Sample processing system and sample transfer method

Abstract

The invention discloses a sample processing system and a sample transfer method. The sample processing system comprises a sample module, an analyzer, a track module and a manipulator, wherein the sample module is used for placing a sample container carrying a sample; the manipulator is used for transferring a sample container to a first bearing part positioned on the sample module or a second bearing part positioned on the track module; the controller is configured to control the manipulator to execute a first action of opening along a horizontal first direction after the manipulator transfers the sample container to the first bearing part or the second bearing part; and in the process of executing the first action or after the first action is executed, the manipulator is controlled to execute a second action, the second action at least comprises a moving component in the second horizontal direction, and the first direction is different from the second direction. The problem of sample splashing caused by adhesion of the bar code and the manipulator can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a sample processing system and a sample transfer method. Background Art

[0002] Currently, after hospital nurses draw blood from patients, they will paste the printed barcode on the test tube. In the actual operation process, some problems often occur because the barcode is not pasted in place, such as the sticky side of the barcode is turned outward, or the barcode is torn off and pasted again without completely covering the previous pasted part, resulting in a residual glue layer on the surface of the test tube. When the robot clamps the test tube and places it on the single tube holder or sample rack, the robot needs to open first to separate from the test tube, and then rise. If the robot clamps the sticky surface of the barcode turned outward, or clamps the residual glue layer on the surface of the test tube, the test tube will tilt as the robot opens, resulting in the test tube and the robot being unable to separate, and then causing the robot to lift the test tube when it rises. After the test tube is lifted, it will fall due to the acceleration and deceleration of the robot, causing the sample to splash and create a safety risk. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a sample processing system that can improve the problem of sample spillage caused by the adhesion of a barcode to a robot.

[0004] The invention also provides a sample transfer method.

[0005] According to a first embodiment of the present invention, the sample processing system comprises:

[0006] A sample module, used for placing a sample container carrying a sample;

[0007] A track module, connected to the sample module, for transporting the sample container;

[0008] A transfer device, comprising a manipulator, wherein the manipulator is used to transfer the sample container to a first carrying component located in the sample module, or a second carrying component located in the track module;

[0009] The controller is configured to control the manipulator to perform a first action of opening along a first horizontal direction after the manipulator transfers the sample container to the first carrying component or the second carrying component; and control the manipulator to perform a second action during or after performing the first action, wherein the second action at least includes a moving component along a second horizontal direction, and the first direction is different from the second direction.

[0010] The sample processing system according to the embodiment of the present invention has at least the following beneficial effects:

[0011] By executing the second action, the robot can eliminate the adhesion between the robot and the barcode, thereby improving the problem of sample spillage caused by the adhesion between the barcode and the robot.

[0012] In other embodiments of the present invention, the first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, and the mounting holes are used to place the sample container;

[0013] After executing the first action, controlling the manipulator to execute a second action includes: after executing the first action, controlling the manipulator to execute a translational action along a second direction parallel to the length direction or the width direction of the rectangular array, wherein the translation distance of the manipulator is N times the center distance between adjacent mounting holes, and N is a positive integer greater than or equal to 1.

[0014] In other embodiments of the present invention, the first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, and the mounting holes are used to place the sample container;

[0015] After executing the first action, controlling the manipulator to execute a second action includes: after executing the first action, controlling the manipulator to execute a translational action along a second direction parallel to the length direction or the width direction of the rectangular array, wherein the angle between the first direction and the second direction is an acute angle.

[0016] In other embodiments of the present invention, the first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, and the mounting holes are used to place the sample container;

[0017] The controlling the manipulator to perform a first action of opening along a first horizontal direction includes: controlling the manipulator to perform the first action of opening along a first direction parallel to the length direction or the width direction of the rectangular array; after performing the first action, controlling the manipulator to perform a second action includes: after performing the first action, controlling the manipulator to perform a translational action along a second direction parallel to the width direction or the length direction of the rectangular array.

[0018] In other embodiments of the present invention, the controller is further configured to control the manipulator to perform a third upward action during or after performing the second action.

[0019] In other embodiments of the present invention, controlling the manipulator to perform a first action of opening along a first horizontal direction includes: controlling the manipulator to open along the first direction to a first opening degree to perform the first opening action; after performing the second action, controlling the manipulator to perform a third upward action includes: after performing the second action, controlling the manipulator to perform a fourth action of continuing to open along the first direction to a second opening degree, and controlling the manipulator to perform the third upward action after performing the fourth action.

[0020] In other embodiments of the present invention, the first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, the mounting holes are used to place the sample containers, and the center distance between adjacent mounting holes along the length direction of the rectangular array is defined as a first distance, and the center distance between adjacent mounting holes along the width direction of the rectangular array is defined as a second distance;

[0021] Wherein, when the first distance is greater than the second distance, the second direction is parallel to the width direction of the rectangular array;

[0022] Alternatively, when the first distance is smaller than the second distance, the second direction is parallel to the length direction of the rectangular array.

[0023] In other embodiments of the present invention, the first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, and the mounting holes are used to place the sample container;

[0024] After executing the first action, controlling the manipulator to execute a second action includes: after the manipulator transfers the sample container to the outermost mounting hole of the rectangular array and executes the first action, controlling the manipulator to execute a translation action toward the inside of the rectangular array.

[0025] In other embodiments of the present invention, the sample module has a first side and a second side opposite to the first side, the first bearing component has a plurality of mounting holes arranged in a rectangular array, the mounting holes are used to place sample containers, and the plurality of mounting holes form a plurality of mounting hole sub-arrays spaced from the first side to the second side;

[0026] After performing the first action, controlling the manipulator to perform a second action includes: when the first carrying component carries the sample containers in the order from the mounting hole subarray located on the first side to the mounting hole subarray located on the second side, after performing the first action, controlling the manipulator to perform a translation action toward the second side; when the first carrying component carries the sample containers in the order from the mounting hole subarray located on the second side to the mounting hole subarray located on the first side, after performing the first action, controlling the manipulator to perform a translation action toward the first side;

[0027] Preferably, the first side is a side of the sample module close to the track module, and the second side is a side away from the track module;

[0028] Preferably, the controlling the manipulator to perform the first action of opening along a first horizontal direction includes: controlling the manipulator to perform the first action of opening along a direction perpendicular to a direction from the first side to the second side.

[0029] In other embodiments of the present invention, the sample processing system further comprises a visual device connected to the manipulator, the visual device is used to obtain image information of the first carrying component in the sample module, the first carrying component has a mounting hole for placing the sample container;

[0030] The controller is configured to obtain information about whether the sample container is placed in the mounting hole based on the image information, and when at least one of the mounting holes is vacant, obtain position information of the vacant mounting hole based on the image information, and control the manipulator to transfer the sample container from the second carrying component to the vacant mounting hole based on the position information;

[0031] And / or, the controller is configured to obtain information on whether the sample container is placed in the mounting hole based on the image information, and when the sample container is placed in at least one of the mounting holes, obtain position information of the mounting hole where the sample container is placed based on the image information, and control the manipulator to transfer the sample container from the mounting hole where the sample container is placed to the second supporting component based on the position information.

