CN212711583U - Robot sample storage cabinet system - Google Patents

Abstract

The utility model discloses a robot sample storage cabinet system, which comprises a robot module, more than one butt-joint platform and more than one sample storage module; the butt-joint platform is used for realizing butt-joint between each sample storage module and external equipment, and the robot module is used for opening or/and closing the sample storage modules, taking and placing sample bottles and driving the sample bottles to flow between each sample storage module and each butt-joint platform. The utility model discloses a robot sample storage cabinet system has simple structure, the sample deposits advantages such as simple and convenient, intelligent level is high, space utilization is high, strong adaptability, scalability is strong.

Description

Robot sample storage cabinet system

Technical Field

The utility model relates to a collection system storage device technical field of sample refers in particular to a robot cabinet system of depositing.

Background

For the sampling and analyzing work of material (such as coal samples and ores), each country has a mandatory standard, and the sampling and analyzing work must be carried out according to the standard. The sample collecting and analyzing process includes the steps of reducing the granularity and the quality of the collected sample gradually without destroying the sample representativeness until the sample meets the requirement of the granularity and the quality (weight) precision of the laboratory test, and then carrying out relevant experimental analysis on the sample meeting the requirement. The sample cannot be lost in the process, and the sample cannot be subjected to some physical or chemical changes, otherwise the final experimental result is influenced.

In the sample collection and analysis work, the collected samples generally include analysis samples, full moisture samples, storage and check samples and the like, and the collected samples generally need to be placed in a storage cabinet system for temporary storage and check in subsequent tests. The sample storage cabinet system can be used independently, and can also be combined with an automatic sample preparation system, an automatic assay system, a sample transmission system and the like.

At present, a sample storage cabinet system in the automatic sampling and analyzing process of a coal sample mainly has the following defects:

1. the structure is complicated, the cost is with high costs, is not convenient for maintain. Part of the existing sample storage systems adopt a single cabinet structure form, sample storage is realized through the cooperative action of XYZ manipulators, the structure is complex, the manufacturing cost is high, the maintainability is poor, and the positioning precision is low.

2. The sample storage control program is complex, and the working efficiency is low. Each bin of a part of existing sample storage systems stores one or more samples, if samples on the inner side need to be taken out, samples on the outer side need to be taken out one by one and transferred to other bins, then required samples are taken out, and the transferred samples are put back one by one again, so that the sample taking and placing control process is complex, the taking and placing path is long, the taking and placing time is long, and the working efficiency is low; meanwhile, the error is easy to occur in the sample transferring process.

3. The storage space utilization is not high. The arrangement space of part of the existing sample storage systems is unreasonable, so that the number of samples to be placed is small, the space utilization rate is not high, and the storage number in unit volume is small.

4. The storage mode is single, and the sample (sample bottle) has limited requirements. The structure size of the storage bin of part of the existing sample storage systems is relatively fixed, the requirement for limiting the outer diameter size of a storage sample bottle is met, and the adaptability is poor.

5. The structure form is single, and the suitability is relatively poor. Part of the existing sample storage systems adopt a single cabinet body to be arranged in rows, which not only results in large occupied space, but also causes poor adaptability of the cabinet body and the field, and is not beneficial to being used under variable field conditions.

6. The docking mode with the external system is single, which is not beneficial to the individual requirement. Part of the existing sample storage systems have low intelligent degree, can not be smoothly butted with other external equipment, and can not have the functions of automatic sample inlet and outlet and sample discarding treatment at the same time; and does not have a docking interface with a pneumatic transmission system, an automatic assay system, and an automatic sample preparation system.

7. The degree of modularity is low. Part of the existing sample storage systems are low in modularization degree, flexible function module increase or reduction can not be carried out according to actual requirements of customers, the actual requirements of the customers can not be well met, the use cost is increased, and the market competitiveness is reduced.

8. The intelligent degree is low. Part of the existing sample storage systems are not intelligent enough, can not finish the sample information checking at any time and quickly, and even when taking and placing samples, sampling errors can occur easily, which seriously affects the development of the subsequent sample testing work.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in: to the technical problem that prior art exists, the utility model provides a robot that simple structure, intelligent level are high deposits appearance cabinet system.

In order to solve the technical problem, the utility model provides a technical scheme does:

a robot sample storage cabinet system comprises a robot module, more than one docking platform and more than one sample storage module; the butt-joint platform is used for realizing butt joint between each sample storage module and external equipment, and the robot module is used for opening or/and closing the sample storage modules, taking and placing sample bottles and driving the sample bottles to flow between each sample storage module and each butt-joint platform.

