sample trolley, described
The opening for abandoning sample trolley corresponds to the abandoning sample outlet.
7. storage equipment according to claim 1-6, which is characterized in that the storage equipment further includes alarm
Device, the alarm are electrically connected with the control device.
8. storage equipment according to claim 1-6, which is characterized in that the storage equipment further include shell and
Safety door, the stock shelf, the frame body, the robot, the conveying device, the grabbing device and the control device
It is respectively positioned in the shell；
The safety door and the cage connection, the safety door are provided with coded lock；
The shell includes first shell and second shell interconnected, and the safety door is located in the first shell, institute
The section for stating first shell is rectangle, and the section of the second shell is hexagonal, and a line of the hexagon becomes institute
State rectangular a line.
9. storage equipment according to claim 1-6, which is characterized in that the grasping mechanism includes parallel cylinder
With two claws, the parallel cylinder includes the second cylinder body and second piston bar, second cylinder body and the third installation part
It is slidably connected and for by the third motor driven, one end of the second piston bar to be slidably connected to second cylinder
In vivo, the other end of the second piston bar is connect with two claws；
There are two the claws far from second cylinder body and down state away from each other and two for the storage equipment tool
The claw is close to second cylinder body and seized condition close to each other.
10. a kind of storage method, which is characterized in that using such as the described in any item storage equipment of claim 1-9, the method
Including storing step and extraction step；
The storing step includes:
So that the conveying device is worked, sample bottle is delivered to the output station；
So that the grabbing device is worked, the sample bottle in the output station is put into the sample dish in the sample dish storage position；
So that the robot is worked, the sample dish in the sample dish storage position are put on sample dish storage position；
The extraction step includes:
So that the robot is worked, the sample dish are stored into the sample dish on position and are put into the sample dish storage position；
So that the grabbing device is worked, the sample bottle in the sample dish storage position in sample dish is put on the extraction station.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810652221.5A CN109018795B (en) | 2018-06-22 | 2018-06-22 | Storage equipment and storage method |
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|---|---|---|---|
| CN201810652221.5A CN109018795B (en) | 2018-06-22 | 2018-06-22 | Storage equipment and storage method |
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| CN109018795A true CN109018795A (en) | 2018-12-18 |
| CN109018795B CN109018795B (en) | 2020-10-09 |
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| CN201810652221.5A Active CN109018795B (en) | 2018-06-22 | 2018-06-22 | Storage equipment and storage method |
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| CN113911606A (en) * | 2020-07-08 | 2022-01-11 | 南京药石科技股份有限公司 | Article warehouse entry device and storage equipment |
| CN113978980A (en) * | 2021-09-23 | 2022-01-28 | 江苏齐鑫智能科技有限公司 | Method for storing and taking file box of intelligent file cabinet system |
| CN114275432A (en) * | 2021-12-29 | 2022-04-05 | 安徽美诺福科技有限公司 | Automatic sample storage system for samples |
| CN114655616A (en) * | 2022-03-29 | 2022-06-24 | 马鞍山钢铁股份有限公司 | Intelligent sample preparation sample library system |
| CN115848928A (en) * | 2023-02-15 | 2023-03-28 | 安徽中科晶格技术有限公司 | Automatic access scanning device and method |
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|---|---|
| CN109018795B (en) | 2020-10-09 |
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