CN218950139U

CN218950139U - Compound sample storage system

Info

Publication number: CN218950139U
Application number: CN202320025737.3U
Authority: CN
Inventors: 张萍萍; 汪亮; 郑浩
Original assignee: Shanghai Zhiwang Power Engineering Co ltd
Current assignee: Jiyan Biology Shanghai Co ltd
Priority date: 2023-01-06
Filing date: 2023-01-06
Publication date: 2023-05-02
Anticipated expiration: 2033-01-06

Abstract

The utility model relates to a compound sample storage system, which is characterized in that a plate frame temporary storage device is independently arranged in a warehouse body, so that identified sample tubes can be temporarily stored on a rotary storage frame member through a mechanical arm, and a plurality of groups of temporary storage boxes can be arranged on a rotary frame, and the same plate frame can be temporarily stored in the temporary storage boxes at the same time, so that the compound sample storage system can meet the sudden massive access requirement of the sample tubes. When the rack is stored and taken out, an operator can operate a plurality of grillages on the rotating rack in batches, and the storage and taking efficiency is higher.

Description

Compound sample storage system

Technical Field

The present utility model relates to a storage device, and more particularly, to a compound sample storage system.

Background

Unlike the cryogenic storage of biological samples, compound samples are accessible in conventional environments. Meanwhile, in order to improve the efficiency of access to the compound, the existing compound storage systems are mostly automated storage systems.

Chinese patent publication No. CN108726068A, entitled "a storage system and a method for accessing samples" discloses a storage system, which includes a library body, in which a plurality of groups of shelves and a first manipulator for grabbing sample boxes are disposed, a buffer zone for picking up, identifying and temporarily storing samples is disposed on one side of the library body, and a second manipulator for grabbing sample boxes, i.e. plate frames, is disposed in the buffer zone. When the device works, the first manipulator grabs the sample box in the warehouse body, then the sample box is conveyed to the second manipulator through the access window on the warehouse body, and the second manipulator transfers the sample box to the preset position in the buffer zone, so that the code reading mechanism in the code reading zone can recognize the plate frame. And after the code is read, the second manipulator outputs the sample tubes on the plate frame through the butt joint window on the buffer area.

The storage system with the structure is characterized in that a temporary storage area for temporarily storing the plate frames and a code reading area for identifying the plate frames are arranged in the same buffer area, the temporary storage area is only used for temporarily storing the plate frames, the output of samples can only enter and exit one by one through a butt joint window of the buffer area, the access efficiency is low, and a large number of sporadic access demands cannot be met.

Disclosure of Invention

In order to solve the above-mentioned problems, an object of the present utility model is to provide a compound sample storage system with high access efficiency.

The utility model relates to a compound sample storage system, which comprises a warehouse body, wherein the warehouse body is internally provided with a plurality of plate frame storage cabinets for storing plate frames, a manipulator for storing and taking the plate frames and a manipulator three-dimensional movement driving assembly for driving the manipulator to move in the warehouse body in a three-dimensional manner, and the warehouse body is internally also provided with a picking pipe temporary storage assembly which comprises a picking pipe identification device and a plate frame temporary storage device;

the picking tube identification device comprises a first installation cabinet with an opening at one side, wherein a cooperative mechanical arm and a plate frame supporting block are arranged in the first installation cabinet, an electric clamping jaw positioned above the plate frame supporting block is arranged at the output end of the cooperative mechanical arm, at least two plate frame positioning grooves are formed in the upper surface of the plate frame supporting block, the front ends of the plate frame positioning grooves penetrate through the side wall of the plate frame supporting block, and a sample tube code reader positioned at one side of the plate frame supporting block is also arranged in the first installation cabinet;

the grillage temporary storage device comprises a second installation cabinet and a rotary storage rack component arranged on the second installation cabinet, wherein the rotary storage rack component comprises a rotary rack arranged in the second installation cabinet, a rotary rack rotary driver for driving the rotary rack to rotate, a plurality of grillage temporary storage boxes are arranged on the rotary rack, and supporting plates are arranged on the left side wall and the right side wall of the grillage temporary storage boxes.

Furthermore, the compound sample storage system comprises a frame and a shell on the frame, wherein a plurality of storage grids are arranged in the plate frame storage cabinet, and support plates for placing the plate frames are arranged on the left side surface and the right side surface of each storage grid.

Furthermore, the bottom surface of the warehouse body is provided with the guide rail, the cabinet body of the plate rack storage cabinet is slidably arranged on the guide rail, the bottom of the cabinet body is in sliding fit with the guide rail through the guide wheel, the plate rack storage cabinet is also provided with the storage cabinet travelling driving motor, the bottom of the plate rack storage cabinet is provided with the motor mounting cavity, the machine body of the storage cabinet travelling driving motor is fixedly arranged in the motor mounting cavity, the output end of the machine body passes through the bottom wall of the plate rack storage cabinet and is connected with the gear, and the gear is matched with the rack on the bottom wall of the warehouse body.

Further, the compound sample storage system comprises a manipulator mounting plate, a rotary driving motor, a mounting frame, a carriage connecting frame and a carriage displacement driver, wherein one end of the manipulator mounting plate is fixedly connected with the output end of the manipulator three-dimensional moving driving assembly, the machine body is fixedly arranged on the manipulator mounting plate, one end of the mounting frame is fixedly connected with the output end of the rotary driving motor, the carriage connecting frame is slidably arranged on the mounting frame, the carriage is arranged at the front end of the carriage connecting frame, the carriage connecting frame is in sliding fit with a guide rail on the mounting frame through a sliding block, and the carriage displacement driver is further arranged on the mounting frame and used for pushing a carriage connecting piece to move along the guide rail on the mounting frame.

