A double-layer rail device and a transfer method for transferring a sample tray

Abstract

The present invention discloses a double-layer rail device, comprising: an upper rail, along the conveying direction of the upper rail, a detection mechanism is provided in the middle of the upper rail, the upstream section of the upper rail can convey a sample carrier to the input end of the detection mechanism, and the output end of the detection mechanism can convey the sample carrier to the downstream section of the upper rail; a lower rail, the lower rail is arranged below the upper rail, the output end of the downstream section of the upper rail can convey the sample carrier to the input end of the lower rail, and the output end of the lower rail can convey the sample carrier to the input end of the upstream section of the upper rail. In the present invention, the upper rail conveys the empty sample carrier after being detected by the detection mechanism to the lower rail for caching. The setting of the lower rail increases the caching capacity of the sample carrier. At the same time, since the upper rail and the lower rail are arranged vertically, it will not occupy too much space. The present invention also discloses a method for transferring a sample carrier.

Description

Technical Field

[0001] The invention relates to the field of laboratory automated assembly line operation, and more specifically, to a double-layer rail device and a transfer method for transferring a sample tray. Background Art

[0002] Nowadays, the market demand for laboratory automated assembly line operations is becoming more and more urgent. Laboratory automated assembly line operations can not only save test report time, but also liberate manpower. If you want to speed up the detection speed of automated assembly line operations, you must increase the sample buffer capacity. If you want to increase the sample buffer capacity, you must lengthen the track length. In existing laboratory automated assembly line operations, most of the tracks used to transport sample trays are single-layer tracks, or all tracks are at the same height. Therefore, if the track length is lengthened, the occupied area will increase. However, the area of ​​the laboratory is limited, so the track length cannot be arbitrarily lengthened.

[0003] Therefore, how to increase the sample cache size, thereby improving the detection speed, while not taking up too much space is a key issue that technical personnel in this field need to solve urgently. Summary of the invention

[0004] The purpose of the present invention is to increase the sample cache capacity, thereby improving the detection speed, while not taking up too much space. To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A double-layer rail device, characterized by comprising:

[0006] An upper rail, wherein a detection mechanism is arranged in the middle of the upper rail along the conveying direction of the upper rail, the upstream section of the upper rail can convey the sample support to the input end of the detection mechanism, and the output end of the detection mechanism can convey the sample support to the downstream section of the upper rail;

[0007] The lower rail is arranged below the upper rail, the output end of the downstream section of the upper rail can transport the sample tray to the input end of the lower rail, and the output end of the lower rail can transport the sample tray to the input end of the upstream section of the upper rail.

[0008] Preferably, a return rail is arranged on the side of the upper rail, the input end of the return rail can be communicated with the downstream section of the upper rail, and the output end of the return rail is communicated with the upstream section of the upper rail.

[0009] Preferably, a tube inspection device is provided at the input end of the downstream section of the upper track. The tube inspection device is used to detect whether there is a sample tube on the sample carrier. When the tube inspection device detects that there is a sample tube on the sample carrier, the downstream section of the upper track is communicated with the input end of the return track. When the tube inspection device detects that there is no sample tube on the sample carrier, the downstream section of the upper track is communicated with the input end of the lower track.

[0010] Preferably, the return track includes a first turning track, a return track body, and a second turning track. The first turning track is used to connect the downstream section of the upper track and the return track body, and the second turning track is used to connect the return track body and the upstream section of the upper track.

[0011] Preferably, at the input end of the downstream section of the upper track and downstream of the tube inspection device, a first guiding assembly is provided. The first guiding assembly is used to guide the sample carrier into the first turning track.

[0012] Preferably, at the output end of the second turning track, a second guiding mechanism is provided. The second guiding mechanism is used to guide the sample carrier on the second turning track into the upstream section of the upper track.

[0013] Preferably, a transfer device is further included. The transfer device can transfer the sample carrier at the output end of the lower track to the input end of the upstream section of the upper track, or the transfer device can transfer the sample carrier at the output end of the downstream section of the upper track to the input end of the lower track.

[0014] Preferably, a lower output end stop is provided at the output end of the lower track.

[0015] An upper input end stop is provided at the input end of the upstream section of the upper track, and an upper output end stop is provided at the output end of the downstream section of the upper track.

[0016] Preferably, the transfer device is a first transfer device. The first transfer device includes:

[0017] A receiving tray, the receiving tray has an opening for the sample carrier to enter and exit. The sample carrier enters and exits the opening under the driving force of the upper track or the lower track.

[0018] A moving assembly, the receiving tray is connected to the output end of the moving assembly. The output end of the moving assembly can output a movement between the output end of the lower track and the input end of the upstream section of the upper track, or can output a movement between the output end of the downstream section of the upper track and the input end of the lower track.

[0019] Preferably, the middle part of the sample holder has a reduced-diameter part, the opening of the receiving plate is adapted to the reduced-diameter part, the receiving plate has a card slot communicating with the opening, and the card slot is used to hold the sample holder.

[0020] Preferably, a sunk platform is arranged in the card slot, and the upper large-diameter part of the sample holder can be seated on the sunk platform.

[0021] Preferably, along the moving-in or moving-out direction of the sample holder, two or more of the card slots are arranged on the receiving plate, and adjacent two of the card slots are communicated through a channel, and the channel is adapted to the reduced-diameter part of the sample holder.

[0022] Preferably, the moving assembly includes a horizontal moving assembly and a vertical moving assembly. The horizontal moving assembly is arranged on a horizontal substrate, and the vertical moving assembly is arranged on a vertical substrate; the receiving plate is connected to the output end of the vertical moving assembly, the vertical substrate is connected to the output end of the horizontal moving assembly, and the horizontal substrate is fixed on a fixing frame.

[0023] Preferably, the horizontal moving assembly includes: a horizontal transmission belt, a first driving wheel, a first driven wheel, and a first motor; the horizontal transmission belt is wound around the first driving wheel and the first driven wheel, and the first driving wheel is driven by the first motor.

[0024] Preferably, a horizontal guide rail is arranged on the horizontal substrate, a horizontal sliding block is connected to the vertical substrate, and the horizontal sliding block is in sliding fit with the horizontal guide rail.

