Transfer mechanism, transfer device, centrifugation device and liquid-based sample processing apparatus

Abstract

The application discloses a transfer mechanism, a transfer device, a centrifugal device and a liquid-based sample processing equipment. The transfer mechanism is used for transferring a carrier seat capable of loading a sample container. The transfer mechanism comprises a guide structure and a grabbing structure. The grabbing structure comprises a first grabbing component and a second grabbing component connected to the guide structure. The first grabbing component is used for transferring the carrier seat to the second grabbing component or grabbing the carrier seat from the second grabbing component and transferring. The second grabbing component is used for grabbing the carrier seat from the first grabbing component and transferring or transferring the carrier seat to the first grabbing component. Through the above arrangement, the carrier seat for loading the sample container can be relayed and transferred, so that mechanical interference in the limited space of a small machine is avoided. Moreover, the carrier seat for loading the sample container is transferred by simultaneously moving the first grabbing component and the second grabbing component, so that the problems of a large stroke, a long time and low work efficiency of a single mechanical hand are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of biomedical equipment, and in particular to a transfer mechanism, a transfer device, a centrifugal device and a liquid-based sample processing equipment. BACKGROUND

[0002] In the prior art, the transfer of sample containers usually adopts a single mechanical arm. For example, in the process of transferring a centrifuge tube to a centrifuge, the single mechanical arm is prone to interfere with the machine itself during movement, and the single mechanical arm has a long stroke and a long time, which affects work efficiency. SUMMARY

[0003] Therefore, the present application provides a transfer mechanism, a transfer device, a centrifugal device and a liquid-based sample processing equipment.

[0004] A first aspect of the present application provides a transfer mechanism for transferring a carrier seat capable of loading a sample container, the transfer mechanism comprising:

[0005] a guide structure;

[0006] a grabbing structure comprising a first grabbing member and a second grabbing member connected to the guide structure;

[0007] the first grabbing member is configured to transfer the carrier seat to the second grabbing member or grab the carrier seat from the second grabbing member and transfer;

[0008] the second grabbing member is configured to grab the carrier seat from the first grabbing member and transfer, or transfer the carrier seat to the first grabbing member.

[0009] A second aspect of the present application provides a transfer device comprising a carrier seat loaded with a sample container and the above-mentioned transfer mechanism, the transfer mechanism being configured to transfer the carrier seat loaded with a sample container from a starting position to a target position or transport the carrier seat from the target position back to the starting position.

[0010] A third aspect of the present application provides a centrifugal device comprising a centrifuge and the above-mentioned transfer device, the transfer device being configured to transfer the carrier seat loaded with a sample container from the starting position to the centrifuge for centrifugation, and transport the carrier seat after centrifugation back to the starting position.

[0011] A fourth aspect of the present application provides a liquid-based sample processing equipment comprising the above-mentioned centrifugal device.

[0012] As can be seen from the above technical solutions, the transfer mechanism, transfer device, centrifugation device, and liquid sample processing equipment proposed in this invention, through the arrangement of the first gripping component, the second gripping component, and the guiding structure, can relay the carrier for loading the sample container, thereby avoiding mechanical interference in the limited space of the small machine. Moreover, by moving the first gripping component and the second gripping component simultaneously to transfer the carrier for loading the sample container, the problems of large stroke, long time, and low work efficiency of a single robotic arm are solved. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the hidden side structure of the housing of the liquid-based sample processing device proposed in an embodiment of the present invention.

[0015] Figure 2 This is a schematic diagram of the liquid-based sample processing device proposed in this embodiment of the invention after removing the shell.

[0016] Figure 3 This is a top view of the liquid-based sample processing device proposed in this embodiment of the invention after removing the casing.

[0017] Figure 4 This is a schematic diagram of the centrifuge device proposed in an embodiment of the present invention.

[0018] Figure 5 This is a first-view structural schematic diagram of the transfer device proposed in an embodiment of the present invention.

[0019] Figure 6 yes Figure 5 A magnified view of a portion of point A in the middle.

[0020] Figure 7 This is a second-view structural schematic diagram of the transfer device proposed in an embodiment of the present invention.

[0021] Figure 8 yes Figure 7 A magnified view of a portion of point B in the middle.

[0022] Figure 9 This is a third-view structural diagram of the transfer device proposed in an embodiment of the present invention.

[0023] Figure 10 This is a fourth-view structural schematic diagram of the transfer device proposed in an embodiment of the present invention.

[0024] Figure 11 is Figure 10 is a local enlarged schematic view at C in the middle.

[0025] Figure 12 is a structural schematic view of a bearing seat according to an embodiment of the present application.

[0026] Figure 13 is a structural schematic view of a sedimentation tube module according to an embodiment of the present application.