[0032] In other embodiments of the present invention, the second carrying component includes a sample rack located in the track module, the sample rack has a plurality of mounting holes arranged in a single row along a straight line direction, and the mounting holes are used to place the sample container, the first carrying component includes a sample tray located in the sample module, the sample tray has a plurality of mounting holes arranged in a rectangular array, and after performing the first action, controlling the manipulator to perform a second action, including: after transferring the sample container from the sample tray to the sample rack and performing the first action, controlling the manipulator to perform a translation action along the conveying direction of the sample rack;

[0033] Preferably, the controlling the manipulator to perform the first action of opening along a first horizontal direction comprises: controlling the manipulator to perform the first action of opening along a direction perpendicular to the conveying direction;

[0034] Alternatively, the second carrying component includes a tube holder located at the track module, the tube holder is used to place a single sample container, the first carrying component includes a sample tray or a sample rack located at the sample module, the sample rack has a plurality of mounting holes arranged in a single row along a straight line, and the sample tray has a plurality of mounting holes arranged in a rectangular array, and after performing the first action, controlling the manipulator to perform a second action, including: after transferring the sample container from the sample tray or the sample rack to the tube holder and performing the first action, controlling the manipulator to perform a translation action in a direction perpendicular to the conveying direction of the tube holder and pointing to the sample module;

[0035] Preferably, the controlling the manipulator to perform the first action of opening along a first horizontal direction comprises: controlling the manipulator to perform the first action of opening along a direction parallel to the conveying direction;

[0036] Alternatively, the second carrying component includes a tube holder located at the track module, the tube holder is used to place a single sample container, the first carrying component includes a sample tray or a sample rack located at the sample module, the sample rack has a plurality of mounting holes arranged in a single row along a straight line, and the sample tray has a plurality of mounting holes arranged in a rectangular array, and after performing the first action, controlling the manipulator to perform a second action, including: after transferring the sample container from the sample tray or the sample rack to the tube holder and performing the first action, controlling the manipulator to perform a translation action along a direction parallel to the conveying direction of the tube holder;

[0037] Preferably, the controlling the robot to perform the first action of opening along a first horizontal direction includes: controlling the robot to perform the first action of opening along a direction perpendicular to the conveying direction.

[0038] In other embodiments of the present invention, during the execution of the first action, the robot is controlled to perform a second action, including: the start time of the second action is later than the start time of the first action and earlier than the end time of the first action, and the end time of the second action is later than the end time of the first action.

[0039] In other embodiments of the present invention, the second motion further includes a movement component in a vertical direction;

[0040] and / or, the first direction is perpendicular to the second direction;

[0041] And / or, controlling the manipulator to perform a second action includes: controlling the manipulator to move along a straight line trajectory or an arc trajectory to perform the second action.

[0042] In other embodiments of the present invention, the sample processing system further includes a sample analyzer, and the track module is further connected to the sample analyzer for transporting the sample container of the sample module to the sample analyzer for analysis.

[0043] A sample processing system according to a second embodiment of the present invention includes:

[0044] A sample module, used for placing a sample container carrying a sample;

[0045] A track module, connected to the sample module, for transporting the sample container;

[0046] A transfer device, comprising a manipulator, wherein the manipulator is used to transfer the sample container to a first carrying component located in the sample module, or a second carrying component located in the track module;

[0047] The controller is configured to control the manipulator to perform a first action of opening in a horizontal direction after the manipulator transfers the sample container to the first carrying component or the second carrying component, control the manipulator to perform a second action during or after the first action to enable relative movement between the manipulator and the sample container, and control the manipulator to perform a third upward action during or after the second action.

[0048] In other embodiments of the present invention, the controller is configured to control the manipulator to perform a second action after performing the first action;

[0049] And / or, the controller is configured to control the manipulator to perform a third upward action after performing the second action.

[0050] In other embodiments of the present invention, the controlling the manipulator to perform the second action includes: controlling the manipulator to move along a straight line trajectory or along an arc trajectory to perform the second action;

[0051] Alternatively, the second action includes at least one of the following solutions:

[0052] The first bearing member or the second bearing member has a mounting hole, the mounting hole is used to place the sample container, and the manipulator rotates around the axis of the mounting hole;

[0053] The manipulator moves downward;

[0054] The manipulator swings in the horizontal direction;

[0055] The manipulator vibrates.

[0056] In other embodiments of the present invention, the first bearing member or the second bearing member has a mounting hole, the mounting hole is used to place the sample container, the second action includes the rotation of the manipulator around the axis of the mounting hole, and the rotation angle of the manipulator is greater than or equal to 90°;

[0057] Alternatively, the second action includes a first downward movement of the manipulator and a second upward movement after executing the first movement, and the height of the manipulator after executing the second movement is lower than the height after executing the third action.

[0058] The sample transfer method according to the third embodiment of the present invention is applied to a sample processing system, wherein the sample processing system comprises:

[0059] A sample module, used for placing a sample container carrying a sample;

[0060] A track module, connected to the sample module, for transporting the sample container;

[0061] A transfer device, comprising a manipulator, wherein the manipulator is used to transfer the sample container to a first carrying component located in the sample module, or a second carrying component located in the track module;

[0062] The sample transfer method comprises the following steps:

[0063] Transferring the sample container to the first carrying component or the second carrying component by the manipulator;

[0064] Controlling the manipulator to perform a first action of opening along a first horizontal direction;

[0065] During or after the execution of the first action, the manipulator is controlled to execute a second action, wherein the second action at least includes a movement component along a second horizontal direction, and the first direction is different from the second direction.

[0066] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0068] Figure 1 A schematic diagram of a module of a sample processing system according to an embodiment of the present invention;

[0069] Figure 2 A schematic diagram of a manipulator grabbing a sample container in an embodiment of the present invention;

[0070] Figure 3 is a schematic diagram of a sample tray in an embodiment of the present invention;

[0071] Figure 4 A schematic diagram of a manipulator performing a first action and a second action in an embodiment of the present invention;

[0072] Figure 5 FIG. 4 is a schematic diagram of a robot arm performing a first action and a second action in another embodiment of the present invention.

[0073] Reference numerals:

[0074] Sample module 100, housing 110, drawer 120;

[0075] Analyzer 200;

[0076] Track module 300;

[0077] Transfer device 400, robot 410;

[0078] A first bearing component 500, a mounting hole 510, a mounting hole sub-array 520, and a mounting hole unit 530;

[0079] A second bearing member 600;

[0080] Sample container 700. DETAILED DESCRIPTION

[0081] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0082] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0083] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0084] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0085] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0086] The first embodiment of the present invention shows a sample processing system, referring to Figure 1 The sample processing system includes a sample module 100 , a track module 300 and a transfer device 400 .