[0025] Preferably, a horizontal in-place detector is arranged on the horizontal substrate. After the first motor drives the vertical moving assembly to move horizontally to the end, the horizontal in-place detector detects whether the vertical moving assembly moves in place. When it detects that the vertical moving assembly does not move in place, the horizontal in-place detector triggers an alarm to alarm.

[0026] Preferably, the vertical moving assembly includes: a vertical transmission belt, a second driving wheel, a second driven wheel, and a second motor; the vertical transmission belt is wound around the second driving wheel and the second driven wheel, and the second driving wheel is driven by the second motor.

[0027] Preferably, a vertical guide rail is arranged on the vertical substrate, a vertical sliding block is connected to the receiving plate, and the vertical sliding block is in sliding fit on the vertical guide rail.

[0028] Preferably, a vertical in-place detector is provided on the vertical substrate. After the second motor drives the receiving plate to move vertically to the end, the vertical in-place detector detects whether the receiving plate has moved in place. When it detects that the receiving plate has not moved in place, the vertical in-place detector triggers the alarm to alarm.

[0029] Preferably, the transfer device is a second transfer device, and the second transfer device includes:

[0030] A transmission assembly, the transmission assembly includes a closed-loop transmission member;

[0031] A supporting member, there are multiple supporting members, and the multiple supporting members are arranged along the transmission member and connected to the transmission member;

[0032] A manipulator, which is used to place a sample tray on the supporting member or take away the sample tray from the supporting member.

[0033] Preferably, the transmission assembly includes:

[0034] A third motor;

[0035] A third driving wheel, the third motor drives the third driving wheel to rotate;

[0036] A third driven wheel, the third driving wheel and the third driven wheel are arranged vertically, and the transmission member is wound around the third driving wheel and the third driven wheel.

[0037] Preferably, the transmission member is a transmission chain or a transmission belt.

[0038] Preferably, the third driving wheel is located below the third driven wheel.

[0039] Preferably, a limiting guide bar extending along the vertical direction is arranged inside the closed loop of the transmission chain, and the side of the limiting guide bar forms a supporting effect on the transmission chain.

[0040] Preferably, the supporting member includes a supporting plate and a guard plate, the guard plate is arranged on the side of the supporting plate, and an entrance and exit are formed on one side of the supporting plate close to the upper rail or the lower rail.

[0041] Preferably, the guard plate is provided with an external chamfer at the entrance and exit.

[0042] Preferably, the supporting member further includes a connecting plate, the connecting plate is located on the side far from the entrance and exit, and the connecting plate is located on the side of the supporting plate opposite to the guard plate, and an accessory plate is arranged on the transmission member, and the accessory plate is connected to the connecting plate by bolts.

[0043] Preferably, the manipulator includes a first automatic push rod, which is arranged on the support frame of the second transfer device, and the first automatic push rod can push the sample tray on the supporting plate into the input end of the lower layer rail or the input end of the upstream section of the upper layer rail.

[0044] Preferably, the manipulator includes a second automatic push rod, which is arranged on the lower layer rail or the upper layer rail, and the second automatic push rod is used to push the sample tray at the output end of the lower layer rail or the sample tray at the output end of the downstream section of the upper layer rail onto the corresponding supporting plate.

[0045] The present invention also discloses a method for transferring a sample tray, including a method for transferring the sample tray in the lower layer rail to the upper layer rail, which is characterized by including the following steps:

[0046] S1: Determine whether there is a sample tray at the stop at the lower layer output end. If so, then proceed to step S2;

[0047] S2: Determine whether the transfer device is idle. If so, then proceed to step S3;

[0048] S3: Determine whether the stop at the upper layer input end is full. If not, then proceed to step S4;

[0049] S4: The transfer device receives the sample tray;

[0050] S5: Determine whether there is a second sample tray at the stop at the lower layer output end. If not, then proceed to step S8; if so, then proceed to step S6;

[0051] S6: Determine whether the stop at the upper layer input end can accommodate two sample trays. If not, then proceed to step S8; if so, then proceed to step S7;

[0052] S7: The transfer device receives the second sample tray;

[0053] S8: The transfer device lifts the sample tray to the upper layer rail;

[0054] S9: The transfer device returns to the lower layer rail.

[0055] Preferably, it also includes a method for transferring the sample tray on the upper layer rail to the lower layer rail, and this method specifically includes:

[0056] T1: Determine whether a sample tray reaches the test tube device. If so, then proceed to step T2;

[0057] T2: The test tube device detects whether there is a sample tube on the sample tray. If so, then proceed to step T3; if not, then proceed to step T4;

[0058] T3: Re-convey the sample carrier to the detection mechanism;

[0059] T4: Determine whether the upper output end stop is full. If not, proceed to step T5;

[0060] T5: Release the sample carrier to the upper output end stop;

[0061] T6: Determine whether the transfer device is idle. If so, proceed to step T7;

[0062] T7: The transfer device receives the sample carrier;

[0063] T8: Determine whether there is still a sample carrier at the upper output end stop. If so, proceed to step T9; if not, proceed to step T10;

[0064] T9: The transfer device receives the second sample carrier;

[0065] T10: The transfer device transfers the sample carrier to the lower track;

[0066] T11: The transfer device returns to the upper track.

[0067] As can be seen from the above technical solution, the upper track conveys the empty sample carriers that have been detected by the detection mechanism to the lower track for caching. The setting of the lower track increases the caching capacity of the sample carriers. At the same time, since the upper track and the lower track are arranged vertically, it will not occupy too much space. In addition, the track device of the present invention includes two cycles. In these two cycles, it can not only ensure that the samples on the sample carriers gradually undergo different detection processes of the detection mechanism, but also ensure that the empty carriers that have been detected by the detection mechanism can be continuously cached into the lower track. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] To more clearly illustrate the solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0069] Figure 1 Schematic diagram of the upstream section and the partial return track of the upper track provided by a specific embodiment of the present invention;

[0070] Figure 2 Enlarged view of the upstream section and the partial return track of the upper track provided by a specific embodiment of the present invention;

[0071] Figure 3 Schematic diagram of the structure of the lower track provided by a specific embodiment of the present invention;

[0072] Figure 4 Top view of the double-layer rail device provided by a specific embodiment of the present invention;

[0073] Figure 5 Structural schematic diagram of the first transfer device provided by a specific embodiment of the present invention;

[0074] Figure 6 Structural schematic diagram of the receiving and supporting plate provided by a specific embodiment of the present invention;

[0075] Figure 7 Structural schematic diagram of the receiving and supporting plate and the sample holder provided by a specific embodiment of the present invention;

[0076] Figure 8 Structural schematic diagram of the second transfer device provided by a specific embodiment of the present invention;

[0077] Figure 9 Flowchart of the transfer method for transferring the sample holder from the lower layer rail to the upper layer rail provided by a specific embodiment of the present invention;

[0078] Figure 10 Flowchart of the transfer method for transferring the sample holder from the upper layer rail to the lower layer rail provided by a specific embodiment of the present invention.

