Cup sorting device and sample analysis equipment

Abstract

The invention discloses a cup arranging device and sample analysis equipment, and relates to the technical field of medical instruments. The cup arranging device comprises a base shell used for storing reaction cups, and the base shell is provided with a cup outlet; the cup selecting turntable is positioned in the base shell and is used for transferring the reaction cups; the driving device is connected with the cup selecting rotating disc, the driving device drives the cup selecting rotating disc to rotate, and when the cup selecting rotating disc rotates forwards, the reaction cups are output from the cup outlet; the first detector is used for detecting the rotating state of the cup selecting turntable; the control system is respectively connected with the first detector and the driving device, and the control system is used for controlling the cup selecting turntable to reversely rotate by a first angle when determining that the cup selecting turntable is in a cup clamping state according to a detection result of the first detector. The cup arranging device can recognize whether the cup selecting rotary disc is in a cup clamping state or not and rotates reversely when the cup selecting rotary disc is in the cup clamping state so as to solve the cup clamping fault.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a cup unscrambling device and a sample analysis device. Background Art

[0002] The sample analysis device needs to use reaction cups when performing project testing. The reaction cups are transported to the target positions inside the sample analysis device in an orderly manner through the cup sorting device to support the project testing.

[0003] Since the reaction cups need to be transported in an orderly arrangement from disordered to orderly, the cup sorting device is prone to cup jamming during the process of transporting the reaction cups. The current cup sorting device does not have the function of identifying cup jamming failures, and cannot respond to solve the cup jamming failures in time after they occur. The cup jamming failures can only be handled manually, which increases labor costs and reduces the working efficiency of the cup sorting device. Summary of the invention

[0004] The present application provides a cup sorting device and a sample analysis device. The cup sorting device can identify whether a cup selection turntable is in a cup jamming state, and reverse when the cup selection turntable is in the cup jamming state to solve the cup jamming fault.

[0005] In a first aspect, the present application provides a cup sorting device, comprising: a base shell for storing reaction cups, the base shell being provided with a cup outlet; a cup selection turntable located in the base shell and being used to transport the reaction cups; a driving device connected to the cup selection turntable, the driving device driving the cup selection turntable to rotate, and causing the reaction cups to be output from the cup outlet when the cup selection turntable rotates forward; a first detector for detecting the rotation state of the cup selection turntable; and a control system respectively connected to the first detector and the driving device, the control system being used to control the cup selection turntable to reverse by a first angle when it is determined that the cup selection turntable is in a cup stuck state according to the detection result of the first detector.

[0006] The cup unscrambling device provided in the present application can detect the rotation state of the cup selection turntable, and can determine whether the cup selection turntable is in a cup-stuck state. When the cup selection turntable is in a cup-stuck state, the control system controls the driving device to reverse, and the driving device drives the cup selection turntable to reverse a first angle. By reversing the first angle, the cup selection turntable can cause the reaction cup to be subjected to a force in the opposite direction, which can help loosen the reaction cup, thereby releasing the cup-stuck state of the cup selection turntable and avoiding the situation in which the cup selection turntable is stuck by the reaction cup due to the forward rotation of the cup selection turntable. The cup unscrambling device provided in the present application introduces an automated fault detection and processing mechanism, which can identify the cup-stuck state of the cup selection turntable, and reverse when the cup selection turntable is stuck to solve the cup-stuck fault, which can significantly reduce labor costs and improve the intelligence level and work efficiency of the cup unscrambling device.

[0007] In a possible implementation, the control system is used to control the cup selection turntable to rotate forward after the cup selection turntable reverses the first angle, and control the cup selection turntable to reverse the second angle when it is determined that the cup selection turntable is in the cup jamming state again after the cup selection turntable rotates forward for a first preset time, and the second angle is greater than the first angle. The cup selection turntable can cause the reaction cup to be subjected to a greater force in the opposite direction by reversing the second angle, and by applying a greater force to the reaction cup from the opposite direction, the reaction cup can be further loosened, thereby helping to further release the cup jamming state of the cup selection turntable, so that the cup selection turntable can normally transport the reaction cup.

[0008] In a possible implementation, the control system is used to control the cup selection turntable to rotate forward after the cup selection turntable reverses the second angle, and control the alarm to sound an alarm when it is determined that the cup selection turntable is still in a cup jam state after the cup selection turntable rotates forward for a second preset time. The control system controls the alarm to sound an alarm to remind the operator that there is a cup jam fault in the cup sorting device, and the cup sorting device cannot solve the cup jam fault by itself, and manual solution measures are required.

[0009] In a possible implementation, the control system is used to determine that the cup selection turntable is in a cup stuck state when the angle difference between the target position of the cup selection turntable and the current position of the cup selection turntable is greater than a first threshold angle. Whether the cup selection turntable is in a cup stuck state can be determined by comparing the angle difference between the target position and the current position of the cup selection turntable with the first threshold angle.

[0010] In a possible implementation, the first preset time length is the ratio of the sum of the first threshold angle and the first angle to a preset speed. By determining the first preset time length, the control system can judge different cup jamming states of the cup selection turntable, so that the control system can control the cup selection turntable.

[0011] In a possible implementation, the second preset time length is the ratio of the sum of the first threshold angle and the second angle to the preset speed. By determining the second preset time length, the control system can judge different cup jamming states of the cup selection turntable, so that the control system can control the cup selection turntable.

[0012] In a possible implementation, the control system is used to reset the cup jamming times data when the cup selection turntable is at the zero position, and the control system also controls the first detector to re-detect the rotation state of the cup selection turntable, and judges whether the cup selection turntable is in the cup jamming state for the first time according to the detection result of the first detector. When the cup selection turntable rotates forward from the zero position and returns to the zero position again, a detection cycle of the first detector ends, and the control system resets the detection result of the first detector in this detection cycle, and the next detection cycle starts, and the first detector continues to detect the rotation state of the cup selection turntable. When the cup selection turntable jams the cup for the first time, the control system controls the cup selection turntable to reverse the first angle. This cycle is repeated to identify and process the cup jamming state of the cup selection turntable. Setting the zero position can effectively ensure that the data of each detection cycle is independent, and the rotation state of the cup selection turntable in a detection cycle is more correlated, so that the control system can improve the accuracy and reliability of the recognition and processing of the cup jamming state.

[0013] In a possible implementation, the base shell has a receiving cavity, the receiving cavity is used to receive the reaction cup, the cup selection turntable is located in the receiving cavity, a material trough is provided on the cup selection turntable, the cup selection turntable is used to allow the reaction cup to enter the material trough when the cup selection turntable rotates forward, the material trough includes a straight line segment and an arc segment, the straight line segment has a discharge end at one end away from the arc segment, when the discharge end is connected with the cup outlet, the reaction cup in the material trough is output to the outside of the base shell through the cup outlet. When the discharge end is connected with the cup outlet, the straight line segment is inclined and inclined toward the cup outlet. The reaction cup in the material trough can slide out of the material trough under the action of gravity, and then be output to the outside of the base shell through the cup outlet. The straight line segment is connected to the arc segment at one end away from the discharge end, and the arc segment can provide a smooth transition for the reaction cup, thereby reducing the damage to the reaction cup caused by impact during the rotation of the cup selection turntable.

[0014] In a possible implementation, the cup unscrambling device includes a second detector, and the second detector is used to detect the relative rotational position between the discharge end and the base shell; the control system is connected to the second detector, and the control system is used to control the cup selection turntable to stop rotating after the second detector detects that the discharge end is located at a predetermined positioning position, so that the discharge end is connected to the cup outlet to reach the zero position. Under this design, it can be ensured that the material trough is accurately connected to the cup outlet, so that the reaction cup can enter the cup outlet more smoothly from the material trough, reduce the risk of cup jamming, and improve the transmission efficiency. In addition, it can be understood that when the discharge end is connected to the cup outlet, the position of the discharge end is the same as the zero position. Only one second detector can ensure that the discharge end is accurately connected to the cup outlet, and detect whether the cup selection turntable is in the zero position, thereby reducing the setting of detectors and simplifying the cup unscrambling device.

[0015] In a possible implementation, the cup sorting device includes a connecting shaft, the connecting shaft is connected to the driving device, the first detector includes a first code disk and a first optical coupler, the cup selection turntable and the first code disk are respectively fixedly connected to the connecting shaft, the cup selection turntable and the first code disk are coaxially arranged along the axial direction of the connecting shaft, the cup selection turntable is used to drive the first code disk to rotate, and the first optical coupler is connected to the base shell. The first optical coupler is fixed, and when the first code disk rotates, the light-transmitting and light-impermeable areas of the first code disk alternately pass through the first optical coupler, triggering the first optical coupler to generate a pulse signal. The first optical coupler calculates the actual rotation angle of the cup selection turntable based on the pulse signal and determines the actual rotation position of the cup selection turntable.

[0016] In a possible implementation, the cup sorting device includes a conveying track, a third detector and a material dividing device, the feed end of the conveying track is connected to the cup outlet, and the material dividing device is connected to the discharge end of the conveying track for transferring the reaction cups at the discharge end; a first detection position is provided on the conveying track, the first detection position is close to the feed end of the conveying track and is spaced from the feed end; the third detector is used to detect whether there is the reaction cup at the first detection position; the control system is used to control the cup selection turntable to stop rotating when the third detector detects that there is the reaction cup at the first detection position, and control the cup selection turntable to rotate forward when the third detector detects that there is no reaction cup at the first detection position. When the third detector detects that the reaction cups in the conveying track are full or about to be full, the control system suspends the operation of the cup selection turntable until the conveying track has enough space to accommodate more reaction cups. In this way, the entire cup sorting device can be ensured to run smoothly and avoid failures or damage caused by cup jamming. When the third detector detects that there is no reaction cup at the first detection position, it means that the conveying track is not full of reaction cups and there is still space to accommodate reaction cups in the conveying track. At this time, the control system has stopped rotating and controls the driving device to rotate forward, thereby driving the cup selection turntable to rotate forward. The rotating cup selection turntable continues to transport the reaction cup to the conveying track and replenish the reaction cup in the conveying track.

[0017] In a possible implementation, the cup sorting device further includes a fourth detector, a second detection position is provided on the conveying track, the second detection position is close to the discharge end of the conveying track and is spaced apart from the discharge end; the fourth detector is used to detect whether there is the reaction cup at the second detection position; the control system is used to control the material distribution device to stop transporting the reaction cup at the discharge end when the fourth detector detects that there is no reaction cup at the second detection position. When the control system detects that there is no reaction cup at the second detection position when the fourth detector detects that there is no reaction cup, the sample analysis device does not continue to apply to the cup sorting device for sample analysis, so as to avoid the situation where the sample analysis device terminates the test due to insufficient number of reaction cups after starting a set of analysis tests.