[0087] For ease of understanding, the meaning of the sample container and the sample carrying component in the present invention is first explained. The sample container is a component used to directly carry the sample, usually a test tube. The sample carrying component is a component used to carry the sample container, which has one or more mounting holes. According to the possible positions, the present invention divides the sample carrying component into a first carrying component 500 and a second carrying component 600, wherein the sample carrying component that can appear in the sample module 100 is the first carrying component 500, and the sample carrying component that can appear on the track module 300 is the second carrying component 600.

[0088] The sample module 100 is used to place a sample container 700 carrying a sample. In some embodiments, the sample module 100 is a sample input module or a sample output module or a sample input and output module. When the sample module 100 is a sample input module or a sample input and output module, the sample in the sample container 700 may be a sample to be processed; when the sample module 100 is a sample output module or a sample input and output module, the sample in the sample container 700 may be a sample to be recovered. Taking the example shown in the figure, the sample module 100 is a sample input and output module, which includes a housing 110 and a drawer 120. The drawer 120 is used to place a first carrying component 500. The first carrying component 500 is specifically a sample tray. The drawer 120 can move between an open position and a closed position relative to the housing 110. In the closed position, the drawer 120 is located inside the housing 110. In the open position, the drawer 120 extends from the housing 110 and is in a position that is convenient for operators to take out the sample container carrying the sample to be recovered or put in the sample container carrying the sample to be processed. In other embodiments, the sample module 100 may also be a centrifugal module, which includes a centrifugal device and a placement area, the first carrying component 500 is a centrifugal adapter, the sample container needs to be first transferred from the track module 300 to the centrifugal adapter in the placement area, and then the centrifugal adapter is transferred to the centrifugal device for centrifugation, after centrifugation, the centrifugal adapter needs to be transferred from the centrifugal device to the placement area, and then the sample container is transferred from the centrifugal adapter to the track module 300. The sample module 100 may also be other modules that have a placement area and need to transfer the sample container between the placement area and the track module 300.

[0089] Reference Figure 2 , Figure 3The transfer device 400 includes a manipulator 410, and the manipulator 410 is used to transfer the sample container 700 to the first carrying component 500 located in the sample module 100, or the second carrying component 600 located in the track module 300. For example, the manipulator 410 transfers the sample container carrying the sample to be processed from the first carrying component 500 to the second carrying component 600, or the manipulator 410 transfers the sample container carrying the sample to be recovered from the second carrying component 600 to the first carrying component 500. The manipulator 410 includes a plurality of grippers, for example, the manipulator 410 includes two grippers, which are arranged opposite to each other and can be opened or clamped synchronously along the first direction.

[0090] Whether in the process of transferring the sample container 700 to the first carrying component 500 or in the process of transferring the sample container 700 to the second carrying component 600, the sample container is inevitably clamped by the manipulator 410, so there is the problem of sample spillage caused by the barcode sticking to the manipulator 410. Based on this, the manipulator 410 of the present invention also performs a second action during or after the opening process to avoid the barcode sticking to the manipulator 410. Specifically, refer to Figure 4 , the controller in this embodiment is configured to control the manipulator 410 to perform a first action of opening along a first horizontal direction after the manipulator 410 transfers the sample container 700 to the first bearing component 500 or the second bearing component 600, and then control the manipulator 410 to perform a second action during or after the first action, wherein the second action at least includes a moving component along a second horizontal direction, in other words, the manipulator 410 can move in a horizontal direction or in a direction inclined to the horizontal direction when performing the second action. When the sample container is placed vertically in the mounting hole, the displacement of the sample container in the horizontal direction is limited by the hole wall of the mounting hole, and the second action performed by the manipulator 410 at least includes a moving component along a second horizontal direction, so even if there is adhesion between the manipulator 410 and the barcode, it will be disconnected with the movement of the manipulator 410, thereby preventing the sample container from being lifted by the manipulator 410. In addition, in this embodiment, the first direction and the second direction are set to different directions, which can avoid collision with the current sample container during translation. It should be noted that the first direction and the second direction being different directions specifically refers to that the angle between the first direction and the second direction is greater than 0 and less than or equal to 90°.

[0091] It should be noted that the sample processing system of the present invention can be either a stand-alone processing system for implementing sample pre-processing or post-processing, or an assembly line integrated with a sample analysis function. When the sample processing system is an assembly line, the sample processing system also includes an analyzer. The analyzer 200 is used to test the sample. The track module 300 connects the sample module 100 and the analyzer 200, and is used to transport the sample container 700. Specifically, the track module 300 can transport the sample container carrying the sample to be processed from the sample module 100 to the analyzer 200 for testing. In some embodiments, when the sample module is a sample output module or a sample input and output module, the track module 300 can also transport the sample container carrying the sample to be recovered from the analyzer 200 to the sample module 100 for recovery.

[0092] Based on the first embodiment, the first carrying component 500 of some embodiments includes a sample tray located in the sample module 100, and the second carrying component 600 includes a sample rack or a tube holder located in the track module 300. The manipulator 410 is used to transfer the sample container 700 on the sample rack or the tube holder located in the track module 300 to the sample tray located in the drawer 120, specifically, to transfer the sample container 700 carrying the sample to be recovered on the sample rack or the tube holder to the sample tray, thereby realizing sample recovery.

[0093] The sample tray has a plurality of mounting holes 510 arranged in a rectangular array, and the mounting holes 510 are used to place the sample container 700. Figure 3 As shown in the example, the sample tray has 50 mounting holes 510. Along the length direction of the sample tray, the 50 mounting holes 510 are divided into 10 rows, with 5 holes in each row. It can be understood that the sample tray can also have a plurality of other numbers of mounting holes 510, and arranged in a rectangular array in other ways. The sample rack has a plurality of mounting holes 510 arranged in a straight line. The tube holder has a mounting hole 510 for placing a single sample container.

[0094] In this embodiment, the aforementioned “after executing the first action, controlling the manipulator 410 to execute the second action” specifically means: after the manipulator 410 executes the first action, the controller controls the manipulator 410 to execute a translation action along a second direction parallel to the length direction or the width direction of the rectangular array. In other words, in this embodiment, the manipulator 410 translates along the second direction when executing the second action, and the second direction is parallel to the length direction or the width direction of the rectangular array. In addition, referring to Figure 4 , Figure 5, the translation distance of the manipulator 410 is N times the center spacing of adjacent mounting holes 510, N is a positive integer greater than or equal to 1, and since the mounting holes are arranged in a rectangular array, the center spacing of adjacent mounting holes 510 in the second direction is the same, so it can be ensured that after each translation, other mounting holes 510 will be reached along the second direction, and the relative position between the manipulator 410 and the mounting holes 510 remains unchanged, thereby simplifying the control. It can be understood that when N is selected as 1, the adhesion between the manipulator 410 and the barcode can be eliminated, and the moving distance of the manipulator 410 is small, reducing the impact on the transfer efficiency.

