Analyzers, analyzer dispatching methods, and computer-readable storage media

Abstract

The application discloses an analyzer, an analyzer scheduling method and a computer readable storage medium, the analyzer comprising a mounting frame, a transport mechanism, a mechanical arm and a gripper, the transport mechanism comprising a transport driving assembly and a reagent box, the transport driving assembly being used to drive the reagent box to move; the mechanical arm comprising a lifting assembly and a swing arm assembly, the lifting assembly comprising a lifting driving piece, the swing arm assembly comprising a swing arm rotating driving piece and a swing arm; the gripper comprising a gripper rotating driving piece and a gripper assembly, the gripper rotating driving piece being installed on the swing arm. The lifting driving piece drives the gripper assembly to ascend so that the bottom of a reagent bottle gripped by the gripper assembly is higher than the top of the reagent box, through the action of the transport driving assembly, the swing arm rotating driving piece and the gripper rotating driving piece, the reagent bottle is taken out without collision, and the disordered taking out of the reagent bottle from the reagent box is realized without increasing the overall height of the mechanical arm and the lifting height of the reagent.

Description

Technical Field

[0001] This invention relates to the field of sample analysis technology, and in particular to an analyzer, an analyzer scheduling method, and a computer-readable storage medium. Background Technology

[0002] Existing reagent bottles are typically arranged at intervals within the kit, with bottles in the center flanking the other bottles. To remove a bottle, to prevent collisions with the bottles on either side, the bottle to be removed usually needs to be lifted until its bottom is higher than the other bottles before a robotic arm can successfully retrieve it. As the lifting height increases, the overall height of the robotic arm also needs to increase, resulting in a larger space occupied and higher costs. Alternatively, if the bottle is not lifted until its bottom is higher than the bottles on either side, it needs to be removed sequentially from one end of the kit. Since the bottles at the end of the kit have no obstructions, they can be removed from the unobstructed side simply by lifting their bottom until it is higher than the edge of the kit. Therefore, it is not necessary to lift the bottle completely to a height higher than the bottles on either side. However, this method prevents the bottles from being removed randomly according to actual needs, requiring them to be removed sequentially from beginning to end.

[0003] In view of this, it is necessary to provide a new analyzer, analyzer scheduling method and computer-readable storage medium to solve or at least alleviate the above-mentioned technical defects. Summary of the Invention

[0004] The main objective of this invention is to provide an analyzer, an analyzer scheduling method, and a computer-readable storage medium, aiming to solve the technical problem of how existing robotic arms can remove reagent bottles from a reagent kit in an unordered manner without increasing the overall height or the reagent lifting height.

[0005] To achieve the above objectives, the present invention provides an analyzer comprising:

[0006] Mounting rack;

[0007] A transport mechanism, comprising a transport drive assembly and a reagent kit, the transport drive assembly being mounted on the mounting frame and connected to the reagent kit for driving the reagent kit to move, the reagent kit being used to contain reagent bottles;

[0008] A robotic arm, which is mounted on the mounting frame;

[0009] A reagent tray for holding the reagent bottles;

[0010] An analytical apparatus, comprising a liquid aspiration component and an analytical component, wherein the liquid aspiration component is used to aspirate reagents from reagent bottles located on the reagent tray, and the analytical component is used to analyze the reagents aspirated by the liquid aspiration component;

[0011] The gripper includes a gripper rotation drive and a gripper assembly connected to each other. The gripper rotation drive is mounted on the robotic arm, which drives the gripper rotation drive to move up and down and swing. The gripper rotation drive drives the gripper assembly to rotate relative to the robotic arm. The gripper assembly is used to grip the reagent bottle and, under the action of the robotic arm and the gripper rotation drive, moves the reagent bottle back and forth between the reagent tray and the reagent kit.

[0012] Furthermore, the present invention also provides an analyzer scheduling method, the steps of which include:

[0013] The control transport drive component drives the reagent kit to move, so as to transport the reagent bottles in the reagent kit to the gripping point, and controls the robotic arm to drive the gripper to move to the gripping point;

[0014] Control the grippers to grasp the reagent bottle located at the gripping point;

[0015] The robotic arm is controlled to drive the gripper to rise to the bottom of the reagent bottle, which is higher than the top of the reagent kit;

[0016] The transport drive assembly is controlled to move the reagent kit in the direction of the swing of the robotic arm, and the robotic arm is controlled to remove the reagent bottle.

