A fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions.

Abstract

This invention provides a fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions, applied in the field of medical instrument technology. Its key technical features include: a frame, a sample loading mechanism, an empty tube loading mechanism, a barcode scanner, a capping robot, a dispensing mechanism, an automatic capping module, a capping robot, a labeling mechanism, and a feeding assembly; a dispensing trolley that reciprocates on the frame for transporting samples or subsamples, the trolley having several receiving slots for accommodating sample tubes and empty tubes; and the advantages of this instrument include: simple structure, integrating automatic tube loading, automatic dispensing, labeling, and feeding functions; high degree of automation, no need for manual intervention, reduced contamination and reduced operator workload; convenient operation, wide applicability, accurate dispensing, and low cost.

Description

Technical Field

[0001] This invention relates to the field of medical instrument technology, and in particular to a fully automatic cup dispensing instrument that integrates sample loading, cup dispensing, and labeling functions. Background Technology

[0002] In in vitro testing, such as the detection of viral nucleic acids, sample tubes are used to store samples. The samples stored in the sample tubes need to be tested for multiple items. Currently, in order to improve testing efficiency, a sample tube is usually divided into several sub-sample tubes. The sub-sample tubes are then labeled. The obtained sub-sample tubes are then placed into different testing instruments for different tests, so as to achieve the simultaneous detection of multiple items for one sample, thereby improving testing efficiency.

[0003] There are three main types of existing cup-serving methods:

[0004] 1. The method involves manually dispensing liquid into cups in a specific space using a pipette. This method carries potential risks of infection, inaccurate dispensing, low efficiency, and repetitive work. After dispensing, labeling and sorting are required, which makes the work very arduous when the volume of dispensing is large. It is not particularly friendly or humane to the operators.

[0005] 2. It is an online cup-dispensing device on the production line. This device has a complex structure and high cost. It cannot be used independently of the production line, so it cannot be used for customers without a production line.

[0006] 3. The dispensing mechanism is built into the analytical instrument. It is a function found only on a few analytical instruments and can only be used on that specific instrument, so its application range is not wide. In addition, adding this function increases the cost of the instrument and makes the control more complicated.

[0007] Therefore, existing cup-dividing methods cannot meet the detection requirements, thus increasing the difficulty and reducing the efficiency of the detection experiment. (Invention Content)

[0008] The purpose of this invention is to provide a fully automatic dispensing instrument that integrates sample loading, dispensing, and labeling functions. Its advantages include simple structure, suitability for dispensing small amounts of samples, high degree of automation, automatic tube loading, automatic dispensing, labeling, and material feeding functions, convenient operation, wide applicability, accurate dispensing, and low cost.

[0009] To achieve the above and other related objectives, the present invention provides the following technical solution:

[0010] A fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions, including a frame;

[0011] A dispensing trolley that slides back and forth on the frame for carrying samples or subsamples is provided with several receiving slots for accommodating sample tubes and empty tubes.

[0012] An upper sample mechanism, mounted on the frame, for placing sample tubes into the receiving slot;

[0013] An upper empty tube mechanism installed on the frame for placing empty tubes into the receiving slot;

[0014] A barcode scanner is installed on the frame located between the upper sample mechanism and the upper empty tube mechanism to scan the information code on the sample tube and feed the information back to the upper empty tube mechanism to determine the number of upper empty tubes.

[0015] A cap-opening robot arm mounted on the frame for unscrewing and removing the caps of sample tubes;

[0016] A dispensing mechanism installed on the frame for drawing samples from sample tubes and dispensing them into empty tubes;

[0017] An automatic cover module is installed on the frame;

[0018] A capping robot arm mounted on the frame is used to grab the tube caps from the automatic capping module and screw the tube caps onto the sample tubes.

[0019] A labeling mechanism mounted on the frame for affixing labels to the sample tubes;

[0020] A feeding assembly mounted on the frame for collecting and feeding subsample tubes.

[0021] Through the above technical solution, the dispensing cart is used to transport samples and subsamples. The dispensing cart slides back and forth on the frame to realize a series of processes such as loading sample tubes, loading empty tubes, dispensing, labeling, and unloading, improving the automation level of the instrument. The sample loading mechanism is used to place sample tubes into the receiving slots on the dispensing cart; the empty tube loading mechanism is used to place empty tubes into the receiving slots on the dispensing cart; the barcode scanner is used to scan the information code on the sample tube to determine the number of dispensing cups for this sample and thus the number of empty tubes; the cap-opening robot is used to unscrew and remove the caps on the sample tubes, exposing the opening of the sample tube; the dispensing mechanism is used to aspirate the sample tubes. The sample is dispensed into empty tubes; an automatic capping module automatically caps the sample tubes, and a capping robot grabs the cap from the automatic capping module and screws it onto the sample tube to seal it; a labeling mechanism affixes labels with sample information to the sample tubes; and a feeding assembly collects the labeled sample tubes and feeds them into the tubes. This achieves automatic tube loading, automatic cupping, labeling, and feeding functions, offering advantages such as high automation, ease of operation, wide applicability, accurate cupping, and low cost. Furthermore, it requires no manual intervention, reducing contamination and the workload of operators.

[0022] In one embodiment of the present invention, two dispensing carts are slidably connected to the frame;

[0023] The frame is equipped with a belt that is driven by a transmission drive; the two dispensing carts are connected to the belt.

[0024] The frame is provided with two guide grooves that guide the two dispensing carts to slide along the same straight line. Each of the two guide grooves is provided with an outwardly convex arc groove. The two outwardly convex arc grooves guide the two dispensing carts to different sliding paths.

[0025] Through the above technical solution, the two dispensing trolleys can perform dispensing work simultaneously, improving dispensing efficiency; the belt is used to transport the two dispensing trolleys back and forth on the frame, and the guide groove can guide the two dispensing trolleys to slide on the same straight line, so that each component can be adapted to the two dispensing trolleys without deviation; the convex arc grooves set on the two tracks can guide the two dispensing trolleys to different sliding paths, thereby avoiding collisions when the two dispensing trolleys are at the same position, thus ensuring smooth dispensing work.

[0026] In one embodiment of the present invention, the sample loading mechanism includes a loading component and a first loading robot arm;

[0027] The feeding assembly includes a feeding rack and a feeding block;

[0028] The feeding rack is provided with several strip grooves with one end open for placing sample tubes.

[0029] The feeding block abuts against one side of the feeding rack, and the feeding block has a sample slot, with an opening on the side of the sample slot near the feeding rack;

[0030] The frame is equipped with a sample loading drive assembly that drives the loading rack to slide so that the opening of the strip groove is always opposite to the opening of the sample groove.

[0031] A pusher frame is fixed on the frame, and a pusher block is slidably connected to the pusher frame to push the sample tube located in the strip groove to the sample groove.