[0018] In a possible implementation, the cup sorting device includes a first material bin and a second material bin, the second material bin is fixedly connected to the base shell, the first material bin is located on the side of the second material bin away from the base shell, the interior of the first material bin is connected to the interior of the second material bin, the first material bin includes a first inclined surface, the second material bin includes a second inclined surface, the plane where the first inclined surface is located intersects with the plane where the second inclined surface is located, and the shortest distance between the first inclined surface and the shortest edge of the second inclined surface and the second inclined surface is greater than 30 mm. When the reaction cup reaches the end of the first inclined surface, the shortest distance between the first inclined surface and the second inclined surface is greater than 30 mm, which can ensure that the reaction cup will not accumulate when sliding from the first inclined surface to the second inclined surface. Each reaction cup has enough space to pass through, and the reaction cup can smoothly transition from the first inclined surface to the second inclined surface, reducing the risk of cup jamming.

[0019] In a possible implementation, the outlet of the second material bin is communicated with the cup inlet of the base shell, and the cup inlet is located on a side of the base shell away from the driving device, thereby reducing the overall height of the cup unscrambling device.

[0020] In a possible implementation, the angle between the first inclined surface and the first direction is greater than or equal to 10 degrees, and the first direction is parallel to the axial direction of the connecting shaft. A larger inclination angle makes it easier for the reaction cup to slide down along the first inclined surface, which helps prevent the reaction cup from piling up on the first inclined surface, reduces the time it stays on the first inclined surface, and reduces the risk of cup jamming.

[0021] In a possible implementation, the outlet of the first silo is connected to the inlet of the second silo, and the minimum distance between any two opposite sides of the inlet of the second silo is between 80 mm and 110 mm. Generally, the width of an adult's palm is approximately no more than 110 mm, and the minimum distance between any two opposite sides of the inlet of the second silo is between 80 mm and 110 mm, which can ensure that the operator's hand can easily reach into the second silo. When the reaction cup in the second silo needs to be emptied, the operator's hand can directly reach into the second silo and manually take out the reaction cup in the second silo.

[0022] In a possible implementation, the second material bin includes a side wall, a vibration mechanism is disposed on the side wall, the vibration mechanism is located on the side of the side wall away from the inside of the second material bin, the vibration mechanism is used to drive the side wall to vibrate, and the side of the side wall facing the inside of the second material bin is the second inclined surface. The vibration generated by the vibration mechanism can be transmitted to the reaction cups accumulated on the second inclined surface through the second inclined surface, and the accumulation state of the reaction cups is changed by the vibration, destroying the state that causes the reaction cups to accumulate on the second inclined surface, so that the reaction cups can fall smoothly into the base shell.

[0023] In a second aspect, the present application provides a sample analysis device, comprising an analysis device and a cup unscrambling device as described in any implementation of the first aspect, wherein the cup unscrambling device is used to transport the reaction cup to the analysis device.

[0024] The sample analysis equipment provided in the present application includes a cup sorting device, which can provide reaction cups for the analysis device. The cup sorting device has a solution for identifying cup jamming failures and automatically resolving cup jamming failures. When a cup selection turntable is stuck, the cup sorting device can be reversed to resolve the cup jamming failure. This improves the automation level of the sample analysis equipment and reduces the time for manually handling cup jamming failures. The sample analysis equipment can process more samples per unit time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of a cup sorting device provided in an embodiment of the present application;

[0026] Figure 2 It is a partial structural schematic diagram of a cup sorting device provided in an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of the structural relationship between the base shell, the driving device and the first detector provided in an embodiment of the present application;

[0028] Figure 4 It is a schematic diagram of the structure of the base shell and the cup selection turntable provided in the embodiment of the present application;

[0029] Figure 5 yes Figure 2 The enlarged view of point A in the middle;

[0030] Figure 6 is a schematic diagram of the relationship between the discharge end and the predetermined positioning position in the embodiment of the present application;

[0031] Figure 7 It is a schematic diagram of the structure of the conveying track provided in the embodiment of the present application;

[0032] Figure 8 It is a schematic diagram of the positional relationship between the conveying track and the reaction cup provided in the embodiment of the present application;

[0033] Fig. 9 This is a schematic diagram of the structure of the material distribution device provided in the embodiment of the present application.

[0034] Fig.10 It is a schematic diagram of the structure of the first silo and the second silo provided in the embodiment of the present application;

[0035] Fig.11 This is a schematic structural diagram of the first silo and the second silo from another perspective provided in an embodiment of the present application;

[0036] Fig.12 is a schematic diagram of the positional relationship between the first inclined plane and the second inclined plane provided in an embodiment of the present application;

[0037] Fig.13 It is a schematic diagram of the structure of the second silo provided in the embodiment of the present application;

[0038] Fig.14 It is a schematic diagram of the relationship between the control system provided in the implementation mode of the present application and other structures. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0040] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0041] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0042] The word "if" as used herein may be interpreted as "when" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when determining" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0043] It should be understood that the terms “first”, “second”, etc. used in the present application are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0044] In the description of the present application, the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are intended to facilitate the description of the present application and simplify the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0045] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a conflicting connection or an integrated connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0046] The present application provides a cup unscrambling device 100, which can be applied to a sample analysis device to provide the sample analysis device with a reaction cup 200 required for sample analysis and testing. Figure 1 , Figure 2 , Figure 3 and Fig.14As shown, the cup sorting device 100 includes a base shell 110, a cup selection turntable 120, a driving device 130, a first detector 140 and a control system 300. The base shell 110 is used to store the reaction cup 200. The base shell 110 may be provided with a cup inlet 111 and a cup outlet 112. The reaction cup 200 enters the base shell 110 from the cup inlet 111, and then is transported to the cup outlet 112 by the cup selection turntable 120 and output from the cup outlet 112. The cup selection turntable 120 is located in the base shell 110, and the cup selection turntable 120 may be connected to the driving device 130, and the driving device 130 can drive the cup selection turntable 120 to rotate relative to the base shell 110 in the base shell 110. The cup selection turntable 120 rotates in the base shell 110 to select the reaction cups 200 in the base shell 110 into the cup selection turntable 120 , and as the cup selection turntable 120 rotates forward, the reaction cups 200 are transported to the cup outlet 112 of the base shell 110 and then output from the cup outlet 112 .

[0047] In the present application, when the cup arrangement device 100 is in a normal working state of transporting the reaction cup 200, the rotation direction of the cup selection turntable 120 is a forward rotation direction. For example, when the cup selection turntable 120 is in a normal working state of transporting the reaction cup 200, the clockwise direction is the forward rotation direction, and the reverse direction is the counterclockwise rotation direction.

[0048] The driving device 130 can drive the cup selection turntable 120 to rotate in various structural forms, such as a motor-driven gear transmission method, a motor-driven belt wheel transmission method, and so on.

[0049] In one embodiment, the driving device 130 may include a driving motor 131, a synchronous belt 132, and a pulley 133. The driving motor 131 provides rotational power, and the driving motor 131 may be a stepping motor. The cup sorting device 100 includes a connecting shaft 160, which is mounted at the center of the cup selection turntable 120. The pulley 133 may be mounted on the connecting shaft 160 and coaxially connected to the cup selection turntable 120. The synchronous belt 132 is sleeved on the driving motor 131 and the pulley 133. The driving motor 131 drives the pulley 133 to rotate forward through the synchronous belt 132, and then drives the cup selection turntable 120 to rotate forward.

[0050] The first detector 140 can be used to detect the rotation state of the cup selection turntable 120. The cup selection turntable 120 can include a normal state and a cup stuck state during operation. The control system 300 can preset the rotation states of the cup selection turntable 120, such as the rotation speed, rotation angle, and rotation position. The normal state means that the cup selection turntable 120 can normally transport the reaction cup 200 and can be consistent with the rotation speed, rotation angle, and rotation position of the cup selection turntable 120 preset by the control system 300. The stuck cup state refers to the rotation state of the cup selection turntable 120 when the cup selection turntable 120 is stuck by the reaction cup 200 when the reaction cup 200 is transported, and the rotation speed, rotation angle and rotation position of the cup selection turntable 120 are inconsistent with the preset rotation speed, rotation angle and rotation position of the cup selection turntable 120 of the control system 300. For example, it can be a state where the cup selection turntable 120 stops rotating; or a state where the rotation speed of the cup selection turntable 120 is slower than the preset rotation speed; or a state where the rotation angle of the cup selection turntable 120 is smaller than the preset rotation angle. The rotation angle of the cup selection turntable 120 can refer to the angle at which the cup selection turntable 120 rotates after the cup selection turntable 120 rotates for a certain period of time. The rotation state of the cup selection turntable 120 can be defined according to different situations. It can be understood that the rotation speed, rotation angle and rotation position of the cup selection turntable 120 can all be used to describe the rotation state of the cup selection turntable 120.

[0051] In one embodiment, the control system 300 may set a preset rotation speed, which is based on a standard rotation speed of the cup selection turntable 120 under normal working conditions. If the actual rotation speed of the cup selection turntable 120 detected by the first detector 140 is lower than the preset rotation speed, it may be determined that the cup selection turntable 120 is in a cup stuck state.

[0052] In one embodiment, the control system 300 may set the rotation angle of each rotation of the cup selection turntable 120 as a preset rotation angle. The preset rotation angle is based on a standard rotation angle of the cup selection turntable 120 under normal working conditions. If the actual rotation angle of the cup selection turntable 120 detected by the first detector 140 is less than the preset rotation angle, it can be determined that the cup selection turntable 120 is in a cup stuck state.

[0053] In one embodiment, the control system 300 may set a preset rotation position, which is based on a target position reached after each rotation of the cup selection turntable 120 under normal working conditions. If the actual rotation position of the cup selection turntable 120 detected by the first detector 140 is different from the preset rotation position, it can be determined that the cup selection turntable 120 is in a cup stuck state.

[0054] The first detector 140 may be a photoelectric encoder, and the first code disk 141 of the first detector 140 may be connected to the cup selection turntable 120. The first detector 140 detects the rotation state of the cup selection turntable 120, such as the rotation angle or the rotation speed. Alternatively, the driving motor 131 of the driving device 130 may be a closed-loop motor, and the closed-loop motor has the first detector 140 built therein. The first detector 140 may be located on the motor shaft of the closed-loop motor, on the housing of the closed-loop motor, and so on.

[0055] The control system 300 is connected to the first detector 140 and the driving device 130 respectively. The first detector 140 can be electrically connected to the control system 300, and the first detector 140 transmits the detected result to the control system 300. The driving device 130 can be electrically connected to the control system 300, and the control system 300 can control the driving device 130 according to the detection result of the first detector 140, and then control the cup selection turntable 120. The control system 300 is used to control the driving device 130 to reverse when it is determined that the cup selection turntable 120 is in the cup stuck state according to the detection result of the first detector 140, and then the driving device 130 drives the cup selection turntable 120 to reverse by the first angle Y1. At this time, the control system 300 can record that the cup selection turntable 120 is in the cup stuck state for the first time. When the cup selection turntable 120 is in the cup stuck state, the reaction cup 200 may be stuck at a certain position, which hinders the normal rotation of the cup selection turntable 120. The cup selection turntable 120 can cause the reaction cup 200 to be subjected to a force in the opposite direction by reversing the first angle Y1. By applying force to the reaction cup 200 from the opposite direction, the reaction cup 200 can be loosened, thereby releasing the cup jam state of the cup selection turntable 120 and avoiding the cup selection turntable 120 from rotating forward all the time, which causes the cup selection turntable 120 to be jammed by the reaction cup 200 and becomes more serious.