[0017] In one embodiment, the robotic arm is rotatable about the connection point between the robotic arm and the mounting frame, and the step of controlling the transport drive assembly to drive the reagent kit to move in the direction of the robotic arm's swing, and controlling the robotic arm to remove the reagent bottle includes:

[0018] The transport drive assembly is controlled to drive the reagent kit to move in the direction of the swing of the robotic arm, and the robotic arm is controlled to start rotating relative to the mounting frame in the direction of the movement of the transport drive assembly. At the same time, the gripper is controlled to rotate relative to the robotic arm in the opposite direction to the direction of the rotation of the robotic arm, and the robotic arm is controlled to remove the reagent bottle.

[0019] In one embodiment, the robotic arm is rotatable about the connection point between the robotic arm and the mounting frame, and the step of controlling the transport drive assembly to drive the reagent kit to move in the direction of the robotic arm's swing, and controlling the robotic arm to remove the reagent bottle includes:

[0020] The transport drive assembly is controlled to drive the reagent kit to move in the direction of the swing of the robotic arm, and the robotic arm is controlled to start rotating relative to the mounting frame in the direction of the movement of the transport drive assembly. At the same time, the gripper is controlled to rotate relative to the robotic arm in the opposite direction to the direction of the rotation of the robotic arm, and the robotic arm is controlled to remove the reagent bottle.

[0021] In one embodiment, the step of controlling the transport drive assembly to drive the reagent kit to move in the direction of the swing of the robotic arm, controlling the robotic arm to start rotating relative to the mounting frame in the direction of movement of the transport drive assembly, and simultaneously controlling the gripper to rotate relative to the robotic arm in a direction opposite to the direction of rotation of the robotic arm, and controlling the robotic arm to remove the reagent bottle includes:

[0022] The transport drive assembly is controlled to move at a first speed in a horizontal direction away from the connection point between the manipulator and the mounting frame;

[0023] The rotational angular velocity of the robotic arm and the rotational angular velocity of the gripper are calculated based on the first velocity. The robotic arm is controlled to start rotating relative to the mounting frame in the direction of the transport drive assembly with the rotational angular velocity. At the same time, the gripper is controlled to rotate relative to the robotic arm in the opposite direction of the rotation of the robotic arm with the rotational angular velocity. The robotic arm is then controlled to remove the reagent bottle.

[0024] In one embodiment, the step of simultaneously controlling the gripper to rotate relative to the robotic arm at the same rotational angular velocity in a direction opposite to the direction of rotation of the robotic arm, and controlling the robotic arm to remove the reagent bottle, includes:

[0025] Simultaneously, the gripper is controlled to rotate relative to the robotic arm at a rotational angular velocity that is the same in magnitude but opposite in direction to the rotational angular velocity, so that the reagent bottle is removed from both sides of the reagent kit along the direction of movement of the reagent kit without changing the distance from the two ends of the reagent kit.

[0026] In one embodiment, the steps of controlling the transport drive assembly to move the reagent kit to transport the reagent vials within the kit to the gripping point, and controlling the robotic arm to drive the gripper to move to the gripping point, include:

[0027] Obtain reagent distribution information within the reagent tray, and determine whether the reagent tray needs to be replenished based on the reagent distribution information;

[0028] If so, the transport drive assembly is controlled to move the reagent kit to transport the reagent bottles in the kit to the gripping point, and the robotic arm is controlled to drive the gripper to move to the gripping point.

[0029] In one embodiment, the step of obtaining reagent distribution information within the reagent tray and determining whether the reagent tray needs to be replenished based on the reagent distribution information includes the following prior steps:

[0030] The control transport drive component drives the reagent kit to move so that all the reagent bottles located in the reagent kit pass through the gripping point, and controls the position sensor to obtain the position information of each reagent bottle that passes through the gripping point. At the same time, the control barcode scanner scans the identification code of each reagent bottle that passes through the gripping point to obtain reagent information.

[0031] If so, the steps of controlling the transport drive assembly to move the reagent kit to transport the reagent bottles in the reagent kit to the gripping point, and controlling the robotic arm to drive the gripper to move to the gripping point include:

[0032] If so, the transport drive assembly is controlled to move the reagent kit according to the reagent distribution information in the reagent tray, the position information and the reagent information, so as to transport the reagent bottle in the reagent kit to the gripping point, and the robotic arm is controlled to drive the gripper to move to the gripping point.

[0033] In one embodiment, the step of controlling the transport drive assembly to drive the reagent kit in the direction of the swing of the robotic arm, and controlling the robotic arm to remove the reagent bottle, includes the following:

[0034] The robotic arm is controlled to place the reagent bottle into an empty space on the reagent tray;

[0035] Control the robotic arm to reset.