[0032] Through the above technical solution, the feeding component realizes the feeding of sample tubes. Several sample tubes are placed in the strip groove, and the opening of the strip groove is always opposite to the opening of the sample tank. Thus, the pusher moves the sample tubes located in the strip groove to the sample tank. The first feeding robot grabs the sample tubes in the sample tank and places the sample tubes in the receiving tank of the dispensing cart. Thus, automatic sample tube feeding is realized, improving the automation level of the instrument.

[0033] In one embodiment of the present invention, the first loading robot includes a first support frame fixed on the frame and a mechanical gripper that is driven to slide horizontally by a first drive assembly;

[0034] The mechanical gripper includes a first horizontal sliding plate that slides horizontally on a first support frame, a first vertical sliding plate that is driven vertically to slide on the first horizontal sliding plate by a first vertical drive assembly, and a gripper assembly that is driven by a gripper drive assembly to perform opening and closing movements to grasp sample tubes from the sample slot and place them into the receiving slot.

[0035] The gripper drive assembly includes a gripper motor fixed on a first vertical sliding frame, a gear connected to the output shaft of the gripper motor, and two racks, an upper rack and a lower rack, located above and below the gear and meshing with the gear respectively.

[0036] The gripper assembly includes a first connecting plate, a second connecting plate, and four gripper bars;

[0037] The first connecting plate and the second connecting plate are respectively fixed on the upper rack and the lower rack;

[0038] The four claw bars are divided into two groups and fixed to the bottom of the first connecting plate and the second connecting plate respectively. The middle of the two groups of claw bars forms a claw groove for gripping the sample tube.

[0039] The first connecting plate and the second connecting plate are provided with a support plate for supporting the lower rack and a limiting groove for restricting the sliding path of the upper rack.

[0040] Through the above technical solution, the first support frame is used to support the mechanical gripper, the first drive assembly is used to drive the mechanical gripper to slide horizontally, the first vertical drive assembly is used to drive the gripper assembly to slide vertically, the gripper motor drives the gear to rotate, the upper rack and lower rack slide back and forth, causing the first connecting plate and the second connecting plate to move closer or further apart, thereby changing the size of the gripper groove between the two sets of gripper bars, thereby clamping or releasing the sample tube and improving the automation level of the instrument.

[0041] In one embodiment of the present invention, the upper empty tube mechanism includes a storage bin for storing empty tubes, an empty tube trough for accommodating empty tubes with upward openings, an upper empty tube assembly for conveying the empty tubes in the storage bin with upward openings to the empty tube trough, and a second loading robot for grabbing the empty tubes in the empty tube trough and placing them in a receiving trough.

[0042] The upper tube assembly includes a conveyor support vertically fixed on the frame, a conveyor belt driven by the conveyor support, and a feeding support connected to the upper part of the conveyor support; the bottom of the conveyor support is connected to a storage compartment.

[0043] A feeding trough is provided on the feeding bracket near the side of the conveying bracket, and the feeding trough is connected to the conveying bracket by an inclined plane; a number of conveying plates perpendicular to the conveying direction of the conveyor belt are provided on the conveyor belt, and the conveying plates convey the empty tube from the storage bin to the feeding trough.

[0044] In one embodiment of the present invention, the feeding bracket is provided with a pushing component for pushing the empty tube in the feeding trough forward;

[0045] The feeding assembly includes a feeding plate that is driven by a feeding drive to slide along the feeding groove on the feeding bracket, and a push rod that is fixed on the feeding plate and coaxially arranged with the empty tube in the feeding groove.

[0046] The diameter of the push rod is smaller than the diameter of the empty tube;

[0047] An opening is provided at the bottom of the loading trough near the side of the liquid dispensing trolley. A feeding plate extends downward from the opening and is located on the side of the conveyor frame. The bottom of the feeding plate is connected to the storage compartment.

[0048] An arc-shaped guide plate, which is fixedly connected to the feeding bracket, is provided on the side of the opening, and the empty tube groove is located below the side of the arc-shaped guide plate.

[0049] Through the above technical solution, the storage bin is used to store empty tubes, and the empty tube trough is used to accommodate empty tubes with the opening facing upwards. Thus, the second feeding robot grabs the empty tubes located in the empty tube trough and places them in the receiving trough of the liquid dispensing cart.

[0050] The conveyor belt continuously moves along the conveyor support, and the conveyor plate transports the empty tubes located in the storage bin to the feeding support at the top of the conveyor support and drops them into the feeding trough; the feeding trough and the conveyor support are connected by an inclined plane so that the empty tubes fall into the feeding trough more smoothly.

[0051] The pusher assembly is used to push the empty tube located in the feeding trough into the empty tube trough; the pusher drive drives the push rod so that the push rod is inserted into the inner cavity of the empty tube. The push rod is continuously pushed until the empty tube is located on the arc-shaped guide plate. The pusher drive drives the push rod to slide backward until the push rod leaves the inner cavity of the empty tube. After the empty tube is unsupported, it slides along the arc-shaped guide plate into the empty tube trough.

[0052] When the tail of the empty tube is aligned with the push rod, the push rod pushes the empty tube above the opening. Since the empty tube is unsupported, it falls from the opening onto the feeding plate. Due to gravity, the empty tube slides back down onto the inclined feeding plate into the storage bin, thus realizing automatic feeding of the empty tube and improving the automation level of the instrument.

[0053] In one embodiment of the present invention, the cap-opening robot includes a second support frame fixed on a frame and a cap-opening gripper that is driven to slide horizontally by a second drive assembly;

[0054] The cap-opening gripper includes a second horizontal sliding plate that slides horizontally on a second support frame, a second vertical sliding plate that is driven vertically to slide on the second horizontal sliding plate by a second vertical drive assembly, a rotary motor fixed on the second vertical sliding plate, a thumb cylinder connected to the output shaft of the rotary motor, and two clamping blocks respectively fixed on the two piston rods of the thumb cylinder.

[0055] The two clamping blocks have arc-shaped grooves on their opposite surfaces, and the two arc-shaped grooves cooperate to form a clamping groove for clamping the pipe cap.

[0056] Through the above technical solution, the second support frame is used to support the cap-opening gripper; the second drive assembly is used to drive the cap-opening gripper to slide horizontally; the second vertical drive assembly is used to drive the clamping block to slide vertically; the thumb cylinder is used to drive the two clamping blocks to move closer or further apart, thereby controlling the size of the clamping groove and realizing the clamping and releasing of the sample tube cap; when the two clamping blocks clamp the tube cap, the rotating motor drives the thumb cylinder to rotate the clamping blocks and open the tube cap, which facilitates the liquid dispensing mechanism to absorb and dispense the sample, improving the automation level of the instrument.

