Blood frame warehouse-in and warehouse-out system, warehouse-out method and method for hooking blood boxes with different blood types by blood frame warehouse-in and warehouse-out systemThe application relates to a division application of an application patent application with the name of 'blood frame in-out warehouse system', which is applied by the applicant of Suzhou assist biotechnology limited company, the application date is 2017, 9, 19 and 201710851945.8.
Technical Field
The invention relates to automatic storage of frozen plasma in a refrigeration house, in particular to a blood frame in-out storage system, a blood frame out-of-storage method and a method for hooking blood boxes of different blood types in the blood frame in-out storage system, which are applied to a medical intelligent blood house.
Background
The medical intelligent blood bank requires to access frozen blood plasma in a low-temperature environment of minus 25 ℃ plus or minus 5 ℃, and the types of blood plasma stored in the blood bank are common positive types such as A type, B type, AB type, O type and some rare blood types. The storage is carried out manually in an ultralow temperature environment of minus 25 ℃ plus or minus 5 ℃ and brings great inconvenience to staff, and the staff needs to operate under a series of antifreezing measures.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks, an object of the present invention is to provide a blood frame in-out system for reducing labor intensity and improving in-out efficiency of frozen plasma for workers.
In order to achieve the purpose, the technical scheme includes that the blood frame in-out warehouse system comprises a goods shelf, a grabbing manipulator assembly, an in-out warehouse rotating frame and a blood frame placing table, wherein a plurality of blood frames are placed in the goods shelf, each goods shelf is provided with a plurality of shelving plates which are parallel to each other, a plurality of blood frames are stored on each shelving plate, each blood frame is provided with a blood type, and the goods shelf is arranged on at least one side of the grabbing manipulator assembly.
The grabbing manipulator assembly comprises a support frame and a manipulator support plate, wherein the manipulator support plate is L-shaped, the grabbing manipulator assembly can take out blood frames on a goods shelf or store the blood frames on the goods shelf, the manipulator support plate is provided with a first grabbing assembly, the support frame can move left and right along the X-axis direction through a first driving assembly, the manipulator support plate can move up and down along the Z-axis direction through a second driving assembly, the first grabbing assembly can move back and forth along the Y-axis direction of the manipulator support plate through a second driving assembly, the first grabbing assembly can carry blood frames on the goods shelf and the manipulator support plate back and forth and can move back and forth along the X-axis direction and the Z-axis direction, the first grabbing assembly can grab the blood frames in the goods shelf onto the manipulator support plate of the manipulator assembly or grab the blood frames on the manipulator support plate onto the goods shelf, and the first grabbing assembly can grab the blood frames on the two sides of the goods shelf sequentially. The blood box comprises a manipulator support plate, a blood box storage tank, a turnover basket, a pushing mechanism and a pushing mechanism, wherein the turnover basket is arranged on the manipulator support plate, the pushing mechanism is fixedly arranged on the side wall of the manipulator support plate and is in an X-axis trend, the blood box is provided with a plurality of blood box storage tanks, and each blood box storage tank stores a blood box;
The blood frame placing table is arranged at the front end of the in-out warehouse rotating frame, the second hooking component can move blood frames on the blood frame placing table and the blood frame on the manipulator supporting plate below the in-out warehouse rotating frame back and forth along a Y axis through driving of the first driving component and the second driving component, the second hooking component can bring the blood frames on the manipulator supporting plate below the in-out warehouse rotating frame to the blood frame placing table or can bring the blood frames from the blood frame placing table to the blood frame placing table below the in-out warehouse rotating frame.
The blood frame warehouse-in and warehouse-out system has the beneficial effects that the blood frame warehouse-in and warehouse-out system is of a mechanical structure capable of automatically taking and placing frozen plasma in a low-temperature refrigerator at-25 ℃ plus or minus 5 ℃, mainly comprises a goods shelf, a grabbing mechanical arm assembly, a warehouse-in and warehouse-out middle rotating frame and a blood frame placing table, and is used for completing automatic warehouse-in and warehouse-out management of frozen plasma in the blood warehouse, when a first grabbing assembly on a mechanical arm supporting plate mainly completes warehouse-in, grabbing the blood frame on the mechanical arm supporting plate to the goods shelf, and when the blood frame is warehouse-out, grabbing the blood frame in the goods shelf to the mechanical arm supporting plate of the grabbing mechanical arm assembly, the blood frame placing table plays a window table role when the blood warehouse is warehouse-out and warehouse-in, the blood frame is placed on the table for operation when the blood warehouse-out and warehouse-in, automatic warehouse-in and warehouse-out is used for replacing manual operation, so that great convenience is brought to workers, and the warehouse-in and warehouse-out efficiency is improved.