As a further improvement of the above technical solution:

each docking platform and each sample storage module are positioned on the periphery of the robot module and are annular or L-shaped; or each docking platform and each sample storage module are positioned on one side of the robot module and are in a straight line shape.

The docking platform comprises one or more of a sample preparation docking platform for docking with a sample preparation system, a sample abandoning docking platform for docking with a sample abandoning system, or a pneumatic transmission docking platform for docking with a pneumatic transmission system.

The robot module comprises a robot unit, a clamp unit and a push-pull unit, wherein the clamp unit is arranged at the tail end of a mechanical arm of the robot unit and used for clamping sample bottles; the push-pull unit is arranged at the tail end of a mechanical arm of the robot unit and is used for being matched with the robot unit to close or/and open the sample storage module.

The clamp unit comprises a mounting seat, a plurality of clamping claws and a driving piece; the clamping claws are located on the peripheral sides of the mounting seats and are folded under the driving of the driving piece to clamp the sample bottles or unfolded to loosen the sample bottles.

And the inner wall of each clamping claw is provided with an anti-skid pad.

The mounting seat is provided with a first detection piece for detecting whether the clamp grab has a sample bottle.

The driving piece is a driving cylinder, and a second detection piece used for detecting the position of the driving cylinder is arranged on the mounting seat.

The push-pull unit comprises a push-pull block.

The push-pull unit further comprises a third detection piece, and the third detection piece is mounted on the push-pull block and used for detecting the distance between the push-pull block and the sample storage module.

The sample storage module comprises more than one sample storage unit, and when the number of the sample storage units is multiple, the sample storage units are sequentially arranged from top to bottom.

The sample storage unit comprises a rack, a storage box and a sliding assembly, wherein two sides of the storage box are slidably mounted on the rack through the sliding assembly.

The sliding assembly comprises a sliding rail and a guide strip, one side of the guide strip is fastened on the rack, one side of the sliding rail is fastened on one side of the storage box, and the other side of the sliding rail is slidably arranged in the other side of the guide strip.

And two ends of the guide strip are provided with limiting blocks to limit the initial position of the sliding track of the sliding rail.

And position detection pieces are arranged at two ends of the guide strip and used for detecting the position of the slide rail so as to determine whether the storage box is in a fully opened or fully closed position.

The storage box is internally provided with a separation assembly for separating the interior of the storage box into a plurality of storage bin positions for storing sample bottles.

The separation component is a grid plate and is detachably arranged in the storage box.

Each sample storage module is correspondingly provided with one or more of a cache region, an assay return region, a back-up region or a reserved region; each zone corresponds to more than one sample storage unit.

The pneumatic transmission butt joint platform comprises a supporting plate, a bottle taking and placing sleeve, a pneumatic butt joint sleeve, a horizontal driving assembly and a vertical driving assembly; the bottle taking and placing sleeve and the horizontal driving assembly are both arranged on the supporting plate, and the horizontal driving assembly is connected with the bottle taking and placing sleeve and used for driving the bottle taking and placing sleeve to horizontally move between a bottle taking and placing station and a pneumatic transmission butt joint station; the vertical driving assembly is arranged below the supporting plate and used for driving the supporting plate to lift up and down so that the bottle taking and placing sleeve which is positioned on the supporting plate and positioned on the pneumatic transmission butt joint station can lift up to be in sealed butt joint with the pneumatic butt joint sleeve to carry out pneumatic bottle transmission.

And a sample bottle identification assembly is arranged at the bottom of the bottle taking and placing sleeve and is used for reading the chip at the bottom of the sample bottle so as to obtain sample information.

The sample information includes one or more of sample type, weight, sample preparation date, or particle size.

Get the bottom of putting the bottle cover and be equipped with the subassembly of weighing for weigh the sample bottle and compare with the sample weight that sample bottle discernment subassembly acquireed.

And a fourth detection part is arranged on the bottle taking and placing sleeve and is used for detecting whether a sample bottle exists in the bottle taking and placing sleeve.

And a fifth detection piece is arranged on the pneumatic butt joint sleeve and used for detecting whether a sample bottle exists in the pneumatic butt joint sleeve or not.

The horizontal driving assembly comprises a sliding rod, a sliding block and a guide groove, the sliding rod is positioned on the supporting plate, the sliding block is arranged on the sliding rod in a sliding mode, and the guide groove is positioned on the supporting plate and arranged in parallel with the sliding rod; the bottle taking and placing sleeve is arranged on the sliding block, and one end of the bottle taking and placing sleeve is provided with a positioning block which extends into the guide groove.

And position sensors are arranged at two ends of the sliding rod on the supporting plate and used for detecting that the sliding block is positioned on a bottle taking and placing station or a pneumatic transmission butt joint station by judging the bottle taking and placing sleeve.

