Centrifugal block transfer method and centrifugal block transfer device

Abstract

The invention relates to the technical field of sample transfer, in particular to a centrifugal block transfer method and a centrifugal block transfer device. The centrifugal block transferring method comprises the steps that sample loading is conducted on a first centrifugal block; sample centrifugation is performed on the first centrifugal block, and sample loading is performed on the second centrifugal block; sample unloading is conducted on the first centrifugal block, and meanwhile sample centrifugation is conducted on the second centrifugal block; the first centrifugal block is moved to a loading position, and meanwhile sample unloading is conducted on the second centrifugal block; and the second centrifugal block is moved to the loading position. According to the centrifugal block transferring method, the situation that the centrifugal machine is in a vacant material waiting state can be effectively reduced, so that waste of centrifugal machine resources is avoided, the utilization rate of centrifugal machine equipment is increased, meanwhile, the sample centrifugal speed is increased, and the sample treatment efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of sample transport, and in particular to a centrifugal block transport method and a centrifugal block transport device. Background Art

[0002] In the IVD in vitro diagnostic industry, the intelligent sample pretreatment system effectively reduces the complicated workload in the sample pretreatment stage, improves work efficiency, and can provide timely and accurate test results for clinicians and patients. In the centrifugal block transport link of the sample pretreatment system, the existing technology mainly adopts the conveyor belt circulation transport method or the single sample transport method.

[0003] However, the above two transport methods require waiting for the transport agency to unload the samples and then reload and transport a new batch of samples to the centrifuge for centrifugation. When the samples are unloaded and loaded, the centrifuge is in an idle waiting state, which causes a waste of centrifuge resources and reduces the efficiency of sample processing. Summary of the invention

[0004] In order to solve the defects of the prior art, the present invention provides a centrifugal block transport method and a centrifugal block transport device, which can effectively reduce the situation where the centrifuge is in an idle waiting state, thereby avoiding the waste of centrifuge resources, improving the utilization rate of the centrifuge equipment, and at the same time accelerating the sample centrifugation speed and improving the sample processing efficiency.

[0005] In order to solve the above technical problems, the present invention provides a centrifugal block transport method, the centrifugal block transport method comprising:

[0006] Loading the sample to be centrifuged into the first centrifugal block located at the loading position;

[0007] The first transfer assembly is driven to move the first centrifugal block to the centrifugal position to centrifuge the sample on the first centrifugal block; meanwhile, the second centrifugal block is determined to be located at the loading position, and the sample to be centrifuged is loaded onto the second centrifugal block;

[0008] Determining that the first centrifugal block has completed sample centrifugation, driving the first transfer component to move to the unloading position to unload the sample from the first centrifugal block; and simultaneously driving the second transfer component to drive the second centrifugal block to move to the centrifugal position to centrifuge the sample from the second centrifugal block;

[0009] Determine that the first centrifugal block has completed sample unloading, and drive the first transport component to move to the loading position; simultaneously determine that the second centrifugal block has completed sample centrifugation, and drive the second transport component to move to the unloading position to unload the sample from the second centrifugal block;

[0010] Determine that the second centrifugal block completes sample unloading, and drive the second transport component to move to the loading position.

[0011] The step of driving the first transfer component to move the first centrifugal block to the centrifugal position to centrifuge the sample on the first centrifugal block; and simultaneously determining that the second centrifugal block is located at the loading position and loading the sample to be centrifuged onto the second centrifugal block comprises:

[0012] Determining that the first centrifugal block has completed sample loading, controlling the first transport component to operate, and driving the first centrifugal block to move to the centrifugal position;

[0013] Determining that the first centrifugal block leaves the loading position, and loading the sample to be centrifuged onto the second centrifugal block located at the loading position;

[0014] The transfer robot at the centrifugal position is controlled to move to the first centrifugal block, and the transfer robot is driven to transfer the first centrifugal block to the centrifuge for sample centrifugation.

[0015] The step of determining that the first centrifugal block has completed sample centrifugation, driving the first transfer component to move to the unloading position to unload the sample from the first centrifugal block; and driving the second transfer component to move the second centrifugal block to the centrifugal position to centrifuge the sample from the second centrifugal block includes:

[0016] Determining that the first centrifugal block has completed centrifugation, and driving the transfer robot to transfer the first centrifugal block back to the first transfer component;

[0017] Controlling the first transfer component to operate, driving the first centrifugal block to move to the unloading position; at the same time, determining that the second centrifugal block has completed loading, controlling the second transfer component to operate, driving the second centrifugal block to move to the centrifugal position;

[0018] Controlling the unloading manipulator at the unloading position to move to the first centrifugal block, and driving the unloading manipulator to take out the centrifuged sample from the first centrifugal block;

[0019] The transfer robot is controlled to move to the second centrifugal block, and the second centrifugal block is transferred to the centrifuge to perform sample centrifugation.