[0079] Among them, 1-1 is the upstream section of the upper layer rail, 1-2 is the downstream section of the upper layer rail, 2 is the lower layer rail, 3 is the return rail, 3-1 is the first turning rail, 3-2 is the return rail body, 3-3 is the second turning rail, 4-1 is the first guiding mechanism, 4-2 is the second guiding mechanism, 5 is the first transfer device, 5-1 is the horizontal base plate, 5-2 is the horizontal conveyor belt, 5-3 is the horizontal guide rail, 5-4 is the horizontal in-place detector, 5-5 is the first motor, 5-6 is the vertical base plate, 5-7 is the vertical guide rail, 5-8 is the vertical conveyor belt, 5-9 is the vertical in-place detector, 5-10 is the second motor, 6-1 is the transmission chain, 6-2 is the supporting plate, 6-3 is the side guard plate, 6-4 is the back guard plate, 6-5 is the connecting plate, 6-6 is the support frame, 6-7 is the third motor, 7-1 is the receiving and supporting plate, 7-2 is the opening, 7-3 is the card slot, 7-4 is the channel, 7-5 is the counterbore, 7-6 is the large-diameter upper part. Detailed implementation manners

[0080] The present invention discloses a double-layer rail device, which can not only increase the buffer capacity of samples, thereby improving the detection speed, but also does not occupy too much space.

[0081] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0082] The present invention discloses a double-layer rail device, which includes an upper rail and a lower rail 2. The upper rail is used for sample introduction (introducing the sample tray). The lower rail 2 is located below the upper rail. Along the conveying direction of the upper rail, a detection mechanism is provided in the middle of the upper rail. The detection mechanism divides the upper rail into an upstream section 1-1 and a downstream section 1-2. The upstream section 1-1 of the upper rail can convey the sample tray to the input end of the detection mechanism, and the output end of the detection mechanism can convey the sample tray to the downstream section 1-2 of the upper rail. The downstream section 1-2 of the upper rail can convey the sample tray to the input end of the lower rail 2, and the output end of the lower rail 2 can convey the sample tray to the input end of the upper rail. After the sample tray enters the detection mechanism, a series of steps such as sample placement, detection, and sampling will be performed.

[0083] In the present invention, the upper rail conveys the empty sample tray that has been detected by the detection mechanism to the lower rail 2 for caching. The setting of the lower rail 2 increases the caching capacity of the sample tray. At the same time, since the upper rail and the lower rail 2 are arranged one above the other, it does not occupy too much space.

[0084] Please refer to the attached Figures 1-4 , the double-layer rail device further includes a return rail. The input end of the return rail can be connected to the downstream section 1-2 of the upper rail, and the output end of the return rail can be connected to the upstream section 1-1 of the upper rail. A tube inspection device is provided at the input end of the downstream section 1-2 of the upper rail, and the tube inspection device is used to detect whether there is a sample tube on the sample tray.

[0085] After the upstream section 1-1 of the upper rail conveys the sample tray to the detection mechanism, the detection mechanism first places the sample tube (samples are placed) on the sample tray, and then detects the samples in the sample tube. If the detection is completed, the sample tube on the sample tray will be taken away. At this time, the sample tray becomes an empty tray, and the empty sample tray is conveyed to the input end of the downstream section 1-2 of the upper rail.

[0086] At the input end of the downstream section 1-2 of the upper track, the sample tray inspection device checks the sample tray. If it is detected that there is no sample tube on the sample tray, indicating that the sample tray is an empty tray, then the downstream section 1-2 of the upper track is connected to the lower track 2, and the sample tray is conveyed to the lower track 2. If it is detected that there is a sample tube on the sample tray, indicating that the sample tray needs to be sent to the detection mechanism for re-detection, then the downstream section 1-2 of the upper track will be connected to the turning track, and the sample tray will enter the upstream section 1-1 of the upper track again through the turning track, and then be conveyed into the detection mechanism. This cycle continues until it is detected that there is no sample tube on the sample tray.

[0087] In the present invention, the upstream section 1-1 of the upper track, the detection mechanism, the downstream section 1-2 of the upper track, and the return track 3 form the first cycle of the sample tray. In this first cycle, the sample tray experiences detection, return, and re-detection in sequence. In this first cycle, it can be ensured that the samples on the sample tray gradually undergo different detection processes of the detection mechanism. The second cycle in the present invention is composed of the upstream section 1-1 of the upper track, the detection mechanism, the downstream section 1-2 of the upper track, and the lower track 2. In this second cycle, the sample tray experiences sample placement, detection, conveyance to the lower track 2, and sample placement in sequence. In this way, it can be ensured that empty trays are continuously cached in the lower track 2. The empty trays cached in the lower track 2 are continuously transferred to the upstream section 1-1 of the upper track. In this way, an assembly line operation is formed.

[0088] Please refer to the appendix Figure 4 Regarding the return track 3, it specifically includes a first turning track 3-1, a return track body 3-2, and a second turning track 3-3. The first turning track 3-1 is used to convey the sample tray on the downstream section 1-2 of the upper track to the return track body 3-2. The second turning track 3-3 can convey the sample tray from the return track body 3-2 to the upstream section 1-1 of the upper track, and then the upstream section 1-1 of the upper track conveys the sample tray to the detection mechanism. In this embodiment, the first turning track 3-1 is used to connect the downstream section 1-2 of the upper track and the return track body 3-2, and the second turning track 3-3 is used to connect the return track body 3-2 and the upstream section 1-1 of the upper track.

