Vacuum blood collection tube labeling machine and conveying and labeling method for vacuum blood collection tube

1. A vacuum blood collection tube labeling machine comprising:

a loading part for a vacuum blood collection tube comprising a plurality of loading slideways disposed in parallel, wherein each of the loading slideways comprises an inclined segment and a horizontal segment extending forward from a bottom end of the inclined segment;

a label printing part comprising a label printer and a output channel for the vacuum blood collection tube connected to the label printer; and

a robotic arm used for grabbing and lifting up a vacuum blood collection tube located on the horizontal segment and transferring the vacuum blood collection tube to the label printer, wherein the robotic arm comprises a grabbing mechanism and a movement control assembly for driving the grabbing mechanism;

wherein the loading part for the vacuum blood collection tube further comprises a loading funnel slidably disposed at top ends of the loading slideways, the loading funnel is capable of sliding in a width direction of all the loading slideways and in a length direction of each loading slideway; and a loading port of the loading funnel is parallel to the loading slideways, a top opening of the loading port is wider than a bottom opening of the loading port, and the width of the bottom opening is greater than the diameter of a cap of a vacuum blood collection tube.

2. The vacuum blood collection tube labeling machine according to claim 1 , characterized in that the grabbing mechanism comprises a driving motor, a worm-and-gear mechanism, and two grabbing fingers for grabbing the vacuum blood collection tube, a worm in the worm-and-gear mechanism is connected to the driving motor, and a worm gear in the worm-and-gear mechanism is connected to the two grabbing fingers in a transmission manner.

3. The vacuum blood collection tube labeling machine according to claim 2 , characterized in that the worm gear is connected to the two grabbing fingers through a rack-and-pinion structure, a pinion in the rack-and-pinion structure is coaxially connected to the worm gear and rotates with the worm gear, the rack-and-pinion structure comprises two racks, the two grabbing fingers are connected to two sliding arms, the two sliding arms are respectively disposed on both sides of the pinion, and one sliding arm is connected to one rack.

4. The vacuum blood collection tube labeling machine according to claim 2 , characterized in that the grabbing mechanism further comprises a housing for accommodating the worm-and-gear mechanism, the two grabbing fingers extend out from the housing, and the driving motor is fixed on an outer wall of the housing.

5. The vacuum blood collection tube labeling machine according to claim 1 , characterized in that the vacuum blood collection tube labeling machine further comprises a lifting frame for the vacuum blood collection tube disposed on one side of the output channel for the vacuum blood collection tube, the lifting frame for the vacuum blood collection tube comprises a tray for the vacuum blood collection tube, a lifting mechanism, and a output port for the vacuum blood collection tube disposed at the top of the lifting frame for the vacuum blood collection tube, and the tray for the vacuum blood collection tube is connected to the lifting mechanism and moves up and down driven by the lifting mechanism.

6. The vacuum blood collection tube labeling machine according to claim 1 , characterized in that the loading part for the vacuum blood collection tube further comprises a locating plate for the vacuum blood collection tube spanning above the bottom ends of the inclined segments of all the loading slideways.

7. The vacuum blood collection tube labeling machine according to claim 6 , characterized in that a surface of the locating plate for the vacuum blood collection tube is parallel to an inclined surface of the loading slideways, and fixing slots for the vacuum blood collection tube in one-to-one correspondence with all the loading slideways are provided on one side of the locating plate for the vacuum blood collection tube towards the horizontal segment.

8. The vacuum blood collection tube labeling machine according to claim 1 , characterized in that a color recognizer for detecting the color of a cap on the vacuum blood collection tube is provided on the grabbing mechanism.

9. The vacuum blood collection tube labeling machine according to claim 1 , characterized in that the movement control assembly comprises a horizontal guide rail disposed horizontally and a vertical guide rail slidable along the horizontal guide rail, and the grabbing mechanism is slidably disposed on the vertical guide rail.

10. The vacuum blood collection tube labeling machine according to claim 1 , characterized in that the output channel for the vacuum blood collection tube is an inclined channel with a tilt angle of 15° to 60°.

11. The vacuum blood collection tube labeling machine according to claim 1 , characterized in that a tilt angle of the inclined segment of each loading slideway is 10° to 50°.