[0056] The cup unscrambling device 100 provided in the present application can monitor the rotation state of the cup selection turntable 120, and can determine whether the cup selection turntable 120 is in a cup jam state. The control system 300 controls the driving device 130 to reverse when the cup selection turntable 120 is in a cup jam state, and the driving device 130 drives the cup selection turntable 120 to reverse by a first angle Y1. The cup selection turntable 120 can make the reaction cup 200 receive a force in the opposite direction by reversing the first angle Y1, which can help the reaction cup 200 to loosen, thereby releasing the cup jam state of the cup selection turntable 120, and avoiding the cup selection turntable 120 always rotating forward, which makes the cup selection turntable 120 more seriously jammed by the reaction cup 200. The cup unscrambling device 100 provided in the present application introduces an automated fault detection and processing mechanism, which can identify the cup jam state of the cup selection turntable 120, and reverse when the cup selection turntable 120 is jammed to solve the cup jam fault, which can significantly reduce labor costs and improve the intelligence level and work efficiency of the cup unscrambling device 100.

[0057] In a possible implementation, the control system 300 is used to control the cup selection turntable 120 to rotate forward after the cup selection turntable 120 reverses by a first angle Y1, and when it is determined that the cup selection turntable 120 is in a cup stuck state again after the cup selection turntable 120 rotates forward for a first preset time period, the control system 300 controls the cup selection turntable 120 to reverse by a second angle Y2, and the second angle Y2 is greater than the first angle Y1.

[0058] Specifically, the first detector 140 can detect the current position to which the cup selection turntable 120 actually rotates in real time. Every time the control system 300 receives the current position to which the cup selection turntable 120 actually rotates sent by the first detector 140, the control system 300 determines the target position of the cup selection turntable 120 at the same time, compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1, and determines whether the cup selection turntable 120 is in a cup stuck state. The first threshold angle X1 can be preset in the control system 300, and the first threshold angle X1 represents the maximum angle difference between the target position of the cup selection turntable 120 and the current position to which the cup selection turntable 120 actually rotates. When the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1, the control system 300 determines that the cup selection turntable 120 is in a cup stuck state at this time. At this time, the control system 300 controls the driving device 130 to reverse, and the driving device 130 drives the cup selection turntable 120 to reverse by the first angle Y1. The cup selection turntable 120 releases the cup stuck state by reversing the first angle Y1.

[0059] Subsequently, after the cup selection turntable 120 reverses by the first angle Y1, the control system 300 controls the driving device 130 to rotate forward, and the driving device 130 rotates forward to drive the cup selection turntable 120 to rotate forward. After the cup selection turntable 120 rotates forward for the first preset time, the control system 300 determines the target position of the cup selection turntable 120 at the same time each time it receives the current position of the cup selection turntable 120 actually rotated to from the first detector 140, and compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1. If the control system 300 determines that the cup selection turntable 120 is in the cup jamming state again, the control system 300 controls the driving device 130 to reverse, and the driving device 130 drives the cup selection turntable 120 to reverse by the second angle Y2, and the second angle Y2 is greater than the first angle Y1. By determining the first preset time, the control system 300 can judge different cup jamming states of the cup selection turntable 120, so that the control system 300 can control the cup selection turntable 120. Furthermore, by setting a first preset time length, it is possible to ensure that the cup selection turntable 120 has a clear time window to complete the forward rotation action, thereby avoiding errors caused by the control system 300 immediately determining the cup jamming state of the cup selection turntable 120 after the cup selection turntable 120 rotates forward for the first preset time length, thereby ensuring the accuracy of the control system 300. The control system 300 determines whether the cup selection turntable 120 is in the cup jamming state after controlling the cup selection turntable 120 to rotate forward for the first preset time length, which may include but is not limited to the following situations: For example, the cup sorting device 100 may set a timer for measuring time. When the control system 300 controls the cup selection turntable 120 to rotate forward, the timer is started. After the timer's first preset time length ends, the action of determining whether the cup selection turntable 120 is in the cup jamming state is triggered. For another example, the cup sorting device 100 does not set a timer, and the software program determines that the first preset time length has passed after the cup selection turntable 120 rotates forward, and at this time, the control system 300 is triggered to determine whether the cup selection turntable 120 is in the cup jamming state. The first preset time length can be pre-set in the control system according to actual design requirements, and can be adjusted according to actual conditions. In one embodiment, the first preset time length can be determined according to a certain angle of rotation of the cup selection turntable 120. For example, the first preset time length can be the time length required for the cup selection turntable 120 to rotate 10 degrees in a normal rotation state. The first preset time length can also be a period of time that is irrelevant to the rotation state of the cup selection turntable 120. For example, the first preset time length can be 10 seconds.

[0060] In one embodiment, the first preset duration may be a ratio of the sum of the first threshold angle X1 and the first angle Y1 to a preset speed. The preset speed is a preset rotation speed of the cup selection turntable 120. The control system 300 may determine a preset speed of the cup selection turntable 120. The preset speed is a target rotation speed of the cup selection turntable 120 preset by the control system 300 according to task requirements. The first preset duration is (X1+Y1) / preset speed. After the control system 300 controls the cup selection turntable 120 to rotate forward for the first preset duration, when the control system 300 determines that the cup selection turntable 120 is in a cup stuck state again, the control system 300 controls the driving device 130 to reverse and drives the cup selection turntable 120 to reverse by a second angle Y2.

[0061] The cup selection turntable 120 can cause the reaction cup 200 to be subjected to a greater force in the opposite direction by reversing the second angle Y2. By applying a greater force to the reaction cup 200 from the opposite direction, the reaction cup 200 can be further loosened, thereby further helping to release the cup jam state of the cup selection turntable 120, so that the cup selection turntable 120 can normally transport the reaction cup 200.

[0062] In a possible implementation manner, the control system 300 is used to control the cup selection turntable 120 to rotate forward after the cup selection turntable 120 reverses the second angle Y2, and control the alarm 310 to sound an alarm when it is determined that the cup selection turntable 120 is still in a cup stuck state after the cup selection turntable 120 rotates forward for a second preset time period.

[0063] Specifically, the first detector 140 can detect the current position to which the cup selection turntable 120 actually rotates in real time. Every time the control system 300 receives the current position to which the cup selection turntable 120 actually rotates sent by the first detector 140, the control system 300 determines the target position of the cup selection turntable 120 at the same time, compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1, and determines whether the cup selection turntable 120 is in a cup stuck state. The first threshold angle X1 can be preset in the control system 300, and the first threshold angle X1 represents the maximum angle difference between the target position of the cup selection turntable 120 and the current position to which the cup selection turntable 120 actually rotates. When the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1, the control system 300 determines that the cup selection turntable 120 is in a cup stuck state at this time. At this time, the control system 300 controls the driving device 130 to reverse, and the driving device 130 drives the cup selection turntable 120 to reverse by the first angle Y1. The cup selection turntable 120 releases the cup stuck state by reversing the first angle Y1.

[0064] Subsequently, after the cup selection turntable 120 reverses by the first angle Y1, the control system 300 controls the driving device 130 to rotate forward, and the driving device 130 rotates forward to drive the cup selection turntable 120 to rotate forward. After the cup selection turntable 120 rotates forward for the first preset time, each time the control system 300 receives the current position of the cup selection turntable 120 actually rotated to from the first detector 140, the control system 300 determines the target position of the cup selection turntable 120 at the same time, and compares the angle difference between the target position of the cup selection turntable 120 and the actual detected current position with the first threshold angle X1. If the control system 300 determines that the cup selection turntable 120 is in the cup stuck state again, the control system 300 controls the driving device 130 to reverse, and the driving device 130 drives the cup selection turntable 120 to reverse by the second angle Y2, and the second angle Y2 is greater than the first angle Y1.

[0065] Subsequently, after the cup selection turntable 120 reverses by the second angle Y2, the control system 300 controls the driving device 130 to rotate forward, and the driving device 130 rotates forward to drive the cup selection turntable 120 to rotate forward. After the cup selection turntable 120 rotates forward for the second preset time, the control system 300 determines the target position of the cup selection turntable 120 at the same time each time it receives the current position of the cup selection turntable 120 actually rotated to from the first detector 140, and compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1. If the control system 300 determines that the cup selection turntable 120 is still in the cup jamming state, the control system 310 controls the alarm to sound an alarm. By determining the second preset time, the control system 300 can judge different cup jamming states of the cup selection turntable 120, so that the control system 300 can control the cup selection turntable 120. Furthermore, by setting a second preset time length, it is possible to ensure that the cup selection turntable 120 has a clear time window to complete the forward rotation action, thereby avoiding errors caused by the control system 300 immediately judging the cup jamming state after the cup selection turntable 120 rotates forward, and ensuring the accuracy of the control system 300. It can be understood that the control system 300 determines whether the cup selection turntable 120 is in the cup jamming state after controlling the cup selection turntable 120 to rotate forward for the second preset time length. This specific implementation method can be the same as the implementation method of the control system 300 determining whether the cup selection turntable 120 is in the cup jamming state after controlling the cup selection turntable 120 to rotate forward for the first preset time length. The second preset time length can be pre-set in the control system according to actual design needs, and can be adjusted according to actual conditions. In one embodiment, the second preset time length can be determined according to a certain angle of rotation of the cup selection turntable 120, for example, the second preset time length can be the time length required for the cup selection turntable 120 to rotate forward 15 degrees in a normal rotation state. The second preset time length can also be a period of time that is irrelevant to the rotation state of the cup selection turntable 120, for example, the second preset time length can be 15 seconds.

[0066] In one embodiment, the second preset time length may be a ratio of the sum of the first threshold angle X1 and the second angle Y2 to the preset speed. The preset speed is the preset rotation speed of the cup selection turntable 120. The control system 300 may determine a preset speed of the cup selection turntable 120. The preset speed is the target rotation speed of the cup selection turntable 120 preset by the control system 300 according to task requirements. The second preset time length is (X1+Y2) / preset speed. After the control system 300 controls the cup selection turntable 120 to rotate forward for the second preset time length, the control system 300 determines that the cup selection turntable 120 is still in a cup jamming state. The control system 300 controls the alarm 310 to sound an alarm to remind the operator that the cup unscrambling device 100 has a cup jamming fault. The cup unscrambling device 100 cannot solve the cup jamming fault by itself, and manual solution measures are required.

[0067] In a possible implementation, when the alarm 310 sounds an alarm, the control system 300 determines a second threshold angle X2, which is greater than the first threshold angle X1. After the cup jamming failure of the cup sorting device 100 is manually resolved, the cup sorting device 100 can normally transport the reaction cup 200. At this time, the control system 300 determines the second threshold angle X2, and the first detector 140 continues to detect the current position of the cup selection turntable 120. The control system 300 compares the angle difference between the target position and the actual detected current position of the cup selection turntable 120 with the second threshold angle X2. When the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is greater than the second threshold angle X2, the control system 300 determines that the cup selection turntable 120 is in a cup jamming state at this time, and then controls the cup selection turntable 120 to reverse, which can be helpful to further solve the cup jamming problem of the cup selection turntable 120.