[0089] The present invention provides a first guiding mechanism 4-1 at the input end of the downstream section 1-2 of the upper track. When the sample inspection device detects that there is a sample on the sample tray, the first guiding mechanism 4-1 opens, forming a guide from the downstream section 1-2 of the upper track to the first turning track 3-1. In this way, the sample tray conveyed to the input end of the downstream section 1-2 of the upper track enters the first turning track 3-1 under the guiding action of the first guiding mechanism 4-1, and then is conveyed to the return track body 3-2 by the first turning track 3-1.

[0090] The present invention provides a second guiding mechanism 4-2 at the output end of the second turning track 3-3. The function of the second guiding mechanism 4-2 is to guide the sample carrier on the second turning track 3-3 into the upstream section 1-1 of the upper track.

[0091] It should be noted that the inspection device includes a photoelectric sensor, which is used to determine whether there is a sample tube on the sample carrier.

[0092] Regarding the problem of how to transfer the sample carrier in the lower track 2 to the upstream section 1-1 of the upper track and how to transfer the sample carrier on the downstream section 1-2 of the upper track to the lower track 2, the present invention designs a transfer device. The transfer device can transfer the sample carrier at the output end of the lower track 2 to the input end of the upstream section 1-1 of the upper track, or the transfer device can transfer the sample carrier at the output end of the downstream section 1-2 of the upper track to the input end of the lower track 2.

[0093] The present invention also provides an upper input end stop at the input end of the upper track, that is, an upper input end stop is provided at the input end of the upstream section 1-1 of the upper track. The upper input end stop is used to control whether the upper track receives a new sample carrier. If the upper track is full, the upper input end stop closes to prevent a new sample carrier from entering. The present invention also provides an upper output end stop, or an upper output end stop is provided at the output end of the downstream section 1-2 of the upper track, to prevent the samples in the upper track from being removed randomly. The present invention also provides a lower output end stop at the output end of the lower track 2 to prevent the sample carrier in the lower track 2 from being removed randomly.

[0094] The present invention designs two transfer devices, namely the first transfer device 5 and the second transfer device. First, introduce the first transfer device 5. Please refer to the appendix Figures 5-7 : The first transfer device 5 includes a receiving plate 7-1 and a moving component. The receiving plate 7-1 has an opening 7-2 for the sample to enter and exit. The output end of the moving component can output the movement between the output end of the lower track 2 and the input end of the upstream section 1-1 of the upper track, or can output the movement between the output end of the downstream section 1-2 of the upper track and the input end of the lower track 2. The receiving plate 7-1 is connected to the output end of the moving component.

[0095] If the first transfer device 5 is located at the input end of the upstream section 1-1 of the upper track, then the receiving tray 7-1 transfers the sample tray in the lower track 2 to the upstream section 1-1 of the upper track. The movement process of the receiving tray 7-1 is as follows: The receiving tray 7-1 first stops at the output end of the lower track 2. After the lower track 2 conveys the sample tray to the receiving tray 7-1, the moving component drives the receiving tray 7-1 to move to the input end of the upstream section 1-1 of the upper track. Then, driven by the upstream section 1-1 of the upper track, the sample tray gradually enters the upstream section 1-1 of the upper track. After that, the receiving tray 7-1 returns along the original path and stops at the output end of the lower track 2 again to transfer the next sample tray.

[0096] If the first transfer device 5 is located at the output end of the downstream section 1-2 of the upper track, then the receiving tray 7-1 transfers the sample tray at the output end of the downstream section 1-2 of the upper track to the input end of the lower track 2. The movement process of the receiving tray 7-1 is as follows: The receiving tray 7-1 first stops at the output end of the downstream section 1-2 of the upper track. After the downstream section 1-2 of the upper track conveys the sample tray to the receiving tray 7-1, the receiving tray 7-1 is driven by the moving component to move to the input end of the lower track 2. Then, driven by the lower track 2, the sample tray in the receiving tray 7-1 moves into the lower track 2. After that, the receiving tray 7-1 returns to the output end of the downstream section 1-2 of the upper track along the original path and waits for the next sample tray.

[0097] Then specifically, how to make the sample tray on the receiving tray 7-1 leave the receiving tray 7-1 and enter the lower track 2 or the upstream section 1-1 of the upper track, and specifically how to make the sample tray in the lower track 2 or the downstream section 1-2 of the upper track enter the receiving tray 7-1. In response to this problem, the present invention has made the following design: First, the sample tray in the present invention is generally cylindrical, and a reduced-diameter portion is formed in the middle of the sample tray. Above the reduced-diameter portion is the upper large-diameter portion 7-6, and below is the lower large-diameter portion. The opening 7-2 on the receiving tray 7-1 is adapted to the reduced-diameter portion of the sample tray, that is, the reduced-diameter portion can enter and exit the opening 7-2. The receiving tray 7-1 also has a card slot 7-3, which is communicated with the opening 7-2, and the card slot 7-3 can hold the sample tray. Further, the present invention also provides a sunk platform 7-5 in the card slot 7-3, and the lower end surface of the upper large-diameter portion 7-6 of the sample tray can be seated on the sunk platform 7-5.

[0098] It should be noted that the return rail body 3-2 is substantially parallel to the upstream section 1-1 of the upper track or, in other words, to the downstream section 1-2 of the upper track. The lower track 2 is preferably located between the upstream section 1-1 of the upper track and the return rail body 3-2. In other words, the lower track 2 is arranged in a staggered manner with the upper track. The movement output by the output end of the moving component includes horizontal movement and vertical movement.