[0020] The step of determining that the first centrifugal block has completed sample unloading and driving the first transport component to move to the loading position; and simultaneously determining that the second centrifugal block has completed sample centrifugation and driving the second transport component to move to the unloading position to unload the sample from the second centrifugal block includes:

[0021] Determine that the sample at the first centrifugal block is empty, control the first transfer component to operate, and drive the first centrifugal block to move to the loading position;

[0022] Determining that the second centrifugal block has completed centrifugation, and transporting the second centrifugal block back to the second transport component;

[0023] The second transfer component is controlled to operate, so as to drive the second centrifugal block to move to the unloading position, and the unloading robot is controlled to take out the centrifuged sample from the second centrifugal block.

[0024] Wherein, before the step of determining that the sample at the first centrifugal block is empty and controlling the first transfer component to operate and drive the first centrifugal block to move to the loading position, the method further includes:

[0025] Performing a sample in-situ detection on the first centrifugal block to obtain sample in-situ information at the first centrifugal block, wherein the sample in-situ information is used to indicate whether there is an un-unloaded sample in the first centrifugal block;

[0026] If there is an unloaded sample in the first centrifugal block, controlling the unloading manipulator to take out the unloaded sample;

[0027] If there is no unloaded sample in the first centrifugal block, the first transport component is controlled to move to the loading position.

[0028] Wherein, the loading position is provided with a first position detection member, and the first position detection member is used to monitor the position information of the first centrifugal block and the second centrifugal block at the loading position;

[0029] The centrifugal position is provided with a second position detection member, and the second position detection member is used to detect the position information of the first centrifugal block and the second centrifugal block at the centrifugal position;

[0030] The unloading position is provided with a third position detection member, and the third position detection member is used to detect the position information of the first centrifugal block and the second centrifugal block at the unloading position.

[0031] Wherein, the first centrifugal block is connected to the first transfer assembly via a first centrifugal block base, the second centrifugal block is connected to the second transfer assembly via a second centrifugal block base, and both the first centrifugal block base and the second centrifugal block base are provided with a centrifugal block in-place detection component.

[0032] Wherein, a barcode detection sensor is arranged between the unloading position and the loading position, and the barcode detection sensor is used to detect the centrifugal sample barcodes of the first centrifugal block and the second centrifugal block.

[0033] Correspondingly, the present invention further provides a centrifugal block transfer device, which is used to perform any one of the centrifugal block transfer methods described above, and the centrifugal block transfer device comprises a base, a first transfer component and a second transfer component, wherein the first transfer component and the second transfer component are arranged side by side on the base;

[0034] The first transport component is equipped with a plurality of first centrifugal block bases, each of which is provided with a first centrifugal block; the second transport component is equipped with a plurality of second centrifugal block bases, each of which is provided with a second centrifugal block; the first centrifugal block and the second centrifugal block are used to load samples to be centrifuged;

[0035] The machine base is formed with a loading position, a centrifugal position and an unloading position, the centrifugal position is located between the loading position and the unloading position, the first transfer component moves linearly between the loading position and the unloading position, the second transfer component moves linearly between the loading position and the unloading position, and the first transfer component and the second transfer component move in an offset manner.

[0036] It also includes a bracket and a plurality of limit baffles, the bracket is fixed at the unloading position, a plurality of limit baffles are installed on the bracket at intervals, the limit baffles extend in a direction perpendicular to the moving direction of the transfer component, the centrifugal block base is located between the limit baffles and the machine base, and the distance between any two adjacent limit baffles is less than or equal to the width of the centrifugal block.

[0037] The implementation of the present invention has the following beneficial effects:

[0038] During the transfer of the centrifugal blocks, the first centrifugal block is driven to move between the loading position, the centrifugal position and the unloading position by the first transfer component, and the second centrifugal block is driven to move between the loading position, the centrifugal position and the unloading position by the second transfer component, so that the transfer operation of the centrifugal blocks forms two transfer channels.

[0039] When the first centrifugal block is centrifuging the sample, the second centrifugal block is loading the sample; when the first centrifugal block completes sample centrifugation and uses the first transfer component to move to the unloading position for sample unloading, the second centrifugal block is moved to the centrifugal position driven by the second transfer component to centrifuge the sample; and when the first centrifugal block completes sample unloading and moves to the loading position, the second centrifugal block moves to the unloading position for centrifugation, that is, staggered transfer is formed between the two transfer channels.

[0040] Then, when one batch of samples has completed centrifugation and is transferred out of the centrifugal position through one of the transfer channels, another batch of samples can be transferred to the centrifugal position through another transfer channel for centrifugation, thereby reducing the situation where the centrifuge is in an idle waiting state, effectively avoiding the waste of centrifuge resources, improving the utilization rate of centrifuge equipment, and at the same time accelerating the sample centrifugation speed and improving the sample processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the three-dimensional structure of the centrifugal block transport device of the present invention;

[0042] Figure 2 It is a three-dimensional structural schematic diagram of the transfer assembly of the present invention;

[0043] Figure 3 It is a three-dimensional structural schematic diagram of the transmission group of the present invention;

[0044] Figure 4 It is a three-dimensional structural schematic diagram of the centrifugal block fixing assembly of the present invention;

[0045] Figure 5 It is a schematic diagram of the connection structure between the bracket and the limit baffle of the present invention;

[0046] Figure 6 It is a schematic diagram of the three-dimensional structure of the centrifugal block loading device of the present invention when the first centrifugal block is located at the loading position;