[0027] In the figure, 100 is a transfer mechanism; 10 is a guide structure; 11 is a support frame; 12 is a first guide rail; 13 is a second guide rail; 20 is a grabbing structure; 21 is a first grabbing member; 211 is a first driving piece; 212 is a first clamping assembly; 2121 is a first clamping jaw; 21211 is a first clamping part; 21212 is a first force arm; 2122 is a second clamping jaw; 21221 is a second clamping part; 21222 is a second force arm; 213 is a first avoiding notch; 214 is a first protrusion; 22 is a second grabbing member; 221 is a second driving piece; 222 is a second clamping assembly; 2221 is a third clamping jaw; 22211 is a third clamping part; 22212 is a third force arm; 2222 is a fourth clamping jaw; 22221 is a fourth clamping part; 22222 is a fourth force arm; 223 is a second avoiding notch; 224 is a second protrusion; 30 is a first lifting structure; 31 is a first motor; 32 is a first transmission assembly; 40 is a second lifting structure; 41 is a second motor; 42 is a second transmission assembly; 50 is a first positioning structure; 51 is a first elastic positioning piece; 511 is a first positioning rod; 512 is a first elastic piece; 52 is a first detector; 200 is a transfer device; 201 is a bearing seat; 2011 is a first recess; 2012 is a second recess; 2013 is a containing groove; 2014 is a mounting hole; 300 is a centrifugal device; 301 is a centrifuge; 3011 is a second positioning structure; 30111 is a first positioning hole; 3012 is a taking and placing opening; 3013 is a roller; 302 is an adjusting mechanism; 3021 is a first alignment needle; 3022 is a second alignment needle; 400 is a liquid-based sample processing equipment; 401 is a base; 402 is a sample and consumable supply device; 403 is an elution and mixing device; 404 is a sedimentation and staining device; 4041 is a sedimentation area; 405 is a liquid-based post-processing device; 406 is a housing; 4061 is a first feeding opening; 4062 is a first discharging opening; 4063 is a second feeding opening; 4064 is a third feeding opening; 500 is a centrifugal tube; 600 is a sample spindle; 700 is a pipette tip; 800 is a sedimentation tube module; 801 is a glass slide; 802 is a glass slide fixing frame; 803 is a sedimentation tube; 900 is a glass slide basket. DETAILED DESCRIPTION

[0028] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described, obviously, the described embodiments are a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0029] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, "a", "an", and "the" intended to include plural forms, unless the context clearly indicates otherwise.

[0030] It should be further understood that the term "and / or" used in the specification and the appended claims of the present application means one or more of the associated listed items and all possible combinations, and includes these combinations.

[0031] As shown in Figures 5-12 Embodiments of the present application propose a transfer mechanism 100 for transferring a carrier 201 for loading sample containers, the transfer mechanism 100 comprises a guide structure 10 and a grabbing structure 20, optionally, the guide structure 10 extends in a straight line, the grabbing structure 20 comprises a first grabbing member 21 and a second grabbing member 22 connected to the guide structure 10; wherein the first grabbing member 21 is used to transfer the carrier 201 to the second grabbing member 22, or grab the carrier 201 from the second grabbing member 22 and transfer; the second grabbing member 22 is used to grab the carrier 201 from the first grabbing member 21 and transfer, or transfer the carrier 201 to the first grabbing member 21.

[0032] The transfer mechanism 100 proposed by the present application can relay transfer the carrier 201 for loading sample containers through the arrangement of the first grabbing member 21 and the second grabbing member 22 and the guide structure 10, the first grabbing member 21 can directly grab the carrier 201 from the second grabbing member 22 and transfer, similarly, the second grabbing member 22 can also directly grab the carrier 201 from the first grabbing member 21 and transfer, without placing the carrier 201 in a preset position, directly achieving the transfer of the carrier 201 in the air, and making the moving track of the carrier 201 extend in a straight line along the guide structure 10, thereby avoiding mechanical interference in the limited space of a small machine, and through the simultaneous movement of the first grabbing member 21 and the second grabbing member 22 to transfer the carrier 201 for loading sample containers, thereby solving the problem of large stroke, long time and low work efficiency of a single mechanical hand.

[0033] In some embodiments, as Figures 5-10As shown, the first gripping member 21 comprises a first driving member 211 and a first clamping assembly 212, the first driving member 211 is slidingly installed on the guide structure 10, and the first clamping assembly 212 is installed on the first driving member 211, and the first driving member 211 is used to drive the first clamping assembly 212 to clamp or open in the first direction to grip or release the carrier 201; the second gripping member 22 comprises a second driving member 221 and a second clamping assembly 222, the second driving member 221 is slidingly installed on the guide structure 10, and the second clamping assembly 222 is installed on the second driving member 221, and the second driving member 221 is used to drive the second clamping assembly 222 to clamp or open in the second direction to grip or release the carrier 201, wherein the guide structure 10 extends in the vertical direction, and the first direction and the second direction are horizontal directions.

[0034] As a first embodiment, as shown in Figures 5-10 The first direction and the second direction are cross arranged, and exemplarily, when the first gripping member 21 and the second gripping member 22 grip the carrier 201, as shown in Figure 7 The first direction is the left-right direction of the carrier 201, and the second direction is the front-back direction of the carrier 201, and the first direction and the second direction are perpendicular to each other to avoid the first clamping assembly 212 and the second clamping assembly 222 interfering with each other, and facilitate the first gripping member 21 and the second gripping member 22 to hand over the carrier 201.

[0035] Optionally, when the first clamping assembly 212 grips the carrier 201 from the second clamping assembly 222 or the second clamping assembly 222 grips the carrier 201 from the first clamping assembly 212, the first clamping assembly 212 and the second clamping assembly 222 are respectively located on different sides of the same height position of the carrier 201, specifically, the first clamping assembly 212 clamps on both sides of the carrier 201, and the second clamping assembly 222 clamps on both sides of the carrier 201, so that the first clamping assembly 212 and the second clamping assembly 222 clamped on the same height of the carrier 201 can also avoid interfering with each other, and exemplarily, the first clamping assembly 212 and the second clamping assembly 222 are clamped on the upper part of the carrier 201, so as to facilitate the second gripping member 22 to place the carrier 201 on the target position when moving downward.