[0099] If the first transfer device 5 is located on the input end side of the upstream section 1-1 of the upper track, then in the initial state, the receiving tray 7-1 stops above the output end of the lower track 2, and the opening 7-2 of the receiving tray 7-1 faces the reduced diameter portion of the sample tray. With the conveyance of the lower track 2, the reduced diameter portion of the sample tray will move into the card slot 7-3 through the opening 7-2. After that, the sample tray moves upward with the moving assembly, and then the sample tray will be adaptively adjusted so that the upper large diameter portion 7-6 of the sample tray is seated on the sunk platform 7-5. In this way, not only a clamping effect is formed on the sample tray, but also a limiting effect is formed on the sample tray, thereby ensuring that the sample tray can be stably located in the card slot 7-3. After the receiving tray 7-1 rises to a certain height above the upstream section 1-1 of the upper track, the moving assembly drives the receiving tray 7-1 to move horizontally until the receiving tray 7-1 is located above the upstream section 1-1 of the upper track. At this time, the bottom of the sample tray in the receiving tray 7-1 just sits on the upstream section 1-1 of the upper track, and the reduced diameter portion just faces the opening 7-2 of the receiving tray 7-1. Under the conveyance of the upstream section 1-1 of the upper track, the sample tray slides out of the receiving tray 7-1 through the opening 7-2. After that, the receiving tray 7-1 returns along the original path driven by the moving assembly.

[0100] If the first transfer device 5 is located on the output end side of the downstream section 1-2 of the upper track, the moving principle of the receiving tray 7-1 is similar to that when it is located on the input end side of the upstream section 1-1 of the upper track, so it will not be elaborated here.

[0101] It should be noted that there can be two or more card slots 7-3 in the receiving tray 7-1. Two or more card slots 7-3 are arranged along the moving direction of the sample tray. Adjacent two card slots 7-3 are connected through a channel 7-4. Still taking the first transfer device 5 located on the input end side of the upstream section 1-1 of the upper track as an example: If the receiving tray stops above the output end of the lower track 2, then with the conveyance of the lower track 2, the first sample tray will enter the card slot 7-3 through the opening 7-2, and under the conveyance of the lower track 2, the first sample tray will gradually enter the innermost card slot 7-3, or enter the card slot 7-3 farthest from the lower track 2. After that, the second and third sample trays will successively enter the second innermost card slot 7-3 and the third innermost card slot 7-3. After the receiving tray 7-1 transfers the sample tray above the input end of the upstream section 1-1 of the upper track, under the conveyance of the upstream section 1-1 of the upper track, the sample trays slide out of the receiving tray 7-1 in sequence. The setting of multiple card slots 7-3 improves the transfer efficiency.

[0102] Next, the specific structure of the moving component will be introduced: The moving component includes a horizontally moving component and a vertically moving component. The horizontally moving component is arranged on the horizontal substrate 5-1, and the vertically moving component is arranged on the vertical substrate 5-6. The vertical substrate 5-6 is connected to the output end of the horizontally moving component. The horizontal substrate 5-1 is arranged on the fixing frame.

[0103] The horizontally moving component includes a horizontal transmission belt 5-2, a first driving wheel, a first driven wheel, and a first motor 5-5. The horizontal transmission belt 5-2 is wound around the first driving wheel and the first driven wheel. The first driving wheel is driven by the first motor 5-5, and the first driving wheel, the first driven wheel, and the first motor 5-5 are all arranged on the horizontal substrate 5-1. The vertical substrate 5-6 is connected to the horizontal transmission belt 5-2.

[0104] Furthermore, a horizontal guide rail 5-3 is arranged on the horizontal substrate 5-1, and a horizontal slider is connected to the vertical substrate 5-6. The horizontal slider is in sliding fit with the horizontal guide rail. In this way, the vertical substrate 5-6 can move along the horizontal guide rail 5-3 under the driving action of the horizontal transmission belt 5-2. The horizontal movement of the vertical substrate 5-6 is also the horizontal movement of the vertically moving component.

[0105] In order to ensure that the vertically moving component can move into place during horizontal movement, so as to ensure the smooth progress of the sample tray transfer operation, the present invention arranges a horizontal in-place detector 5-4 on the horizontal substrate 5-1. After the first motor 5-5 drives the vertically moving component to complete horizontal movement, the horizontal in-place detector 5-4 detects whether the vertically moving component has moved into place. If the horizontal in-place detector 5-4 detects that the vertically moving component has moved into place, then the controller controls the transfer device to perform subsequent actions. If the horizontal in-place detector 5-4 detects that the vertically moving component has not moved into place, then the horizontal in-place detector 5-4 will trigger the alarm to alarm, and the transfer device pauses operation.

[0106] For example, during the process of the receiving tray 7-1 transferring the sample tray on the lower track 2 to the upstream section 1-1 of the upper track, after the receiving tray 7-1 moves to a certain height from the lower track 2, the first motor 5-5 controls the vertically moving component, or rather controls the receiving tray 7-1 to move horizontally. After the driving of the first motor 5-5 ends, the horizontal in-place detector 5-4 detects the vertically moving component, or rather detects whether the vertical substrate 5-6 has moved into place. If it has moved into place, then the controller controls the first motor 5-5 or the second motor 5-10 to perform subsequent actions. If it is detected that the vertically moving component has not moved into place, then the first motor 5-5 and the second motor 5-10 stop working, and at the same time the alarm is triggered to alarm.

[0107] The vertical moving component includes a vertical transmission belt, a second driving wheel, a second driven wheel, and a second motor. The vertical transmission belt is wound around the second driving wheel and the second driven wheel. The second driving wheel is driven by the second motor 5-10, and the second driving wheel, the second driven wheel, and the second motor are all arranged on the vertical substrate 5-6.

[0108] Further, the present invention also provides a vertical guide rail 5-7 on the vertical substrate 5-6. The supporting plate 7-1 is connected with a vertical slider, and the vertical slider is slidably engaged with the vertical guide rail 5-7. Driven by the vertical transmission belt, the supporting plate 7-1 slides up and down along the vertical guide rail 5-7.

[0109] In order to ensure that the supporting plate 7-1 can move in place during the vertical movement, so as to ensure the smooth progress of the sample tray transfer operation, the present invention provides a vertical in-place detector 5-9 on the vertical substrate 5-6. After the second motor 5-10 drives the supporting plate 7-1 to complete the vertical movement, the vertical in-place detector 5-9 detects whether the supporting plate 7-1 has moved in place. If the vertical in-place detector 5-9 detects that the supporting plate 7-1 has moved in place, then the controller controls the transfer device to perform subsequent actions. If the vertical in-place detector 5-9 detects that the supporting plate 7-1 has not moved in place, then the vertical in-place detector 5-9 will trigger the alarm to alarm, and the transfer device pauses the operation.