[0068] In a possible implementation, the control system 300 is configured to determine that the cup selection turntable 120 is in a cup stuck state when the angle difference between the target position of the cup selection turntable 120 and the current position of the cup selection turntable 120 is greater than a first threshold angle X1.

[0069] The first detector 140 can detect the current position to which the cup selection turntable 120 actually rotates in real time. Every time the control system 300 receives the current position to which the cup selection turntable 120 actually rotates sent by the first detector 140, the control system 300 determines the target position of the cup selection turntable 120 at the same time, compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1, and determines whether the cup selection turntable 120 is in a cup stuck state. The first threshold angle X1 can be preset in the control system 300, and the first threshold angle X1 represents the maximum angle difference between the target position of the cup selection turntable 120 and the current position to which it actually rotates. For example, when the cup selection turntable 120 does not encounter any faults and normally transports the reaction cup 200, the cup selection turntable 120 should rotate to position 1, but the cup selection turntable 120 actually only rotates to position 2 during the rotation process, and there is an angle difference between position 1 and position 2. It can be understood that the angle difference between the target position and the current position of the cup selection turntable 120 can be the angle value of the angle formed by the target position, the current position and the center of the cup selection turntable 120. It can also be understood that the first detector 140 does not need to set a detection zero position as a starting point position for measurement reference during detection. Only the angle value of the angle formed by the target position, the current position and the center of the cup selection turntable 120 can be detected to determine the angle difference between the target position and the current position of the cup selection turntable 120. The control system 300 compares the angle difference between the target position and the current position of the cup selection turntable 120 with the first threshold angle X1 to determine whether the cup selection turntable 120 is in a cup stuck state. When the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1, the control system 300 determines that the cup selection turntable 120 is in a cup stuck state at this time. At this time, the control system 300 controls the driving device 130 to reverse, and the driving device 130 drives the cup selection turntable 120 to reverse by the first angle Y1. The cup selection turntable 120 releases the cup jamming state by reversing the first angle Y1. When the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is less than or equal to the first threshold angle X1, the control system 300 does not perform the control reversal action, and the cup selection turntable 120 continues to work normally. The cup jamming state of the cup selection turntable 120 can be judged by the angle difference between the target position and the current position of the cup selection turntable 120.

[0070] It can be understood that in one embodiment, the control system 300 is used to determine that the cup selection turntable 120 is in a cup stuck state when the angle difference between the preset angle of the cup selection turntable 120 and the current rotation angle of the cup selection turntable 120 is greater than the first threshold angle X1.

[0071] Specifically, the first detector 140 can detect the current rotation angle of the cup selection turntable 120 actually rotated in real time. Every time the control system 300 receives the actual rotation angle of the cup selection turntable 120 sent by the first detector 140, the control system 300 determines the preset angle that the cup selection turntable 120 should rotate at the same time. The angle difference between the preset angle of the cup selection turntable 120 and the actual detected current rotation angle is compared with the first threshold angle X1 to determine whether the cup selection turntable 120 is in a cup stuck state. The first threshold angle X1 can be preset in the control system 300, and the first threshold angle X1 represents the maximum angle difference between the preset angle of the cup selection turntable 120 and the actual current rotation angle. The control system 300 can also determine a detection zero position of the first detector 140. The detection zero position is the starting position of the angle measurement, and the preset angle and the current rotation angle are both measured relative to the detection zero position. The control system 300 compares the preset angle of the cup selection turntable 120 with the current rotation angle actually detected to determine whether the cup selection turntable 120 is in a cup stuck state. When the angle difference between the preset angle and the rotation angle of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1, the control system 300 determines that the cup selection turntable 120 is in a cup stuck state. At this time, the control system 300 controls the driving device 130 to reverse and drive the cup selection turntable 120 to reverse by the first angle Y1. The cup selection turntable 120 releases the cup stuck state by reversing by the first angle Y1.

[0072] Subsequently, after the cup selection turntable 120 reverses by the first angle Y1, the control system 300 controls the driving device 130 to rotate forward. After the driving device 130 rotates forward to drive the cup selection turntable 120 to rotate forward for a first preset time, the control system 300 resets the detection zero position, and the first detector 140 re-detects the rotation angle of the cup selection turntable 120 based on the reset detection zero position. Each time the control system 300 receives the actual rotation angle of the cup selection turntable 120 sent by the first detector 140, the control system 300 determines the preset angle that the cup selection turntable 120 should rotate at the same time. When the difference between the preset angle and the rotation angle of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1 again, the control system 300 determines that the cup selection turntable 120 is in the cup stuck state again, and the control system 300 controls the driving device 130 to reverse and drive the cup selection turntable 120 to reverse by the second angle Y2, and the second angle Y2 is greater than the first angle Y1.

[0073] Subsequently, after the cup selection turntable 120 reverses by the second angle Y2, the control system 300 controls the driving device 130 to rotate forward. After the driving device 130 rotates forward to drive the cup selection turntable 120 to rotate forward for a second preset time, the control system 300 resets the detection zero position, and the first detector 140 re-detects the rotation angle of the cup selection turntable 120 based on the reset detection zero position. Each time the control system 300 receives the actual rotation angle of the cup selection turntable 120 sent by the first detector 140, the control system 300 determines the preset angle that the cup selection turntable 120 should rotate at the same time. When the angle difference between the preset angle and the rotation angle of the cup selection turntable 120 actually detected by the first detector 140 is still greater than the first threshold angle X1, the control system 300 determines that the cup selection turntable 120 is still in the cup stuck state, and the control system 300 controls the alarm to sound an alarm.

[0074] In one embodiment, the method for identifying and handling cup jamming failure of the cup unscrambling device 100 includes the following steps:

[0075] Step 1: The control system 300 pre-sets a first threshold angle X1 and the rotation state of the cup selection turntable 120. When the cup arrangement device 100 starts to work, the cup selection turntable 120 works according to the rotation state set by the control system 300. The rotation state may include but is not limited to the rotation speed, rotation angle and rotation position. In this embodiment, the first threshold angle X1 represents the maximum angle difference between the target position and the current position of the cup selection turntable 120 allowed.

[0076] Step 2: The first detector 140 detects the rotation state of the cup selection turntable 120. The rotation state may include but is not limited to the rotation speed, rotation angle and rotation angle. In this embodiment, the first detector 140 detects the rotation position of the cup selection turntable 120, and the first detector 140 detects the current position to which the cup selection turntable 120 actually rotates in real time.

[0077] Step 3: When the control system 300 determines that the cup selection turntable 120 is in the cup jamming state, the control system 300 controls the cup selection turntable 120 to reverse by the first angle Y1. In this embodiment, each time the control system 300 receives the current position of the cup selection turntable 120 actually rotated to from the first detector 140, the control system 300 determines the target position to which the cup selection turntable 120 should rotate when working in the preset motion state at the same time, and compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1 to determine whether the cup selection turntable 120 is in the cup jamming state. When the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1, the control system 300 determines that the cup selection turntable 120 is in the cup jamming state at this time. After the cup selection turntable 120 is jammed, the control system 300 controls the driving device 130 to reverse, and the driving device 130 drives the cup selection turntable 120 to reverse by the first angle Y1.

[0078] Step 4: The control system 300 controls the cup selection turntable 120 to rotate forward after the cup selection turntable 120 reverses the first angle Y1. The control system 300 determines whether the cup selection turntable 120 is in a cup stuck state after the cup selection turntable 120 rotates forward for a first preset time period. In this embodiment, the first preset time period is the ratio of the sum of the first threshold angle X1 and the first angle Y1 to the preset speed. The preset speed is the preset rotation speed of the cup selection turntable 120. The control system 300 can determine a preset speed of the cup selection turntable 120. The preset speed is the target rotation speed of the cup selection turntable 120 preset by the control system 300 according to the task requirements.

[0079] Step 5: After the first preset time, when the control system 300 determines that the cup selection turntable 120 is in the cup stuck state again, the control system 300 controls the cup selection turntable 120 to reverse by a second angle Y2, and the second angle Y2 is greater than the first angle Y1. In this embodiment, after the cup selection turntable 120 rotates forward for the first preset time, each time the control system 300 receives the current position of the cup selection turntable 120 actually rotated to from the first detector 140, the control system 300 determines the target position of the cup selection turntable 120 at the same time, and compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1. When the control system 300 determines that the cup selection turntable 120 is in the cup stuck state again, the control system 300 controls the driving device 130 to reverse, and the driving device 130 drives the cup selection turntable 120 to reverse by a second angle Y2, and the second angle Y2 is greater than the first angle Y1.

[0080] Step 6: After the cup selection turntable 120 reverses the second angle Y2, the control system 300 controls the cup selection turntable 120 to rotate forward. After the cup selection turntable 120 rotates forward for a second preset time, the control system 300 determines whether the cup selection turntable 120 is in a cup stuck state. In this embodiment, the second preset time is the ratio of the sum of the first threshold angle X1 and the second angle Y2 to the preset speed. The preset speed is the preset rotation speed of the cup selection turntable 120. The control system 300 can determine a preset speed of the cup selection turntable 120. The preset speed is the target rotation speed of the cup selection turntable 120 preset by the control system 300 according to the task requirements.

[0081] Step 7: After the second preset time, the control system 300 controls the alarm 310 to sound an alarm when it determines that the cup selection turntable 120 is still in the cup stuck state. In this embodiment, after the cup selection turntable 120 rotates forward for the second preset time, the control system 300 determines the target position of the cup selection turntable 120 at the same time each time it receives the current position of the cup selection turntable 120 actually rotated to from the first detector 140, and compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1. When the control system 300 determines that the cup selection turntable 120 is still in the cup stuck state, the control system 300 controls the alarm 310 to sound an alarm.

[0082] Step 8: After the alarm 310 sounds an alarm and the cup jamming fault is manually handled, the control system 300 pre-sets a second threshold angle X2 that is larger than the first threshold angle X1, and the first detector 140 detects the actual rotational current position of the cup selection turntable 120. The control system 300 compares the angle difference between the target position and the actual detected current position of the cup selection turntable 120 with the second threshold angle X2. When the angle difference between the target position and the actual current position of the cup selection turntable 120 detected by the first detector 140 is greater than the second threshold angle X2, the control system 300 determines that the cup selection turntable 120 is in a cup jamming state at this time. Then, the control system 300 returns to step 3 and restarts the next cup jamming fault identification and solution of the cup sorting device according to the second threshold angle X2.

[0083] In a possible implementation, the control system 300 may receive a start signal and a shutdown signal. When the cup unscrambling device 100 is turned on, the control system 300 receives a start signal. When the cup unscrambling device 100 is turned off, the control system 300 receives a shutdown signal. The control system 300 may also record the stuck cup state of the cup selection turntable 120. Between a start signal and a shutdown signal, the first time the cup selection turntable 120 is in the stuck cup state is recorded as the first time the cup selection turntable 120 is in the stuck cup state, and the second time the cup selection turntable 120 is in the stuck cup state is recorded as the second time the cup selection turntable 120 is in the stuck cup state, and so on. The first detector 140 detects the rotation state of the cup selection turntable 120. When the cup unscrambling device 100 is powered off or shut down manually, the control system 300 ends recording the stuck cup state of the cup selection turntable 120, and resets the recording of the stuck cup state of the cup selection turntable 120 when the start signal is received again, and re-records the stuck cup state of the cup selection turntable 120. By recording the number of stuck cup states, the control system 300 may gradually take different measures to solve the stuck cup problem. The cup jamming status record is reset each time the device is powered on, so that the fault record of each working cycle is clearer and more independent, which is convenient for fault identification and processing during the working process of the cup unscrambling device 100.