[0057] In one embodiment of the present invention, the dispensing mechanism includes a third support frame fixed on the frame and a dispensing component that is driven to slide horizontally by a third drive component;

[0058] The dispensing assembly includes a third horizontal sliding plate that slides horizontally on a third support frame, a third vertical sliding plate that is driven vertically on the third horizontal sliding plate by a third vertical drive assembly, and a pipette fixed on the third vertical sliding plate and connected to a negative pressure instrument.

[0059] Through the above technical solution, the third support frame is used to support the dispensing assembly, the third drive assembly is used to drive the dispensing assembly to slide horizontally, and the third vertical drive assembly is used to drive the pipette to slide vertically; the pipette is combined with the TIP head to aspirate and dispense samples, thereby realizing automatic dispensing and improving the automation level of the instrument.

[0060] In one embodiment of the present invention, the labeling mechanism includes a labeling machine fixed on a frame, a labeling assembly, and a third feeding robot;

[0061] A labeling bracket is fixed on the frame located on one side of the labeling machine. A guide bracket is fixedly connected above the labeling bracket. A feeding bracket is fixed on the frame located on one side of the labeling bracket. An arc-shaped groove is provided on the upper surface of the guide bracket and connected to the other end of the feeding bracket. An actuating plate is rotatably connected to the guide bracket to move the sample tube in the arc-shaped groove to the feeding bracket.

[0062] Through the above technical solution, the labeling machine is used to transport labels, the third feeding robot is used to grab the sample tubes located on the liquid separation trolley and place them at the labeling station, and the labeling component is used to stick the labels on the sample tubes.

[0063] The rotating actuating plate is used to move the sample tubes in the arc-shaped groove, so that they fall onto the feeding bracket. The sample tubes are pushed forward one by one on the feeding bracket and then moved to the feeding assembly, thus completing the automatic feeding and improving the automation level of the instrument.

[0064] In one embodiment of the present invention, the labeling assembly includes two rollers rotatably connected to a labeling bracket, a sliding plate driven by a labeling drive to slide on the labeling bracket, and a labeling roller rotatably connected to the sliding plate driven by a labeling motor; the rollers and the labeling roller are located on opposite sides of an arc-shaped groove.

[0065] When the third feeding robot moves the sample tube located in the liquid separation trolley into the arc-shaped groove, the side wall of the sample tube is in contact with the side walls of the two rollers. The labeling machine pushes the label between the sample tube and the labeling roller. The labeling drive drives the sliding plate to slide closer to the roller and press the label onto the sample tube. The labeling motor drives the labeling roller to rotate the sample tube and attach the label to the sample tube.

[0066] With the above technical solution, when the sample tube is located in the arc groove, the side wall of the sample tube is in contact with the side walls of the two rollers. The labeling machine pushes the label between the sample tube and the labeling roller. The labeling drive drives the sliding plate to slide closer to the roller and press the label onto the sample tube. The labeling motor drives the labeling roller to rotate the sample tube and attach the label to the sample tube, thereby realizing automatic labeling and improving the automation level of the instrument.

[0067] As described above, the fully automatic dispensing instrument of the present invention, which integrates sample loading, dispensing, and labeling functions, has the following features:

[0068] Beneficial effects:

[0069] 1. Two dispensing trolleys perform dispensing operations simultaneously, improving dispensing efficiency; the belt conveys the two dispensing trolleys to slide back and forth on the frame, and the guide grooves guide the two dispensing trolleys to slide on the same straight line, so that each component can be adapted to the two dispensing trolleys without deviation; the convex arc grooves set on the two tracks respectively can guide the two dispensing trolleys to different sliding paths, thereby avoiding collisions when the two dispensing trolleys are at the same position, thus ensuring smooth dispensing operation;

[0070] 2. The instrument has a simple structure, integrating functions such as automatic tube feeding, automatic cup dispensing, labeling, and material feeding. It has a high degree of automation, requires no manual intervention, reduces pollution and the labor intensity of operators, and has the advantages of convenient operation, wide applicability, accurate cup dispensing, and low cost. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0072] Figure 2 This is a schematic diagram showing the positional relationship between the liquid dispensing cart and the guide plate in an embodiment of the present invention;

[0073] Figure 3 This is a top view showing the positional relationship between the liquid dispensing cart and the guide plate in an embodiment of the present invention;

[0074] Figure 4 This is a schematic diagram of the upper sample mechanism according to an embodiment of the present invention;

[0075] Figure 5 This is a schematic diagram of the structure of the first loading robot according to an embodiment of the present invention;

[0076] Figure 6 This is a schematic diagram of the upper air tube mechanism according to an embodiment of the present invention;

[0077] Figure 7 This is a schematic diagram of the upper air tube mechanism in an embodiment of the present invention, shown on the left side.

[0078] Figure 8 This is a schematic diagram of the automatic cap-adding module and the cap-opening robotic arm according to an embodiment of the present invention;

[0079] Figure 9 This is a schematic diagram of the liquid dispensing mechanism according to an embodiment of the present invention;

[0080] Figure 10 This is a schematic diagram of the labeling mechanism according to an embodiment of the present invention;

[0081] Figure 11 This is a schematic diagram of the labeling component according to an embodiment of the present invention.

[0082] Reference numerals: 1. Frame; 2. Worktable; 3. Dispensing trolley; 4. Receiving tank; 5. Sample loading mechanism; 6. Empty tube loading mechanism; 7. Scanning component; 8. Cap opening robot; 9. Dispensing mechanism; 10. Automatic capping module; 11. Labeling mechanism; 12. Feeding assembly; 13. Belt; 14. Guide groove; 15. Outwardly convex arc groove; 83. Guide plate; 84. Dispensing guide rail; 85. Dispensing slider; 86. Auxiliary guide rail; 87. Dispensing connecting plate; 88. Auxiliary slider; 89. Guide slider; 51a. Feeding assembly; 52a. First feeding robot; 511. Feeding rack; 512. Feeding block; 20. Strip groove; 21. Sample tank; 22. Sample loading drive group Components; 23. Pushing and fixing frame; 24. Pushing block; 25. Pushing drive assembly; 90. Support block; 91. Upper support drive assembly; 521. First support frame; 522. Mechanical gripper; 27. First drive assembly; 5221. First horizontal sliding plate; 5222. First vertical sliding plate; 5223. Gripper assembly; 31. First vertical drive assembly; 32. Gripper drive assembly; 321. Gripper motor; 322. Upper rack; 323. Lower rack; 2231. First connecting plate; 2232. Second connecting plate; 2233. Gripper bar; 61a. Storage bin; 62a. Empty tube slot; 63a. Upper empty tube assembly; 64a. Second loading robot; 631. Conveying bracket 632. Conveyor belt; 633. Feeding bracket; 46. Feeding trough; 47. Conveyor plate; 48. Pushing assembly; 481. Pushing plate; 482. Push rod; 51. Pushing drive component; 52. Opening; 53. Unloading plate; 54. Arc-shaped guide plate; 81a. Second support frame; 82a. Cap opening gripper; 57. Second drive assembly; 822. Second horizontal sliding plate; 823. Second vertical sliding plate; 824. Twisting motor; 825. Thumb cylinder; 826. Clamping block; 63. Second vertical drive assembly; 91a. Third support frame; 92a. Liquid separation assembly; 66. Third drive assembly; 921. Third horizontal sliding plate; 922. Third vertical sliding plate; 923. Pipette; 70. Third vertical drive assembly; 94. Automatic TIP head module; 941a. TIP head frame; 942a. TIP head drive assembly; 97. Waste head collection bin; 11a. Labeling machine; 12a. Labeling assembly; 13a. Third feeding robot; 74. Labeling bracket; 75. Guide bracket; 76. Discharge bracket; 77. Arc groove; 78. Actuating plate; 121. Roller; 122. Sliding plate; 123. Labeling roller; 82. Labeling drive component; 83. Labeling motor; 101a. Vibratory feeder; 102a. Discharge section; 98. Capping robot; 99. Waste gripper; 100. Waste collection bin; 121a. Discharge rack. Detailed Implementation