[0110] For example, during the process of the supporting plate 7-1 transferring the sample tray in the lower rail 2 to the input end of the upstream section 1-1 of the upper rail, after the second motor 5-10 drives the supporting plate 7-1 to complete the vertical movement, the vertical in-place detector 5-9 detects whether the supporting plate 7-1 has moved in place. If it has moved in place, then the controller controls the first motor 5-5 or the second motor 5-10 to perform subsequent actions. If the vertical in-place detector 5-9 detects that the supporting plate 7-1 has not moved in place, then the alarm is triggered to alarm, and the controller controls the first motor 5-5 or the second motor 5-10 to stop the operation.

[0111] The above is the description of the first transfer device 5. Next, the second transfer device will be introduced:

[0112] Please refer to the attached Figure 8 , the second transfer device includes: a transmission component, a supporting member, and a manipulator. The transmission component includes a closed-loop transmission member, and the transmission member is arranged vertically. There are multiple supporting members, and the multiple supporting members are arranged along the transmission member and connected to the transmission member. The manipulator is used to place the sample tray on the supporting member or take the sample tray from the supporting member.

[0113] For example, during the process of transferring the sample tray at the output end of the lower track 2 to the input end of the upstream section 1-1 of the upper track, when a certain carrier on the transmission member just moves to the position of the output end of the lower track 2, the manipulator grabs the sample tray at the output end of the lower track 2, then places the sample tray on the carrier, and then the manipulator resets. The carrier continues to move upward with the transmission member. When the carrier moves to the position of the input end of the upstream section 1-1 of the upper track, the manipulator grabs the sample tray on the carrier, then places the sample tray at the input end of the upstream section 1-1 of the upper track, and then the manipulator resets. The carrier continues to rotate with the transmission member. After the carrier rotates one week with the transmission member, the carrier will move to the position of the output end of the lower track 2 again.

[0114] It should be noted that since there are multiple carriers provided on the transmission member, after the previous carrier receives the sample tray and leaves the lower track 2, the next carrier will immediately move to the side of the output end of the lower track 2. In this way, the multiple carriers transfer the sample tray in sequence. Obviously, the arrangement of the multiple carriers in this embodiment can greatly improve the transfer efficiency of the sample tray.

[0115] The transmission assembly includes: a third motor 6-7, a third driving wheel, and a third driven wheel. The third motor drives the third driving wheel to rotate. The third driving wheel and the third driven wheel are arranged vertically, and the transmission member is wound around the third driving wheel and the third driven wheel. Specifically, the transmission member can be a transmission chain 6-1 or a transmission belt. If the transmission member is a transmission chain 6-1, then both the third driving wheel and the third driven wheel are sprockets.

[0116] It should be noted that for the convenience of setting, the present invention arranges the third driving wheel below the third driven wheel. The third motor for driving the third driving wheel is also arranged below.

[0117] In order to ensure that the carrier on the transmission chain 6-1 moves stably in the vertical direction, thereby ensuring the stability of the sample tray on the carrier, the present invention makes the following design: a limiting guide bar is arranged inside the closed loop of the transmission chain 6-1, and the limiting guide bar extends along the vertical direction. The side part of the limiting guide bar supports the transmission chain 6-1 to prevent the transmission chain 6-1 from sagging inward.

[0118] Next, the carrier is introduced: The carrier includes a carrier plate 6-2 and a guard plate, and the guard plate is arranged on the side part of the carrier plate 6-2. The carrier plate 6-2 is used to carry the sample tray, and the guard plate is used to protect the sample tray. An entrance and exit are formed on one side of the carrier plate 6-2 close to the upper track or the lower track 2. The sample tray enters or leaves the carrier plate 6-2 through the entrance and exit. For the convenience of the entry and exit of the sample tray, the present invention also provides an external chamfer on the part of the guard plate at the entrance and exit.

[0119] In addition to the supporting plate 6-2 and the protection plate, the supporting member further includes a connecting plate 6-5. The connecting plate 6-5 is located on the side away from the entrance and exit, and the connecting plate 6-5 is located on the side of the supporting plate 6-2 opposite to the protection plate. Or it can be understood in this way: the protection plate on the supporting plate 6-2 includes two side protection plates 6-3 and a back protection plate 6-4. The connecting plate 6-5 is located below the back protection plate 6-4, and the connecting plate 6-5 and the back protection plate 6-4 are arranged on both sides of the supporting plate 6-2 respectively. An auxiliary plate is provided on the transmission member, and the auxiliary plate is connected to the connecting plate 6-5 by bolts. In this way, the connection between the supporting member and the transmission member is facilitated.

[0120] Regarding the manipulator: The manipulator includes a first automatic push rod, and the first automatic push rod is arranged on the support frame 6-6 of the second transfer device. When the first automatic push rod extends, it can push the sample carrier on the supporting plate 6-2 into the input end of the lower track 2 or the input end of the upper track. For example, when transferring the sample carrier from the output end of the downstream section 1-2 of the upper track to the input end of the lower track 2, when the supporting member carries the sample carrier and moves to the side of the input end of the lower track 2, the first automatic push rod extends and pushes the sample carrier on the supporting member into the lower track 2.

[0121] Another example is when transferring the sample carrier from the output end of the lower track 2 to the input end of the upstream section 1-1 of the upper track. When the supporting member carries the sample carrier and moves to the input end of the upstream section 1-1 of the upper track, the first automatic push rod extends and pushes the sample on the supporting member into the upstream section 1-1 of the upper track. The manipulator in the form of an automatic push rod is not only easy to set up but also simple to operate.

[0122] The manipulator further includes a second automatic push rod, and the second automatic push rod is arranged on the lower track 2 or the upper track. Specifically, it is arranged on the fixed body of the upper track or the lower track 2. The second automatic push rod can push the sample carrier at the output end of the lower track 2 or the sample carrier at the output end of the upper track onto the corresponding supporting plate 6-2. For example, in the process of transferring the sample carrier from the output end of the lower track 2 to the input end of the upstream section 1-1 of the upper track, when one of the supporting members moves to the output end of the lower track 2, the second automatic push rod extends and pushes the sample carrier on the lower track 2 into the supporting member. Another example is when transferring the sample carrier from the output end of the downstream section 1-2 of the upper track to the input end of the lower track 2. When one of the supporting members moves to the output end of the downstream section 1-2 of the upper track, the second automatic push rod extends and pushes the sample carrier on the downstream section 1-2 of the upper track onto the supporting member.