[0036] In one embodiment, the step of controlling the transport drive assembly to drive the reagent kit in the direction of the swing of the robotic arm, and controlling the robotic arm to remove the reagent bottle, includes the following:

[0037] Obtain the reset information of the reset sensor, and determine whether the transport drive component should transport the reagent kit to the starting position based on the reset information;

[0038] If so, then control the transport drive component to stop operating.

[0039] In addition, the present invention provides a computer-readable storage medium storing an analyzer control program, which, when executed by a processor, implements the steps of the analyzer scheduling method described above.

[0040] In the above technical solution of the present invention, the transport drive assembly drives the connected reagent kit to move to a position where the robotic arm can grasp the reagent bottle inside the reagent kit. The lifting drive component drives the gripper assembly to rise through the swing arm rotation drive component, the swing arm and the gripper rotation drive component. The swing arm rotation drive component drives the gripper assembly to swing above the reagent bottle to be grasped through the swing arm and the gripper rotation drive component. The lifting drive component drives the gripper assembly to descend, and the gripper assembly grasps the reagent bottle. The lifting drive component drives the gripper assembly to rise so that the bottom of the reagent bottle grasped by the gripper assembly is higher than the top of the reagent kit, but not higher than the top of other reagent bottles located in the reagent kit. The transport drive assembly drives the reagent kit to move in the opposite direction to the previous movement, so that the distance between the reagent kit and the mounting frame increases. At the same time, the swing arm rotation drive component drives the swing arm to start swinging in the direction of the reagent kit's movement, and the gripper rotation drive component drives the gripper assembly to rotate in the opposite direction to the swing direction of the swing arm, so that the reagent bottle grasped by the gripper assembly does not collide with the reagent bottles located on both sides of it. The reagent bottle is removed from the reagent kit under certain conditions, thus completing the extraction of the reagent bottle. Since the lifting component only needs to lift the bottom of the reagent bottle above the top of the reagent kit, compared to the traditional lifting mechanism which needs to lift the reagent bottle above the height of other reagent bottles in the reagent kit, this solution achieves disordered removal of reagent bottles from the reagent kit without increasing the overall height of the robotic arm or the lifting height of the reagent. That is, any reagent bottle in the reagent kit can be extracted. Moreover, since the lifting component does not need to lift the reagent bottle above the height of other reagent bottles, the lifting time is reduced, thereby improving the analytical efficiency of the analyzer. At the same time, since the lifting component does not need to lift the reagent bottle above the height of other reagent bottles, the lifting stroke of the lifting component is shorter than that of the traditional lifting mechanism. Therefore, if guide rails or guide rods are used in the lifting component, the length of the guide rails or guide rods is shorter than that of the guide rails or guide rods of the traditional lifting mechanism, occupying less space and reducing costs. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of an analyzer according to an embodiment of the present invention;

[0043] Figure 2 This is a partial structural schematic diagram of an analyzer according to an embodiment of the present invention;

[0044] Figure 3 This is a partial structural schematic diagram of an analyzer according to an embodiment of the present invention;

[0045] Figure 4 This is a flowchart illustrating a first embodiment of the analyzer scheduling method of the present invention;

[0046] Figure 5 This is a flowchart illustrating a second embodiment of the analyzer scheduling method of the present invention;

[0047] Figure 6 This is a flowchart illustrating a third embodiment of the analyzer scheduling method of the present invention;

[0048] Figure 7 This is a flowchart illustrating the fourth embodiment of the analyzer scheduling method of the present invention;

[0049] Figure 8 This is a flowchart illustrating the fifth embodiment of the analyzer scheduling method of the present invention;

[0050] Figure 9 This is a flowchart illustrating the sixth embodiment of the analyzer scheduling method of the present invention.

[0051] Explanation of icon numbers:

[0052]

[0053]

[0054] The realization of the objective, functional characteristics and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of this invention are only used to interpret a specific posture (as shown in the attached diagram). Figure 1 The relative positions and movements of the components shown below are considered. If the specific posture changes, the directional indication will also change accordingly.

[0057] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" can explicitly or implicitly include at least one of that feature.

[0058] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are implemented by those skilled in the art. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0059] This invention provides an analyzer 1, such as Figures 1-3 As shown, the analyzer 1 includes a mounting frame 15, a transport mechanism 11, a robotic arm 12, a reagent tray, an analytical mechanism, and a gripper 13. The transport mechanism 11 includes a transport drive assembly 111 and a reagent kit 112. The transport drive assembly 111 is mounted on the mounting frame 15 and is connected to the reagent kit 112 to drive the reagent kit 112 to move. The reagent kit 112 is used to hold reagent bottles 14. The robotic arm 12 is mounted on the mounting frame 15. The reagent tray is used to hold the reagent bottles 14. The analytical mechanism includes a liquid aspiration assembly and an analytical assembly. The liquid aspiration assembly is used to aspirate the reagents in the reagent bottles 14 located on the reagent tray, and the analytical assembly is used to analyze the reagents aspirated by the liquid aspiration assembly. The gripper 13 includes a gripper rotation drive and a gripper assembly connected to each other. The gripper rotation drive is mounted on the swing arm and is used to drive the gripper assembly to rotate relative to the swing arm. The gripper assembly is used to grasp the reagent bottles 14.