[0095] It should be noted that, in this embodiment, the angle between the first direction and the second direction is greater than 0 and less than or equal to 90°.

[0096] Based on the first embodiment, in some embodiments, the first carrying component 500 includes a sample tray located in the sample module 100, and the second carrying component 600 includes a sample rack or tube holder located in the track module 300. The meanings of the related terms can be understood with reference to the aforementioned embodiments.

[0097] In this embodiment, the aforementioned “after executing the first action, controlling the manipulator 410 to execute the second action” specifically means: after the manipulator 410 executes the first action, the controller controls the manipulator 410 to execute a translation action along a second direction parallel to the length direction or the width direction of the rectangular array, and the angle between the first direction and the second direction is an acute angle. In other words, referring to Figure 5 In this embodiment, when the manipulator 410 performs the second action, it translates along the second direction, and the second direction is parallel to the length direction or the width direction of the rectangular array, and the first direction is inclined relative to the length direction or the width direction. Since the mounting holes 510 are arranged in a rectangular array, the manipulator 410 has a larger opening range in the direction inclined to the length direction or the width direction, which can further reduce the probability of the manipulator 410 sticking to the barcode.

[0098] In some specific embodiments, referring to Figure 5 A single mounting hole 510 and all adjacent mounting holes 510 surrounding the mounting hole 510 form a mounting hole unit 530. The first direction is the direction of the center line connecting the central mounting hole of the mounting hole unit 530 and the center line connecting the mounting holes at the corners. More specifically, when the center spacing of adjacent mounting holes 510 in the first direction is equal to the center spacing in the second direction, the angle between the first direction and the length direction or the width direction is 45°. It can be understood that in this embodiment, the manipulator 410 can have the maximum opening range.

[0099] Based on the first embodiment, in some embodiments, the first carrying component 500 includes a sample tray located in the sample module 100, and the second carrying component 600 includes a sample rack or tube holder located in the track module 300. The meanings of the related terms can be understood with reference to the aforementioned embodiments.

[0100] In this embodiment, the aforementioned “controlling the manipulator 410 to perform a first action of opening along a first horizontal direction” specifically refers to: controlling the manipulator 410 to perform a first action of opening along a first direction parallel to the length direction or the width direction of the rectangular array. Figure 4 The aforementioned “after executing the first action, controlling the manipulator 410 to execute the second action” specifically means: after the manipulator 410 executes the first action, the controller controls the manipulator 410 to execute a translation action along a second direction parallel to the width direction or the length direction of the rectangular array, that is, the first direction and the second direction are perpendicular to each other. More specifically, if the manipulator 410 is opened along the length direction, it will subsequently translate along the width direction; if the manipulator 410 is opened along the width direction, it will subsequently translate along the length direction.

[0101] On the basis of the first embodiment, the controller of some embodiments is further configured to control the manipulator 410 to perform a third upward action during or after the manipulator 410 performs the second action. As previously mentioned, after the manipulator 410 performs the second action, the manipulator 410 is no longer adhered to the barcode, and the manipulator 410 can be reset upward at this time, so as to facilitate the manipulator 410 to move in the horizontal direction to perform other actions. It should be noted that since the adhesion area between the barcode and the manipulator 410 is usually small, the manipulator 410 only needs a small movement component in the second direction to eliminate the adhesion, so it is also possible for the manipulator 410 to perform the third action during the execution of the second action, specifically, the manipulator 410 starts to perform the third action after performing the second action for a period of time and before the second action is completed.

[0102] When the manipulator 410 is also used to perform a third action, in some specific embodiments, the aforementioned "controlling the manipulator 410 to perform a first action of opening along a first horizontal direction" specifically refers to: controlling the manipulator 410 to open to a first opening along the first direction to perform the first action of opening. The aforementioned "after performing the second action, controlling the manipulator 410 to perform a third upward action" specifically refers to: after the manipulator 410 performs the second action, the controller controls the manipulator 410 to perform a fourth action of continuing to open to a second opening along the first direction, and controls the manipulator 410 to perform a third upward action after performing the fourth action. That is, the manipulator 410 of this embodiment will open to the maximum opening only after performing the second action.

[0103] The sample container includes a tube body and a tube cap, the tube cap is connected to the upper end of the tube body, and the outer diameter of the tube cap is larger than the outer diameter of the tube body. The manipulator 410 needs to be opened to the minimum distance between the clamping jaws is larger than the outer diameter of the tube cap before it can perform the third upward action. When the second direction is parallel to the length direction or the width direction of the rectangular array, and the angle between the first direction and the second direction is an acute angle, if the manipulator 410 is directly opened to the maximum opening, although the requirement of performing the third upward action can be met, it may collide with the adjacent sample container when translating along the second direction. If the opening amplitude of the manipulator 410 is reduced, although the requirement of translating along the second direction can be met, it will hit the tube cap when performing the third upward action. At this time, it can be opened to the first opening first according to the present embodiment, so that the manipulator 410 can translate along the second direction, and then continue to open to the second opening after translation, so that the manipulator can move upward along the third direction.

[0104] When the first direction is parallel to the length direction of the rectangular array and the second direction is parallel to the width direction of the rectangular array, or the first direction is parallel to the width direction of the rectangular array and the second direction is parallel to the length direction of the rectangular array, in order to avoid the manipulator 410 from colliding with the sample container placed crookedly in the adjacent mounting hole 510 during translation, the control method of this embodiment can also be applied. Specifically, since there is no need to consider the vertical movement during translation, the manipulator 410 can translate with a smaller first opening, thereby increasing the distance between the adjacent sample containers. After translation, the manipulator 410 can further open to the second opening so as to move upward along the third direction.

[0105] Based on the first embodiment, in some embodiments, the first carrying component 500 includes a sample tray located in the sample module 100, and the second carrying component 600 includes a sample rack or tube holder located in the track module 300. The meanings of the related terms can be understood with reference to the aforementioned embodiments.

[0106] The center spacing of adjacent mounting holes 510 along the length direction of the rectangular array is defined as a first distance, and the center spacing of adjacent mounting holes 510 along the width direction of the rectangular array is defined as a second distance. In this embodiment, when the first distance is greater than the second distance, the second direction is parallel to the width direction of the rectangular array; when the first distance is less than the second distance, the second direction is parallel to the length direction of the rectangular array. In other words, when the center spacing of adjacent mounting holes 510 in the length direction is not equal to the center spacing of adjacent mounting holes 510 in the width direction, the manipulator 410 will translate in the direction with a smaller center spacing, so that the manipulator 410 can have a larger opening range, thereby reducing the probability of adhesion between the manipulator 410 and the barcode. In addition, since the center spacings in the two directions are not equal, when the number and aperture of the mounting holes 510 remain unchanged, the sample tray of the present embodiment can have a smaller volume. Specifically, when the center spacing of adjacent mounting holes 510 in the length direction is smaller than the center spacing of adjacent mounting holes 510 in the width direction, the length of the sample tray can be reduced. When the center spacing of adjacent mounting holes 510 in the length direction is larger than the center spacing of adjacent mounting holes 510 in the width direction, the width of the sample tray can be reduced, thereby reducing the volume of the drawer 120 and further reducing the volume of the sample module 100.