[0036] Optionally, as shown in Figures 5-8As shown, the first grabbing member 21 is located above the second grabbing member 22, the first clamping assembly 212 comprises a first clamping jaw 2121 and a second clamping jaw 2122 spaced from the first clamping jaw 2121 in the first direction; the second clamping assembly 222 comprises a third clamping jaw 2221 and a fourth clamping jaw 2222 spaced from the third clamping jaw 2221 in the second direction; wherein when the first clamping jaw 2121 and the second clamping jaw 2122 clamp the carrier seat 201, the third clamping jaw 2221 and the fourth clamping jaw 2222 can be opened to a distance greater than the width of the first clamping jaw 2121 and / or the second clamping jaw 2122 in the second direction, so that the third clamping jaw 2221 and the fourth clamping jaw 2222 facilitate clamping the carrier seat 201 from both sides of the first clamping jaw 2121 and / or the second clamping jaw 2122 in the second direction. Exemplarily, the third clamping jaw 2221 and the fourth clamping jaw 2222 can be opened to a distance greater than the width of one of the first clamping jaw 2121 and the second clamping jaw 2122 in the second direction to clamp the carrier seat 201. In the present embodiment, the width of the first clamping jaw 2121 and the second clamping jaw 2122 in the second direction is equal, i.e. the third clamping jaw 2221 and the fourth clamping jaw 2222 can be opened to a distance greater than the width of the first clamping jaw 2121 and the second clamping jaw 2122 in the second direction. Through the above arrangement, the second grabbing member 22 facilitates clamping the carrier seat 201 clamped by the first clamping jaw 2121 and the second clamping jaw 2122 from the first grabbing member 21 when the first direction is perpendicular to the second direction.

[0037] Exemplarily, as Figure 6As shown, the first clamping jaw 2121 comprises a first clamping part 21211 and a first force arm 21212, and the second clamping jaw 2122 comprises a second clamping part 21221 and a second force arm 21222, the first clamping part 21211 and the second clamping part 21221 are used to clamp both sides of the first direction of the carrier seat 201, the first force arm 21212 connects the first clamping part 21211 and the first driving member 211, and the second force arm 21222 connects the second clamping part 21221 and the first driving member 211; wherein the first force arm 21212 and the second force arm 21222 extend horizontally, so that the first driving member 211 is located on the side of the carrier seat 201 clamped by the first clamping assembly 212 in the horizontal direction, and the first force arm 21212 and the second force arm 21222 are configured to leave a first avoiding gap 213 between the first force arm 21212, the second force arm 21222 and the carrier seat 201 when the first clamping assembly 212 clamps the carrier seat 201, so that the second clamping assembly 222 can pass through the first avoiding gap 213 to clamp the carrier seat 201. In this embodiment, since the first grabbing member 21 is located above the second grabbing member 22, it is used to receive the sample container transferred from above by other mechanical hands in the starting position into the carrier seat 201 grabbed by the first grabbing member 21, or to clamp the carrier seat 201 from the second grabbing member 22 and transfer it to the starting position, so that the other mechanical hands above can clamp the sample container in the carrier seat 201, therefore, by extending the first force arm 21212 and the second force arm 21222 horizontally and arranging the first driving member 211 on the side of the first clamping assembly 212 in the horizontal direction, so that the top of the first clamping assembly 212 has no protruding structure to avoid interference with the other mechanical hands above. In addition, by arranging the first avoiding gap 213, the second clamping assembly 222 can clamp the carrier seat 201 from the first clamping assembly 212 without interference.

[0038] Optionally, as Figures 5-8As shown, the first gripping member 21 is located above the second gripping member 22, the first clamping assembly 212 comprises a first clamping jaw 2121 and a second clamping jaw 2122 spaced apart from the first clamping jaw 2121 in the first direction; the second clamping assembly 222 comprises a third clamping jaw 2221 and a fourth clamping jaw 2222 spaced apart from the third clamping jaw 2221 in the second direction; wherein when the third clamping jaw 2221 and the fourth clamping jaw 2222 clamp the carrier seat 201, the spacing between the third clamping jaw 2221 and the fourth clamping jaw 2222 in the second direction is greater than the width of the first clamping jaw 2121 and / or the second clamping jaw 2122 in the second direction, so that the first clamping jaw 2121 and / or the second clamping jaw 2122 can extend between the third clamping jaw 2221 and the fourth clamping jaw 2222 to clamp the carrier seat 201. Exemplarily, the spacing between the third clamping jaw 2221 and the fourth clamping jaw 2222 in the second direction is greater than the width of one of the first clamping jaw 2121 and the second clamping jaw 2122 in the second direction, so as to clamp the carrier seat 201. In the embodiment, the width of the first clamping jaw 2121 and the second clamping jaw 2122 in the second direction is equal, i.e. the spacing between the third clamping jaw 2221 and the fourth clamping jaw 2222 in the second direction is greater than the width of the first clamping jaw 2121 and the second clamping jaw 2122 in the second direction. Through the above arrangement, when the first direction is perpendicular to the second direction, the first gripping member 21 can clamp the carrier seat 201 clamped by the third clamping jaw 2221 and the fourth clamping jaw 2222 from the second gripping member 22.

