Sample analysis injection control method

Abstract

A sample analysis injection control method includes the following steps: Step 1: Determine whether sample tubes are stored in the placement positions corresponding to the sampling station and the mixing station: If a sample tube is placed in the placement position corresponding to the sampling station but not in the placement position corresponding to the mixing station, it is a single sampling mode; if sample tubes are placed in both the placement positions corresponding to the sampling station and the mixing station, it is a sampling-mixing coordinated mode; if no sample tube is placed in the placement position corresponding to the sampling station but is placed in the placement position corresponding to the mixing station, it is a single mixing mode; if no sample tube is placed in either the placement position corresponding to the sampling station or the placement position corresponding to the mixing station, sampling and mixing are not performed. By coordinating the control of sampling and mixing in different modes, interference between the sampling and mixing components can be avoided, and efficiency can be effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of in vitro diagnostic technology, specifically a sample analysis injection control method. Background Technology

[0002] In automated sample analysis instruments, a sample holder is typically used to carry the sample, which is then transported via a track for sample introduction. The sample undergoes a series of steps, including mixing, sampling, and analysis, to achieve automated sample introduction and analysis. However, this series of steps has a sequential relationship; the progress of each step usually depends on the completion of the previous one. This significantly limits the analytical efficiency of the sample analyzer.

[0003] To improve the analytical efficiency of sample analyzers, some researchers have proposed setting multiple sequential steps to be performed simultaneously, saving waiting time between different samples and thus increasing efficiency. However, this method requires each motion module implementing each step to be set up independently, without interference. This results in a large space requirement when these independent modules are combined, making the analyzer bulky and contradicting the goal of miniaturization. Furthermore, if multiple modules are interlocked, they are prone to interference, affecting the analyzer's stability. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a sample analysis injection control method, which selects a sampling and mixing coordination mode according to the placement of reagent tubes in the corresponding positions on the sample rack and the sampling and mixing positions. In different modes, by controlling the timing of sampling and mixing, interference between the sampling component and the mixing component can be avoided, and efficiency can be effectively improved.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A sample analysis injection control method includes the following steps:

[0007] Step 1: Determine whether there are sample tubes stored in the placement positions corresponding to the sample rack and the sampling station, as well as in the placement positions corresponding to the mixing station.

[0008] If a sample tube is placed in the placement position corresponding to the sampling station, but no sample tube is placed in the placement position corresponding to the mixing station, then it is a single sampling mode, and step two is executed.

[0009] If both the sampling station and the mixing station have sample tubes placed in their respective placement positions, then it is a sampling-mixing collaborative mode, and step three is executed.

[0010] If no sample tube is placed in the placement position corresponding to the sampling station, but a sample tube is placed in the placement position corresponding to the mixing station, then it is a single mixing mode, and step four is executed.

[0011] If no sample tube is placed in either the placement position corresponding to the sampling station or the placement position corresponding to the mixing station, then sampling and mixing will not be performed, and step five will be executed.

[0012] Step 2: In single-sampling mode, the sampling component performs a sampling operation, while the mixing component remains stationary in its initial position, including the following steps:

[0013] 21) Drive the sampling arm or sampling needle to move from the sampling elevation along the vertically downward -Z direction, so that the sampling needle extends into the sample tube located at the sampling station to take a sample;

[0014] 22) Drive the sampling arm or sampling needle to move along the vertically upward +Z direction to the sampling elevation, so that the sampling needle is removed from the sample tube located at the sampling station;

[0015] 23) Drive the sampling arm to move along the +Y direction perpendicular to the sample transport track, or drive the sampling arm to move along the +Y direction to a set position and then move along the +X direction so that the sampling needle reaches the injection station; the injection station is equipped with at least one sample pool. When injecting the sample, drive the sampling arm to move along the Y direction and / or the X direction to the top of the corresponding sample pool and use the sampling needle to inject the sample into the corresponding sample pool.

[0016] 24) After the injection is completed, drive the sampling component to reset to its initial position;

[0017] Step 3: In the sampling-mixing collaborative mode, the sampling component and the mixing component perform sampling and mixing operations respectively, including the following steps:

[0018] 31) Drive the sampling arm or sampling needle to move from the sampling elevation along the vertically downward -Z direction, so that the sampling needle extends into the sample tube located at the sampling station to take a sample;

[0019] 32) Drive the sampling arm or sampling needle to move along the vertically upward +Z direction to the sampling elevation, so that the sampling needle is removed from the sample tube located at the sampling station;

[0020] 33) Drive the sampling arm to move along the +Y direction perpendicular to the sample transport track, or drive the sampling arm to move along the +Y direction to a set position and then move along the +X direction so that the sampling needle reaches the injection station; the injection station is equipped with at least one sample pool. When injecting the sample, drive the sampling arm to move along the Y direction and / or the X direction to the top of the corresponding sample pool, and then use the sampling needle to inject the sample into the corresponding sample pool.

[0021] During step 33) of the sampling arm and sampling needle, the mixing arm is driven to move from the first mixing elevation along the vertically downward -Z direction to pick up the sample tube located at the mixing station. Then, the mixing arm is driven to move along the vertically upward +Z direction to the second mixing elevation to remove the picked-up sample tube from the sample holder. After that, the mixing arm is driven to move along the +Y direction perpendicular to the sample transport track to the shaking station, or the mixing arm is driven to move along the +Y direction to the set position and then along the -X direction to reach the shaking station and shake the sample tube at the shaking station. After shaking is completed, the mixing arm is driven to move directly above the mixing station and then driven to place the sample tube into the sample holder along the vertically downward -Z direction.

[0022] 34) After the sample is injected and the sample tube is placed into the sample holder, drive the sampling component and the mixing component to reset to their respective initial positions; when the sampling component is in its initial position, the elevation of the sampling arm is equal to the sampling elevation; when the mixing component is in its initial position, the elevation of the mixing arm is equal to the first mixing elevation.

[0023] Step 4: In single-mixing mode, the mixing component performs a mixing operation, including the following steps:

[0024] 41) Drive the mixing arm to move from the first mixing elevation along the vertically downward -Z direction, and after gripping the sample tube located at the mixing station, drive the mixing arm to move along the vertically upward +Z direction to the second mixing elevation, and remove the gripped sample tube from the sample holder; and before the mixing arm moves to the second mixing elevation, drive the sampling arm to move along the Y direction to a position that does not interfere with the mixing arm.