[0123] The present invention also discloses a transfer method for transferring a sample carrier, including the method of transferring the sample carrier in the lower track to the upper track, specifically including the following steps:

[0124] S1: Determine whether there is a sample carrier at the stop position at the lower output end. If so, then enter step S2.

[0125] S2: Determine whether the transfer device is idle. If so, proceed to step S3.

[0126] S3: Determine whether the upper input end stop is full. If not, proceed to step S4;

[0127] S4: The transfer device receives the sample tray.

[0128] S5: Determine whether there is a second sample tray at the lower output end stop. If not, proceed to step S8; if so, proceed to step S6.

[0129] S6: Determine whether the upper input end stop can accommodate two sample trays. If not, proceed to step S8; if so, proceed to step S7.

[0130] S7: The transfer device receives the second sample tray.

[0131] S8: The transfer device lifts the sample tray to the upper rail.

[0132] S9: The transfer device returns to the lower rail.

[0133] The method for transferring the sample tray in the present invention further includes a method for transferring the sample tray on the upper rail to the lower rail, and the method specifically includes:

[0134] T1: Determine whether a sample tray reaches the sample tube inspection device. If so, proceed to step T2. The sample tube inspection device is arranged downstream of the detection mechanism, and the sample tube inspection device is used to inspect the sample tray conveyed by the detection mechanism.

[0135] T2: The sample tube inspection device inspects whether there is a sample on the sample tray. If so, proceed to step T3; if not, proceed to step T4.

[0136] T3: Convey the sample tray to the detection mechanism again.

[0137] T4: Determine whether the upper output end stop is full. If not, proceed to step T5.

[0138] T5: Release the sample tray to the upper output end stop.

[0139] T6: Determine whether the transfer device is idle. If so, proceed to step T7.

[0140] T7: The transfer device receives the sample tray.

[0141] T8: Determine whether there is still a sample carrier at the upper output end stop. If so, go to step T9; if not, go to step T10. Since the release of the sample carrier at the tube inspection device and the reception of the sample carrier by the transfer device occur simultaneously, it is very likely that after the transfer device receives the sample carrier, the second sample carrier will just move to the upper output end stop. Therefore, after the transfer device receives the sample carrier, check again whether there is a new sample carrier at the upper output end stop.

[0142] T9: The transfer device receives the second sample carrier.

[0143] T10: The transfer device transfers the sample carrier to the lower track.

[0144] T11: The transfer device returns to the upper track.

[0145] Finally, it should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0146] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0147] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A double-layer track device, characterized in that, include: An upper rail, wherein a detection mechanism is arranged in the middle of the upper rail along the conveying direction of the upper rail, the upstream section of the upper rail can convey the sample support to the input end of the detection mechanism, and the output end of the detection mechanism can convey the sample support to the downstream section of the upper rail; A lower rail, the lower rail is arranged below the upper rail, the output end of the downstream section of the upper rail can transport the sample tray to the input end of the lower rail, and the output end of the lower rail can transport the sample tray to the input end of the upstream section of the upper rail; A return rail is arranged on the side of the upper rail, the input end of the return rail can be communicated with the downstream section of the upper rail, and the output end of the return rail is communicated with the upstream section of the upper rail; The input end of the downstream section of the upper rail is provided with a tube detection device, and the tube detection device is used to detect whether there is a sample tube on the sample tray; when the tube detection device detects that there is a sample tube on the sample tray, the downstream section of the upper rail is connected to the input end of the return rail; when the tube detection device detects that there is no sample tube on the sample tray, the downstream section of the upper rail is connected to the input end of the lower rail; The return rail comprises a first U-turn rail, a return rail body and a second U-turn rail; the first U-turn rail is used to connect the downstream section of the upper rail and the return rail body, and the second U-turn rail is used to connect the return rail body and the upstream section of the upper rail; It also includes a transfer device, which can transfer the sample holder at the output end of the lower rail to the input end of the upstream section of the upper rail, or the transfer device can transfer the sample holder at the output end of the downstream section of the upper rail to the input end of the lower rail; The output end of the lower rail is provided with a lower output end stop; the input end of the upstream section of the upper rail is provided with an upper input end stop, and the output end of the downstream section of the upper rail is provided with an upper output end stop.

2. The double-layer rail device according to claim 1, characterized in that, A first guide assembly is provided at the input end of the downstream section of the upper rail and downstream of the tube inspection device. The first guide assembly is used to guide the sample support into the first turning rail.

3. The double-layer rail device according to claim 2, characterized in that, A second guiding mechanism is provided at the output end of the second turning rail, and the second guiding mechanism is used to guide the sample support on the second turning rail to the upstream section of the upper rail.

4. The double-layer rail device according to claim 1, characterized in that, The transfer device is a first transfer device, and the first transfer device comprises: A receiving plate, the receiving plate having an opening for the sample tray to enter and move out, and the sample tray enters and exits the opening under the action of the transmission force of the upper rail or the lower rail; A mobile component, wherein the receiving plate is connected to the output end of the mobile component, and the output end of the mobile component can output the movement from the output end of the lower rail to the input end of the upstream section of the upper rail, or can output the movement from the output end of the downstream section of the upper rail to the input end of the lower rail.

5. The double-layer rail device according to claim 4, wherein, The middle part of the sample tray has a reduced diameter portion, the opening of the receiving tray plate is adapted to the reduced diameter portion, and the receiving tray plate has a clamping groove communicated with the opening, and the clamping groove is used to clamp the sample tray.

6. The double-layer rail device according to claim 5, wherein, A counterbore is provided in the card slot, and the large-diameter upper portion of the sample carrier can be seated on the counterbore.

7. The double-layer rail device according to claim 5, wherein, Along the direction of insertion or removal of the sample carrier, two or more of the card slots are provided on the receiving plate, and adjacent card slots are communicated through a channel, and the channel is adapted to the reduced-diameter portion of the sample carrier.