The vertical driving assembly comprises a telescopic air cylinder or a telescopic hydraulic cylinder or an electric cylinder.

The safety protection module comprises a safety fence, a maintenance door, an emergency stop switch and a safety door lock; the maintenance door is arranged on the safety fence, and the emergency stop switch is connected with the control module and used for realizing emergency power-off; the safety door lock is installed on the maintenance door and is in a disconnected state when the maintenance door is opened so as to perform power-off protection.

Compared with the prior art, the utility model has the advantages of:

the robot sample storage cabinet system of the utility model has the advantages that the control module controls the robot module to transfer samples or sample bottles between each sample storage module and each butt-joint platform, and the whole structure and the automation degree are high; the docking platform is used for achieving smooth docking with each external device, is high in intelligent degree and can meet different personalized requirements. The robot module has the advantages of simple structure, low manufacturing cost, good maintainability and high positioning precision.

In the robot sample storage cabinet system, each sample storage module is independently arranged, and flexible/personalized configuration can be realized according to actual requirements during overall layout; in addition, all modules are arranged in an annular, L-shaped or straight line mode according to actual field conditions and actual requirements, and flexibility is high. The sample storage module comprises more than one sample storage unit, and when the sample storage units are multiple, the sample storage units are sequentially arranged from top to bottom to form a three-dimensional layout, so that the space utilization rate is high, and the total occupied area is small.

The utility model discloses a robot cabinet system of depositing samples, the waffle slab can be dismantled and place in the storage box, can change the waffle slab of different specifications to realize placing the sample bottle of different dimensions, strong adaptability. Wherein each sample storage module all corresponds and is provided with buffer memory district, chemical examination return district, area of being prepared for reference and reservation district, and each district all corresponds there is one or more storage box to realize depositing of different grade type sample, at the in-process of depositing, only need from the storage box that corresponds deposit or take out the appearance bottle can, get and put the flow simple and convenient, efficient.

Drawings

Fig. 1 is a schematic top view (ring layout) of the present invention according to an embodiment.

Fig. 2 is a schematic top view (L-shaped layout) of the present invention according to an embodiment of the present invention.

Fig. 3 is a schematic top view (linear layout) of the present invention according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view (linear layout) of the embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a sample storage module according to an embodiment of the present invention.

Fig. 6 is a schematic perspective view of the sample storage unit according to the embodiment of the present invention.

Fig. 7 is a schematic top view of the sample storage unit according to the embodiment of the present invention.

Fig. 8 is a schematic structural diagram of the middle clamp unit and the push-pull unit according to the embodiment of the present invention.

Fig. 9 is a schematic structural diagram of a safety protection module according to an embodiment of the present invention.

Fig. 10 is a schematic structural diagram of the pneumatic transmission docking platform according to the present invention.

Fig. 11 is a second schematic structural view of the pneumatic transmission docking platform of the present invention.

The reference numbers in the figures denote: 1. a control module; 2. a robot module; 201. a robot unit; 2011. a base; 2012. a robot control system; 2013. a drive device; 2014. a mechanical arm; 202. a clamp unit; 2021. a mounting seat; 2022. clamping and grabbing; 2023. a drive member; 2024. a non-slip mat; 2025. a first detecting member; 2026. a second detecting member; 203. a push-pull unit; 2031. a push-pull block; 2032. a third detecting member; 204. an adapter plate; 205. a track; 3. a sample storage module; 301. a sample storage unit; 3011. a frame; 3012. a storage box; 3013. a sliding assembly; 30131. a slide rail; 30132. a guide strip; 3014. a limiting block; 3015. a position detecting member; 3016. a partition assembly; 3017. a bin level; 4. a docking platform; 401. preparing a sample docking platform; 402. a sample abandoning docking platform; 403. a pneumatic transfer docking platform; 4031. a support plate; 4032. taking and placing the bottle sleeve; 4033. a pneumatic butt joint sleeve; 4034. a horizontal drive assembly; 40341. a slide bar; 40342. a slider; 40343. a guide groove; 40344. a position sensor; 4035. a vertical drive assembly; 4036. a sample bottle identification assembly; 4037. a weighing assembly; 4038. a fourth detecting member; 4039. a fifth detecting member; 5. a safety protection module; 501. a security fence; 502. maintaining the door; 503. a scram switch; 504. a safety door lock; 6. and (6) sampling bottles.

Detailed Description

The invention is further described with reference to the drawings and the specific embodiments.