Further, the compound sample storage system comprises a carriage displacement driver, wherein the carriage displacement driver comprises a push rod driving motor, a body and a mounting frame, an output shaft of the push rod driving motor is fixedly connected with one end of a push rod, a connecting pin is arranged at the other end of the push rod, the bottom end of the connecting pin is arranged in a guide groove on the surface of a carriage connecting piece, and the bottom end of the connecting pin is arranged in a perforation at the end part of the push rod.

Further, in the compound sample storage system, the mounting frame is provided with a first plate frame code reader for identifying the plate frame.

Further, in the compound sample storage system, a distance sensor is further arranged on the mounting frame.

Furthermore, in the compound sample storage system, the first camera is further arranged on the manipulator mounting plate.

Furthermore, in the compound sample storage system, a proximity switch positioned at one side of the carriage connecting piece is arranged in the mounting frame, and a trigger plate corresponding to the proximity switch is arranged on the carriage connecting frame.

Further, the compound sample storage system comprises a frame and a shell, the three-dimensional movement driving assembly of the manipulator comprises an X-axis linear displacement module, a Y-axis linear displacement module and a Z-axis linear displacement module, the number of the X-axis linear displacement modules is two, the two X-axis linear displacement modules are arranged on the top of the frame in parallel, an X-axis driving motor is arranged between the two X-axis linear displacement modules, a machine body of the X-axis driving motor is fixedly connected with a machine body of a right-angle planetary reducer, an output shaft of the X-axis driving motor is connected with an input shaft of the right-angle planetary reducer, the machine body of the right-angle planetary reducer is fixedly arranged on the frame, output shafts on two sides of the right-angle planetary reducer are respectively connected with input shafts of the two X-axis linear displacement modules through connecting shafts, two ends of the machine body of the Y-axis linear displacement module are respectively arranged on sliding tables of the two X-axis linear displacement modules, the machine body of the Z-axis linear displacement module is vertically fixedly arranged on the sliding tables of the Y-axis linear displacement module, the manipulator is fixedly arranged on the sliding tables of the Z-axis linear displacement module through a manipulator mounting plate, and the driving motors of the Y-axis linear displacement module and the Z-axis linear displacement module are respectively and directly fixedly arranged on the machine bodies.

Further, in the compound sample storage system, a light source is arranged in the first installation cabinet, and the light source is arranged on one side of the plate frame supporting block through the light source installation frame.

Furthermore, in the compound sample storage system, a second camera which is positioned above the plate frame supporting block is further arranged in the first installation cabinet, a lifting device is arranged on the top wall of the first installation cabinet, a camera installation frame is arranged at the output end of the lifting device, and the second camera is fixedly arranged on the camera installation frame.

Further, the compound sample storage system of the utility model, the picking tube identification device further comprises a plate rack identification device, the plate rack identification device comprises a plate rack identification box fixedly arranged in the first installation cabinet, an identification opening is formed in the top wall of the plate rack identification box, and a plate rack identifier positioned below the identification opening is arranged in the plate rack identification box.

Further, the compound sample storage system comprises a top disc, a bottom disc and a middle rotating shaft for connecting the top disc and the bottom disc, wherein the bottom end of the middle rotating shaft is connected with an output shaft of a rotating driver of the rotating frame, and the top end of the middle rotating shaft is arranged on a bearing seat on the second installation cabinet.

Furthermore, the rack temporary storage device of the compound sample storage system further comprises a rack identification component, wherein the rack identification component comprises a lifting rack arranged in the second installation cabinet and a lifting driver for driving the lifting rack to lift, the lifting rack is provided with a second rack code reader, and the second rack code reader is positioned on one side of the rotating rack.

Further, the compound sample storage system of the utility model, the plate rack identification assembly further comprises a rotation driving motor arranged on the lifting frame, a machine body of the rotation driving motor is fixedly arranged on the lifting frame, and an output shaft of the rotation driving motor is connected with the second plate rack code reader.

Furthermore, in the compound sample storage system, the two sides of the rotating frame are respectively provided with the sensor mounting plates, the two ends of each sensor mounting plate are respectively fixedly connected with the top wall and the bottom wall of the second mounting cabinet, the sensor mounting plates are sequentially provided with a plurality of sensor mounting grooves from top to bottom, and the sensors are arranged in the sensor mounting grooves.

Furthermore, the compound sample storage system is characterized in that a manual storage cabinet for manually accessing the plate frame is further arranged in the warehouse body.

The compound sample storage system has the advantages that the picking tube identification device and the plate rack temporary storage device are respectively arranged in the library body of the compound sample storage system, wherein the picking tube identification device can pick the sample tubes in the plate rack to the preset plate rack, and then the plate rack carrying the sample tubes is conveyed into the temporary storage box of the plate rack temporary storage device through the manipulator in the library body. The temporary storage box can rotate through the rotating frame, so that after the plate frame is temporarily stored in the temporary storage box, the plate frame can rotate to the other side of the warehouse body through the rotating frame, and an operator can conveniently operate the plate frame.

Compared with the existing compound sample storage system, the compound sample storage system is provided with the plate frame temporary storage device in the warehouse body independently, so that the sample tubes carrying the identification can be temporarily stored on the rotary storage frame member through the manipulator, and as the rotary frame is provided with a plurality of temporary storage boxes, the temporary storage boxes can be temporarily stored in the same plate frame at the same time, and therefore, the sudden mass access requirements of the sample tubes can be met. When the rack is stored and taken out, an operator can operate a plurality of grillages on the rotating rack in batches, and the storage and taking efficiency is higher.

