CN115043129B

CN115043129B - Sorting repository for blood stations

Info

Publication number: CN115043129B
Application number: CN202210667545.2A
Authority: CN
Inventors: 胡海洋; 魏秋生; 张守兵; 任文广; 刘文杰; 王军
Original assignee: Qingdao Haier Biomedical Co Ltd
Current assignee: Qingdao Haier Biomedical Co Ltd
Priority date: 2022-06-14
Filing date: 2022-06-14
Publication date: 2024-10-15
Anticipated expiration: 2042-06-14
Also published as: CN115043129A

Abstract

The application relates to the technical field of medicine, and discloses a sorting and storing warehouse for a blood station, which comprises a bag picking mechanism and a main manipulator, wherein the bag picking mechanism is used for sorting blood bags in a blood tray in a warehouse-in process, and checking the blood bags in the blood tray to be subjected to warehouse-out in a warehouse-out process; the main manipulator is movably arranged along the goods shelf, is respectively in butt joint with the goods shelf of the bag picking mechanism and is used for transporting blood transfusion trays; in the warehouse-in process, the main manipulator conveys the blood trays to the bag picking mechanism one by one for sorting blood bags, and conveys the sorted blood trays to a goods shelf from the bag picking mechanism, wherein the sorted blood trays are blood trays for containing blood bags of the same type; in the process of delivery, the main manipulator takes out the blood discs to be delivered from the shelf, conveys the blood discs to the bag picking mechanism for blood bag verification, and takes out the blood discs passing the verification from the bag picking mechanism, wherein the number and types of the blood bags contained in the blood discs passing the verification are the same as those of the blood bags set for delivery. The blood bag storing and taking automation degree is improved, and the working strength of workers is reduced.

Description

Sorting repository for blood stations

Technical Field

The application relates to the technical field of medicine, in particular to the field of blood access, such as a sorting and storing warehouse for a blood station.

Background

The blood station is a blood collection assembly, mainly used for collecting and storing blood, and has higher requirements on blood management along with the great rise of blood collection and use amount, and a plurality of blood bags are required to be packed into a plurality of blood trays for storage in a shelf of low Wen Kuna in the blood storage of the blood station.

Because the blood needs to be taken accurately, the existing blood storage warehouse needs to be checked strictly in warehouse entry and warehouse exit, and the working strength of staff is improved. In addition, frequent opening and closing of the refrigeration house door during taking and placing of the blood tray can lead to loss of cold in the low-temperature warehouse, and long-term operation in a low-temperature environment can be unfavorable for the physical health condition of staff, and the taking and placing of the blood bag need to be carried out by means of automatic equipment such as a mechanical arm.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The embodiment of the disclosure provides a sorting and storing warehouse for blood stations, so as to improve the automation degree of blood bag storage and taking, reduce the working strength of staff and reduce the adverse effect on the physical health condition of the staff caused by long-term operation in a low-temperature environment.

In some embodiments, the sorting and storing warehouse comprises a bag picking mechanism and a main manipulator, wherein the bag picking mechanism is used for sorting blood bags in blood trays in a warehouse-in process, and checking the blood bags in the blood trays to be warehouse-out in a warehouse-out process; the main manipulator is movably arranged along the goods shelf, is respectively in butt joint with the goods shelf of the bag picking mechanism and is used for transporting blood transfusion trays; in the warehouse-in process, the main manipulator conveys the blood trays to the bag picking mechanism one by one for sorting blood bags, and conveys the sorted blood trays to a goods shelf from the bag picking mechanism, wherein the sorted blood trays are blood trays for containing blood bags of the same type; in the process of delivery, the main manipulator takes out the blood discs to be delivered from the shelf, conveys the blood discs to the bag picking mechanism for blood bag verification, and takes out the blood discs passing the verification from the bag picking mechanism, wherein the number and types of the blood bags contained in the blood discs passing the verification are the same as those of the blood bags set for delivery.

In some embodiments, the sorting bin further comprises a stacking mechanism, a first transport mechanism, and a second transport mechanism, the stacking mechanism for stacking or splitting the plurality of blood trays; the first conveying mechanism is in butt joint with the entrance and exit of the warehouse body, and the second conveying mechanism is in butt joint with the folding mechanism; in the warehouse-in process, a first conveying mechanism receives a plurality of stacked blood discs from an inlet and an outlet and conveys the stacked blood discs to a folding mechanism, the folding mechanism is used for splitting the stacked blood discs, and a second conveying mechanism is used for conveying the blood discs one by one; in the process of delivering, if a plurality of blood discs to be delivered are stored, the second transporting mechanism conveys the blood discs passing through the verification one by one to the folding mechanism, the folding mechanism stacks the plurality of blood discs passing through the verification, and the first transporting mechanism receives the blood discs passing through the verification from the folding mechanism and transports the blood discs to the inlet and the outlet.

In some embodiments, the sorting repository further comprises a turnover table, the turnover table being in butt joint with the second transport mechanism, the main manipulator, the turnover table being for temporarily storing a portion of the blood discs during the warehousing and temporarily storing the portion of the blood discs passing the verification during the ex-warehouse; in the warehouse-in process, a main manipulator receives blood trays from a turnover table, conveys the blood trays to a bag picking mechanism for sorting blood bags, and conveys the sorted blood trays to a goods shelf; in the process of delivery, the main manipulator takes out the blood disc to be delivered from the goods shelf, conveys the blood disc to be delivered to the bag picking mechanism for verification, and conveys the blood disc passing the verification to the turnover table.

In some embodiments, the first transport mechanism comprises a first jacking transfer machine provided with a first transfer station and a second transfer station, the first transfer station is in butt joint with the entrance of the warehouse body, and the second transfer station is in butt joint with the folding mechanism; the second conveying mechanism comprises a second jacking transfer machine, the second jacking transfer machine is provided with a fourth transfer station and a fifth transfer station, the fourth transfer station is in butt joint with the folding mechanism, and the fifth transfer station is in butt joint with the turnover table.

In some embodiments, a temporary storage table is arranged at the side part of the access opening of the warehouse body; the first jacking transfer machine is provided with a third transfer station which is in butt joint with the temporary storage station.

In some embodiments, the bag picking mechanism comprises a bag picking frame body, a jacking device, a sorting manipulator, an information identification device and a bag picking control device, wherein a plurality of sorting stations are arranged in the middle of the bag picking frame body, and the sorting stations are used for placing blood trays; the jacking device is arranged below the sorting stations and comprises a lifting structure, and the lifting structure is used for penetrating through the sorting stations and the blood trays to lift the blood bags to be sorted; the sorting manipulator is arranged above the sorting station and used for grabbing the blood bags to be sorted which are supported by the jacking device and placing the blood bags to be sorted on the blood tray corresponding to the sorting station; the information identification device is used for identifying blood information and position information of the blood bag according to the electronic tag attached to the blood bag; the bag picking control device is respectively connected with the information identification device, the jacking device and the sorting manipulator, and is configured to control actions of the jacking device and the sorting manipulator according to blood information and position information.

In some embodiments, the jacking device further comprises: and the transverse moving assembly is connected with the lifting structure and used for transversely moving the lifting structure.

In some embodiments, the main manipulator comprises a picking and placing device and a multi-axis moving device, the picking and placing device comprises a base, a clamping component and a telescopic component, the clamping component can move telescopically on the base through the telescopic component, the clamping component is used for clamping a blood taking disc, the telescopic component is used for enabling the blood taking disc to move telescopically on the base, and the picking and placing device is used for picking and placing the blood taking disc; and the multi-shaft moving device is connected with the picking and placing device and is used for moving the picking and placing device.

In some embodiments, the gripping assembly includes a first support plate movably mounted on a first side of the base, a second support plate, and a push-pull assembly; the second support plate is movably arranged on the second side of the base; the push-pull assembly is positioned between the first support plate and the second support plate, one end of the push-pull assembly is connected with the first support plate, the other end of the push-pull assembly is connected with the second support plate, and the push-pull assembly is used for driving the first support plate and the second support plate to move relatively or reversely.

In some embodiments, the clamping assembly further comprises a first clamping arm and a second clamping arm, the first clamping arm being telescopically mounted on an inner side wall of the first support plate; the second clamping arm is arranged on the inner side wall of the second support plate in a telescopic way, and the second clamping arm and the first clamping arm can synchronously stretch; the first clamping arm and the second clamping arm are used for clamping the blood disc, and the blood disc can stretch and retract between the first support plate and the second support plate.