[0107] Based on the first embodiment, in some embodiments, the first carrying component 500 includes a sample tray located in the sample module 100, and the second carrying component 600 includes a sample rack or tube holder located in the track module 300. The meanings of the related terms can be understood with reference to the aforementioned embodiments.

[0108] In this embodiment, the aforementioned "after executing the first action, controlling the manipulator 410 to execute the second action" specifically means: after the manipulator 410 transfers the sample container 700 to the outermost mounting hole 510 of the rectangular array and executes the first action, the controller controls the manipulator 410 to execute a translation action toward the inside of the rectangular array. In this way, the movement range of the manipulator 410 when executing the second action is limited to the sample tray, which can prevent the manipulator 410 from colliding with the housing or hindering the movement of the adjacent drawer 120 when translating.

[0109] In some specific embodiments, the side of the sample tray facing the track module is defined as the front side, the side facing the drawer 120 opening is defined as the rear side, and the other two sides are defined as the left side and the right side, respectively. When the drawer 120 is used to place a single sample tray, if the sample container 700 is transferred to the mounting hole 510 located on the front side of the rectangular array, the manipulator 410 opens to the left and right directions and translates toward the rear side; when the sample container 700 is transferred to the mounting hole 510 located on the rear side of the rectangular array, the manipulator 410 opens to the left and right directions and translates toward the front side; when the sample container 700 is transferred to the mounting hole 510 located on the left side of the rectangular array, the manipulator 410 opens to the front-to-back direction and translates toward the right side; when the sample container 700 is transferred to the mounting hole 510 located on the right side of the rectangular array, the manipulator 410 opens to the front-to-back direction and translates toward the left side.

[0110] In some other specific embodiments, when the drawer 120 is used to place multiple sample trays, and the multiple sample trays are arranged in sequence from the front to the back, the outermost sides of the rectangular array correspond to sample trays at different positions and have different meanings. For example, for the sample tray located at the front side of the drawer 120, the outermost side of the rectangular array includes the front, left and right sides of the rectangular array; for the sample tray located at the back side of the drawer 120, the outer side of the rectangular array includes the back, left and right sides of the rectangular array; for the sample trays located at other positions of the drawer 120, the outermost side of the rectangular array includes the left and right sides of the rectangular array.

[0111] Based on the first embodiment, refer to Figure 3 In some embodiments, the sample module 100 has a first side and a second side opposite to the first side, and the first bearing member 500 has a plurality of mounting holes 510 arranged in a rectangular array. Specifically, the first bearing member 500 can be understood with reference to the sample tray of the aforementioned embodiment. The plurality of mounting holes 510 form a plurality of mounting hole sub-arrays 520 spaced from the first side to the second side. Specifically, when the first side and the second side are the aforementioned front side and rear side, respectively, the mounting hole sub-array 520 is a single-row mounting hole, and when the first side and the second side are the aforementioned left side and right side, respectively, the mounting hole sub-array 520 is a single-column mounting hole.

[0112] In this embodiment, the aforementioned "after executing the first action, controlling the manipulator 410 to execute the second action" specifically means: when the first carrying component 500 carries the sample container 700 in the order from the mounting hole sub-array 520 located on the first side to the mounting hole sub-array 520 located on the second side, after the manipulator 410 executes the first action, the controller controls the manipulator 410 to execute a translation action toward the second side. In other words, when the manipulator 410 transfers the sample container 700 carrying the sample to be recovered to the first carrying component 500, it will transfer it in sequence according to a certain rule, rather than randomly. The transfer rule of this embodiment is to first transfer the sample container 700 to all the mounting holes 510 in the first mounting hole sub-array 520 in the direction from the first side to the second side, and then transfer the sample container 700 to all the mounting holes 510 in the second mounting hole sub-array 520, and so on. After the manipulator 410 executes the first action, executing a translation action toward the second side can avoid collision with other sample containers 700.

[0113] In other embodiments, the aforementioned "after performing the first action, controlling the manipulator 410 to perform the second action" specifically means: when the first carrying component 500 carries the sample containers 700 in the order from the mounting hole sub-array 520 located on the second side to the mounting hole sub-array 520 located on the first side, after the manipulator 410 performs the first action, the controller controls the manipulator 410 to perform a translation action toward the first side. The transfer order and translation direction of this embodiment are opposite to those of the aforementioned embodiments.

[0114] When the manipulator 410 performs a translational movement toward the second side after performing the first movement, in some specific embodiments, the first side is the side of the sample module 100 close to the track module 300, such as the aforementioned front side, and the second side is the side away from the track module 300, such as the aforementioned rear side, thereby reducing the moving range of the manipulator 410 and improving the transfer efficiency.

[0115] When the manipulator 410 performs a translational motion toward the second side after performing the first motion, in some specific embodiments, the aforementioned "controlling the manipulator to perform the first motion of opening along a first horizontal direction" specifically refers to: controlling the manipulator to perform the first motion of opening in a direction perpendicular to the direction from the first side to the second side; in other words, the opening direction of the manipulator is perpendicular to the translation direction.

[0116] On the basis of the first embodiment, the sample processing system of some embodiments further comprises a visual device connected to the manipulator 410, and the visual device can move synchronously with the manipulator 410 to obtain image information of the first carrying component 500 in the sample module 100. The first carrying component 500 has a mounting hole 510 for placing the sample container 700. Specifically, the first carrying component 500 can be understood with reference to the sample tray of the aforementioned embodiment.

[0117] In this embodiment, the controller is configured to obtain information on whether a sample container 700 is placed in the mounting hole 510 based on the image information, and when at least one mounting hole 510 is empty, the controller obtains position information of the empty mounting hole 510 based on the image information, and controls the manipulator 410 to transfer the sample container 700 from the second carrying component 600 to the empty mounting hole 510 based on the position information, wherein the sample container 700 carries the sample to be recovered.

[0118] In other embodiments, when at least one mounting hole 510 is placed with a sample container 700, the controller obtains the position information of the mounting hole 510 where the sample container 700 is placed based on the image information, and controls the manipulator 410 to transfer the sample container 700 from the mounting hole 510 where the sample container 700 is placed to the second supporting component 600 based on the position information, wherein the sample container 700 carries the sample to be processed.

[0119] By connecting a visual device to the manipulator 410, the visual device can follow the manipulator 410 to move to the corresponding drawer 120 for shooting. Compared with the method of setting a visual device for identification in each drawer 120, the number of visual devices can be reduced, the cost can be reduced, and a compact layout of the sample module 100 can be achieved.