[0047] Figure 7 It is a schematic diagram of the three-dimensional structure of the centrifugal block loading device of the present invention when the first centrifugal block is located at the centrifugal position;

[0048] Figure 8 It is a schematic diagram of the three-dimensional structure of the centrifugal block loading device when the first centrifugal block of the present invention enters the centrifuge;

[0049] Fig. 9 It is a schematic diagram of the three-dimensional structure of the centrifugal block loading device of the present invention when the first centrifugal block returns to the centrifugal position;

[0050] Fig.10 It is a schematic diagram of the three-dimensional structure of the centrifugal block loading device of the present invention when the first centrifugal block is located at the unloading position;

[0051] Fig.11 It is a schematic diagram of the three-dimensional structure of the centrifugal block loading and unloading device after the sample in the first centrifugal block of the present invention is unloaded;

[0052] Fig.12 It is a schematic diagram of the three-dimensional structure of the centrifugal block transporting device when the first centrifugal block of the present invention is transported back to the loading position;

[0053] Fig.13 The utility model is a schematic flow diagram of the centrifugal block transporting method of the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby stated that the directional terms such as up, down, left, right, front, back, inside, outside, etc. that appear or will appear in the text of the present invention are only based on the accompanying drawings of the present invention, and are not specific limitations of the present invention.

[0055] The centrifugal block transport method provided by the present invention can effectively reduce the situation where the centrifuge is in an idle state waiting for material, thereby avoiding the waste of centrifuge resources, improving the utilization rate of the centrifuge equipment, and at the same time accelerating the sample centrifugation speed and improving the sample processing efficiency.

[0056] In a specific embodiment of the present invention, Figures 1 to 13 As shown, the centrifugal block transport method comprises the following steps:

[0057] Step 100 , loading the sample to be centrifuged into the first centrifugal block 28 located at the loading position 21 .

[0058] Step 200, drive the first transfer component 2, drive the first centrifugal block to move to the centrifugal position 22, so as to centrifuge the sample on the first centrifugal block; at the same time, determine that the second centrifugal block is located at the loading position 21, and load the sample to be centrifuged into the second centrifugal block.

[0059] Step 300, determine that the first centrifugal block has completed the sample centrifugation, drive the first transport component 2 to move to the unloading position 23 to unload the sample from the first centrifugal block; and simultaneously drive the second transport component 2 ， , driving the second centrifugal block to move to the centrifugal position 22 to centrifuge the sample on the second centrifugal block.

[0060] Step 400: Determine that the first centrifugal block has completed sample unloading, and drive the first transport component 2 to move to the loading position 21; at the same time, determine that the second centrifugal block has completed sample centrifugation, and drive the second transport component 2 ， Move to the unloading position 23 to unload the sample from the second centrifugal block.

[0061] Step 500, determine that the second centrifugal block has completed sample unloading, and drive the second transport component 2 ， Move to loading position 21.

[0062] It can be understood that, in the process of transporting the centrifugal blocks, the first centrifugal block is driven to move between the loading position 21, the centrifugal position 22 and the unloading position 23 by the first transport component 2, and at the same time, the second centrifugal block is driven to move between the loading position 21, the centrifugal position 22 and the unloading position 23 by the second transport component 2, so that the transport operation of the centrifugal blocks forms two transport channels.

[0063] When the first centrifugal block is performing sample centrifugation, the second centrifugal block is performing sample loading; when the first centrifugal block completes sample centrifugation and uses the first transport component 2 to move to the unloading position 23 for sample unloading, the second centrifugal block is placed in the second transport component 2 ， and when the first centrifugal block completes sample unloading and moves to the loading position 21, the second centrifugal block moves to the unloading position 23 for centrifugation, that is, a staggered transport is formed between the two transfer channels.

[0064] Then, when one batch of samples has completed centrifugation and has been transferred out of the centrifugal position 22 through one of the transfer channels, another batch of samples can be transferred to the centrifugal position 22 through another transfer channel for centrifugation, thereby reducing the situation where the centrifuge is in an idle waiting state, effectively avoiding the waste of centrifuge resources, improving the utilization rate of the centrifuge equipment, and at the same time accelerating the sample centrifugation speed and improving the sample processing efficiency.

[0065] In addition, when one of the transfer channels fails and cannot operate, another transfer channel can be used to continue transporting samples, thereby ensuring the continuity of sample transport.

[0066] It should be noted that the loading position 21 can be provided with a loading manipulator, so that the sample to be centrifuged can be loaded into the first centrifugal block or the second centrifugal block by the loading manipulator. Of course, the sample to be centrifuged can also be loaded into the first centrifugal block or the second centrifugal block manually, which can be selected according to the actual process.

[0067] It should also be noted that when the first centrifugal block moves back to the loading position 21, the first centrifugal block can be reloaded with the sample to be centrifuged, thereby ensuring that a transfer cycle can be formed between the two transfer channels to ensure the transfer efficiency of the sample to be centrifuged.

