CN205837984U - Capture robot device and the blood taking tube conveyer device of blood taking tube - Google Patents
Capture robot device and the blood taking tube conveyer device of blood taking tube Download PDFInfo
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- CN205837984U CN205837984U CN201620680613.9U CN201620680613U CN205837984U CN 205837984 U CN205837984 U CN 205837984U CN 201620680613 U CN201620680613 U CN 201620680613U CN 205837984 U CN205837984 U CN 205837984U
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- blood taking
- worm
- taking tube
- gear
- crawl
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Abstract
This utility model provides a kind of robot device capturing blood taking tube, robot device includes: drives motor, worm-and-wheel gear and captures two crawl fingers of blood taking tube, worm screw in described worm-and-wheel gear is connected with described driving motor, worm gear and two crawl finger transmissions in worm-and-wheel gear are connected, and drive motor to drive two to capture finger opening and closings by worm-and-wheel gear and complete to pick and place blood taking tube.This utility model uses and drives motor to drive crawl finger open and close to complete to take, put blood taking tube by worm-and-wheel gear, can promote driving motor output power rapidly by adjusting worm gear transmission ratio, and then improve two clamping forces capturing finger.
Description
Technical field
This utility model relates to blood taking tube conveying technology field, particularly relates to a kind of robot device capturing blood taking tube
And blood taking tube conveyer device.
Background technology
Hospital uses vacuum test tube to take patient blood or body fluid, needs information marks such as the name bar codes of this patient
Being attached on vacuum test tube, have artificial and two kinds of labeling methods of automation at present, artificial labeling method is wasted time and energy and unanimously
Property poor, on market vacuum test tube automation labelling machine load labeling blood taking tube mode typically use robot device to capture
Formula, i.e. utilizes blood taking tube manufacturer original packing plastics to load blood taking tube, and whole dish is positioned in automatic labeling machine, uses mechanical hand
Device takes blood taking tube dislocation and pastes patient's bar-code label in printer-labeler.And at present robot device mainly have electronic gentle
Start to refer to two big classes.Owing to the size of chucking power is directly proportional to holding finger volume, i.e. chucking power the biggest holding finger volume is more
Greatly.When the chucking power that the device space is compact and required is the biggest, market is difficult to find that applicable robot device refers to.
Accordingly, it would be desirable to a kind of volume is little and the big convenient robot device clamping blood taking tube of chucking power.
Utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of machine capturing blood taking tube
Tool arm device, for solving in prior art the problem that robot device grasp force is little, be difficult to capture blood taking tube.
For achieving the above object and other relevant purposes, this utility model provides a kind of mechanical hand dress capturing blood taking tube
Putting, described robot device includes: drives motor, worm-and-wheel gear and captures two crawl fingers of blood taking tube, described
Worm screw in worm-and-wheel gear is connected with described driving motor, the worm gear in worm-and-wheel gear and two crawl finger transmissions
It is connected, drives motor to drive two to capture finger opening and closing by worm-and-wheel gear and complete to pick and place blood taking tube.
Preferably, described worm gear and two described crawl fingers are connected by gear & rack structure, in gear & rack structure
Gear be coaxially connected and with worm gear wheel with worm gear, described gear & rack structure has two toothed rack, two described crawls
Finger and two travelling arms are respectively connected with, and two travelling arms are respectively placed in described gear both sides, and a travelling arm connects one
Described tooth bar.
Preferably, in two described equal rotational positioning of crawl finger, and the circumference of two rotational positioning ends capturing finger
Being provided with multiple teeth groove, two teeth groove captured on finger engage each other, and one of them captures finger and is coaxially connected with described worm gear
And with described worm gear wheel.
Preferably, described driving motor is motor.
Preferably, described robot device also includes the shell holding described worm-and-wheel gear, two described crawl handss
Refer to stretch out in described shell, and described driving motor is fixed on the outer wall of shell.
Preferably, described driving motor is connected with the controller in blood taking tube conveyer device.
As it has been described above, the robot device of crawl blood taking tube of the present utility model, have the advantages that employing drives
Motor drives crawl finger open and close to complete to take, put blood taking tube by worm-and-wheel gear, by adjusting worm gear transmission ratio
Can promote rapidly 1 to 50 times by driving motor output power, if gear ratio is the worm-and-wheel gear of 1:30, then chucking power can
Promoting 30 times, gear ratio is the worm-and-wheel gear of 1:15, then chucking power can promote 15 times；And the volume of whole robot device
The most constant, it is highly suitable for the occasion of compact conformation.