[0025] 42) Drive the mixing arm to move along the +Y direction perpendicular to the sample transport track, or drive the mixing arm to move along the +Y direction to the set position and then move along the -X direction, so that the mixing arm reaches the shaking station and shakes the sample tube at the shaking station.

[0026] 43) After shaking is complete, drive the mixing arm to move directly above the mixing station;

[0027] 44) After the mixing arm is driven to place the sample tube into the sample holder along the vertically downward -Z direction, the mixing component is reset to its initial position. When the mixing component is in its initial position, the elevation of the mixing arm is equal to the first mixing elevation. During the process of driving the mixing arm to perform step 44), the sampling arm moves along the Y direction to reset to its initial position. When the sampling component is in its initial position, the elevation of the sampling arm is equal to the sampling elevation.

[0028] Step 5: Determine if the sample injection is complete: if yes, end the injection; if no, drive the sample holder to move a set distance along the transport track in the +X direction, and repeat Step 1.

[0029] Furthermore, the second mixing elevation is located above the first mixing elevation; when the mixing arm is located at the first mixing elevation, the mixing component and the sampling component do not interfere when moving in the Y direction; when the mixing arm is located at the second mixing elevation, the mixing component and the sampling component interfere when moving along the Y direction.

[0030] Furthermore, the sample injection station is also equipped with a cleaning pool; in steps 23) and 33), after the sampling needle injects the sample into the sample pool, the sampling arm moves directly above the cleaning pool, and then drives the sampling arm or sampling needle to move vertically to clean the sampling needle.

[0031] Furthermore, when the sampling component is in its initial position, the elevation of the sampling arm in the Z direction is equal to the sampling elevation, and its position in the Y direction is directly above the cleaning pool.

[0032] Furthermore, when the sampling component is in its initial position, the elevation of the sampling arm in the Z direction is equal to the sampling elevation, and its position in the Y direction is arbitrarily set; when the mixing component is in its initial position, the elevation of the mixing arm in the Z direction is equal to the first mixing elevation, and its position in the Y direction is arbitrarily set.

[0033] Furthermore, when the sampling component is in its initial position, the elevation of the sampling arm in the Z direction is equal to the sampling elevation, and its position in the Y direction is arbitrarily set to be offset from the sampling station; when the mixing component is in its initial position, the elevation of the mixing arm in the Z direction is equal to the first mixing elevation, and its position in the Y direction is arbitrarily set to be offset from the mixing station.

[0034] Furthermore, in step 33), while the driving sampling arm moves along the +Y direction perpendicular to the sample transport track, the driving mixing arm moves from the first mixing elevation along the vertically downward -Z direction to clamp the sample tube.

[0035] Furthermore, in step 34), after the sample injection is completed and the sample tube is placed into the sample holder, the driving sampling component and the homogenizing component move synchronously and reset to their respective initial positions.

[0036] Further, in step 41), during the process of driving the mixing arm to move from the first mixing elevation along the vertically downward -Z direction and clamping the sample tube located at the mixing station, the sampling arm is driven to move along the Y direction to a position that does not interfere with the mixing arm; or, while driving the mixing arm to move along the vertically upward +Z direction, the sampling arm is driven to move along the Y direction toward a position that does not interfere with the mixing component.

[0037] Furthermore, in step 44), after the driving mixing arm places the sample tube into the sample holder, the driving sampling component and the mixing component move synchronously and reset to their respective initial positions.

[0038] Furthermore, in steps 21) and 31), if the sampling needle is directly above the sampling station when the sampling component is in its initial position, the sampling arm or sampling needle is directly driven to move from the sampling elevation along the vertically downward -Z direction to perform sampling; if the sampling needle is deviated from directly above the sampling station when the sampling component is in its initial position, the sampling arm is first driven to move along the Y direction to directly above the sampling station, and then the sampling arm or sampling needle is driven to move from the sampling elevation along the vertically downward -Z direction to perform sampling.

[0039] Furthermore, in steps 33) and 41), if the mixing component is in its initial position and the mixing arm is directly above the mixing station, then the mixing arm is directly driven to move from the first mixing elevation along the vertically downward -Z direction to clamp the sample tube; if the mixing component is in its initial position and the mixing arm is deviated from directly above the mixing station, then the mixing arm is first driven to move along the Y direction to directly above the mixing station, and then driven to move from the first mixing elevation along the vertically downward -Z direction to clamp the sample tube.

[0040] Furthermore, in step five, the distance the driving sample rack moves along the sample transport track each time is equal to the distance between two adjacent placement positions on the sample rack used to place the sample tubes.

[0041] The beneficial effects of this invention are as follows:

[0042] The sample analysis injection control method of the present invention first detects and judges the placement of reagent tubes in the placement positions corresponding to the sampling station and the mixing station on the sample rack:

[0043] When a sample tube is placed in the placement position corresponding to the sampling station but not in the placement position corresponding to the mixing station, a single sampling mode is adopted. In this mode, since the mixing arm is always at the first mixing elevation, it will not interfere with the movement of the sampling arm along the Y direction. At the same time, the mixing arm is misaligned with the mixing station, so as not to interfere with the sampling component sampling the sample tube in the sampling station. In this way, the mixing component can be kept still during the process, and only the sampling component can be controlled to complete the sampling and injection. There will be no interference between the sampling component and the mixing component.

[0044] When there is no sample tube in the placement position corresponding to the sampling station but there is a sample tube in the placement position corresponding to the mixing station, the single mixing mode is adopted. In this mode, since the mixing arm needs to move vertically to the second mixing elevation when holding the sample tube, interference will occur between the mixing arm and the sampling component when moving in the Y direction. Therefore, during the process of the mixing arm holding the sample tube, the sampling arm can be moved to outside the range of movement of the mixing arm at the second mixing elevation, which can ensure that there is no interference between the sampling component and the mixing component.