[0060] The robotic arm 12 includes a lifting assembly and a swing arm assembly. The lifting assembly includes a lifting drive, and the swing arm assembly includes a swing arm rotation drive and a swing arm connected to the output shaft of the swing arm rotation drive. Alternatively, the swing arm drive can be mounted on a mounting frame, the lifting drive can be mounted on the swing arm, and the gripper rotation drive can be mounted on the output shaft of the lifting drive; or the lifting drive can be mounted on a mounting frame, the swing arm drive can be mounted on the output shaft of the lifting drive, and the gripper rotation drive can be mounted on the swing arm. With the above configuration, the robotic arm 12 can drive the gripper rotation drive to lift or swing relative to the mounting frame 15. The transport drive assembly 111 drives the connected reagent kit 112 to move to a position where the robotic arm can grasp the reagent bottle 14 inside the reagent kit 112. The lifting drive unit drives the gripper assembly to rise through the swing arm rotation drive unit, the swing arm and gripper rotation drive unit, and the swing arm rotation drive unit drives the gripper assembly to swing above the reagent bottle 14 to be grasped through the swing arm and gripper rotation drive unit. The lifting drive unit drives the gripper assembly to descend, and the gripper assembly grasps the reagent bottle 14. The lifting drive unit drives the gripper assembly to rise so that the bottom of the reagent bottle 14 grasped by the gripper assembly is higher than the reagent kit. The top of reagent bottle 112, but not higher than the tops of other reagent bottles 14 located within reagent bottle 112, is moved by transport drive assembly 111 in the opposite direction to the previous movement, so that reagent bottle 112 is further away from mounting bracket 15. Simultaneously, swing arm rotation drive drives swing arm to swing in the direction of reagent bottle 112's movement, and gripper rotation drive drives gripper assembly to rotate in the opposite direction of swing arm's swing, so that the reagent bottle 14 gripped by the gripper assembly can be self-tested without colliding with reagent bottles 14 located on either side of it. The reagent bottle 14 is removed from the reagent box 112, thus completing the extraction of the reagent bottle 14. Since the lifting assembly only needs to raise the reagent bottle 14 until its bottom is higher than the top of the reagent kit 112, compared to traditional lifting mechanisms that require raising the reagent bottle 14 to a height higher than the other reagent bottles 14 within the reagent kit 112, this solution achieves the disordered extraction of reagent bottles 14 from the reagent kit 112 without increasing the overall height of the robotic arm 12 or the lifting height of the reagents. In other words, any reagent bottle 14 within the reagent kit 112 can be extracted. Furthermore, since the lifting assembly does not need to lift the reagent bottle 14 to a height higher than the top of the other reagent bottles 14, the lifting time is reduced, thereby improving the analysis efficiency of the analyzer 1. At the same time, since the lifting assembly does not need to lift the reagent bottle 14 to a height higher than the top of the other reagent bottles 14, the lifting stroke of the lifting assembly is shorter than that of the traditional lifting mechanism. Therefore, if guide rails or guide rods are used in the lifting assembly, the length of the guide rails or guide rods is shorter than that of the guide rails or guide rods of the traditional lifting mechanism, which occupies less space and has a lower cost.

[0061] Furthermore, the present invention also provides an analyzer scheduling method, such as... Figure 4 As shown, the steps of this analyzer scheduling method include:

[0062] S100, control the transport drive component to drive the reagent kit to move, so as to transport the reagent bottle in the reagent kit to the gripping point, and control the robotic arm to drive the gripper to move to the gripping point;

[0063] The transport drive component moves the reagent kit from left to right or from right to left, so that the reagent kit moves from its starting position toward the gripping point. The gripping point is the point where the trajectory of the reagent kit and the trajectory of the gripper under the drive of the robotic arm intersect. The transport drive component moves the reagent kit so that the reagent bottle inside the kit moves to the gripping point. At the same time, the robotic arm drives the gripper to move above the gripping point, so that the gripper can grasp the reagent bottle located at the gripping point under the drive of the robotic arm.