[0120] Based on the first embodiment, the first carrying component 500 of some embodiments includes a sample tray located in the sample module 100, the second carrying component 600 includes a sample rack located in the track module 300, and the manipulator 410 can transfer the sample container 700 carrying the sample to be processed on the sample tray to the sample rack. The meaning of the relevant terms can be understood with reference to the aforementioned embodiments.

[0121] In this embodiment, the aforementioned "after executing the first action, controlling the manipulator 410 to execute the second action" is specifically set as follows: after the manipulator 410 transfers the sample container 700 from the sample tray to the sample rack and executes the first action, the controller controls the manipulator 410 to execute a translation action along the conveying direction of the sample rack, so that after the manipulator 410 executes the first action, the sample rack can be synchronously conveyed by the track module 300, which can speed up the circulation speed of the sample rack. In this embodiment, the manipulator 410 can be opened in a direction perpendicular to or inclined to the conveying direction.

[0122] When the second supporting component 600 includes a sample rack located in the track module 300, in some specific embodiments, the aforementioned "controlling the manipulator to perform a first action of opening along a first horizontal direction" specifically refers to controlling the manipulator to perform a first action of opening along a direction perpendicular to the conveying direction. In other words, the opening direction of the manipulator is perpendicular to the translation direction.

[0123] Based on the first embodiment, the first carrying component 500 of some embodiments includes a sample tray located in the sample module 100, the second carrying component 600 includes a tube holder located in the track module 300, and the manipulator 410 can transfer the sample container 700 carrying the sample to be processed on the sample tray to the tube holder. The meanings of the relevant terms can be understood with reference to the aforementioned embodiments.

[0124] In this embodiment, the aforementioned “after executing the first action, controlling the manipulator 410 to execute the second action” is specifically set as follows: after the manipulator 410 transfers the sample container 700 from the sample tray to the sample rack and executes the first action, the controller controls the manipulator 410 to execute a translational action in a direction perpendicular to the conveying direction of the tube holder and pointing to the sample module 100. In this way, the moving stroke of the manipulator 410 can be reduced and the transfer efficiency can be improved.

[0125] When the second bearing member 600 includes a tube seat located at the track module 300, in some specific embodiments, the aforementioned "controlling the manipulator to perform a first action of opening along a horizontal first direction" specifically refers to controlling the manipulator to perform a first action of opening in a direction parallel to the conveying direction, in other words, the opening direction of the manipulator is perpendicular to the translation direction. It can be understood that the manipulator 410 can also be opened in a direction inclined to the conveying direction.

[0126] Based on the first embodiment, the first carrying component 500 of some embodiments includes a sample tray located in the sample module 100, the second carrying component 600 includes a tube holder located in the track module 300, and the manipulator 410 can transfer the sample container 700 carrying the sample to be processed on the sample tray to the tube holder. The meanings of the relevant terms can be understood with reference to the aforementioned embodiments.

[0127] In this embodiment, the aforementioned “after executing the first action, controlling the manipulator 410 to execute the second action” is specifically set as follows: after the manipulator 410 transfers the sample container 700 from the sample tray to the sample rack and executes the first action, the controller controls the manipulator 410 to execute a translational action in a direction parallel to the conveying direction of the tube holder.

[0128] When the second supporting component 600 includes a tube seat located in the track module 300, in some specific embodiments, the aforementioned "controlling the manipulator to perform a first action of opening along a first horizontal direction" specifically refers to controlling the manipulator to perform a first action of opening along a direction perpendicular to the conveying direction. In other words, the opening direction of the manipulator is perpendicular to the translation direction.

[0129] Based on the first embodiment, in some embodiments, the first direction is perpendicular to the second direction, for example, the first direction is the length direction of the sample supporting component, and the second direction is the width direction of the sample supporting component.

[0130] Based on the first embodiment, in some embodiments, the manipulator moves along a straight line trajectory to perform a second action, such as the translation described in the aforementioned embodiment.

[0131] Based on the first embodiment, in some embodiments, the manipulator moves along an arc trajectory to perform a second action, wherein the arc trajectory may be a circular trajectory. For example, the axis of the mounting hole where the sample container is located is named as the first axis, and a second axis parallel to and spaced apart from the first axis is defined, and the manipulator rotates around the second axis when performing the second action. In addition, the arc trajectory may also be an elliptical trajectory or other arc trajectory.

[0132] The above-mentioned embodiments describe a scheme in which the manipulator 410 performs a second action after performing a first action. In other embodiments, the manipulator 410 performs a second action during the process of performing a first action. Specifically, the start time of the second action is later than the start time of the first action and earlier than the end time of the first action, and the end time of the second action is later than the end time of the first action. This can reduce the translation time of the manipulator 410 and improve the transfer efficiency.

[0133] The above embodiments describe a scheme in which the manipulator 410 moves horizontally to perform the second action. In other embodiments, the second action also includes a moving component in the vertical direction, that is, the second action actually moves in an upward or downward inclined direction. It should be noted that when the second action moves in an upward inclined direction and the moving component in the vertical direction moves a sufficient distance, the second action can replace the aforementioned third action.

[0134] The second embodiment of the present invention provides a sample processing system, referring to Figure 1 The sample processing system includes a sample module 100, a track module 300 and a transfer device 400. In other embodiments, the sample processing system further includes a sample analyzer 200. The sample module 100 is used to place a sample container 700 carrying a sample, the analyzer 200 is used to test the sample, and the track module 300 connects the sample module 100 and the analyzer 200 to transport the sample container 700.

[0135] Reference Figure 2 The transfer device 400 includes a manipulator 410, and the manipulator 410 is used to transfer the sample container 700 to the first carrying component 500 located in the sample module 100, or the second carrying component 600 located in the track module 300. In order to solve the problem of sample spillage caused by the adhesion between the barcode and the manipulator 410, the controller in this embodiment is configured to control the manipulator 410 to perform a first action of opening along a first horizontal direction after the manipulator 410 transfers the sample container 700 to the first carrying component 500 or the second carrying component 600, and then control the manipulator 410 to perform a second action during or after the first action is performed, so that the manipulator 410 and the sample container 700 move relative to each other, thereby eliminating the adhesion between the manipulator 410 and the barcode, and control the manipulator 410 to perform a third upward action during or after the second action is performed.

[0136] On the basis of the second embodiment, the controller in some embodiments is configured to control the manipulator 410 to perform a second action after performing a first action, which can simplify the control of the manipulator 410 .

[0137] On the basis of the second embodiment, the controller in some embodiments is configured to control the manipulator 410 to perform a third upward motion after performing the second motion, which can simplify the control of the manipulator 410 .

[0138] Based on the second embodiment, in some embodiments, the manipulator moves along an arc trajectory to perform a second action, wherein the arc trajectory may be a circular trajectory. For example, the axis of the mounting hole where the sample container is located is named as the first axis, and a second axis parallel to and spaced apart from the first axis is defined, and the manipulator rotates around the second axis when performing the second action. In addition, the arc trajectory may also be an elliptical trajectory or other arc trajectory.