[0083] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0084] Please see Figures 1 to 11 It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0085] Please see Figure 1 The present invention provides a fully automatic cup dispensing instrument that integrates sample loading, cup dispensing and labeling functions, including a frame 1, a worktable 2 horizontally arranged on the frame 1; a sealing cover (not shown in the figure) is provided on the frame 1, and an exhaust pipe connected to a negative pressure device is connected to the sealing cover to prevent harmful gases from flowing out.

[0086] A dispensing trolley 3 reciprocates on the workbench 2 and is used to transport samples or subsamples. The dispensing trolley 3 is equipped with several receiving slots 4 for accommodating sample tubes and empty tubes.

[0087] A sample upper mechanism 5 is installed on the workbench 2 and is used to place sample tubes into the receiving slot 4;

[0088] An upper empty tube mechanism 6 is installed on the workbench 2 and is used to place empty tubes into the receiving slot 4;

[0089] A barcode scanner 7 is installed on the workbench 2 located between the upper sample mechanism 5 and the upper empty tube mechanism 6 to scan the information code on the sample tube and feed the information back to the upper empty tube mechanism 6 to determine the number of upper empty tubes.

[0090] A cap-opening robot 8 is set on the workbench 2 to unscrew and remove the caps of the sample tubes;

[0091] A dispensing mechanism 9, installed on the workbench 2, is used to draw samples from sample tubes and dispense them into empty tubes;

[0092] Automatic cover module 10 is installed on workbench 2;

[0093] A capping robot 98, set on the workbench 2, is used to grab the tube caps from the automatic capping module 10 and screw the tube caps onto the sample tubes.

[0094] A labeling mechanism 11 is installed on the workbench 2 for attaching labels to the sample tubes;

[0095] A feeding assembly 12 is installed on the workbench 2 to collect and feed the sample tubes.

[0096] Please see Figure 2 and Figure 3 Two liquid dispensing carts 3 are slidably connected on the workbench 2. The two liquid dispensing carts 3 can perform liquid dispensing work simultaneously and alternately, thereby improving the liquid dispensing efficiency.

[0097] A guide plate 83 is bolted to the middle of the workbench 2. A belt 13 is connected to the middle of the guide plate 83 along the length of the guide plate 83. The belt 13 is driven by a transmission drive component to continuously transmit power. In this embodiment, the transmission drive component is a transmission motor (not shown in the figure). The transmission motor is bolted to the bottom of the table. A pulley group connected to the output shaft of the transmission motor and the belt 13 is rotatably connected to the guide plate 83.

[0098] The guide plates 83 on both sides of the belt 13 are bolted with liquid separating guide rails 84 parallel to the belt 13; liquid separating sliders 85 are slidably connected to the two liquid separating guide rails 84 respectively, and the two liquid separating sliders 85 are bolted to the belt 13 respectively, dividing the belt 13 into two equal parts; auxiliary guide rails 86 set vertically to the liquid separating guide rails 84 are bolted to the upper ends of the two liquid separating sliders 85 respectively.

[0099] Two dispensing trolleys 3 are bolted to the bottom of each of the two dispensing connecting plates 87. Each of the two dispensing connecting plates 87 is bolted to the bottom of each of the two dispensing connecting plates 87, and auxiliary sliders 88 are bolted to the bottom of each of the two auxiliary guide rails 86. Guide grooves 14 are provided on the guide plates 83 located on both sides of the dispensing guide rail 84 to guide the two dispensing trolleys 3 to slide along the same straight line. A convex arc groove 15 is provided in the middle of each of the two guide grooves 14. The two guide grooves 14 and the two convex arc grooves 15 located on both sides of the dispensing guide rail 84 are symmetrically arranged about the belt 13 axis. The two convex arc grooves 15 guide the two dispensing trolleys 3 to different sliding paths. Guide sliders 89 are provided on each of the two dispensing connecting plates 87 on one side of the dispensing guide rail 84, and these sliders slide within the guide grooves 14 and the convex arc grooves 15.

[0100] Working process of the liquid dispensing cart 3: The belt 13 conveys two liquid dispensing carts 3 to slide back and forth on the guide plate 83. The guide groove 14 guides the two liquid dispensing carts 3 to slide on the same straight line, so that each component can adapt to the two liquid dispensing carts 3 and there will be no deviation. When both liquid dispensing carts 3 slide to the middle of the guide plate 83, the outwardly convex arc groove 15 guides the two liquid dispensing carts 3 to different sliding paths, thereby avoiding collision when the two liquid dispensing carts 3 are at the same position on the same path.

[0101] In this embodiment, each component is arranged on both sides of the guide plate 83 and is positioned to avoid the convex arc groove 15.

[0102] Please see Figure 4 and Figure 5 The sample feeding mechanism 5 includes a feeding component 51a and a first feeding robot 52a; the feeding component 51a includes a feeding rack 511 and a feeding block 512;

[0103] The feeding rack 511 has several strip grooves 20 for placing sample tubes, which are arranged parallel to the length of the feeding rack 511. Each strip groove 20 has an opening on one side.

[0104] The feeding block 512 is bolted to the workbench 2 located on one side of the feeding rack 511. The feeding rack 511 with an opening abuts against the side of the feeding block 512. The feeding block 512 has a sample slot 21 with an opening on the side of the sample slot 21 near the feeding rack 511. A support block 90 slides vertically in the sample slot 21. The feeding block 512 is provided with an upward pushing drive 91 that drives the support block 90 to push the sample tube upward. In this embodiment, the upward pushing drive is a linear screw stepper motor mechanism.