[0064] S200, control the gripper to grasp the reagent bottle located at the grasping point;

[0065] The robotic arm drives the gripper to descend to a position where it can grasp the reagent bottle, and then the gripper grasps the reagent bottle; alternatively, the gripper located above the grasping point can grasp the reagent bottle located at the grasping point after closing the gripper.

[0066] S300, control the robotic arm to drive the gripper to rise to the bottom of the reagent bottle above the top of the reagent kit;

[0067] The robotic arm drives the gripper to rise, thereby gradually raising the reagent bottle held by the gripper until the bottom of the reagent bottle is higher than the top of the reagent kit. Since it is not necessary to continue lifting the reagent bottle to a height higher than the top of the other reagent bottles in the reagent kit, the time spent lifting the reagent bottle is less than that of traditional lifting methods, thus improving the analytical efficiency of the analyzer. Moreover, compared with traditional lifting mechanisms, the robotic arm has a shorter lifting stroke, thus occupying less space and having a lower cost.

[0068] S400, control the transport drive assembly to drive the reagent kit to move in the direction of the swing of the robotic arm, and control the robotic arm to remove the reagent bottle without collision;

[0069] The control transport drive component drives the reagent kit to move in the opposite direction to the previous movement, and controls the robotic arm to remove the reagent bottle held by the gripper from the reagent kit without collision. This achieves the removal of the reagent bottle from the reagent kit without increasing the overall height of the robotic arm or the lifting height of the reagent bottle.

[0070] The robotic arm includes a lifting assembly and a swing arm assembly. The lifting assembly includes a lifting drive, and the swing arm assembly includes a swing arm rotation drive mounted on the output shaft of the lifting drive and a swing arm connected to the output shaft of the swing arm rotation drive. The lifting drive drives the swing arm rotation drive to lift and lower, and the swing arm rotation drive drives the swing arm to rotate relative to the mounting frame. The gripper includes a gripper rotation drive and a gripper assembly connected to each other. The gripper rotation drive is mounted on the swing arm and drives the gripper assembly to rotate relative to the swing arm. The gripper assembly is used to grasp reagent bottles. A transport drive assembly moves the reagent kit connected to it to a position where the robotic arm can grasp the reagent bottle. At the position of the reagent bottle inside the kit, the lifting drive, via the swing arm rotation drive and the swing arm and gripper rotation drive, drives the gripper assembly to rise. The swing arm rotation drive, via the swing arm and gripper rotation drive, drives the gripper assembly to swing above the reagent bottle to be gripped. The lifting drive then drives the gripper assembly to descend, allowing the gripper assembly to grasp the reagent bottle. The lifting drive then drives the gripper assembly to rise again so that the bottom of the reagent bottle gripped by the gripper assembly is higher than the top of the kit, but not higher than the tops of other reagent bottles located within the kit. Simultaneously, the transport drive component moves the kit in the opposite direction, increasing the distance between the kit and the mounting rack. The swing arm rotation drive drives the swing arm to swing in the direction of the reagent kit's movement. Simultaneously, the gripper rotation drive drives the gripper assembly to rotate in the opposite direction of the swing arm's swing. This allows the reagent bottle gripped by the gripper assembly to be removed from the reagent kit without colliding with the reagent bottles located on either side, thus completing the reagent bottle extraction. Since the lifting assembly only needs to lift the reagent bottle until its bottom is higher than the top of the reagent kit, compared to traditional lifting mechanisms that require lifting the reagent bottle to a height higher than the other reagent bottles in the kit, this solution achieves the same result without increasing the overall height of the robotic arm or the lifting height of the reagent. This invention enables the unordered removal of reagent bottles from the reagent kit, allowing the extraction of any reagent bottle located within the kit. Furthermore, because the lifting assembly does not need to raise the reagent bottle to a height exceeding the tops of other reagent bottles, lifting time is reduced, thereby improving the analyzer's analytical efficiency. Simultaneously, since the lifting assembly does not need to raise the reagent bottle to a height exceeding the tops of other reagent bottles, its lifting stroke is shorter compared to traditional lifting mechanisms. Therefore, if guide rails or guide rods are used in the lifting assembly, their length is shorter than that of traditional lifting mechanisms, resulting in less space occupation and lower cost.