Preferably, the first driving assembly comprises a sliding rail, a first motor, a gear, a rack and a moving platform, wherein the sliding rail and the rack are arranged along an X axis, the rack is arranged in the sliding rail, the sliding rail is provided with a guide groove, the moving platform is arranged on the sliding rail in a sliding manner, a guide wheel matched with the guide groove is arranged below the moving platform, the first motor is arranged on the moving platform, an output shaft of the first motor faces downwards and penetrates through the moving platform, the gear is arranged at the end part of the output shaft of the first motor, the gear is meshed with the rack, and a supporting frame of the grabbing manipulator assembly is fixedly arranged on the moving platform. The movable platform (namely the grabbing manipulator assembly) is moved in the X-axis direction of the sliding rail through the meshing of the gear and the rack, and the sliding effect is stable.
Preferably, the second drive assembly includes second motor, two steel band wheels and steel band, every the surface of steel band wheel all is provided with the arch, be provided with the trompil on the steel band, the steel band passes through the trompil and overlaps with bellied cooperation and establishes on two steel band wheels, two the steel band wheel sets up from top to bottom, the output shaft of second motor, two the center pin of steel band wheel all sets up along X axis direction, the output shaft of second motor is connected with one of them steel band wheel, snatch manipulator subassembly, first component, second and collude and get the subassembly and all fix one side at the steel band. The steel belt can ensure normal work under low temperature environment, and the second motor drives the steel belt through the hole on the steel belt and the convex cooperation on the steel belt wheel, so that the structure is simple, the protrusion and the hole can stably drive the back and forth movement of the steel belt, and the grabbing manipulator assembly, the first hooking assembly and the second hooking assembly can stably move back and forth.
Preferably, the first component of getting is got to the first subassembly that colludes, the second is colluded the subassembly and is all got the motor and collude the staff including first backup pad, collude the motor and set up in first backup pad up end, first backup pad, collude the equal level setting of output shaft of getting the motor, collude the staff and pass first backup pad perpendicularly, collude the tip of the output shaft of motor and collude the upper end rotation of staff and be connected, collude the motor and drive the staff through the trace and reciprocate in first backup pad, drive first collude the second drive assembly's output shaft of second motor, the center pin of two steel pulleys all follow X axle direction setting, two the steel band pulley sets up front and back.
When the blood frame is hooked, the controller drives the hooking motor to operate, the output shaft of the hooking motor acts on the hooking shaft through the linkage rod to extend out of the first supporting plate, the first hooking component drives the blood frame on the mechanical arm support plate to move horizontally and drag the blood frame on the goods shelf to the goods shelf or drag the blood frame on the goods shelf to the mechanical arm support plate, and the second hooking component drives the blood frame on the mechanical arm support plate below the blood frame in the warehouse to move horizontally and drag the blood frame on the blood frame placing table to the mechanical arm support plate below the blood frame in the warehouse, and the blood frame can be quickly supported by adopting the hooking shaft to move horizontally and drag the blood frame.
Preferably, the upper end face of the blood frame is provided with a groove corresponding to the hand hooking shaft.
As a further improvement of the invention, the top of the hooking motor is provided with a sensor, the output shaft of the hooking motor is fixedly provided with a baffle plate, and the baffle plate can rotate along with the output shaft of the hooking motor to block the sensor. When the baffle blocks the sensor, a feedback signal is given to the controller, and then the next action is realized through the internal software of the controller, so that the intelligent access of the blood bank is realized, and the automation degree is high.