[0084] When the cup selection turntable 120 is stuck for the first time, the control system 300 controls the cup selection turntable 120 to reverse the first angle Y1 and then rotate forward. After the cup selection turntable 120 rotates forward, the first detector 140 continues to detect the rotation state of the cup selection turntable 120. When the cup selection turntable 120 is stuck for the second time, the control system 300 controls the cup selection turntable 120 to reverse the second angle Y2 and then rotate forward, and the second angle Y2 is greater than Y1. After the cup selection turntable 120 rotates forward, the first detector 140 continues to detect the rotation state of the cup selection turntable 120. When the cup selection turntable 120 is stuck for the third time, the control system 300 controls the alarm 310 to sound an alarm.

[0085] In a possible implementation, the control system 300 is used to reset the cup jamming times data when the cup selection turntable 120 is at the zero position. The control system 300 also controls the first detector 140 to re-detect the rotation state of the cup selection turntable 120, and determines whether the cup selection turntable 120 is in the cup jamming state for the first time according to the detection result of the first detector 140. When the control system 300 determines that the cup selection turntable 120 is in the cup jamming state for the first time according to the detection result of the first detector 140, the cup selection turntable 120 is controlled to reverse by the first angle Y1. Figure 2 and Figure 4As shown, the zero position is the relative rotation position between the cup selection turntable 120 and the base shell 110. The zero position can be any relative position between the cup selection turntable 120 and the base shell 110 when the cup selection turntable 120 rotates. The relative rotation position between the cup selection turntable 120 and the base shell 110 can be the relative rotation position between the discharge end 126 of the cup selection turntable 120 and the base shell 110, or the relative rotation position between the arc segment 124 of the cup selection turntable 120 and the base shell 110, and so on. A detector can be set to detect whether the cup selection turntable 120 is at the zero position. When the cup selection turntable 120 is at the zero position, the control system 300 controls the first detector 140 to re-detect the rotation state of the cup selection turntable 120.

[0086] Specifically, when the cup selection turntable 120 is at the zero position, the control system 300 can reset the cup jamming times data of the cup selection turntable 120 recorded according to the rotation result of the cup selection turntable 120 detected by the first detector 140. The zero position can be understood as the starting position and the end position of the cup selection turntable 120 in one cycle. When the cup selection turntable 120 rotates forward from the zero position and then returns to the zero position, it is a detection cycle of the first detector 140. The first detector 140 detects the rotation state of the cup selection turntable 120 in this detection cycle, and the control system 300 records the cup jamming times of the cup selection turntable 120 in this detection cycle. When the cup selection turntable 120 jams the cup for the first time, the control system 300 controls the cup selection turntable 120 to reverse by the first angle Y1. After the cup selection turntable 120 reverses by the first angle Y1, the control system 300 controls the cup selection turntable 120 to rotate forward for a first preset time period, and then controls the first detector 140 to re-detect the rotation state of the cup selection turntable 120. When the control system 300 determines that the cup selection turntable 120 is in the cup jamming state again according to the detection result of the first detector 140, the control system 300 controls the cup selection turntable 120 to reverse by the second angle Y2. After the cup selection turntable 120 reverses by the second angle Y2, the control system 300 controls the cup selection turntable 120 to rotate forward, and controls the first detector 140 to re-detect the rotation state of the cup selection turntable 120 after the cup selection turntable 120 rotates forward for a second preset time period. When the control system 300 determines that the cup selection turntable 120 is still in the cup jamming state according to the detection result of the first detector 140, the control system 300 controls the alarm 310 to sound an alarm.

[0087] When the cup selection turntable 120 rotates forward from the zero position and then returns to the zero position again, a detection cycle of the first detector 140 ends, and the control system 300 resets the cup jamming times data. At the same time, the next detection cycle starts, and the first detector 140 continues to detect the rotation state of the cup selection turntable 120. The control system 300 determines that when the cup selection turntable 120 is in the cup jamming state for the first time according to the detection result of the first detector 140, the cup selection turntable 120 is controlled to reverse by the first angle Y1. This cycle is repeated to identify and process the cup jamming state of the cup selection turntable 120.

[0088] When the cup selection turntable 120 is in the cup jamming state, the control system 300 can solve the cup jamming problem by controlling the cup selection turntable 120 to reverse. However, if the cup selection turntable 120 is in the cup jamming state again after a very long time after the first cup jamming, this long interval makes it difficult to determine the correlation between the first cup jamming and the second cup jamming. This may cause the control system 300 to encounter challenges in determining and solving the cup jamming state of the cup selection turntable 120. Setting the zero position can effectively solve this problem, ensuring that the data of each detection cycle is independent, and the rotation state of the cup selection turntable 120 within a detection cycle is more correlated, so that the control system can improve the recognition and processing of the cup jamming state more accurately and reliably.

[0089] It should be noted that there is a difference between the zero position and the detection zero position. The zero position is the position at the beginning and end of the detection cycle, while the detection zero position refers to the reference position of the detection and is the reference point for angle measurement and calculation. All angle measurements are performed relative to the detection zero position. The zero position can be a fixed position, while the detection zero position can be a variable position. For example, when the cup sorting device 100 is turned on, no matter what position the cup selection turntable 120 is in when it is turned on, the position of the cup selection turntable 120 is defined as the detection zero position for subsequent angle measurement and calculation. When the cup selection turntable 120 rotates to the zero position, the control system 300 resets the cup jamming number data and can also reset the detection zero position. At this time, the zero position is used as the detection zero position for angle measurement. When the cup selection turntable 120 rotates to the zero position, the detection zero position is also reset, thereby improving the accuracy of the detection.

[0090] In one embodiment, similar to the above-mentioned embodiment, the control system 300 may set a preset period without setting a zero position. The preset period is the time for resetting the record of the cup jam state between a start signal and a shutdown signal. For example, between a start and a shutdown of the cup sorting device 100, the preset period is 2 hours, and the control system 300 records the number of cup jams of the cup selection turntable 120 within 2 hours. When the working time of the cup sorting device 100 exceeds 2 hours, the control system 300 resets the recorded number of cup jams of the cup selection turntable 120 and re-records the number of cup jams of the cup selection turntable 120. The setting of the preset period can also ensure that the data of each detection period is independent, and the rotation state of the cup selection turntable 120 within a detection period is more correlated, so that the control system can improve the recognition and processing of the cup jam state more accurately and reliably.

[0091] In one embodiment, the cup sorting device 100 is turned on, and the driving device 130, the cup selection turntable 120, the first detector 140 and the control system 300 all start working. The first detector 140 detects the current position of the cup selection turntable 120 actually rotated to in real time. Every time the control system 300 receives the current position of the cup selection turntable 120 actually rotated to sent by the first detector 140, the control system 300 determines the target position of the cup selection turntable 120 at the same time, and compares the angle difference between the target position of the cup selection turntable 120 and the actual detected current position with the first threshold angle X1. For example, the first threshold angle X1 can be 10 degrees. When the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1, the control system 300 determines that the cup selection turntable 120 is in the first cup jamming state at this time. At this time, the control system 300 controls the driving device 130 to reverse and drive the cup selection turntable 120 to reverse by a first angle Y1. For example, the first angle Y1 in this embodiment is 5 degrees. When the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is less than or equal to the first threshold angle X1, the cup selection turntable 120 continues to rotate forward.

[0092] When the cup selection turntable 120 reverses by the first angle Y1 and rotates forward for the first preset time under the control of the control system 300, which is 3 seconds in this embodiment, the control system 300 determines the target position of the cup selection turntable 120 at the same time each time it receives the current position of the cup selection turntable 120 actually rotated to from the first detector 140, and compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1; if the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1 again, the cup selection turntable 120 is in the second cup jamming state, and the control system 300 controls the driving device 130 to reverse and drive the cup selection turntable 120 to reverse by the second angle Y2, which is 10 degrees in this embodiment. If the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is less than or equal to the first threshold angle X1, it means that the cup jamming state of the cup selection turntable 120 has been resolved, and the cup selection turntable 120 continues to rotate forward.

[0093] When the cup selection turntable 120 reverses by the second angle Y2 and rotates forward for the second preset time under the control of the control system 300, in this embodiment, the first preset time is 4 seconds, the control system 300 determines the target position of the cup selection turntable 120 at the same time every time it receives the current position of the cup selection turntable 120 actually rotated to from the first detector 140, and compares the angle difference between the target position of the cup selection turntable 120 and the current position actually detected with the first threshold angle X1; if the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is greater than the first threshold angle X1, the cup selection turntable 120 is in the third cup jamming state, and the control system 300 controls the alarm to sound an alarm. If the angle difference between the target position and the current position of the cup selection turntable 120 actually detected by the first detector 140 is less than or equal to the first threshold angle X1, it indicates that the cup jamming state of the cup selection turntable 120 has been resolved, and the cup selection turntable 120 continues to rotate forward.

[0094] In one embodiment, in any of the above processes, when the cup selection turntable 120 is in the forward rotation state and passes the zero position, a detection cycle ends, the control system 300 resets the cup jamming times data, and the first detector 140 re-detects the rotation state of the cup selection turntable 120.

[0095] It can be understood that in the present application, if the cup selection turntable 120 passes through the zero position during the reversal process, the control system 300 will not reset the cup jam number data. In addition, if the cup selection turntable 120 passes through the zero position again during the process of reversing and then rotating forward for the first preset time or the second preset time (the control system controls the cup selection turntable 120 to reverse first and then rotate forward for the first preset time or the second preset time, which belongs to the control system's processing process of resolving the cup jam state, and the data is not reset when passing through the zero position during this process), the control system 300 will not reset the cup jam number data. Only when the cup selection turntable 120 passes through the zero position during the normal transportation of the reaction cup 200, the control system 300 will reset the cup jam number data.

[0096] In one embodiment, in any of the above processes, if the cup unscrambling device 100 is turned off, when the cup unscrambling device 100 is turned on again, the control system 300 resets all data, including the cup jam times data, and then re-determines whether the cup is jammed based on the detection result of the first detector 140.