As shown in fig. 1, the robot sample storage cabinet system of the present embodiment includes a control module 1, a robot module 2, more than one docking platform 4, and more than one sample storage module 3; the docking platform 4 is used for docking the sample storage module 3 with external equipment; the sample storage module 3 is used for storing samples or sample bottles 6; the robot module 2 is connected with the control module 1 and is used for opening or/and closing the sample storage modules 3 under the control of the control module 1, taking and placing the sample bottles 6 and driving the sample bottles 6 to flow between each sample storage module 3 and each butt-joint platform 4, so that samples flow. In the robot sample storage cabinet system of the utility model, the control module 1 controls the robot module 2 to transfer samples or sample bottles 6 between each sample storage module 3 and each butt-joint platform 4, so that the whole structure and the automation degree are high; the docking platform 4 is used for realizing smooth docking with each external device, has high intelligent degree and can meet different individual requirements.

In this embodiment, the docking platform 4 includes one or more of a sample preparation docking platform 401, a sample abandoning docking platform 402, and a pneumatic transmission docking platform 403, where the sample preparation docking platform 401 is used for docking with an automatic sample preparation system, the sample abandoning docking platform 402 is used for docking with an external sample abandoning collection device, and the pneumatic transmission docking platform 403 is used for docking with a pneumatic transmission system, so that the sample bottles 6 are circulated among the sample storage cabinet system, the pneumatic transmission system, and the assay system; through the arrangement of the butt-joint platform 4, the whole system has the functions of automatic sample inlet and outlet, sample abandoning treatment and the like. The position where the robot can reach most easily is defined by high operation frequency, so that the action path of the robot is simplified, and the overall efficiency is improved. Of course, the docking platforms 4 are not limited to the three types, and in other embodiments, corresponding docking platforms 4 may be added according to external devices.

In this embodiment, the sample preparation docking platform 401, the sample abandoning docking platform 402, the pneumatic transmission docking platform 403, and each sample storage module 3 are all located on the periphery of the robot module 2 and are in a ring shape, and are suitable for a square field, where the robot module 2 is fixed in the center of the ring shape, as shown in fig. 1. In another embodiment, the sample preparation docking platform 401, the sample abandoning docking platform 402, the pneumatic transmission docking platform 403 and each sample storage module 3 are all located on the periphery of the robot module 2 and are L-shaped, and are suitable for a field with a moderate length and width, wherein the robot module slides on the track 205, as shown in fig. 2. In other embodiments, the sample preparation docking platform 401, the sample abandoning docking platform 402, the pneumatic transmission docking platform 403 and each sample storage module 3 are all located on one side of the robot module 2, and are linear, and are suitable for long and narrow fields, wherein the robot module slides on the track 205, as shown in fig. 3 and 4. The arrangement mode can be flexibly adjusted according to site conditions, the number of the sample storage modules 3 and the like.

As shown in fig. 4, in the present embodiment, the robot module 2 includes a robot unit 201, a gripper unit 202, and a push-pull unit 203, wherein the gripper unit 202 is mounted at the end of a robot arm 2014 of the robot unit 201 and is used for gripping a vial 6; the push-pull unit 203 is mounted to the end of the robot arm 2014 of the robot unit 201 for opening or/and closing the sample storage module 3 in cooperation with the robot unit 201. Specifically, the robot module 2 includes a base 2011, a robot control system 2012, a driving device 2013, a robot arm 2014 and the like, wherein the driving device 2013 and the robot arm 2014 are both mounted on the base 2011, and the robot control system 2012 drives the robot arm 2014 to move through the driving device 2013 after receiving an instruction from the control module 1; the robot unit 201 has a simple structure, low manufacturing cost, good maintainability and high positioning accuracy.

As shown in fig. 4 and 5, a structure of one sample storage module 3 is shown, and each sample storage module 3 is independently arranged, so that flexible/personalized configuration can be realized according to actual requirements in the overall layout. The sample storage module 3 comprises more than one sample storage unit 301, and when the sample storage units 301 are multiple, the sample storage units 301 are sequentially arranged from top to bottom to form a three-dimensional layout, so that the space utilization rate is high, the total occupied area is small, and the expansion is easy. Wherein, the sample storage module 3 can only store the sample bottle 6 of one specification, and can also store the sample bottles 6 of multiple specifications, and the sample bottles 6 of different height sizes can be compatible by adjusting the longitudinal position of each sample storage unit 301.

