Centrifugal system with automatic sample adding and carrying functions

Abstract

The invention discloses an automatic sample adding and carrying centrifugal system which comprises a storage tank, a sample processing system, a turnover carrying shaft driving module, an in-tank carrying mechanism, a sample carrying mechanism and a control system, and the storage tank comprises a plurality of upper and lower interlayers used for storing sample turnover frames; the sample processing system is provided with a plurality of processing stations; the turnover carrying shaft driving module is integrally arranged on one side of the sample processing system in a horizontal straight line, and an automatic warehouse outlet is formed in one end, close to the storage warehouse, of the turnover carrying shaft driving module; the sample processing system further comprises a primary centrifugal machine and a secondary centrifugal machine which are arranged in the conveying direction of the turnover carrying shaft driving module. The in-warehouse carrying mechanism can carry the sample turnover frame back and forth between the storage warehouse and the automatic warehouse outlet; and the sample carrying mechanism can carry the sample back and forth between the waiting position of the turnover carrying shaft driving module and each processing station of the sample processing system. The device has the beneficial effects that the occupied space is reduced, and secondary centrifugation of the sample is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of biochemical detection devices, and in particular relates to an automatic sample addition and transportation centrifugal system. Background Art

[0002] Centrifuge is a commonly used device in biochemical testing. It uses centrifugal force to separate components in liquid and solid particles or liquid and liquid mixtures. Its operation process involves placing and removing centrifuge tubes. In the prior art, there are automatic centrifuge systems consisting of sample storage equipment and centrifuges to replace manual operation, greatly improving centrifugal efficiency and greatly reducing the possibility of contamination. However, the existing sample storage is designed as a rotating storage, which takes up a lot of space and is not very suitable for occasions with limited space such as hospitals or laboratories; and the existing centrifuge system cannot achieve multiple centrifugation, mostly single centrifugation operation, which can no longer meet the current sample processing requirements. Summary of the invention

[0003] The purpose of the present invention is to provide a centrifugal system for automatic sample loading and handling, which can realize secondary centrifugal operation while reducing the space occupied by the equipment.

[0004] To solve the above problems, one aspect of the present invention provides a centrifugal system for automatic loading and transporting, including a storage warehouse, the storage warehouse includes several upper and lower layers for storing sample turnover racks, and the lower layers are set as manual loading and unloading ports; a sample processing system, having multiple processing stations; a turnover transport shaft drive module, which is horizontally arranged on one side of the sample processing system, and its end close to the storage warehouse is set as an automatic outbound port, which can transport the sample turnover rack at the automatic outbound port to the waiting position of the required material; an in-warehouse transport mechanism, which can transport the sample turnover rack back and forth between the storage warehouse and the automatic outbound port; the sample transport mechanism, which can transport the sample back and forth between the waiting position of the turnover transport shaft drive module and the various processing stations of the sample processing system; a control system, which controls the turnover transport shaft drive module, the in-warehouse transport mechanism, the sample transport mechanism and the sample processing system to coordinate work to complete the sample centrifugation task; the sample processing system includes a primary centrifuge and a secondary centrifuge arranged along the transport direction of the turnover transport shaft drive module.

[0005] The centrifugation system of the present invention has the beneficial effects of reducing the occupied space and realizing the secondary centrifugation of samples. By arranging a handling mechanism in the storage library, the sample turnover rack is transported from the storage library to the automatic outlet, and then through the turnover handling shaft drive module, the sample turnover rack at the automatic outlet is transported to the waiting positions corresponding to different processing stations. Finally, through the sample handling mechanism, the samples are transported from the waiting positions to the required positions in the sample processing system for biochemical processing. Therefore, under the control of the control system, in cooperation with the handling mechanism in the library, the turnover handling shaft drive module and the sample handling mechanism, the on-demand handling of samples can be realized, solving the problem of large occupied space of the rotating library positions in the prior art; moreover, a primary centrifuge and a secondary centrifuge are arranged in the sample processing system, so that the operation of secondary centrifugation of samples can be realized.

[0006] In some embodiments, the handling mechanism in the library includes a Z-axis drive module in the library arranged vertically, an X-axis drive module in the library arranged along the X direction, and a Y-axis drive module in the library arranged along the Y direction. The Y-axis drive module in the library is connected with a supporting plate for lifting the sample turnover rack; the Z-axis drive module in the library drives the X-axis drive module in the library to move in the Z-axis direction, the X-axis drive module in the library drives the Y-axis drive module in the library to move in the X-axis direction, and the Y-axis drive module in the library drives the supporting plate to move in the Y-axis direction.