The sorting and storing warehouse for the blood stations provided by the embodiment of the disclosure can realize the following technical effects:

The sorting and storing warehouse can sort and check the blood bags in the warehouse-in process and the warehouse-out process through the bag picking mechanism, so that the efficiency and the accuracy of taking the blood bags can be improved. When a worker prepares in a warehouse, various blood bags can be mixed on the blood tray, in the warehouse process, the bag picking mechanism performs blood bag sorting, and in the warehouse process, the bag picking mechanism performs blood type and quantity verification on the blood bags in the blood tray, so that the working intensity of the worker is reduced.

In addition, the bag picking mechanism is adopted for verification, so that the sorting storage warehouse not only can carry out full-load blood tray warehouse-out, but also can select and take out blood bags with the same quantity and type as the set blood bags to be warehouse-out through the bag picking mechanism, and various warehouse-out modes of single blood bag warehouse-out, multi-blood bag warehouse-out or full-blood tray warehouse-out are realized, so that different requirements of users are met. And no staff is required to enter the sorting storage warehouse, so that adverse effects on the physical health condition of the staff due to long-term operation in a low-temperature environment can be reduced.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

FIG. 1 is a schematic illustration of a sorting bin provided in an embodiment of the present disclosure;

FIG. 2 is a schematic view of a bag picking mechanism according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of another bag picking mechanism provided in an embodiment of the present disclosure;

FIG. 4 is a schematic view of a lifting structure according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a bag picking method provided by an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of another bag picking method provided by an embodiment of the present disclosure;

FIG. 7 is a schematic illustration of a folding mechanism provided in an embodiment of the present disclosure;

FIG. 8 is a schematic structural view of another folding mechanism provided by an embodiment of the present disclosure;

FIG. 9 is a schematic illustration of a primary manipulator structure provided in an embodiment of the present disclosure;

FIG. 10 is a schematic structural view of a first gripper arm provided by an embodiment of the present disclosure;

FIG. 11 is a schematic view of a blood tray according to an embodiment of the present disclosure;

fig. 12 is a schematic diagram of an automated blood storage library according to an embodiment of the present disclosure.

Reference numerals:

100: sorting and storing a warehouse; 101: a library; 102: an access opening; 103: a red blood cell storage; 104: a plasma reservoir;

110: a first lifting transfer machine;

120: a folding mechanism; 121: a main body; 1211: folding the bin; 122: a jacking assembly; 123: a clamping assembly; 124: a belt line;

130: a second lifting transfer machine;

140: a turnover table;

150: a bag picking mechanism; 151: a bag picking frame body; 1511: a sorting station; 1512: temporary storage stations; 152: a jacking device; 1521: a jacking plate; 1522: jacking the column; 1523: a bottom plate; 1524: a lateral movement assembly; 1525: a guide shaft; 1526: a lifting motor; 1527: a nut mounting seat; 1528: a first limit switch; 1529: a second limit switch; 153: sorting manipulator; 1531: sorting the moving assembly; 1532: sorting clamping jaws;

160: a main manipulator; 161: a base; 1611: a first support plate; 1612: a second support plate; 162: a first gripping arm; 1621: a first telescopic arm; 1622: a second telescopic arm; 1623: a rack; 1624: fluted disc; 163: a second gripping arm; 164: a push-pull assembly;

170: a goods shelf;

180: a temporary storage table;

200: a transfer device; 210: a housing; 211: a cavity; 212: an opening; 220: a movable base; 230: a roller line;

300: a blood bag stacking area; 301: a first temporary storage area; 302: an empty disc splitting mechanism; 303: stacking stations; 304: a disc stacking mechanism; 305: a second temporary storage area;

400: a blood bag taking area; 401: a third temporary storage area; 402: a disk disassembling mechanism; 403: a take-out station; 404: an empty disc stacking mechanism; 405: a fourth temporary storage area;

500: a blood tray; 501: a tray body; 502: a blood bag placing groove;

600: and (5) a trolley.

Detailed Description

So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe embodiments of the present disclosure and embodiments thereof and are not intended to limit the indicated device, element, or component to a particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the embodiments of the present disclosure will be understood by those of ordinary skill in the art in view of the specific circumstances.

In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present disclosure may be understood by those of ordinary skill in the art according to specific circumstances.

The term "plurality" means two or more, unless otherwise indicated.

In the embodiment of the present disclosure, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

The blood station is a blood collection component, mainly collects and stores blood, and has higher requirements on blood management along with the great rise of blood collection and use amount, blood bags are required to be packed into blood trays to be stored in a low-Wen Kuna shelf in blood storage of the blood station, and cold storage door is frequently opened and closed when the blood trays are taken and placed, so that the loss of cold in a low-temperature warehouse can be caused, and long-term operation in a low-temperature environment can be unfavorable for the physical health condition of staff, so that the blood trays need to be taken and placed by means of a manipulator and other structures.

The sorted blood trays 500 of the present disclosure are blood trays 500 that have completed sorting work, the blood bags on the same sorted blood tray 500 are the same in kind of blood, and the sorted blood tray 500 is mainly transported from the bag picking mechanism 150 to the shelf 170 by the main manipulator 160.

The blood tray 500 to be taken out of the warehouse in the present disclosure is the blood tray 500 selected to be taken out of the shelf 170 during the warehouse-out process, and a proper amount of blood bags are selected from the blood tray 500 to be taken out of the warehouse or the blood tray 500 to be taken out of the warehouse through verification is taken out of the warehouse.

When the blood bag to be sorted of the present disclosure is sorted or verified by the bag sorting mechanism 150, the blood bag that needs to be displaced from the current blood tray 500 is determined.

The set-up ex-warehouse blood bags of the present disclosure are the specific blood types and the specific number of blood bags that need to be ex-warehouse within the blood tray 500 to be ex-warehouse.

The blood tray 500 passing through the verification in the present disclosure is the blood tray 500 passing through the verification of the bag picking mechanism 150 in the process of delivery, and the blood bags contained in the blood tray 500 passing through the verification are matched with the blood bags set for delivery, and the number and the type are the same.

The sorting blood tray 500, the sorted blood tray 500, the blood tray 500 to be delivered through verification, the blood tray 500 to be delivered, the empty blood tray 500, and the tray body 501 of the empty blood tray 500 in the present disclosure have the same structure, and are all the blood trays 500.

It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other.

As shown in connection with fig. 1, embodiments of the present disclosure provide a sort repository 100 including a bag picking mechanism 150 and a master robot 160.

The bag picking mechanism 150 is used for sorting blood bags in the blood tray 500 in the warehouse-in process, and checking the blood bags in the blood tray to be warehouse-out in the warehouse-out process.

The main manipulator 160 is movably arranged along the shelf 170, and is respectively in butt joint with the bag picking mechanism 150 and the shelf 170 for transporting the blood transfusion tray 500.

In the warehouse-in process, the main manipulator 160 conveys the blood trays 500 to the bag picking mechanism 150 one by one for blood bag sorting, and conveys the sorted blood trays 500 from the bag picking mechanism 150 to the shelf 170, wherein the sorted blood trays 500 are blood trays 500 containing the same type of blood bags.

In the process of discharging, the main manipulator 160 takes out the blood tray 500 to be discharged from the shelf 170, conveys the blood tray 500 to the bag picking mechanism 150 for blood bag verification, and takes out the blood tray 500 passing the verification from the bag picking mechanism 150, wherein the number and the type of the blood bags contained in the blood tray 500 passing the verification are the same as those of the blood bags set for discharging.

As can be appreciated, during the warehouse-in process, the main manipulator 160 conveys the blood trays 500 one by one to the bag picking mechanism 150 for sorting blood bags, and conveys the sorted blood trays 500 from the bag picking mechanism 150 to the shelf 170; in the process of discharging, the main manipulator 160 takes out the blood tray 500 to be discharged from the shelf 170, sends it to the bag picking mechanism 150 for verification, and transports the blood tray 500 passing the verification out of the bag picking mechanism 150. The number and types of blood bags stored in the blood tray 500 passing the verification are the same as those set in the ex-warehouse instruction.

By adopting the sorting and storing warehouse 100 for the blood station, provided by the embodiment of the disclosure, the efficiency and accuracy of taking blood bags can be improved by sorting and checking the blood bags in the warehouse-in process and the warehouse-out process through the bag picking mechanism 150. When a worker prepares for warehouse entry, various blood bags can be mixed on the blood tray 500, the bag picking mechanism 150 sorts the blood bags in the warehouse entry process, and the bag picking mechanism 150 performs verification of blood types and quantity on the blood bags in the blood tray 500 in the warehouse exit process, so that the working intensity of the worker is reduced. In addition, the bag picking mechanism 150 is adopted for verification, so that the sorting and storing warehouse 100 can not only carry out warehouse-out on the fully loaded blood discs 500, but also select out blood bags with the same number and type as the set blood bags to be subjected to warehouse-out through the bag picking mechanism 150, and realize various warehouse-out modes of single blood bag warehouse-out, multi-blood bag warehouse-out or full blood disc warehouse-out so as to meet different requirements of users. And no personnel need to enter the sorting repository 100, which can reduce adverse effects on the physical health of the personnel due to long-term operation in a low-temperature environment.