Accompanying drawing explanation
Fig. 1 is shown as an embodiment schematic diagram of the robot device of crawl blood taking tube of the present utility model.
Fig. 2 is shown as another embodiment schematic diagram of the robot device of crawl blood taking tube of the present utility model.
Element numbers explanation
1 drives motor
2 worm screws
3 worm gears
4 capture finger
5,6 travelling arm
7 gears
8 tooth bars
9 slide rails
10 teeth groove
Detailed description of the invention
By particular specific embodiment, embodiment of the present utility model being described below, those skilled in the art can be by this
Content disclosed by description understands other advantages of the present utility model and effect easily.
Refer to Fig. 1 to Fig. 2.It should be clear that structure depicted in this specification institute accompanying drawing, ratio, size etc., the most only in order to
Coordinate the content disclosed in description, understand for those skilled in the art and read, being not limited to this utility model
Enforceable qualifications, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or size
Adjust, under not affecting effect that this utility model can be generated by and the purpose that can reach, all should still fall at this utility model
In the range of disclosed technology contents can be contained.Meanwhile, in this specification cited as " on ", D score, " left ",
The term of " right ", " middle " and " one " etc., is merely convenient to understanding of narration, and it is enforceable to be not used to limit this utility model
Scope, being altered or modified of its relativeness, changing under technology contents without essence, enforceable when being also considered as this utility model
Category.
As shown in Figures 1 and 2, this utility model provides a kind of robot device capturing blood taking tube, robot device bag
Include: drive motor 1, worm-and-wheel gear and capture two crawl fingers 4 of blood taking tube, the snail in described worm-and-wheel gear
Bar 2 is connected with described driving motor 1, and the worm gear 3 in worm-and-wheel gear captures finger 4 transmission with two and is connected, and drives motor 1
Drive two to capture finger 4 opening and closing by worm-and-wheel gear to complete to pick and place blood taking tube.This utility model uses and drives motor 1 to lead to
Crossing worm-and-wheel gear drives two crawl fingers 4 to move, and completes crawl and the placement of blood taking tube, utilizes worm-and-wheel gear to incite somebody to action
The output power driving motor expands, and improves two sizes capturing finger clamp holding force with this.
Introduce the drive mechanism between two different form of crawl finger and worm and gear in detail below, see Fig. 1 and Fig. 2 institute
Show.
As it is shown in figure 1, the present embodiment is two crawl fingers is parallelly opening-and-closing formula, it is in particular: above-mentioned worm gear 3 and two
Capturing finger 4 to be connected by gear & rack structure, the gear 7 in gear & rack structure is coaxially connected with worm gear 3 and with 3 turns of worm gear
Dynamic, gear & rack structure has two toothed rack 8, two described crawl fingers 4 are respectively connected with two travelling arms 5,6, two
Travelling arm 5,6 is respectively placed in the both sides of gear 7, and a travelling arm connects a described tooth bar 8.Two travelling arms 5,6 are the most sliding
Dynamic being arranged on slide rail 9, two toothed rack 8 in gear & rack structure are placed between two travelling arms 5,6, and with two travelling arms
5,6 it is respectively connected with.The present embodiment employing gear & rack structure realizes worm gear 3 and is connected with two transmissions capturing fingers 4, this enforcement
Driving motor 1 on example robot device is motor, and motor rotates forward, and drives worm-and-wheel gear and rack-and-pinion machine
Structure moves, it is achieved two crawl finger 4 move toward one another being connected with travelling arm, completes to capture the action of blood taking tube.Mechanical hand fills
Putting after catching blood taking tube, when blood taking tube is put down by needs, motor inverts, and drives worm-and-wheel gear and rack-and-pinion knot
Structure moves, it is achieved two the crawl opposing motions of finger being connected with travelling arm, completes to capture finger and unclamps and place blood taking tube
Action.
As in figure 2 it is shown, the present embodiment is two crawl fingers is fulcrum open and close type, it is in particular: two capture handss
Referring to 4 equal rotational positioning, and the circumference of two rotational positioning ends capturing finger 4 is provided with multiple teeth groove 10, two capture finger 4
On teeth groove 10 engage each other, one of them capture finger be coaxially connected with worm gear 3 and rotate with described worm gear 3.The present embodiment
In driving motor be alternatively motor.The present embodiment uses two to capture finger rotational positioning and between the two each other by tooth
Groove engages, and with one of them, worm gear 3 is captured finger 4 and is coaxially disposed, when motor rotates forward, and worm gear wheel drives and is coaxial therewith
Crawl finger rotate, it is achieved two capture grip finger complete capture blood taking tube action.Robot device catches blood taking tube
After, when blood taking tube is put down by needs, motor inverts, and worm gear wheel drives the crawl finger being coaxial therewith to rotate, it is achieved
Two capture finger and open the action unclamping and placing blood taking tube.