[0007] Thus, according to the signal of the required sample type sent by the control system, through the linkage of the X, Y, and Z axes, the supporting plate is moved to the vicinity of the compartment of the required sample in the storage library. The supporting plate extends to lift the required sample turnover rack, and then the handling mechanism in the library is started to transport the sample turnover rack to the automatic outlet, waiting for the control system to send a start signal to the turnover handling shaft drive module, so as to facilitate transporting the required sample to the waiting position of the required material.

[0008] In some embodiments, the handling mechanism in the library further includes a rotary shaft drive module in the library connected between the X-axis drive module in the library and the Y-axis drive module in the library. The X-axis drive module in the library drives the rotary shaft drive module in the library to move in the X-axis direction, and the rotary shaft drive module in the library drives the entire Y-axis drive module in the library to rotate.

[0009] Thus, by adding a rotational degree of freedom, the supporting plate can rotate in the X-Y plane, so as to shorten the handling time and improve the efficiency of handling the sample turnover rack.

[0010] In some embodiments, the storage library includes a front storage library and a rear storage library arranged oppositely, and the handling mechanism in the library is arranged between the front storage library and the rear storage library; the automatic outlet is arranged below the rear storage library.

[0011] Therefore, a post-storage library is added, and the storage space of the sample turnover rack is reasonably increased. After the on-site personnel place the sample turnover rack from the manual loading and unloading port, the handling mechanism in the library can move the samples in the pre-storage library to the empty storage positions in the post-storage library.

[0012] In some embodiments, the turnover handling shaft drive module includes a support plate, a power device installed on the support plate, and a moving plate driven by the power device and moving along the length direction of the support plate. A plurality of receiving positions for placing the sample turnover rack are provided on the moving plate; when the moving plate moves to a position close to the post-storage library, the position where the receiving positions are located forms an automatic outbound port.

[0013] Therefore, when a required material taking instruction is obtained, the moving plate resets to the end of the support plate close to the post-storage library, and the handling mechanism in the library takes out one or successively takes out a plurality of sample turnover racks from the storage library and transfers them to the receiving positions on the moving plate, that is, transports them to the automatic outbound port to complete the outbound operation, preparing for the moving plate to transport these sample turnover racks just sent to the automatic outbound port to the required material waiting position.

[0014] In some embodiments, the sample handling mechanism includes a handling rack arranged above the sample processing system, an X-direction guide rail arranged on the handling rack, and a plurality of Y-axis drive components that can move along the X-direction guide rail. One or more Z-axis drive components are connected to each Y-axis drive component, and the Y-axis drive component can drive the Z-axis drive component connected to its respective component to move along the Y-axis direction; the driving end of the Z-axis drive component is connected with a pipette gun, a turnover rack gripper, an open cap rotary gripper, a liquid adding needle or a centrifuge tube rack gripper.

[0015] Therefore, through the combined structure formed by connecting the X-direction guide rail, a plurality of Y-axis drive components, and a plurality of Z-axis drive components, the required materials can be quickly transported to the sample placement rack on the required workbench, facilitating the sample processing system to perform various processes on the materials.

[0016] In some embodiments, four sliders are slidably connected to the X-direction guide rail, and a Y-axis drive component is respectively fixedly connected to each slider, namely a Y1-axis drive component, a Y2-axis drive component, a Y3-axis drive component, and a Y4-axis drive component; the driving end of the Y1-axis drive component is connected with a Z1-axis drive component, the driving end of the Y2-axis drive component is connected with a Z2-1 axis drive component and a Z2-2 axis drive component, the driving end of the Y3-axis drive component is connected with a Z3-1 axis drive component and a Z3-2 axis drive component, and the driving end of the Y4-axis drive component is connected with a Z4-axis drive component.

[0017] Thus, by providing four Y-axis drive components on the X-axis guide rail, one Z-axis drive component respectively provided at the drive ends of the Y1-axis drive component and the Y4-axis drive component, and two Z-axis drive components respectively provided at the drive ends of the Y2-axis drive component and the Y3-axis drive component, it is convenient to meet multiple processing stations on the workbench of the sample processing system.