[0039] Exemplarily, as Figure 8As shown, the third gripper 2221 comprises a third clamping portion 22211 and a third force arm 22212, and the fourth gripper 2222 comprises a fourth clamping portion 22221 and a fourth force arm 22222, the third clamping portion 22211 and the third clamping portion 22211 are used to clamp both sides of the second direction of the carrier seat 201, the third force arm 22212 connects the third clamping portion 22211 and the second driving member 221, and the fourth force arm 22222 connects the fourth clamping portion 22221 and the second driving member 221; wherein the third force arm 22212 and the fourth force arm 22222 extend vertically downward, so that the second driving member 221 is located on the upper side of the carrier seat 201 clamped by the second clamping assembly 222, and the third force arm 22212 and the fourth force arm 22222 are configured to leave a second avoiding gap 223 between the third force arm 22212, the fourth force arm 22222 and the carrier seat 201 when the second clamping assembly 222 clamps the carrier seat 201, so that the first clamping assembly 212 can pass through the second avoiding gap 223 to clamp the carrier seat 201. In this embodiment, since the second gripping member 22 is located below the first gripping member 21, it is used to clamp the carrier seat 201 from the first gripping member 21 and transfer it to the target position below or clamp the carrier seat 201 located below and transfer it to the first gripping member 21, so that the first force arm 21212 and the second force arm 21222 extend vertically downward, and the second driving member 221 is located on the upper side of the second clamping assembly 222, so that the second clamping assembly 222 can extend downward to place the carrier seat 201 on the target position below, so as to avoid interference with other mechanical structures below. In addition, through the arrangement of the second avoiding gap 223, the first clamping assembly 212 can clamp the carrier seat 201 from the second clamping assembly 222 without interference.

[0040] In a second embodiment, when the first clamping component grasps the carrier from the second clamping component, or when the second clamping component grasps the carrier from the first clamping component, the first clamping component and the second clamping component are located on opposite sides at the same height of the carrier. For example, the first direction and the second direction are parallel. When the first and second gripping components grasp the carrier, both the first and second directions are left-right directions of the carrier. One of the first and second clamping components is located on the front side of the carrier and clamps the portion of the left and right sides of the carrier closer to the front. The other of the first and second clamping components is located on the rear side of the carrier and clamps the portion of the left and right sides of the carrier closer to the rear, thereby achieving clamping at the same height of the carrier. Understandably, both the first and second directions can be the front and rear directions of the carrier. One of the first and second clamping components is located on the left side of the carrier and clamps the portion of the front side of the carrier closer to the left. The other of the first and second clamping components is located on the right side of the carrier and clamps the portion of the front and rear sides of the carrier closer to the right, thereby achieving clamping at the same height on the carrier.

[0041] In a third implementation, when the first clamping component grasps the carrier from the second clamping component, or when the second clamping component grasps the carrier from the first clamping component, the first clamping component and the second clamping component are respectively clamped at different height positions on the carrier. In this embodiment, since the first clamping component and the second clamping component are respectively clamped at different height positions on the carrier, mutual interference can be avoided whether the first clamping component and the second clamping component are located on the same side or different sides of the carrier. At this time, the first direction and the second direction can be perpendicular to each other or parallel to each other. That is, the first clamping component and the second clamping component can both be clamped on the left and right sides or the front and back sides of the carrier, or one of the first clamping component and the second clamping component can be clamped on the left and right sides of the carrier, and the other of the first clamping component and the second clamping component can be clamped on the front and back sides of the carrier.

[0042] In some embodiments, such as Figures 5-8 , Figure 12 As shown, a first protrusion 214 is provided on the opposite side of the first gripper 2121 and the second gripper 2122. The first protrusion 214 is used to fit into the first groove 2011 provided in the support seat 201 to stabilize the support seat 201. A second protrusion 224 is provided on the opposite side of the third gripper 2221 and the fourth gripper 2222. The second protrusion 224 is used to fit into the second groove 2012 provided in the support seat 201 to stabilize the support seat 201. In this embodiment, the first groove 2011 and the second groove 2012 can be provided on different sides of the same height of the support seat 201 to avoid interference when the first gripper 2121 and the second gripper 2122 are in contact with the support seat 201.

[0043] In some embodiments, as shown in Figures 5-8 The guide structure 10 includes a support frame 11, a first guide rail 12 and a second guide rail 13. The first guide rail 12 is mounted on the support frame 11 and extends in the vertical direction, and the first grabbing member 21 is slidingly connected to the first guide rail 12. The second guide rail 13 is mounted on the support frame 11 and extends in the vertical direction, and the second grabbing member 22 is slidingly connected to the second guide rail 13. The first guide rail 12 and the second guide rail 13 are respectively located on different sides of the support frame 11. In this embodiment, the first guide rail 12 and the second guide rail 13 are provided to guide the first grabbing member 21 and the second grabbing member 22, which facilitates the vertical movement of the first grabbing member 21 and the second grabbing member 22.

[0044] In some embodiments, as shown in Figures 5-10 The transfer mechanism 100 further includes a first lifting structure 30 and a second lifting structure 40. The first lifting structure 30 is mounted on the support frame 11 and connected to the first grabbing member 21 to drive the first grabbing member 21 to vertically move along the first guide rail 12. The second lifting structure 40 is mounted on the support frame 11 and connected to the second grabbing member 22 to drive the second grabbing member 22 to vertically move along the second guide rail 13. In this embodiment, the first lifting structure 30 includes a first motor 31 and a first transmission assembly 32. The first grabbing member 21 is connected to the first transmission assembly 32, and the first motor 31 is mounted on the support frame 11. The first motor 31 is used to drive the first transmission assembly 32 to drive the first grabbing member 21 to vertically move along the first guide rail 12. The second lifting structure 40 includes a second motor 41 and a second transmission assembly 42. The second grabbing member 22 is connected to the second transmission assembly 42, and the second motor 41 is mounted on the support frame 11. The second motor 41 is used to drive the second transmission assembly 42 to drive the second grabbing member 22 to vertically move along the second guide rail 13. The first transmission assembly 32 and the second transmission assembly 42 provided in this embodiment can adopt a belt transmission mechanism. The belt transmission mechanism has stable operation, low noise, shock absorption, overload protection, simple structure, low cost, and low installation requirement. It can reduce the cost of the equipment while meeting the use requirements. Of course, in actual application, the first transmission assembly 32 and the second transmission assembly 42 are not limited to the belt transmission mechanism. For example, as an alternative, it can also be one of a chain transmission mechanism, a lead screw transmission mechanism, and a gear and rack transmission mechanism.