8. The double-layer rail device according to claim 4, characterized in that, The moving assembly includes a horizontally moving assembly and a vertically moving assembly. The horizontally moving assembly is provided on a horizontal substrate, and the vertically moving assembly is provided on a vertical substrate; the receiving plate is connected to the output end of the vertically moving assembly, the vertical substrate is connected to the output end of the horizontally moving assembly, and the horizontal substrate is fixed to the fixing frame.

9. The double-layer rail device according to claim 8, wherein, The horizontally moving assembly includes: a horizontal transmission belt, a first driving wheel, a first driven wheel, and a first motor; the horizontal transmission belt is wound around the first driving wheel and the first driven wheel, and the first driving wheel is driven by the first motor.

10. The double-layer rail device according to claim 9, wherein, A horizontal guide rail is provided on the horizontal substrate, and a horizontal slider is connected to the vertical substrate. The horizontal slider is slidably engaged with the horizontal guide rail.

11. The double-layer rail device according to claim 9, characterized in that, A horizontal in-place detector is provided on the horizontal substrate. After the first motor drives the vertical moving assembly to move horizontally, the horizontal in-place detector detects whether the vertical moving assembly has moved in place. When it detects that the vertical moving assembly has not moved in place, the horizontal in-place detector triggers an alarm to alarm.

12. The double-layer rail device according to claim 8, characterized in that, The vertically moving assembly includes: a vertical transmission belt, a second driving wheel, a second driven wheel, and a second motor; the vertical transmission belt is wound around the second driving wheel and the second driven wheel, and the second driving wheel is driven by the second motor.

13. The double-track device according to claim 8, characterized in that, A vertical guide rail is provided on the vertical substrate, and a vertical slider is connected to the receiving plate. The vertical slider is slidably engaged on the vertical guide rail.

14. The double-layer rail device according to claim 12, wherein A vertical in-place detector is provided on the vertical substrate. After the second motor drives the receiving plate to move vertically, the vertical in-place detector detects whether the receiving plate has moved in place. When it detects that the receiving plate has not moved in place, the vertical in-place detector triggers an alarm to alarm.

15. The double-layer rail device according to claim 1, characterized in that, The transfer device is a second transfer device, and the second transfer device includes: a transmission assembly, the transmission assembly including a closed-loop transmission member; a supporting member, there are a plurality of the supporting members, and the plurality of supporting members are arranged along the transmission member and connected to the transmission member; a manipulator for placing a sample carrier on the supporting member or taking a sample carrier from the supporting member.

16. The double-layer rail device according to claim 15, characterized in that, The transmission assembly includes: a third motor; a third driving wheel, the third motor drives the third driving wheel to rotate; a third driven wheel, the third driving wheel and the third driven wheel are arranged vertically, and the transmission member is wound around the third driving wheel and the third driven wheel.

17. The double-layer rail device according to claim 16, characterized in that, The transmission member is a transmission chain or a transmission belt.

18. The double-layer rail device according to claim 17, wherein, The third driving wheel is located below the third driven wheel.

19. The double-layer rail device according to claim 17, wherein, A limiting guide bar extending in the vertical direction is provided inside the closed loop of the transmission chain, and the side portion of the limiting guide bar forms a supporting effect on the transmission chain.

20. The double-layer rail device according to claim 15, characterized in that, The carrier includes a carrier plate and a guard plate. The guard plate is arranged on the side of the carrier plate, and an entrance and exit are formed on one side of the carrier plate close to the upper rail or the lower rail.

21. The double-layer rail device according to claim 20, characterized in that, The guard plate is provided with an external chamfer at the entrance and exit.

22. The double-layer rail device according to claim 20, characterized in that, The carrier further includes a connecting plate. The connecting plate is located on the side away from the entrance and exit, and the connecting plate is located on the side of the carrier plate opposite to the guard plate. An auxiliary plate is arranged on the transmission member, and the auxiliary plate is connected to the connecting plate by bolts.

23. The double-layer rail device according to claim 20, wherein, The manipulator includes a first automatic push rod. The first automatic push rod is arranged on the support frame of the second transfer device, and the first automatic push rod can push the sample tray on the carrier plate into the input end of the lower rail or the input end of the upstream section of the upper rail.

24. The double-layer track device according to claim 20, characterized in that, The manipulator includes a second automatic push rod. The second automatic push rod is arranged on the lower rail or the upper rail, and the second automatic push rod is used to push the sample tray at the output end of the lower rail or the output end of the downstream section of the upper rail onto the corresponding carrier plate.

25. A transfer method for a sample carrier, using the double-layer rail device according to any one of claims 1-24, including a method of transferring the sample carrier in the lower rail to the upper rail, characterized in that, It includes the following steps: S1: Determine whether there is a sample tray at the stop at the lower output end. If so, then proceed to step S2; S2: Determine whether the transfer device is idle. If so, then proceed to step S3; S3: Determine whether the upper input end stop is full. If not, then proceed to step S4; S4: The transfer device receives the sample tray; S5: Determine whether there is a second sample tray at the stop at the lower output end. If not, then proceed to step S8; if so, then proceed to step S6; S6: Determine whether the upper input end stop can accommodate two sample trays. If not, then proceed to step S8; if so, then proceed to step S7; S7: The transfer device receives the second sample tray; S8: The transfer device lifts the sample tray to the upper rail; S9: The transfer device returns to the lower rail.

26. The transfer method of the transfer sample carrier according to claim 25, characterized in that, It also includes a method for transferring the sample tray on the upper rail to the lower rail. The method specifically includes: T1: Determine whether a sample tray reaches the tube inspection device. If so, then proceed to step T2; T2: The tube inspection device detects whether there is a sample tube on the sample tray. If so, then proceed to step T3; if not, then proceed to step T4; T3: Convey the sample tray to the detection mechanism again; T4: Determine whether the upper output end stop is full. If not, then proceed to step T5; T5: Release the sample tray to the upper output end stop; T6: Determine whether the transfer device is idle. If so, then proceed to step T7; T7: The transfer device receives the sample tray; T8: Determine whether there is still a sample tray at the upper output end stop. If so, then proceed to step T9; if not, then proceed to step T10; T9: The transfer device receives the second sample tray; T10: The transfer device transfers the sample tray to the lower rail; T11: The transfer device returns to the upper rail.

Images