[0018] In some embodiments, the sample processing system includes a workbench, a blood barcode scanner, a blood vessel tube gripper, a bottom centrifuge tube gripper, a centrifuge tube rotation mechanism, a liquid addition device, a centrifuge tube liquid addition tilting device, a coagulation detection camera, a layering detection camera, a bottom dispensing barcode scanner, a first centrifuge inlet, a second centrifuge inlet, a first centrifuge tube rack placement position near the first centrifuge inlet, and a second centrifuge tube rack placement position near the second centrifuge inlet; the first centrifuge and the second centrifuge are provided under the workbench surface and respectively correspond to the first centrifuge inlet and the second centrifuge inlet.

[0019] Thus, by arranging multiple processing stations on the workbench of the sample processing system, operations such as barcode scanning, lid opening, sampling, medicine addition, first centrifugation, second centrifugation, coagulation detection, centrifugation layering detection, and dispensing can be performed, thereby meeting diverse requirements for sample processing.

[0020] In some embodiments, the workbench is further provided with a centrifuge tube turnover rack position, a blood vessel turnover rack position, a dispensing turnover rack position, a pipette tip turnover rack position, and a pipette discard port; a multi-station turntable is provided on the workbench, and the bottom centrifuge tube grippers are respectively provided at the stations of the multi-station turntable.

[0021] Thus, by means of the multi-station turntable, without changing the position of the liquid addition device, it is only necessary to rotate by an angle to quickly add liquid to the next centrifuge tube, thereby greatly improving the efficiency of adding liquid to the centrifuge tube.

[0022] In some embodiments, the sample turnover rack includes an upper plate, a partition plate, and a bottom plate. Support columns are connected between the upper plate and the partition plate, and the partition plate and the bottom plate are also connected and fixed by support columns. A number of holes for placing tubes are provided on the upper plate and the partition plate. A limit groove is provided on the upper plate, and a positioning hole is provided on the bottom plate; a positioning shaft matching the positioning hole is provided on the supporting plate.

[0023] Thus, through the setting of the turnover rack, it is convenient to store samples during collection. Moreover, during the handling process, the turnover rack can be used as a unit for overall handling, which helps to improve the handling efficiency. For different types of samples, the aperture of the holes and the distance between adjacent plates can be changed, so as to store different types of samples. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The front view of the centrifuge system according to an embodiment of the present invention; Figure 2 isFigure 1 A three-dimensional schematic diagram in which the sample transport mechanism is removed; Figure 3 for Figure 2 A partial enlarged view of the middle A; Figure 4 is a three-dimensional schematic diagram of a sample turnover rack according to another embodiment; Figure 5 is a three-dimensional schematic diagram of a transport mechanism in a warehouse according to another embodiment; Figure 6 It is a three-dimensional schematic diagram of a turnover conveying shaft driving module according to another embodiment; Figure 7 is a three-dimensional schematic diagram of a sample transport mechanism according to another embodiment; Figure 8 A top view of a sample processing system according to another embodiment.

[0025] In the figure: 1. Storage warehouse; 11. Manual loading and unloading port; 12. Storage warehouse before; 13. Storage warehouse after; 14. Photoelectric sensor; 15. Indicator light; 2. Sample processing system; 201. Primary centrifuge; 202. Secondary centrifuge; 203. Workbench; 204. Blood barcode scanner; 205. Blood vessel body clamp; 206. Bottom centrifuge tube clamp; 207. Centrifuge tube rotating mechanism; 208. Liquid adding device; 209. Centrifuge tube liquid adding tilting device; 210. Coagulation Detection camera; 211, layered detection camera; 212, subpackaging bottom barcode scanner; 213, first centrifugal inlet; 214, second centrifugal inlet; 215, first centrifugal tube rack placement; 216, second centrifugal tube rack placement; 217, centrifuge tube turnover rack; 218, blood vessel turnover rack; 219, subpackaging turnover rack; 220, pipette nozzle turnover rack; 221, pipette discard port; 222, multi-station turntable; 223, centrifuge tube transfer and handling axis; 3. Turnover handling axis drive module; 31. Automatic outbound port; 32. Support plate; 33. Moving plate; 331. Acceptance position; 34. Motor; 35. Synchronous belt; 4. In-warehouse handling mechanism; 41. In-warehouse Z-axis drive module; 42. In-warehouse X-axis drive module; 43. In-warehouse Y-axis drive module; 44. Support plate; 45. In-warehouse rotating axis drive module; 5. Sample handling mechanism; 51. Handling rack; 52. X-guide rail; 53. Y1-axis drive assembly; 53 1. Z1 axis drive assembly; 54. Y2 axis drive assembly; 541. Z2-1 axis drive assembly; 542. Z2-2 axis drive assembly; 55. Y3 axis drive assembly; 551. Z3-1 axis drive assembly; 552. Z3-2 axis drive assembly; 56. Y4 axis drive assembly; 561. Z4 axis drive assembly; 6. Sample turnover rack; 61. Upper plate; 611. Limiting groove; 62. Partition plate; 63. Bottom plate; 631. Positioning hole; 64. Support column. Detailed implementation manners

[0026] The present invention will be further described in detail below with reference to the accompanying drawings.