The invention further improves that the first hooking component is used for realizing the warehouse-in and warehouse-out of the goods shelf, when the goods shelf is arranged on two sides of the grabbing manipulator component, if the hooking hand shaft of the first hooking component cannot rotate, the blood frame on the goods shelf on the other side cannot be hooked, the same side direction of the other goods shelf must be wound, the grabbing of the blood frame on the other goods shelf can be realized, the problem of lowering the warehouse-in and warehouse-out efficiency is brought, in order to solve the problem, the first supporting plate of the first hooking component is a rotating plate, the first hooking component also comprises a second supporting plate which is parallel to the rotating plate and is arranged up and down, the second supporting plate can only move back and forth in the Y-axis direction, the rotating plate can only move back and forth in the Y-axis direction through the driving rotation of the third driving component, and the second hooking component does not have the rotating function and does not have the third driving component.
The first component that colludes adopts rotary type's structure, can snatch the blood frame of goods shelves of both sides in turn, has improved the efficiency of going into and out of storehouse, has further realized intelligent snatching.
Preferably, the third driving assembly comprises a third motor, a first gear and a second gear, the third motor is fixedly arranged on the second supporting plate, an output shaft of the third motor vertically penetrates through the second supporting plate, the first gear is fixedly arranged at the end part of the output shaft of the third motor, the second gear is fixedly arranged on the rotating plate, the second gear is meshed with the first gear, the third motor drives the first gear to rotate, the first gear drives the second gear to rotate, and the rotating plate also rotates along with the second gear. The rotation of the rotary plate driven by the third motor is realized through the engagement of the first gear and the second gear, and the rotation is stable.
The invention further provides a delivery method, which comprises the steps that the delivery process of the blood frame delivery system comprises the step that under the combined action of the first driving component and the second driving component, the manipulator support plate without the blood frame moves in the X-axis direction and the Y-axis direction until the manipulator support plate without the blood frame is transported to the same horizontal plane with the shelving board, the operation is stopped, and the first hooking component is positioned above the blood frame on the shelving board through the driving motion of the second driving component.
The hooking motor drives the hooking hand shaft to move downwards on the first supporting plate through the linkage rod and insert the hooking hand shaft into the groove, and the first hooking component hooks the blood frame, wherein the blood frame on the shelving plate is dragged to the manipulator supporting plate through driving the second driving component of the first hooking component to reversely rotate.
At present, the blood frame that goes out and goes into warehouse is the blood frame that carries single blood group, can't carry out the mixture of multiple blood group and go out and put into warehouse, in order to solve this problem, be provided with the turnover basket on the manipulator layer board, the turnover basket is less than the blood frame of placing on the manipulator layer board, the fixed pushing equipment who is provided with X axle trend on the lateral wall of manipulator layer board, the blood frame has a plurality of blood box holding tanks, every blood box holding tank has stored the blood box, and the left and right sides of the X axle direction of every blood box holding tank has all seted up the pushing hole, pushing equipment can be with blood box from the pushing hole to the turnover basket. When the frozen plasma warehouse is delivered out, the pushing mechanism is matched with the first hooking component, and the box-packed frozen plasma in each blood frame on the manipulator supporting plate is sequentially and independently pushed into the turnover basket through the pushing mechanism, so that frozen plasma in different types and different quantities are delivered out simultaneously. Therefore, the blood frame warehouse-in and warehouse-out system can realize the one-time warehouse-out of frozen plasma of different quantity and different types, and can also finish the whole frame warehouse-in and warehouse-out of the same type of plasma, and is the core for realizing automatic warehouse-in and warehouse-out management of the blood warehouse.
The invention further provides a method for hooking blood boxes of different blood types in the blood box warehouse-in and warehouse-out system, which comprises the steps that the first hooking component drags the blood boxes of the first blood type to the manipulator supporting plate, the pushing mechanism is fixed, the first hooking component sequentially aligns blood box storage tanks corresponding to the needed number of the blood boxes of the first blood type to the pushing mechanism, the pushing mechanism sequentially pushes the blood boxes of the corresponding number of the first blood type into the turnover basket independently, and the first hooking component drags the blood boxes of the first blood type back to the goods shelf.