The foregoing description is merely an overview of the embodiments of the present utility model, and is intended to provide a more clear understanding of the technical means of the present utility model, as embodied in the present utility model, by way of example only.

Drawings

FIG. 1 is a perspective view of a compound sample storage system.

Fig. 2 is an internal structural diagram of the compound sample storage system.

FIG. 3 is another internal block diagram of a compound sample storage system wherein rack storage bins are grouped.

Fig. 4 is a perspective view of the frame, rack storage cabinet, robot, and the like.

Fig. 5 is a perspective view of the manual storage cabinet.

Fig. 6 is a perspective view of the three-dimensional movement drive assembly of the manipulator.

Fig. 7 is a partial enlarged view of the portion a in fig. 6.

Fig. 8 is a perspective view of the Z-axis linear displacement module and the robot.

Fig. 9 is a partial enlarged view of the portion B in fig. 8.

Fig. 10 is a perspective view of the robot.

Fig. 11 is another perspective view of the manipulator.

Fig. 12 is a further perspective view of the manipulator.

Fig. 13 is a partial enlarged view of a portion C in fig. 12.

Fig. 14 is another perspective view of the manipulator.

Fig. 15 is another perspective view of the manipulator.

Fig. 16 is a perspective view of the components of the pallet storage bin, the storage bin travel drive motor, and the like.

Fig. 17 is a partial enlarged view of a portion D in fig. 16.

Fig. 18 is a perspective view of a tube picking temporary storage assembly.

Fig. 19 is another perspective view of the tube picking temporary storage assembly.

Fig. 20 is a front view of the pick tube register assembly.

Fig. 21 is a side view of a tube picking and staging assembly.

Fig. 22 is a perspective view of the turret, pallet magazine, and the like.

Fig. 23 is another perspective view of the turret, pallet magazine, etc.

Fig. 24 is a perspective view of two sets of inductor mounting plates and the inductors thereon.

Fig. 25 is a perspective view of the turret.

Fig. 26 is a perspective view of the pallet identification assembly.

Fig. 27 is an internal configuration diagram of the pick tube recognition device.

Fig. 28 is another internal configuration diagram of the pick tube recognition device.

Fig. 29 is a perspective view of the second camera, the lifting device, and the like.

Fig. 30 is a perspective view of the ledge support block.

FIG. 31 is a perspective view of a rack carrying sample tubes.

Wherein the warehouse body 1, the frame 1.1, the plate rack storage cabinet 2, the storage grid 2.1, the guide wheel 2.2, the storage cabinet walking driving motor 2.3, the motor installation cavity 2.4, the gear 2.5, the rack 2.6, the manipulator 3, the manipulator installation plate 3.1, the rotation driving motor 3.2, the installation frame 3.3, the carriage connecting frame 3.4, the carriage 3.5, the sliding block 3.6, the carriage displacement driver 3.7, the push rod driving motor 3.8, the push rod 3.9, the connecting pin 3.10, the guide groove 3.11, the first plate rack reader 3.12, the distance sensor 3.13, the first camera 3.14, the proximity switch 3.15, the trigger plate 3.16, the manipulator three-dimensional movement driving assembly 4, the X-axis linear displacement assembly 4.1, the Y-axis linear displacement assembly 4.2, the Z-axis linear displacement assembly 4.3, the X-axis driving motor 4.4, the right-angle planetary reducer 4.5, the connecting shaft 4.6, the pipe temporary picking assembly 5, the pipe temporary picking assembly 6, the first pipe identification device 6.1, the sample tube rack comprises a cooperative mechanical arm 6.2, a lifter 6.2.1, a lifting plate 6.2.2, a connecting plate 6.2.3, a driving plate 6.2.4, a rack supporting block 6.3, an electric clamping jaw 6.4, a rack positioning groove 6.5, a sample tube code reader 6.6, a cushion block 6.7, a light source 6.8, a light source mounting frame 6.9, a second camera 6.10, a lifting device 6.11, a camera mounting frame 6.12, a rack identification box 6.13, an identification opening 6.14, a protective cover 6.15, a rack temporary storage device 7, a second mounting cabinet 7.1, a rotating rack 7.2, a top plate 7.2.1, a chassis 7.2.2, an intermediate rotating shaft 7.2.3, a rotating rack rotating driver 7.3, a rack temporary storage box 7.4, a supporting plate 7.5, a bearing seat 7.6, a rack identification assembly 7.7, a lifting rack 7.7.1, a drop driver 7.7.2, a second code reader 7.7.3, a rotating driving motor 7.7.4, an inductor mounting plate 7.8, an inductor mounting plate 7.10, a inductor 7.10, a door opening and closing device, and a manual rack storage device 8.10.

Detailed Description

The following describes in further detail the embodiments of the present utility model with reference to the drawings and examples. The following examples are illustrative of the utility model and are not intended to limit the scope of the utility model.