[0071] According to one embodiment of the present invention, the robotic arm includes a lifting mechanism, a clearance mechanism, and an extraction mechanism. The lifting mechanism drives the clearance mechanism to move up and down, and the clearance mechanism drives the extraction mechanism to move in the same direction as the movement direction of the reagent kit, ensuring that the movement speed of the extraction mechanism is consistent with the movement speed of the reagent kit. The gripper is mounted on the extraction mechanism, and the extraction mechanism drives the gripper to move in a direction perpendicular to the movement direction of the reagent kit. When the gripper grasps the reagent bottle, the lifting mechanism drives the gripper to rise until the bottom of the reagent bottle is higher than the top of the reagent kit. The transport drive assembly drives the reagent kit to move in the opposite direction to the previous movement, and controls the clearance mechanism to drive the extraction mechanism to move in the movement direction of the reagent kit. At the same time, it controls the extraction mechanism to drive the gripper to move away from the reagent kit, so that the reagent bottle grasped by the gripper is removed without colliding with the reagent bottles on both sides.

[0072] Furthermore, step S400 includes:

[0073] S410, control the transport drive assembly to drive the reagent kit to move in the direction of the swing of the robotic arm, and control the robotic arm to start rotating relative to the mounting frame in the direction of the movement of the transport drive assembly, while controlling the gripper to rotate relative to the robotic arm in the opposite direction to the direction of the rotation of the robotic arm, so that the reagent bottle can be removed without collision.

[0074] If the transport drive assembly moves the reagent kit from the gripping point on the left, it controls the robotic arm to rotate clockwise relative to the mounting frame around the connection point between the robotic arm and the mounting frame. This means the swing arm drive drives the gripper to rotate clockwise, while simultaneously controlling the gripper to rotate relative to the robotic arm. This causes the reagent bottle gripped by the gripper to rotate counter-clockwise around the connection point between the gripper and the swing arm. In other words, the gripper drive drives the gripper assembly to rotate counter-clockwise, ensuring that the reagent bottle gripped by the gripper assembly is removed from the moving reagent kit without colliding with the bottles on either side. This ensures efficient removal of the reagent bottle without affecting the movement of the reagent kit.

[0075] like Figure 5 As shown, step S410 includes:

[0076] S411, control the transport drive assembly to move at a first speed in the horizontal direction away from the connection between the manipulator and the mounting frame;

[0077] S412, the rotational angular velocity of the robotic arm and the rotational angular velocity of the gripper are calculated based on the first velocity, and the robotic arm is controlled to start rotating relative to the mounting frame in the direction of the transport drive assembly with the rotational angular velocity, while the gripper is controlled to rotate relative to the robotic arm in the opposite direction of the rotation of the robotic arm with the rotational angular velocity, so that the reagent bottle can be taken out without collision.

[0078] If the transport drive assembly drives the reagent kit to move from the gripping point on the left, the transport drive assembly is controlled to move the reagent kit to the left at a first speed. At the same time, the robotic arm is controlled to rotate clockwise relative to the mounting frame at a rotational angular velocity. That is, the swing arm drive is controlled to drive the gripper to move clockwise at a rotational angular velocity. At the same time, the gripper is controlled to rotate counterclockwise relative to the robotic arm at its own rotational angular velocity. That is, the gripper rotation drive is driven to drive the gripper assembly to rotate counterclockwise. The rotational angular velocity and the rotational angular velocity can be flexibly adjusted according to the position of the reagent bottle being gripped by the gripper, so as to ensure that the reagent bottle does not collide with its adjacent reagent bottles during the process of removing the reagent kit.

[0079] The step of simultaneously controlling the gripper to rotate relative to the robotic arm at the same rotational angular velocity in a direction opposite to the direction of rotation of the robotic arm, so as to remove the reagent bottle without collision, includes:

[0080] Simultaneously, the gripper is controlled to rotate relative to the robotic arm with a rotational angular velocity that is the same in magnitude but opposite in direction to the rotational angular velocity, so that the reagent bottle is removed while maintaining the distance between its two sides and the ends of the reagent kit along the direction of kit movement. The rotational angular velocity and the rotational angular velocity are the same in magnitude but opposite in direction; that is, in the same amount of time, the angle through which the swing arm rotates clockwise is θ1, and the angle through which the gripper assembly drives the reagent bottle to rotate counterclockwise is θ2, where θ1 equals θ2. This ensures that the distance between the two sides of the reagent bottle and the reagent bottles located on either side of it remains consistent, thus preventing the reagent bottle from colliding with adjacent reagent bottles during the removal of the kit. Let the initial swing angle of the swing arm be θ, the swing angular velocity of the swing arm be ω, the speed of the reagent kit movement be v, the rotation diameter of the swing arm be D1, and the movement time be t. The relationship between these parameters is as follows:

[0081]

[0082] like Figure 6 As shown, step S100 includes:

[0083] S110, Obtain reagent distribution information in the reagent tray, and determine whether the reagent tray needs to be replenished with reagent bottles based on the reagent distribution information;

[0084] S120, if so, control the transport drive component to drive the reagent kit to move, so as to transport the reagent bottle in the reagent kit to the gripping point, and control the robotic arm to drive the gripper to move to the gripping point.