For ease of installing and using, above-mentioned robot device also includes the shell (being unillustrated) holding worm-and-wheel gear,
Two capture finger and stretch out in shell, and drive motor to be fixed on the outer wall of shell, make whole robot device become one
Individual single piece.
For ease of controlling to use, above-mentioned driving motor is connected with the controller in blood taking tube conveyer device.
Robot device of the present utility model can be used on the conveyer device of blood taking tube, completes the crawl of blood taking tube, with flat
As a example by the robot device of dynamic open and close type, particularly as follows: the controller in blood taking tube conveyer device receives and needs to capture certain and adopt
During the signal of blood vessel, driving means driving mechanical arm device to blood taking tube position, after sensor detection blood taking tube puts in place, controller
Delivering a signal to robot device makes it complete the crawl of blood taking tube；After robot device catches blood taking tube, driving means drives
Robot device is to blood taking tube placement location, and after sensor detects that blood taking tube puts in place, controller delivers a signal to mechanical hand
Device, makes robot device unclamp and places blood taking tube.
As a example by fulcrum open and close type, robot device of the present utility model can be used for blood taking tube labeling and prints system
System, after above-mentioned robot device completes to capture blood taking tube, above-mentioned driving means driving mechanical arm device moves to print destination,
Due to blood taking tube firm crawled time be vertical direction, and printer level print, a motor outside printer can pass through
Drive mechanism makes robot device overturn 90 °, it is achieved test tube horizontal positioned enters printer.Sensor on printer detects to be adopted
Blood vessel feeds back signal to robot device after putting in place, motor inverts, it is achieved unclamp the action of blood taking tube.
In sum, the robot device of crawl blood taking tube of the present utility model, use and drive motor to pass through worm and gear
Mechanism drives crawl finger open and close to complete to take, put blood taking tube, motor can will be driven defeated by adjusting worm gear transmission ratio
Go out power to promote rapidly, and compact overall structure, it is simple to install and use.So, this utility model effectively overcomes prior art
In various shortcoming and have high industrial utilization.
Above-described embodiment only illustrative principle of the present utility model and effect thereof are new not for limiting this practicality
Type.Above-described embodiment all can be carried out by any person skilled in the art under spirit and the scope of the present utility model
Modify or change.Therefore, art has usually intellectual such as without departing from the essence disclosed in this utility model
All equivalences completed under god and technological thought are modified or change, and must be contained by claim of the present utility model.
Claims (6)
1. the robot device capturing blood taking tube, it is characterised in that described robot device includes: drive motor (1), snail
Worm and gear mechanism and two crawls finger (4) of crawl blood taking tube, the worm screw (2) in described worm-and-wheel gear drives with described
Galvanic electricity machine (1) is connected, and the worm gear (3) in worm-and-wheel gear captures finger (4) transmission with two and is connected, and drives motor (1) to lead to
Crossing worm-and-wheel gear drives two crawl finger (4) opening and closings to complete to pick and place blood taking tube.
The robot device of crawl blood taking tube the most according to claim 1, it is characterised in that: described worm gear (3) and two
Described crawl finger (4) is connected by gear & rack structure, and the gear (7) in described gear & rack structure is coaxial with worm gear (3)
It is connected and rotates with worm gear (3), described gear & rack structure has two toothed rack, two described crawl fingers (4) and two
Travelling arm (5,6) is connected, and two travelling arms (5,6) are respectively placed in the both sides of described gear (7), and a travelling arm connects one
Described tooth bar.
The robot device of crawl blood taking tube the most according to claim 1, it is characterised in that: two described crawl fingers
(4) equal rotational positioning, and the circumference of two rotational positioning ends capturing finger (4) is provided with multiple teeth groove (10), two crawls
Teeth groove (10) on finger (4) engages each other, and one of them captures, and finger (4) is coaxial with described worm gear (3) to be connected and with described
Worm gear (3) rotates.
The robot device of crawl blood taking tube the most according to claim 1, it is characterised in that: described driving motor (1) is
Motor.
The robot device of crawl blood taking tube the most according to claim 1, it is characterised in that: described robot device also wraps
Including the shell holding described worm-and-wheel gear, two described crawl fingers (4) are stretched out in described shell, and described driving electricity
Machine (1) is fixed on the outer wall of shell.