[0045] When sample tubes are placed in both the sampling station and the mixing station, the sampling-mixing collaborative mode is activated. The sampling arm's elevation along the Y-axis is controlled to remain at the sampling elevation. The mixing arm's elevation along the Y-axis before picking up the sample tube and after placing it down is designated as the first mixing elevation. The mixing arm's elevation along the Y-axis during the process of picking up the sample tube is designated as the second mixing elevation. When the mixing arm is at the first mixing elevation, the sampling and mixing components will not interfere with each other during their movement along the Y-axis. Thus, during the sampling-mixing collaborative operation, the sampling component can be used to take a sample first, and then the sample can be moved to the injection station, which is located outside the movement range of the mixing component. Without interfering with the mixing component, during the sampling and injection process of the sample pool, the mixing component grips the sample tube and moves it to the mixing station to mix the sample inside the tube. After mixing, the sample tube is placed in the placement position of the sample rack corresponding to the mixing station. Finally, the sampling component and the mixing component are driven to reset to their respective initial positions. In summary, the sample analysis sampling-mixing coordinated control method of the present invention utilizes the relatively long time required for the sampling component to inject samples at the injection station. It uses the time gap during the injection operation of the sampling component to complete the sample mixing operation, thereby achieving coordinated control of sample sampling and mixing. This avoids interference between the sampling component and the mixing component and effectively improves efficiency.

[0046] If no sample tube is placed in the placement position corresponding to the sampling station or the placement position corresponding to the mixing station, sampling and mixing will not be performed, and the cycle will proceed directly to the next cycle.

[0047] In summary, the sample analysis injection control method of the present invention selects a collaborative sampling and mixing mode based on the placement of reagent tubes in the corresponding positions on the sample rack corresponding to the sampling and mixing stations. In different modes, by controlling the timing of sampling and mixing, interference between the sampling and mixing components can be avoided, and efficiency can be effectively improved. Attached Figure Description

[0048] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0049] Figure 1 This is a top view of an embodiment of the sample injection system;

[0050] Figure 2 This is a top view of the second layout of the sample injection system;

[0051] Figure 3 This is a schematic diagram showing the positional relationship between the sampling arm and the mixing arm in the Y-direction view.

[0052] Figure 4This is a schematic diagram of the sampling arm's trajectory in the Y and Z directions;

[0053] Figure 5 This is a schematic diagram of the running trajectory of the mixing arm in the Y and Z directions.

[0054] Explanation of reference numerals in the attached figures:

[0055] 10-Sample injection area; 20-Recovery area; 30-Detection area; 31-Sample pool; 32-Shaking station; 33-First initial station; 34-Second initial station; 40-Sample transport track; 41-Sample injection section; 42-Recovery section; 43-Detection section; 44-Sampling station; 45-Mixing station; 51-Sampling arm; 52-Sampling needle; 53-Sampling needle mounting head; 61-Mixing arm; 62-Mixing gripper; 63-Mixing gripper mounting head. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0057] like Figure 1 As shown, the sample introduction system of this embodiment includes an introduction area 10, a recovery area 20, a detection area 30, a sampling component, a mixing component, and a control unit. The detection area 30 is located between the introduction area 10 and the recovery area 20, and a transport track 40 passing through the detection area 30 is provided between the introduction area 10 and the recovery area 20. The length of the transport track 40 is greater than the length of two sample holders, and a stepping drive unit (not shown in the figure) is also provided in the transport track 40 for driving the sample holders to move step by step along the direction from the introduction area 10 to the recovery area 20. In this embodiment, the stepping drive unit drives the sample holders to move a distance equal to the distance between two adjacent placement positions within the sample holder. The transport track 40 includes an introduction section 41 connected to the introduction area 10, a recovery section 42 connected to the recovery area 20, and a detection section 43 located in the detection area 30. The detection section 43 is provided with a sampling station 44 and a mixing station 45. In this embodiment, the sample inlet area 10 is provided with a first pushing unit (not shown in the figure) for pushing the sample rack in the sample inlet area 10 into the sample inlet section 41, and the recovery area 20 in this embodiment is provided with a second pushing unit (not shown in the figure) for pushing the sample rack in the recovery section 42 into the recovery area 20.

[0058] The sampling assembly in this embodiment includes a sampling arm 51 and a sampling needle 52 mounted on the sampling arm 51 (see...). Figure 3The system includes a first Y-axis drive mechanism (not shown in the figure) for driving the sampling arm 51 to move horizontally along the sample transport track 40, and a first Z-axis drive mechanism (not shown in the figure) for driving the sampling arm 51 or the sampling needle 52 to move vertically along the sample transport track 40. In this embodiment, the detection area 30 is provided with a sample injection station, which contains at least one sample pool 31. In this embodiment, there are three sample pools 31: a DIFF pool, a WBC pool, and a CRP pool. In some other embodiments, a cleaning pool can also be provided within the sample injection station. After the sampling assembly completes the injection of samples into each sample pool 31, the sampling arm 51 is moved directly above the cleaning pool, and then the sampling arm 51 or the sampling needle 52 is driven to move along the Z-direction to clean the sampling needle 52. There are two ways to arrange the sample pool 31. In one way, the sample pool 31 is arranged along the line where the sampling arm 51 moves in the Y direction. In this case, the sampling assembly does not need to have a first X-direction drive mechanism to drive the sampling arm 51 along the sample delivery track 40. In the other way, the sample pool 31 is arranged at a position offset from the line where the sampling arm 51 moves in the Y direction. In this case, in order to complete the sample injection, a first X-direction drive mechanism is also needed in the sampling assembly to drive the sampling arm 51 along the X-direction parallel to the sample delivery track 40. Figure 2 As shown.

[0059] The mixing assembly of this embodiment includes a mixing arm 61, a second Y-axis driving mechanism (not shown in the figure) for driving the mixing arm 61 to move horizontally along a direction perpendicular to the sample transport track 40, and a second Z-axis driving mechanism (not shown in the figure) for driving the mixing arm 61 to move vertically along a direction perpendicular to the sample transport track 40. The mixing arm 61 is equipped with mixing grippers 62 for gripping sample tubes. A shaking station 32 is provided within the detection area 30. The shaking station 32 can be arranged in two ways. In one way, the shaking station 32 is located along the line where the mixing arm 61 moves in the Y direction; in this case, it is not necessary to provide a second X-axis driving mechanism within the mixing assembly for driving the mixing arm 61 to move parallel to the sample transport track 40. In the other way, the shaking station 32 is arranged at a position offset from the line where the mixing arm 61 moves in the Y direction; in this case, it is necessary to provide a second X-axis driving mechanism within the mixing assembly for driving the mixing arm 61 to move parallel to the sample transport track 40. Figure 2 As shown.