[0085] Obtain reagent distribution information in the reagent tray, determine whether the reagent tray needs to be replenished based on the reagent distribution information, if not, repeat step S110, if yes, control the transport drive component to drive the reagent kit from the starting position to the gripping point, so that the reagent bottle located in the reagent kit moves to the gripping point, so that the robotic arm can grip the reagent bottle with the gripper.

[0086] like Figure 7 As shown, step S110 includes the following steps prior to:

[0087] S90, control the transport drive component to drive the reagent kit to move so that all the reagent bottles located in the reagent kit pass through the gripping point, and control the position sensor to obtain the position information of each reagent bottle that passes through the gripping point, and at the same time control the barcode scanner to scan the identification code of each reagent bottle that passes through the gripping point to obtain reagent information.

[0088] The steps in S120 include:

[0089] If so, the transport drive assembly is controlled to move the reagent kit according to the reagent distribution information in the reagent tray, the position information, and the reagent information, so as to transport the reagent bottle in the reagent kit to the gripping point, and the robotic arm is controlled to drive the gripper to move to the gripping point.

[0090] The system controls a position sensor to acquire position information, and a barcode scanner to scan the identification codes on reagent bottles to obtain reagent information. Combining the position and reagent information, the system obtains the position information of each reagent bottle within the reagent kit and the corresponding reagent information. Based on user needs or the reagent distribution information within the reagent tray, the system controls the transport drive component to position the user-specified reagent bottle or the required reagent bottle from the tray at the gripping point, allowing the gripper to grasp it and place it into the reagent tray. Based on the reagent distribution information within the reagent tray, the system determines the types of reagents that need to be replenished. Combining this with the position and reagent information, the system controls the transport drive component to transport the reagent kit, ensuring that the required reagent bottles are positioned at the gripping point for grasping by the gripper.

[0091] like Figure 8 As shown, the steps of S400 include:

[0092] S500, control the robotic arm to place the reagent bottle into the empty space of the reagent tray;

[0093] S600, control the robotic arm to reset.

[0094] The robotic arm is controlled to place the reagent bottle gripped by the gripper into an empty space on the reagent tray, thus realizing automatic loading of the reagent tray. After the reagent bottle is placed, the robotic arm resets, thus preparing for the next gripping.

[0095] like Figure 9 As shown, the steps of S400 include:

[0096] S500', Obtain the reset information of the reset sensor, and determine whether the transport drive component should transport the reagent kit to the starting position based on the reset information;

[0097] S600', if so, then control the transport drive component to stop operating.

[0098] The reset sensor obtains reset information to determine whether the transport drive component has transported the reagent kit to the starting position. The reagent kit located at the starting position makes it convenient for staff to replenish or replace the reagents in the kit.

[0099] According to an embodiment of the present invention, step S400 is followed by:

[0100] "S500", repeat the steps of S110.

[0101] In addition, the present invention provides a computer-readable storage medium storing an analyzer control program, which, when executed by a processor, implements the steps of the analyzer scheduling method described above.

[0102] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made under the concept of the present invention using the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An analyzer scheduling method, characterized in that, The steps of the analyzer scheduling method include: The transport drive assembly is controlled to move the reagent kit to transport the reagent bottles inside the kit to the gripping point, and the robotic arm is controlled to drive the gripper to move to the gripping point. Control the gripper to grasp the reagent bottle located at the grasping point; The robotic arm is controlled to drive the gripper to rise to the bottom of the reagent bottle, which is higher than the top of the reagent kit; The transport drive assembly is controlled to drive the reagent kit to move in the direction of the swing of the robotic arm, and the robotic arm is controlled to start rotating relative to the mounting frame in the direction of the movement of the transport drive assembly. At the same time, the gripper is controlled to rotate relative to the robotic arm in the opposite direction to the direction of rotation of the robotic arm, and the robotic arm is controlled to remove the reagent bottle.

2. The analyzer scheduling method according to claim 1, characterized in that, The robotic arm is capable of rotating around the connection point between the robotic arm and the mounting frame.