[0139] On the basis of the second embodiment, the first carrying component 500 or the second carrying component 600 in some embodiments has a mounting hole 510, and the mounting hole 510 is used to place the sample container 700. For example, the first carrying component 500 is the sample tray in the aforementioned first embodiment, and the second carrying component 600 is the sample rack or tube holder in the aforementioned first embodiment. The second action in this embodiment includes the manipulator 410 rotating around the axis of the mounting hole 510.

[0140] In some specific embodiments, the rotation angle of the robot 410 is greater than or equal to 90°, thereby ensuring that the robot 410 and the barcode can be effectively separated.

[0141] In some specific embodiments, the robot arm 410 can rotate unidirectionally around the axis of the mounting hole 510 , and can also rotate reciprocatingly around the axis of the mounting hole 510 .

[0142] On the basis of the second embodiment, the second action in some embodiments includes the manipulator 410 moving downward. In some specific embodiments, the second action includes a first downward movement of the manipulator 410 and a second upward movement after performing the first movement, and the first height of the manipulator 410 after performing the second movement is lower than the second height after performing the third action. More specifically, the second action may include at least one combination of the first movement and the second movement, the manipulator reaches the first height after performing the second movement, and then performs the third action to continue to reach the second height upward. The second action may include at least one combination of the first movement and the second movement, and the last first movement, and the manipulator directly performs the third action after performing the last first movement.

[0143] Based on the second embodiment, the second action in some embodiments includes the robot arm 410 swinging in a horizontal direction.

[0144] On the basis of the second embodiment, the second action in some embodiments includes vibration of the manipulator 410. It should be noted that, compared with the aforementioned movement or rotation, the frequency of the vibration is significantly increased, while the amplitude is relatively small.

[0145] The third embodiment of the present invention further provides a sample transfer method, which is applied to the sample processing system of the first embodiment, and includes the following steps:

[0146] The sample container 700 is transferred to the first carrying component 500 or the second carrying component 600 by the manipulator 410. For example, the manipulator 410 transfers the sample container carrying the sample to be processed from the first carrying component 500 to the second carrying component 600, or the manipulator 410 transfers the sample container carrying the sample to be recovered from the second carrying component 600 to the first carrying component 500.

[0147] The robot arm 410 is controlled to perform a first motion of opening along a first horizontal direction.

[0148] During or after the execution of the first action, the manipulator 410 is controlled to execute the second action, and the second action includes at least a moving component along the second horizontal direction. When the sample container is placed vertically in the mounting hole, the displacement of the sample container along the horizontal direction is limited by the hole wall of the mounting hole, and the second action executed by the manipulator 410 includes at least a moving component along the second horizontal direction. Therefore, even if there is adhesion between the manipulator 410 and the barcode, it will be disconnected with the movement of the manipulator 410, thereby avoiding the sample container from being lifted by the manipulator 410. In addition, the first direction and the second direction are set to different directions in this embodiment, which can avoid collision with the current sample container during translation. It should be noted that the first direction and the second direction are different directions specifically refer to that the angle between the first direction and the second direction is greater than 0 and less than or equal to 90°.

[0149] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A sample processing system, characterized in that: include: A sample module, used for placing a sample container carrying a sample; A track module, connected to the sample module, for transporting the sample container; A transfer device, comprising a manipulator, wherein the manipulator is used to transfer the sample container to a first carrying component located in the sample module, or a second carrying component located in the track module; The controller is configured to control the manipulator to perform a first action of opening along a first horizontal direction after the manipulator transfers the sample container to the first carrying component or the second carrying component; and control the manipulator to perform a second action during or after performing the first action, wherein the second action at least includes a moving component along a second horizontal direction, and the first direction is different from the second direction.

2. The sample processing system according to claim 1, characterized in that: The first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, and the mounting holes are used to place the sample container; After executing the first action, controlling the manipulator to execute a second action includes: after executing the first action, controlling the manipulator to execute a translational action along a second direction parallel to the length direction or the width direction of the rectangular array, wherein the translation distance of the manipulator is N times the center distance between adjacent mounting holes, and N is a positive integer greater than or equal to 1.

3. The sample processing system according to claim 1, characterized in that: The first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, and the mounting holes are used to place the sample container; After executing the first action, controlling the manipulator to execute a second action includes: after executing the first action, controlling the manipulator to execute a translational action along a second direction parallel to the length direction or the width direction of the rectangular array, wherein the angle between the first direction and the second direction is an acute angle.

4. The sample processing system according to claim 1, characterized in that: The first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, and the mounting holes are used to place the sample container; The controlling the manipulator to perform a first action of opening along a first horizontal direction includes: controlling the manipulator to perform the first action of opening along a first direction parallel to the length direction or the width direction of the rectangular array; after performing the first action, controlling the manipulator to perform a second action includes: after performing the first action, controlling the manipulator to perform a translational action along a second direction parallel to the width direction or the length direction of the rectangular array.

5. The sample processing system according to claim 1, characterized in that: The controller is further configured to control the manipulator to perform a third upward motion during or after performing the second motion.

6. The sample processing system according to claim 5, characterized in that: The controlling of the manipulator to perform a first action of opening along a first horizontal direction includes: controlling the manipulator to open along the first direction to a first opening degree to perform the first opening action; after performing the second action, controlling the manipulator to perform a third upward action includes: after performing the second action, controlling the manipulator to perform a fourth action of continuing to open along the first direction to a second opening degree, and controlling the manipulator to perform the third upward action after performing the fourth action.

7. The sample processing system according to claim 1, characterized in that: The first carrying component comprises a sample tray located in the sample module, the second carrying component comprises a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, the mounting holes are used to place the sample containers, and the center distance between adjacent mounting holes along the length direction of the rectangular array is defined as a first distance, and the center distance between adjacent mounting holes along the width direction of the rectangular array is defined as a second distance; Wherein, when the first distance is greater than the second distance, the second direction is parallel to the width direction of the rectangular array; Alternatively, when the first distance is smaller than the second distance, the second direction is parallel to the length direction of the rectangular array.

8. The sample processing system according to claim 1, characterized in that: The first carrying component includes a sample tray located in the sample module, the second carrying component includes a sample rack or a tube holder located in the track module, the manipulator is used to transfer the sample container on the sample rack or the tube holder to the sample tray, the sample tray has a plurality of mounting holes arranged in a rectangular array, and the mounting holes are used to place the sample container; After executing the first action, controlling the manipulator to execute a second action includes: after the manipulator transfers the sample container to the outermost mounting hole of the rectangular array and executes the first action, controlling the manipulator to execute a translation action toward the inside of the rectangular array.