[0060] Specifically, such as Figure 3As shown, in a preferred embodiment of this example, the bottom surface of the sampling arm 51 is provided with a sampling needle mounting head 53, and the sampling needle 52 is mounted on the sampling needle mounting head 53. The bottom of the mixing arm 61 is provided with a mixing gripper mounting head 63 bent towards the side where the sampling arm 51 is located, and the mixing gripper 62 is mounted on the mixing gripper mounting head 63. In this way, the structure between the sampling component and the mixing component can be made more compact, thereby reducing the volume.

[0061] The control unit in this embodiment controls the sampling component and the mixing component to operate according to a set timing sequence. When the sampling arm 51 moves along the Y direction under the action of the first Y-direction driving mechanism, the first Z-direction driving mechanism keeps the sampling arm 51 at the sampling elevation. When the mixing arm 61 moves along the Y direction under the action of the second Y-direction driving mechanism, the second Z-direction driving mechanism keeps the mixing arm 61 at the first mixing elevation before or after the sample tube is clamped on it, and keeps it at the second mixing elevation during the process of clamping a sample tube on it. Specifically, the control unit also determines the control mode based on whether a sample tube is placed in the placement position of the sample rack corresponding to the sampling station 44 and the mixing station 45. That is, a detection component (not shown in the figure) is also required in the detection area to detect whether a sample tube is placed in the placement position of the sample rack corresponding to the sampling station and the mixing station. Specifically, the second mixing elevation is higher than the first mixing elevation. In the Y-direction view, when the mixing arm 61 is at the first mixing elevation, the sampling component and the mixing component are misaligned. At this time, the sampling arm 51 will not interfere with the mixing component when it moves along the Y direction. When the mixing arm is at the second mixing elevation, the sampling component and the mixing component partially overlap. At this time, the sampling arm 51 will interfere with the mixing component when it moves along the Y direction. However, the control unit controls the sampling component and the mixing component to operate according to the set timing sequence. That is, during the process of the mixing component clamping the sample tube, mixing the sample, and putting down the sample tube, the sampling arm 51 avoids the movement range of the mixing arm 61 in the Y direction, thereby avoiding positional interference.

[0062] like Figure 1 , 4As shown in Figure 5, the detection area 30 of this embodiment also includes a first initial station 33. The initial position of the sampling component is located at the first initial station 33. The first initial station 33 can be arbitrarily set in the Y direction. For example, when a cleaning tank is provided in the injection station, the first initial station can be set directly above the cleaning tank. When the sampling component is in its initial position, the elevation of the sampling arm 51 is equal to the sampling elevation. The detection area 30 of this embodiment also includes a second initial station 34. The initial position of the mixing component is located at the second initial station 34. The second initial station 34 can be arbitrarily set in the Y direction, and when the mixing component is in its initial position, the elevation of the mixing arm 61 is equal to the first mixing elevation. That is, when both the sampling component and the mixing component are in their respective initial positions, the sampling arm 51 and the mixing arm 61 will not interfere when they move along the Y direction. Specifically, in a preferred embodiment of this example, when both the sampling component and the mixing component are in their respective initial positions, they are offset in the Z-direction view. This ensures that, in the initial state, the movement of the sampling arm 51 and the mixing arm 61 in the Z-direction will not cause interference. In this embodiment, when both the sampling component and the mixing component are in their respective initial positions, in the Z-direction view, the first initial station 33 is offset from the sampling station 44, and the second initial station 34 is offset from the mixing station 45.

[0063] This embodiment also proposes a sample analyzer that uses the sample injection system described above in this embodiment.

[0064] The sample injection control method will now be described in conjunction with the sample injection system of this embodiment.

[0065] The sample analysis injection control method of this embodiment includes the following steps:

[0066] Step 1: Determine whether there are sample tubes stored in the placement positions corresponding to sampling station 44 and mixing station 45:

[0067] If a sample tube is placed in the placement position corresponding to sampling station 44, but no sample tube is placed in the placement position corresponding to mixing station 45, then it is a single sampling mode, and step two is executed.

[0068] If sample tubes are placed in both the placement position corresponding to sampling station 44 and the placement position corresponding to mixing station 45, then it is a sampling-mixing collaborative mode, and step three is executed.

[0069] If no sample tube is placed in the placement position corresponding to sampling station 44, but a sample tube is placed in the placement position corresponding to mixing station 45, then it is a single mixing mode, and step four is executed.

[0070] If no sample tube is placed in the placement position corresponding to sampling station 44 or the placement position corresponding to mixing station 45, then sampling and mixing will not be performed, and step five will be executed.

[0071] Step 2: In single-sampling mode, the sampling component performs a sampling operation, while the mixing component remains stationary in its initial position, including the following steps:

[0072] 21) Drive the sampling arm 51 or sampling needle 52 to move vertically downwards in the -Z direction from the sampling elevation, so that the sampling needle 52 extends into the sample tube located at the sampling station 44 for sampling. Specifically, if the sampling component is in its initial position and the sampling needle 52 is directly above the sampling station 44, then directly drive the sampling arm 51 or sampling needle 52 to move vertically downwards in the -Z direction from the sampling elevation for sampling. If the sampling component is in its initial position and the sampling needle 52 is deviated from directly above the sampling station 44, then first drive the sampling arm 51 to move along the Y direction to directly above the sampling station 44, and then drive the sampling arm 51 or sampling needle 52 to move vertically downwards in the -Z direction from the sampling elevation for sampling, such as... Figure 4 As shown. Figure 4 As shown, position A is the initial position of sampling arm 51, and position F is directly above sampling station 44. That is, when sampling arm 51 is in its initial position, the elevation of the sampling arm in the Z direction is equal to the sampling elevation. Its position in the Y direction can be arbitrarily set, such as directly above sampling station 44, or at any position offset from directly above sampling station 44. When a cleaning tank is provided within the sampling station, the initial position of sampling arm 51 can also be set directly above the cleaning tank. In this embodiment, the initial position A of sampling arm 51 is offset from sampling station 44. In this case, sampling arm 51 is first driven to move along the Y direction from position A to position F, and then sampling arm 51 or sampling needle 52 is driven to move vertically downwards in the -Z direction from the sampling elevation at position F to perform sampling. Of course, if the initial position of sampling arm 51 is at position F, sampling arm 51 or sampling needle 52 can be directly driven to move vertically downwards in the -Z direction from the sampling elevation at position F to perform sampling, which will not be elaborated further.