Referring to fig. 1 to 31, the compound sample storage system of the present embodiment includes a library 1, in which a plurality of rack storage cabinets 2 for storing racks, a manipulator 3 for storing and taking racks, a manipulator three-dimensional movement driving assembly 4 for driving the manipulator to move in three dimensions in the library are provided, and in which a picking pipe temporary storage assembly 5 is further provided, the picking pipe temporary storage assembly includes a picking pipe identification device 6 and a rack temporary storage device 7;

the picking tube identification device comprises a first installation cabinet 6.1 with an opening at one side, a cooperative mechanical arm 6.2 and a plate frame supporting block 6.3 are arranged in the first installation cabinet, an electric clamping jaw 6.4 positioned above the plate frame supporting block is arranged at the output end of the cooperative mechanical arm, at least two plate frame positioning grooves 6.5 are formed in the upper surface of the plate frame supporting block, the front ends of the plate frame positioning grooves penetrate through the side wall of the plate frame supporting block, and a sample tube code reader 6.6 positioned at one side of the plate frame supporting block is also arranged in the first installation cabinet;

the grillage temporary storage device comprises a second installation cabinet 7.1 and a rotary storage rack component arranged on the second installation cabinet, wherein the rotary storage rack component comprises a rotary rack 7.2 arranged in the second installation cabinet and a rotary rack rotary driver 7.3 for driving the rotary rack to rotate, a plurality of grillage temporary storage boxes 7.4 are arranged on the rotary rack, and supporting plates 7.5 are arranged on the left side wall and the right side wall of the grillage temporary storage boxes.

According to the compound sample storage system, the picking tube identification device and the plate rack temporary storage device are respectively arranged in the storage body, wherein the picking tube identification device can pick the sample tubes in the plate rack to the preset plate rack, and then the plate rack carrying the sample tubes is conveyed into the temporary storage box of the plate rack temporary storage device through the manipulator in the storage body. The temporary storage box can rotate through the rotating frame, so that after the plate frame is temporarily stored in the temporary storage box, the plate frame can rotate to the other side of the warehouse body through the rotating frame, and an operator can conveniently operate the plate frame.

The warehouse body is used for realizing the functions of cold insulation and protection of the sample tube and comprises a frame 1.1 and a shell on the frame.

The grillage storage cabinet is used for depositing the grillage, is equipped with a plurality of storage check 2.1 in the grillage storage cabinet, all is provided with the layer board that is used for placing the grillage on the left surface and the right flank of storage check.

The plate frame storage cabinets can be fixed or movable, and adjacent plate frame storage cabinets can be closely attached to each other in order to improve space utilization. At this time, in order to enable the robot to access the rack on the rack storage cabinet, the rack storage cabinet is a mobile storage cabinet. Specifically, the bottom surface of the storehouse body is provided with a guide rail, the cabinet body of the grillage storage cabinet is slidably arranged on the guide rail, and the bottom of the cabinet body can be in sliding fit with the guide rail through a sliding block or a guide wheel 2.2.

In order to realize the stability of the walking of the plate rack storage cabinet, a guide rail is also arranged on the inner wall of the warehouse body, and the side wall of the plate rack storage cabinet is matched with the guide rail through a sliding block or a guide wheel.

In order to realize the walking of the plate frame storage cabinet, the plate frame storage cabinet is also provided with a storage cabinet walking driving motor 2.3. The walking driving motor of former board frame storing cabinet sets up in grillage storing cabinet top side, and its organism is fixed with grillage storing cabinet, and its output passes through the rack cooperation on gear and the storehouse body inner wall to realize the walking drive to the storing cabinet.

However, in the plate rack storage cabinet with the structure, the storage cabinet walking driving motor is arranged on one side of the top of the plate rack storage cabinet, so that stable walking of the plate rack storage cabinet is not facilitated, and meanwhile, the plate rack storage cabinet is at a tilting risk due to an overweight machine body.

For this reason, this grillage storing cabinet, its bottom is provided with motor installation cavity 2.4, and the organism of storing cabinet walking driving motor sets firmly in motor installation cavity, and its output passes the diapire of grillage storing cabinet and connects gear 2.5, and the gear cooperates with rack 2.6 on the storehouse body diapire to realize the walking drive to grillage storing cabinet.

In order to improve the space utilization of the plate frame storage cabinet, storage grids are arranged on the front surface and the rear surface of the plate frame storage cabinet, and the plate frame can be arranged on a supporting plate in the storage grids.

The supporting plate on the storage grid and the plate frame box can be realized by fixing independent plates, and also can be realized by forming holes on the side wall of the storage grid or the plate frame box, and redundant plates after the holes are formed can be folded to form the supporting plate, so that the material is saved, and meanwhile, the manufacturing is convenient.

In order to avoid the manipulator, the middle of the existing plate frame storage cabinet is separated, so that the manipulator can walk from the middle of the plate frame storage cabinet. However, the rack storage cabinets of this structure are spaced apart from each other from the middle, which reduces the overall strength thereof.

In this embodiment, grillage storage cabinet is integral type, has certain distance between its and the inner wall of the storehouse body, and the manipulator can walk from between grillage storage cabinet and the storehouse body inner wall.

The manipulator is used for transporting the grillage among the grillage storage cabinet, the picking pipe identification device and the grillage temporary storage device. It can be a gripping device such as an electric clamping jaw or a carriage type plate frame lifting device.

In this embodiment, the manipulator includes manipulator mounting panel 3.1 that one end and manipulator three-dimensional removal drive assembly output link firmly, the organism sets firmly the rotary drive motor 3.2 on the manipulator mounting panel, one end and rotary drive motor output link firmly's installing frame 3.3, slidable sets up carriage link 3.4 on the installing frame, the front end of carriage link is provided with carriage 3.5, carriage link passes through slider 3.6 and the guide rail sliding fit on the installing frame, still be equipped with on the installing frame and be used for promoting carriage connecting piece along the carriage displacement driver 3.7 of guide rail removal on the installing frame.