As an example, one blood tray 500 carries 12 bags of blood in a full state, for example, the blood tray 500 carrying type a blood is set as 12 bags of blood in a warehouse, during the warehouse-out process, the main manipulator 160 takes out the blood tray 500 carrying type a blood from the shelf 170, carries to the bag picking mechanism 150 for verification to confirm the number of the blood bags contained in the blood tray 500 and the blood type of the carried blood, for example, the blood tray 500 carries 12 bags of type a blood, and then, through verification, the main manipulator 160 takes out the blood tray 500 from the bag picking mechanism 150. Wherein, the blood tray 500 to be taken out of the warehouse can be placed on the corresponding sorting station of the A-type blood, and the standby blood tray 500 is placed on the original station.

As another example, one blood tray 500 carries 12 bags of blood in a full load state, for example, the blood bag set for ex-warehouse is 1 bags of blood carrying type a blood, during ex-warehouse, the main manipulator 160 takes the blood tray 500 carrying type a blood out of the shelf 170, carries the blood tray 500 to the bag picking mechanism 150 for verification, for example, the blood tray 500 carries 12 bags of type a blood, the bag picking mechanism 150 picks one bag of blood carrying type a blood out of the blood tray 500, and places the bags of blood carrying type a blood into the standby blood tray 500, at this time, the number of blood bags and the types of blood bags in the standby blood tray 500 correspond to those set for ex-warehouse, the standby blood tray 500 is the blood tray 500 passing the verification, and the main manipulator 160 takes the standby blood tray 500 out of the bag picking mechanism 150 for preparation for ex-warehouse.

As another example, one blood tray 500 carries 12 bags of blood in a full load state, for example, the blood bag set for ex-warehouse is 5 bags of blood carrying type a blood, during ex-warehouse, the main manipulator 160 takes the blood tray 500 carrying type a blood out of the shelf 170, carries the blood tray 500 to the bag picking mechanism 150 for verification, for example, the blood tray 500 carries 12 bags of type a blood, the bag picking mechanism 150 picks out 5 bags of blood carrying type a blood sequentially from the blood tray 500, and places the bags of type a blood in the standby blood tray 500, at this time, the number of blood bags and the type of blood bags in the standby blood tray 500 correspond to those set for ex-warehouse, the standby blood tray 500 is the blood tray 500 passing verification, and the main manipulator 160 takes the standby blood tray 500 out of the bag picking mechanism 150 for preparation for ex-warehouse.

As another example, one blood tray 500 carries 12 bags of blood in a full load state, for example, a blood bag in which a blood bag for a warehouse is set as N bags of blood carrying type a blood, 12< N <18, and during the warehouse-out process, the main manipulator 160 sequentially takes out two blood trays 500 carrying type a blood from the shelf 170 and conveys them one by one to the bag picking mechanism 150 for verification. If the first blood tray 500 is a blood bag with 12 bags carrying type a blood, the first blood tray 500 is checked, the main manipulator 160 takes the first blood tray 500 out of the bag picking mechanism 150, and sends the second blood tray 500 to the bag picking mechanism 150 for checking, the current blood bag set for delivery is a blood bag with N-12 bags carrying type a blood, for example, the second blood tray 500 is a blood bag with 12 bags carrying type a blood, the bag picking mechanism 150 sequentially picks out the blood bags with N-12 bags carrying type a blood from the blood tray 500, and places the blood bags in the standby blood tray 500, at this time, the number and the blood bag types in the standby blood tray 500 correspond to those of the blood bags currently set for delivery, the standby blood tray 500 is the blood tray 500 which passes the check, and the main manipulator 160 takes the standby blood tray 500 out of the bag picking mechanism 150 and prepares for delivery together with the first blood tray 500.

Optionally, the sorting repository 100 further includes a stacking mechanism 120, a first transporting mechanism, and a second transporting mechanism, where the stacking mechanism 120 is configured to stack or split the plurality of blood trays 500; the first transport mechanism is in butt joint with the access opening 102 of the warehouse body 101, and the second transport mechanism is in butt joint with the folding mechanism 120; in the warehouse-in process, the first transporting mechanism receives the stacked plurality of blood discs 500 from the inlet and outlet 102 and transports the stacked plurality of blood discs 500 to the folding mechanism 120, the folding mechanism 120 breaks down the stacked plurality of blood discs 500, and the second transporting mechanism transports the blood discs 500 one by one; in the process of discharging, if there are a plurality of blood discs 500 to be discharged, the second transporting mechanism transports the blood discs 500 passing the verification one by one to the folding mechanism 120, the folding mechanism 120 stacks the plurality of blood discs 500 passing the verification, and the first transporting mechanism receives the blood discs 500 passing the verification from the folding mechanism 120 and transports the blood discs 500 to the inlet 102.

It can be appreciated that the sorting and storing warehouse 100 of the present disclosure may stack or split the plurality of blood trays 500 by the folding mechanism 120, and the folding mechanism 120 may split the plurality of stacked blood trays 500 during the warehouse-in process, and stack the plurality of blood trays 500 to be discharged by the folding mechanism 120 in a state that the plurality of blood trays 500 to be discharged exist.

The first conveying mechanism and the first conveying mechanism can be of a conveyor belt structure or can be equipment such as a transfer machine which can play a space conveying function.

Optionally, the sorting repository 100 further includes a turnover table 140, where the turnover table 140 is in docking with the second transporting mechanism and the main manipulator 160, and the turnover table 140 is used to temporarily store a portion of the blood disk 500 during the warehouse-in process and temporarily store a portion of the blood disk 500 passing the verification during the warehouse-out process; in the warehouse-in process, the main manipulator 160 receives the blood trays 500 from the turnover table 140, conveys the blood trays 500 to the bag picking mechanism 150 for sorting blood bags, and conveys the sorted blood trays 500 carrying the sorted blood bags to the shelf 170; in the process of delivery, the main robot 160 takes out the blood tray 500 to be delivered from the shelf 170, transports the blood tray 500 to the bag picking mechanism 150 for verification, and transports the blood tray 500 passing the verification to the transfer table 140.

It can be appreciated that by arranging the peripheral turntable 140, the warehouse-in blood disk 500 or the warehouse-out blood disk 500 passing the verification can be temporarily stored, and the phenomenon that the bag picking mechanism 150 or the folding mechanism 120 is overloaded is reduced, so that the warehouse-in process and the warehouse-out process are smoothly performed.

As an example, the transfer table 140 and the bag picking mechanism 150 are located on a second side of the garage body 101, the second side being connected to the first side and forming a garage corner; the second transport mechanism is positioned at the corner of the warehouse; the shelf 170 is located on a third side of the library 101, the third side being connected to the first side, the third side being opposite the second side; the main robot 160 is located between the bag picking mechanism 150 and the shelf 170.

Optionally, the first transport mechanism includes a first lifting and transferring machine 110, where the first lifting and transferring machine 110 is provided with a first transferring position and a second transferring position, the first transferring position is in butt joint with the entrance 102 of the warehouse body 101, and the second transferring position is in butt joint with the folding mechanism 120; the second transport mechanism includes a second lifting and transferring machine 130, the second lifting and transferring machine 130 is provided with a fourth transferring station and a fifth transferring station, the fourth transferring station is in butt joint with the folding mechanism 120, and the fifth transferring station is in butt joint with the turnover table 140.

As an example, the sorting repository 100 further includes a repository body 101 and a first lifting transfer machine 110, where the repository body 101 is provided with an inlet 102, and a temporary storage table 180 is provided at a side of the inlet 102, and the temporary storage table 180 is used for temporarily storing a plurality of stacked blood trays 500.