[0045] In some embodiments, as shown in Figure 4 , Figure 5 , Figures 9-11As shown, the transfer mechanism 100 is used to transfer the carrier 201 loaded with sample containers from a starting position to a target position or to transfer the carrier 201 loaded with sample containers from the target position back to the starting position, and the transfer mechanism 100 further comprises a first positioning structure 50 connected to the first driving member 211 or the second driving member 221, so as to vertically lift the first grabbing member 21 or the second grabbing member 22, and the first positioning structure 50 is used to cooperate with a second positioning structure 3011 around the target position, so as to determine whether the grabbing structure 20 is aligned with the target position through the cooperation between the first positioning structure 50 and the second positioning structure 3011, so that the grabbing structure 20 performs the operation of grabbing or releasing the carrier 201. In the embodiment, the sample containers include but are not limited to centrifugal tubes 500, and the transfer mechanism 100 can be used to clamp the carrier 201 loaded with the centrifugal tubes 500 in the liquid-based sample processing device 400, and transfer the carrier 201 loaded with the centrifugal tubes 500 from the starting position for receiving the centrifugal tubes 500 to the target position in the centrifuge 301, or transfer the carrier 201 in the target position in the centrifuge 301, and the centrifuge 301 comprises a centrifugal compartment for accommodating the carrier 201 and a taking and placing opening 3012 in communication with the centrifugal compartment, and in the embodiment, the centrifugal compartment is the target position, and through the cooperation between the first positioning structure 50 and the second positioning structure 3011, the position of the grabbing structure 20 when placing or taking out the carrier 201 in the centrifugal compartment can be ensured to be accurate.

[0046] Optionally, as shown, Figures 1-3 The liquid-based sample processing device 400 further comprises a base 401 for mounting the transfer mechanism 100, and the base 401 is arranged separately from the centrifuge 301, so as to ensure that the vibration generated by the centrifuge 301 during operation does not affect the base 401, and the centrifuge 301 can be positioned through the first positioning structure 50 and the second positioning structure 3011, so as to ensure that the position of the grabbing structure 20 when placing or taking out the carrier 201 in the centrifugal compartment is accurate.

[0047] As an implementation manner, as shown, Figure 4 , Figure 10 and Figure 11As shown, the first positioning structure 50 comprises the first elastic positioning member 51 and the first detector 52, and the second positioning structure 3011 comprises the first positioning hole 30111 arranged on the top of the centrifuge 301, so as to detect whether the first elastic positioning member 51 cooperates with the first positioning hole 30111 through the first detector 52, and determine whether the grabbing structure 20 is aligned with the taking-and-placing opening 3012. For example, the first detector 52 is a detection photoelectric coupler, when the first elastic positioning member 51 does not cooperate with the first positioning hole 30111, the first elastic positioning member 51 partially extends into the first detector 52 and triggers the first detector 52 to generate a first trigger signal, at this time, it is determined that the grabbing structure 20 is not aligned with the taking-and-placing opening 3012, when the first elastic positioning member 51 cooperates with the first positioning hole 30111, the first detector 52 is not triggered, at this time, it is determined that the grabbing structure 20 is aligned with the taking-and-placing opening 3012.

[0048] Optionally, the liquid-based sample processing device 400 further comprises a controller configured to control the liquid-based sample processing device to issue an alarm information or a relative position state information when it is determined that the grabbing structure 20 is not aligned with the taking-and-placing opening 3012. That is, when the controller receives the first trigger signal, the controller controls the device to issue an alarm information, of course, in actual application, the controller can also control the device to issue a relative position state information.

[0049] Optionally, as shown, Figure 11 The first elastic positioning member 51 comprises the first positioning rod 511 for cooperating with the first positioning hole 30111 and the first elastic member 512 sleeved on the first positioning rod 511, and the first detector 52 is used for detecting whether the first positioning rod 511 is subjected to elastic force, when the first elastic positioning member 51 is not aligned with the first positioning hole 30111, the lower end of the first positioning rod 511 abuts against the top plate of the centrifuge 301, and the upper end of the first positioning rod 511 is inserted into the first detector 52, at this time, the first elastic member 512 is in a compressed state, that is, the first positioning rod 511 is subjected to elastic force.

[0050] For example, the first elastic member 512 is a spring sleeved on the first positioning rod 511, the first positioning structure 51 and the second positioning structure 3011 can be one, that is, the first positioning rod 511 and the first positioning hole 30111 are both one, and the cross section of the first positioning rod 511 is a polygonal structure or a circular structure, such as a quadrilateral structure or an elliptical structure, the shape of the first positioning hole 30111 is matched with the first positioning rod 511, so as to facilitate that the first positioning rod 511 can be inserted into the first positioning hole 30111, and the first positioning rod 511 in a non-cylindrical shape can realize that one positioning rod can make the centrifuge 301 realize positioning.