[0097] In one possible implementation, see Figure 2 , Figure 3 and Figure 4As shown, the cup sorting device 100 includes a fixing frame 150, and the base shell 110 can be fixedly connected to the fixing frame 150. It should be noted that the fixing frame 150 can be a fixing frame 150 fixedly connected to multiple structures of the cup sorting device 100, for example, the fixing frame 150 can be fixedly connected to the base shell 110, can be fixedly connected to the conveying track 180, and so on. The fixing frame 150 can play a role in component installation and support, and its structural form can be specifically adaptively configured according to needs, and no specific limitation is made here. The first detector 140 includes a first code disk 141 and a first optical coupler 142, the first optical coupler 142 is connected to the fixing frame 150, the fixing frame 150 is connected to the base shell 110, and the first optical coupler 142 is indirectly connected to the base shell 110 through the fixing frame 150. The first code disk 141 can be as shown in Figure 3 The structure is shown as a disk, and the edge of the disk is concave and convex to form uniform code teeth. The cup sorting device 100 includes a connecting shaft 160, and the connecting shaft 160 is connected to the pulley 133 of the driving device 130. The first code disk 141 can be installed on the connecting shaft 160, and the connecting shaft 160 is connected to the cup selection turntable 120. The connecting shaft 160 is connected to the center of the cup selection turntable 120. The first code disk 141 and the cup selection turntable 120 are coaxially arranged along the axial direction of the connecting shaft 160. The cup selection turntable 120 can rotate around the axial direction of the connecting shaft 160, and the cup selection turntable 120 rotates and drives the first code disk 141 to rotate. The first optical coupler 142 is fixed, and the first code disk 141 will pass through the first optical coupler 142 during the rotation process. The first optical coupler 142 can be composed of a light-emitting diode and a photosensitive element. When the light-emitting diode emits light, the photosensitive element can sense the light and conduct the circuit. The code teeth on the edge of the first code disk 141 form a light-transmitting area and a light-impermeable area. When the first code disk 141 rotates, the light-transmitting and light-impermeable areas alternately trigger the first optical coupler 142 to generate a pulse signal.

[0098] When the reaction cup 200 is stuck in the cup selection turntable 120, the driving device 130 cannot drive the cup selection turntable 120 to rotate, or the driving device 130 cannot drive the cup selection turntable 120 to rotate to the target position. The first code disk 141 connected to the cup selection turntable 120 cannot rotate, or cannot rotate to the target position, and then the pulse signal generated by the first optical coupler 142 triggered by the first code disk 141 changes. The first optical coupler 142 can calculate the actual rotation angle of the cup selection turntable 120 according to the pulse signal and determine the current position to which the cup selection turntable 120 actually rotates. When the angle difference between the target position and the current position to which the cup selection turntable 120 actually rotates exceeds the first threshold angle X1, the control system 300 can determine that the cup selection turntable 120 is in a stuck cup state at this time. The control system 300 controls the driving device 130 to reverse and drive the cup selection turntable 120 to reverse.

[0099] In a possible implementation, the driving device 130 may include a driving motor 131, a synchronous belt 132, and a pulley 133. The driving motor 131 provides rotational power. The cup sorting device 100 includes a connecting shaft 160, which is mounted at the center of the cup selection turntable 120. The pulley 133 may be mounted on the connecting shaft 160 and is coaxially connected to the cup selection turntable 120. The synchronous belt 132 is sleeved on the driving motor 131 and the pulley 133. The driving motor 131 drives the pulley to rotate forward through the synchronous belt 132, and then drives the cup selection turntable 120 to rotate forward. The transmission ratio of the driving motor 131 and the pulley 133 is 1:1. The first detector 140 may be mounted on the driving motor 131, wherein the first code disc 141 rotates following the rotation of the driving motor 131, and the first optical coupler 142 is fixed.

[0100] In one possible implementation, see Figure 1 and Figure 4 As shown, the base shell 110 is a cylindrical structure, and the base shell 110 has a receiving cavity 113, and the receiving cavity 113 is used to accommodate the reaction cup 200. The cup selection turntable 120 is located in the receiving cavity 113, and the cup selection turntable 120 is provided with a material groove 123. The cup selection turntable 120 may include a front plate 121 and a rear plate 122 that are opposite and spaced apart, and the front plate 121 and the rear plate 122 have the same structure and size, and are coaxially arranged. The edges of the front plate 121 and the rear plate 122 are respectively in contact with the inner wall surface of the base shell 110, or the edges of the front plate 121 and the rear plate 122 have a gap with the inner wall surface of the base shell 110, so that the front plate 121 and the rear plate 122 can rotate relative to the base shell 110. The front plate 121 and the rear plate 122 are enclosed to form a material trough 123. When the cup selection turntable 120 rotates forward, the reaction cup 200 in the accommodating cavity 113 enters the material trough 123 of the cup selection turntable 120 through rotation. The material trough 123 includes a straight line segment 125 and an arc segment 124. The straight line segment 125 has a discharge end 126 at one end away from the arc segment 124, and the reaction cup 200 can be discharged from the material trough 123 from the discharge end 126. When the discharge end 126 is connected to the cup outlet 112, the straight line segment 125 is inclined and inclined toward the cup outlet 112. The reaction cup 200 in the material trough 123 can slide out of the material trough 123 under the action of gravity, and then be output to the outside of the base shell 110 through the cup outlet 112. The straight line segment 125 is connected to the arc segment 124 at one end away from the discharge end 126 . The arc segment 124 can provide a smooth transition for the reaction cup 200 , thereby reducing damage to the reaction cup 200 caused by impact during the rotation of the cup selection turntable 120 .

[0101] In one possible implementation, see Figure 3 , Figure 4 , Figure 5 and Fig.14As shown, the cup sorting device 100 includes a second detector 170, and the second detector 170 is used to detect the relative rotation position between the material trough 123 and the base shell 110. The second detector 170 may include a baffle 171 and a second optical coupler 172. The baffle 171 is fixedly connected to the cup selection turntable 120, and the baffle 171 can rotate with the rotation of the cup selection turntable 120. The second optical coupler 172 is fixed on the fixing frame 150 and does not rotate with the rotation of the baffle 171. The second optical coupler 172 can be composed of a light-emitting diode and a photosensitive element. When the light-emitting diode emits light, the photosensitive element can sense the light and conduct the circuit. When the baffle 171 rotates, the baffle 171 will periodically pass through the detection area of ​​the second optical coupler 172. Each time the baffle 171 passes, the baffle 171 will block or reflect the light emitted by the second optical coupler 172, and the second optical coupler 172 will detect a blockage or reflection, thereby generating a pulse signal. The control system 300 is connected to the second detector 170. The control system 300 can be electrically connected to the second detector 170. The second detector 170 transmits a pulse signal to the control system 300. The control system 300 can determine the current position of the cup selection turntable 120 by counting these pulse signals. When the second detector 170 detects that the discharge end 126 is located at the predetermined positioning position, the control system 300 controls the driving device 130 to rotate forward, thereby driving the cup selection turntable 120 to rotate forward by a third angle Y3 and then stop rotating, so that the discharge end 126 is connected to the cup outlet 112.

[0102] In this application, see Figure 6As shown, taking the forward rotation direction of the cup selection turntable 120 as the clockwise direction Z as an example, the position of the cup outlet 112 is N1 and is fixed, the predetermined positioning position is N2, and the predetermined positioning position N2 is located in the counterclockwise direction of the position N1 of the cup outlet 112. The position N1 of the cup outlet 112 and the predetermined positioning position N2 can form an angle relative to the center of the cup selection turntable 120 in the counterclockwise direction, and the size of the angle is the third angle Y3. The third angle Y3 can be an acute angle, for example, 5 degrees, 7 degrees, 10 degrees or 20 degrees. During the forward rotation of the cup selection turntable 120, the position of the discharge end 126 is N3, and N3 changes with the rotation of the discharge end 126. When the second detector 170 detects that the discharge end 126 is located at the predetermined positioning position, that is, the position N3 of the discharge end 126 coincides with the predetermined positioning position N2, the control system 300 controls the driving device 130 to rotate forward, thereby driving the cup selection turntable 120 to rotate forward by the third angle Y3 and then stop rotating. When the cup selection turntable 120 rotates forward by the third angle Y3, the discharge end 126 is connected with the cup outlet 112 to form a channel, and the height of the channel is greater than the height of the reaction cup 200. After the cup selection turntable 120 rotates forward by the third angle Y3, it stops rotating, and the reaction cup 200 slides from the material trough 123 to the cup outlet 112 under the action of gravity, and is discharged from the cup outlet 112. Under this design, the material trough 123 can be accurately connected with the cup outlet 112, so that the reaction cup 200 can enter the cup outlet 112 more smoothly from the material trough 123, which can reduce the risk of cup jamming and improve the transmission efficiency.

[0103] In one embodiment, see Figure 1 and Figure 5 As shown, the cup sorting device 100 includes a conveying track 180, which is connected to the cup outlet 112, and the conveying track 180 is inclined. When the second detector 170 detects that the discharge end 126 is located at the predetermined positioning position, the control system 300 controls the driving device 130 to rotate forward, thereby driving the cup selection turntable 120 to rotate forward by a third angle Y3 and then stop rotating. After the cup selection turntable 120 rotates forward by the third angle Y3, the inclination angle of the straight section 125 of the trough 123 is the same as the inclination angle of the conveying track 180, and the inclination direction is the same. The upper surface of the straight section 125 of the discharge end 126 is flush with the upper surface of the conveying track 180, which can ensure that the movement of the reaction cup 200 from the trough 123 to the conveying track 180 is smoother, and the reaction cup 200 can enter the conveying track 180 more smoothly from the trough 123, which can reduce the risk of cup jamming and improve the transmission efficiency.

[0104] It can be understood that, in one embodiment, the zero position is the position of the discharge end 126 when the discharge end 126 is connected to the cup outlet 112 of the base shell 110. After the control system 300 controls the cup selection turntable 120 to rotate forward by the third angle Y3, the discharge end 126 is connected to the cup outlet 112, and the reaction cup 200 in the trough 123 slides from the discharge end 126 to the cup outlet 112 under the action of gravity and is discharged from the cup outlet 112. At this time, the discharge end 126 is connected to the cup outlet 112 of the base shell 110 and reaches the zero position, indicating that the position of the discharge end 126 is the same as the zero position. The zero position and the position when the discharge end 126 is connected to the cup outlet 112 are integrated into the same position. Only one second detector 170 is used to ensure that the discharge end 126 is accurately connected to the cup outlet 112 and to detect whether the cup selection turntable 120 is at the zero position, thereby reducing the number of detectors and simplifying the cup sorting device 100.

[0105] In one embodiment, the second detector 170 detects the relative rotational position between the material trough 123 and the base shell 110, and the method steps for controlling the rotation of the cup selection turntable 120 are as follows:

[0106] Step 1: The control system 300 can set a predetermined positioning position of the trough 123. In this embodiment, refer to Figure 6 As shown, taking the clockwise direction Z of the cup selection turntable 120 as an example, the position of the cup outlet 112 is N1 and is fixed, the predetermined positioning position is N2, and the predetermined positioning position N2 is located in the counterclockwise direction of the position N1 of the cup outlet 112. The position N1 of the cup outlet 112 and the predetermined positioning position N2 can form an angle with respect to the center of the cup selection turntable 120 in the counterclockwise direction, and the size of the angle is the third angle Y3. The third angle Y3 can be an acute angle, for example, 5 degrees, 7 degrees, 10 degrees or 20 degrees, etc. The control system 300 can be set according to the situation.

[0107] Step 2: The second detector 170 can detect the actual relative rotational position between the discharge end 126 of the trough 123 and the base shell 110 .