The manipulator realizes the transportation function of the grillage through the arrangement of the carriage, the carriage displacement driver and other parts. Specifically, after the manipulator is driven to move to a certain plate frame by the manipulator three-dimensional moving driving assembly, the mounting frame is driven by the rotary driving motor to rotate for a certain angle, so that the carriage can be opposite to the plate frame. And the carriage connecting frame and the carriage are driven by the carriage displacement driver to move until the carriage moves to the lower part of the plate frame. And the three-dimensional movement driving assembly of the manipulator drives the manipulator and the carriage thereon to move upwards for a certain distance, so that the carriage is contacted with the plate frame and is taken off from the supporting plate. And then the manipulator conveys the plate frame to a preset position under the drive of the three-dimensional movement driving assembly of the manipulator. After the plate frame reaches the preset position, the manipulator can store the plate frame on the supporting plate of the preset station in a mode of opposite to the plate frame taking mode.

Compared with an electric clamping jaw, the supporting plate type manipulator is more stable in operation of the plate frame, and the plate frame is not easy to fall off in the conveying process.

The rotary driving motor is used for driving the carriage to rotate to a preset angle so as to adjust the angle between the carriage and the plate frame. The mounting frame is used for mounting the carriage connecting frame, carriage and other parts, and the carriage connecting piece is used for sliding fit connection between the carriage and the mounting frame. The carriage displacement driver is used for driving the carriage connecting frame to move along the guide rail on the surface of the mounting frame, and can be an electric cylinder displacement driving device. In this embodiment, the carriage displacement driver includes a push rod driving motor 3.8 that the organism links firmly with the installing frame, and push rod driving motor's output shaft links firmly with the one end of push rod 3.9, and the other end of push rod is equipped with connecting pin 3.10, and in the guide slot 3.11 on carriage connecting piece surface was located to the bottom of connecting pin, its bottom was located in the perforation of push rod tip. When the device works, the push rod driving motor drives the push rod to rotate, and the carriage connecting piece and the carriage move along the guide rail on the surface of the mounting frame under the action of the connecting pin at the end part of the push rod along with the rotation of the push rod, and meanwhile, the bottom end of the connecting pin slides in the guide groove, so that the displacement driving of the carriage connecting piece and the carriage is realized.

In order to realize the recognition of the plate frame, a first plate frame code reader 3.12 for recognizing the plate frame is arranged on the mounting frame, and the machine body is arranged at the front end of the bottom surface of the mounting frame.

In order to prevent the collision between the manipulator and the plate frame and trigger the carriage to move, a distance sensor 3.13 is further arranged on the mounting frame, when the manipulator approaches the plate frame to a certain distance, the distance sensor sends a distance signal to the control center, and the control center can stop the driving signal of the manipulator three-dimensional movement driver according to the signal and send a control signal to the push rod driving motor so as to drive the carriage to move.

In order to realize the monitoring of the transportation process, a first camera 3.14 is further arranged on the manipulator mounting plate and used for monitoring the transportation process of the manipulator to the plate frame.

In order to realize accurate positioning of the carriage, a proximity switch 3.15, which is preferably a U-shaped photoelectric switch, is arranged in the mounting frame, and a trigger plate 3.16 corresponding to the proximity switch is arranged on the carriage connecting frame. When the trigger plate moves to the proximity switch, the control center can control the push rod to drive the motor to stop according to the signal of the proximity switch, so that the carriage connecting frame can drive the carriage to move to a preset position.

In this embodiment, in order to realize avoiding the push rod driving motor body, the push rod is a folding rod connected by a plurality of rod pieces.

The three-dimensional moving driving assembly of the manipulator is used for driving the manipulator to move in the warehouse body, and in the embodiment, the three-dimensional moving driving assembly comprises an X-axis linear displacement module 4.1, a Y-axis linear displacement module 4.2 and a Z-axis linear displacement module 4.3, and the three groups of linear displacement modules can be motor screw rods or synchronous belt driving type linear displacement devices. The number of the X-axis linear displacement modules is two, the two X-axis linear displacement modules are arranged at the top of the frame in parallel, an X-axis driving motor 4.4 is arranged between the two X-axis linear displacement modules, the machine body of the X-axis driving motor is fixedly connected with the machine body of the right-angle planetary reducer 4.5, the output shaft of the X-axis driving motor is connected with the input shaft of the right-angle planetary reducer, the machine body of the right-angle planetary reducer is fixedly arranged on the frame, and the output shafts at two sides of the right-angle planetary reducer are respectively connected with the input shafts of the two X-axis linear displacement modules through connecting shafts 4.6. The X-axis driving motor, the right-angle planetary reducer and other components are arranged, so that synchronous driving of two ends of the Y-axis linear displacement module is realized. The two ends of the machine body of the Y-axis linear displacement module are respectively arranged on the sliding tables of the two X-axis linear displacement modules, the machine body of the Z-axis linear displacement module is vertically and fixedly arranged on the sliding table of the Y-axis linear displacement module, and the manipulator is fixedly arranged on the sliding table of the Z-axis linear displacement module through a manipulator mounting plate. The driving motors of the Y-axis linear displacement module and the Z-axis linear displacement module are respectively and directly fixed on the respective machine bodies.

The picking tube recognition device is used for grabbing and recognizing the sample tubes so as to load the selected sample tubes on a preset plate frame for output or recognizing the sample tubes input from the outside for subsequent storage.