[0073] 22) Drive the sampling arm 51 or sampling needle 52 to move along the vertically upward +Z direction to the sampling elevation, so that the sampling needle 52 is moved out of the sample tube located at the sampling station 44, that is, drive the sampling arm 51 or sampling needle 52 to move along the vertically upward +Z direction to position F.

[0074] 23) Drive the sampling arm 51 to move along the +Y direction perpendicular to the sample transport track 40, or drive the sampling arm 51 to move along the +Y direction to a set position and then move along the +X direction, so that the sampling needle reaches the sample injection station. Specifically, such as... Figure 4As shown, the sample pool 31 is arranged along the line where the sampling arm 51 moves along the Y direction, thus directly driving the sampling arm 51 to move along the +Y direction perpendicular to the sample transport track 40 to the sample injection station; as Figure 5 As shown, the sample pool 31 is positioned offset from the sampling arm 51 along the Y-direction. The sampling arm 51 is driven to move first along the +Y direction to the set position and then along the +X direction to reach the injection station. The injection station contains at least one sample pool 31. During injection, the sampling arm 51 is driven to move along the Y and / or X directions directly above the corresponding sample pool 31. The sampling arm 51 or the sampling needle 52 is then driven to move vertically downwards, extending the sampling needle 52 into the corresponding sample pool 31, and the sample is injected into the corresponding sample pool using the sampling needle. Specifically, in this embodiment, the injection station has three sample pools 31: a DIFF pool, a WBC pool, and a CRP pool. Positions B, C, and D are directly above the CRP, WBC, and DIFF pools, respectively. During injection, the sampling arm 51 is driven to positions B, C, and D, respectively. Then, the sampling arm 51 or sampling needle 52 moves downwards along the Z-direction at the corresponding position and extends into the corresponding sample pool 31. The sampling needle 52 then injects the sample into the corresponding sample pool 31. In other embodiments, the injection station also includes a cleaning pool. After the sampling needle 52 injects the sample into the sample pool 31, the sampling arm 52 moves directly above the cleaning pool, and then the sampling arm 51 or sampling needle 52 moves vertically to clean the sampling needle.

[0075] 24) After sample injection is completed, the sampling component is driven to reset to its initial position, i.e., position A. If the sample pool 31 is located along the line where the sampling arm 51 moves along the Y direction, the sampling arm 51 is driven to move along the -Y direction to position A. In a preferred embodiment, a cleaning pool (not shown in the figure) can also be provided in the sample injection station, and the initial position of the sampling component can be set directly above the cleaning pool. If the sample pool 31 is located at a position offset from the line where the sampling arm 51 moves along the Y direction, the sampling arm 51 needs to be driven to move along the -X direction to the set position first, and then driven to move along the -Y direction to position A.

[0076] Step 3: In the sampling-mixing collaborative mode, the sampling component and the mixing component perform sampling and mixing operations respectively. Specifically, the sample analysis sampling-mixing collaborative control method of this embodiment includes the following steps:

[0077] 31) Drive the sampling arm or sampling needle to move vertically downwards in the -Z direction from the sampling elevation, so that the sampling needle extends into the sample tube located at the sampling station for sampling. Specifically, if the sampling component is in its initial position and the sampling needle 52 is directly above the sampling station 44, then directly drive the sampling arm 51 or sampling needle 52 to move vertically downwards in the -Z direction from the sampling elevation for sampling. If the sampling component is in its initial position and the sampling needle 52 is deviated from directly above the sampling station 44, then first drive the sampling arm 51 to move along the Y direction to directly above the sampling station 44, and then drive the sampling arm 51 or sampling needle 52 to move vertically downwards in the -Z direction from the sampling elevation for sampling, such as... Figure 4 As shown. Figure 4 As shown, position A is the initial position of sampling arm 51, and position F is directly above sampling station 44. That is, when sampling arm 51 is in its initial position, the elevation of the sampling arm in the Z direction is equal to the sampling elevation. Its position in the Y direction can be arbitrarily set, such as directly above sampling station 44, or at any position offset from directly above sampling station 44. When a cleaning tank is provided within the sampling station, the initial position of sampling arm 51 can also be set directly above the cleaning tank. In this embodiment, the initial position A of sampling arm 51 is offset from sampling station 44. In this case, sampling arm 51 is first driven to move along the Y direction from position A to position F, and then sampling arm 51 or sampling needle 52 is driven to move vertically downwards in the -Z direction from the sampling elevation at position F to perform sampling. Of course, if the initial position of sampling arm 51 is at position F, sampling arm 51 or sampling needle 52 can be directly driven to move vertically downwards in the -Z direction from the sampling elevation at position F to perform sampling, which will not be elaborated further.

[0078] 32) Drive the sampling arm or sampling needle to move along the vertically upward +Z direction to the sampling elevation, so that the sampling needle moves out of the sample tube located at the sampling station, that is, drive the sampling arm 51 or sampling needle 52 to move along the vertically upward +Z direction to position F.