The first hooking component drags the blood frames of the second blood type to the manipulator supporting plate, the first hooking component sequentially aligns the blood box storage tanks of the second blood type, which are needed by the blood frames, with the pushing mechanism, the pushing mechanism sequentially pushes the corresponding blood boxes in the blood box storage tanks into the turnover basket independently, namely, the blood boxes of the two blood types are stored in the turnover basket, and when three blood types are needed, the operation is continued by referring to the mode.
Preferably, the pushing mechanism comprises a screw motor and a pushing plate, the screw motor is arranged on the side wall of the manipulator supporting plate, an output shaft of the screw motor is arranged along the X axis, the output shaft of the screw motor penetrates through the side wall of the manipulator supporting plate, the pushing plate is arranged at the end part of the output shaft of the screw motor, and the pushing plate can pass through the pushing hole. Ensure that the push plate can stably push the blood box in the blood box storage tank into the turnover basket.
Drawings
FIG. 1 is a perspective view of the present embodiment with shelves;
FIG. 2 is an enlarged view of a portion at A in FIG. 1;
FIG. 3 is an enlarged view of a portion of FIG. 2 at C;
FIG. 4 is a partial enlarged view at B in FIG. 1;
FIG. 5 is a perspective view of the embodiment without the shelves at another angle;
FIG. 6 is a partial enlarged view at D in FIG. 5;
FIG. 7 is a perspective view of the manipulator support plate without the blood frame;
Fig. 8 is a perspective view of the pushing mechanism in the present embodiment;
fig. 9 is a perspective view of the manipulator support plate with a blood frame disposed thereon in the present embodiment;
Fig. 10 is a partial enlarged view at E in fig. 9.
In the figure:
10-shelf, 11-shelf board;
The device comprises a 20-grabbing manipulator assembly, a 21-supporting frame and a 22-manipulator supporting plate;
30-a rotary rack for entering and exiting the warehouse;
40-a blood frame placement table;
50-first driving components, 51-sliding rails, 52-first motors, 53-racks, 54-moving platforms and 55-guide wheels;
60-second driving components, 61-second motors, 62-steel pulleys, 63-steel belts, 64-protrusions and 65-openings;
70 a-first hooking component, 70 b-second hooking component, 71-first supporting plate, 72-hooking motor, 73-linkage rod, 74-hand shaft, 75-second supporting plate, 76-sensor and 77-baffle;
80-of a blood frame, 81-of a groove, 82-of a pushing hole and 83-of a blood box storage groove;
90-third drive assembly, 91-third motor, 92-first gear, 93-second gear;
100-turnover basket;
110-pushing mechanism, 111-screw motor and 112-push plate.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 1, a blood frame in-out warehouse system in this embodiment includes a shelf 10, a grabbing manipulator assembly 20, an in-out warehouse turret 30, and a blood frame placement table 40.
The shelves 10 are disposed on at least one side of the gripper robot assembly 20, only one shelf 10 being shown in the drawings, and the shelves 10 may be disposed on the other side of the robot assembly 20. A plurality of parallel rest plates 11 are arranged on each shelf 10, a plurality of blood frames 80 are stored on each rest plate 11, and each blood frame 80 stores one type of blood type.
The grabbing mechanical arm assembly 20 plays roles in delivering and warehousing the goods shelf 10, namely, the blood frame 80 on the goods shelf 10 can be taken out, and the blood frame 80 can be stored in the goods shelf 10. The grabbing manipulator assembly 20 comprises a support frame 21 and a manipulator support plate 22, wherein a first hooking assembly 70a is arranged on the manipulator support plate 22, and the first hooking assembly 70a can move back and forth in the directions of an X axis, a Y axis and a Z axis. Specifically, the method is realized by the following structure:
As shown in fig. 1, 4 and 5, the support frame 21 can move left and right along the X-axis direction through the first driving assembly 50, the first driving assembly 50 includes a slide rail 51, a first motor 52, a gear, a rack 53 and a moving platform 54, the slide rail 51 and the rack 53 are all arranged along the X-axis, the rack 53 is arranged in the slide rail 51, the moving platform 54 is slidably arranged on the slide rail 51, the first motor 52 is arranged on the moving platform 54, the output shaft of the first motor 52 faces downwards and passes through the moving platform 54, the gear is arranged at the end part of the output shaft of the first motor 52 passing through the moving platform 54, the gear is meshed with the rack 53, and the support frame 21 of the grabbing manipulator assembly 20 is fixedly arranged on the moving platform 54. When the first motor 52 is driven, the gear is driven to rotate, and the gear is meshed with the rack 53, and the rack 53 is fixed, so that the moving platform 54 moves back and forth along the rack 53 in the X-axis direction, and then the first hooking component 70a moves in the X-axis direction. In order to ensure smooth movement of the moving platform 54, a guide groove may be formed on the slide rail 51, and a guide wheel engaged with the guide groove may be disposed below the moving platform 54.