The cooperative mechanical arm is used for driving an electric clamping jaw at the output end of the cooperative mechanical arm so as to enable the electric clamping jaw to move to the position above a certain sample tube or drive the sample tube to move to a preset position. The cooperation arm includes that the bottom sets firmly lift 6.2.1 on the first installing cabinet diapire, sets firmly the lifter plate 6.2.2 that sets firmly the lift output, sets up connecting plate 6.2.3 and drive connecting plate pivoted motor on the lifter plate, and the connecting plate end sets up drive plate 6.2.4 and drive plate pivoted motor, and the drive plate end sets up the motor of being connected with electronic clamping jaw, just so cooperation arm just forms a triaxial arm. When the device works, the electric clamping jaw moves to the upper part of the sample tube under the drive of the motor of each joint of the cooperative mechanical arm. After the electric clamping jaw clamps the sample tube, the cooperative mechanical arm drives the sample tube to move to a preset height, and the sample tube code reader can read the code of the sample tube at the front side of the sample tube code reader. After the code reading is completed, if the sample tube is the sample tube to be taken, the electric clamping jaw is placed on a preset plate frame of the plate frame positioning groove, and if the sample tube is not the sample tube to be taken, the electric clamping jaw is returned to the original plate frame.

Wherein, the grillage supporting shoe is used for supporting and locating the grillage, sets up two at least grillage constant head tanks on it, and one grillage constant head tank is used for placing the grillage of interior sample pipe of establishing, and another grillage constant head tank is used for placing the grillage of waiting to sweep a yard sample pipe.

In order to realize the adaptation with the manipulator, the bottom surface of this grillage constant head tank is provided with cushion 6.7 to make the carriage of manipulator can stretch into between grillage and the grillage constant head tank bottom surface, thereby take off the grillage from the grillage supporting shoe, perhaps put into the grillage constant head tank with the grillage.

The sample tube reader is used for reading the identification code on the sample tube, and the identification code is preferably an annular bar code.

In order to improve the recognition rate of the sample tube code reader and facilitate the operation of the electric clamping jaw, a light source 6.8 is arranged in the first installation cabinet, and the light source is arranged on one side of the plate frame supporting block through a light source installation frame 6.9.

In order to facilitate the clamping of the electric clamping jaw to the sample tube, a second camera 6.10 positioned above the plate frame supporting block is further arranged in the first installation cabinet.

In this embodiment, the top wall of the first installation cabinet is provided with a lifting device 6.11, which is preferably a motor screw type linear displacement driving device. The output end of the lifting device is provided with a camera mounting frame 6.12, and the second camera is fixedly arranged on the camera mounting frame. During operation, the control center adjusts the height of the second camera through the lifting device, so that the sample tube can be clearly imaged, and the subsequent electric clamping jaw can accurately clamp the corresponding sample tube.

In order to realize the recognition of the whole plate rack, the picking pipe recognition device further comprises a plate rack recognition device, wherein the plate rack recognition device comprises a plate rack recognition box 6.13 fixedly arranged in the first installation cabinet, a recognition port 6.14 is formed in the top wall of the plate rack recognition box, and a plate rack recognizer arranged below the recognition port is arranged in the plate rack recognition box and can be a bar code or a two-dimensional code reader. During recognition, the plate frame is sent to the upper part of the recognition port by the manipulator, and the plate frame recognizer in the recognition box can recognize the plate frame.

In order to realize the protection of the plate frame and the plate frame identifier, a protective cover 6.15 positioned above the identification opening is arranged on the identification box.

During installation, the opening of the first installation cabinet faces the inside of the warehouse body, so that the manipulator operates the plate frame in the first installation cabinet.

The rack temporary storage device is used for temporarily storing the rack to be stored or taken out, and a rotary storage rack component is arranged on the second installation cabinet. In this embodiment, the number of the rotary storage rack members is two, one is used for temporarily storing the rack to be fetched, and the other is used for temporarily storing the rack to be stored.

The rotating frame is used for installing a plurality of grillage temporary storage boxes, and it includes roof plate 7.2.1, chassis 7.2.2 and connects the intermediate rotating shaft 7.2.3 of roof plate and chassis, and the bottom of intermediate rotating shaft and the output shaft of rotating drive of rotating frame, its top sets up on the bearing frame 7.6 on the second installation cabinet. The plurality of grillage temporary storage boxes are uniformly arranged around the middle rotating shaft, the top end and the bottom end of the grillage temporary storage boxes are respectively fixedly connected with the top plate and the chassis, the rotating frame rotates the driver as an integral motor, and the machine body of the rotating frame is fixedly arranged on the bottom wall of the second installation cabinet.

In order to prevent operators from taking the grillage by mistake, or identifying the input grillage, the grillage temporary storage device further comprises a grillage identification component 7.7, wherein the grillage identification component comprises a lifting frame 7.7.1 arranged in a second installation cabinet and a lifting driver 7.7.2 for driving the lifting frame to lift, a second grillage code reader 7.7.3 is arranged on the lifting frame and is positioned on one side of the rotating frame, and the second grillage code reader can read codes of grillages in the grillage storage boxes on the rotating frame.

In order to respectively realize the code reading of the plate frames on the rotating frames at the two sides, the plate frame identification assembly further comprises a rotating driving motor 7.7.4 arranged on the lifting frame, a machine body of the rotating driving motor is fixedly arranged on the lifting frame, and an output shaft of the rotating driving motor is connected with the second plate frame code reader. In specific implementation, the second plate rack code reader is obliquely arranged at the output end of the rotation driving motor through a plate, and can realize code reading operation on the plate rack through a plurality of rectangular openings on the plate rack storage box. When the code is read, the lifting frame moves to a preset height under the drive of the lifting driver, and then the second plate frame code reader rotates to a certain angle under the drive of the rotation driving motor, so that the second plate frame code reader can just pass through the rectangular opening on the side surface of the plate frame storage box and read the code on the plate frame. After the reading of the code is completed, if the plate frame is to be stored, the system stores the plate frame information into the storage device. If the plate frame is to be taken out, the information of the plate frame which is being extracted by the operator can be reminded through corresponding output equipment, so that the operator is prevented from taking the plate frame by mistake.