The first jacking transfer machine 110 is provided with a first transfer station, a second transfer station and a third transfer station, the first transfer station is in butt joint with the entrance 102 of the warehouse body 101, the second transfer station is in butt joint with the folding mechanism 120, and the third transfer station is in butt joint with the temporary storage platform 180; in the warehouse-in process, the first jacking transfer machine 110 receives a plurality of stacked blood trays 500 from the inlet 102 through a first transfer station and conveys the blood trays to the folding mechanism 120 through a second transfer station; in the process of delivery, the first lifting and transferring machine 110 receives the blood disk 500 passing verification or a plurality of stacked blood disks 500 passing verification from the folding mechanism 120 through the third transferring position, and conveys the blood disks 500 passing verification to the inlet 102 through the first transferring position for delivery; in the case that the shipment of the verified blood disk 500 collides with the shipment of a plurality of stacked blood disks 500, the first lifting and transferring machine 110 puts the plurality of stacked blood disks 500 received from the inlet 102 to the temporary storage table 180 for temporary storage through the third transferring position, and the verified blood disk 500 or the plurality of stacked blood disks 500 passing the verification continue to be shipped out, and after the shipment is completed, the first lifting and transferring machine 110 receives the plurality of stacked blood disks 500 from the temporary storage table 180 and conveys the plurality of stacked blood disks 500 to the folding mechanism 120 through the second transferring position for normal warehousing.

It can be appreciated that the circulation of blood bags in a large blood station is faster, and there may be a situation that the blood bags are simultaneously delivered and put in storage, and the temporary storage table 180 is disposed at the inlet 102 of the storage body 101, and the jacking transfer machine is used to transport a plurality of stacked blood trays 500, so that the conveying equipment in storage can select the conveying direction according to the working condition. When in use, if the warehouse-in action and the warehouse-out action conflict, the first jacking transfer machine 110 can switch the transportation direction of the stacked blood trays 500, temporarily store the stacked blood trays 500 in warehouse on the temporary storage platform 180, take away the stacked blood trays 500 on the temporary storage platform 180 after the warehouse-out is completed, and continue the warehouse-in process, so that the occurrence of interference between the warehouse-out action and the entrance action can be reduced.

As another example, the sorting repository 100 further includes a second jacking transfer 130 and a transfer table 140, the second jacking transfer 130 being provided with a fourth transfer and a fifth transfer; the folding mechanism 120 is in butt joint with the second transfer station and the fourth transfer station and is used for folding or splitting a plurality of blood discs 500; the turnover table 140 is in butt joint with the fifth transfer station and is used for temporarily storing part of the blood disk 500 in the warehouse-in process and temporarily storing the blood disk 500 passing verification in the warehouse-out process; in the warehouse-in process, the folding mechanism 120 breaks up a plurality of stacked blood trays 500, the second jacking transfer machine 130 receives the broken blood trays 500 from the folding mechanism 120 through a fourth transfer station, and transfers the blood trays 500 to the turnover table 140 one by one through a fifth transfer station; in the process of discharging, the second jacking transfer machine 130 receives the checked blood trays 500 from the transfer table 140 through the fifth transfer station and conveys them one by one to the folding mechanism 120 through the fourth transfer station, and the folding mechanism 120 stacks a plurality of checked blood trays 500 or conveys a single blood tray 500 to be discharged.

Optionally, the sorting repository 100 further includes a photoelectric sensor and a warehouse-in/out control device, wherein the photoelectric sensor is disposed on the turntable 140 and is used for detecting whether the turntable 140 has the blood tray 500 or the blood tray 500 passing the verification; the in-out and in-out control device is electrically connected to the first lifting transfer machine 110 and the photoelectric sensor, and is configured to control the first lifting transfer machine 110 to put the plurality of stacked blood trays 500 received by the first transfer station to the temporary storage station 180 for temporary storage through the third transfer station when the in-out operation of the first lifting transfer machine 110 and the in-out and in-out turnover operation of the turnover station 140 occur simultaneously.

It can be appreciated that the warehouse-in and warehouse-out control device is used for regulating and controlling the warehouse-in progress and the warehouse-out progress, and the present disclosure uses the turnover table 140 and the first jacking transfer machine 110 as two reference points, and is used for judging whether the warehouse-in action and the warehouse-out action collide. When the checked-out blood tray 500 to be delivered exists on the transfer table 140 and the plurality of stacked blood trays 500 to be put in storage exist on the first lifting transfer machine 110, the in-out control device determines that the checked-out blood tray 500 or the plurality of stacked blood trays passing the check-out conflict with the in-storage of the plurality of stacked blood trays 500, the first lifting transfer machine 110 transfers the plurality of stacked blood trays 500 positioned thereon to the temporary storage table 180 for temporary storage, the checked-out blood tray 500 or the plurality of stacked blood trays 500 passing the check-out are delivered to the temporary storage table 180, and then the plurality of stacked blood trays 500 on the temporary storage table 180 are taken away for continuous storage.

As an example, the main robot 160 interfaces with the bag picking mechanism 150 and the shelves 170 for transporting the blood trays 500; in the warehouse-in process, the main manipulator 160 receives the blood trays 500 from the turnover table 140, conveys the blood trays 500 to the bag picking mechanism 150 for sorting blood bags, and conveys the sorted blood trays 500 carrying the sorted blood bags to the shelf 170; in the process of delivery, the main robot 160 takes out the blood tray 500 to be delivered from the shelf 170, transports the blood tray 500 to the bag picking mechanism 150 for verification, and transports the blood tray 500 passing the verification to the transfer table 140.

Optionally, the shelf 170 is provided with a blood bag storage area and an empty tray storage area, the blood bag storage area includes a plurality of blood group portions, the plurality of blood group portions are used for storing the sorted blood tray 500, the sorted blood tray 500 contains blood bags of corresponding blood groups, and the empty tray storage area is used for placing the empty blood tray 500.

It will be appreciated that the sorting trays 500 at the sorting station are placed in a predetermined number of bags of the respective blood type and then transferred to the bag storage area of the shelf 170 for storage by the main manipulator 160, and each type of sorted tray 500 is placed in a respective type of blood type. The blood trays 500 loaded with the mixed blood bags are empty when the sorted blood trays 500 are sorted, and the empty blood trays 500 are transported to an empty tray storage area of the shelf 170 by the main manipulator 160 for storage. In this way, the main robot 160 can be regularly picked and placed.

Optionally, the turnover table 140 is further used for temporarily storing the empty blood tray 500 to be delivered during the empty tray delivery process; the in-out control device is further electrically connected to the folding mechanism 120, and is further configured to control the main manipulator 160 to transport the empty blood tray 500 to the empty tray storage area of the shelf 170 and perform the warehousing process normally when the warehousing action of the first lifting transfer machine 110 and the empty tray out-of-warehouse turnover action of the turnover table 140 occur simultaneously, in a state where the empty blood tray 500 is not transported to the folding mechanism 120.

It will be appreciated that when there are empty blood trays 500 to be discharged from the transfer table 140 and there are a plurality of stacked blood trays 500 to be stored on the first lifting transfer machine 110, the in-out control device determines that the storing operation of the first lifting transfer machine 110 and the empty tray discharging operation of the transfer table 140 occur simultaneously, and the storing process collides with the empty tray discharging process, in which case, if the empty blood trays 500 are not transported to the folding mechanism 120 yet, the empty blood trays 500 are discharged from the storage, and then the empty tray discharging process is restarted after the storing process of the blood bags is completed.

As shown in fig. 2 and 3, optionally, the bag picking mechanism 150 includes a bag picking frame 151, a jacking device 152, a sorting manipulator 153, an information recognition device and a bag picking control device, where a plurality of sorting stations 1511 are arranged in the middle of the bag picking frame 151, and the sorting stations 1511 are used for placing the blood tray 500; the jacking device 152 is installed below the plurality of sorting stations 1511, and the jacking device 152 comprises a lifting structure, which is used for penetrating through the sorting stations 1511 and the blood tray 500 to lift the blood bags to be sorted; the sorting manipulator 153 is installed above the sorting station 1511, and the sorting manipulator 153 is used for grabbing the blood bags to be sorted lifted by the jacking device 152 and placing the blood bags to be sorted on the blood tray 500 corresponding to the sorting station 1511; the information identification device is used for identifying blood information and position information of the blood bag according to the electronic tag attached to the blood bag; the bag picking control device is electrically connected to the information recognition device, the jacking device 152 and the sorting manipulator 153, respectively, and is configured to control the actions of the jacking device 152 and the sorting manipulator 153 according to the blood information and the position information.

It will be appreciated that the bag picking mechanism 150 of the present disclosure confirms the blood bags to be sorted through the information recognition device and the bag picking control device, and the bag picking control device lifts the blood bags to be sorted from the blood tray 500 using the lifting device 152, and then uses the sorting manipulator 153 to grasp the lifted blood bags to be sorted and convey to the corresponding positions. Because the blood bag is usually softer, and current blood bag adopts the mode of putting vertically, and the blood bag is placed more closely, is inconvenient for sorting manipulator 153 to press from both sides and gets on the one hand, is inconvenient for discernment blood bag's relevant information on the other hand. Compared with the mode that the manipulator directly grabs the blood bag, the success rate of grabbing the blood bag to be sorted by the sorting manipulator 153 can be improved, and the sorting work can be smoothly carried out.