[0027] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. The terms "comprise", "include", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] Figure 1 Schematically shows a centrifugal system for automatic sample loading and handling according to an embodiment of the present invention. As Figure 1 and Figure 2 shown, the centrifugal system includes a storage repository 1, a sample processing system, a turnover handling shaft drive module 3, an in-repository handling mechanism 4, a sample handling mechanism 5, and a control system. Among them, the storage repository 1 includes several upper and lower compartments for storing sample turnover racks 6. A number of storage positions are arranged side by side in each compartment at each height, and one sample turnover rack 6 can be placed on each storage position. Several compartments at the lower position are set as manual loading and unloading ports 11; the sample processing system has multiple processing stations for biochemical step processing of samples; the turnover handling shaft drive module 3 is arranged in a horizontal straight line on one side of the sample processing system, and one end thereof close to the storage repository 1 is set as an automatic out-of-repository port 31, which can convey the sample turnover rack 6 at the automatic out-of-repository port 31 to the waiting position for the required materials. The sample processing system also includes a primary centrifuge 201 and a secondary centrifuge 202 arranged along the conveying direction of the turnover handling shaft drive module 3; the in-repository handling mechanism 4 can move the sample turnover rack 6 back and forth between the storage repository 1 and the automatic out-of-repository port 31; the sample handling mechanism 5 can move the sample back and forth between the waiting position of the turnover handling shaft drive module 3 and each processing station of the sample processing system; the control system controls the turnover handling shaft drive module 3, the in-repository handling mechanism 4, the sample handling mechanism 5, and the sample processing system to work in coordination to complete the sample centrifugation task.

[0029] The centrifugal system of the present invention has the beneficial effects of reducing the occupied space and realizing the secondary centrifugation of samples. By arranging a handling mechanism 4 in the storage repository 1, the sample turnover rack 6 is transported from the storage repository 1 to the automatic outlet 31, and then through the turnover handling shaft drive module 3, the sample turnover rack 6 at the automatic outlet 31 is transported to the waiting positions corresponding to different processing stations. Finally, through the sample handling mechanism 5, the sample is transported from the waiting position to the required station in the sample processing system for biochemical processing. Therefore, under the control of the control system, in cooperation with the handling mechanism 4 in the repository, the turnover handling shaft drive module 3, and the sample handling mechanism 5, the on-demand handling of samples can be realized, solving the problem of large occupied space of the rotating storage positions in the prior art. Moreover, a primary centrifuge 201 and a secondary centrifuge 202 are arranged in the sample processing system, so that the operation of secondary centrifugation of samples can be realized. It can be understood that after the sample is processed at the required processing stations of the sample processing system, it is transported back to the manual loading and unloading port 11 in the reverse direction through the sample handling mechanism 5, the turnover handling shaft drive module 3, and the handling mechanism 4 in the repository, realizing the return along the original path.

[0030] In this embodiment, as Figure 3 shown, each storage position of the storage repository 1 is equipped with a photoelectric sensor 14 and an indicator light. These photoelectric sensors 14 and indicator lights are electrically connected to the lower computer of the control system, used to indicate the state of the storage position, and also convenient for manual identification of unprocessed samples or processed samples.

[0031] As Figure 4 shown, the sample turnover rack 6 includes an upper plate 61, a partition plate 62, and a bottom plate 63. A support column 64 is connected between the upper plate 61 and the partition plate 62, and the partition plate 62 and the bottom plate 63 are also connected and fixed by the support column 64. A number of holes for placing tubes are provided on the upper plate 61 and the partition plate 62. A limit groove 611 is provided on the upper plate 61, and a positioning hole 631 is provided on the bottom plate 63. Through the setting of the turnover rack, it is convenient to store samples during collection, and during the handling process, the whole turnover rack can be used as a unit to realize overall handling, helping to improve the handling efficiency. For different types of samples, the aperture of the holes and the distance between adjacent plates can be designed and changed to store different types of samples. In a specific embodiment, as Figure 5As shown in the figure, the in-library handling mechanism 4 includes a vertically arranged in-library Z-axis drive module 41, an in-library X-axis drive module 42 arranged along the X direction, and an in-library Y-axis drive module 43 arranged along the Y direction. The in-library Y-axis drive module 43 is connected with a support plate 44 for lifting the sample turnover rack 6. The in-library Z-axis drive module 41 drives the in-library X-axis drive module 42 to move in the Z-axis direction, the in-library X-axis drive module 42 drives the in-library Y-axis drive module 43 to move in the X-axis direction, and the in-library Y-axis drive module 43 drives the support plate 44 to move in the Y-axis direction. A positioning shaft matching with the positioning hole 631 is arranged on the support plate 44, which is used to limit and fix the sample turnover rack 6 to prevent the sample turnover rack 6 from shifting. Thus, according to the signal of the required sample type sent by the control system, through the linkage of the X, Y, and Z axes, the support plate 44 is moved to the vicinity of the layer of the required sample in the storage library 1. The support plate 44 extends to lift the required sample turnover rack 6, and then the in-library handling mechanism 4 is started to transport the sample turnover rack 6 to the automatic out-of-library port 31, waiting for the control system to send a start signal to the turnover handling shaft drive module 3, which is convenient for transporting the required sample to the waiting position of the required material.

[0032] In another embodiment, as Figure 2 shown, the storage library 1 includes a storage front library 12 and a storage rear library 13 arranged oppositely. The in-library handling mechanism 4 is arranged between the storage front library 12 and the storage rear library 13. The automatic out-of-library port 31 is arranged below the storage rear library 13. A hinge door is arranged on the storage front library 12. After being manually opened, loading or unloading is carried out from the manual loading and unloading port 11. In this way, after the on-site personnel put the sample turnover rack 6 into the manual loading and unloading port 11, the in-library handling mechanism 4 can transport the samples in the storage front library 12 to the empty storage positions in the storage rear library 13, reasonably increasing the storage space of the sample turnover rack 6.

[0033] As a preferred embodiment, as Figure 5 shown, the in-library handling mechanism 4 further includes an in-library rotating shaft drive module 45. The in-library rotating shaft drive module 45 is connected between the in-library X-axis drive module 42 and the in-library Y-axis drive module 43. The in-library X-axis drive module 42 can drive the in-library rotating shaft drive module 45 and the in-library Y-axis drive module 43 to move together in the X-axis direction, and the in-library rotating shaft drive module 45 drives the in-library Y-axis drive module 43 to rotate as a whole. In this way, an additional degree of rotational freedom is added, enabling the support plate 44 to rotate in the X-Y plane. For example, after the support plate 44 of the in-library handling mechanism 4 takes out a sample turnover rack 6 from the storage position in the storage front library 12, it directly rotates 180° and then continues to transport it to the automatic out-of-library port 31, thus greatly shortening the handling time and improving the efficiency of handling the sample turnover rack 6. In this embodiment, the linear drive method selects the rack and gear drive. Of course, other methods such as pneumatic drive, lead screw / ball screw drive, etc. can also be selected.

[0034] AsFigure 6 As shown, the turnover and handling shaft drive module 3 includes a support plate 32, a power device installed on the support plate 32, and a moving plate 33 driven by the power device and moving along the length direction of the support plate 32. A plurality of receiving positions 331 are provided on the moving plate 33. When the moving plate 33 moves to a position close to the storage rear warehouse 13, the position where the receiving positions 331 are located forms an automatic outbound port 31. The sample turnover racks 6 carried out by the in-warehouse handling mechanism 4 are all transported to this automatic outbound port 31. In this embodiment, the power device can be a motor, a pulley power-connected to the motor, and a synchronous belt cooperating with the pulley. A slider is connected to the moving plate 33, and the slider is slidably connected to a guide rail (obscured in the figure). The moving plate 33 moves together with the synchronous belt, and two receiving positions 331 for temporarily storing the sample turnover racks 6 are provided on the moving plate 33. Thus, when receiving an instruction for required material taking sent by the host computer, the moving plate 33 resets to the end ( Figure 6 the left end shown in the figure) of the support plate 32 close to the storage rear warehouse 13. The in-warehouse handling mechanism 4 takes out one or successively takes out a plurality of sample turnover racks 6 from the storage warehouse 1 and transfers them to the receiving positions 331 on the moving plate 33, that is, transports them to the automatic outbound port 31 to complete the outbound process, preparing for the moving plate 33 to transport these sample turnover racks 6 just sent to the automatic outbound port 31 to the required material waiting position.

[0035] As Figure 7 shown, in this embodiment, the sample handling mechanism 5 includes a handling machine frame 51 provided above the sample processing system, an X-direction guide rail 52 provided on the handling machine frame 51, and a plurality of Y-axis drive components movable along the X-direction guide rail 52. One or more Z-axis drive components are connected to each Y-axis drive component, and the Y-axis drive component can drive the Z-axis drive component connected to its respective component to move along the Y-axis direction; the drive end of the Z-axis drive component is connected with a pipette, a turnover rack gripper, an open cap rotary gripper, a liquid adding needle or a centrifuge tube rack gripper. Thus, through the combined structure formed by connecting the X-direction guide rail 52, a plurality of Y-axis drive components, and a plurality of Z-axis drive components, the required material can be quickly transported to the sample placement rack of the required workbench 203, facilitating the sample processing system to perform various processes on the material.

[0036] In a specific embodiment, four sliders are slidably connected to the X-direction guide rail 52, and each slider can move independently. A Y-axis driving component is fixedly connected to each slider, namely the Y1-axis driving component 53, the Y2-axis driving component 54, the Y3-axis driving component 55, and the Y4-axis driving component 56. The driving end of the Y1-axis driving component 53 is connected to the Z1-axis driving component 531, the driving end of the Y2-axis driving component 54 is connected to the Z2-1 axis driving component 541 and the Z2-2 axis driving component 542, the driving end of the Y3-axis driving component 55 is connected to the Z3-1 axis driving component 551 and the Z3-2 axis driving component 552, and the driving end of the Y4-axis driving component 56 is connected to the Z4-axis driving component 561. In this way, through the four Y-axis driving components arranged on the X-direction guide rail 52, one Z-axis driving component respectively arranged at the driving ends of the Y1-axis driving component 53 and the Y4-axis driving component 56, and two Z-axis driving components respectively arranged at the driving ends of the Y2-axis driving component 54 and the Y3-axis driving component 55, it is convenient to meet multiple processing stations on the workbench 203 of the sample processing system. For example, through the sample handling mechanism 5, the sample can be transported to different stations such as code scanning, sampling, opening the lid, centrifugation, and sub-packaging. More specifically, the driving methods of the Y1-axis driving component 53 and the Y4-axis driving component 56 are linear guide rail guiding and servo motor gear rack driving, and single-slider movement is set on both of them; the driving methods of the Y2-axis driving component 54 and the Y3-axis driving component 55 are also linear guide rail guiding and servo motor gear rack driving, and two sliders are respectively arranged on both of them, and each slider can move independently.

[0037] In another specific embodiment, as Figure 8 shown, the sample processing system includes a workbench 203, a blood code scanning gun 204 arranged on the surface of the workbench 203, a blood vessel tube gripper 205, a bottom centrifuge tube gripper 206, a centrifuge tube rotating mechanism 207, a liquid adding device 208, a centrifuge tube liquid adding tilting device 209, a coagulation detection camera 210, a layering detection camera 211, a sub-packaging bottom code scanning gun 212, a first centrifuge inlet 213, a second centrifuge inlet 214, a first centrifuge tube rack placement position 215 near the first centrifuge inlet 213, and a second centrifuge tube rack placement position 216 near the second centrifuge inlet 214. Before the first centrifugation, the centrifuge tube rack transported by the sample handling mechanism 5 is first placed in the first centrifuge tube rack placement position 215 and waits, and then the centrifuge tube rack after the first centrifugation process is placed in the second centrifuge tube rack placement position 216 and waits for the second centrifugation process. The first centrifuge and the second centrifuge are arranged under the surface of the workbench 203 and respectively correspond to the first centrifuge inlet 213 and the second centrifuge inlet 214. Thus, by arranging multiple processing stations on the workbench 203 of the sample processing system, operations such as code scanning, opening the lid, sampling, adding medicine, the first centrifugation, the second centrifugation, coagulation detection, centrifugation layering detection, and sub-packaging can be carried out, thereby meeting the diverse requirements for sample processing.

[0038] As a preferred embodiment, a centrifuge tube turnover rack position 217, a blood vessel turnover rack position 218, a dispensing turnover rack position 219, a pipette tip turnover rack position 220 and a pipette discard port 221 are further provided on the workbench 203; a multi-station turntable 222 is provided on the workbench 203, and the bottom centrifuge tube grippers 206 are respectively arranged at the stations of the multi-station turntable 222. In this way, through the multi-station turntable 222, without changing the position of the liquid adding device 208, only by rotating an angle can the liquid be quickly added to the next centrifuge tube, thus greatly improving the efficiency of adding liquid to the centrifuge tube. To further improve the processing beat, multiple multi-station turntables 222 can be arranged on the workbench 203 to meet the overall operation efficiency requirements. Preferably, a centrifuge tube transfer and handling shaft 223 is further provided on the workbench 203 to facilitate the handling of centrifuge tubes between the first centrifugation and the second centrifugation.

[0039] When corresponding to an actual production scenario, the Z1-axis drive assembly 531 is installed on the Y1-axis drive assembly 53, and is configured with a sample turnover rack 6 gripper, a pipette, an open cap rotating gripper, a liquid adding needle, and each group can be lifted independently. In addition, a liquid medicine bottle and a peristaltic pump are configured; the Z2-1 axis drive assembly 541 is installed on the Y2-axis drive assembly 54, and is configured with a sample turnover rack 6 gripper, an open cap rotating gripper, a liquid adding needle, and each group can be lifted independently; the Z2-2 axis drive assembly 542 is installed on the Y2-axis drive assembly 54, and is configured with a centrifuge tube rack gripper; the Z3-1 axis drive assembly 551 is installed on the Y3-axis drive assembly 55, and is configured with a sample turnover rack 6 gripper, an open cap rotating gripper, a liquid adding needle, and each group can be lifted independently. In addition, a liquid medicine bottle and a peristaltic pump are configured; the Z3-2 axis drive assembly 552 is installed on the Y3-axis drive assembly 55, and is configured with a centrifuge tube rack gripper; the Z4-axis drive assembly 561 is installed on the Y4-axis drive assembly 56, and is configured with a sample turnover rack 6 gripper, a pipette, an open cap rotating gripper, and each group can be lifted independently.

[0040] The working process of the centrifuge system of the present invention is as follows: (1) Manually place the sample turnover rack 6 into the storage library 1, and then close the hinge door; (2) The in-library handling mechanism 4 transports the newly placed sample turnover rack 6 to the empty library position of the storage library 1; (3) The host computer issues a required material taking instruction; (4) The in-library handling mechanism 4 transports the required sample turnover rack 6 to the turnover handling shaft drive module 3 at the automatic out-library port 31; (5) The turnover handling shaft drive module 3 transports the required sample turnover rack 6 to the required material waiting position; (6) The sample handling mechanism 5 moves to the required material waiting position, grabs the required sample turnover rack 6, and then transports it to the sample placement rack of the required workbench 203; After all the samples on the workbench 203 are in place, the following operations are then carried out: scanning the code, opening the lid, sampling, adding medicine, the first centrifugation, the second centrifugation, coagulation detection, centrifugal stratification detection, aliquoting, etc.; The pipette tips are automatically discarded, and the blood tube turnover rack, the centrifuge tube turnover rack, and the aliquoting turnover rack return to the storage library 1 along the original path and are taken out manually; (9) Repeat the above process.

[0041] The above are only some embodiments of the present invention. For those of ordinary skill in the art, without departing from the inventive concept of the present invention, several deformations and improvements can still be made. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A centrifugal system for automatic sample loading and handling, characterized in that: include: The storage warehouse includes several upper and lower layers of compartments for storing sample turnover racks, and several lower layers of the compartments are provided with manual loading and unloading ports; A sample processing system with multiple processing stations; The turnover conveying shaft driving module is arranged in a horizontal straight line on one side of the sample processing system, and one end of the module close to the storage warehouse is set as an automatic outbound port, which can transport the sample turnover rack at the automatic outbound port to the waiting position for the required materials; The in-warehouse transport mechanism can transport the sample turnover rack back and forth between the storage warehouse and the automatic warehouse exit; A sample transport mechanism capable of transporting samples back and forth between the waiting position of the turnover transport shaft drive module and each processing station of the sample processing system; A control system controls the turnover transport shaft drive module, the in-library transport mechanism, the sample transport mechanism and the sample processing system to coordinate and complete the sample centrifugation task; The sample processing system comprises a primary centrifuge and a secondary centrifuge arranged along the conveying direction of the turnover conveying shaft driving module.

2. The automatic sample loading and handling centrifuge system according to claim 1, characterized in that: The in-store transport mechanism comprises an in-store Z-axis drive module arranged vertically, an in-store X-axis drive module arranged along the X direction, and an in-store Y-axis drive module arranged along the Y direction, wherein the in-store Y-axis drive module is connected to a support plate for lifting the sample turnover rack; The Z-axis driving module in the library drives the X-axis driving module in the library to move in the Z-axis direction, the X-axis driving module in the library drives the Y-axis driving module in the library to move in the X-axis direction, and the Y-axis driving module in the library drives the supporting plate to move in the Y-axis direction.

3. The automatic sample loading and handling centrifugal system according to claim 2, characterized in that: The in-store transport mechanism also includes an in-store rotating axis driving module connected between the in-store X-axis driving module and the in-store Y-axis driving module. The in-store X-axis driving module drives the in-store rotating axis driving module to move in the X-axis direction, and the in-store rotating axis driving module drives the in-store Y-axis driving module to rotate as a whole.

4. The automatic sample loading and handling centrifugal system according to claim 2, characterized in that: The storage warehouse comprises a front storage warehouse and a rear storage warehouse which are arranged opposite to each other, the in-warehouse transport mechanism is arranged between the front storage warehouse and the rear storage warehouse; the automatic warehouse exit is arranged below the rear storage warehouse.

5. The automatic sample loading and handling centrifugal system according to claim 4, characterized in that: The turnover transport axis driving module includes a support plate, a power device installed on the support plate, and a movable plate driven by the power device and moving along the length direction of the support plate, and the movable plate is provided with a plurality of receiving positions for temporarily storing sample turnover racks; when the movable plate moves to a position close to the storage warehouse, the position of the receiving position forms an automatic warehouse exit.

6. The automatic sample loading and handling centrifuge system according to any one of claims 1 to 5, characterized in that: The sample transport mechanism includes a transport rack arranged above the sample processing system, an X-guide rail arranged on the transport rack, and multiple Y-axis drive components that can move along the X-guide rail, each of the Y-axis drive components is connected to one or more Z-axis drive components, and the Y-axis drive components can drive the Z-axis drive components connected to their respective components to move along the Y-axis direction; the driving end of the Z-axis drive component is connected to a pipette gun, a turnover rack clamp, a cover opening rotating clamp, a liquid adding needle or a centrifuge tube rack clamp.

7. The automatic sample loading and handling centrifuge system according to claim 6, characterized in that: Four sliders are slidably connected to the X-guide rail, and each slider is fixedly connected to one of the Y-axis drive components, namely, a Y1-axis drive component, a Y2-axis drive component, a Y3-axis drive component, and a Y4-axis drive component; The driving end of the Y1-axis driving assembly is connected to the Z1-axis driving assembly, the driving end of the Y2-axis driving assembly is connected to the Z2-1-axis driving assembly and the Z2-2-axis driving assembly, the driving end of the Y3-axis driving assembly is connected to the Z3-1-axis driving assembly and the Z3-2-axis driving assembly, and the driving end of the Y4-axis driving assembly is connected to the Z4-axis driving assembly.

8. The automatic sample loading and handling centrifuge system according to any one of claims 1 to 5, characterized in that: The sample processing system includes a workbench, a blood barcode scanning gun arranged on the workbench, a blood vessel body clamp, a bottom centrifuge tube clamp, a centrifuge tube rotating mechanism, a liquid adding device, a centrifuge tube liquid adding tilting device, a coagulation detection camera, a layered detection camera, a subpackaging bottom barcode scanning gun, a first centrifuge inlet, a second centrifuge inlet, a first centrifuge tube rack placement position near the first centrifuge inlet, and a second centrifuge tube rack placement position near the second centrifuge inlet; The first centrifuge and the second centrifuge are arranged under the work surface, corresponding to the first centrifugal inlet and the second centrifugal inlet respectively.

9. The automatic sample loading and handling centrifuge system according to claim 8, characterized in that: The workbench is also provided with a centrifuge tube turnover rack, a blood vessel turnover rack, a subpackaging turnover rack, a pipette nozzle turnover rack and a pipette discard port; The workbench is provided with a multi-station turntable, and the bottom centrifuge tube clamps are respectively arranged on the stations of the multi-station turntable.

10. The automatic sample loading and handling centrifuge system according to claim 2, characterized in that: The sample turnover rack includes an upper plate, a partition and a bottom plate. A support column is connected between the upper plate and the partition, and the partition and the bottom plate are also connected and fixed by the support column. The upper plate and the partition are provided with a plurality of holes for placing the tube body. The upper plate is provided with a limiting groove, and the bottom plate is provided with a positioning hole; the support plate is provided with a positioning shaft that cooperates with the positioning hole.

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