[0068] In this embodiment, Figures 1 to 3 As shown, the loading position 21 is provided with a first position detection member 211, and the first position detection member 211 is used to monitor the position information of the first centrifugal block and the second centrifugal block at the loading position 21; the centrifugal position 22 is provided with a second position detection member 221, and the second position detection member 221 is used to detect the position information of the first centrifugal block and the second centrifugal block at the centrifugal position 22; the unloading position 23 is provided with a third position detection member 231, and the third position detection member 231 is used to detect the position information of the first centrifugal block and the second centrifugal block at the unloading position 23. By installing position detection members at the loading position 21, the centrifugal position 22 and the unloading position 23 correspondingly, the relative positions between the centrifugal block base and the loading position 21, the centrifugal position 22 and the unloading position 23 can be monitored in real time, thereby increasing the positioning accuracy of the centrifugal sample being transferred between the loading position 21, the centrifugal position 22 and the unloading position 23.

[0069] Preferably, the first position detection member 211 , the second position detection member 221 and the second position detection member 221 are all infrared sensors.

[0070] In this embodiment, Figure 4 and Figure 6 As shown, the first centrifugal block is connected to the first transport component 2 through the first centrifugal block base 31, and the second centrifugal block is connected to the first transport component 2 through the second centrifugal block base 31. ， Connected to the second transport component 2 ， , the first centrifugal block base 31 and the second centrifugal block base 31 ， A centrifugal block in-place detection component 311 is provided to obtain the centrifugal block in-place information on the centrifugal block base by using the centrifugal block in-place detection component 311, so as to determine whether there is a centrifugal block on the centrifugal block base and whether the centrifugal block has completed centrifugation, thereby facilitating the control of the transfer component to move from the centrifugal position 22 to the unloading position 23.

[0071] Preferably, the centrifugal block in-place detection member 311 is a photoelectric sensor.

[0072] It should be noted that the first transport component 2 is connected to a plurality of first centrifugal block bases 31, and the second transport component 2 ， Connected with multiple second centrifugal block bases 31 ， , so that the first transport component 2 and the second transport component 2 ， A plurality of centrifugal blocks 28 can be transported simultaneously, thereby further improving the transport efficiency of the centrifugal blocks 28 .

[0073] Specifically, Figures 6 to 8 As shown, step 200 includes the following steps:

[0074] Step 210 , determining that the first centrifugal block has completed sample loading, controlling the first transfer component 2 to operate, and driving the first centrifugal block to move to the centrifugal position 22 .

[0075] When the centrifugal block in-place detection component 311 on the first centrifugal block base 31 detects that the first centrifugal block is loaded on the first centrifugal block base 31, the centrifugal block in-place detection component 311 drives the first transfer component 2 to operate, thereby driving the first centrifugal block to move from the loading position 21 to the centrifugal position 22, so that the first centrifugal block can perform sample centrifugation.

[0076] Step 220 , determining that the first centrifugal block leaves the loading position 21 , and loading the sample to be centrifuged onto the second centrifugal block located at the loading position 21 .

[0077] When the first position detection member 211 at the loading position 21 detects that the first centrifugal block leaves the loading position 21, the first position detection member 211 sends a signal to drive the loading robot of the loading position 21 to load the sample to be centrifuged into the second centrifugal block located at the loading position 21; or the first position detection member 211 sends a prompt signal so that the operator can manually load the sample into the second centrifugal block located at the loading position 21.

[0078] Step 230, control the transfer robot at the centrifugal position 22 to move to the first centrifugal block, and drive the transfer robot to transfer the first centrifugal block to the centrifuge for sample centrifugation.

[0079] When the second position detection component 221 at the centrifugal position 22 detects the first centrifugal block, the second position detection component 221 drives the transfer robot to move toward the first centrifugal block, and transfers the first centrifugal block from the first centrifugal block base 31 to the centrifuge through the transfer robot, so as to use the centrifuge to perform sample centrifugation on the first centrifugal block.

[0080] It can be understood that by real-time monitoring of the movement position of the centrifugal sample between the loading position 21 and the centrifugal position 22 through the position detection parts of the loading position 21 and the centrifugal position 22, and cooperating with the operation of the transfer component, the positioning accuracy of the sample transfer between the loading position 21 and the centrifugal position 22 can be effectively improved, and it can be ensured that when the first centrifugal block is centrifuging the sample, the second centrifugal block can load the sample, thereby shortening the sample transfer time.

[0081] Specifically, Figures 8 to 10 As shown, step 300 includes the following steps:

[0082] Step 310 , determining that the first centrifugal block has completed centrifugation, and driving the transfer robot to transfer the first centrifugal block back to the first transfer component 2 .

[0083] Step 320, control the first transfer component 2 to operate, drive the first centrifugal block to move to the unloading position 23; at the same time, determine that the second centrifugal block has completed loading, control the second transfer component 2 to operate, and drive the second centrifugal block to move to the centrifugal position 22.

[0084] When the first centrifugal block base 31 is located at the centrifugal position 22, if the centrifugal block in-place detection component 311 on the first centrifugal block base 31 detects that the first centrifugal block is reinstalled on the centrifugal block base, the centrifugal block in-place detection component 311 drives the first transfer component 2 to operate, so as to drive the first centrifugal block to move from the centrifugal position 22 to the unloading position 23. During this process, the position status of the first transfer component 2 can be monitored by the second position detection component 221 of the centrifugal position 22 and the third position detection component 231 of the unloading position 23.