[0079] 33) Drive the sampling arm 51 to move along the +Y direction perpendicular to the sample transport track 40, or drive the sampling arm 51 to move along the +Y direction to a set position and then move along the +X direction, so that the sampling needle reaches the sample injection station. Specifically, such as... Figure 4 As shown, the sample pool 31 is arranged along the line where the sampling arm 51 moves along the Y direction, thus directly driving the sampling arm 51 to move along the +Y direction perpendicular to the sample transport track 40 to the sample injection station; as Figure 5As shown, the sample pool 31 is positioned offset from the sampling arm 51 along the Y-direction. The sampling arm 51 is driven to move first along the +Y direction to the set position and then along the +X direction to reach the injection station. The injection station contains at least one sample pool 31. During injection, the sampling arm 51 is driven to move along the Y and / or X directions directly above the corresponding sample pool 31. The sampling arm 51 or the sampling needle 52 is then driven to move vertically downwards, extending the sampling needle 52 into the corresponding sample pool 31, and the sample is injected into the corresponding sample pool using the sampling needle. Specifically, in this embodiment, the injection station has three sample pools 31: a DIFF pool, a WBC pool, and a CRP pool. Positions B, C, and D are directly above the CRP, WBC, and DIFF pools, respectively. During injection, the sampling arm 51 is driven to positions B, C, and D, respectively. Then, the sampling arm 51 or sampling needle 52 moves downwards along the Z-direction at the corresponding position and extends into the corresponding sample pool 31. The sampling needle 52 then injects the sample into the corresponding sample pool 31. In other embodiments, the injection station also includes a cleaning pool. After the sampling needle 52 injects the sample into the sample pool 31, the sampling arm 52 moves directly above the cleaning pool, and then the sampling arm 51 or sampling needle 52 moves vertically to clean the sampling needle.

[0080] During step 33) of the sampling arm and sampling needle, the mixing arm 61 is driven to move from the first mixing elevation along the vertically downward -Z direction, clamping the sample tube located at the mixing station 45. Then, the mixing arm 61 is driven to move along the vertically upward +Z direction to the second mixing elevation, removing the clamped sample tube from the sample holder. Before the mixing arm 61 moves to the second mixing elevation, the sampling arm is driven to move along the Y direction to a position that does not interfere with the mixing arm 61. In this embodiment, the sampling arm is moved along the Y direction to the injection station. When the sampling arm is at the injection station, there will be no interference with the mixing component. When the mixing component is in its initial position, the elevation of the mixing arm 61 in the Z direction is equal to the first mixing elevation. Its position in the Y direction can be arbitrarily set; that is, the initial position of the mixing arm 61 can be directly above the mixing station 45, or it can be located at any position offset from directly above the mixing station 45. Figure 5As shown, the initial position of the mixing arm 61 is position H. Directly above the mixing station 45 are positions K (first mixing elevation) and J (second mixing elevation). The shaking station 32 is located at position L. When gripping the sample tube, the mixing arm 61 is first driven from position H to position K along the -Y direction, and then driven to move downwards from position K along the -Z direction to grip the sample tube. Of course, in some other embodiments, the initial position of the mixing arm 61 can also be set at position K. In this case, the mixing arm can be directly driven to move downwards from position K along the -Z direction to grip the sample tube, which will not be elaborated further. After gripping the sample tube, the mixing arm 61 moves along the +Z direction to position J corresponding to the second mixing elevation.

[0081] Then, the mixing arm 61 is driven to move along the +Y direction, which is perpendicular to the sample transport track 40, or the mixing arm 61 is driven to move along the +Y direction to a set position and then along the -X direction, so that the mixing arm 61 reaches the shaking station 32, where the sample tube is shaken. Specifically, if the shaking station 32 is set along the line where the mixing arm 61 moves along the Y direction, then driving the mixing arm 61 to move along the +Y direction will move it from position J to position L, such as... Figure 1 As shown. Of course, if the mixing station 32 is set off from the line where the mixing arm 61 moves along the Y direction, then the mixing arm 61 is first driven to move along the +Y direction to the set position and then along the -X direction, so that the mixing arm 61 moves from position J to position L, as shown. Figure 2 As shown.

[0082] After the mixing is completed, the mixing arm 61 is driven to move directly above the mixing station 45, that is, the mixing arm 61 is driven from position L to position J. The process of moving is the opposite of the process of the mixing arm 61 moving from position J to position L in step 42), and will not be described again.

[0083] 34) After the sample injection is completed and the sample tube is placed into the sample holder, drive the sampling component and the homogenizing component to reset to their respective initial positions.

[0084] When the sampling component is in its initial position (position A), the elevation of the sampling arm is equal to the sampling elevation. If the sample pool 31 is located along the line where the sampling arm 51 moves in the Y direction, the sampling arm 51 is driven to move in the -Y direction to position A. In a preferred embodiment, a cleaning pool (not shown in the figure) can also be provided in the injection station, and the initial position of the sampling component can be set directly above the cleaning pool. If the sample pool 31 is located at a position offset from the line where the sampling arm 51 moves in the Y direction, the sampling arm 51 needs to be driven to move in the -X direction to the set position before it is driven to move in the -Y direction to position A.

[0085] When the mixing assembly is in its initial position, the elevation of the mixing arm 61 is equal to the first mixing elevation. That is, after the mixing arm 61 places the sample tube into the sample holder along the vertically downward -Z direction, it first moves the mixing arm 61 along the +Z direction to position K, and then moves it along the +Y direction to position H.

[0086] Step 4: In single-mixing mode, the mixing component performs a mixing operation, including the following steps:

[0087] 41) Drive the mixing arm 61 from the first mixing elevation along the vertically downward -Z direction to pick up the sample tube located at the mixing station 45, then drive the mixing arm 61 along the vertically upward +Z direction to move to the second mixing elevation to remove the picked-up sample tube from the sample holder; and before the mixing arm 61 moves to the second mixing elevation, drive the sampling arm along the Y direction to a position that does not interfere with the mixing arm 61. In this embodiment, the sampling arm moves along the Y direction to the injection station, and when the sampling arm is at the injection station, there will be no interference with the mixing component. When the mixing component is in its initial position, the elevation of the mixing arm 61 in the Z direction is equal to the first mixing elevation, and its position in the Y direction is arbitrarily set, that is, the initial position of the mixing arm 61 can be located directly above the mixing station 45, or it can be located at any position offset from directly above the mixing station 45. Figure 5 As shown, the initial position of the mixing arm 61 is position H. Directly above the mixing station 45 are positions K (first mixing elevation) and J (second mixing elevation). The shaking station 32 is located at position L. When gripping the sample tube, the mixing arm 61 is first driven from position H to position K along the -Y direction, and then driven to move downwards from position K along the -Z direction to grip the sample tube. Of course, in some other embodiments, the initial position of the mixing arm 61 can also be set at position K. In this case, the mixing arm can be directly driven to move downwards from position K along the -Z direction to grip the sample tube, which will not be elaborated further. After gripping the sample tube, the mixing arm 61 moves along the +Z direction to position J corresponding to the second mixing elevation.