[0051] It can be understood that the first positioning structure 50 and the second positioning structure 3011 can also be provided with two or more than two, and the number of the first positioning holes 30111 is the same as that of the first positioning rods 511. Exemplarily, as shown in Figure 4 and Figure 9 the embodiment is provided with two first positioning structures 50 corresponding to two second positioning structures 3011, the two positioning structures 50 are connected to the first driving member 211 and the second driving member 212 respectively, and the first positioning rod 511 can be a cylinder or a non-cylinder, and the shape of the first positioning hole 30111 is matched with the shape of the first positioning rod 511. Of course, in specific applications, the number of the first positioning structure 50 and the second positioning structure 3011 is not limited to two, for example, as an alternative, three first positioning structures 50 and second positioning structures 3011 can also be provided.

[0052] As shown in Figures 5-10 the embodiment of the present application also provides a transfer device 200, which comprises a carrier seat 201 and the above-mentioned transfer mechanism 100, and the transfer mechanism 100 is used for transferring the carrier seat 201 loaded with sample containers from a starting position to a target position or carrying the carrier seat 201 loaded with sample containers from the target position back to the starting position. In the embodiment, as shown in Figures 1-4 the transfer device 200 is used in a liquid-based sample processing equipment 400, receives a centrifugal tube 500 to be subjected to centrifugal processing from other mechanical hands in the carrier seat 201 in the starting position, and transfers the carrier seat 201 loaded with the centrifugal tube 500 from the starting position where the centrifugal tube 500 is received to the target position in the centrifugal machine 301, or takes out the carrier seat 201 loaded with the centrifugal tube 500 subjected to centrifugal processing from the target position in the centrifugal machine 301 and transfers it to the starting position, so as to facilitate other mechanical hands to take away the centrifugal tube 500 subjected to centrifugal processing on the carrier seat 201.

[0053] Optionally, as shown in Figure 12 the carrier seat 201 is provided with a containing groove 2013 for placing sample containers, and the sample containers include but are not limited to the centrifugal tube 500, the sample is placed in the centrifugal tube 500, and the containing groove 2013 is provided with a plurality of containing grooves 2013, which can place a plurality of centrifugal tubes 500, so as to facilitate the centrifugal machine 301 to simultaneously perform centrifugal processing on a plurality of centrifugal tubes 500, and improve work efficiency.

[0054] As shown in Figures 4-12 the embodiment of the present application also provides a centrifugal device 300, which comprises a centrifugal machine 301 and the above-mentioned transfer device 200, and the transfer device 200 is used for transferring the carrier seat 201 loaded with sample containers from a starting position to the centrifugal machine 301 for centrifugal processing, and carrying the carrier seat 201 subjected to centrifugal processing back to the starting position. In the embodiment, as shown in Figures 1-4As shown, the sample container is a centrifuge tube 500, and the centrifuge 301 is used in the liquid-based sample processing device 400 for centrifugal processing of the centrifuge tube 500 loaded with the sample to obtain a processing liquid rich in cells. The liquid-based sample processing device 400 includes a base 401 for mounting the transfer device 200, and the base 401 is separately arranged from the centrifuge 301 to ensure that the vibration generated by the centrifuge 301 when working does not affect the base 401.

[0055] Optionally, as shown in Figure 4 As shown, the centrifuge 301 is provided at the bottom with rollers 3013 for facilitating movement of the centrifuge 301. Exemplarily, since the centrifuge 301 is separately arranged from the base 401, the rollers 3013 at the bottom of the centrifuge 301 can be used to move the centrifuge 301, and when the position of the centrifuge 301 deviates, the position adjustment can be facilitated to align the position of the gripping structure 20 with the loading and unloading port 3012 of the centrifuge 301.

[0056] Optionally, as shown in Figures 4-10 As shown, the centrifuge device 300 further includes an adjustment mechanism 302 for facilitating position adjustment of the centrifuge 301 when the position of the centrifuge 301 deviates. The adjustment mechanism 302 includes a first alignment needle 3021 detachably mounted at the bottom of the carrier seat 201 and a second alignment needle 3022 detachably mounted on the centrifuge 301 for cooperation with the first alignment needle 3021. Exemplarily, the bottom of the carrier seat 201 is provided with a mounting hole 2014 for mounting the first alignment needle 3021, and the centrifuge 301 is provided with a mounting hole 2014 for mounting the second alignment needle 3022. The first alignment needle 3021 and the second alignment needle 3022 are both high-precision, and the user can directly observe the position of the centrifuge 301 deviated by means of the first alignment needle 3021 and the second alignment needle 3022, thereby adjusting. If the first alignment needle 3021 and the second alignment needle 3022 are not used, it is difficult to know whether the gripping structure 20 and the loading and unloading port 3012 are aligned only by observing with the naked eye, and it is more difficult to adjust the position of the centrifuge 301. In addition, when adjusting the position of the centrifuge 301, the gripping structure 20 can be manually lowered, so that the first alignment needle 3021 approaches the second alignment needle 3022, so that the user can observe more clearly. It should be noted that, in normal working, the first alignment needle 3021 and the second alignment needle 3022 are not mounted on the centrifuge device 300, and only when the centrifuge 301 needs to be adjusted, the first alignment needle 3021 and the second alignment needle 3022 are mounted on the centrifuge device 300.