As an example, the blood bag is covered with a protective film to increase the rigidity of the blood bag, so that the sorting manipulator 153 can grasp the blood bag to be sorted.

Optionally, the sorting station 1511 is provided with five stations, including an original station for placing the blood tray 500 carrying the blood bags to be sorted and four sorting stations; each sorting station corresponds to a blood bag of a corresponding type, and is used for placing a sorting blood tray 500, and the sorting blood tray 500 is used for bearing the blood bags of the corresponding type.

It will be appreciated that sorting station 1511 is identical to the type of blood contained within the blood bag. Blood bags can be classified by reference to the ABO blood group system, i.e. into type a, type B, type AB and type O. Each sorting station corresponds to a blood type, and the sorting stations are used for placing sorting blood trays 500, the sorting blood trays 500 are used for containing blood bags of the corresponding blood types after sorting in the sorting process, and the sorting blood trays 500 are changed into sorted blood trays 500 after containing a predetermined number of blood bags of the corresponding blood types.

Optionally, three jacking devices 152 are provided, and the first jacking device 152 corresponds to two sorting stations 1511 at the first end; the second jacking device 152 corresponds to a sorting station 1511 located in the intermediate position; the third jacking device 152 corresponds to two sorting stations 1511 at the second end. This allows the jacking device 152 to have a relatively long operating time.

As shown in fig. 2-3, optionally, the bag picking frame 151 is further provided with a temporary storage station 1512, where the temporary storage station 1512 is located at an in-out end of the bag picking frame 151, and the temporary storage station 1512 is used for temporarily storing the blood tray 500.

It will be appreciated that in the event that the workload of the bag picking mechanism 150 is not saturated, the main robot 160 directly conveys the blood trays 500 to be sorted or taken out of the warehouse to the sorting station 1511 for sorting or verification, and the temporary storage station 1512 is empty.

As an example, the temporary storage station 1512 and the sorting station 1511 are both disposed in the middle of the bag picking frame 151, and the temporary storage station 1512 is adjacent to the sorting station 1511, and the temporary storage station 1512 is used for temporarily storing the blood tray 500 to be sorted in a warehouse-in process, temporarily storing the blood tray 500 to be checked in a warehouse-out process, and temporarily storing a plurality of empty blood trays 500 stacked in an empty tray warehouse-out process.

Optionally, the in-out control device is further electrically connected to the main manipulator 160, where the in-out control device is further configured to control the tray stacking machine to stack the plurality of empty trays 500 in a state that the empty trays 500 are transported to the stacking mechanism 120 when the in-storage operation of the first lifting transfer machine 110 and the empty tray out-of-storage turnover operation of the turnover table 140 occur simultaneously, and the main manipulator 160 transports the plurality of stacked empty trays 500 to the temporary storage station 1512 of the bag picking mechanism 150.

It will be appreciated that when the sorting repository 100 of the present disclosure is used, the empty trays 500 are typically removed from the repository with less access to the repository, and the temporary storage station 1512 of the bag picking mechanism 150 is empty. If a plurality of stacked blood trays 500 are stored in the process of unloading the empty blood trays 500, when the empty blood trays 500 to be unloaded exist on the turnover table 140 and a plurality of stacked blood trays 500 to be stored exist on the first jacking transfer machine 110, the in-out control device determines that the storage operation of the first jacking transfer machine 110 and the empty tray unloading turnover operation of the turnover table 140 occur simultaneously, the storage process collides with the empty tray unloading process, if the empty blood trays 500 are transported to the folding mechanism 120, the folding mechanism 120 is controlled to complete the stacking operation of the empty blood trays 500, then the stacked empty blood trays 500 are returned to the turnover position, the temporary storage station 1512 of the bag picking mechanism 150 is transported to be temporarily stored by the main manipulator 160, and the empty tray unloading process is restarted after the storage process of the blood bags is completed.

As shown in conjunction with fig. 4, optionally, the lifting structure includes a lifting plate 1521, a bottom plate 1523, a screw rod and a guide shaft 1525, where a plurality of lifting columns 1522 are installed on the upper portion of the lifting plate 1521, and the plurality of lifting columns 1522 are used to pass through the sorting station 1511 and the blood tray 500 to lift the blood bags to be sorted; the bottom plate 1523 is mounted with a lift motor 1526; the first end of the screw rod is connected with the lifting motor 1526, the second end of the screw rod is in threaded connection with a nut mounting seat 1527 arranged at the lower part of the lifting plate 1521, and the second end of the screw rod penetrates through the lifting plate 1521; the guide shaft 1525 has a first end connected to the bottom plate 1523 and a second end penetrating through the lift plate 1521, the guide shaft 1525 being adapted to guide the lifting of the lift plate 1521. Thus, the blood bags to be sorted can be lifted through the lifting columns 1522, so that the stress of the blood bags to be sorted is uniform, and the blood bags to be sorted can be lifted and grabbed conveniently.

Optionally, the lifting structure further includes a first limit switch 1528 and a second limit switch 1529, where the first limit switch 1528 is installed on the bottom plate 1523 and electrically connected to the bag picking control device, and the first limit switch 1528 is used to limit the moving high position of the lifting plate 1521; a second limit switch 1529 is mounted on the bottom plate 1523 and electrically connected to the bag picking control device, the second limit switch 1529 being configured to limit movement of the lift plate 1521 from a low position. This can facilitate control of the lifting path of the lifting structure.

Optionally, the jacking device 152 further includes a lateral movement assembly 1524, the lateral movement assembly 1524 being coupled to the lifting structure, the lateral movement assembly 1524 being configured for lateral movement of the lifting structure. This can facilitate lifting up of blood bags at different positions within the same tray 500, and can also facilitate sharing of the lifting device 152 by the multiple sorting stations 1511.

Optionally, the sorting manipulator 153 includes a sorting moving assembly 1531 and a sorting jaw 1532, the sorting moving assembly 1531 is mounted at an upper portion of the bag picking frame 151 for three-dimensionally and spatially moving the sorting manipulator 153; sorting jaw 1532 is connected to sorting movement assembly 1531 for gripping of bags of blood to be sorted.

As shown in conjunction with fig. 5, optionally, an embodiment of the present disclosure provides a bag picking method for the bag picking mechanism 150 described above, including:

s01, the bag picking control device acquires blood information and position information of the blood bag.

S02, the bag picking control device determines the blood bags to be sorted and sorting paths according to the blood information and the position information, wherein the sorting paths comprise initial positions and target positions, and the initial positions are the current positions of the blood bags to be sorted.

S03, the bag picking control device controls the lifting frame of the lifting device 152 to lift the blood bags to be sorted according to the initial position.

S04, the bag picking control device controls the sorting manipulator 153 to grasp the blood bags to be sorted which are supported by the lifting frame according to the sorting path, and conveys the blood bags to be sorted to a target position.

It can be appreciated that the bag picking mechanism 150 of the present disclosure confirms the blood bags to be sorted and plans the path through the information recognition device and the bag picking control device, which controls the actions of the jacking device 152 and the sorting manipulator 153.

Optionally, as shown in fig. 6, in step S02, the bag picking control device determines, according to the blood information and the position information, a blood bag to be sorted and a sorting path, including:

S21, the bag picking control device obtains the mapping relation between the blood bag types and the sorting station 1511.

S22, the bag picking control device determines the type of the blood bag and the corresponding state of the sorting station 1511 where the blood bag is located according to the mapping relation, the blood information and the position information.

S23, the bag picking control device determines that the blood bag is to be sorted under the condition that the type of the blood bag does not correspond to the sorting station 1511 where the blood bag is located.

S24, the bag picking control device determines that the current position of the blood bag to be sorted is an initial position and the position of the sorting station 1511 corresponding to the type of the blood bag to be sorted is a target position according to the mapping relation, and the blood information and the position information of the blood bag to be sorted.

S25, the bag picking control device determines a sorting path according to the initial position and the target position.

It can be appreciated that the method determines the blood bags to be sorted by checking whether the blood bag type corresponds to the sorting station 1511, and when the blood bag type does not correspond to the sorting station 1511, the blood bags are held up and placed in the corresponding sorting trays 500, and based on the method, the method can be used for sorting the blood bags and also can be used for checking before the blood bags are delivered out of the warehouse.

As shown in fig. 7 and 8, optionally, the folding mechanism 120 includes a main body 121, a jacking component 122 and a clamping component 123, and a folding cabin 1211 is disposed on the inner side of the main body 121; the jacking component 122 is arranged in the folding bin 1211 and can jack or subside along the vertical direction; the clamping assembly 123 is arranged in the folding bin 1211, and the clamping assembly 123 is partially positioned above the jacking assembly 122 and can be clamped or loosened in the horizontal direction; while the jacking component 122 is jacking, the clamping component 123 is released, and while the jacking component 122 is settling, the clamping component 123 clamps, so that stacking or splitting of the blood discs 500 is performed in the stacking bin 1211.