Specifically, each sample storage unit 301 includes a rack 3011, a storage box 3012, and a sliding assembly 3013, where the rack 3011 is a cabinet structure, and the front side of the rack 3011 is open, and two sides of the storage box 3012 are slidably mounted on the rack 3011 through the sliding assembly 3013 and can be pulled out from the front side of the rack 3011. As shown in fig. 3, the sliding component 3013 includes a sliding rail 30131 and a guiding strip 30132, one side of the guiding strip 30132 is fastened to the rack 3011, one side of the sliding rail 30131 is fastened to one side of the storage box 3012, and the other side of the sliding rail 30131 is slidably disposed in the other side of the guiding strip 30132. In addition, stoppers 3014 are provided at both ends of the guide bar 30132 to limit the initial position of the sliding track of the slide rail 30131. The guide bar 30132 is provided with position detectors 3015 at both ends thereof for detecting the position of the slide rail 30131 to determine whether the storage box 3012 is in the fully open or fully closed position, and feeding back to the control module 1 to ensure the reliability of the operation of the storage box 3012. The sample storage unit 301 has a drawer-type structure, and is simple in structure, low in cost and convenient to install and maintain.

In this embodiment, a partitioning component 3016 is detachably disposed in the storage box 3012, and is used to partition the storage box 3012 into a plurality of storage bays 3017 for storing sample bottles 6, and each storage bay 3017 stores one sample bottle 6; wherein separate subassembly 3016 for the grid board, seted up a plurality of holes of placing on the grid board, will store box 3012 inside formation array form storage position 3017 through the grid board. Because above-mentioned net board can be dismantled and place in storage box 3012, can be through the net board of changing different specifications to realize placing the appearance bottle 6 of different dimensions, strong adaptability. Wherein each sample storage module 3 all corresponds and is provided with buffer memory area, assay return zone, the district of being prepared for reference and reservation district, and each district all corresponds and has one or more storage box 3012 to realize depositing of different grade type samples, as shown in fig. 5. In the process of storage, the sample bottles 6 only need to be stored or taken out from the corresponding storage boxes 3012, and the taking and placing process is simple and convenient and efficient. The region with high operation frequency is defined at the position where the robot module 2 can reach most easily, so that the action path of the robot module 2 is simplified, and the overall efficiency is improved.

Specifically, the bins 3017 within the cartridge 3012 are managed using three levels of coding rules, as shown in fig. 5 and 7, where the sample storage units 301 are named by A, B, C … … from bottom to top; bin 3017 naming management is performed within storage cartridge 3012 through (1, 1), (1, 2), (1, 3) … …; finally, each bin 3017 is named and managed through a1(1, 1), a1(1, 2) and a1(1, 3) … …. Wherein a1(1, 1) represents the (1, 1) bin 3017 of the sample storage unit a 301 of the sample storage module No. 13. The information of each bin 3017 is associated with the sample information, one-to-one, and stored in the control module 1.

As shown in fig. 8, in the present embodiment, the gripper unit 202 includes a mount 2021, two grippers 2022, and a driver 2023; the two clamping claws 2022 are arc-shaped clamping pieces and are positioned at two symmetrical sides of the bottom of the mounting seat 2021; the driving element 2023 is a driving cylinder, an electric cylinder, a hydraulic cylinder, or the like, and preferably, the driving cylinder is installed on the mounting base 2021, and the two grippers 2022 are driven to close each other to grip the sample bottles 6 or to spread apart each other to release the sample bottles 6 under the control of the control module 1. Of course, the number of the above-described grippers 2022 may also be three or more. The inner wall of each clamp 2022 is provided with a non-slip pad 2024 for preventing the sample bottle 6 from falling off accidentally when the clamp clamps the sample bottle 6. In addition, the mounting base 2021 is provided with a first detecting element 2025 (such as a photoelectric sensor) for detecting whether the sample bottle 6 is on the gripper 2022, so as to ensure reliable gripping and feedback of the sample bottle 6, and similarly, the mounting base 2021 is also provided with a second detecting element 2026 for detecting the position of the driving cylinder, so as to also detect whether the action of the driving cylinder is normal or in place, so as to ensure reliable gripping and normal feedback.

As shown in fig. 8, wherein the mounting 2021 is mounted to the end of the robotic arm 2014 via the adapter plate 204. The push-pull unit 203 is installed at the other end of the adapter plate 204, wherein the push-pull unit 203 specifically includes a push-pull block 2031 and a third detection member 2032, when a sample storage or sampling instruction is received, the push-pull block 2031 is firstly extended into the sample storage module 3 (similar to a drawer structure) by controlling the mechanical arm 2014, the sample storage module 3 is pulled out by matching with the linear motion of the mechanical arm 2014, the sample bottle 6 is accessed by the clamp 2022, and after the access operation is completed, the sample storage module 3 is closed by the push-pull block 2031, so that the sample storage module 3 is opened or closed. In addition, the third detecting element 2032 is mounted on the push-pull block 2031, and is configured to detect a distance between the push-pull block 2031 and the sample storage module 3, so as to ensure reliable push-pull storage of the push-pull block 2031, and at the same time, determine whether the current or upper/lower storage box 3012 is in an open/closed state, so as to prevent the push-pull block 2031 from accidentally colliding with the storage box 3012 that is abnormally opened in the upper or lower layer, and further ensure safety and reliability of push-pull operation.