As shown in fig. 5, the manipulator support plate 22 can move up and down along the Z-axis direction of the support frame 21 through the second driving assembly 60, the second driving assembly 60 includes a second motor 61, two steel belt wheels 62 and a steel belt 63, the second motor 61 is fixedly arranged on the moving platform 54, the two steel belt wheels 62 are arranged up and down, the output shaft of the second motor 61 and the central shaft of the two steel belt wheels 62 are all arranged along the X-axis direction, the outer surface of each steel belt wheel 62 is provided with a protrusion 64, the steel belt 63 is provided with an opening 65, and the steel belt 63 is sleeved on the two steel belt wheels 62 through the cooperation of the opening 65 and the protrusion 64. The second motor 61 in this embodiment adopts the servo motor, and the output shaft of the second motor 61 is connected with one of the steel pulleys 62, and the second motor 61 drives the steel pulleys 62 to rotate, and the steel pulleys 62 drive the steel belt 63 through the cooperation of the protrusions 64 and the openings 65, and the grabbing manipulator assembly 20 is fixed on one side of the steel belt 63, so that the manipulator support plate 22 can be driven to move back and forth in the Z-axis direction, and then the first hooking assembly 70a is realized to move back and forth in the Z-axis direction.
In fig. 5, the steel pulleys 62, the steel belts 63, the protrusions 64, and the openings 65 in the second driving unit 60 for driving the robot blade 22 are not shown, and the specific structure of the second driving unit 60 for driving the robot blade 22 may refer to the second driving unit 60 for driving the first hooking unit 70a shown in fig. 2 and 7, or may refer to the second driving unit 60 for driving the second hooking unit 70b shown in fig. 6. In order to ensure that the first hooking component 70a moves back and forth smoothly in the Z-axis direction, a guide rail and a slider may be provided in a matched manner.
As shown in fig. 2 and 7, the first hooking component 70a can move back and forth in the Y-axis direction of the manipulator support plate 22 through the second driving component 60, and similarly, the second driving component 60 includes the second motor 61, two steel belt wheels 62, a steel belt 63, a protrusion 64 and an opening 65, and the first hooking component 70a is fixed on one side of the steel belt 63, and in order to ensure that the first hooking component 70a can move back and forth smoothly in the Z-axis direction, a guide rail and a slider can be provided in a matched manner. Unlike the second driving unit 60 driving the robot blade 22, the output shaft of the second motor 61 driving the second driving unit 60 of the first hooking unit 70a and the central axes of the two steel belt wheels 62 are disposed along the X-axis direction, and the two steel belt wheels 62 are disposed back and forth.