[0108] Step 3: After the control system 300 detects that the actual relative rotational position between the discharge end 126 and the base shell 110 is at the predetermined positioning position N2 through the second detector 170, the driving device 130 rotates forward, thereby driving the cup selection turntable 120 to rotate forward by a third angle Y3 and then stop rotating.

[0109] In one possible implementation, see Figure 1 , Figure 2 , Figure 7 and Figure 8As shown, the cup sorting device 100 includes a conveying track 180, a third detector 183 and a material dividing device 190. The conveying track 180 includes an inlet end 181 and an outlet end 182. The inlet end 181 of the conveying track 180 can be fixedly connected to the fixing frame 150 through a connecting piece 108, and the inlet end 181 is connected to the cup outlet 112. The material dividing device 190 is fixedly connected through the connecting piece 108, and the material dividing device 190 is connected to the outlet end 182 of the conveying track 180. The conveying track 180 is in an inclined state, and is inclined from the inlet end 181 to the outlet end 182. After the reaction cup 200 is output from the cup outlet 112, it enters the conveying track 180 from the inlet end 181 of the conveying track 180, and then is transported to the material dividing device 190 from the outlet end 182 of the conveying track 180 under the action of gravity. The material distribution device 190 continues to transport the received reaction cup 200 to the sample analysis device, and the sample analysis device uses the reaction cup 200 to complete the test. Fig. 9 and Fig.14 As shown, the material distributing device 190 includes a material distributing track 191, a slider 192 slidably matched with the material distributing track 191, a cup transporting block 193 disposed on the upper slider 192, and a driving mechanism 194 for driving the slider 192 to move. The driving mechanism 194 drives the slider 192 to slide on the material distributing track 191, thereby driving the cup transporting block 193 to move. The cup transporting block 193 is provided with a cup groove 1931 for loading the reaction cup 200. The cup transporting block 193 is used to receive the reaction cup 200 at the discharge end 182 and transport the reaction cup 200 to the analysis device.

[0110] The material dispensing device further includes a fifth detector 109, a cup-blocking mechanism 196 and a positioning mechanism 197. The cup-blocking mechanism 196 is located at the discharge end 182 of the conveying track 180 and is blocked at the discharge end 182 of the conveying track 180 in an openable and closable manner. The cup-blocking mechanism 196 may specifically include a cup-blocking fixing seat 1961 and a cup-blocking slide plate 1962 that slidably cooperates with the cup-blocking fixing seat 1961. When the cup-transporting block 193 does not slide to the discharge end 182 of the conveying track 180, the cup-blocking slide plate 1962 can block the discharge end of the conveying track 180 from leading out the reaction cup 200. When the cup-transporting block 193 slides to the right to the discharge end 182 of the conveying track 180, the cup-blocking slide plate 1962 can allow the discharge end of the conveying track 180 to lead out the reaction cup 200. After receiving the led-out reaction cup 200, the cup-transporting block 193 slides to the left to transport the reaction cup 200 to the analysis device. The sliding motion of the cup stopper slide plate 1962 relative to the cup stopper fixing seat 1961 can be driven by a linear drive mechanism.

[0111] The fifth detector 109 is connected to the control system 300, and the fifth detector 109 is used to detect whether there is a reaction cup 200 in the cup groove 1931. When there is no reaction cup 200 in the cup groove 1931 and the cup transport block 193 moves toward the discharge end 182 of the conveying track 180 and faces the discharge end 182, the cup blocking mechanism 196 is opened to allow the reaction cup 200 to slide into the cup groove 1931. By designing the cup blocking mechanism 196, the reaction cup 200 can be controllably entered into the cup groove 1931 of the cup transport block 193, so that the entire transportation of the reaction cup 200 can be completed in an orderly manner. The cup transport block 193 moves to the left, and when the cup transport block 193 moves to the left, it will contact the positioning mechanism 197. The positioning mechanism 197 makes the position of the reaction cup 200 loaded into the cup groove 1931 more regular, which is more convenient for subsequent equipment and system grabbing operations. The matching mode of the slider and the slide rail makes the transportation of the reaction cup 200 more convenient and the structure simpler.

[0112] The material distribution track 191 may be designed with a slope surface. After the reaction cup 200 moves from the discharge end 182 of the conveying track 180 to the cup groove 1931 on the cup transport block 193, as the cup transport block 193 moves toward the analysis device on the material distribution track 191, the bottom surface of the reaction cup 200 contacts the slope surface, which can increase the height of the reaction cup 200 and is more helpful to reach the cup grabbing position required by other systems.

[0113] See also Figure 8 As shown, a first detection position A1 is provided on the conveying track 180, and the first detection position A1 is close to the feeding end 181 of the conveying track 180 and is spaced apart from the feeding end 181. The first detection position A1 is close to the feeding end 181 of the conveying track 180, which means that the first detection position A1 is located between the feeding end 181 and the midpoint P of the length of the conveying track 180.

[0114] The third detector 183 is used to detect the number of cuvettes 200 in the conveying track 180, and control the working state of the cuvette arrangement device 100 according to the detection result. The third detector 183 may be a photoelectric encoder. The third detector 183 is used to detect whether there is a cuvette 200 at the first detection position A1. The third detector 183 may be located on the conveying track 180, or may not be located on the conveying track 180.

[0115] The first detection position A1 is close to the feeding end 181 of the conveying track 180. When the third detector 183 detects that there is a cuvette 200 at the first detection position A1, it means that the number of cuvettes 200 in the conveying track 180 is sufficient, and the cuvettes 200 in the conveying track 180 are full or about to be full. When the third detector 183 detects that there is a cuvette 200 at the first detection position A1, the control system 300 controls the driving device 130 to stop rotating, and then the cup selection turntable 120 stops rotating, and the cup selection turntable 120 temporarily stops conveying the cuvette 200 to the conveying track 180, so as to prevent the cup selection turntable 120 from being stuck due to excessive cuvettes 200 on the conveying track 180. Specifically, when the cuvettes 200 in the conveying track 180 are full, if the cuvettes 200 continue to be transported to the conveying track 180, the cuvettes 200 may be piled up in the conveying track 180, thereby hindering the normal flow of the cuvettes 200, and eventually causing the cuvettes 200 in the cup selection turntable 120 or the base shell 110 to get stuck. When the third detector 183 detects that the cuvettes 200 in the conveying track 180 are full or about to be full, the control system 300 suspends the operation of the cup selection turntable 120 until the conveying track 180 has enough space to accommodate more cuvettes 200. In this way, the entire cup sorting device 100 can be ensured to operate smoothly and avoid malfunctions or damage caused by cup jams.

[0116] The control system 300 is used to control the driving device 130 to rotate forward when it detects that there is no cuvette 200 at the first detection position A1, thereby driving the cup selection turntable 120 to rotate forward. When the third detector 183 detects that there is no cuvette 200 at the first detection position A1, it means that the conveying track 180 is not full of cuvettes 200, and there is still space in the conveying track 180 to accommodate cuvettes 200. At this time, the control system 300 controls the driving device 130 to rotate forward after it has stopped rotating, thereby driving the cup selection turntable 120 to rotate forward. The rotating cup selection turntable 120 continues to convey cuvettes 200 to the conveying track 180, and replenishes cuvettes 200 in the conveying track 180.

[0117] In one embodiment, the third detector 183 detects the status of the cuvette 200 on the conveying track 180, and the control system 300 controls the rotation of the cuvette selection turntable 120 in the following steps:

[0118] Step 1: The third detector 183 detects whether there is a cuvette 200 at the first detection position A1.

[0119] Step 2: When there is a reaction cup 200 at the first detection position A1, the control system 300 controls the driving device 130 to stop rotating, and then the cup selection turntable 120 stops rotating.

[0120] Step 3: When there is no reaction cup 200 at the first detection position A1, the control system 300 controls the stopped driving device 130 to rotate forward, thereby driving the cup selection turntable 120 to rotate forward.

[0121] Wherein, step 2 and step 3 are parallel steps. After the third detector 183 detects the cuvette 200 on the conveying track 180 , the control system 300 determines to execute one of step 2 or step 3 according to the detection result.

[0122] In one possible implementation, see Figure 1 , Figure 2 , Figure 7 , Figure 8 and Fig. 9 As shown, the cup sorting device 100 further includes a fourth detector 184. Figure 8 As shown, a second detection position A2 is provided on the conveying track 180, and the second detection position A2 is close to the discharge end 182 of the conveying track 180 and is spaced apart from the discharge end 182. The second detection position A2 is close to the discharge end 182 of the conveying track 180, which means that the second detection position A2 is located between the discharge end 182 and the midpoint P of the length of the conveying track 180.

[0123] The fourth detector 184 is used to detect the number of cuvettes 200 in the conveying track 180, and control the working state of the cuvette arrangement device 100 according to the detection result. The fourth detector 184 can be a photoelectric encoder. The fourth detector 184 is used to detect whether there is a cuvette 200 at the second detection position A2. The fourth detector 184 can be located on the conveying track 180, or it can be located not on the conveying track 180.

[0124] The second detection position A2 is close to the discharge end 182 of the conveying track 180. When the fourth detector 184 detects that there is no cuvette 200 at the second detection position A2, it means that the number of cuvettes 200 in the conveying track 180 is insufficient, there is no cuvette 200 in the conveying track 180, or the cuvettes 200 in the conveying track 180 are about to run out. When the control system 300 detects that there is no cuvette 200 at the second detection position A2 by the fourth detector 184, the sample analysis device does not continue to apply to the cup sorting device 100 for sample analysis, and the control system 300 controls the material distribution device 190 to stop transporting the cuvette 200 at the discharge end 182, thereby avoiding the situation where the sample analysis device stops the test due to insufficient number of cuvettes after starting a set of analysis tests.

[0125] The cup arrangement device 100 can provide reaction cups 200 for the sample analysis device, and the position of the second detection position A2 on the conveying track 180 can be set according to the conditions of different sample analysis devices. In one embodiment, the sample analysis device needs to use 7 reaction cups 200 for one test. The second detection position A2 can be a position on the conveying track 180 that can accommodate more than 7 reaction cups 200, starting from the discharge end 182 and along the discharge end 182 toward the feed end 181. When the fourth detector 184 detects that there are reaction cups 200 at the second detection position A2, the number of reaction cups 200 can meet the number of reaction cups 200 required for the sample analysis device to analyze a sample once, and the sample analysis device can continue to perform sample analysis without terminating the sample analysis. When the fourth detector 184 detects that there are no reaction cups 200 at the second detection position A2, the number of reaction cups 200 is insufficient to complete the sample analysis of the subsequent sample analysis device. The sample analysis device does not continue to apply to the cup arrangement device 100 for sample analysis, and the control system 300 controls the material distribution device 190 to stop transporting the reaction cup 200 at the discharge end 182 .

[0126] In one embodiment, the fourth detector 184 detects the status of the cuvette 200 on the conveying track 180, and the control system 300 controls the method steps as follows:

[0127] Step 1: The fourth detector 184 detects whether there is a cuvette 200 at the second detection position A2.

[0128] Step 2: When there is no reaction cup 200 at the second detection position A2, the control system 300 controls the material distribution device 190 to stop transporting the reaction cup 200 at the discharge end 182.