As shown in fig. 1 and 9, in this embodiment, a safety protection module 5 is further included for safety protection during the overhaul and maintenance of the sample storage cabinet system, and for safety management of sample bottle 6 storage. The safety protection module 5 mainly comprises a safety fence 501, a maintenance door 502, an emergency stop switch 503 and a safety door lock 504. The maintenance door 502 is installed on the safety fence 501, and the emergency stop switch 503 is connected with the control module 1 and used for realizing emergency power-off; the safety door lock 504 is installed on the maintenance door 502 and is in an off state when the maintenance door 502 is opened for power-off protection; when the safety door lock 504 is closed (the lock pin is inserted into the lock hole), the state of the system man-machine interface needs to be confirmed, and the system can be powered on to operate after the confirmation.

In this embodiment, the control module 1 has the following functions: 1) communicating with external systems (a sample preparation system, a test system and a pneumatic transmission system), and receiving/issuing commands to transfer samples among the external systems; 2) communicating with the internal module, sending instructions to each module, controlling each module to execute respective flow, grabbing/storing the sample bottles 6, and controlling the robot module 2 to grab the sample bottles 6 to circulate among stations in the system; 3) the stored sample information management (coal type, weight, sample preparation date, granularity and the like) in the system; 4) sample storage bin 3017 information management (full/empty bin, sample storage bin 3017, bin 3017 information associated with sample information); 5) and (3) managing a sample storage area (comprising a cache area, an assay return area, a back-up area, a reserved area and the like).

As shown in fig. 10 and 11, in the present embodiment, the pneumatic transmission docking platform 403 includes a support plate 4031, a pick-and-place vial holder 4032, a pneumatic docking sleeve 4033, a horizontal driving assembly 4034, and a vertical driving assembly 4035; the bottle taking and placing sleeve 4032 and the horizontal driving assembly 4034 are both arranged on the supporting plate 4031, and the horizontal driving assembly 4034 is connected with the bottle taking and placing sleeve 4032 and used for driving the bottle taking and placing sleeve 4032 to horizontally move between a bottle taking and placing station and a pneumatic transmission docking station; the vertical driving assembly 4035 is installed below the support plate 4031 and is used for driving the support plate 4031 to move up and down, so that the bottle taking and placing sleeve 4032 which is located on the support plate 4031 and located on the pneumatic transmission docking station is lifted up to be in sealed docking with the pneumatic docking sleeve 4033 for pneumatic bottle transmission.

In this embodiment, a sample bottle identification assembly 4036 (e.g., a code reader) is disposed at the bottom of the vial taking and placing sleeve 4032 and is configured to read the chip and other identifiers at the bottom of the sample bottle 6 to obtain sample information. The sample information comprises information such as sample type, weight, sample preparation date and granularity. In addition, the bottom of the bottle taking and placing sleeve 4032 is provided with a weighing component 4037 for weighing the sample bottle 6 to compare the sample weight obtained by the sample bottle identification component 4036, so as to ensure the accuracy of the sample information in the sample bottle 6 in the circulation process.

In this embodiment, the bottle taking and placing sleeve 4032 is provided with a fourth detecting element 4038 (e.g., a photoelectric switch) for detecting whether a sample bottle 6 is present in the bottle taking and placing sleeve 4032, so as to ensure the reliability of the circulation of the subsequent sample bottle 6. A fifth detecting element 4039 (such as a photoelectric switch) is arranged on the pneumatic docking sleeve 4033 and is used for detecting whether a sample bottle 6 is arranged in the pneumatic docking sleeve 4033, and the reliability of subsequent pneumatic bottle conveying is also guaranteed.

In this embodiment, the horizontal driving assembly 4034 includes a sliding bar 40341, a sliding block 40342 and a guide groove 40343, the sliding bar 40341 is located on the support plate 4031, the sliding block 40342 is slidably disposed on the sliding bar 40341, and the guide groove 40343 is located on the support plate 4031 and arranged in parallel with the sliding bar 40341; the taking and placing bottle sleeve 4032 is mounted on the sliding block 40342, and one end of the taking and placing bottle sleeve 4032 is provided with a positioning block extending into the guide groove 40343. And position sensors 40344 are arranged at two ends of the sliding bar 40341 on the supporting plate 4031 and used for detecting the sliding block 40342 to judge that the bottle taking and placing sleeve 4032 is positioned on a bottle taking and placing station or a pneumatic transmission docking station. Vertical drive assembly 4035 includes a telescopic cylinder or hydraulic or electric cylinder.