[0105] The workbench 2 is equipped with a sample driving assembly 22 that drives the loading rack 511 to slide along the side wall of the loading block 512. In this embodiment, the sample driving assembly 22 is a linear screw stepper motor mechanism. A push fixing frame 23 is bolted to the side of the workbench 2 away from the loading block 512. A push block 24 located above the push fixing frame is slidably connected to the push fixing frame 23. A push driving assembly 25 is provided on the push fixing frame 23 to drive the push block 24 to slide linearly and push the sample tube located in the strip groove 20 to the sample groove 21. In this embodiment, the push driving assembly 25 is a synchronous belt mechanism.

[0106] The working process of the sample loading mechanism 5 is as follows: The sample loading drive assembly 22 drives the loading rack 511 to slide so that the opening of the strip groove 20 is always opposite to the opening of the sample groove 21; the push drive assembly 25 drives the push block 24 to push the sample tube located on the loading rack 511 through the opening into the sample groove 21 and onto the support block 90; the upper support drive assembly 91 drives the support block 90 to move upward until the sample tube extends out of the sample groove 21; the first loading robot 52a is bolted to the worktable 2 on the side close to the loading block 512 and away from the loading rack 511; the first loading robot 52a grabs the sample tube located in the sample groove 21 and places it in the receiving groove 4 to realize automatic loading.

[0107] Please see Figure 5 The first loading robot 52a includes a first support frame 521 bolted to the worktable 2 and a mechanical gripper 522 driven by the first drive assembly 27 to slide horizontally.

[0108] The first support frame 521 is an L-shaped bracket. The first support frame 521 includes a first vertical plate and a first horizontal plate integrally formed with the first vertical plate. The first vertical plate is vertically bolted to the workbench 2. The first horizontal plate is vertically located above the guide plate 83. In this embodiment, the first drive component 27 is a synchronous belt mechanism set on the first horizontal plate. The mechanical gripper 522 is connected to the synchronous belt mechanism.

[0109] A sensor for determining the stopping position of the liquid dispensing trolley 3 is bolted to the bottom of the first support frame 521, thereby enabling the mechanical gripper 522 to accurately place the sample tube it has grasped into the receiving tank 4.

[0110] The mechanical gripper 522 includes a first horizontal sliding plate 5221 that slides horizontally on the first support frame 521, a first vertical sliding plate 5222 that is driven vertically by the first vertical drive assembly 31 to slide vertically on the first horizontal sliding plate 5221, and a gripper assembly 5223 that is driven by the gripper drive assembly 32 to perform opening and closing movements to grasp the sample tube from the sample slot 21 and place it into the receiving slot 4;

[0111] The first horizontal sliding plate 5221 is connected to the first driving assembly 27 and slides horizontally on the first horizontal plate. In this embodiment, the first vertical driving component is a linear screw stepper motor mechanism. The first vertical sliding plate 5222 is connected to the first vertical driving assembly 31 and slides vertically on the first horizontal sliding plate 5221. The gripper assembly 5223 is connected to the first vertical sliding plate 5222.

[0112] The gripper drive assembly 32 includes a gripper motor 321 bolted to the first vertical sliding frame, a gear connected to the output shaft of the gripper motor 321, and two upper racks 322 and lower racks 323 located above and below the gear and meshing with the gear respectively.

[0113] The gripper assembly 5223 includes a first connecting plate 2231, a second connecting plate 2232, and four gripper bars 2233. The first connecting plate 2231 and the second connecting plate 2232 are arranged side by side and bolted to the upper rack 322 and the lower rack 323, respectively. The first connecting plate 2231 and the second connecting plate 2232 are provided with a support plate for supporting the lower rack 323 and a limiting groove for limiting the sliding path of the upper rack 322, which is used to limit the upper rack 322 and the lower rack 323. The four gripper bars 2233 are divided into two groups and bolted to the bottom of the first connecting plate 2231 and the second connecting plate 2232, respectively. The middle of the two groups of gripper bars 2233 forms a gripper groove for gripping the sample tube.

[0114] The working process of the first loading robot 52a is as follows: The first drive assembly 27 drives the mechanical gripper 522 to slide horizontally along the first horizontal plate, so that the mechanical gripper 522 slides above the sample slot 21 and the receiving slot 4; the first vertical drive assembly 31 drives the gripper group 5223 to slide vertically, so as to grab the sample tube in the sample slot 21 and place it in the receiving slot 4; the gripper motor 321 drives the gear to rotate, and the upper rack 322 and the lower rack 323 slide back and forth, driving the first connecting plate 2231 and the second connecting plate 2232 to move closer or further apart, thereby changing the size of the gripper slot between the two sets of gripper bars 2233, so as to clamp or release the sample tube.

[0115] Please see Figure 1 A barcode scanner bracket is bolted to the workbench 2 on the side opposite to the sample feeding mechanism. A barcode scanner 7 is bolted to the barcode scanner bracket. In this embodiment, the barcode scanner 7 is a barcode scanner. The barcode scanner is set at the height of the scanning port aligned with the information code on the sample tube on the liquid dispensing cart 3. This determines the number of sample cups and thus the number of empty tubes.

[0116] Please see Figure 6 and Figure 7 The upper empty tube mechanism 6 is located on the workbench 2 on one side of the push-fixed frame 23. The upper empty tube mechanism 6 includes a storage bin 61a for storing empty tubes, an empty tube trough 62a for accommodating empty tubes with upward openings, an upper empty tube assembly 63a for conveying the empty tubes in the storage bin 61a with upward openings to the empty tube trough 62a, and a second loading robot 64a for placing the empty tubes in the gripping empty tube trough 62a into the receiving trough 4.

[0117] In this embodiment, the second loading robot 64a has the same structure as the first loading robot 52a; the second loading robot 64a is bolted to the worktable 2 on one side of the push-fixed frame 23.

[0118] The upper tube assembly 63a includes a conveyor bracket 631 vertically bolted to the workbench 2, a conveyor belt 632 connected to the conveyor bracket 631, and a feeding bracket 633; ​​the bottom of the conveyor bracket 631 is connected to the storage bin 61a, and the upper end of the conveyor bracket is connected to the feeding bracket 633; ​​in this embodiment, a drive motor is bolted to the bottom of the workbench 2, and the drive motor is connected to a pulley group connected to the conveyor belt 632;

[0119] A feeding trough 46 is provided on the feeding bracket 633 near the side of the conveyor bracket 631. The feeding trough 46 is connected to the conveyor bracket by an inclined surface. Several conveyor plates 47 perpendicular to the conveying direction of the conveyor belt 632 are provided on the conveyor belt 632. The conveyor plates 47 convey the empty tube from the storage bin 61a to the feeding trough 46.

[0120] An opening 52 is provided at the bottom of the loading trough 46 near the liquid dispensing trolley 3. A discharge plate 53 extends downward from the opening 52. The discharge plate 53 is located on the side of the conveyor frame, and the bottom of the discharge plate 53 is connected to the storage chamber 61a.