[0085] When the second position detection member 221 detects that the first centrifugal block leaves the centrifugal position 22 and passes through the second centrifugal block base 31， The centrifugal block in-position detection member 311 detects the second centrifugal block base 31 ， When the second centrifugal block is loaded, the second transfer assembly 2 is driven ， The second centrifugal block is operated to move from the loading position 21 to the centrifugal position 22 so that the second centrifugal block can centrifuge the sample.

[0086] Step 330, control the unloading robot at the unloading position 23 to move to the first centrifugal block, and drive the unloading robot to take out the centrifuged sample from the first centrifugal block.

[0087] When the third position detection part 231 of the unloading position 23 detects that the first centrifugal block has arrived at the unloading position 23, the third position detection part 231 drives the unloading robot to move toward the first centrifugal block, and takes out the sample tube in the first centrifugal block through the unloading robot and transfers it to the next process, so that the first centrifugal block can be reloaded with a new batch of uncentrifuged samples to ensure the continuity of the transfer process.

[0088] Step 340, control the transfer robot to move to the second centrifugal block, and transfer the second centrifugal block to the centrifuge to perform sample centrifugation.

[0089] When the second position detection member 221 at the centrifugal position 22 detects the second centrifugal block, the second position detection member 221 drives the transfer robot to move toward the second centrifugal block, and the transfer robot moves the second centrifugal block from the second centrifugal block base 31 ， The sample is transferred to a centrifuge to be centrifuged on a second centrifugal block.

[0090] In this embodiment, the first transport component 2 and the second transport component 2 are controlled by the centrifugal block in-position detection component 311, the second position detection component 221 and the third position detection component 231. ， The movement of the first centrifugal block ensures that the second centrifugal block can centrifuge the sample while the first centrifugal block is unloading the sample, so as to ensure the efficiency of sample processing.

[0091] Specifically, Figures 10 to 12 As shown, step 400 includes the following steps:

[0092] Step 410, determine that the sample at the first centrifugal block is empty, control the first transfer component 2 to operate, and drive the first centrifugal block to move to the loading position 21, so that the first centrifugal block can be reloaded with the sample to be centrifuged.

[0093] Step 420, determine that the second centrifugal block has completed centrifugation, and transport the second centrifugal block back to the second transport component 2 ， .

[0094] Step 430, control the second transport component 2 ，The centrifugal machine is operated to drive the second centrifugal block to move to the unloading position 23, and the unloading manipulator is controlled to take out the centrifuged sample from the second centrifugal block.

[0095] Through the second centrifugal block base 31 ， The centrifugal block in-place detection member 311 controls the second transport component 2 ， The unloading manipulator is driven to operate to move the second centrifugal block to the unloading position 23. Then, the unloading manipulator is driven to operate by the third position detection member 231 of the unloading position 23 to take out the sample test tube in the second centrifugal block.

[0096] In this embodiment, the first transport component 2 and the second transport component 2 ， The movement of the first centrifugal block 28 makes the first centrifugal block 28 return to the loading position 21, while the second centrifugal block 28 is unloaded to ensure the continuity of the subsequent processing of the centrifugal sample, thereby ensuring the transfer cycle between the two transfer channels.

[0097] In the embodiment of the present invention, during the transportation process, the sample barcode is prone to wrinkling or sticking multiple layers and appearing abnormal. When the unloading robot unloads the sample, it is easy to miss the sample with the abnormal barcode. To ensure that the sample in the centrifugal block 28 is completely emptied, as shown in FIG. Figures 1 to 3 As shown, a barcode detection sensor 11 is provided between the unloading position 23 and the loading position 21, and the barcode detection sensor 11 is used to detect the centrifugal sample barcodes of the first centrifugal block and the second centrifugal block. Then when the centrifugal block base completes sample unloading and needs to return to the loading position 21, the centrifugal sample barcode can be detected by the barcode detection sensor 11, and the centrifugal block 28 on the centrifugal block base is detected and judged whether there is an unloaded sample, so as to ensure that the sample can be subjected to subsequent processes after centrifugation, and to ensure the timeliness of the inspection of the sample. Preferably, the barcode detection sensor is arranged between the unloading position 23 and the centrifugal position 22, so as to quickly judge whether there is an unloaded sample on the centrifugal block base that has completed unloading, and to reduce the transportation time.

[0098] Furthermore, before step 410, the following steps are also included:

[0099] Step 401 , performing sample in-situ detection on the first centrifugal block to obtain sample in-situ information at the first centrifugal block, wherein the sample in-situ information is used to indicate whether there is an un-unloaded sample in the first centrifugal block.

[0100] Step 402: If there is unloaded sample in the first centrifugal block, control the unloading robot to take out the unloaded sample.

[0101] Step 403 , if there is no unloaded sample in the first centrifugal block, control the first transport component 2 to move to the loading position 21 .

[0102] Specifically, when the unloading robot completes the sample unloading operation, the first transfer component 2 drives the first centrifugal block to move to the position of the barcode detection sensor 11, so as to use the barcode detection sensor 11 to detect and judge whether there is an abnormal barcode on the centrifugal block 28, thereby confirming whether there is any ununloaded sample in the first centrifugal block.