As shown in fig. 1, 2 and 3, the first hooking component 70a carries the blood frame 80 on the shelf 10 and the manipulator support plate 22 back and forth, specifically, the first hooking component 70a can grasp the blood frame 80 in the shelf 10 onto the manipulator support plate 22 of the grasping manipulator component 20, and can grasp the blood frame 80 on the manipulator support plate 22 onto the shelf 10. The first hooking component 70a of the present embodiment specifically implements the movement of the blood frame 80 back and forth between the manipulator support 22 and the shelf 10 by means of translational dragging. The specific structure is as follows:
The first hooking component 70a comprises a first supporting plate 71, a hooking motor 72, a linkage rod 73 and a hooking hand shaft 74, the hooking motor 72 is arranged on the upper end face of the first supporting plate 71, the output shafts of the first supporting plate 71 and the hooking motor 72 are horizontally arranged, the hooking hand shaft 74 vertically penetrates through the first supporting plate 71, the end part of the output shaft of the hooking motor 72 is rotationally connected with the upper end of the hooking hand shaft 74 through the linkage rod 73, the hooking motor 72 drives the hooking hand shaft 74 to move up and down in the first supporting plate 71 through the linkage rod 73, and a groove 81 corresponding to the hooking hand shaft 74 is formed in the upper end face of the blood frame 80. Taking a warehouse-out example, under the combined action of the first driving component 50 and the second driving component 60, the manipulator support plate 22 without the blood frame 80 moves in the X-axis and Z-axis directions until the manipulator support plate 22 without the blood frame 80 is transported to the same horizontal plane as the shelving plate 11 to stop running, then, the driving motion of the first hooking component 70a through the second driving component 60 is positioned above the blood frame 80 on the shelving plate 11, more specifically, the hooking shaft 74 is positioned above the groove 81 of the blood frame 80 on the shelving plate 11, then, the hooking motor 72 drives the hooking shaft 74 to move downwards on the first support plate 71 through the linkage rod 73 to insert the groove 81, and at the moment, the first hooking component 70a hooks the blood frame 80 on the shelving plate 11. The drawing of the blood frame 80 on the resting plate 11 toward the robot blade 22 is accomplished by reversing the second motor 61 of the second drive assembly 60 that drives the first hooking assembly 70 a.
The sensor 76 is arranged on the hooking motor 72, the baffle 77 is fixedly arranged on the output shaft of the hooking motor 72, and the baffle 77 can rotate to block the sensor 76 along with the output shaft of the hooking motor 72, so that accuracy is ensured.
Because the shelves 10 can be disposed on two sides of the manipulator assembly 20, the first hooking assembly 70a in this embodiment can hook the blood frames 80 on the two sides of the shelves 10 in sequence, without having to provide a blood frame in-out warehouse system on the same side of each adjacent shelf 10. The first support plate 71 is rotatably provided, and it is most critical that the blood frames 80 on the shelves 10 on both sides are sequentially grasped by a blood frame in-out warehouse system. The specific structure is as follows:
As shown in fig. 2 and 3, the first support plate 71 of the first hooking component 70a is a rotating plate, the first hooking component 70a further includes a second support plate 75 parallel to the rotating plate and disposed up and down, the second support plate 75 can only move back and forth in the Y-axis direction through the driving component 60, the rotating plate rotates with the second support plate 75 through the driving of the third driving component 90, and the rotating plate (the first support plate 71) is rotated to the corresponding side of the shelf 10 when the shelf 10 needs to be put in or put out.
As shown in fig. 3, the third driving assembly 90 includes a third motor 91, a first gear 92, and a second gear 93, where the third motor 91 is fixedly disposed on the second support plate 75, the third motor 91 uses a stepper motor, an output shaft of the third motor 91 vertically passes through the second support plate 75, the first gear 92 is fixedly disposed at an end of an output shaft of the third motor 91, the second gear 93 is fixedly disposed on the rotating plate, the second gear 93 is meshed with the first gear 92, the third motor 91 drives the first gear 92 to rotate, and the first gear 92 drives the second gear 93 to rotate, and the rotating plate also rotates along with the rotation of the rotating plate due to the fact that the second gear 93 is fixed on the rotating plate.
As shown in fig. 1 and 5, the in-out and in-storage rotating frame 30 is disposed at the right end of the grabbing manipulator assembly 20, the blood frame placing table 40 is disposed at the front end of the in-out and in-storage rotating frame 30, the in-out and in-storage rotating frame 30 is provided with a second hooking assembly 70b, and the manipulator support plate 22 moves to the lower side of the second hooking assembly 70b and is in the same plane with the blood frame placing table 40 through the driving of the first driving assembly 50 and the second driving assembly 60. The second hooking component 70b moves back and forth along the Y axis by the driving of the second driving component 60, the second hooking component 70b can carry the blood frame 80 on the blood frame placing table 40 and the manipulator support plate 22 below the in-out and in-storage rotating frame 30 back and forth, specifically, the second hooking component 70b can bring the blood frame 80 on the manipulator support plate 22 below the in-out and in-storage rotating frame 30 to the blood frame placing table 40, and can also bring the blood frame 80 from the blood frame placing table 40 to the manipulator support plate 22 below the in-out and in-storage rotating frame 30.