[0121] The feeding bracket 633 is equipped with a pushing component 48 that pushes the empty tube in the feeding trough 46 forward;

[0122] The feeding assembly 48 includes a feeding plate 481 that is driven by a feeding drive 51 to slide along the feeding groove 46 on the feeding bracket 633, and a push rod 482 that is fixed on the feeding plate 481 and coaxially arranged with the empty tube in the feeding groove 46. In this embodiment, the feeding drive 51 is a linear screw motor mechanism arranged on the feeding bracket 633. The feeding drive 51 drives the feeding plate 481 to slide along the length direction of the feeding groove 46 on the feeding bracket 633. The diameter of the push rod 482 is smaller than the diameter of the empty tube, so that the push rod 482 can be inserted into the empty tube.

[0123] An arc-shaped guide plate 54 is provided on the side of the opening 52 and is bolted to the feeding bracket 633. Baffles are bolted to both sides of the arc-shaped guide plate 54. The empty tube groove 62a is located below the side of the arc-shaped guide plate 54. The empty tube slides on the arc-shaped guide plate 54. The baffles are used to limit the sliding path of the empty tube and guide the empty tube into the empty tube groove 62a.

[0124] Working process of the upper empty tube mechanism 6: The conveyor belt 632 continuously drives on the conveyor support 631, and the conveyor plate 47 conveys the empty tube located in the storage bin 61a to the feeding support 633 at the upper end of the conveyor support 631 and drops into the feeding trough 46; the feeding trough 46 and the conveyor frame are connected by an inclined surface so that the empty tube drops into the feeding trough 46 more smoothly.

[0125] The pusher drive 51 drives the push rod 482, so that the push rod 482 is inserted into the inner cavity of the empty tube. The push rod 482 is continuously pushed until the empty tube is on the arc-shaped guide plate 54. Then, the pusher drive 51 drives the push rod 482 to slide backward until the push rod 482 leaves the inner cavity of the empty tube. After the empty tube is unsupported, it slides along the arc-shaped guide plate 54 with the opening facing upward and falls into the empty tube groove 62a.

[0126] When the tail of the empty tube is aligned with the push rod 482, the push rod 482 pushes the empty tube to be above the opening 52. Since the empty tube is unsupported, it falls from the opening 52 onto the feed plate 53. Due to gravity, the empty tube slides back down onto the inclined feed plate 53 into the storage compartment 61a.

[0127] Please see Figure 8 The automatic cover module 10 is set on the workbench 2 located on one side of the storage compartment 61a. The automatic cover module 10 includes a vibratory feeder 101a and a discharge section 102a set at the discharge port of the vibratory feeder 101a. The discharge section 102a has tube covers with the opening facing downwards arranged one after another.

[0128] Please see Figure 9 The liquid dispensing mechanism 9 is installed on the workbench 2 on one side of the automatic cover module 10;

[0129] The liquid separation mechanism 9 includes a third support frame 91a bolted to the worktable 2 and a liquid separation component 92a driven by a third drive component 66 to slide horizontally.

[0130] The third support frame 91a is an L-shaped bracket. The third support frame 91a includes a third vertical plate and a third horizontal plate integrally formed with the third vertical plate. The third vertical plate is fixed to the workbench 2 with vertical bolts. The third horizontal plate is vertically located above the guide plate 83. In this embodiment, the third drive component 66 is a synchronous belt mechanism set on the third horizontal plate. The liquid dispensing component 92a is connected to the synchronous belt mechanism.

[0131] The dispensing assembly 92a includes a third horizontal sliding plate 921 that slides horizontally on a third support frame 91a, a third vertical sliding plate 922 that slides vertically on the third horizontal sliding plate 921 driven by a third vertical drive assembly 70, and a pipette 923 that is fixed on the third vertical sliding plate 922 and connected to a negative pressure instrument.

[0132] The third horizontal sliding plate 921 is connected to the third driving component 66 and slides horizontally on the third horizontal plate. In this embodiment, the third vertical driving component is a linear screw stepper motor mechanism. The third vertical sliding plate 922 is connected to the third vertical driving component 70 and slides vertically on the third horizontal sliding plate 921. The pipette 923 is connected to the third vertical sliding plate 922.

[0133] An automatic TIP head loading module 94 is provided on the workbench 2 located below the third horizontal plate. The automatic TIP head loading module 94 includes a TIP head frame 941a for mounting the TIP head and a TIP head driving assembly 942a for driving the TIP head frame 941a to slide in a direction perpendicular to the third horizontal plate. In this embodiment, the TIP head driving assembly 942a is a linear screw stepper motor mechanism.

[0134] A waste head collection bin 97 for collecting used TIP heads is fixed on the workbench 2 located on one side of the automatic TIP head module 94;

[0135] Working process of the dispensing mechanism 9: The third drive component 66 drives the dispensing component 92a to slide horizontally, and the third vertical drive component 70 drives the pipette 923 to slide vertically; the pipette 923 is combined with the TIP tip to aspirate and dispense samples, realizing automatic dispensing.

[0136] Please see Figure 8 The cap-opening mechanism is set on the worktable 2 on the opposite side of the liquid dispensing mechanism 9; the cap-opening robot 8 includes a second support frame 81a fixed on the frame 1 and a cap-opening gripper 82a driven by the second drive assembly 57 to slide horizontally.

[0137] The second support frame 81a is an L-shaped bracket. The second support frame 81a includes a second vertical plate and a second horizontal plate integrally formed with the second vertical plate. The second vertical plate is fixed to the workbench 2 with vertical bolts. The second horizontal plate is vertically located above the guide plate 83. In this embodiment, the second drive component 57 is a synchronous belt mechanism set on the second horizontal plate. The cap opening gripper 82a is connected to the synchronous belt mechanism.

[0138] The cap-opening gripper 82a includes a second horizontal sliding plate 822 that slides horizontally on the second support frame 81a, a second vertical sliding plate 823 that is driven vertically on the second horizontal sliding plate 822 by the second vertical drive assembly 63, a rotary motor 824 fixed on the second vertical sliding plate 823, a thumb cylinder 825 connected to the output shaft of the rotary motor 824, and two clamping blocks 826 respectively fixed on the two piston rods of the thumb cylinder 825.

[0139] Two clamping blocks 826 have arc-shaped grooves on their opposite surfaces, and the two arc-shaped grooves cooperate to form a clamping groove for clamping the pipe cap;

[0140] The second horizontal sliding plate 822 is connected to the second driving assembly 57 and slides horizontally on the second horizontal plate. In this embodiment, the second vertical driving component is a linear screw stepper motor mechanism. The second vertical sliding plate 823 is connected to the second vertical driving assembly 63 and slides vertically on the second horizontal sliding plate 822. The screw motor 824 is bolted to the second vertical sliding plate 823.

[0141] In this embodiment, the cap-opening robot 8 and the cap-closing robot 98 are the same robot; when opening the cap, the cap-opening robot 8 acts directly on the cap of the sample tube; when closing the cap, the cap-closing robot 98 picks up the cap from the discharge section 102a and places it on the sample tube; when opening and closing the cap, the rotation direction of the screw motor 824 is opposite.