[0088] Specifically, in this embodiment, during the process of driving the mixing arm 61 to move from the position K of the first mixing elevation along the vertically downward -Z direction and to clamp the sample tube located at the mixing station, the sampling arm 51 can be driven to move along the Y direction to a position that does not interfere with the mixing arm; alternatively, while driving the mixing arm 61 to move along the vertically upward +Z direction to position J, the sampling arm 51 can be driven to move along the Y direction toward a position that does not interfere with the mixing component.

[0089] 42) Drive the mixing arm 61 to move along the +Y direction perpendicular to the sample transport track 40, or drive the mixing arm 61 to move along the +Y direction to a set position and then move along the -X direction, so that the mixing arm 61 reaches the shaking station 32, and shakes the sample tube at the shaking station 32. Specifically, if the shaking station 32 is set along the line where the mixing arm 61 moves along the Y direction, then driving the mixing arm 61 to move along the +Y direction will move it from position J to position L, such as... Figure 1 As shown. Of course, if the mixing station 32 is set off from the line where the mixing arm 61 moves along the Y direction, then the mixing arm 61 is first driven to move along the +Y direction to the set position and then along the -X direction, so that the mixing arm 61 moves from position J to position L, as shown. Figure 2 As shown.

[0090] 43) After the shaking is completed, drive the mixing arm 61 to move directly above the mixing station 45, that is, drive the mixing arm 61 from position L to position J. The process of moving is the opposite of the process of the mixing arm 61 moving from position J to position L in step 42), and will not be described again.

[0091] 44) After driving the mixing arm 61 to place the sample tube into the sample holder along the vertically downward -Z direction, the mixing component is reset to its initial position. When the mixing component is in its initial position, the elevation of the mixing arm 61 is equal to the first mixing elevation. That is, after the mixing arm 61 places the sample tube into the sample holder along the vertically downward -Z direction, it is first driven to move along the +Z direction to position K, and then along the +Y direction to position H. During the execution of step 44), the sampling arm 51 moves along the Y direction to reset to its initial position. When the sampling component is in its initial position, the elevation of the sampling arm 51 is equal to the sampling elevation, that is, the sampling arm 51 moves from the injection station to position A along the -Y direction. Specifically, after driving the mixing arm 61 to place the sample tube into the sample holder, the sampling component and the mixing component can be driven to move synchronously and reset to their initial positions respectively.

[0092] Step 5: Determine if sample injection is complete: if yes, end the injection; if not, drive the sample holder to move a set distance along the transport track 40 in the +X direction, and repeat Step 1. Specifically, in this embodiment, the distance the sample holder moves along the transport track 40 each time is equal to the distance between two adjacent placement positions on the sample holder used to place the sample tube.

[0093] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A sample injection control method for sample analysis, characterized in that: Includes the following steps: Step 1: Determine whether there are sample tubes stored in the placement positions corresponding to the sample rack and the sampling station, as well as in the placement positions corresponding to the mixing station. If a sample tube is placed in the placement position corresponding to the sampling station, but no sample tube is placed in the placement position corresponding to the mixing station, then it is a single sampling mode, and step two is executed. If both the sampling station and the mixing station have sample tubes placed in their respective placement positions, then it is a sampling-mixing collaborative mode, and step three is executed. If no sample tube is placed in the placement position corresponding to the sampling station, but a sample tube is placed in the placement position corresponding to the mixing station, then it is a single mixing mode, and step four is executed. If no sample tube is placed in either the placement position corresponding to the sampling station or the placement position corresponding to the mixing station, then sampling and mixing will not be performed, and step five will be executed. Step 2: In single-sampling mode, the sampling component performs a sampling operation, while the mixing component remains stationary in its initial position, including the following steps: 21) Drive the sampling arm or sampling needle to move from the sampling elevation along the vertically downward -Z direction, so that the sampling needle extends into the sample tube located at the sampling station to take a sample; 22) Drive the sampling arm or sampling needle to move along the vertically upward +Z direction to the sampling elevation, so that the sampling needle is removed from the sample tube located at the sampling station; 23) Drive the sampling arm to move along the +Y direction perpendicular to the sample transport track, or drive the sampling arm to move along the +Y direction to a set position and then move along the +X direction so that the sampling needle reaches the injection station; the injection station is equipped with at least one sample pool. When injecting the sample, drive the sampling arm to move along the Y direction and / or the X direction to the top of the corresponding sample pool and use the sampling needle to inject the sample into the corresponding sample pool. 24) After the injection is completed, drive the sampling component to reset to its initial position; Step 3: In the sampling-mixing collaborative mode, the sampling component and the mixing component perform sampling and mixing operations respectively, including the following steps: 31) Drive the sampling arm or sampling needle to move from the sampling elevation along the vertically downward -Z direction, so that the sampling needle extends into the sample tube located at the sampling station to take a sample; 32) Drive the sampling arm or sampling needle to move along the vertically upward +Z direction to the sampling elevation, so that the sampling needle is removed from the sample tube located at the sampling station; 33) Drive the sampling arm to move along the +Y direction perpendicular to the sample transport track, or drive the sampling arm to move along the +Y direction to a set position and then move along the +X direction so that the sampling needle reaches the injection station; the injection station is equipped with at least one sample pool. When injecting the sample, drive the sampling arm to move along the Y direction and / or the X direction to the top of the corresponding sample pool, and then use the sampling needle to inject the sample into the corresponding sample pool. During step 33) of the sampling arm and sampling needle, the mixing arm is driven to move from the first mixing elevation along the vertically downward -Z direction to pick up the sample tube located at the mixing station. Then, the mixing arm is driven to move along the vertically upward +Z direction to the second mixing elevation to remove the picked-up sample tube from the sample holder. After that, the mixing arm is driven to move along the +Y direction perpendicular to the sample transport track to the shaking station, or the mixing arm is driven to move along the +Y direction to the set position and then along the -X direction to reach the shaking station and shake the sample tube at the shaking station. After shaking is completed, the mixing arm is driven to move directly above the mixing station and then driven to place the sample tube into the sample holder along the vertically downward -Z direction. The second mixing elevation is located above the first mixing elevation; when the mixing arm is located at the first mixing elevation, the mixing component and the sampling component do not interfere when moving in the Y direction; when the mixing arm is located at the second mixing elevation, the mixing component and the sampling component interfere when moving along the Y direction. 34) After the sample injection is completed and the sample tube is placed into the sample holder, drive the sampling component and the mixing component to reset to their respective initial positions; when the sampling component is in its initial position, the elevation of the sampling arm is equal to the sampling elevation; when the mixing component is in its initial position, the elevation of the mixing arm is equal to the first mixing elevation. Step 4: In single-mixing mode, the mixing component performs a mixing operation, including the following steps: 41) Drive the mixing arm to move from the first mixing elevation along the vertically downward -Z direction, and after gripping the sample tube located at the mixing station, drive the mixing arm to move along the vertically upward +Z direction to the second mixing elevation, and remove the gripped sample tube from the sample holder; and before the mixing arm moves to the second mixing elevation, drive the sampling arm to move along the Y direction to a position that does not interfere with the mixing arm. 42) Drive the mixing arm to move along the +Y direction perpendicular to the sample transport track, or drive the mixing arm to move along the +Y direction to the set position and then move along the -X direction, so that the mixing arm reaches the shaking station and shakes the sample tube at the shaking station. 43) After shaking is complete, drive the mixing arm to move directly above the mixing station; 44) After the mixing arm is driven to place the sample tube into the sample holder along the vertically downward -Z direction, the mixing component is reset to its initial position, and when the mixing component is in its initial position, the elevation of the mixing arm is equal to the first mixing elevation; during the process of driving the mixing arm to perform step 44), the sampling arm moves along the Y direction to reset to its initial position, and when the sampling component is in its initial position, the elevation of the sampling arm is equal to the sampling elevation; Step 5: Determine if the sample injection is complete: if yes, end the injection; if no, drive the sample holder to move a set distance along the transport track in the +X direction, and repeat Step 1.