The sample bottle 6 is gripped by the clamp unit 202 and transferred into the bottle taking and placing sleeve 4032 of the bottle taking and placing station, the sample bottle identification component 4036 reads a chip at the bottom of the sample bottle 6 through a code reading function to obtain information such as the type, weight, sample preparation date, particle size and the like of a sample (coal sample), the weight information of the coal sample in the sample bottle 6 is verified through the weighing component 4037 to ensure that the information before the sample flows is accurate, then the bottle taking and placing sleeve 4032 horizontally moves the sample bottle 6 from the bottle taking and placing station to the pneumatic transmission docking station under the driving of the horizontal driving component 4034, the vertical driving component 4035 at the lower part of the support plate 4031 vertically lifts the bottle taking and placing sleeve 4032 moved to the pneumatic transmission docking station upwards to be in sealed docking with the bottom of the pneumatic docking sleeve 4033, and the upper part of the pneumatic docking sleeve 4033 is connected with a transmission pipeline of an external pneumatic transmission system to perform pneumatic bottle transmission.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.

Claims (28)

1. A robot sample storage cabinet system is characterized by comprising a robot module (2), more than one docking platform (4) and more than one sample storage module (3); the butt-joint platform (4) is used for realizing butt-joint between each sample storage module (3) and external equipment, and the robot module (2) is used for opening or/and closing the sample storage modules (3), taking and placing the sample bottles (6) and driving the sample bottles (6) to circulate between each sample storage module (3) and each butt-joint platform (4).

2. The robotic sample holder system according to claim 1, wherein each docking platform (4) and each sample storage module (3) is located on a circumferential side of the robotic module (2) and is ring-shaped or L-shaped; or each docking platform (4) and each sample storage module (3) are positioned on one side of the robot module (2) and are in a straight line shape.

3. The robotic sample holder system of claim 1, wherein the docking platform (4) comprises one or more of a sample preparation docking platform (401) for docking with a sample preparation system, a sample discard docking platform (402) for docking with a sample discard system, or a pneumatic transport docking platform (403) for docking with a pneumatic transport system.

4. A robotic sample storage bin system according to claim 1 or 2 or 3, wherein the robotic module (2) comprises a robotic unit (201), a gripper unit (202) and a push-pull unit (203), the gripper unit (202) being mounted at the end of a robotic arm (2014) of the robotic unit (201) for gripping a sample vial (6); the push-pull unit (203) is mounted at the end of a mechanical arm (2014) of the robot unit (201) and is used for closing or/and opening the sample storage module (3) in cooperation with the robot unit (201).

5. The robotic sample storage bin system according to claim 4, wherein the gripper unit (202) comprises a mounting base (2021), a plurality of gripper grips (2022) and a drive (2023); the clamping claws (2022) are located on the periphery of the mounting seat (2021) and are driven by the driving piece (2023) to close to clamp the sample bottles (6) or spread to loosen the sample bottles (6).

6. The robotic sample storage bin system according to claim 5, wherein an anti-slip pad (2024) is provided on an inner wall of each of the gripping fingers (2022).

7. The robotic sample storage bin system according to claim 5, wherein the mounting seat (2021) is provided with a first detecting member (2025) for detecting whether a sample bottle (6) is present on the gripper (2022).

8. The robotic sample storage bin system according to claim 5, wherein the driving element (2023) is a driving cylinder, and the mounting base (2021) is provided with a second detecting element (2026) for detecting a position of the driving cylinder.

9. The robotic sample storage bin system according to claim 4, wherein the push-pull unit (203) comprises a push-pull block (2031).

10. The robotic sample storage bin system according to claim 9, wherein the push-pull unit (203) further comprises a third detecting member (2032), the third detecting member (2032) being mounted on the push-pull block (2031) for detecting a distance between the push-pull block (2031) and the sample storage module (3).

11. The robotic specimen storage cabinet system according to claim 1, 2 or 3, wherein the specimen storage module (3) comprises more than one specimen storage unit (301), and when the specimen storage unit (301) is plural, each specimen storage unit (301) is arranged one above the other.

12. The robotic sample holder system of claim 11, wherein the sample storage unit (301) comprises a rack (3011), a storage cassette (3012), and a slide assembly (3013), wherein both sides of the storage cassette (3012) are slidably mounted on the rack (3011) by the slide assembly (3013).

13. The robotic sample storage cabinet system according to claim 12, wherein the sliding assembly (3013) comprises a sliding rail (30131) and a guide bar (30132), one side of the guide bar (30132) is fastened to the rack (3011), one side of the sliding rail (30131) is fastened to one side of the storage box (3012), and the other side of the sliding rail (30131) is slidably disposed in the other side of the guide bar (30132).