[0142] The working process of the capping robot 8 and the capping robot 98: The thumb cylinder 825 is used to drive the two clamping blocks 826 to move closer or further apart, thereby controlling the size of the clamping groove and realizing the clamping and releasing of the sample tube cap; When the two clamping blocks 826 clamp the tube cap, the rotating motor 824 drives the thumb cylinder 825 to rotate and open the tube cap, which makes it easier for the liquid dispensing mechanism 9 to pick up and dispense the sample.

[0143] Please see Figure 8 A waste gripper 99 is slidably connected to the second support frame 81a. In this embodiment, the waste gripper 99 has the same structure as the mechanical gripper 522. The waste gripper 99 is connected to the synchronous belt mechanism. A waste collection bin 100 for collecting sample tube waste is bolted to the workbench 2 located below the second support frame 81a. The waste gripper 99 is used to collect the sample tube waste that has been separated on the liquid separation cart 3 and then throw it into the waste collection bin 100.

[0144] Please see Figure 10 and Figure 11 The labeling mechanism 11 is set on the workbench 2 located on one side of the waste collection bin 100. The labeling mechanism 11 includes a labeling machine 11a, a labeling component 12a and a third feeding robot 13a fixed on the frame 1. In this embodiment, the structure of the third feeding robot 13a is the same as that of the first feeding robot 52a. The third feeding robot 13a is used to grab the sub-sample tubes that are located on the liquid separation trolley 3 and have been capped and place them on the labeling station.

[0145] A labeling bracket 74 is bolted to the workbench 2 on one side of the labeling machine 11a. A guide bracket 75 is bolted to the top of the labeling bracket 74. A feeding bracket 76, connected at one end to the feeding assembly 12, is bolted to the workbench 2 on one side of the labeling bracket 74. An arc-shaped groove 77 is provided on the upper surface of the guide bracket 75, which is connected to the other end of the feeding bracket 76. A toggle plate 78 is rotatably connected to the guide bracket 75, which slides the sample tube in the arc-shaped groove 77 to the feeding bracket 76. A toggle motor is bolted to the bottom of the guide bracket 75, and the output shaft of the toggle motor is connected to the toggle plate 78.

[0146] Please see Figure 11The labeling assembly 12a includes two rollers 121 rotatably connected to the labeling bracket 74, a sliding plate 122 driven by the labeling drive 82 to slide on the labeling bracket 74, and a labeling roller 123 rotatably connected to the sliding plate 122 driven by the labeling motor 83; the rollers 121 and the labeling roller 123 are located on both sides of the arc groove 77;

[0147] The labeling mechanism 11 works as follows: When the third feeding robot 13a transports the sample tube located in the liquid separation trolley 3 to the arc-shaped groove 77, the side wall of the sample tube is in contact with the side walls of the two rollers 121. The labeling machine 11a pushes the label between the sample tube and the labeling roller 123. The labeling drive 82 drives the sliding plate 122 to slide closer to the roller 121 to the labeling roller 123 to press the label onto the sample tube. The labeling motor 83 drives the labeling roller 123 to rotate the sample tube and attach the label to the sample tube. The actuating plate 78 rotates to move the sample tube in the arc-shaped groove 77, so that it falls onto the unloading bracket 76. The sample tubes are pushed forward one by one on the unloading bracket 76 and then moved to the unloading assembly 12, thus completing the automatic unloading.

[0148] Please see Figure 10 The unloading assembly 12 includes an unloading rack 121a and an unloading drive assembly for driving the unloading rack 121a to slide. In this embodiment, the unloading rack 121a and the loading rack 511 have the same structure. The unloading rack 121a abuts against the unloading support 76. The unloading drive assembly is a linear screw stepper motor mechanism. The unloading drive assembly drives the unloading rack 121a to slide along the side wall of the unloading support 76, so that the opening of the unloading rack 121a is always opposite to the opening of the unloading support 76, so that the sub-sample tubes on the unloading support 76 enter the unloading rack 121a one by one, realizing automatic unloading.

[0149] In summary, the instrument of this invention has a simple structure, integrating functions such as automatic tube feeding, automatic cup dispensing, labeling, and material feeding. It boasts a high degree of automation, requires no manual intervention, reduces pollution and the labor intensity of operators, and offers advantages such as convenient operation, wide applicability, accurate cup dispensing, and low cost. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and possesses high industrial application value.

[0150] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions, characterized in that: Includes rack (1); A dispensing trolley (3) that slides back and forth on the frame (1) for carrying samples or subsamples is provided on the dispensing trolley (3) with several receiving slots (4) for accommodating sample tubes and empty tubes; An upper sample mechanism (5) is installed on the frame (1) for placing sample tubes in the receiving slot (4); An upper empty tube mechanism (6) is installed on the frame (1) for placing empty tubes in the receiving slot (4); A barcode scanner (7) is installed on the frame (1) located between the upper sample mechanism (5) and the upper empty tube mechanism (6) to scan the information code on the sample tube and feed the information back to the upper empty tube mechanism (6) to determine the number of upper empty tubes; A cap-opening robot (8) mounted on the frame (1) for unscrewing and removing the caps of the sample tubes; A dispensing mechanism (9) installed on the frame (1) for drawing samples from sample tubes and dispensing them into empty tubes; An automatic cover module (10) is installed on the frame (1); A capping robot (98) mounted on the frame (1) for gripping the cap on the automatic capping module (10) and screwing the cap onto the sample tube; A labeling mechanism (11) is installed on the frame (1) for attaching labels to the sample tubes; A feeding assembly (12) is installed on the frame (1) for collecting and feeding the sample tubes. Two dispensing carts (3) are slidably connected to the frame (1); The frame (1) is provided with a belt (13) driven by a transmission drive; the two liquid dispensing carts (3) are connected to the belt (13); The frame (1) is provided with two guide grooves (14) that guide the two liquid dispensing carts (3) to slide on the same straight line. The two guide grooves (14) are respectively provided with convex arc grooves (15); the two convex arc grooves (15) guide the two liquid dispensing carts (3) to different sliding paths.

2. The fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions as described in claim 1, characterized in that: The sample feeding mechanism (5) includes a feeding assembly (51a) and a first feeding robot (52a); The feeding assembly (51a) includes a feeding rack (511) and a feeding block (512); The feeding rack (511) is provided with a number of strip grooves (20) with one end open for placing sample tubes; The feeding block (512) abuts against one side of the feeding rack (511), and a sample slot (21) is provided on the feeding block (512). The sample slot (21) has an opening on the side near the feeding rack (511). The frame (1) is provided with a sample drive assembly (22) that drives the loading rack (511) to slide so that the opening of the strip groove (20) is always opposite to the opening of the sample groove (21); A pusher bracket (23) is fixed on the frame (1), and a pusher block (24) is slidably connected on the pusher bracket (23) to push the sample tube located in the strip groove (20) to the sample groove (21).