[0103] When the barcode detection sensor 11 detects an abnormal barcode on the first centrifugal block, that is, there is an ununloaded sample in the first centrifugal block, the barcode detection sensor 11 marks the position of the ununloaded sample, and drives the first centrifugal block to move to the unloading position 23 through the first transfer component 2, and enables the unloading robot to unload the sample at the corresponding position to remove the ununloaded sample from the first centrifugal block.

[0104] When the barcode detection sensor 11 does not detect an abnormal barcode in the first centrifugal block, it indicates that there is no unloaded sample in the first centrifugal block. At this time, the first centrifugal block can be driven by the first transfer component 2 to move to the loading position 21 for reloading the sample to be centrifuged.

[0105] The barcode detection sensor 11 can ensure that the first centrifugal block can be completely emptied, thereby ensuring the timeliness of sample inspection and ensuring that the samples reloaded into the first centrifugal block 28 are all samples to be centrifuged, thereby further ensuring sample transportation efficiency.

[0106] It should be noted here that whether there is an unloaded sample on the second centrifugal block can also be detected by the barcode detection sensor 11, and its detection and judgment process is consistent with the process of whether there is an unloaded sample on the first centrifugal block, which will not be repeated here.

[0107] The present invention also provides a centrifugal block transport device, wherein the centrifugal block transport device is used to perform the centrifugal block transport method described in any one of the above embodiments, such as Figures 1 to 5 As shown, the centrifugal block transfer device includes a base 1, a first transfer component 2 and a second transfer component 2 ， , first transfer component 2, second transfer component 2 ， Arranged in parallel on the base 1.

[0108] The first transfer assembly 2 is equipped with a plurality of first centrifugal block bases 31, each of which is provided with a first centrifugal block 28. ， A plurality of second centrifugal block bases 31 are installed ， Each second centrifugal block base 31 ， A second centrifugal block 28 is provided, and the first centrifugal block 28 and the second centrifugal block 28 are used to load the sample to be centrifuged.

[0109] The base 1 is formed with a loading position 21, a centrifugal position 22 and an unloading position 23. The centrifugal position 22 is located between the loading position 21 and the unloading position 23. The first transfer component 2 moves linearly between the loading position 21 and the unloading position 23. The second transfer component 2 ， The first transfer component 2 and the second transfer component 2 move linearly between the loading position 21 and the unloading position 23. ， Dislocation movement.

[0110] The centrifugal block transfer device provided by the present invention drives a plurality of first centrifugal block bases 31 to move between a loading position 21, a centrifugal position 22 and an unloading position 23 through a first transfer component 2, and a second transfer component 2 ， Drive multiple second centrifugal block bases 31 ， By moving between the loading position 21, the centrifugal position 22 and the unloading position 23, the centrifugal block transport device can simultaneously transport at least two centrifugal blocks 28 during the movement between the loading position 21 and the unloading position 23, thereby effectively improving the transport efficiency of the centrifugal block transport device for the centrifugal blocks 28, thereby effectively reducing the working time of the centrifugal block 28 transport and improving the sample processing efficiency.

[0111] Specifically, when the first transport component 2 is transported from the centrifugal position 22 to the unloading position 23, the second transport component 2 ， The sample is loaded synchronously; when the first transport component 2 is unloading the sample, the second transport component 2 ， Carrying another batch of samples from the loading position 21 to the centrifugal position 22, so that the other batch of samples are centrifuged at the centrifugal position 22; when the first transport component 2 is transported from the unloading position 23 to the loading position 21, the second transport component 2 ， Synchronously move from the centrifugal position 22 to the unloading position 23 so that the first transfer component 2 and the second transfer component 2 ， Misaligned movement between.

[0112] By moving the two sets of transport components in a staggered manner, a batch of samples in the first transport component 2 can be unloaded while the second transport component 2 is used to transport the samples. ， Another batch of samples is transported to the centrifugal position 22 for centrifugation, thereby forming a staggered transport between the two groups of transport components, so that one batch of samples can be unloaded and the other batch of samples can be centrifuged simultaneously, effectively increasing the sample centrifugal throughput and further improving the sample processing efficiency.

[0113] In addition, when one of the transport components fails and cannot operate, another transport component can be used to continue transporting samples, thereby ensuring the continuity of sample transportation.

[0114] Specifically, Figure 2 and Figure 3 As shown, the first transport component 2 and the second transport component 2 ，The structure of the transfer assembly includes a driving member 24, a transmission group 25 and a connecting plate 26. The driving member 24 is arranged on the machine base 1, and the driving shaft of the driving member 24 is rotatably connected with the transmission group 25. The transmission group 25 is suitable for moving from the loading position 21 to the unloading position 23, or from the unloading position 23 to the loading position 21. The connecting plate 26 is arranged on the transmission group 25, and the centrifugal block base is connected to the connecting plate 26, so that the transmission group 25 is driven by the driving member 24 to move between the loading position 21 and the unloading position 23, and the connecting plate 26 is driven to move, so as to realize the movement of the centrifugal block base between the loading position 21 and the unloading position 23, and complete the transfer of the centrifugal block 28.