The second hooking component 70b is basically consistent with the first hooking component 70a in structure, as shown in fig. 6, the second hooking component 70b also includes a first support plate 71, a hooking motor 72, a linkage rod 73 and a hooking hand shaft 74, the hooking motor 72 is disposed on an upper end surface of the first support plate 71, output shafts of the first support plate 71 and the hooking motor 72 are all horizontally disposed, the hooking hand shaft 74 vertically passes through the first support plate 71, an end portion of the output shaft of the hooking motor 72 is rotationally connected with an upper end of the hooking hand shaft 74 through the linkage rod 73, the hooking motor 72 drives the hooking hand shaft 74 to move up and down in the first support plate 71 through the linkage rod 73, and a groove 81 corresponding to the hooking hand shaft 74 is disposed on an upper end surface of the blood frame 80. Likewise, a sensor 76 is arranged on the hooking motor 72, a baffle 77 is fixedly arranged on an output shaft of the hooking motor 72, and the baffle 77 can rotate along with the output shaft of the hooking motor 72 to block the sensor 76. However, unlike the first hooking member 70a, the second hooking member 70b can move only back and forth in the Y-axis direction, and has no rotation function, and has no third driving member 90.
In addition, the second driving assembly 60 for driving the second hooking assembly 70b also comprises a second motor 61, two steel pulleys 62 and a steel belt 63, wherein a protrusion 64 is arranged on the outer surface of each steel pulley 62, an opening 65 is arranged on the steel belt 63, the steel belt 63 is sleeved on the two steel belt pulleys 62 through the cooperation of the opening 65 and the protrusion 64, an output shaft of the second motor 61 is connected with one of the steel pulleys 62, and the second hooking assembly 70b is fixed on one side of the steel belt 63. Different, the output shaft of the second motor 61 of the second driving assembly 60 driving the second hooking assembly 70b and the central shafts of the two steel belt wheels 62 are all arranged along the Z-axis direction, and the two steel belt wheels 62 are arranged front and back.
As shown in fig. 1, 2,5, 7 and 9, the manipulator support plate 22 is L-shaped, a turnover basket 100 is provided on the manipulator support plate 22, the turnover basket 100 is lower than a blood frame 80 placed on the manipulator support plate 22, an X-axis direction pushing mechanism 110 is fixedly provided on a side wall of the manipulator support plate 22, the blood frame 80 is provided with a plurality of blood box storage tanks 83, blood boxes are stored in each blood box storage tank 83, pushing holes 82 are formed in left and right ends of each blood box storage tank 83 in the X-axis direction, and the pushing mechanism 110 can push the blood boxes from the pushing holes 82 to the turnover basket 100. As shown in fig. 8, the pushing mechanism 110 includes a screw motor 111, a pushing plate 112, the screw motor 111 is disposed on a side wall of the manipulator support plate 22, an output shaft of the screw motor 111 is disposed along an X axis, the output shaft of the screw motor 111 passes through the side wall of the manipulator support plate 22, the pushing plate 112 is disposed at an end of the output shaft of the screw motor 111, and the pushing plate 112 can pass through the pushing hole 82.
If it is required to draw the blood boxes of different blood types, the first drawing component 70a pulls the blood boxes 80 of the first blood type to the manipulator support 22, the pushing mechanism 110 is fixed, the first drawing component 70a sequentially aligns the blood box storage slots 83 corresponding to the required number of the blood boxes of the first blood type 80 with the pushing mechanism 110, the pushing mechanism 110 sequentially pushes the blood boxes of the corresponding number of the first blood type into the turnover basket 100, the first drawing component 70a pulls the blood boxes 80 of the first blood type back to the shelf 10, then the first drawing component 70a pulls the blood boxes 80 of the second blood type to the manipulator support 22, the first drawing component 70a sequentially aligns the blood box storage slots 83 corresponding to the blood boxes 80 of the second blood type with the pushing mechanism 110, the pushing mechanism 110 sequentially pushes the blood boxes corresponding to the blood boxes 83 into the turnover basket 100, and two blood boxes of the turnover basket 100 are sequentially pushed into the turnover basket 100, and when three blood types are required, the above operation is continued.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.