9. The sample processing system according to claim 1, characterized in that: The sample module has a first side and a second side opposite to the first side, the first bearing component has a plurality of mounting holes arranged in a rectangular array, the mounting holes are used to place sample containers, and the plurality of mounting holes form a plurality of mounting hole sub-arrays spaced from the first side to the second side; After performing the first action, controlling the manipulator to perform a second action includes: when the first carrying component carries the sample containers in the order from the mounting hole subarray located on the first side to the mounting hole subarray located on the second side, after performing the first action, controlling the manipulator to perform a translation action toward the second side; when the first carrying component carries the sample containers in the order from the mounting hole subarray located on the second side to the mounting hole subarray located on the first side, after performing the first action, controlling the manipulator to perform a translation action toward the first side; Preferably, the first side is a side of the sample module close to the track module, and the second side is a side away from the track module; Preferably, the controlling the manipulator to perform the first action of opening along a first horizontal direction includes: controlling the manipulator to perform the first action of opening along a direction perpendicular to a direction from the first side to the second side.

10. The sample processing system according to claim 1, characterized in that: The sample processing system further comprises a visual device connected to the manipulator, the visual device is used to obtain image information of the first carrying component in the sample module, the first carrying component has a mounting hole for placing the sample container; The controller is configured to obtain information about whether the sample container is placed in the mounting hole based on the image information, and when at least one of the mounting holes is vacant, obtain position information of the vacant mounting hole based on the image information, and control the manipulator to transfer the sample container from the second carrying component to the vacant mounting hole based on the position information; And / or, the controller is configured to obtain information on whether the sample container is placed in the mounting hole based on the image information, and when the sample container is placed in at least one of the mounting holes, obtain position information of the mounting hole where the sample container is placed based on the image information, and control the manipulator to transfer the sample container from the mounting hole where the sample container is placed to the second supporting component based on the position information.

11. The sample processing system according to claim 1, characterized in that: The second carrying component comprises a sample rack located at the track module, the sample rack has a plurality of mounting holes arranged in a single row along a straight line direction, the mounting holes are used to place the sample container, the first carrying component comprises a sample tray located at the sample module, the sample tray has a plurality of mounting holes arranged in a rectangular array, after performing the first action, controlling the manipulator to perform a second action, including: after transferring the sample container from the sample tray to the sample rack and performing the first action, controlling the manipulator to perform a translation action along the conveying direction of the sample rack; Preferably, the controlling the manipulator to perform the first action of opening along a first horizontal direction comprises: controlling the manipulator to perform the first action of opening along a direction perpendicular to the conveying direction; Alternatively, the second carrying component includes a tube holder located at the track module, the tube holder is used to place a single sample container, the first carrying component includes a sample tray or a sample rack located at the sample module, the sample rack has a plurality of mounting holes arranged in a single row along a straight line, and the sample tray has a plurality of mounting holes arranged in a rectangular array, and after performing the first action, controlling the manipulator to perform a second action, including: after transferring the sample container from the sample tray or the sample rack to the tube holder and performing the first action, controlling the manipulator to perform a translation action in a direction perpendicular to the conveying direction of the tube holder and pointing to the sample module; Preferably, the controlling the manipulator to perform the first action of opening along a first horizontal direction comprises: controlling the manipulator to perform the first action of opening along a direction parallel to the conveying direction; Alternatively, the second carrying component includes a tube holder located at the track module, the tube holder is used to place a single sample container, the first carrying component includes a sample tray or a sample rack located at the sample module, the sample rack has a plurality of mounting holes arranged in a single row along a straight line, and the sample tray has a plurality of mounting holes arranged in a rectangular array, and after performing the first action, controlling the manipulator to perform a second action, including: after transferring the sample container from the sample tray or the sample rack to the tube holder and performing the first action, controlling the manipulator to perform a translation action along a direction parallel to the conveying direction of the tube holder; Preferably, the controlling the robot to perform the first action of opening along a first horizontal direction includes: controlling the robot to perform the first action of opening along a direction perpendicular to the conveying direction.

12. The sample processing system according to claim 1, characterized in that: During the execution of the first action, the robot is controlled to execute a second action, including: the start time of the second action is later than the start time of the first action and earlier than the end time of the first action, and the end time of the second action is later than the end time of the first action.

13. The sample processing system according to claim 1, characterized in that: The second motion also includes a movement component in a vertical direction; and / or, the first direction is perpendicular to the second direction; And / or, controlling the manipulator to perform a second action includes: controlling the manipulator to move along a straight line trajectory or an arc trajectory to perform the second action.

14. The sample processing system according to claim 1, characterized in that: The sample processing system also includes a sample analyzer, and the track module is also connected to the sample analyzer for transporting the sample container of the sample module to the sample analyzer for analysis.

15. A sample processing system, characterized in that: include: A sample module, used for placing a sample container carrying a sample; A track module, connected to the sample module, for transporting the sample container; A transfer device, comprising a manipulator, wherein the manipulator is used to transfer the sample container to a first carrying component located in the sample module, or a second carrying component located in the track module; The controller is configured to control the manipulator to perform a first action of opening in a horizontal direction after the manipulator transfers the sample container to the first carrying component or the second carrying component, control the manipulator to perform a second action during or after the first action to enable relative movement between the manipulator and the sample container, and control the manipulator to perform a third upward action during or after the second action.

16. The sample processing system according to claim 15, characterized in that: The controller is configured to control the manipulator to perform a second action after performing the first action; And / or, the controller is configured to control the manipulator to perform a third upward action after performing the second action.

17. The sample processing system according to claim 15, characterized in that: The controlling the manipulator to perform the second action includes: controlling the manipulator to move along a straight line trajectory or an arc trajectory to perform the second action; Alternatively, the second action includes at least one of the following solutions: The first bearing member or the second bearing member has a mounting hole, the mounting hole is used to place the sample container, and the manipulator rotates around the axis of the mounting hole; The manipulator moves downward; The manipulator swings in the horizontal direction; The manipulator vibrates.

18. The sample processing system according to claim 15, characterized in that: The first bearing member or the second bearing member has a mounting hole, the mounting hole is used to place the sample container, and the second action includes the rotation of the manipulator around the axis of the mounting hole, and the rotation angle of the manipulator is greater than or equal to 90°; Alternatively, the second action includes a first downward movement of the manipulator and a second upward movement after executing the first movement, and the height of the manipulator after executing the second movement is lower than the height after executing the third action.

19. A sample transfer method, characterized in that: Applied to a sample processing system, the sample processing system comprising: A sample module, used for placing a sample container carrying a sample; A track module, connected to the sample module, for transporting the sample container; A transfer device, comprising a manipulator, wherein the manipulator is used to transfer the sample container to a first carrying component located in the sample module, or a second carrying component located in the track module; The sample transfer method comprises the following steps: Transferring the sample container to the first carrying component or the second carrying component by the manipulator; Controlling the manipulator to perform a first action of opening along a first horizontal direction; During or after the execution of the first action, the manipulator is controlled to execute a second action, wherein the second action at least includes a movement component along a second horizontal direction, and the first direction is different from the second direction.

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