3. The fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions as described in claim 2, characterized in that: The first loading robot (52a) includes a first support frame (521) fixed on the frame (1) and a mechanical gripper (522) driven by a first drive assembly (27) to slide horizontally; The mechanical gripper (522) includes a first horizontal sliding plate (5221) that slides horizontally on the first support frame (521), a first vertical sliding plate (5222) that is driven vertically by the first vertical drive assembly (31) to slide vertically on the first horizontal sliding plate (5221), and a gripper assembly (5223) that is driven by the gripper drive assembly (32) to perform opening and closing movements to grasp the sample tube from the sample slot (21) and place it in the receiving slot (4); The gripper drive assembly (32) includes a gripper motor (321) fixed on the first vertical sliding frame, a gear connected to the output shaft of the gripper motor (321), and two upper racks (322) and lower racks (323) located above and below the gear and meshing with the gear respectively. The gripper assembly (5223) includes a first connecting plate (2231), a second connecting plate (2232), and four gripper bars (2233); The first connecting plate (2231) and the second connecting plate (2232) are respectively fixed on the upper rack (322) and the lower rack (323); The four claw bars (2233) are divided into two groups and fixed to the bottom of the first connecting plate (2231) and the second connecting plate (2232) respectively. The middle of the two groups of claw bars (2233) forms a claw groove for gripping the sample tube. The first connecting plate (2231) and the second connecting plate (2232) are provided with a support plate for supporting the lower rack (323) and a limiting groove for limiting the sliding path of the upper rack (322).

4. The fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions as described in claim 1, characterized in that: The upper empty tube mechanism (6) includes a storage bin (61a) for storing empty tubes, an empty tube trough (62a) for accommodating empty tubes with upward openings, an upper empty tube assembly (63a) for conveying the empty tubes in the storage bin (61a) with upward openings to the empty tube trough (62a), and a second loading robot (64a) for grabbing the empty tubes in the empty tube trough (62a) and placing them in the receiving trough (4). The upper tube assembly (63a) includes a conveyor support (631) vertically fixed on the frame (1), a conveyor belt (632) connected to the conveyor support (631), and a feeding support (633) connected to the upper part of the conveyor support (631); the bottom of the conveyor support (631) is connected to a storage bin (61a); A feeding trough (46) is provided on the feeding bracket (633) near the side of the conveying bracket (631), and the feeding trough (46) is connected to the conveying bracket by an inclined plane; a plurality of conveying plates (47) perpendicular to the conveying direction of the conveying belt (632) are provided on the conveyor belt (632), and the conveying plates (47) convey the empty tube from the storage bin (61a) to the feeding trough (46).

5. The fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions as described in claim 4, characterized in that: The feeding bracket (633) is provided with a pushing component (48) for pushing the empty tube in the feeding trough (46) forward; The pushing assembly (48) includes a pushing plate (481) that is driven by a pushing drive (51) to slide along the feeding groove (46) on the feeding bracket (633) and a push rod (482) that is fixed on the pushing plate (481) and coaxially arranged with the empty tube in the feeding groove (46); The diameter of the push rod (482) is smaller than the diameter of the empty tube; An opening (52) is provided at the bottom of the loading trough (46) near the side of the liquid dispensing trolley (3). A feeding plate (53) extends downward from the opening (52). The feeding plate (53) is located on the side of the conveyor frame. The bottom of the feeding plate (53) is connected to the storage chamber (61a). An arc-shaped guide plate (54) is provided on the side of the opening (52) and is fixedly connected to the feeding bracket (633). The empty tube groove (62a) is located below the side of the arc-shaped guide plate (54).

6. The fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions as described in claim 1, characterized in that: The cap-opening robot (8) includes a second support frame (81a) fixed on the frame (1) and a cap-opening gripper (82a) driven by a second drive assembly (57) to slide horizontally; The cap-opening gripper (82a) includes a second horizontal sliding plate (822) that slides horizontally on the second support frame (81a) and a second vertical sliding plate (823) that is driven vertically to slide vertically on the second horizontal sliding plate (822) by the second vertical drive assembly (63), a rotary motor (824) fixed on the second vertical sliding plate (823), a thumb cylinder (825) connected to the output shaft of the rotary motor (824), and two clamping blocks (826) respectively fixed on the two piston rods of the thumb cylinder (825); The two clamping blocks (826) have arc-shaped grooves on their opposite surfaces, and the two arc-shaped grooves cooperate to form a clamping groove for clamping the pipe cap.

7. The fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions as described in claim 1, characterized in that: The liquid dispensing mechanism (9) includes a third support frame (91a) fixed on the frame (1) and a liquid dispensing component (92a) that is driven to slide horizontally by a third drive component (66); The dispensing assembly (92a) includes a third horizontal sliding plate (921) that slides horizontally on a third support frame (91a), a third vertical sliding plate (922) that slides vertically on the third horizontal sliding plate (921) driven by a third vertical drive assembly (70), and a pipette (923) fixed on the third vertical sliding plate (922) and connected to a negative pressure instrument.

8. The fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions as described in claim 1, characterized in that: The labeling mechanism (11) includes a labeling machine (11a), a labeling assembly (12a), and a third feeding robot (13a) fixed on the frame (1); A labeling bracket (74) is fixed on a frame (1) located on one side of the labeling machine (11a). A guide bracket (75) is fixedly connected above the labeling bracket (74). A feeding bracket (76) is fixed on a frame (1) located on one side of the labeling bracket (74), with one end connected to the feeding assembly (12). An arc groove (77) is provided on the upper surface of the guide bracket (75) and connected to the other end of the feeding bracket (76). A toggle plate (78) is rotatably connected to the guide bracket (75) to move the sample tube in the arc groove (77) to the feeding bracket (76).

9. The fully automatic dispensing instrument integrating sample loading, dispensing, and labeling functions as described in claim 8, characterized in that: The labeling assembly (12a) includes two rollers (121) rotatably connected to the labeling bracket (74), a sliding plate (122) driven by a labeling drive (82) to slide on the labeling bracket (74), and a labeling roller (123) rotatably connected to the sliding plate (122) driven by a labeling motor (83); the rollers (121) and the labeling roller (123) are located on both sides of the arc groove (77); When the third feeding robot (13a) transports the sample tube located in the liquid separation trolley (3) to the arc groove (77), the side wall of the sample tube is in contact with the side walls of the two rollers (121). The labeling machine (11a) pushes the label between the sample tube and the labeling roller (123). The labeling drive (82) drives the sliding plate (122) to slide towards the side closer to the roller (121) to the labeling roller (123) to press the label onto the sample tube. The labeling motor (83) drives the labeling roller (123) to rotate the sample tube and attach the label onto the sample tube.

Images