The lifting driver is a motor screw rod type linear displacement driving device similar to the lifting device.

In order to monitor whether the plate frames are arranged on the supporting plates in the plate frame storage box or not, two sides of the rotating frame are respectively provided with an inductor mounting plate 7.8, two ends of each inductor mounting plate are respectively fixedly connected with the top wall and the bottom wall of the second mounting cabinet, a plurality of inductor mounting grooves are sequentially formed in the inductor mounting plates from top to bottom, an inductor 7.9 is arranged in each inductor mounting groove, the inductor can be a photoelectric inductor, an inductor positioned on one side of the rotating frame is an emitter, and the other side of the rotating frame is a receiver. In addition, a group of reflective sensors can be arranged separately. When the rotating frame rotates to a certain angle, the light beam emitted by the sensor on one side of the rotating frame can just pass through the rectangular opening on the plate frame storage box and is transmitted to the receiver on the other side. The system can determine whether the rack is in the corresponding storage cell of the rack storage box according to the signal of the receiver.

In order to facilitate the access of operators to the plate frame, the outer side of the second installation cabinet is provided with a switch door 7.10, and during the access, the operators can access the plate frame through the switch door.

In this embodiment, the second installation cabinet is disposed above the first installation cabinet, and is an integral installation cabinet with the first installation cabinet.

In order to improve the universality of the compound sample storage system, a manual storage cabinet 8 for manually storing and taking the plate frames is further arranged in the warehouse body, the cabinet body of the manual storage cabinet is fixedly arranged in the warehouse body, and the inlet and the outlet of the manual storage cabinet are positioned on the side face of the warehouse body. During storage and taking, an operator can store the plate frame in a storage grid of the manual storage cabinet in a manual operation mode, or take out the plate frame in the manual storage cabinet, and the specific operation mode is not repeated.

The following is a specific process for an operator to extract a sample tube from the rack storage cabinet.

First, the operator inputs a pre-extracted sample tube 9 through an input means, such as a touch screen. After the system retrieves the sample tube, if the sample tube is positioned between two adjacent plate rack storage cabinets, the system can drive the plate rack storage cabinets to move through the storage cabinet traveling driving motor so as to enable the plate rack storage cabinets carrying the sample tube to be separated from the adjacent plate rack storage cabinets by a certain distance. Subsequently, the manipulator is moved to the front side of the rack 10 with the sample tubes by the three-dimensional movement driving assembly of the manipulator. After the manipulator moves to the plate frame, the carriage on the manipulator takes the plate frame off the supporting plate of the plate frame storage cabinet in the mode and conveys the plate frame to the picking pipe identification device.

The plate frame conveyed to the picking pipe recognition device is placed in a plate frame positioning groove of the plate frame supporting block under the operation of the manipulator. And then the electric clamping jaw is driven by the cooperative mechanical arm to move so as to grab the sample tube on the plate frame to a preset height. Then the sample tube reader reads the identification code on the sample tube, and determines whether the sample tube is the sample tube to be extracted. After the sample tube code reader reads the pre-extracted sample tube, the electric clamping jaw conveys the sample tube to the plate frame in the plate frame locating groove on the other side under the drive of the cooperative mechanical arm. When the sample tube to be taken is input into the rack, the manipulator conveys the rack into the rack temporary storage box of the rack temporary storage device, and then the rotating rack rotating driver drives the rotating rack and the rack storage box on the rotating rack to rotate to a preset position, and at the moment, the rack identification component can identify the rack so as to further determine whether the rack is correct or not. After the plate frame is correctly identified, an operator can take out the sample tubes in the plate frame in a manual mode, and the switch door is closed after the sample tubes are taken out, so that the whole sample tube extraction process is completed.

The storage process of the sample tube or the plate rack is executed according to the opposite procedure, and is not repeated here.

The foregoing is merely a preferred embodiment of the present utility model for assisting a person skilled in the art in realizing the corresponding technical solution, and is not intended to limit the scope of the present utility model, which is defined by the appended claims. It should be noted that, on the basis of the technical solution of the present utility model, several improvements and modifications equivalent thereto can be made by those skilled in the art, and these improvements and modifications should also be regarded as the protection scope of the present utility model. Meanwhile, it should be understood that, although the present disclosure describes the above embodiments, not every embodiment contains only one independent technical solution, and the description is merely for clarity, and those skilled in the art should consider the disclosure as a whole, and the technical solutions of the embodiments may be combined appropriately to form other embodiments that can be understood by those skilled in the art.

Claims

1. The utility model provides a compound sample memory system, includes the storehouse body, is equipped with a plurality of grillage storing cabinets that are used for depositing the grillage in the storehouse body, is used for accessing the manipulator of grillage, the three-dimensional removal drive assembly of manipulator at the internal three-dimensional removal of storehouse, its characterized in that: the warehouse body is also internally provided with a tube picking temporary storage assembly, and the tube picking temporary storage assembly comprises a tube picking identification device and a plate frame temporary storage device;

2. The compound sample storage system of claim 1, wherein: the storehouse body includes the shell on frame and the frame, is equipped with a plurality of storage check in the grillage cabinet, all is provided with the layer board that is used for placing the grillage on the left surface and the right flank of storage check.