It can be appreciated that the blood disc 500 to be stacked or detached is placed in the stacking bin 1211, when the blood disc 500 is to be stacked, the jacking component 122 is used for jacking the blood disc 500 to the position of the clamping component 123, the clamping component 123 is used for fixing the blood disc 500, the jacking component 122 is retracted by sedimentation, the blood disc 500 is placed on the jacking component 122 again, the jacking component 122 is used for jacking the blood disc 500 to the bottom of the blood disc 500 positioned above again, the clamping component 123 is loosened, the jacking component 122 is used for jacking the blood disc 500 again upwards, the clamping component 123 is used for clamping the blood disc 500 positioned below so as to fix the two blood discs 500, the jacking component 122 is retracted again by sedimentation, the stacking of the blood discs 500 is sequentially completed, when the multi-layer blood disc 500 is to be detached, the multi-layer blood disc 500 is placed on the clamping component 123, the lowest blood disc 500 in the multi-layer blood disc 500 is clamped and fixed by the clamping component 123, the jacking component 122 is jacked to the bottommost blood disc 500 for supporting, the clamping component 123 is loosened, the jacking component 122 is settled to the position where the clamping component 123 can clamp and clamp the second blood disc 500 from bottom to top in the multi-layer blood disc 500, the second blood disc 500 is clamped and fixed through the clamping component 123, the jacking component 122 is settled and retracted again, the bottommost blood disc 500 is separated along with the jacking component 122, the blood disc 500 separated from the jacking component 122 is taken out, the jacking component 122 is jacked again to the bottommost blood disc 500 in the split multi-layer blood disc 500 for supporting, the clamping component 123 is loosened again, the jacking component 122 is settled again to the position where the clamping component 123 can clamp and clamp the second blood disc 500 in the multi-layer blood disc 500, the second blood disc 500 from bottom to top is clamped and fixed through the clamping component 123, the jacking component 122 is settled again, the bottommost blood tray 500 is separated again along with the jacking component 122, and the blood tray 500 on the jacking component 122 is taken out, so that the separation of the multiple layers of blood trays 500 is sequentially completed. This kind of folding device utilizes the cooperation of jacking subassembly 122 and clamp and hold subassembly 123 to stack or split blood dish 500, and jacking and sedimentation process stability of blood dish 500 are higher, reduce the risk that blood bag dropped in the blood dish 500, utilize jacking and sedimentation's mode to carry out folding of blood dish 500, need not to consider the influence of jacking subassembly 122 to the blood dish 500 height when stacking or splitting, reduce the volume of this mechanism, reduce the space occupation in the blood station.

As an example, the blood tray 500 folding mechanism 120 for a blood station further includes a belt line 124. The belt line 124 is disposed in the folding bin 1211 and is used for conveying the blood disk 500 into the folding bin 1211 or conveying the blood disk 500 out of the folding bin 1211; the jacking assembly 122 is disposed inside the belt line 124, and can jack up above the plane of the belt line 124 or sink down below the plane of the belt line 124. In this way, the blood disc 500 may be transported into the folding bin 1211 through the belt line 124, or the separated blood disc 500 is transported out of the folding bin 1211, the jacking component 122 is disposed inside the belt line 124, when the blood disc 500 needs to be folded, the jacking component 122 can jack the blood disc 500 on the belt line 124, when the blood disc 500 needs to be separated, the separated blood disc 500 can fall on the belt line 124 along with the sedimentation of the jacking component 122, so that the blood disc 500 is conveniently folded or separated, and the stability of the blood disc 500 during folding or separation is improved.

As another example, the folding bin 1211 is provided with a conveying port at a position corresponding to the belt line 124. Thus, the external blood tray 500 is transported to the belt line 124 through the transport port, or the blood tray 500 on the belt line 124 can be transported to the external through the transport port. The belt line 124 interfaces with a blood tray 500 conveyance line in the blood station, and the blood tray 500 in the blood station can be conveyed to the belt line 124 by the blood tray 500 conveyance line, and the separated blood tray 500 on the belt line 124 can also be conveyed to the blood tray 500 conveyance line.

As shown in fig. 9 and 10, alternatively, the main manipulator 160 includes a pick-and-place device and a multi-axis moving device, where the pick-and-place device includes a base 161, a clamping assembly and a telescopic assembly, the clamping assembly is capable of moving telescopically on the base 161 through the telescopic assembly, the clamping assembly is used for clamping the blood disc 500, the telescopic assembly is used for moving telescopically on the base 161 the blood disc 500, and the pick-and-place device is used for picking and placing the blood disc 500; and the multi-shaft moving device is connected with the picking and placing device and is used for moving the picking and placing device.

It can be appreciated that, after the main manipulator 160 is located between the shelf 170 and the bag picking mechanism 150 and the clamping assembly grabs the blood tray 500, the main manipulator 160 can be driven by the telescopic assembly to perform telescopic displacement in a first direction and a second direction on the base 161, and the first direction and the second direction are two opposite directions, which respectively correspond to the bag picking mechanism 150 and the shelf 170. This facilitates the transport of blood bags between the bag picking mechanism 150 and the shelf 170, and the main robot 160 can move in the sorting repository 100 along the axial directions of the sorting repository and Y, Z for the blood stations through the multi-axis driving assembly, so that the picking and placing device for the blood stations can move to the shelf 170 at different positions to perform the operation of picking and placing the blood discs 500.

Optionally, the clamping assembly further includes a first clamping arm 162 and a second clamping arm 163, wherein the first clamping arm 162 is telescopically mounted on an inner side wall of the first support plate 1611; the second clamping arm 163 is telescopically mounted on the inner side wall of the second support plate 1612, and the second clamping arm 163 and the first clamping arm 162 can synchronously stretch; the first clamping arm 162 and the second clamping arm 163 are used to clamp the blood disk 500 and allow the blood disk 500 to move telescopically between the first support plate 1611 and the second support plate 1612.

As one example, the main robot 160 includes a base 161, first and second gripper arms 162, 163, and a push-pull assembly 164. The upper side surface of the base 161 is provided with a first support plate 1611 and a second support plate 1612 which can move relatively or oppositely; the first clamping arm 162 is telescopically arranged on the side wall of the first support plate 1611 opposite to the second support plate 1612; the second clamping arm 163 is telescopically arranged on the side wall of the second support plate 1612 opposite to the first support plate 1611; the first clamping arm 162 and the second clamping arm 163 can synchronously extend or retract between the first support plate 1611 and the second support plate 1612, the first clamping arm 162 and the second clamping arm 163 perform a clamping action under the condition that the first support plate 1611 and the second support plate 1612 move relatively, and the first clamping arm 162 and the second clamping arm 163 perform a releasing action under the condition that the first support plate 1611 and the second support plate 1612 move away from each other.

In the embodiment of the disclosure, when the sorted blood disc 500 needs to be placed in the storage position of the shelf 170, the first and second clamping arms 162 and 163 are driven to clamp and fix the blood disc 500 by driving the first and second clamping arms 1611 and 1612, then the blood disc 500 is driven to extend between the first and second clamping arms 1611 and 1612 extending out of the storage position of the shelf 170, then the first and second plates 1611 and 1612 are driven to move back to back, the first and second clamping arms 162 and 163 are driven to perform releasing motion, the blood disc 500 is placed in the storage position of the shelf 170, when the blood disc 500 stored in the storage position of the shelf 170 needs to be removed, the first and second clamping arms 162 and 163 are driven to extend out of the storage position of the shelf 170, then the first and second plates 1611 and 1612 are driven to relatively move to enable the first and second clamping arms 162 and 163 to extend out of the storage position of the shelf 170, then the first and second clamping arms 1611 and 1612 are driven to retract between the first and 1611 and 1612, and the first and second clamping arms 1611 and 1612 are driven to clamp and store the blood disc 500, and the blood disc 500 is placed between the first and the second clamping arms 1611 and the second clamping arms 163 are driven to move back between the first and the second clamping arms 1611 and the second clamping arms 1612.