[0057] As shown in Figures 1-3 , Figure 13As shown, the embodiment of the present application also provides a liquid-based sample processing device 400, which comprises a base 401 and a sample and consumable supply device 402, an elution and mixing device 403, a sedimentation and staining device 404, a liquid-based post-processing device 405 and the above-mentioned centrifugal device 300 mounted on the base 401. The liquid-based post-processing device 405 is used for loading the empty slide basket 900 and unloading the slide basket 900 loaded with the glass slide 801. The sample and consumable supply device 402 is used for providing the sample column 600, the pipette tip 700 and the centrifugal tube 500. The sedimentation and staining device 404 has a sedimentation area 4041 for placing the sedimentation tube module 800. The pipette tip 700 is disposable consumable. The sedimentation tube module 800 comprises the glass slide 801, the slide holder 802 and the sedimentation tube 803. The glass slide 801 is preloaded in the slide holder 802 to form the sedimentation tube module 800 by clamping and fixing with the sedimentation tube 803. The sample column 600 contains the sample and the preservative liquid. The elution and mixing device 403 is used for eluting the sample in the sample column 600 into the preservative liquid in the sample column 600 and mixing the sample with the preservative liquid. The sample eluted and mixed by the elution and mixing device 403 is transferred into the centrifugal tube 500 by the pipette tip 700. The gradient separation liquid and the sample are sequentially injected into the centrifugal tube 500, which is then transferred by the mechanical hand into the bearing seat 201 of the first grabbing member 21 at the starting position. The bearing seat 201 is then transferred into the centrifuge 301 of the centrifugal device 300 by the second grabbing member 22 and the first grabbing member 21. The bearing seat 201 bearing the centrifuged centrifugal tube 500 is transferred to the starting position by the second grabbing member 22 and the first grabbing member 21. The centrifuged centrifugal tube 500 is transferred out by the mechanical hand. The sample in the centrifuged centrifugal tube 500 is transferred into the sedimentation tube module 800 by another pipette tip 700. The sedimentation and staining device 404 is used for sedimenting the sample on the glass slide 801 of the sedimentation tube module 800 and staining the sample on the glass slide 801. Then, the glass slide 801 after staining is soaked in anhydrous ethanol to clean the sample and dehydrate the sample. Then, the glass slide 801 is placed in the slide transfer area for xylene soaking to make the sample transparent, which is convenient for later observation and preservation. The glass slide 801 is separated from the air by soaking in xylene. Finally, the glass slide 801 is loaded into the slide basket 900 by the liquid-based post-processing device 405 to realize the unloading of the glass slide 801.

[0058] As an embodiment, as Figures 1-5As shown, the sample and consumable supply device 402, the liquid-based post-processing device 405, and the sedimentation area 4041 are located on the front side of the liquid-based sample processing apparatus 400 facing the operator, facilitating the operator to load the sample cartridge 600 carrying the sample and the preservative liquid, the pipette tip 700, the centrifugal tube 500, the sedimentation tube module 800, and the slide basket 900. The sedimentation area 4041 and the loading area of the empty slide basket 900 are located on the left front side of the liquid-based sample processing apparatus 400. In this embodiment, the loading area of the slide basket 900 is also the unloading area of the glass slide 801. The pipette tip 700, the centrifugal tube 500, and the sample cartridge 600 carrying the sample and the preservative liquid are located on the right front side of the liquid-based sample processing apparatus 400. Correspondingly, the elution and mixing device 403 and the centrifugal device 300 are located on the right rear side of the liquid-based sample processing apparatus 400, facilitating other grippers to move the sample cartridge 600 to the elution and mixing device 403, or move the centrifugal tube 500 to the centrifugal device 300, or pick up the pipette tip 700 and transfer the sample eluted and mixed by the elution and mixing device 403 to the centrifugal device 300 through the pipette tip 700.

[0059] As shown, Figure 1 The liquid-based sample processing apparatus 400 also has a housing 406 covering the base 401 to prevent the xylene volatilized gas from harming human health. The housing 406 has a first loading port 4061 for loading the sample cartridge 600, the pipette tip 700, and the centrifugal tube 500, and a first unloading port 4062 for unloading the sample cartridge 600, the pipette tip 700, and the centrifugal tube 500. The housing 406 also has a second loading port 4063 for loading the sedimentation tube module 800. The housing 406 also has a third loading port 4064 for the liquid-based post-processing device 405 to extract or move in. The third loading port 4064 is used for loading the empty slide basket 900 and unloading the slide basket 900 loaded with the glass slide 801. The first loading port 4061, the first unloading port 4062, the second loading port 4063, and the third loading port 4064 are sequentially and sequentially arranged on the front side of the housing 406 facing the operator.