[0115] Among them, Figure 3 As shown, the driving member 24 is preferably a driving motor, and the transmission group 25 can be a pulley group, which includes a main transmission wheel 251, a slave transmission wheel 252 and a transmission belt 253. The main transmission wheel 251 is connected to the driving shaft of the driving motor, and the main transmission wheel 251, the slave transmission wheel 252 and the transmission belt 253 are matched and connected. The upper part of the transmission belt 253 is provided with a mounting block, and the mounting block is a square structure. The connecting plate 26 is connected to the mounting block by bolts, so that when the transmission belt 253 is running, it can drive the connecting plate 26 to move, thereby driving the centrifugal block 28 on the centrifugal block base to move between the loading position 21 and the unloading position 23.

[0116] Furthermore, in order to improve the stability of the centrifugal block base moving between the loading position 21 and the unloading position 23, as Figure 2 and Figure 3 As shown, the transfer assembly also includes two linear slide rails 27, which are arranged on the machine base 1, and the two linear slide rails 27 are respectively located on both sides of the transmission group 25, and the connecting plate 26 is slidably connected to the linear slide rails 27 through a slider, so as to utilize the high running precision of the linear slide rails 27, so that the connecting plate 26 and the centrifugal block base above it can maintain accurate position and direction during the movement, and the two linear slide rails 27 are used to maintain the balance of the connecting plate 26 and the centrifugal block base above it during the movement, thereby reducing the vibration or other movement instability problems of the centrifugal block base during the movement, thereby improving the movement stability of the centrifugal block base.

[0117] In an embodiment of the present invention, Figure 1 and Figure 5 As shown, the centrifugal block transfer device also includes a bracket 41 and a plurality of limit baffles 42. The bracket 41 is fixed to the unloading position 23. The plurality of limit baffles 42 are installed at intervals on the bracket 41. The limit baffles 42 extend in a direction perpendicular to the moving direction of the transfer component. The base of the centrifugal block 28 is located between the limit baffles 42 and the base 1, and the distance between any two adjacent limit baffles 42 is less than or equal to the width of the centrifugal block 28.

[0118] It can be understood that, since the base of the centrifugal block 28 is located between the limit baffle 42 and the base 1, and the distance between two adjacent limit baffles 42 is less than or equal to the width of the centrifugal block 28, when the base of the centrifugal block 28 moves to the unloading position 23 for sample unloading, the centrifugal block 28 can be limited between the limit baffle 42 and the base 1 by the limit baffle 42, thereby preventing the centrifugal block 28 from detaching from the base of the centrifugal block 28 during unloading, thereby effectively improving the safety of sample unloading.

[0119] Among them, Figure 5 As shown, the bracket 41 includes a fixed support 411 and a plurality of support rods 412, the first ends of the plurality of support rods 412 are vertically spaced apart and arranged at the unloading position 23, the fixed support 411 is installed on the second end of the support rod 412, the limiting baffle 42 is installed on the fixed support 411, and the height of the support rod 412 is greater than the height of the centrifugal block 28 and the base of the centrifugal block 28 to ensure that the limiting baffle 42 is located above the centrifugal block 28, thereby ensuring the limiting effect of the limiting baffle 42 on the centrifugal block 28.

[0120] It should be noted here that the first end of the support rod 412 is detachably connected to the unloading position 23 of the machine base 1 by bolts, the fixed support 411 is detachably connected to the second end of the support rod 412 by bolts, and the limit baffle 42 is detachably connected to the fixed support 411.

[0121] Furthermore, the support rod 412 can be a telescopic rod. When centrifugal blocks 28 of different specifications are fixed on the base of the centrifugal block 28, the height of the limit baffle 42 and the fixed support 411 can be adjusted by adjusting the height of the support rod 412, so that the limit baffle 42 can adapt to the height of centrifugal blocks 28 of different specifications, ensuring the limiting effect of the limit baffle 42 while avoiding the limit baffle 42 from occupying too much space, thereby improving the space utilization of the limit baffle 42.

[0122] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A centrifugal block transport method, characterized in that: The centrifugal block transport method comprises: Loading the sample to be centrifuged into the first centrifugal block located at the loading position; The first transfer assembly is driven to move the first centrifugal block to the centrifugal position to centrifuge the sample on the first centrifugal block; meanwhile, the second centrifugal block is determined to be located at the loading position, and the sample to be centrifuged is loaded onto the second centrifugal block; Determining that the first centrifugal block has completed sample centrifugation, driving the first transfer component to move to the unloading position to unload the sample from the first centrifugal block; and simultaneously driving the second transfer component to drive the second centrifugal block to move to the centrifugal position to centrifuge the sample from the second centrifugal block; Determine that the first centrifugal block has completed sample unloading, and drive the first transport component to move to the loading position; simultaneously determine that the second centrifugal block has completed sample centrifugation, and drive the second transport component to move to the unloading position to unload the sample from the second centrifugal block; Determine that the second centrifugal block completes sample unloading, and drive the second transport component to move to the loading position.