3. The analyzer scheduling method according to claim 2, characterized in that, The steps of controlling the transport drive assembly to drive the reagent kit to move in the direction of the swing of the robotic arm, controlling the robotic arm to start rotating relative to the mounting frame in the direction of the movement of the transport drive assembly, and simultaneously controlling the gripper to rotate relative to the robotic arm in the opposite direction to the direction of rotation of the robotic arm, and controlling the robotic arm to remove the reagent bottle include: Control the transport drive assembly to move at a first speed in a horizontal direction away from the connection between the robotic arm and the mounting frame; The rotational angular velocity of the robotic arm and the rotational angular velocity of the gripper are calculated based on the first velocity. The robotic arm is controlled to start rotating relative to the mounting frame in the direction of the transport drive assembly with the rotational angular velocity. At the same time, the gripper is controlled to rotate relative to the robotic arm in the opposite direction of the rotation of the robotic arm with the rotational angular velocity. The robotic arm is then controlled to remove the reagent bottle.

4. The analyzer scheduling method according to claim 3, characterized in that, The step of simultaneously controlling the gripper to rotate relative to the robotic arm at the same rotational angular velocity in a direction opposite to the direction of rotation of the robotic arm, and controlling the robotic arm to remove the reagent bottle includes: Simultaneously, the gripper is controlled to rotate relative to the robotic arm at a rotational angular velocity that is the same in magnitude but opposite in direction to the rotational angular velocity, so that the reagent bottle is removed from both sides of the reagent kit along the direction of movement of the reagent kit without changing the distance from the two ends of the reagent kit.

5. The analyzer scheduling method according to any one of claims 1 to 4, characterized in that, The steps of controlling the transport drive assembly to move the reagent kit to transport the reagent vials within the kit to the gripping point, and controlling the robotic arm to drive the gripper to move to the gripping point, include: Obtain reagent distribution information within the reagent tray, and determine whether the reagent tray needs to be replenished based on the reagent distribution information; If so, the transport drive assembly is controlled to move the reagent kit to transport the reagent bottles in the kit to the gripping point, and the robotic arm is controlled to drive the gripper to move to the gripping point.

6. The analyzer scheduling method according to claim 5, characterized in that, Before the step of obtaining reagent distribution information in the reagent tray and determining whether the reagent tray needs to be replenished based on the reagent distribution information, the following steps are included: The control transport drive component drives the reagent kit to move so that all the reagent bottles located in the reagent kit pass through the gripping point, and the control position sensor obtains the position information of each reagent bottle that passes through the gripping point. At the same time, the control barcode scanner scans the identification code of each reagent bottle that passes through the gripping point and obtains the reagent information. If so, the steps of controlling the transport drive assembly to move the reagent kit to transport the reagent bottles in the reagent kit to the gripping point, and controlling the robotic arm to drive the gripper to move to the gripping point include: If so, the transport drive assembly is controlled to move the reagent kit according to the reagent distribution information in the reagent tray, the position information and the reagent information, so as to transport the reagent bottle in the reagent kit to the gripping point, and the robotic arm is controlled to drive the gripper to move to the gripping point.

7. The analyzer scheduling method according to claim 5, characterized in that, The step of controlling the transport drive assembly to drive the reagent kit to move in the direction of the swing of the robotic arm, and controlling the robotic arm to remove the reagent bottle, is followed by: The robotic arm is controlled to place the reagent bottle into an empty space on the reagent tray; Control the robotic arm to reset.

8. The analyzer scheduling method according to claim 5, characterized in that, The step of controlling the transport drive assembly to drive the reagent kit to move in the direction of the swing of the robotic arm, and controlling the robotic arm to remove the reagent bottle, is followed by: Obtain the reset information of the reset sensor, and determine whether the transport drive component should transport the reagent kit to the starting position based on the reset information; If so, then control the transport drive component to stop operating.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an analyzer control program, which, when executed by a processor, implements the steps of the analyzer scheduling method as described in any one of claims 1 to 8.

10. An analyzer, characterized in that, The analyzer is applicable to the analyzer scheduling method according to any one of claims 1 to 8, comprising: Mounting rack; A transport mechanism, comprising a transport drive assembly and a reagent kit, the transport drive assembly being mounted on the mounting frame and connected to the reagent kit for driving the reagent kit to move, the reagent kit being used to contain reagent bottles; A robotic arm, which is mounted on the mounting frame; A reagent tray for holding the reagent bottles; An analytical apparatus, comprising a liquid aspiration component and an analytical component, wherein the liquid aspiration component is used to aspirate reagents from reagent bottles located on the reagent tray, and the analytical component is used to analyze the reagents aspirated by the liquid aspiration component; The gripper includes a gripper rotation drive and a gripper assembly connected to each other. The gripper rotation drive is mounted on the robotic arm, which drives the gripper rotation drive to move up and down and swing. The gripper rotation drive drives the gripper assembly to rotate relative to the robotic arm. The gripper assembly is used to grip the reagent bottle and, under the action of the robotic arm and the gripper rotation drive, moves the reagent bottle back and forth between the reagent tray and the reagent kit.

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