[0060] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A transfer mechanism for transferring a carrier capable of holding a sample container, characterized in that, The transfer mechanism includes: Guiding structure; The gripping structure includes a first gripping member and a second gripping member connected to the guide structure; The first gripping member is used to transfer the carrier to the second gripping member, or to grip the carrier from the second gripping member and transfer it; The second gripping member is used to grip the carrier from the first gripping member and transfer it, or to transfer the carrier to the first gripping member; The first gripping component includes a first driving member and a first clamping assembly. The first driving member is slidably mounted on the guide structure, and the first clamping assembly is mounted on the first driving member. The first driving member is used to drive the first clamping assembly to clamp or open in a first direction to grip or release the carrier. The second gripping component includes a second driving member and a second clamping assembly. The second driving member is slidably mounted on the guide structure, and the second clamping assembly is mounted on the second driving member. The second driving member is used to drive the second clamping assembly to clamp or open in a second direction to grip or release the carrier. The guide structure extends vertically, and the first direction and the second direction are horizontal and intersecting. When the first clamping component grasps the carrier from the second clamping component or the second clamping component grasps the carrier from the first clamping component, the first clamping component and the second clamping component are respectively located on different sides of the carrier at the same height. The first gripping member is located above the second gripping member. The first clamping assembly includes a first gripper and a second gripper spaced apart from the first gripper in the first direction. The second clamping assembly includes a third gripper and a fourth gripper spaced apart from the third gripper in the second direction. When the first gripper and the second gripper grip the carrier, the third gripper and the fourth gripper can open to a distance greater than the width of the first gripper and / or the second gripper in the second direction, so that the third gripper and the fourth gripper can easily grip the carrier from both sides of the first gripper and / or the second gripper in the second direction. The first gripper includes a first clamping portion and a first lever arm, and the second gripper includes a second clamping portion and a second lever arm. The first clamping portion and the second clamping portion are used to clamp the two sides of the carrier in a first direction. The first lever arm connects the first clamping portion and the first driving member, and the second lever arm connects the second clamping portion and the first driving member. The first lever arm and the second lever arm extend horizontally so that the first driving member is located on one side of the carrier in the horizontal direction clamped by the first clamping assembly. The first lever arm and the second lever arm are configured such that when the first clamping assembly clamps the carrier, a first clearance notch is left between the first lever arm, the second lever arm and the carrier to avoid the second clamping assembly, so that the second clamping assembly can pass through the first clearance notch to clamp the carrier.

2. The transfer mechanism as described in claim 1, characterized in that, The guide structure extends vertically, and the first gripping component includes a first driving member and a first clamping assembly. The first driving member is slidably mounted on the guide structure, and the first clamping assembly is mounted on the first driving member. The first driving member is used to drive the first clamping assembly to clamp or open in the horizontal direction to grip or release the carrier. The second gripping component includes a second driving member and a second clamping assembly. The second driving member is slidably mounted on the guide structure, and the second clamping assembly is mounted on the second driving member. The second driving member is used to drive the second clamping assembly to clamp or open in the horizontal direction to grip or release the carrier.

3. The transfer mechanism as described in claim 1, characterized in that, in, When the third and fourth grippers grip the carrier, the distance between the third and fourth grippers in the second direction is greater than the width of the first and / or second grippers in the second direction, so that the first and / or second grippers can easily extend between the third and fourth grippers to grip the carrier.

4. The transfer mechanism as described in claim 3, characterized in that, The third gripper includes a third clamping part and a third lever arm, and the fourth gripper includes a fourth clamping part and a fourth lever arm. The third clamping part and the fourth clamping part are used to clamp the two sides of the bearing seat in a second direction. The third lever arm connects the third clamping part and the second driving member, and the fourth lever arm connects the fourth clamping part and the second driving member. The third and fourth lever arms extend vertically downwards so that the second drive member is located above the carrier held by the second clamping assembly. The third and fourth lever arms are configured such that when the second clamping assembly clamps the carrier, a second clearance notch is left between the third and fourth lever arms and the carrier to avoid the first clamping assembly, so that the first clamping assembly can pass through the second clearance notch to clamp the carrier.

5. The transfer mechanism as described in claim 1, characterized in that, The first and second grippers have a first protrusion on their opposite sides, which is used to engage with a first groove in the support seat to secure the support seat; and / or, The third and fourth grippers have a second protrusion on their opposite sides. The second protrusion is used to fit into the second groove of the support seat to stabilize the support seat.

6. The transfer mechanism as described in claim 1, characterized in that, The guiding structure includes: Support frame; A first guide rail is installed on the support frame and extends in a vertical direction, and the first gripping member is slidably connected to the first guide rail; The second guide rail is installed on the support frame and extends in the vertical direction, and the second gripping member is slidably connected to the second guide rail; The first guide rail and the second guide rail are located on different sides of the support frame.

7. The transfer mechanism as described in claim 6, characterized in that, The transfer mechanism also includes: A first lifting structure is installed on the support frame, and the first lifting structure is connected to the first gripping member to drive the first gripping member to move vertically up and down along the first guide rail; and / or, A second lifting structure is installed on the support frame. The second lifting structure is connected to the second gripping member to drive the second gripping member to move vertically up and down along the second guide rail.

8. The transfer mechanism as described in claim 6, characterized in that, The transfer mechanism is used to transfer the carrier containing the sample container from the starting position to the target position or from the target position back to the starting position. The transfer mechanism further includes: A first positioning structure is installed on the first gripping component or the second gripping component; The first positioning structure is used to cooperate with the second positioning structure around the target position for positioning, so as to determine whether the gripping structure is aligned with the target position by cooperating with the second positioning structure, so that the gripping structure can perform the operation of gripping or releasing the carrier.

9. A transfer device, characterized in that, include: The support base, which holds the sample containers; The transfer mechanism according to any one of claims 1 to 8; The transfer mechanism is used to transfer the carrier containing the sample container from the starting position to the target position or from the target position back to the starting position.

10. A centrifuge device, characterized in that, include: Centrifuge; The transfer device according to claim 9; The transfer device is used to transfer the carrier containing the sample container from the starting position to the centrifuge for centrifugation, and to transport the carrier back to the starting position after centrifugation.

11. A liquid-based sample processing device, characterized in that, Includes the centrifuge device as described in claim 10.

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