2. The sample analysis injection control method according to claim 1, characterized in that: The sample injection station is also equipped with a cleaning pool; in steps 23) and 33), after the sampling needle injects the sample into the sample pool, the sampling arm moves directly above the cleaning pool, and then the sampling arm or sampling needle is driven to move vertically to clean the sampling needle.

3. The sample analysis injection control method according to claim 2, characterized in that: When the sampling component is in its initial position, the elevation of the sampling arm in the Z direction is equal to the sampling elevation, and its position in the Y direction is directly above the cleaning pool.

4. The sample analysis injection control method according to claim 1, characterized in that: When the sampling component is in its initial position, the elevation of the sampling arm in the Z direction is equal to the sampling elevation, and its position in the Y direction can be set arbitrarily; when the mixing component is in its initial position, the elevation of the mixing arm in the Z direction is equal to the first mixing elevation, and its position in the Y direction can be set arbitrarily.

5. The sample analysis injection control method according to claim 1, characterized in that: When the sampling component is in its initial position, the elevation of the sampling arm in the Z direction is equal to the sampling elevation, and the position in the Y direction is arbitrarily set to be offset from the sampling station; when the mixing component is in its initial position, the elevation of the mixing arm in the Z direction is equal to the first mixing elevation, and the position in the Y direction is arbitrarily set to be offset from the mixing station.

6. The sample analysis injection control method according to claim 1, characterized in that: In step 33), while the driving sampling arm moves along the +Y direction perpendicular to the sample transport track, the driving mixing arm moves from the first mixing elevation along the vertically downward -Z direction to clamp the sample tube.

7. The sample analysis injection control method according to claim 1, characterized in that: In step 34), after the sample injection is completed and the sample tube is placed into the sample holder, the driving sampling component and the homogenizing component move synchronously and reset to their respective initial positions.

8. The sample analysis injection control method according to claim 1, characterized in that: In step 41), while driving the mixing arm to move from the first mixing elevation along the vertically downward -Z direction and clamp the sample tube located at the mixing station, the sampling arm is driven to move along the Y direction to a position that does not interfere with the mixing arm; or, while driving the mixing arm to move along the vertically upward +Z direction, the sampling arm is driven to move along the Y direction toward a position that does not interfere with the mixing component.

9. The sample analysis injection control method according to claim 1, characterized in that: In step 44), after the driving mixing arm places the sample tube into the sample holder, the driving sampling component and the mixing component move synchronously and reset to their respective initial positions.

10. The sample analysis injection control method according to claim 1, characterized in that: In steps 21) and 31), if the sampling needle is directly above the sampling station when the sampling component is in its initial position, the sampling arm or sampling needle is directly driven to move from the sampling elevation along the vertically downward -Z direction to perform sampling; if the sampling needle is deviated from directly above the sampling station when the sampling component is in its initial position, the sampling arm is first driven to move along the Y direction to directly above the sampling station, and then the sampling arm or sampling needle is driven to move from the sampling elevation along the vertically downward -Z direction to perform sampling.

11. The sample analysis injection control method according to claim 1, characterized in that: In steps 33) and 41), if the mixing component is in its initial position and the mixing arm is directly above the mixing station, the mixing arm is directly driven to move from the first mixing elevation along the vertically downward -Z direction to clamp the sample tube; if the mixing component is in its initial position and the mixing arm is deviated from directly above the mixing station, the mixing arm is first driven to move along the Y direction to directly above the mixing station, and then driven to move from the first mixing elevation along the vertically downward -Z direction to clamp the sample tube.

12. The sample analysis injection control method according to any one of claims 1-11, characterized in that: In step five, the distance the driving sample rack moves along the sample transport track each time is equal to the distance between two adjacent placement positions on the sample rack used to place the sample tubes.

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