The robot device of crawl blood taking tube the most according to claim 1, it is characterised in that: described driving motor (1) with
Controller in blood taking tube conveyer device is connected.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620680613.9U CN205837984U (en) | 2016-06-30 | 2016-06-30 | Capture robot device and the blood taking tube conveyer device of blood taking tube |
| US15/774,009 US10934046B2 (en) | 2016-03-02 | 2017-03-01 | Vacuum blood collection tube labeling machine and conveying and labeling method for vacuum blood collection tube |
| KR1020187010165A KR102191333B1 (en) | 2016-03-02 | 2017-03-01 | Vacuum blood collection tube labeling device and vacuum blood collection tube transfer and labeling method |
| EP17759243.3A EP3424831B1 (en) | 2016-03-02 | 2017-03-01 | Vacuum blood collection tube labelling machine and vacuum blood collection tube conveying and labelling method |
| PCT/CN2017/075340 WO2017148392A1 (en) | 2016-03-02 | 2017-03-01 | Vacuum blood collection tube labelling machine and vacuum blood collection tube conveying and labelling method |
| JP2018526993A JP6739531B2 (en) | 2016-03-02 | 2017-03-01 | Vacuum blood collection tube labeling machine, vacuum blood collection tube transporting and labeling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620680613.9U CN205837984U (en) | 2016-06-30 | 2016-06-30 | Capture robot device and the blood taking tube conveyer device of blood taking tube |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205837984U true CN205837984U (en) | 2016-12-28 |
Family
ID=58149299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620680613.9U Active CN205837984U (en) | 2016-03-02 | 2016-06-30 | Capture robot device and the blood taking tube conveyer device of blood taking tube |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205837984U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976719A (en) * | 2017-05-03 | 2017-07-25 | 杭州博欣科技有限公司 | One kind grips test tube with three shaft mechanical pick-and-place hands |
| WO2017148392A1 (en) * | 2016-03-02 | 2017-09-08 | 上海创司杰医疗科技有限公司 | Vacuum blood collection tube labelling machine and vacuum blood collection tube conveying and labelling method |
| CN110104291A (en) * | 2019-06-19 | 2019-08-09 | 珠海山诺科技有限公司 | Heparin tube bar code information processor |
| CN110509253A (en) * | 2019-08-28 | 2019-11-29 | 南京驭逡通信科技有限公司 | It is a kind of for grabbing the micro-nano robot of targeted drug |
| CN110803512A (en) * | 2019-10-08 | 2020-02-18 | 南京荧河谷科技有限公司 | Clamping device with adjustable working stroke |
| CN112223324A (en) * | 2020-09-29 | 2021-01-15 | 深圳市优必选科技股份有限公司 | Clamping mechanism and mechanical arm |
| CN112606030A (en) * | 2020-12-07 | 2021-04-06 | 湖南鸿云钢模科技有限公司 | Exhibition arm adjustable gripper and intelligent robot |
-
2016
- 2016-06-30 CN CN201620680613.9U patent/CN205837984U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017148392A1 (en) * | 2016-03-02 | 2017-09-08 | 上海创司杰医疗科技有限公司 | Vacuum blood collection tube labelling machine and vacuum blood collection tube conveying and labelling method |
| US10934046B2 (en) | 2016-03-02 | 2021-03-02 | Shanghai Chuangsijie Medical Technology Co., Ltd. | Vacuum blood collection tube labeling machine and conveying and labeling method for vacuum blood collection tube |
| CN106976719A (en) * | 2017-05-03 | 2017-07-25 | 杭州博欣科技有限公司 | One kind grips test tube with three shaft mechanical pick-and-place hands |
| CN110104291A (en) * | 2019-06-19 | 2019-08-09 | 珠海山诺科技有限公司 | Heparin tube bar code information processor |
| CN110509253A (en) * | 2019-08-28 | 2019-11-29 | 南京驭逡通信科技有限公司 | It is a kind of for grabbing the micro-nano robot of targeted drug |
| CN110803512A (en) * | 2019-10-08 | 2020-02-18 | 南京荧河谷科技有限公司 | Clamping device with adjustable working stroke |
| CN112223324A (en) * | 2020-09-29 | 2021-01-15 | 深圳市优必选科技股份有限公司 | Clamping mechanism and mechanical arm |
| CN112606030A (en) * | 2020-12-07 | 2021-04-06 | 湖南鸿云钢模科技有限公司 | Exhibition arm adjustable gripper and intelligent robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |