Batching device for a blood testing machine

Abstract

This invention relates to a dispensing device for a blood testing machine, comprising a capping mechanism, a flipping mechanism, a settling mechanism, a cap removal and barcode scanning mechanism, a pipette tip positioning mechanism, a sample transport mechanism, a reagent bottle positioning mechanism, and a reagent feeding mechanism. The capping mechanism opens the reagent tube; the flipping mechanism grips and flips the reagent tube or blood collection tube; the settling mechanism holds the blood collection tube and reagent tube in place; the cap removal and barcode scanning mechanism grips the blood collection tube, scans the barcode on the tube, and opens the tube; the pipette tip positioning mechanism positions the pipette tip; the sample transport mechanism positions the test cup; the reagent bottle positioning mechanism positions the reagent bottle; and the reagent feeding mechanism places and moves the reagent bottle. Compared with existing technologies, this invention automates the dispensing process, making the entire dispensing process simpler and faster, and reducing manual intervention.

Description

Technical Field

[0001] This invention relates to a dispensing device for a blood testing machine, belonging to the field of medical device technology. Background Technology

[0002] The basic steps of blood testing are: 1. Specimen collection: Clinical nurses draw venous blood from patients; 2. Specimen transportation: Blood is immediately sent to the clinical laboratory after collection; 3. Specimen reception and processing: The laboratory adds the necessary reagents to the specimen; 4. Specimen testing and preservation. The specimen processing involves opening blood collection tubes, opening and turning reagent tubes, allowing them to stand, and adding reagents. The process is quite complex, and human error can easily lead to incorrect or missed reagent additions, resulting in abnormal test results. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an automated dispensing device for a blood testing machine.

[0004] To achieve the objective, the technical solution adopted by this invention is:

[0005] The blood testing machine's dispensing device includes a capping mechanism, a flipping mechanism, a settling mechanism, a cap removal and barcode scanning mechanism, a pipette tip positioning mechanism, a sample transport mechanism, a reagent bottle positioning mechanism, and a reagent supply mechanism. The capping mechanism grips the reagent tube and opens it; the flipping mechanism grips the reagent tube or blood collection tube and flips it; the settling mechanism is used to set the blood collection tube and reagent tube still; the cap removal and barcode scanning mechanism grips the blood collection tube, scans the barcode on it, and opens it; the pipette tip positioning mechanism is used to place the pipette tip; the sample transport mechanism is used to position the test cup; the reagent bottle positioning mechanism is used to position the reagent bottle; and the reagent supply mechanism is used to place and move the reagent bottle.

[0006] As a further optimization of the above technical solution: the capping mechanism includes a capping back plate, the top of the capping back plate is provided with a first dispensing rotation mechanism for capping, the bottom of the first dispensing rotation mechanism is connected to a first electric gripper for gripping the reagent tube cap, the first electric gripper is equipped with a reagent tube cap gripping finger, and the reagent tube cap gripping finger is provided with a cap groove.

[0007] As a further optimization of the above technical solution: a height adjustment device is provided on the capping back plate, the height adjustment device is connected to a second electric gripper for gripping the reagent tube body, the second electric gripper is equipped with a reagent tube body gripping finger, the reagent tube body gripping finger is provided with a fixing groove, the reagent tube body gripping finger is located directly below the reagent tube cap gripping finger, the first dispensing rotation mechanism includes a dispensing rotation motor, the dispensing rotation motor drives the reagent tube cap gripping finger and the tube cap of the reagent tube to rotate, the height adjustment device includes a first drive mechanism, the first drive mechanism drives the reagent tube body gripping finger and the tube body of the reagent tube to move up and down.

[0008] As a further optimization of the above technical solution: the height adjustment device includes a guide slide rail fixed to the front of the screw cap back plate, a guide slider is provided on the guide slide rail, and the second electric gripper is connected to the guide slider.

[0009] As a further optimization of the above technical solution: the height adjustment device further includes a reagent tube guide block fixed on the back of the screw cap back plate, and a height adjustment slider is provided on the reagent tube guide block. The height adjustment slider is driven by the first driving mechanism and can move along the reagent tube guide block.

[0010] As a further optimization of the above technical solution: the bottom of the height adjustment slider is connected to a U-shaped connecting plate, and the bottom of the screw cap back plate is provided with two limiting grooves. The opening of the U-shaped connecting plate passes through the limiting grooves and is connected to the guide slider.

[0011] As a further optimization of the above technical solution: the first driving mechanism is any one of the following: hydraulic cylinder, pneumatic cylinder, lead screw transmission mechanism, synchronous pulley transmission mechanism, chain transmission mechanism, or composite transmission mechanism.

[0012] As a further optimization of the above technical solution: the lead screw transmission mechanism includes a first lead screw and a first motor. The first lead screw includes a first screw rod and a first nut that is threadedly engaged with the first screw rod. The first screw rod is connected to the rotating shaft of the first motor through a coupling. A first sensing rod is fixed on the height adjustment slider and is connected to the first nut. A first cavity for installing the lead screw transmission mechanism is formed inside the reagent tube guide block, wherein the first lead screw is located in the first cavity. The first motor is installed on the reagent tube guide block or the frame of the blood testing machine. A first sliding hole is formed on the reagent tube guide block, which communicates with the first cavity. The first sensing rod passes through the first sliding hole and is connected to the first nut.

[0013] As a further optimization of the above technical solution: the synchronous pulley transmission mechanism includes a second motor, a first transmission shaft, and a second transmission shaft. The first transmission shaft is connected to the rotating shaft of the second motor, and the two are arranged in the same direction. The second transmission shaft is arranged parallel to the first transmission shaft. A first synchronous pulley is provided on both the first and second transmission shafts. A first belt is sleeved between the two first synchronous pulleys. A first connecting block is fixed on the first belt. A second sensing rod is fixed on the height adjustment slider. The second sensing rod is connected to the first connecting block. A reagent tube transmission block is installed at one end of the reagent tube guide block. The synchronous pulley transmission mechanism is installed in the reagent tube transmission block and the reagent tube guide block. The first transmission shaft is located in the reagent tube transmission block. The second motor is installed on the reagent tube transmission block and is arranged perpendicular to the reagent tube guide block or installed on the frame of the blood testing machine. A second cavity is formed in the reagent tube guide block. The second transmission shaft is located at the end of the second cavity away from the reagent tube transmission block. A second sliding hole is also formed in the reagent tube guide block. The second sliding hole communicates with the second cavity. The second sensing rod passes through the second sliding hole and is connected to the first connecting block.

[0014] As a further optimization of the above technical solution: the chain drive mechanism includes a third motor, a first gear, and a second gear. The gear shaft of the first gear is connected to the rotating shaft of the third motor, and both are arranged in the same direction. The gear shaft of the second gear is parallel to the gear shaft of the first gear. A chain is sleeved between the gear discs of the first gear and the gear discs of the second gear. A second connecting block is fixed on the chain. A third sensing rod is fixed on the height adjustment slider, and the third sensing rod is connected to the second connecting block. A reagent tube drive block is installed at one end of the reagent tube guide block. The chain drive mechanism is installed in the reagent tube drive block and the reagent tube guide block, wherein the first gear is disposed in the reagent tube drive block, the third motor is mounted on the reagent tube drive block and is disposed perpendicular to the reagent tube guide block or mounted on the frame of the blood testing machine, the reagent tube guide block has a third cavity, the second gear is located at the end of the third cavity away from the reagent tube drive block, the reagent tube guide block also has a third sliding hole, the third sliding hole communicates with the third cavity, and the third sensing rod passes through the third sliding hole and is connected to the second connecting block.

[0015] As a further optimization of the above technical solution: the composite transmission mechanism includes a fourth motor, a second lead screw, a third transmission shaft, and a fourth transmission shaft. The second lead screw includes a second screw rod and a second nut threadedly engaged with the second screw rod. The third transmission shaft is connected to the rotating shaft inside the fourth motor, and the fourth transmission shaft is connected to the second screw rod. A second synchronous pulley is provided on both the third and fourth transmission shafts, and a second belt is sleeved between the two second synchronous pulleys. A fourth sensing rod is fixed on the height adjustment slider, and the fourth sensing rod is connected to the second nut. The reagent tube guide block... A reagent tube drive block is installed on the upper part of the device. The composite transmission mechanism is installed in the reagent tube drive block and the reagent tube guide block. The third and fourth drive shafts are located in the reagent tube drive block. A fourth cavity is formed in the reagent tube guide block. The second lead screw is located in the fourth cavity. The fourth motor is installed on the reagent tube drive block and is set parallel to the reagent tube guide block or installed on the frame of the blood testing machine. A fourth sliding hole is formed on the reagent tube guide block. The fourth sliding hole communicates with the fourth cavity. The fourth sensing rod passes through the fourth sliding hole and is connected to the second nut.

[0016] As a further optimization of the above technical solution: a first limit sensor, a first origin sensor and a second limit sensor are installed on the reagent tube guide block. The first limit sensor and the second limit sensor are respectively fixed at both ends of one side of the reagent tube guide block, and the first origin sensor is located between the first limit sensor and the second limit sensor.

[0017] As a further optimization of the above technical solution: the flipping mechanism includes a support plate, the upper part of which is provided with a flipping hole, and a finger-clamping shaft is provided in the flipping hole. One end of the finger-clamping shaft is connected to a third electric gripper, and the other end is connected to the motor shaft of the flipping motor. A flipping gripper is installed on the third electric gripper. The flipping gripper has a small gripping notch and a large gripping notch. The small gripping notch is used to grip the reagent tube, and the large gripping notch is used to grip the blood collection tube. The flipping motor drives the flipping gripper to flip.

[0018] As a further optimization of the above technical solution: the settling mechanism includes a settling fixture and several settling sensors. The settling fixture is provided with several reagent tube settling slots and several blood collection tube settling slots. Each reagent tube settling slot and each blood collection tube settling slot is provided with a settling sensor.

[0019] As a further optimization of the above technical solution: the cap removal and scanning mechanism includes a cap removal back plate, on which a second dispensing rotation mechanism, a barcode scanner and a second driving mechanism are arranged sequentially from top to bottom. A pipetting device is also connected to the cap removal back plate. A fourth electric gripper for gripping blood collection tube caps is connected to the bottom of the second dispensing rotation mechanism. A blood collection tube cap gripper finger is installed on the fourth electric gripper, and a positioning cavity is formed on the blood collection tube cap gripper finger.

[0020] As a further optimization of the above technical solution: a blood collection tube guide block is fixed at the lower part of the cap removal back plate, and a cap removal slider is provided on the blood collection tube guide block. The cap removal slider is driven by the second driving mechanism and can move along the blood collection tube guide block. The cap removal slider is equipped with the fifth electric gripper for gripping the blood collection tube body. The fifth electric gripper is equipped with a positioning gripper. The positioning gripper has a blood collection tube body gripping groove. The positioning gripper is located directly below the blood collection tube cap gripper finger. The blood collection tube cap gripper finger grips the cap of the blood collection tube, and the positioning gripper grips the body of the blood collection tube. The second dispensing rotation mechanism drives the blood collection tube cap gripper finger and the cap of the blood collection tube to rotate. The second driving mechanism drives the positioning gripper and the body of the blood collection tube to move up and down.

[0021] As a further optimization of the above technical solution: the second drive mechanism is any one of the following: hydraulic cylinder, pneumatic cylinder, lead screw drive mechanism, synchronous pulley drive mechanism, chain drive mechanism, or composite drive mechanism.

[0022] As a further optimization of the above technical solution: a third limiting sensor, a second origin sensor and a fourth limiting sensor are installed on the blood collection tube guide block. The third limiting sensor and the fourth limiting sensor are respectively fixed at both ends of one side of the blood collection tube guide block, and the second origin sensor is located between the third limiting sensor and the fourth limiting sensor.

[0023] As a further optimization of the above technical solution: the suction head positioning mechanism includes a suction head guide block, on which a suction head slider is provided. The suction head slider is driven by a third driving mechanism and can move along the suction head guide block. A suction head positioning plate is fixed on the suction head slider. The suction head positioning plate includes a suction head positioning rod. The end of the suction head positioning rod extends out of the suction head slider and has a suction head positioning hole that cooperates with the suction head.

[0024] As a further optimization of the above technical solution: the third driving mechanism is any one of the following: hydraulic cylinder, pneumatic cylinder, lead screw transmission mechanism, synchronous pulley transmission mechanism, chain transmission mechanism, or composite transmission mechanism.

[0025] As a further optimization of the above technical solution: a fifth limit sensor, a third origin sensor and a sixth limit sensor are installed on the suction head guide block. The fifth limit sensor and the sixth limit sensor are respectively fixed at both ends of one side of the suction head guide block, and the third origin sensor is located between the fifth limit sensor and the sixth limit sensor.

[0026] As a further optimization of the above technical solution: the specimen transport mechanism includes a specimen guide block, a specimen positioning slider is provided on the specimen guide block, the specimen positioning slider is driven by a fourth drive mechanism and can move along the specimen guide block, a specimen positioning post is provided on the specimen positioning slider, and a test cup positioning groove is formed on the top of the specimen positioning post.

[0027] As a further optimization of the above technical solution: the fourth driving mechanism is any one of the following: hydraulic cylinder, pneumatic cylinder, lead screw transmission mechanism, synchronous pulley transmission mechanism, chain transmission mechanism, or composite transmission mechanism.

[0028] As a further optimization of the above technical solution: a seventh limit sensor, a fourth origin sensor and an eighth limit sensor are installed on the specimen guide block. The seventh limit sensor and the eighth limit sensor are respectively fixed at both ends of one side of the specimen guide block, and the fourth origin sensor is located between the seventh limit sensor and the eighth limit sensor.

[0029] As a further optimization of the above technical solution: the reagent bottle positioning mechanism includes a reagent bottle positioning clamp, the reagent bottle positioning clamp includes a fixed base, a connecting column located above the fixed base, and a clamp seat located above the connecting column. The clamp seat includes a clamp groove, the reagent bottle is located in the clamp groove, and an inclined seat block is provided on the clamp groove. The inclined seat block includes a seat block bottom, the upper surface of the seat block bottom is made into an inclined surface, and the seat block bottom is located at the bottom of the clamp groove.

[0030] As a further optimization of the above technical solution: the reagent feeding mechanism includes a feeding guide block, a feeding slider is provided on the feeding guide block, the feeding slider is driven by the fifth driving mechanism and can move along the feeding guide block, a reagent feeding fixture is provided on the feeding slider, and a reagent slot for placing reagent bottles is formed on the top of the reagent feeding fixture.

[0031] As a further optimization of the above technical solution: the fifth drive mechanism is any one of the following: hydraulic cylinder, pneumatic cylinder, lead screw drive mechanism, synchronous pulley drive mechanism, chain drive mechanism, or composite drive mechanism.

[0032] As a further optimization of the above technical solution: a ninth limit sensor, a fifth origin sensor and a tenth limit sensor are installed on the feeding guide block. The ninth limit sensor and the tenth limit sensor are respectively fixed at both ends of one side of the feeding guide block, and the fifth origin sensor is located between the ninth limit sensor and the tenth limit sensor.

[0033] Compared with the prior art, the present invention has a screw-on capping mechanism to open and close the reagent tube cap, a cap-removing and barcode scanning mechanism to scan the barcode on the blood collection tube and open and close the blood collection tube cap, a pipette on the cap-removing and barcode scanning mechanism to draw blood or reagents for reagent addition, a flipping mechanism to achieve automatic flipping and automated dispensing, and a set of standing mechanism, pipette tip positioning mechanism, sample transport mechanism, reagent bottle positioning mechanism and reagent feeding mechanism to make the whole dispensing process simpler and faster and reduce manual intervention. Attached Figure Description

[0034] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0035] Figure 2 This is a three-dimensional structural diagram of the cap-screwing mechanism in this invention.

[0036] Figure 3 This is a three-dimensional structural diagram of the screw cap mechanism in this invention after the rotating safety cover has been removed.

[0037] Figure 4 This is a three-dimensional structural diagram of the ingredient dispensing rotation mechanism in this invention.

[0038] Figure 5 This is a three-dimensional structural diagram of the flipping mechanism in this invention.

[0039] Figure 6 This is a three-dimensional structural diagram of the stationary mechanism in this invention.

[0040] Figure 7 This is a schematic diagram of the cap-removing and scanning mechanism in this invention.

[0041] Figure 8 This is a three-dimensional structural diagram of the cap-removing and scanning mechanism in this invention.

[0042] Figure 9 yes Figure 8 A magnified structural diagram of point A in the middle.

[0043] Figure 10 This is a three-dimensional structural diagram of the suction head detachment tube in this invention.

[0044] Figure 11 This is a three-dimensional structural diagram of the blood collection tube cap finger clamp in this invention.

[0045] Figure 12 This is a three-dimensional structural diagram of the suction head positioning mechanism in this invention.

[0046] Figure 13 This is a three-dimensional structural diagram of the specimen transport mechanism in this invention.

[0047] Figure 14 This is a three-dimensional structural diagram of the reagent bottle positioning mechanism in this invention.

[0048] Figure 15 This is a three-dimensional structural diagram of the reagent bottle positioning fixture in this invention.

[0049] Figure 16 This is a three-dimensional structural diagram of the inclined seat block in this invention.

[0050] Figure 17 This is a three-dimensional structural diagram of the reagent feeding mechanism in this invention.

[0051] Figure 18 This is a three-dimensional structural diagram of the blood testing machine using the present invention.

[0052] Figure 19 This is a three-dimensional structural diagram of the front frame and various devices on the front frame in the blood testing machine using the present invention.

[0053] Figure 20 This is a schematic diagram of the internal structure of the synchronous wheel transmission mechanism in this invention.

[0054] Figure 21 This is a schematic diagram of the internal structure of the composite transmission mechanism in this invention.

[0055] Figure 22 This is a three-dimensional structural diagram of the gripper electric cylinder in this invention.

[0056] Figure 23 This is a three-dimensional structural diagram of the gripper piston rod in this invention. Detailed Implementation

[0057] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. For example... Figure 1-23 As shown, the blood testing machine of the present invention includes a feeding device 1, a picking device 2, and a dispensing device 3 arranged sequentially from front to back on the front frame 6, and a transfer device 4 and a testing device 5 on the rear frame 8. After blood sample collection, the blood collection tube and other materials are placed into the feeding device 1. After the feeding device 1 feeds the materials, the picking device 2 picks up the blood collection tube and other materials from the feeding device 1 and moves them to a set position in the dispensing device 3. The blood in the blood collection tube is sampled by the dispensing device 3 and the reagents required for testing are added to form the test sample. The transfer device 4 moves the test sample to the testing device 5 for blood testing.

[0058] In the above technical solutions: such as Figure 1 As shown, the dispensing device 3 includes a capping mechanism 31, a flipping mechanism 32, a settling mechanism 33, a cap removal and barcode scanning mechanism 34, a pipette tip positioning mechanism 35, a sample transfer mechanism 36, a reagent bottle positioning mechanism 37, and a reagent feeding mechanism 38. The dispensing device 3 is mounted on the front frame 6 via a dispensing plate 301 at the bottom. A dispensing safety cover 306 is also fixed to the dispensing plate 301. A control button 3062 and a discharge door 3063 are provided on one side of the dispensing safety cover 306. Figure 18 As shown.

[0059] In the above technical solution: the capping mechanism 31 is responsible for opening and closing the reagent tube cap, and the cap and body of the reagent tube are threaded together. For example... Figure 2 As shown, the capping mechanism 31 includes a capping back plate 3101, capping side plates 3102 are fixed on both sides of the back of the capping back plate 3101, the bottom of the capping side plates 3102 is fixed on the feeding plate 301, the feeding plate 301 has a capping moving hole, the bottom of the capping back plate 3101 passes through the capping moving hole, and the top of the capping back plate 3101 is provided with a feeding rotation mechanism 39.

[0060] In the above technical solutions: such as Figure 3 , 4As shown, the batching rotation mechanism 39 includes a batching rotation motor 391, a front synchronous shaft 392, a rear synchronous shaft 393, and a motor top plate 394. One end of the motor top plate 394 has a mounting hole 3941, and mounting steps 3942 are formed on both sides of the mounting hole 3941. Several bolt holes 3943 are formed on the mounting steps 3942. In this embodiment, each mounting step 3942 has six bolt holes 3943. A motor connecting plate 395 is provided in the mounting hole 3941. The batching rotation motor 391 is fixed to the bottom of the motor connecting plate 395. The rotating shaft of the batching rotation motor 391 passes through the motor connecting plate 395 and is connected to the rear synchronous shaft 393. The motor connecting plate 395 has mounting portions 3951 on both sides. Each mounting portion 3951 has a movable slot 3952. The mounting portions 3951 are located on the mounting step 3942. Bolts pass through the movable slot 3952 and bolt holes 3943 and engage with the fixing nut to mount the motor connecting plate 395 onto the motor top plate 394. After installation, there is still space for the bolts to move within the movable slot 3952. When the motor connecting plate 395 needs to be moved, it can be pushed without completely disassembling the bolts. The position and movement space of the motor connecting plate 395 are determined by which bolt is fixed in the bolt hole 3943. A motor top block 396 is also fixed to the side of the mounting hole 3941 near the center of the motor top plate 394. The motor top block 396 prevents the motor connecting plate 395 from moving excessively. A rotary bearing housing 397 is fixed to the other end of the motor top plate 394. A rotary shaft 398 is installed inside the rotary bearing housing 397. The rotary shaft 398 is fixed to the front synchronous shaft 392. A synchronous belt 399 is sleeved between the front synchronous shaft 392 and the rear synchronous shaft 393. When the tension of the synchronous belt 399 needs to be adjusted, the motor connecting plate 395 can be moved. A batching origin sensor 3910 is fixed to the middle of the motor top plate 394 by a Z-shaped fixing plate. The top of the rotary shaft 398 passes through the front synchronous shaft 392 and is fixed with a batching origin sensing plate 3911. During the rotation of the batching rotary motor 391, which drives the rear synchronous shaft 393, the front synchronous shaft 392, and the batching origin sensing plate 3911, the batching rotary motor 391 returns to its origin when the batching origin sensor 3910 senses the batching origin sensing plate 3911. The batching origin sensing plate 3911 and the batching origin sensor 3910 work together to ensure that the batching rotary motor 391 returns to its origin after the lid is opened or closed. An electric slip ring 3912 is also provided on the top of the rotating shaft 398. A support plate 3913 is supported on the rotating bearing seat 397 by two support rods, and the electric slip ring 3912 is located on the support plate 3913. All the wires on the batching rotation mechanism 39 are connected to the electric slip ring. During rotation, the electric slip ring remains stationary, thus keeping a section of the wire constantly in place and preventing the wire from becoming tangled. A rotating safety cover 3914 is also installed on the motor top plate 394. The rotating safety cover 3914 is used to protect the various components on the motor top plate 394.

[0061] In the above technical solutions: such as Figure 3 As shown, the bottom of the rotating shaft 398 passes through the motor top plate 394 and is connected to a first electric gripper 100 for gripping reagent tube caps. Reagent tube cap gripping fingers 313 are mounted on the gripper piston rods on both sides of the first electric gripper 100. Each reagent tube cap gripping finger 313 has a semi-cylindrical gripping part 3131 at its bottom. An arc-shaped cap groove 31311 is formed on the opposite side of each gripping part 3131. A cap sensing groove 31312 is also formed on the top of the cap groove 31311. Several vertically arranged, evenly spaced cap strip grooves 31313 are also formed on the groove wall of the cap groove 31311. The bottom of the cap strip grooves 31313 is arc-shaped. The cap strip grooves 31313 mate with the reagent tube caps, increasing friction and facilitating cap tightening.

[0062] In the above technical solutions: such as Figure 2 , 3 As shown, a height adjustment device 319 is also provided on the cap back plate 3101. A second electric gripper 200 for gripping the reagent tube body is connected to the height adjustment device 319. Reagent tube body gripping fingers 315 are installed on the gripper piston rods on both sides of the second electric gripper 200. The reagent tube body gripping fingers 315 are located directly below the reagent tube cap gripping fingers 313. A fixing groove 3151 is formed on the opposite side of the heads of the two reagent tube body gripping fingers 315, and an elastomer is provided in the fixing groove 3151. When the reagent tube body gripping fingers 315 grip the reagent tube body, the elastomer compresses the reagent tube body, making the gripping more secure. Furthermore, because the elastomer is elastic, excessive compression of the reagent tube body will not cause it to break. In this embodiment, the elastomer is urethane (also known as polyurethane PU elastomer), which has advantages such as high strength and small compression deformation.

[0063] In the above technical solutions: such as Figure 2 , 3As shown, the height adjustment device 319 includes a guide rail 3114 fixed to the front of the cap back plate 3101, a guide slider 3115 on the guide rail 3114, a sliding connecting plate 3116 fixed on the guide slider 3115, and a second electric gripper 200 fixed on the sliding connecting plate 3116. The height adjustment device 319 also includes a reagent tube guide block 3192 fixed to the back of the cap back plate 3101. An L-shaped height adjustment slider 3193 is provided on the side of the reagent tube guide block 3192. The height adjustment slider 3193 is driven by a first drive mechanism and can move along the reagent tube guide block 3192. The first drive mechanism is a first composite transmission mechanism, which includes a sixth lead screw and a reagent tube moving motor 3191. The function of the lead screw is to convert rotational motion into linear motion. An eighth cavity is formed inside the reagent tube guide block 3192, and the sixth lead screw is located in the eighth cavity. The sixth lead screw includes a sixth screw rod and a sixth nut that is threadedly engaged with the sixth screw rod. A reagent tube drive block 3194 is mounted on the reagent tube guide block 3192, and a reagent tube moving motor 3191 is mounted on the reagent tube drive block 3194 or on the frame of the blood testing machine. In this embodiment, the reagent tube moving motor 3191 is mounted on the reagent tube drive block 3194, which reduces the impact of vibration from other components of the blood testing machine on the reagent tube moving motor 3191 during operation; at the same time, it allows the reagent tube moving motor 3191 and other components of the height adjustment device 319 to form an independent module, facilitating installation and disassembly. By using the reagent tube drive block 3194 to make the reagent tube moving motor 3191 parallel to the reagent tube guide block 3192, the longitudinal dimension can be reduced, the free space in the horizontal direction can be effectively utilized, and thus the overall space occupied by the machine can be reduced. The reagent tube drive block 3194 is equipped with a fifth drive shaft and a sixth drive shaft. The fifth drive shaft is fixed to the rotating shaft inside the reagent tube moving motor 3191, and the sixth drive shaft is fixed to the sixth screw inside the reagent tube guide block 3192. Both the fifth and sixth drive shafts are equipped with third synchronous pulleys, and a third belt is fitted between the two third synchronous pulleys. An eighth sensing rod is fixed to the height adjustment slider 3193. An eighth sliding hole is formed on the reagent tube guide block 3192, communicating with an eighth cavity. The eighth sensing rod passes through the eighth sliding hole and is connected to a sixth nut. A first limit sensor, a first origin sensor, and a second limit sensor are installed on the reagent tube guide block 3192 to sense the eighth sensing rod. The first and second limit sensors are respectively fixed at both ends of one side of the reagent tube guide block 3192, and the first origin sensor is located between the first and second limit sensors. Start the reagent tube moving motor 3191. The rotating shaft of the reagent tube moving motor 3191 drives the sixth screw to rotate through the fifth transmission shaft, the third belt and the sixth transmission shaft. The sixth screw drives the sixth nut to move along the axis of the sixth screw. The sixth nut drives the height adjustment slider 3193 and the eighth sensing rod to move along the reagent tube guide block 3192.The reagent tube moving motor 3191 first moves the eighth sensing rod to engage with the first origin sensor. When the first origin sensor detects the eighth sensing rod, the reagent tube moving motor 3191 returns to the origin. Then, the reagent tube moving motor 3191 continues to move the height adjustment slider 3193 and the eighth sensing rod. During this process, when the first limit sensor detects the eighth sensing rod, the reagent tube moving motor 3191 stops moving; when the second limit sensor detects the eighth sensing rod, the reagent tube moving motor 3191 stops moving. Therefore, the first and second limit sensors limit the movement of the height adjustment slider 3193.

[0064] In the above technical solution: a fixing sleeve 3120 is installed at the bottom of the horizontal part of the L-shaped height adjustment slider 3193. A compression spring is installed inside the fixing sleeve 3120. One end of the compression spring is fixed inside the fixing sleeve 3120, and the other end is connected to an adjusting column 3121. The adjusting column 3121 can move up and down within the fixing sleeve 3120. The setting of the adjusting column 3121 and the compression spring plays a buffering role in the height adjustment process. When the height adjustment slider 3193 moves down, it first compresses the compression spring, and then the compression spring and the adjusting column 3121 transmit the force to the second electric gripper 200, thereby improving the safety and stability of the reagent tube opening and closing. The bottom of the adjusting column 3121 is fixed with a U-shaped connecting plate 3117. The bottom of the screw cap back plate 3101 has two vertically arranged limiting grooves 31011. The opening of the U-shaped connecting plate 3117 passes through the limiting grooves 31011 and is fixed to the bottom of the sliding connecting plate 3116, thereby enabling the height adjusting device 319 to drive the reagent tube body in the reagent tube body clamping finger 315 to move up and down.

[0065] In the above technical solution: two tension springs 3113 are provided between the sliding connecting plate 3116 and the screw cap back plate 3101. Two downward tension spring rods are fixed on the back of the sliding connecting plate 3116, and two upward tension spring rods are fixed on the screw cap back plate 3101. The two ends of the tension springs 3113 are respectively connected to the upward and downward tension spring rods.

[0066] In the above technical solution: the front of the screw cap back plate 3101 is also fixed with a reagent tube cap sensor 3118 and a reagent tube body sensor 3119, both of which are fiber optic sensors.

[0067] When the reagent tube is opened, the feeding device 2 transfers the reagent tube to the space between the two reagent tube cap clamping fingers 313. The first electric gripper 100 drives the reagent tube cap clamping fingers 313 to clamp the reagent tube cap. The height adjustment device 319 drives the reagent tube body clamping fingers 315 to rise, and the second electric gripper 200 drives the reagent tube body clamping fingers 315 to clamp the reagent tube body. Then, the dispensing rotary motor 391 is started, and the rear synchronous shaft 393 drives the front synchronous shaft 392 to rotate through the synchronous belt 399, so that the reagent tube cap inside the reagent tube cap clamping fingers 313 is also driven to rotate. During the process of opening the reagent tube, the reagent tube cap and the tube body gradually separate. However, since the reagent tube cap does not move, the opening process generates a downward force on the reagent tube body, causing the reagent tube body to move downward. This force also causes the tension spring 3113 to be stretched. At the same time, the tension spring 3113 generates a counterforce to return to its original shape, so that the head of the reagent tube body and the reagent tube cap always remain in contact without biting each other during the opening process. The dispensing rotary motor 391 operates until the cap sensing groove 31312 is aligned with the reagent tube cap sensor 3118. If the reagent tube cap is successfully opened, the cap will remain in the cap gripper 313. The cap sensor 3118 senses whether the cap is held in the cap gripper 313 via the cap sensing groove 31312, thus verifying whether the cap opening and closing was successful. When the dispensing rotary motor 391 stops, the reagent tube is fully opened, and the tube body detaches from the cap. After the cap is opened, the height adjustment device 319 moves the tube body down within the cap gripper 315. When the tube body sensor 3119 senses the tube, it transmits a gripping command to the picking device 2, and the tube body awaits to be picked up by the picking device 2.

[0068] When the reagent tube is capped, the feeding device 2 moves the reagent tube body between the two reagent tube body clamping fingers 315, and the second electric gripper 200 drives the reagent tube body clamping fingers 315 to clamp the reagent tube body. The height adjustment device 319 drives the reagent tube body to rise until the top of the tube body contacts the bottom of the reagent tube cap. At this time, the tension spring 3113 has not yet fully returned to its original position, and the restoring force of the tension spring 3113 exerts an upward force on the reagent tube body. Then, the dispensing rotary motor 391 is started, and the rear synchronous shaft 393 drives the front synchronous shaft 392 to rotate through the synchronous belt 399, so that the reagent tube cap inside the reagent tube cap clamping fingers 313 is also driven to rotate. When the threaded connection between the reagent tube cap and the reagent tube body is aligned, the reagent tube body is screwed into the reagent tube cap. At the same time, the reagent tube body is driven upward by the restoring force of the tension spring 3113 so that it is tightly attached to the reagent tube opening, completing the reagent tube capping. After the reagent tube is capped, the second electric gripper 200 moves the reagent tube body gripping finger 315 to both sides to release the reagent tube body. The height adjustment device 319 moves the reagent tube body gripping finger 315 down. When the reagent tube body sensor 3119 senses the reagent tube, it transmits a gripping command to the material handling device 2. The reagent tube waits to be taken away and recycled by the material handling device 2.

[0069] In the above technical solutions: such as Figure 5 As shown, the flipping mechanism 32 is fixed to the dispensing plate 301 via a fixed base 328. A support plate 325 is fixed to the fixed base 328, and a flipping reinforcing rib 326 is fixed between the support plate 325 and the fixed base 328. A flipping hole is formed on the upper part of the support plate 325, and a finger-gripping shaft is provided in the flipping hole. One end of the finger-gripping shaft is connected to a third electric gripper 300 responsible for gripping the blood collection tube or reagent tube that needs to be flipped. Flipping grippers 322 are installed on the gripper piston rods on both sides of the third electric gripper 300. In this embodiment, the other end of the finger-gripping shaft is indirectly connected to the rotating shaft on the flipping motor 323 via a connecting shaft; of course, if a longer finger-gripping shaft is selected, the other end of the finger-gripping shaft can also be directly connected to the rotating shaft on the flipping motor 323. A tilting bearing seat 327 is also fixed on the support plate 325. The tilting bearing seat 327 includes two bearing seat plates and a hollow column located between the two bearing seat plates. The clamping finger shaft and the connecting shaft are located inside the hollow column. The two bearing seat plates are respectively fixed to the tilting motor 323 and the support plate 325. In this embodiment, by setting the tilting bearing seat 327, a mounting position for the tilting motor 323 is provided, making the tilting mechanism more independent and facilitating its disassembly and installation. More importantly, it reduces the vibration impact of other components of the blood testing machine on the tilting motor 323 during operation. Of course, the tilting motor 323 can also be installed at a corresponding position on the front frame 6 of the blood testing machine.

[0070] In the above technical solutions: such as Figure 5As shown, each of the two flip-fingers 322 has an arc-shaped small finger notch 3221 and a large finger notch 3222 on the opposite side of its head. The flip-fingers 322 are responsible for gripping the blood collection tube and the reagent tube. Normally, since the blood collection tube is larger than the reagent tube, in this embodiment, the small finger notch 3221 is used to grip the reagent tube, and the large finger notch 3222 is used to grip the blood collection tube.

[0071] In the above technical solutions: such as Figure 5 As shown, a flip sensor 329 is fixed on the support plate 325, and a flip sensing plate 3210 is correspondingly fixed on the bottom of the third electric gripper 300. During the rotation of the third electric gripper 300 and the flip sensing plate 3210 driven by the flip motor 323, when the flip sensor 329 senses the flip sensing plate 3210, the flip motor 323 returns to the origin. The flip sensor 329 and the flip sensing plate 3210 work together to ensure that the flip motor 323 can return to the origin after each flip.

[0072] When flipping is required, the picking device 2 moves the blood collection tube or reagent tube between the two flipping grippers 322. The third electric gripper 300 drives the flipping grippers 322 to move from both sides to the middle and grab the blood collection tube or reagent tube. Then the flipping motor 323 drives the blood collection tube or reagent tube held by the flipping grippers 322 to flip.

[0073] In the above technical solutions: such as Figure 6As shown, the settling mechanism 33 includes a settling fixture 331 and several settling sensors 332. The settling fixture 331 has several reagent tube settling slots 3311 and several blood collection tube settling slots 3312. Since the reagent tubes are smaller than the blood collection tubes, the bottom of the reagent tube settling slot 3311 is higher than the bottom of the blood collection tube settling slot 3312. Each reagent tube settling slot 3311 and each blood collection tube settling slot 3312 is equipped with a settling sensor 332. The sensing end of the settling sensor 332 corresponding to the reagent tube settling slot 3311 is located above the reagent tube settling slot 3311, and the sensing end of the settling sensor 332 corresponding to the blood collection tube settling slot 3312 is located above the blood collection tube settling slot 3312. The settling fixture 331 is also provided with a fixing groove 3313, and the bottom of the fixing groove 3313 is provided with a fixing hole 3314. Screws pass through the fixing hole 3314 to fix the settling fixture 331 to the dispensing plate 301. In this embodiment, there are three reagent tube settling grooves 3311, which are evenly distributed on the right half of the settling fixture 331; there are three blood collection tube settling grooves 3312, which are evenly distributed on the left half of the settling fixture 331, and there are also three fixing grooves 3313. The settling sensor 332 is used to sense whether a reagent tube is placed in the reagent tube settling groove 3311 or whether a blood collection tube is placed in the blood collection tube settling groove 3312. Only when the settling sensor 332 does not sense a reagent tube or a blood collection tube will the dispensing device 2 place the reagent tube or blood collection tube into the reagent tube settling groove or blood collection tube settling groove corresponding to the settling sensor 332. After the blood collection tube or reagent tube is flipped by the flipping mechanism 32, the material handling device 2 moves the blood collection tube or reagent tube to the settling mechanism 33, where the blood collection tube and reagent tube are settling separately.

[0074] In the above technical solutions: such as Figure 1 , 7 As shown in Figure 8, the cap-removing and barcode-scanning mechanism 34 is responsible for scanning the barcode of the blood collection tube and opening and closing the cap. The cap-removing and barcode-scanning mechanism 34 includes a cap-removing back plate 348 and cap-removing side plates 3418 located on both sides of the cap-removing back plate 348. The bottom of the cap-removing side plates 3418 is fixed to the dispensing plate 301. The dispensing plate 301 has cap-removing moving holes. The bottom of the cap-removing back plate 348 passes through the cap-removing moving holes. The top of the cap-removing back plate 348 is provided with a dispensing rotation mechanism 39. The bottom of the rotation shaft 398 of the dispensing rotation mechanism 39 is connected to a fourth electric gripper 400 for gripping the cap of the blood collection tube. The gripper piston rods on both sides of the fourth electric gripper 400 are equipped with blood collection tube cap gripping fingers 343. Figure 11As shown, each of the two blood collection tube cap clamping fingers 343 has an arc-shaped positioning cavity 3431 on the lower part of its opposite side. The bottom of the positioning cavity 3431 has an arc-shaped cap-removing step 3432. When the blood collection tube cap clamping fingers 343 grasp the blood collection tube cap, the cap-removing step 3432 is located below the blood collection tube cap and close to the blood collection tube body. A circular hole 3433 is also formed inside the positioning cavity 3431. An arc-shaped cap-removing movable cavity 3434 is also formed at the top of the positioning cavity 3431 to accommodate the top of the blood collection tube cap. To more clearly show the structure of each component, Figure 1 and Figure 7 The rotating safety cover 3914 on the dispensing rotating mechanism 39 at the top of the cap-removing back plate 348 is omitted. Figure 8 The rotating safety cover 3914 on the dispensing rotating mechanism 39 at the top of the cap removal back plate 348 and the cap removal side plate 3418 on one side are omitted.

[0075] In the above technical solution: a barcode scanner 3415 is fixed on the cap removal back plate 348. The height of the barcode scanner 3415 is the same as the height of the barcode on the blood collection tube when it is gripped by the cap clamp 343. The feeding rotation mechanism 39 at the top of the cap removal back plate 348 drives the blood collection tube to rotate, and the barcode scanner 3415 reads the barcode information on the blood collection tube to complete the scanning.

[0076] In the above technical solution: a pipetting device 342 is fixed to one side of the cap-removing back plate 348 via a pipetting connecting plate 3416. The pipetting device 342 includes a pipetting guide block 3422 and a pipette 349. A pipetting guide rail 3423 is fixed to the side of the pipetting guide block 3422, and a pipetting slider 3424 is provided on the pipetting guide rail 3423. The pipette 349 is fixed on the pipetting slider 3424. The pipetting slider 3424 is driven by a sixth driving mechanism and can move along the pipetting guide rail 3423. The sixth driving mechanism is a first lead screw transmission mechanism, which includes a third lead screw and a pipetting motor 3421. The function of the lead screw is to convert rotational motion into linear motion. The third lead screw includes a third screw rod and a third nut that is threadedly engaged with the third screw rod. The third screw rod is connected to the rotating shaft of the pipetting motor 3421 via a coupling. A fifth sensing rod is fixed on the pipetting slider 3424, and the fifth sensing rod is connected to the third nut. The pipetting guide block 3422 has a fifth cavity for mounting the first lead screw drive mechanism, with the third lead screw located within the fifth cavity. The pipetting motor 3421 is mounted on the pipetting guide block 3422 or the frame of the blood testing machine. In this embodiment, mounting the pipetting motor 3421 on the pipetting guide block 3422 reduces the vibration impact of other components of the blood testing machine on the pipetting motor 3421 during operation; it also allows the pipetting motor 3421 to form an independent module with other components of the pipetting device 342, facilitating installation and disassembly. The pipetting guide block 3422 has a fifth sliding hole that communicates with the fifth cavity. The fifth sensing rod passes through the fifth sliding hole and is connected to the third nut. The first lead screw drive mechanism is driven by the pipetting motor 3421, resulting in low noise. The third lead screw cooperates with the pipetting motor 3421 to achieve rigid transmission, ensuring timely and rapid transmission.

[0077] In the above technical solution: the pipette 349 includes a tip release guide block 3495 fixed on the pipetting slider 3424. A tip fixing tube 3492 is fixed to the bottom of the tip release guide block 3495. The bottom of the tip fixing tube 3492 has a fixing inclined surface 34921 that mates with the tip. A tip release tube 3493 is sleeved on the tip fixing tube 3492, with the fixing inclined surface 34921 protruding from the bottom of the tip release tube 3493. A transmission rod 3494 is also provided at the bottom of the tip release guide block 3495. For example... Figure 9 As shown, a buffer spring 3496 is sleeved on the transmission rod 3494, and an upper limit block 34941 and a lower limit block 34942 are formed at the bottom of the transmission rod 3494, forming a groove between the upper and lower limit blocks 34941 and 34942. Figure 9 , 10As shown, an extension block 3497 is fixed to the top of the suction head release tube 3493. The extension block 3497 includes a connecting part 34971 fixed to the suction head release tube 3493, a C-shaped locking part 34972, and a handle part 34973. The locking part 34972 also has a bending groove 34974. The bottom of the transmission rod 3494 extends out of the suction head release guide block 3495, and the locking part 34972 locks into the locking groove, realizing the installation between the transmission rod 3494 and the suction head release tube 3493. When it is necessary to remove the suction head release tube 3493, the handle part 34973 is gripped to disengage the locking part 34972 from the locking groove. The bending groove 34974 allows the locking part 34972 to be opened at a certain angle, facilitating the removal of the suction head release tube 3493. The transmission rod 3494 is driven by the seventh drive mechanism to move up and down. The seventh drive mechanism is a second lead screw transmission mechanism, which includes a fourth lead screw and a suction head release motor 3491. The function of the lead screw is to convert rotational motion into linear motion. The fourth lead screw includes a fourth screw rod and a fourth nut that is threadedly engaged with the fourth screw rod. The fourth screw rod and the rotating shaft of the suction head release motor 3491 are connected by a coupling. In this embodiment, a sixth sensing rod is fixed on the transmission rod 3494, and the sixth sensing rod is connected to the fourth nut. Of course, the transmission rod 3494 can also be directly connected to the fourth nut. The suction head release guide block 3495 has a sixth cavity for installing the second lead screw transmission mechanism, in which the fourth lead screw is located. The suction head release motor 3491 is mounted on the suction head release guide block 3495 or the frame of the blood testing machine. In this embodiment, the tip detachment motor 3491 is mounted on the tip detachment guide block 3495, reducing the impact of vibration from other components of the blood testing machine on the tip detachment motor 3491 during operation. Simultaneously, it allows the tip detachment motor 3491 to form an independent module with other components of the pipette 349, facilitating installation and disassembly. The tip detachment guide block 3495 has a sixth sliding hole communicating with a sixth cavity. The sixth sensing rod passes through the sixth sliding hole and is connected to the fourth nut. The second lead screw drive mechanism is driven by the tip detachment motor 3491, resulting in low noise. The fourth lead screw cooperates with the tip detachment motor 3491 to achieve rigid transmission, ensuring timely and rapid transmission.

[0078] When it is necessary to install the pipette tip, the material handling device 2 clamps the pipette tip and places it on the pipette tip positioning mechanism 35. The pipette tip positioning mechanism 35 moves the pipette tip to directly below the pipette tip fixing tube 3492. The sixth drive mechanism drives the pipette 349 downward until the fixing inclined surface 34921 is pressed into the pipette tip, completing the installation of the pipette tip. The material handling device 2 moves each material directly below the pipette tip for pipetting.

[0079] After pipetting is completed, the used pipette tip needs to be automatically detached. The seventh drive mechanism drives the transmission rod 3494 to move downward, and the pipette tip release tube 3493 is also driven downward. Since the bottom of the pipette tip release tube 3493 has a certain contact surface with the head of the pipette tip, the pipette tip is also driven downward. The fixed inclined surface 34921 detaches from the pipette tip, and the pipette tip falls into the front waste funnel 302.

[0080] In the above technical solution: a blood collection tube guide block 346 is fixed to the lower part of the cap removal back plate 348. An L-shaped cap removal slider 3413 is provided on the side of the blood collection tube guide block 346. The cap removal slider 3413 is driven by a second drive mechanism and can move along the blood collection tube guide block 346. The second drive mechanism is a third screw drive mechanism, which includes a seventh screw and a blood collection tube moving motor 345. The function of the screw is to convert rotational motion into linear motion. The seventh screw includes a seventh threaded rod and a seventh nut that is threaded with the seventh threaded rod. The seventh threaded rod is connected to the rotating shaft of the blood collection tube moving motor 345 through a coupling. A ninth sensing rod is fixed on the cap removal slider 3413, and the ninth sensing rod is connected to the seventh nut. A ninth cavity is formed inside the blood collection tube guide block 346 for installing the third screw drive mechanism, wherein the seventh threaded rod is located in the ninth cavity. The blood collection tube moving motor 345 is installed on the blood collection tube guide block 346 or the frame of the blood testing machine. In this embodiment, the blood collection tube moving motor 345 is mounted on the blood collection tube guide block 346, reducing the vibration impact of other components of the blood testing machine on the blood collection tube moving motor 345 during operation; at the same time, it allows the blood collection tube moving motor 345 and other components of the cap removal and scanning mechanism 34 to form an independent module, facilitating installation and disassembly. The blood collection tube guide block 346 has a ninth sliding hole, which communicates with a ninth cavity. The ninth sensing rod passes through the ninth sliding hole and is connected to the seventh nut. The third lead screw transmission mechanism is driven by the blood collection tube moving motor 345, resulting in low noise. The seventh lead screw cooperates with the blood collection tube moving motor 345 to achieve rigid transmission, ensuring timely and rapid transmission. The blood collection tube guide block 346 is equipped with a third limit sensor, a second origin sensor, and a fourth limit sensor. The third and fourth limit sensors are fixed at both ends of one side of the blood collection tube guide block 346, and the second origin sensor is located between the third and fourth limit sensors. The third, second, and fourth limit sensors are used to sense the ninth sensing rod. The blood collection tube moving motor 345 first moves the ninth sensing rod to engage with the second origin sensor. When the second origin sensor detects the ninth sensing rod, the blood collection tube moving motor 345 returns to its origin. Then, the blood collection tube moving motor 345 continues to move the cap-removing slider 3413 and the ninth sensing rod. During this process, when the third limit sensor detects the ninth sensing rod, the blood collection tube moving motor 345 stops moving; when the fourth limit sensor detects the ninth sensing rod, the blood collection tube moving motor 345 stops moving. Therefore, the third and fourth limit sensors limit the movement of the cap-removing slider 3413.

[0081] In the above technical solution: a fifth electric gripper 500 for gripping the blood collection tube body is fixed to the longitudinal part of the cap-removing slider 3413. Positioning grippers 347 are installed on the gripper piston rods on both sides of the fifth electric gripper 500, and the positioning grippers 347 are located directly below the blood collection tube cap gripper 343. An arc-shaped blood collection tube body gripping groove 3471 is formed on the opposite side of the heads of the two positioning grippers 347, and an elastic body is provided inside the blood collection tube body gripping groove 3471. When the positioning grippers 347 grip the blood collection tube body, the elastic body compresses the blood collection tube body, making the gripping more secure. Furthermore, because the elastic body is elastic, there will be no excessive compression of the blood collection tube body that could cause it to break. In this embodiment, the elastic body is urethane (also known as polyurethane PU elastomer), which has advantages such as high strength and small compression deformation.

[0082] In the above technical solution: a cap removal sensor 3414 is also installed on the cap removal back plate 348. The cap removal sensor 3414 is a photoelectric sensor and corresponds to the round hole 3433.

[0083] When scanning the blood collection tube, the material handling device 2 first moves the blood collection tube between the blood collection tube cap clamping fingers 343 of the cap removal and scanning mechanism 34. The fourth electric gripper 400 drives the blood collection tube cap clamping fingers 343 to grasp the blood collection tube. The material dispensing rotation mechanism 39 on the top of the cap removal back plate 348 starts to operate, the blood collection tube starts to rotate, the barcode scanner 3415 starts and reads the barcode information on the blood collection tube. Until the scanning is completed, the material dispensing rotation motor 391 stops moving, and the scanning is completed.

[0084] When the blood collection tube cap is removed, the material handling device 2 moves the blood collection tube between the two blood collection tube cap clamping fingers 343. The fourth electric gripper 400 drives the blood collection tube cap clamping fingers 343 to clamp the blood collection tube cap. The second drive mechanism drives the cap removal slider 3413 on the blood collection tube guide block 346 to move upward. The cap removal slider 3413 drives the positioning clamping finger 347 to move upward until the bottom of the blood collection tube body clamping groove 3471 is located at the bottom of the blood collection tube body. The fifth electric gripper 500 drives the positioning clamping finger 347 to clamp the blood collection tube body. Then, the second drive mechanism drives the cap removal slider 3413 on the blood collection tube guide block 346 to move downward. The cap removal slider 3413 drives the positioning clamping finger 347 and the blood collection tube body inside the positioning clamping finger 347 to move downward. The blood collection tube cap is limited by the cap removal step 3432, thus detaching from the blood collection tube body and remaining in the positioning cavity 3461 of the blood collection tube cap clamping finger 343, realizing the opening of the blood collection tube cap. The dispensing rotation mechanism 39 at the top of the cap removal backplate 348 drives the fourth electric gripper 400 to rotate 90 degrees, so that the cap removal sensor 3414 is facing the round hole 3433. The cap removal sensor 3414 senses whether the blood collection tube cap is retained in the blood collection tube cap clamp finger 343 through the round hole 3433. If the cap removal sensor 3414 senses the blood collection tube cap, it means that the blood collection tube cap removal is successful and the next step can be carried out; if not, it means that the blood collection tube cap removal is unsuccessful, then the next step cannot be carried out, and the system alarms to notify manual handling.

[0085] In the above technical solutions: such as Figure 12As shown, the suction head positioning mechanism 35 includes a suction head guide block 352 fixed on the dispensing plate 301. An L-shaped suction head slider 353 is mounted on the suction head guide block 352. The suction head slider 353 is driven by a third drive mechanism and can move along the suction head guide block 352. The third drive mechanism is a fourth screw drive mechanism, which includes a fifth screw and a suction head motor 351. The screw converts rotary motion into linear motion. The fifth screw includes a fifth threaded rod and a fifth nut threaded with the fifth threaded rod. The fifth threaded rod is connected to the shaft of the suction head motor 351 via a coupling. A seventh sensing rod is fixed on the suction head slider 353 and connected to the fifth nut. A seventh cavity is formed inside the suction head guide block 352 for mounting the fourth screw drive mechanism, with the fifth threaded rod located within the seventh cavity. The suction head motor 351 is mounted on the suction head guide block 352 or the frame of the blood testing machine. In this embodiment, the suction head motor 351 is mounted on the suction head guide block 352, reducing the vibration impact of other components of the blood testing machine on the suction head motor 351 during operation; simultaneously, it allows the suction head motor 351 and other components of the suction head positioning mechanism 35 to form an independent module, facilitating installation and disassembly. The suction head guide block 352 has a seventh sliding hole, which communicates with a seventh cavity. The seventh sensing rod passes through the seventh sliding hole and is connected to the fifth nut. The fourth lead screw transmission mechanism is driven by the suction head motor 351, resulting in low noise. The fifth lead screw cooperates with the suction head motor 351 to achieve rigid transmission, ensuring timely and rapid transmission. The suction head guide block 352 is equipped with a fifth limit sensor, a third origin sensor, and a sixth limit sensor. The fifth and sixth limit sensors are fixed at opposite ends of one side of the suction head guide block 352, and the third origin sensor is located between the fifth and sixth limit sensors. The fifth, third, and sixth limit sensors are used to sense the seventh sensing rod. The suction head motor 351 first moves the seventh sensing rod to engage with the third origin sensor. When the third origin sensor detects the seventh sensing rod, the suction head motor 351 returns to its origin. Then, the suction head motor 351 continues to move the suction head slider 353 and the seventh sensing rod. During this process, when the fifth limit sensor detects the seventh sensing rod, the suction head motor 351 stops moving; when the sixth limit sensor detects the seventh sensing rod, the suction head motor 351 stops moving. Therefore, the fifth and sixth limit sensors limit the movement of the suction head slider 353.

[0086] In the above technical solution: a pipette tip positioning plate 354 is fixed on the longitudinal part of the pipette tip slider 353. The pipette tip positioning plate 354 includes a pipette tip positioning rod 3541. The end of the pipette tip positioning rod 3541 extends out of the pipette tip slider 353 and has a pipette tip positioning hole. The picking device 2 picks up the pipette tip and places it into the pipette tip positioning hole to wait for it to cooperate with the pipetting device 342. When the pipette 349 needs to install a pipette tip, the third drive mechanism drives the pipette tip slider 353, the pipette tip positioning plate 354 and the pipette tip to move directly below the pipette 349, waiting for the pipette 349 to move down and make an interference fit with the pipette tip, realizing the installation between the pipette tip and the pipette 349. Then the pipette 349 drives the pipette tip to move up, and the pipette tip disengages from the pipette tip positioning hole. The third drive mechanism drives the pipette tip slider 353 and the pipette tip positioning plate 354 to move away from the pipette 349.

[0087] In the above technical solutions: such as Figure 13As shown, the specimen transfer mechanism 36 includes a specimen guide block 362 horizontally fixed to the bottom of the feeding plate 301. A specimen positioning slider 363 is provided at the bottom of the specimen guide block 362. The specimen positioning slider 363 is driven by a fourth drive mechanism and can move along the specimen guide block 362. The fourth drive mechanism includes a first synchronous pulley mechanism. The first synchronous pulley transmission mechanism includes a specimen motor 361, a seventh transmission shaft, and an eighth transmission shaft. The seventh transmission shaft is connected to the rotating shaft of the specimen motor 361, and the two are arranged in the same direction. The eighth transmission shaft is arranged parallel to the seventh transmission shaft. A fourth synchronous pulley is provided on both the seventh and eighth transmission shafts, and a fourth belt is sleeved between the two fourth synchronous pulleys. A third connecting block is fixed on the fourth belt, and a tenth sensing rod is fixed on the specimen positioning slider 363. The tenth sensing rod is connected to the third connecting block. A specimen transmission block 366 is mounted on one end of the specimen guide block 362. A first synchronous pulley transmission mechanism is installed within the specimen transmission block 366 and the specimen guide block 362. The seventh transmission shaft is located within the specimen transmission block 366. The specimen motor 361 is mounted on the specimen transmission block 366 or the frame of the blood testing machine. In this embodiment, the specimen motor 361 is mounted on the specimen transmission block 366, reducing the vibration impact of other components of the blood testing machine on the specimen motor 361 during operation. Simultaneously, it allows the specimen motor 361 to form an independent module with other components of the specimen transport mechanism 36, facilitating installation and disassembly. By using the specimen transmission block 366 to position the specimen motor 361 perpendicular to the specimen guide block 362, the lateral dimension can be reduced, effectively utilizing the vertical space and thus reducing the overall space occupied by the machine. The specimen guide block 362 has a tenth cavity, and the eighth transmission shaft is located at the end of the tenth cavity away from the specimen transmission block 366. The specimen guide block 362 also has a tenth sliding hole, which communicates with the tenth cavity. The tenth sensing rod passes through the tenth sliding hole and connects to the third connecting block. The first synchronous pulley transmission mechanism is driven by the specimen motor 361, which has low noise. The specimen motor 361 cooperates with the seventh drive shaft, the eighth drive shaft, and the fourth belt to achieve flexible transmission, making it safer. The specimen guide block 362 is equipped with a seventh limit sensor, a fourth origin sensor, and an eighth limit sensor. The seventh and eighth limit sensors are fixed at both ends of one side of the specimen guide block 362, and the fourth origin sensor is located between the seventh and eighth limit sensors. The seventh, fourth, and eighth limit sensors are used to sense the tenth sensing rod. The specimen motor 361 first drives the tenth sensing rod to cooperate with the fourth origin sensor. When the fourth origin sensor senses the tenth sensing rod, the specimen motor 361 returns to the origin.Then, the specimen motor 361 continues to drive the specimen positioning slider 363 and the tenth sensing rod to move. During the above process, when the seventh limit sensor senses the tenth sensing rod, the specimen motor 361 stops moving. When the eighth limit sensor senses the tenth sensing rod, the specimen motor 361 stops moving. Therefore, the seventh limit sensor and the eighth limit sensor limit the movement of the specimen positioning slider 363.

[0088] In the above technical solution: a specimen positioning column mounting plate 364 is fixed to the bottom of the specimen positioning slider 363, a specimen positioning column 365 is fixed to the specimen positioning column mounting plate 364, a positioning strip hole is formed on the mating plate 301, the top of the specimen positioning column 365 passes through the positioning strip hole and has a mating protrusion 3651, and a measuring cup positioning groove for placing the measuring cup 7 is formed on the mating protrusion 3651. Due to testing requirements, such as... Figure 1 As shown, the test cup 7 needs to move several times between the feeding device 3 and the testing device 5. However, there is a certain distance between the picking device 2 and the transfer device 4, and the two cannot directly transfer the test cup 7. Therefore, a sample transfer mechanism 36 is set up to handle the transfer of the test cup 7. The two ends of the sample guide block 362 are the testing end and the sample application end, respectively. The sample positioning column 365 and the test cup 7 are driven by the fourth drive mechanism to move between the testing end and the sample application end. When the sample positioning column 365 moves to the sample application end, the test cup 7 on it is picked up by the picking device 2; when the sample positioning column 365 moves to the testing end, the test cup 7 on it is picked up by the transfer device 4. The protrusion 3651 shortens the distance between the transfer device 4 and the test cup 7, preventing the transfer device 4 from being unable to pick up the test cup 7.

[0089] In the above technical solution: the reagent bottle positioning mechanism 37 is used to place glass bottles P1, P2, and P3 containing various reagents required for blood testing. For example... Figure 14 As shown, the reagent bottle positioning mechanism 37 includes a positioning base 371, which is I-shaped. The bottom of the positioning base 371 is fixed to the dispensing plate 301. A slot 3711 is formed on the positioning base 371. A pair of slot walls protrude inwards to form positioning strips 3712. A reagent bottle positioning clamp 372 is provided within the slot 3711. Figure 15 As shown, the reagent bottle positioning clamp 372 includes a fixing seat 3721 placed on a slot 3711, a connecting post 3722 located above the fixing seat 3721, and a clamp seat 3723 located above the connecting post 3722. The clamp seat 3723 includes three clamp seat walls 37231 and a clamp groove 37232 formed by the three clamp seat walls 37231. An inclined seat block 373 is provided on the clamp groove 37232. Figure 16As shown, the inclined seat block 373 includes a seat block wall 3731 and a seat block bottom 3732. The upper surface of the seat block bottom 3732 is made into an inclined surface. The seat block bottom 3732 is located at the bottom of the clamp groove 37232. The seat block wall 3731 cooperates with the three-sided clamp seat wall 37231 to make the clamp seat 3723 closed on all four sides, preventing the glass bottle from falling. Since the bottom of the glass bottle is in contact with the upper surface of the seat block bottom 3732, each glass bottle is placed at an incline. When the material handling device 2 picks up the glass bottle for liquid transfer, it clamps the connecting column 3722, that is, it picks up the reagent bottle positioning clamp 372 and transfers the reagent simultaneously. The reagent is always placed at an incline during liquid transfer. Because the reagent is expensive and usually in small quantities, incline placement can make full use of the reagent.

[0090] In the above technical solution: the reagent supply mechanism 38 is used to hold glass bottles containing other reagents required for blood testing, such as CaCl2 reagent. The reagent supply mechanism 38 is located near the discharge door 3063 on the mixing safety cover 306. Figure 17As shown, the reagent feeding mechanism 38 includes a feeding guide block 382 fixed on the dispensing plate 301. A feeding slider 383 is provided on the feeding guide block 382. The feeding slider 383 is driven by the fifth driving mechanism and can move along the feeding guide block 382. The fifth driving mechanism is a second synchronous pulley transmission mechanism, which includes a feeding motor 381, a ninth transmission shaft, and a tenth transmission shaft. The ninth transmission shaft is connected to the rotating shaft of the feeding motor 381, and the two are arranged in the same direction. The tenth transmission shaft is arranged parallel to the ninth transmission shaft. A fifth synchronous pulley is provided on both the ninth and tenth transmission shafts, and a fifth belt is sleeved between the two fifth synchronous pulleys. A fifth connecting block is fixed on the fifth belt, and an eleventh sensing rod is fixed on the feeding slider 383. The eleventh sensing rod is connected to the fifth connecting block. A feeding transmission block 386 is mounted on one end of the feeding guide block 382. A second synchronous pulley transmission mechanism is installed within the feeding transmission block 386 and the feeding guide block 382. The ninth transmission shaft is located within the feeding transmission block 386. The feeding motor 381 is mounted on the feeding transmission block 386 or the frame of the blood testing machine. In this embodiment, the feeding motor 381 is mounted on the feeding transmission block 386, reducing the vibration impact of other components of the blood testing machine on the feeding motor 381 during operation. Simultaneously, it allows the feeding motor 381 to form an independent module with other components of the reagent feeding mechanism 38, facilitating installation and disassembly. By using the feeding transmission block 386 to position the feeding motor 381 perpendicular to the feeding guide block 382, ​​the lateral dimension can be reduced, effectively utilizing the vertical space and thus reducing the overall space occupied by the machine. An eleventh cavity is formed within the feeding guide block 382, ​​and the tenth transmission shaft is located at the end of the eleventh cavity furthest from the feeding transmission block 386. The feeding guide block 382 also has an eleventh sliding hole, which communicates with an eleventh cavity. The eleventh sensing rod passes through the eleventh sliding hole and connects to the fifth connecting block. The second synchronous pulley transmission mechanism is driven by the feeding motor 381, which has low noise. The feeding motor 381 cooperates with the ninth transmission shaft, the tenth transmission shaft, and the fifth belt to achieve flexible transmission, which is safer. In this embodiment, the feeding guide block 382 is equipped with a ninth limit sensor, a fifth origin sensor, and a tenth limit sensor. The ninth and tenth limit sensors are respectively fixed at both ends of one side of the feeding guide block 382, ​​and the fifth origin sensor is located between the ninth and tenth limit sensors. The ninth, fifth, and tenth limit sensors are used to sense the eleventh sensing rod. The feeding motor 381 first drives the eleventh sensing rod to cooperate with the fifth origin sensor. When the fifth origin sensor senses the eleventh sensing rod, the feeding motor 381 returns to the origin.Then the feeding motor 381 continues to drive the feeding slider 383 and the eleventh sensing rod to move. During the above process, when the ninth limit sensor senses the eleventh sensing rod, the feeding motor 381 stops moving. When the tenth limit sensor senses the eleventh sensing rod, the feeding motor 381 stops moving. Therefore, the ninth limit sensor and the tenth limit sensor limit the movement of the feeding slider 383.

[0091] In the above technical solution: a feeding mounting plate 384 is fixed on the feeding slider 383, and a reagent feeding clamp 385 is fixed on the feeding mounting plate 384. A reagent trough is formed on the top of the reagent feeding clamp 385, and a glass bottle containing CaCl2 reagent is placed in the reagent trough. The glass bottle containing CaCl2 reagent is manually fed. During feeding, the operator presses the control button 3062 to activate the fifth drive mechanism, which moves the reagent feeding clamp 385 away from the picking device 2. After moving a set distance, the fifth drive mechanism stops. Then, the operator manually opens the discharge door 3063 on the dispensing safety cover 306 and places the glass bottle containing CaCl2 reagent into the reagent trough. After feeding is completed, the operator presses the control button 3062 to activate the fifth drive mechanism, which moves the reagent feeding clamp closer to the picking device 2. After moving a set distance, the fifth drive mechanism stops, and the glass bottle containing CaCl2 reagent awaits to be picked up by the picking device 2. The reagent feeding clamp 385 is made movable to prevent the material handling device 2 from colliding with the operator's hand when manually feeding the reagent, which could result in the operator's hand being pinched or the material handling device 2 being damaged.

[0092] As an alternative to the aforementioned first composite transmission mechanism, the first drive mechanism may also employ any one of the following: hydraulic cylinder, pneumatic cylinder, lead screw drive mechanism, synchronous pulley drive mechanism, and chain drive mechanism. As an alternative to the aforementioned first, second, third, and fourth lead screw drive mechanisms, the sixth, seventh, second, and third drive mechanisms may also employ any one of the following: hydraulic cylinder, pneumatic cylinder, synchronous pulley drive mechanism, chain drive mechanism, and composite transmission mechanism. As an alternative to the aforementioned first and second synchronous pulley drive mechanisms, the fourth and fifth drive mechanisms may also employ any one of the following: hydraulic cylinder, pneumatic cylinder, lead screw drive mechanism, chain drive mechanism, and composite transmission mechanism. Since the connection relationships of the components within the first, second, third, fourth, fifth, sixth, and seventh drive mechanisms are identical, and to avoid excessive repetition in the specification without affecting the understanding of the technical solution, a general description will be used in the following description of the connection relationships of the alternative solutions. Specifically: the height adjustment slider 3193, pipetting slider 3424, transmission rod 3494, cap removal slider 3413, pipette tip slider 353, specimen positioning slider 363, and feeding slider 383 are collectively referred to as sliders; the reagent tube guide block 3192, pipetting guide block 3422, pipette tip detachment guide block 3495, blood collection tube guide block 346, pipette tip guide block 352, specimen guide block 362, and feeding slider 383 are also referred to as sliders. Guide block 382 is collectively referred to as guide block; reagent tube transmission block 3194, specimen transmission block 366, and feeding transmission block 386 are collectively referred to as transmission block; reagent tube moving motor 3191, pipetting motor 3421, pipette tip disengagement motor 3491, blood collection tube moving motor 345, pipette tip motor 351, specimen motor 361, and feeding motor 381 are collectively referred to as motor; the first limit sensor, the second limit sensor, the third limit sensor, the fourth limit sensor, the fifth limit sensor, the sixth limit sensor, the seventh limit sensor, the eighth limit sensor, the ninth limit sensor, and the tenth limit sensor are collectively referred to as limit sensor; and the first origin sensor, the second origin sensor, the third origin sensor, the fourth origin sensor, and the fifth origin sensor are collectively referred to as origin sensor.

[0093] When replaced by a hydraulic cylinder or pneumatic cylinder, the hydraulic cylinder or pneumatic cylinder is mounted on a guide block or the frame of the blood testing machine. The hydraulic cylinder or pneumatic cylinder directly or indirectly drives the slider to move. When this solution is adopted, the origin sensor is not required; only a sensor that cooperates with the limit sensor needs to be installed on the slider. The advantage of this solution is its simple drive connection structure.

[0094] When replaced by a lead screw drive mechanism, the lead screw drive mechanism includes a first lead screw and a motor. The function of the lead screw is to convert rotary motion into linear motion. The first lead screw includes a first screw rod and a first nut that is threaded into the first screw rod. The first screw rod is connected to the motor shaft via a coupling. A first sensing rod is fixed on the slider and is connected to the first nut. A first cavity for mounting the lead screw drive mechanism is formed inside the guide block, wherein the first lead screw is located in the first cavity. The motor is mounted on the guide block or the frame of the blood testing machine. In this embodiment, the motor is mounted on the guide block, which reduces the vibration impact of other components of the blood testing machine on the motor during operation; at the same time, it allows the motor and other components of the lead screw drive mechanism to form an independent module, which is convenient for installation and disassembly. A first sliding hole is formed on the guide block, which communicates with the first cavity. The first sensing rod passes through the first sliding hole and is connected to the first nut. Compared with the above-mentioned hydraulic cylinder or pneumatic cylinder drive, the advantages of the lead screw drive mechanism are that it is driven by a motor, has low noise, and the first lead screw and the motor cooperate to achieve rigid transmission, which is timely and rapid.

[0095] When replaced by a synchronous pulley drive mechanism, such as Figure 20 As shown, the synchronous pulley transmission mechanism includes a motor, a first transmission shaft 01, and a second transmission shaft 02. The first transmission shaft 01 is connected to the motor's rotating shaft, and both are arranged in the same direction. The second transmission shaft 02 is arranged parallel to the first transmission shaft 01. First synchronous pulleys are provided on both the first and second transmission shafts 01 and 02, and a first belt 03 is sleeved between the two first synchronous pulleys. A first connecting block 04 is fixed on the first belt 03, and a second sensing rod is fixed on the slider. The second sensing rod is connected to the first connecting block 04. A transmission block is installed at one end of the guide block. The synchronous pulley transmission mechanism is installed inside the transmission block and the guide block, with the first transmission shaft 01 located inside the transmission block. The motor is installed on the transmission block or the frame of the blood testing machine. In this embodiment, the motor is installed on the transmission block and perpendicular to the guide block, reducing the vibration impact of other components of the blood testing machine on the motor during operation. Simultaneously, the motor and other components of the synchronous pulley transmission mechanism are combined to form an independent module, facilitating installation and disassembly. A second cavity is formed inside the guide block, and the second transmission shaft 02 is located at the end of the second cavity away from the transmission block. A second sliding hole is also formed inside the guide block, which communicates with the second cavity. The second sensing rod passes through the second sliding hole and is connected to the first connecting block 04. The advantages of the synchronous pulley transmission mechanism are the same as those of the lead screw transmission mechanism mentioned above: it is driven by a motor and has low noise. Compared with the lead screw transmission mechanism, the advantages are that the motor, in conjunction with the first transmission shaft 01, the second transmission shaft 02, and the first belt 03, achieves flexible transmission, which is safer. By using the transmission block to make the motor perpendicular to the guide block, the lateral dimension can be reduced, the vertical space can be effectively utilized, and thus the overall space occupied by the machine can be reduced.

[0096] When replaced by a chain drive mechanism, the chain drive mechanism includes a motor, a first gear, and a second gear. The gear shaft of the first gear is connected to the motor's rotating shaft, and both are oriented in the same direction. The gear shaft of the second gear is parallel to the gear shaft of the first gear. A chain is fitted between the gear discs of the first and second gears. A second connecting block is fixed to the chain, and a third sensing rod is fixed to the slider. The third sensing rod is connected to the second connecting block. A transmission block is installed at one end of the guide block. The chain drive mechanism is installed within the transmission block and the guide block, with the first gear located within the transmission block. The motor is installed on the transmission block or the frame of the blood testing machine. In this embodiment, the motor is installed on the transmission block and perpendicular to the guide block, reducing the vibration impact of other components of the blood testing machine during motor operation. Simultaneously, it allows the motor and other components of the chain drive mechanism to form an independent module, facilitating installation and disassembly. A third cavity is formed within the guide block, and the second gear is located at the end of the third cavity away from the transmission block. A third sliding hole is also formed within the guide block, communicating with the third cavity. The third sensing rod passes through the third sliding hole and connects to the second connecting block. The advantages of chain drive mechanism are the same as those of synchronous pulley drive mechanism mentioned above. Driven by motor, it has low noise, flexible transmission, and is safer. By setting the motor perpendicular to the guide block through the transmission block, the lateral dimension can be reduced, the vertical space can be effectively utilized, and the overall space occupied by the machine can be reduced. Compared with synchronous pulley drive mechanism, the advantage is that the chain is not easy to wear.

[0097] When replaced by a composite transmission mechanism, such as Figure 21As shown, the composite transmission mechanism includes a motor, a second lead screw, a third transmission shaft 93, and a fourth transmission shaft 94. The lead screw converts rotary motion into linear motion. The second lead screw includes a second screw 91 and a second nut 92 threadedly engaged with the second screw 91. The third transmission shaft 93 is connected to the rotating shaft inside the motor, and the fourth transmission shaft is connected to the second screw 91. Both the third transmission shaft 93 and the fourth transmission shaft 94 are equipped with second synchronous pulleys, and a second belt 95 is fitted between the two second synchronous pulleys. A fourth sensing rod 96 is fixed on the cap-removing slider 3413, and the fourth sensing rod 96 is connected to the second nut 92. A transmission block is mounted on the guide block, and the composite transmission mechanism is installed within the transmission block and the guide block. The third transmission shaft 93 and the fourth transmission shaft 94 are located within the transmission block, and a fourth cavity is formed within the guide block, where the second lead screw is located. The motor is mounted on the transmission block or the frame of the blood testing machine. In this embodiment, the motor is mounted on the transmission block and arranged parallel to the guide block, reducing the vibration impact of other components of the blood testing machine during motor operation. Simultaneously, it allows the motor to be combined with other components of the composite transmission mechanism to form an independent module, facilitating installation and disassembly. A fourth sliding hole is formed on the guide block, communicating with a fourth cavity. The fourth sensing rod 96 passes through the fourth sliding hole and connects to the second nut 92. When the motor is started, the motor shaft drives the second screw 91 to rotate via the third transmission shaft 93, the second belt 95, and the fourth transmission shaft 94. The second screw 91 drives the second nut 92 to move axially along its axis, and the second nut 92 drives the cap-removing slider 3413 and the fourth sensing rod 96 to move along the guide block. The advantages of the composite transmission mechanism are similar to those of the chain transmission mechanism described above: it is driven by a motor and has low noise. Compared to the chain transmission mechanism, its advantage lies in the fact that the transmission block allows the motor to be arranged parallel to the guide block, reducing the lateral dimension and effectively utilizing the vertical space, thereby reducing the overall space occupied by the machine.

[0098] In the above technical solution: the first electric gripper 100, the second electric gripper 200, the third electric gripper 300, the fourth electric gripper 400, and the fifth electric gripper 500 all include a gripper cylinder 101 and gripper piston rods 102 located on both sides of the gripper cylinder 101. The gripper cylinder 101 is purchased directly from the market, and its internal structure is existing technology; only its external shape or structure is adjusted for different applications. For example... Figure 22 As shown, the gripper cylinder 101 has a concave gripper groove 1011 on one end face, and protruding guide strips 1012 are formed on the groove walls on both sides of the gripper groove 1011. A limit rod 1013 is provided in the middle of the guide strip 1012. Figure 23As shown, the bottom of the gripper piston rod 102 has a guide slide foot 1021, one side of the guide slide foot 1021 has a guide groove 1022, and the bottom of the guide groove 1022 has an elongated limiting hole 1023. The guide slide feet 1021 of both gripper piston rods 102 are located within the gripper groove 1011, the guide strip 1012 is located within the guide groove 1022, and the limiting rod 1013 passes through the limiting hole 1023. The gripper electric cylinder 101 drives the gripper piston rod 102 to move. During this process, the guide strip 1012 and the guide groove 1022 cooperate to provide a guiding function, and the limiting rod 1013 and the limiting hole 1023 cooperate to provide a limiting function.

[0099] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should fall within the protection scope of the present invention.

Claims

1. A dosing device for a blood testing machine, characterized in that The device comprises a cap screwing mechanism (31), a turnover mechanism (32), a static mechanism (33), a cap pulling and code scanning mechanism (34), a suction head positioning mechanism (35), a specimen transfer mechanism (36), a reagent bottle positioning mechanism (37), and a reagent feeding mechanism (38). The cap screwing mechanism (31) clamps and opens the cap of a reagent tube. The turnover mechanism (32) clamps and turns a reagent tube or a blood collection tube. The static mechanism (33) is used for static blood collection tubes and reagent tubes. The cap pulling and code scanning mechanism (34) clamps and scans the barcode on the blood collection tube, and opens the cap of the blood collection tube. The suction head positioning mechanism (35) is used for placing a suction head. The specimen transfer mechanism (36) is used for positioning a measuring cup (7). The reagent bottle positioning mechanism (37) is used for positioning a reagent bottle. The reagent feeding mechanism (38) is used for placing and moving a reagent bottle. The cap screwing mechanism (31) comprises a cap screwing back plate (3101), the top of the cap screwing back plate (3101) is provided with a first ingredient rotating mechanism for screwing the cap, the bottom of the first ingredient rotating mechanism is connected with a first electric clamp jaw (100) for clamping the cap of the reagent tube, the first electric clamp jaw (100) is installed with a reagent tube cap clamp finger (313), and the reagent tube cap clamp finger (313) is provided with a cap groove (31311). The cap screwing back plate (3101) is provided with a height adjusting device (319), the height adjusting device (319) is connected with a second electric clamp jaw (200) for clamping the body of the reagent tube, the second electric clamp jaw (200) is installed with a reagent tube body clamp finger (315), the reagent tube body clamp finger (315) is provided with a fixing groove (3151), the reagent tube body clamp finger (315) is located directly below the reagent tube cap clamp finger (313), the first ingredient rotating mechanism comprises an ingredient rotating motor (391), the ingredient rotating motor (391) drives the reagent tube cap clamp finger (313) and the cap of the reagent tube to rotate, and the height adjusting device (319) comprises a first driving mechanism, the first driving mechanism drives the reagent tube body clamp finger (315) and the body of the reagent tube to move up and down. The height adjusting device (319) comprises a guide sliding rail (3114) fixed to the front of the cap screwing back plate (3101), the guide sliding rail (3114) is provided with a guide sliding block (3115), and the guide sliding block (3115) is connected with the second electric clamp jaw (200). The height adjusting device (319) further comprises a reagent tube guide block (3192) fixed to the back of the cap screwing back plate (3101), the reagent tube guide block (3192) is provided with a height adjusting sliding block (3193), and the height adjusting sliding block (3193) is driven by the first driving mechanism and can move along the reagent tube guide block (3192). The bottom of the height-adjusting slider (3193) is connected with a U-shaped connecting plate (3117), the bottom of the cap-twisting back plate (3101) is provided with two limiting grooves (31011), the U-shaped connecting plate (3117) is open through the limiting grooves (31011) and connected with the guide slider (3115); The turnover mechanism (32) comprises a support plate (325), the upper portion of the support plate (325) is provided with a turnover hole, a clamping finger shaft is arranged in the turnover hole, one end of the clamping finger shaft is connected with a third electric clamping jaw (300), the other end is connected with a motor shaft of a turnover motor (323), the third electric clamping jaw (300) is provided with a turnover clamping finger (322), the turnover clamping finger (322) is provided with a small clamping finger notch (3221) and a large clamping finger notch (3222), the small clamping finger notch (3221) is used for clamping a reagent tube, the large clamping finger notch (3222) is used for clamping a blood collection tube, and the turnover motor (323) drives the turnover clamping finger (322) to turn over.

2. A dosing device for a blood testing machine according to claim 1, characterized in that The first driving mechanism is any one of an oil cylinder, a gas cylinder, a screw rod transmission mechanism, a synchronous wheel transmission mechanism, a chain transmission mechanism or a composite transmission mechanism; The screw rod transmission mechanism comprises a first screw rod and a first motor, the first screw rod comprises a first screw rod and a first nut threadedly matched with the first screw rod, the first screw rod is connected with a rotating shaft of the first motor through a shaft coupling, a first sensing rod is fixed on the height-adjusting slider (3193), and the first sensing rod is connected with the first nut; the reagent tube guide block (3192) is provided with a first cavity for mounting the screw rod transmission mechanism, the first screw rod is located in the first cavity, the first motor is mounted on the reagent tube guide block (3192) or a rack of the blood test machine, the reagent tube guide block (3192) is provided with a first sliding hole, the first sliding hole is communicated with the first cavity, the first sensing rod passes through the first sliding hole and is connected with the first nut; The synchronous wheel transmission mechanism comprises a second motor, a first transmission shaft (01) and a second transmission shaft (02), the first transmission shaft (01) is connected with the rotating shaft of the second motor and the setting directions of the two are the same, the second transmission shaft (02) is arranged in parallel with the first transmission shaft (01), the first transmission shaft (01) and the second transmission shaft (02) are both provided with a first synchronous wheel, a first belt (03) is sleeved between the two first synchronous wheels, the first belt (03) is fixed with a first connecting block (04), a second sensing rod is fixed on the height adjusting sliding block (3193), and the second sensing rod is connected with the first connecting block (04); one end of the reagent tube guide block (3192) is provided with a reagent tube transmission block (3194), the synchronous wheel transmission mechanism is installed in the reagent tube transmission block (3194) and the reagent tube guide block (3192), wherein the first transmission shaft (01) is arranged in the reagent tube transmission block (3194), the second motor is installed on the reagent tube transmission block (3194) and is arranged perpendicularly to the reagent tube guide block (3192) or is installed on the rack of the blood testing machine, a second cavity is formed in the reagent tube guide block (3192), the second transmission shaft (02) is located at one end of the second cavity away from the reagent tube transmission block (3194), a second sliding hole is further formed in the reagent tube guide block (3192), the second sliding hole is communicated with the second cavity, the second sensing rod passes through the second sliding hole and is connected with the first connecting block (04); The chain transmission mechanism comprises a third motor, a first gear and a second gear, the gear shaft of the first gear is connected with the rotating shaft of the third motor and the setting directions of the two are the same, the gear shaft of the second gear is arranged in parallel with the gear shaft of the first gear, a chain is sleeved between the gear disc of the first gear and the gear disc of the second gear, the chain is fixed with a second connecting block, a third sensing rod is fixed on the height adjusting sliding block (3193), and the third sensing rod is connected with the second connecting block; one end of the reagent tube guide block (3192) is provided with a reagent tube transmission block (3194), the chain transmission mechanism is installed in the reagent tube transmission block (3194) and the reagent tube guide block (3192), wherein the first gear is arranged in the reagent tube transmission block (3194), the third motor is installed on the reagent tube transmission block (3194) and is arranged perpendicularly to the reagent tube guide block (3192) or is installed on the rack of the blood testing machine, a third cavity is formed in the reagent tube guide block (3192), the second gear is located at one end of the third cavity away from the reagent tube transmission block (3194), a third sliding hole is further formed in the reagent tube guide block (3192), the third sliding hole is communicated with the third cavity, the third sensing rod passes through the third sliding hole and is connected with the second connecting block; The composite transmission mechanism comprises a fourth motor, a second screw rod, a third transmission shaft (93) and a fourth transmission shaft (94), the second screw rod comprises a second screw rod (91) and a second nut (92) threadedly matched with the second screw rod (91), the third transmission shaft (93) is connected with a rotating shaft in the fourth motor, the fourth transmission shaft (94) is connected with the second screw rod (91), the third transmission shaft (93) and the fourth transmission shaft (94) are both provided with a second synchronous wheel, a second belt (95) is sleeved between the two second synchronous wheels, a fourth sensing rod (96) is fixed on the height adjusting sliding block (3193), and the fourth sensing rod (96) is connected with the second nut (92); a reagent tube transmission block (3194) is mounted on the reagent tube guide block (3192), the composite transmission mechanism is mounted in the reagent tube transmission block (3194) and the reagent tube guide block (3192), the third transmission shaft (93) and the fourth transmission shaft (94) are located in the reagent tube transmission block (3194), a fourth cavity is made in the reagent tube guide block (3192), the second screw rod is located in the fourth cavity, the fourth motor is mounted on the reagent tube transmission block (3194) and arranged parallel to the reagent tube guide block (3192) or mounted on a rack of the blood testing machine, a fourth sliding hole is made in the reagent tube guide block (3192), the fourth sliding hole is communicated with the fourth cavity, the fourth sensing rod (96) penetrates through the fourth sliding hole and is connected with the second nut (92); A first limit sensor, a first origin sensor and a second limit sensor are mounted on the reagent tube guide block (3192), the first limit sensor and the second limit sensor are respectively fixed at two ends of one side surface of the reagent tube guide block (3192), and the first origin sensor is located between the first limit sensor and the second limit sensor.

3. The dosing device of a blood testing machine according to claim 1, characterized in that The standing mechanism (33) comprises a standing clamp (331) and a plurality of standing sensors (332), a plurality of reagent tube standing grooves (3311) and a plurality of blood collection tube standing grooves (3312) are made in the standing clamp (331), and one standing sensor (332) is arranged on each reagent tube standing groove (3311) and blood collection tube standing groove (3312).

4. The dosing device of a blood testing machine according to claim 2, characterized in that The cap pulling and code scanning mechanism (34) comprises a cap pulling back plate (348), a second dosing rotating mechanism, a code scanner (3415) and a second driving mechanism are sequentially arranged on the cap pulling back plate (348) from top to bottom, a pipetting device (342) is further connected to the cap pulling back plate (348), a fourth electric clamping jaw (400) for clamping a blood collection tube cover is connected to the bottom of the second dosing rotating mechanism, a blood collection tube cover clamping finger (343) is mounted on the fourth electric clamping jaw (400), and a positioning cavity (3431) is made in the blood collection tube cover clamping finger (343). The lower part of the cover pulling back plate (348) is fixed with a blood collection tube guide block (346), the cover pulling sliding block (3413) is arranged on the blood collection tube guide block (346), the cover pulling sliding block (3413) is driven by the second driving mechanism and can move along the blood collection tube guide block (346), the fifth electric clamping jaw (500) for clamping the body of the blood collection tube is arranged on the cover pulling sliding block (3413), the positioning clamping jaw (347) is arranged on the fifth electric clamping jaw (500), the blood collection tube body clamping groove (3471) is arranged on the positioning clamping jaw (347), the positioning clamping jaw (347) is located directly below the blood collection tube cap clamping finger (343), the blood collection tube cap clamping finger (343) clamps the cap of the blood collection tube, the positioning clamping jaw (347) clamps the body of the blood collection tube, the second ingredient rotating mechanism drives the blood collection tube cap clamping finger (343) and the cap of the blood collection tube to rotate, and the second driving mechanism drives the positioning clamping jaw (347) and the blood collection tube to move up and down.

5. A dosing device for a blood testing machine according to claim 4, characterized in that The second driving mechanism is any one of an oil cylinder, an air cylinder, a screw rod transmission mechanism, a synchronous wheel transmission mechanism, a chain transmission mechanism or a composite transmission mechanism. The third limit sensor, the second origin sensor and the fourth limit sensor are arranged on the blood collection tube guide block (346), the third limit sensor and the fourth limit sensor are respectively fixed at two ends of one side of the blood collection tube guide block (346), and the second origin sensor is located between the third limit sensor and the fourth limit sensor.

6. The dosing device of a blood testing machine according to claim 2, characterized in that The suction head positioning mechanism (35) comprises a suction head guide block (352), the suction head guide block (352) is provided with a suction head sliding block (353), the suction head sliding block (353) is driven by the third driving mechanism and can move along the suction head guide block (352), the suction head positioning plate (354) is fixed on the suction head sliding block (353), the suction head positioning plate (354) comprises a suction head positioning rod (3541), and the end of the suction head positioning rod (3541) extends out of the suction head sliding block (353) and is provided with a suction head positioning hole matched with the suction head.

7. A dosing device for a blood testing machine according to claim 6, characterized in that The third driving mechanism is any one of an oil cylinder, an air cylinder, a screw rod transmission mechanism, a synchronous wheel transmission mechanism, a chain transmission mechanism or a composite transmission mechanism. The fifth limit sensor, the third origin sensor and the sixth limit sensor are arranged on the suction head guide block (352), the fifth limit sensor and the sixth limit sensor are respectively fixed at two ends of one side of the suction head guide block (352), and the third origin sensor is located between the fifth limit sensor and the sixth limit sensor.

8. The dosing device of a blood testing machine according to claim 2, characterized in that The specimen transfer mechanism (36) comprises a specimen guide block (362), the specimen guide block (362) is provided with a specimen positioning sliding block (363), the specimen positioning sliding block (363) is driven by the fourth driving mechanism and can move along the specimen guide block (362), the specimen positioning column (365) is arranged on the specimen positioning sliding block (363), and the top of the specimen positioning column (365) is provided with a measuring cup positioning groove.

9. A dosing device for a blood testing machine according to claim 8, characterized in that The fourth driving mechanism is any one of an oil cylinder, a gas cylinder, a screw transmission mechanism, a synchronous wheel transmission mechanism, a chain transmission mechanism or a composite transmission mechanism. The specimen guide block (362) is provided with a seventh limit sensor, a fourth origin sensor and an eighth limit sensor. The seventh limit sensor and the eighth limit sensor are respectively fixed at two ends of one side surface of the specimen guide block (362), and the fourth origin sensor is located between the seventh limit sensor and the eighth limit sensor.

10. The dosing device of a blood testing machine according to claim 1, characterized in that The reagent bottle positioning mechanism (37) comprises a reagent bottle positioning clamp (372), the reagent bottle positioning clamp (372) comprises a fixed seat (3721), a connecting column (3722) located above the fixed seat (3721), and a clamp seat (3723) located above the connecting column (3722), the clamp seat (3723) comprises a clamp groove (37232), the reagent bottle is located in the clamp groove (37232), and an inclined seat block (373) is arranged on the clamp groove (37232), the inclined seat block (373) comprises a seat block bottom (3732), an upper surface of the seat block bottom (3732) is inclined, and the seat block bottom (3732) is located at a groove bottom of the clamp groove (37232).

11. A dosing device for a blood testing machine according to claim 2, characterized in that The reagent feeding mechanism (38) comprises a feeding guide block (382), the feeding guide block (382) is provided with a feeding sliding block (383), the feeding sliding block (383) is driven by a fifth driving mechanism and can move along the feeding guide block (382), the feeding sliding block (383) is provided with a reagent feeding clamp (385), and a reagent groove for placing a reagent bottle is formed in the top of the reagent feeding clamp (385).

12. A dosing device for a blood testing machine according to claim 11, characterized in that The fifth driving mechanism is any one of an oil cylinder, a gas cylinder, a screw transmission mechanism, a synchronous wheel transmission mechanism, a chain transmission mechanism or a composite transmission mechanism. The feeding guide block (382) is provided with a ninth limit sensor, a fifth origin sensor and a tenth limit sensor. The ninth limit sensor and the tenth limit sensor are respectively fixed at two ends of one side surface of the feeding guide block (382), and the fifth origin sensor is located between the ninth limit sensor and the tenth limit sensor.

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