14. The robotic sample storage cabinet system according to claim 13, wherein both ends of the guide bar (30132) are provided with a stopper (3014) to limit the initial position of the sliding track of the slide rail (30131).

15. The robotic sample holder system according to claim 14, wherein both ends of the guide bar (30132) are provided with position detectors (3015) for detecting the position of the slide rail (30131) to determine whether the storage box (3012) is in a fully open or fully closed position.

16. The robotic sample holder system of claim 12, wherein a partitioning assembly (3016) is provided within the storage box (3012) for partitioning the interior of the storage box (3012) into a plurality of storage bins (3017) for storing sample vials (6).

17. The robotic sample storage bin system according to claim 16, wherein the partition assembly (3016) is a mesh panel (30161) removably mounted within the storage box (3012).

18. The robotic sample storage cabinet system according to claim 11, wherein each of said sample storage modules (3) is correspondingly provided with one or more of a buffer zone, an assay return zone, a back-up zone or a reserved zone; each zone corresponds to more than one sample storage unit (301).

19. The robotic sample storage bin system according to claim 3, wherein the pneumatic transport docking platform (403) comprises a support plate (4031), a pick-and-place vial set (4032), a pneumatic docking sleeve (4033), a horizontal drive assembly (4034) and a vertical drive assembly (4035); the bottle taking and placing sleeve (4032) and the horizontal driving assembly (4034) are both arranged on the supporting plate (4031), and the horizontal driving assembly (4034) is connected with the bottle taking and placing sleeve (4032) and is used for driving the bottle taking and placing sleeve (4032) to horizontally move between a bottle taking and placing station and a pneumatic transmission docking station; the vertical driving assembly (4035) is mounted below the supporting plate (4031) and is used for driving the supporting plate (4031) to lift up and down, so that a bottle taking and placing sleeve (4032) which is located on the supporting plate (4031) and located on the pneumatic transmission docking station is lifted up to be in sealing docking with the pneumatic docking sleeve (4033) for pneumatic bottle transmission.

20. The robotic sample holder system according to claim 19, wherein the bottom of the pick-and-place vial socket (4032) is provided with a vial identification assembly (4036) for reading a chip at the bottom of the vial (6) to obtain sample information.

21. The robotic specimen cabinet system according to claim 20, wherein the specimen information includes one or more of specimen type, weight, specimen preparation date, or grain size.

22. The robotic sample holder system according to claim 21, wherein the bottom of the pick-and-place vial socket (4032) is provided with a weighing assembly (4037) for weighing the sample vial (6) for comparison with the weight of the sample obtained by the sample vial identification assembly (4036).

23. A robotic sample storage bin system according to any of claims 19-22, wherein a fourth detecting member (4038) is provided on the pick-and-place vial holder (4032) for detecting whether a sample vial (6) is present in the pick-and-place vial holder (4032).

24. A robotic sample holder system according to any of claims 19-22, wherein a fifth detecting element (4039) is arranged on the pneumatic docking sleeve (4033) for detecting the presence of a sample vial (6) in the pneumatic docking sleeve (4033).

25. The robotic sample holder system according to any of claims 19-22, wherein said horizontal drive assembly (4034) comprises a slide bar (40341), a slide block (40342) and a guide slot (40343), said slide bar (40341) being located on said support plate (4031), said slide block (40342) being slidably provided on said slide bar (40341), said guide slot (40343) being located on said support plate (4031) and being arranged in parallel to said slide bar (40341); the bottle taking and placing sleeve (4032) is mounted on the sliding block (40342), and a positioning block extending into the guide groove (40343) is arranged at one end of the bottle taking and placing sleeve.

26. The robotic sample storage bin system of claim 25, wherein the support plate (4031) is provided with position sensors (40344) at both ends of the slide bar (40341) for detecting the slide block (40342) to determine whether the vial taking and placing sleeve (4032) is located at the vial taking and placing station or the pneumatic transfer docking station.

27. A robotic sample storage bin system according to any of claims 19-22 wherein the vertical drive assembly (4035) comprises a telescopic air cylinder or a telescopic hydraulic or electric cylinder.

28. A robotic sample storage bin system according to claim 1, 2 or 3, further comprising a safety guard module (5), the safety guard module (5) comprising a safety fence (501), a maintenance door (502), an emergency stop switch (503) and a safety door lock (504); the maintenance door (502) is installed on the safety fence (501), and the emergency stop switch (503) is connected with the control module (1) and used for realizing emergency power-off; the safety door lock (504) is mounted on the maintenance door (502) and is in an open state when the maintenance door (502) is opened for power-off protection.

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