3. The compound sample storage system of claim 2, wherein: the bottom surface of the storehouse body is provided with the guide rail, and the cabinet body of grillage storing cabinet is slidably located on the guide rail, and its bottom passes through guide pulley and guide rail sliding fit, still is provided with storing cabinet walking driving motor on the grillage storing cabinet, and grillage storing cabinet bottom is provided with the motor installation cavity, and in the motor installation cavity was set firmly to storing cabinet walking driving motor's organism, its output passed the diapire of grillage storing cabinet and connected the gear, the rack cooperation on gear and the storehouse body diapire.

4. The compound sample storage system of claim 1, wherein: the manipulator comprises a manipulator mounting plate, a rotary driving motor, a mounting frame, a carriage connecting frame and a carriage displacement driver, wherein one end of the manipulator mounting plate is fixedly connected with the output end of the manipulator three-dimensional moving driving assembly, the rotary driving motor is fixedly arranged on the manipulator mounting plate, one end of the mounting frame is fixedly connected with the output end of the rotary driving motor, the carriage connecting frame is slidably arranged on the mounting frame, the carriage connecting frame is provided with a carriage at the front end, the carriage connecting frame is in sliding fit with a guide rail on the mounting frame through a sliding block, and the carriage displacement driver is further arranged on the mounting frame and used for pushing a carriage connecting piece to move along the guide rail on the mounting frame.

5. The compound sample storage system of claim 4, wherein: the carriage displacement driver comprises a push rod driving motor, wherein the body is fixedly connected with the mounting frame, an output shaft of the push rod driving motor is fixedly connected with one end of the push rod, a connecting pin is arranged at the other end of the push rod, the bottom end of the connecting pin is arranged in a guide groove on the surface of the carriage connecting piece, and the bottom end of the connecting pin is arranged in a perforation at the end part of the push rod.

6. The compound sample storage system of claim 5, wherein: the mounting frame is provided with a first plate frame reader for identifying the plate frame.

7. The compound sample storage system of claim 5, wherein: and a distance sensor is further arranged on the mounting frame.

8. The compound sample storage system of claim 5, wherein: the manipulator mounting plate is also provided with a first camera.

9. The compound sample storage system of claim 5, wherein: the installation frame is internally provided with a proximity switch positioned at one side of the carriage connecting piece, and the carriage connecting frame is provided with a trigger plate corresponding to the proximity switch.

10. The compound sample storage system of claim 1, wherein: the three-dimensional moving driving assembly of the manipulator comprises an X-axis linear displacement module, a Y-axis linear displacement module and a Z-axis linear displacement module, wherein the number of the X-axis linear displacement modules is two, the two X-axis linear displacement modules are arranged at the top of the frame in parallel, an X-axis driving motor is arranged between the two X-axis linear displacement modules, a machine body of the X-axis driving motor is fixedly connected with a machine body of a right-angle planetary reducer, an output shaft of the X-axis driving motor is connected with an input shaft of the right-angle planetary reducer, the machine body of the right-angle planetary reducer is fixedly arranged on the frame, output shafts on two sides of the right-angle planetary reducer are respectively connected with the input shafts of the two X-axis linear displacement modules through connecting shafts, two ends of the machine body of the Y-axis linear displacement module are respectively arranged on sliding tables of the two X-axis linear displacement modules, the machine body of the Z-axis linear displacement module is vertically fixedly arranged on the sliding tables of the Y-axis linear displacement module, and the manipulator is fixedly arranged on the sliding tables of the Z-axis linear displacement module through a manipulator mounting plate.

11. The compound sample storage system of claim 1, wherein: a light source is arranged in the first installation cabinet and is arranged on one side of the plate frame supporting block through a light source installation frame.

12. The compound sample storage system of claim 1, wherein: still be equipped with the second camera that is located grillage supporting shoe top in the first installation cabinet, be equipped with elevating gear on the roof of first installation cabinet, elevating gear's output is provided with the camera mounting bracket, and above-mentioned second camera sets firmly on the camera mounting bracket.

13. The compound sample storage system of claim 1, wherein: the picking pipe identification device further comprises a plate frame identification device, the plate frame identification device comprises a plate frame identification box fixedly arranged in the first installation cabinet, an identification opening is formed in the top wall of the plate frame identification box, and a plate frame identifier located below the identification opening is arranged in the plate frame identification box.

14. The compound sample storage system of claim 1, wherein: the rotating frame comprises a top disc, a bottom disc and a middle rotating shaft for connecting the top disc and the bottom disc, the bottom end of the middle rotating shaft is connected with an output shaft of a rotating driver of the rotating frame, and the top end of the middle rotating shaft is arranged on a bearing seat on the second installation cabinet.

15. The compound sample storage system of claim 1, wherein: the rack temporary storage device further comprises a rack identification assembly, the rack identification assembly comprises a lifting frame arranged in the second installation cabinet and a lifting driver for driving the lifting frame to lift, a second rack code reader is arranged on the lifting frame, and the second rack code reader is located on one side of the rotating frame.

16. The compound sample storage system of claim 15, wherein: the plate frame identification assembly further comprises a rotation driving motor arranged on the lifting frame, a machine body of the rotation driving motor is fixedly arranged on the lifting frame, and an output shaft of the rotation driving motor is connected with the second plate frame code reader.

17. The compound sample storage system of claim 1, wherein: the both sides of rotating turret are provided with the inductor mounting panel respectively, and the both ends of inductor mounting panel link firmly with roof and diapire of second erection tank respectively, and the inductor mounting panel is equipped with a plurality of inductor mounting grooves from last to being equipped with the inductor in the inductor mounting groove down in proper order.

18. The compound sample storage system of claim 1, wherein: and a manual storage cabinet for manually storing and taking the plate frames is further arranged in the warehouse body.