The push-pull assembly 164 is disposed between the first support plate 1611 and the second support plate 1612, and one end of the push-pull assembly 164 is connected to the first support plate 1611, and the other end is connected to the second support plate 1612, so as to drive the first support plate 1611 and the second support plate 1612 to move relatively or reversely. In this way, the first support plate 1611 and the second support plate 1612 are synchronously driven to move by the push-pull assembly 164, so that the first support plate 1611 and the second support plate 1612 move relatively or back to back, and the first clamping arm 162 arranged on the first support plate 1611 and the second clamping arm 163 arranged on the second support plate 1612 are driven to clamp or release, so that the separated blood disk 500 is prevented from falling off due to the asynchronous movement of the first support plate 1611 and the second support plate 1612, and the stability of the blood disk 500 is improved.

The first clamping arm 162 is divided into a first telescopic arm 1621 and a second telescopic arm 1622, the first telescopic arm 1621 is slidably connected with the side wall of the first support plate 1611, the second telescopic arm 1622 is slidably connected with the side wall of the first telescopic arm 1621, when the first clamping arm 162 and the second clamping arm 163 are matched to take and put the blood disc 500, the first telescopic arm 1621 and the second telescopic arm 1622 can synchronously stretch out or retract in, and under the condition that the same telescopic stroke is required, the first telescopic arm 1621 and the second telescopic arm 1622 are adopted to synchronously stretch out and draw back compared with the first telescopic arm, so that the stretching time is shortened, and the taking and putting efficiency of the blood disc 500 is improved.

In one embodiment, a rack 1623 is disposed on an upper sidewall of the first telescopic arm 1621, a first motor is disposed on the first support plate 1611, a fluted disc 1624 is disposed at an output end of the first motor, and the fluted disc 1624 is meshed with the rack 1623 to drive the first telescopic arm 1621 to extend and retract. Like this, rotate through first motor drive fluted disc 1624 to the rack 1623 motion on the first flexible arm 1621 is driven through fluted disc 1624, thereby makes first flexible arm 1621 carry out telescopic motion, through setting up first motor on first extension arm 1611, when driving first flexible arm 1621 through first motor, avoid the drive of first flexible arm 1621 to cause the influence to the motion between first extension arm 1611 and the second extension arm 1612, makes first clamp arm 162 and second clamp arm 163 can carry out clamp and hold and release the action when flexible.

Referring to fig. 11, a blood tray 500 is provided in an embodiment of the disclosure, and is applied to a bag picking mechanism 150 for a blood station in some embodiments, and includes a tray body 501, where a plurality of blood bag placing grooves 502 are provided in the middle of the tray body 501, and through holes for passing through a jacking device 152 are provided in bottom walls of the plurality of blood bag placing grooves 502.

The automated blood storage library of the present disclosure will be described below with reference to fig. 1 to 12.

The automated blood storage library of the present disclosure includes a sorting storage library 100, a transfer device 200, a blood bag stacking area 300, and a blood bag access area 400.

The blood bag stacking area 300 is used to manually stack blood bags into empty blood trays 500. When the blood bag stacking area 300 comprises a first temporary storage area 301, an empty disc splitting mechanism 302, a stacking station 303, a disc stacking mechanism 304 and a second temporary storage area 305, the first temporary storage area 301 is located at the upstream of the empty disc splitting mechanism 302 and is used for temporarily storing empty blood discs 500; the second buffer area 305 is located downstream of the tray stacking mechanism 304 and is used for temporarily storing a plurality of stacked blood trays 500. After a stack of empty trays is transported, the empty tray splitting mechanism 302 performs tray splitting, a worker manually stacks blood bags on the empty trays at the stacking station 303, the stacked blood trays 500 are gradually accumulated, then stacking is performed on a plurality of blood trays 500 containing blood bags at the tray stacking mechanism 304, and then the stacked blood trays are transported to the sorting storage 100 through the operation device.

The transfer device 200 is used to transport the blood tray 500 between the blood bag stacking area 300 and the sorting repository 100, and between the sorting repository 100 and the blood bag access area 400.

The sorting and storing warehouse 100 is used for batch sorting and storing of blood bags, and comprises a warehouse body 101, a first jacking transfer machine 110, a folding mechanism 120, a second jacking transfer machine 130, a turnover table 140, a bag picking mechanism 150, a main manipulator 160, a goods shelf 170 and a warehouse-in and warehouse-out control device.

The storage body 101 is provided with an inlet and outlet 102, a temporary storage table 180 is provided at a side portion of the inlet and outlet 102, and the temporary storage table 180 is used for temporarily storing a plurality of stacked blood discs 500.

The first jacking transfer machine 110 is provided with a first transfer station, a second transfer station, and a third transfer station, the first transfer station being in butt joint with the entrance 102 of the storage body 101, the second transfer station being in butt joint with the folding mechanism 120, and the third transfer station being in butt joint with the temporary storage station 180.

The second lifting transfer machine 130 is provided with a fourth transfer station and a fifth transfer station, and the folding mechanism 120 is in butt joint with the second transfer station of the first lifting transfer machine 110 and the fourth transfer station of the second lifting transfer machine 130, and is used for stacking or splitting a plurality of blood trays 500. The turnover table 140 is in butt joint with the fifth transfer station and is used for temporarily storing part of the blood disk 500 in the warehouse-in process and temporarily storing the blood disk 500 passing verification in the warehouse-out process;

The bag picking mechanism 150 comprises a bag picking frame 151, a jacking device 152, a sorting manipulator 153, an information identification device and a bag picking control device, wherein a plurality of sorting stations 1511 are arranged in the middle of the bag picking frame 151, and the sorting stations 1511 are used for placing the blood tray 500; the jacking device 152 is installed below the plurality of sorting stations 1511, and the jacking device 152 comprises a lifting structure, which is used for penetrating through the sorting stations 1511 and the blood tray 500 to lift the blood bags to be sorted; the sorting manipulator 153 is installed above the sorting station 1511, and the sorting manipulator 153 is used for grabbing the blood bags to be sorted lifted by the jacking device 152 and placing the blood bags to be sorted on the corresponding sorting blood tray 500; the information identification device is an antenna board arranged at the sorting station 1511 or the blood tray 500 and is used for identifying blood information and position information of the blood bag according to the RFID electronic tag attached to the blood bag; the bag picking control device is electrically connected to the information recognition device, the jacking device 152 and the sorting manipulator 153, respectively, and is configured to control the actions of the jacking device 152 and the sorting manipulator 153 according to the blood information and the position information.

The main robot 160 interfaces with the turntable 140, the bag picking mechanism 150, and the shelf 170 for transporting the blood trays 500.

In the warehouse-in process, the first jacking transfer machine 110 receives a plurality of stacked blood trays 500 from the inlet 102 through a first transfer station and conveys the blood trays to the folding mechanism 120 through a second transfer station; the folding mechanism 120 is used for dividing the plurality of stacked blood trays 500, the second jacking transfer machine 130 is used for receiving the divided blood trays 500 from the folding mechanism 120 through a fourth transfer station, and transporting the blood trays 500 to the turnover table 140 one by one through a fifth transfer station; the main robot 160 conveys the blood trays 500 one by one to the bag picking mechanism 150 for blood bag sorting, and conveys the sorted blood trays 500 from the bag picking mechanism 150 to the shelf 170.

In the process of discharging, the main manipulator 160 takes out the blood trays 500 to be discharged from the shelf 170, sends the blood trays 500 to the bag picking mechanism 150 for verification, conveys the blood trays 500 passing verification to leave the bag picking mechanism 150 and put to the turnover table 140, and the second lifting transfer machine 130 receives the blood trays 500 passing verification from the turnover table 140 through the fifth transfer station and conveys the blood trays 500 to the folding mechanism 120 one by one through the fourth transfer station, and in the state that a plurality of blood trays 500 passing verification exist, the folding mechanism 120 stacks a plurality of blood trays 500 passing verification, and in the state that the blood trays 500 passing verification are one, the folding mechanism 120 conveys a single blood tray 500 passing verification; the first lifting transfer machine 110 receives the verified blood disk 500 or a plurality of stacked verified blood disks 500 from the stacking mechanism 120 via the third transfer station, and transfers the blood disks 500 to the inlet 102 via the first transfer station to be discharged.

The turntable 140 is provided with a photoelectric sensor for detecting whether the blood disk 500 is present on the turntable 140 or whether the blood disk 500 passes the verification. The warehouse-in and warehouse-out control device is used for regulating and controlling the warehouse-in progress and the warehouse-out progress, and the turnover table 140 and the first jacking transfer machine 110 are used as two reference points for judging whether the warehouse-in action and the warehouse-out action conflict or not. When the checked-out blood tray 500 to be discharged is present on the turnover table 140 and the plurality of stacked blood trays 500 to be put in storage are present on the first lifting transfer machine 110, the in-out control device determines that the checked-out blood tray 500 or the plurality of stacked blood trays passing through the check-out conflict with the in-storage of the plurality of stacked blood trays 500, the first lifting transfer machine 110 puts the plurality of stacked blood trays 500 received from the inlet 102 to the temporary storage table 180 for temporary storage through the third transfer station, the checked-out blood tray 500 or the plurality of stacked blood trays 500 passing through the check-out continue to be discharged, and after the out-of-storage is completed, the first lifting transfer machine 110 receives the plurality of stacked blood trays 500 from the temporary storage table 180 and conveys the plurality of stacked blood trays to the folding mechanism 120 through the second transfer station for normal storage.