2. The centrifugal block transport method according to claim 1, characterized in that: The step of driving the first transfer component to move the first centrifugal block to the centrifugal position to centrifuge the sample on the first centrifugal block; and simultaneously determining that the second centrifugal block is located at the loading position and loading the sample to be centrifuged onto the second centrifugal block comprises: Determining that the first centrifugal block has completed sample loading, controlling the first transport component to operate, and driving the first centrifugal block to move to the centrifugal position; Determining that the first centrifugal block leaves the loading position, and loading the sample to be centrifuged onto the second centrifugal block located at the loading position; The transfer robot at the centrifugal position is controlled to move to the first centrifugal block, and the transfer robot is driven to transfer the first centrifugal block to the centrifuge for sample centrifugation.

3. The centrifugal block transport method according to claim 2, characterized in that: The step of determining that the first centrifugal block has completed sample centrifugation, driving the first transfer component to move to the unloading position to unload the sample from the first centrifugal block; and driving the second transfer component to move the second centrifugal block to the centrifugal position to centrifuge the sample from the second centrifugal block comprises: Determining that the first centrifugal block has completed centrifugation, and driving the transfer robot to transfer the first centrifugal block back to the first transfer component; Controlling the first transfer component to operate, driving the first centrifugal block to move to the unloading position; at the same time, determining that the second centrifugal block has completed loading, controlling the second transfer component to operate, driving the second centrifugal block to move to the centrifugal position; Controlling the unloading manipulator at the unloading position to move to the first centrifugal block, and driving the unloading manipulator to take out the centrifuged sample from the first centrifugal block; The transfer robot is controlled to move to the second centrifugal block, and the second centrifugal block is transferred to the centrifuge to perform sample centrifugation.

4. The centrifugal block transport method according to claim 3, characterized in that: The step of determining that the first centrifugal block has completed sample unloading and driving the first transport component to move to the loading position; and simultaneously determining that the second centrifugal block has completed sample centrifugation and driving the second transport component to move to the unloading position to unload the sample from the second centrifugal block comprises: Determine that the sample at the first centrifugal block is empty, control the first transfer component to operate, and drive the first centrifugal block to move to the loading position; Determining that the second centrifugal block has completed centrifugation, and transporting the second centrifugal block back to the second transport component; The second transfer component is controlled to operate, so as to drive the second centrifugal block to move to the unloading position, and the unloading robot is controlled to take out the centrifuged sample from the second centrifugal block.

5. The centrifugal block transport method according to claim 4, characterized in that: Before the step of determining that the sample at the first centrifugal block is empty and controlling the first transport component to operate and drive the first centrifugal block to move to the loading position, the method further includes: Performing a sample in-situ detection on the first centrifugal block to obtain sample in-situ information at the first centrifugal block, wherein the sample in-situ information is used to indicate whether there is an un-unloaded sample in the first centrifugal block; If there is an unloaded sample in the first centrifugal block, controlling the unloading manipulator to take out the unloaded sample; If there is no unloaded sample in the first centrifugal block, the first transport component is controlled to move to the loading position.

6. The centrifugal block transport method according to any one of claims 1 to 5, characterized in that: The loading position is provided with a first position detection member, and the first position detection member is used to monitor the position information of the first centrifugal block and the second centrifugal block at the loading position; The centrifugal position is provided with a second position detection member, and the second position detection member is used to detect the position information of the first centrifugal block and the second centrifugal block at the centrifugal position; The unloading position is provided with a third position detection member, and the third position detection member is used to detect the position information of the first centrifugal block and the second centrifugal block at the unloading position.

7. The centrifugal block transport method according to any one of claims 1 to 5, characterized in that: The first centrifugal block is connected to the first transfer assembly via a first centrifugal block base, the second centrifugal block is connected to the second transfer assembly via a second centrifugal block base, and both the first centrifugal block base and the second centrifugal block base are provided with a centrifugal block in-situ detection component.

8. The centrifugal block transport method according to any one of claims 1 to 5, characterized in that: A barcode detection sensor is arranged between the unloading position and the loading position, and the barcode detection sensor is used to detect the centrifugal sample barcodes of the first centrifugal block and the second centrifugal block.

9. A centrifugal block transport device, characterized in that: The centrifugal block transfer device is used to perform the centrifugal block transfer method according to any one of claims 1 to 8, and the centrifugal block transfer device comprises a base, a first transfer component and a second transfer component, wherein the first transfer component and the second transfer component are arranged side by side on the base; The first transport component is equipped with a plurality of first centrifugal block bases, each of which is provided with a first centrifugal block; the second transport component is equipped with a plurality of second centrifugal block bases, each of which is provided with a second centrifugal block; the first centrifugal block and the second centrifugal block are used to load samples to be centrifuged; The machine base is formed with a loading position, a centrifugal position and an unloading position, the centrifugal position is located between the loading position and the unloading position, the first transfer component moves linearly between the loading position and the unloading position, the second transfer component moves linearly between the loading position and the unloading position, and the first transfer component and the second transfer component move in an offset manner.

10. The centrifugal block transport device according to claim 9, characterized in that: It also includes a bracket and a plurality of limit baffles, wherein the bracket is fixed at the unloading position, and a plurality of limit baffles are installed on the bracket at intervals, and the limit baffles extend in a direction perpendicular to the moving direction of the transfer component, and the centrifugal block base is located between the limit baffles and the machine base, and the distance between any two adjacent limit baffles is less than or equal to the width of the centrifugal block.

Images