When the sorting repository 100 of the present disclosure is used, the empty blood trays 500 are often discharged with less in-out traffic, and the temporary storage station 1512 of the bag picking mechanism 150 is empty. If there are a plurality of stacked blood trays 500 in the process of unloading the empty blood trays 500, when there are a plurality of stacked blood trays 500 to be unloaded on the transfer table 140 and a plurality of stacked blood trays 500 on the first lifting transfer machine 110, the unloading control device determines that the unloading operation of the first lifting transfer machine 110 and the unloading operation of the empty blood trays of the transfer table 140 occur simultaneously, and the unloading operation conflicts with the unloading operation of the empty blood trays. In this case, if the empty blood tray 500 is not transported to the folding mechanism 120 yet, the empty blood tray 500 is returned to the warehouse, and the empty blood tray delivery process is restarted after the completion of the blood bag warehouse-in process; if the empty blood tray 500 is transported to the folding mechanism 120, the folding mechanism 120 is controlled to complete the folding action of the empty blood trays 500, then the empty blood trays 500 are returned to the turnover position, and transported to the temporary storage station 1512 of the bag picking mechanism 150 by the main manipulator 160 for temporary storage, and the empty blood tray delivery process is restarted after the blood bag warehouse-in process is completed.

The blood bag taking area 400 is used for manually taking blood bags, and the blood bag taking area 400 comprises a third temporary storage area 401, a tray disassembling mechanism 402, a taking station 403, an empty tray stacking mechanism 404 and a fourth temporary storage area 405. The blood bag taking area 400 is used for manually taking out blood bags in the blood tray 500 that is taken out of the warehouse. After a plurality of stacked blood disks passing the verification are transported, the disk disassembling mechanism 402 performs disk disassembling, a worker takes blood bags from the blood disks 500 which are taken out of the warehouse manually at the taking station 403, the empty blood disks 500 are gradually accumulated, then the empty blood disks 500 are stacked by the empty disk stacking mechanism 404, and then the stacked empty blood disks can be stored or transported to the blood bag placing area by the trolley 600.

The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may include structural and other modifications. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A sorting repository for a blood station, comprising:

The bag picking mechanism (150) is used for sorting blood bags in the blood tray (500) in the warehouse-in process and checking the blood bags in the blood tray (500) to be warehouse-out in the warehouse-out process;

The main manipulator (160) is movably arranged along the goods shelf (170), is respectively in butt joint with the bag picking mechanism (150) and the goods shelf (170) and is used for transporting the blood discs (500);

a folding mechanism (120) for folding or splitting a plurality of blood discs (500);

The first transportation mechanism is in butt joint with an inlet and outlet (102) of the warehouse body (101);

a second transport mechanism interfacing with the folding mechanism (120);

A turnover table (140) which is in butt joint with the second conveying mechanism and the main manipulator (160), wherein the turnover table (140) is used for temporarily storing part of the blood discs (500) in a warehouse-in process and temporarily storing part of the blood discs (500) passing through verification in a warehouse-out process;

In the warehouse-in process, the first conveying mechanism receives a plurality of stacked blood discs (500) from the inlet and outlet (102) and conveys the stacked blood discs to the folding mechanism (120), the folding mechanism (120) breaks the stacked blood discs (500), and the second conveying mechanism conveys the blood discs (500) to the turnover table (140) one by one; the main manipulator (160) conveys the blood trays (500) to the bag picking mechanism (150) one by one from the turnover table (140) for blood bag sorting, and conveys the sorted blood trays (500) to the goods shelf (170) from the bag picking mechanism (150), wherein the sorted blood trays (500) are blood trays (500) containing blood bags of the same type;

In the process of ex-warehouse, the main manipulator (160) takes out the blood disc (500) to be ex-warehouse from the goods shelf (170), conveys the blood disc (500) to the bag picking mechanism (150) for blood bag verification, takes out the blood disc (500) passing verification from the bag picking mechanism (150), conveys the blood disc (500) passing verification to the turnover table (140), and the number and types of blood bags contained in the blood disc (500) passing verification are the same as those of the blood bags set for ex-warehouse.

2. The sortation repository of claim 1, wherein,

In the process of delivery, if a plurality of blood discs (500) to be delivered are delivered, the second transporting mechanism conveys the blood discs (500) passing the verification to the folding mechanism (120) one by one, the folding mechanism (120) stacks the plurality of blood discs (500) passing the verification, and the first transporting mechanism receives the blood discs (500) passing the verification from the folding mechanism (120) and transports the blood discs to the inlet (102).

3. The sortation repository of claim 2, wherein,

The first transportation mechanism comprises a first jacking transfer machine (110), the first jacking transfer machine (110) is provided with a first transfer station and a second transfer station, the first transfer station is in butt joint with an inlet and outlet (102) of the warehouse body (101), and the second transfer station is in butt joint with the folding mechanism (120);

The second transport mechanism comprises a second jacking transfer machine (130), the second jacking transfer machine (130) is provided with a fourth transfer station and a fifth transfer station, the fourth transfer station is in butt joint with the folding mechanism (120), and the fifth transfer station is in butt joint with the turnover table (140).

4. The sorting repository of claim 3, wherein,

A temporary storage table (180) is arranged at the side part of the inlet (102) of the warehouse body (101);

The first jacking transfer machine (110) is provided with a third transfer station, and the third transfer station is in butt joint with the temporary storage station (180).

5. The sorting storage according to any of claims 1 to 4, wherein the bag picking mechanism (150) comprises:

the bag picking frame body (151) is provided with a plurality of sorting stations (1511) in the middle, and the sorting stations (1511) are used for placing the blood discs (500);

The jacking device (152) is arranged below a plurality of sorting stations (1511), and the jacking device (152) comprises a lifting structure which is used for penetrating through the sorting stations (1511) and the blood trays (500) to hold up blood bags to be sorted;

The sorting manipulator (153) is arranged above the sorting station (1511), and the sorting manipulator (153) is used for grabbing the blood bags to be sorted which are supported by the jacking device (152) and placing the blood bags to be sorted on the blood tray (500) corresponding to the sorting station (1511);

The information identification device is used for identifying blood information and position information of the blood bag according to the electronic tag attached to the blood bag;

And the bag picking control device is respectively and electrically connected with the information identification device, the jacking device (152) and the sorting manipulator (153), and is configured to control the actions of the jacking device (152) and the sorting manipulator (153) according to the blood information and the position information.

6. The sorting repository of claim 5, wherein the jacking device (152) further comprises:

And a lateral movement assembly (1524) connected with the lifting structure, the lateral movement assembly (1524) being used for lateral movement of the lifting structure.

7. The sorting repository of any of claims 1 to 4, wherein the main robot (160) comprises:

The blood taking and placing device comprises a base (161), a clamping component and a telescopic component, wherein the clamping component can move telescopically on the base (161) through the telescopic component, the clamping component is used for clamping the blood disc (500), the telescopic component is used for enabling the blood disc (500) to move telescopically on the base (161), and the blood taking and placing device is used for taking and placing the blood disc (500);

And the multi-shaft moving device is connected with the picking and placing device and is used for moving the picking and placing device.

8. The sorting repository of claim 7, wherein the gripping assembly comprises:

A first support plate (1611) movably mounted to a first side of the base (161);

a second support plate (1612) movably mounted on a second side of the base (161);

The push-pull assembly (164) is located between the first support plate (1611) and the second support plate (1612), one end of the push-pull assembly (164) is connected with the first support plate (1611), the other end of the push-pull assembly is connected with the second support plate (1612), and the push-pull assembly (164) is used for driving the first support plate (1611) and the second support plate (1612) to move relatively or reversely.

9. The sorting repository of claim 8, wherein the gripping assembly further comprises:

a first clamping arm (162) which is telescopically arranged on the inner side wall of the first support plate (1611);

A second clamping arm (163) which is telescopically arranged on the inner side wall of the second support plate (1612), wherein the second clamping arm (163) and the first clamping arm (162) can synchronously stretch;

The first clamping arm (162) and the second clamping arm (163) are used for clamping the blood disc (500), and can enable the blood disc (500) to stretch and retract between the first support plate (1611) and the second support plate (1612).