[0129] In one embodiment, see Figure 7As shown, a third detector 183 and a fourth detector 184 are provided on the conveying track 180. The third detector 183 is provided near the feeding end 181 of the conveying track 180, and the position where the third detector 183 is provided on the conveying track 180 is the first detection position A1. The fourth detector 184 is provided near the discharging end 182 of the conveying track 180, and the position where the fourth detector 184 is provided on the conveying track 180 is the second detection position A2. The third detector 183 and the fourth detector 184 are provided on the conveying track 180 and are used to detect the number of cuvettes 200 in the conveying track 180, and control the working state of the cup sorting device 100 according to the detection results. Among them, the third detector 183 is used to detect whether there is a cuvette 200 at the first detection position A1, and the fourth detector 184 is used to detect whether there is a cuvette 200 at the second detection position A2. When the third detector 183 detects that there is a cuvette 200 at the first detection position A1, the control system 300 controls the driving device 130 to stop rotating, and then the cup selection turntable 120 stops rotating. The control system 300 is used to control the driving device 130 to rotate forward when it detects that there is no reaction cup 200 at the first detection position A1, thereby driving the cup selection turntable 120 to rotate forward. When the fourth detector 184 detects that there is no reaction cup 200 at the second detection position A2, the control system 300 controls the material distribution device 190 to stop transporting the reaction cup 200 at the discharge end 182.

[0130] It can be understood that the first detection position A1 is close to the feeding end 181, and the second detection position A2 is close to the discharging end 182. When the third detector 183 detects that there is a reaction cup 200 at the first detection position A1, there is also a reaction cup 200 at the second detection position A2. At this time, the control system 300 controls the driving device 130 to stop rotating, and then the cup selection turntable 120 stops rotating, and the cup selection turntable 120 temporarily stops conveying the reaction cup 200 to the conveying track 180.

[0131] When the third detector 183 detects that there is no cuvette 200 at the first detection position A1, there may or may not be a cuvette 200 at the second detection position A2. When the third detector 183 detects that there is no cuvette 200 at the first detection position A1 and the fourth detector 184 detects that there is a cuvette 200 at the second detection position A2, the control system 300 controls the stopped driving device 130 to rotate forward, thereby driving the cup selection turntable 120 to rotate forward. The rotating cup selection turntable 120 continues to transport the cuvette 200 to the conveying track 180 and replenish the cuvette 200 in the conveying track 180. When the third detector 183 detects that there is no cuvette 200 at the first detection position A1 and the fourth detector 184 detects that there is no cuvette 200 at the second detection position A2, the sample analysis device does not continue to apply to the cup sorting device 100 for sample analysis, and the control system 300 controls the material distribution device 190 to stop transporting the cuvette 200 at the discharge end 182.

[0132] In one embodiment, when the third detector 183 detects that there is no reaction cup 200 at the first detection position A1 and the fourth detector 184 detects that there is no reaction cup 200 at the second detection position A2, the control system 300 controls the material distribution device 190 to stop transporting the reaction cup 200 at the discharge end 182, and at the same time controls the alarm 310 to sound an alarm, prompting the operator that the number of reaction cups 200 in the conveying track 180 is insufficient to complete the sample analysis of the subsequent sample analysis equipment.

[0133] The third detector 183 and the fourth detector 184 can work together to realize automatic control of the transfer process of the reaction cup 200, ensure the reasonable transfer of the reaction cup on the conveying track, avoid unnecessary shutdown and adjustment, and improve the operation efficiency of the entire cup sorting device 100.

[0134] In one embodiment, the third detector 183 and the fourth detector 184 detect the status of the cuvette 200 on the conveying track 180, and the control system 300 controls the rotation of the cup selection turntable 120 as follows:

[0135] Step 1: The third detector 183 detects whether there is a cuvette 200 at the first detection position A1, and the fourth detector 184 detects whether there is a cuvette 200 at the second detection position A2.

[0136] Step 2: When there is a cuvette 200 at the first detection position A1 and there is a cuvette 200 at the second detection position A2, the control system 300 controls the driving device 130 to stop rotating, and then the cup selection turntable 120 stops rotating.

[0137] Step 3: When there is no cuvette 200 at the first detection position A1 and there is a cuvette 200 at the second detection position A2, the control system 300 controls the stopped driving device 130 to rotate forward, thereby driving the cup selection turntable 120 to rotate forward.

[0138] Step 4: When there is no reaction cup 200 at the first detection position A1 and no reaction cup 200 at the second detection position A2, the control system 300 controls the material distribution device 190 to stop transporting the reaction cup 200 at the discharge end 182 .

[0139] Among them, step 2, step 3 and step 4 are parallel steps. After the third detector 183 and the fourth detector 184 detect the reaction cup 200 on the conveying track 180, the control system 300 determines to execute one of step 2, step 3 or step 4 according to the detection results.

[0140] In one possible implementation, see Fig.10 , Fig.11 and Fig.12 As shown, the cup sorting device 100 includes a first material bin 101 and a second material bin 102. The first material bin 101 and the second material bin 102 can be an integrated structure, or the first material bin 101 and the second material bin 102 are two independent structures fixed together by welding or screw connection. The first material bin 101 and the second material bin 102 can load reaction cups 200 and provide reaction cups 200 for the base shell 110. The first material bin 101 is located on the side of the second material bin 102 away from the base shell 110. The interior of the first material bin 101 is connected to the interior of the second material bin 102. The second material bin 102 is fixedly connected to the base shell 110. The outlet of the second material bin 102 is connected to the cup inlet 111 of the base shell 110. The reaction cup 200 passes through the interior of the first material bin 101 and the second material bin 102 in sequence and enters the accommodating cavity 113 of the base shell 110.

[0141] The first material bin 101 includes a first inclined surface 103 , and the first inclined surface 103 extends to the outlet of the first material bin 101 . After the reaction cup 200 enters the first material bin 101 , it enters the second material bin 102 along the first inclined surface 103 .

[0142] The second material bin 102 includes a second inclined surface 104, which extends to the outlet of the second material bin 102. After the reaction cup 200 enters the second material bin 102, it enters the base shell 110 along the second inclined surface 104. The design of the first inclined surface 103 and the second inclined surface 104 can facilitate the reaction cup 200 to slide in the first material bin 101 and the second material bin 102, reducing the risk of cup jam. The first inclined surface 103 does not intersect with the second inclined surface 104, the plane where the first inclined surface 103 is located intersects with the plane where the second inclined surface 104 is located, and the distance between the first inclined surface 103 and the second inclined surface 104 is as shown in FIG. Fig.12As shown, the first inclined surface 103 has an edge that is shortest from the second inclined surface 104, and the shortest distance L1 between the edge and the second inclined surface 104 can be greater than the height of the reaction cup 200. For example, when the height of the reaction cup 200 is 30 mm, L1 can be greater than 30 mm; when the height of the reaction cup 200 is 40 mm, L1 can be greater than 40 mm. The distance L1 is the shortest straight-line distance between the first inclined surface 103 and the second inclined surface 104.

[0143] When the cuvette 200 reaches the end of the first inclined surface 103, the shortest distance between the first inclined surface 103 and the second inclined surface 104 is greater than the height of one cuvette 200, which can ensure that the cuvette 200 will not be piled up when sliding from the first inclined surface 103 to the second inclined surface 104. Each cuvette 200 has enough space to pass through, and the cuvette 200 can smoothly transition from the first inclined surface 103 to the second inclined surface 104, reducing the risk of the cuvette being stuck.

[0144] In one possible implementation, see Fig.10 and Fig.11 As shown, the cup sorting device 100 further includes a sixth detector 105, which can be disposed at one end of the second bin 102 close to the base shell 110. The sixth detector 105 can detect the number of cuvettes 200 in the second bin 102, so that cuvettes 200 can be added when the number of cuvettes 200 in the second bin 102 is insufficient.

[0145] In one possible implementation, see Figure 1 and Figure 2 As shown, the second material bin 102 is connected to the base shell 110, and the outlet of the second material bin 102 is connected to the cup inlet 111 of the base shell 110 to supply the reaction cup 200 to the base shell 110. The cup inlet 111 is located on the side of the base shell 110 away from the driving device 130, and the second material bin 102 is also located on the side of the base shell 110 away from the driving device 130, thereby reducing the overall height of the cup sorting device 100.

[0146] In a possible implementation, the angle between the first inclined plane 103 and the first direction is greater than or equal to 10 degrees, and the first direction is parallel to the axial direction of the connecting shaft 160. In the cup sorting device 100, the axial direction is the horizontal direction, the first direction is parallel to the horizontal direction, and the first direction may also be the horizontal direction. The angle between the first inclined plane 103 and the horizontal direction is greater than or equal to 10 degrees, and the angle may be 10 degrees, 15 degrees, 20 degrees, and so on. The angle between the first inclined plane 103 and the horizontal direction is greater than or equal to 10 degrees, so that the reaction cup 200 can more effectively utilize gravity to slide. The larger inclination angle makes it easier for the reaction cup 200 to slide down along the first inclined plane 103, which helps prevent the reaction cups from piling up on the first inclined plane 103, reduces the time spent on the first inclined plane 103, and thus reduces the risk of cup jamming.

[0147] In a possible implementation, the outlet of the first silo 101 is connected to the inlet of the second silo 102, and the inlet of the second silo 102 may be in the shape of a triangle, a quadrilateral, a pentagon, a hexagon, or a circle, etc. The minimum distance between any two opposite sides of the inlet of the second silo 102 is between 80 mm and 110 mm. The minimum distance between any two opposite sides of the inlet of the second silo 102 may be 80 mm, 90 mm, or 110 mm.

[0148] In one embodiment, see Fig.13 As shown, the shape of the entrance of the second silo 102 is square, and the minimum distance L2 between any two opposite sides of the entrance of the second silo 102 is between 80 mm and 110 mm, indicating that the maximum length of the entrance of the second silo 102 is between 80 mm and 110 mm.

[0149] In one embodiment, the entrance of the second silo 102 is circular in shape, and the minimum distance between any two opposite sides of the entrance of the second silo 102 is between 80 mm and 110 mm, which means that the diameter of the circular entrance is between 80 mm and 110 mm.

[0150] Generally, the width of an adult's palm is no more than about 110 mm, and the minimum distance between any two opposite sides of the entrance of the second material bin 102 is between 80 mm and 110 mm, which can ensure that the operator's hand can easily reach into the second material bin 102. When the reaction cup 200 in the second material bin 102 needs to be emptied, the operator's hand can directly reach into the second material bin 102 and manually take out the reaction cup 200 in the second material bin 102.

[0151] In one possible implementation, see Fig.12As shown, the second material bin 102 includes a side wall 106, and a vibration mechanism 107 is arranged on the side wall 106. The vibration mechanism 107 is located on the side of the side wall 106 away from the inside of the second material bin 102. The vibration mechanism 107 can be a vibration motor. The vibration mechanism 107 is used to drive the side wall 106 to vibrate. The side of the side wall 106 facing the inside of the second material bin 102 is the second inclined surface 104. If the reaction cup 200 is accumulated in the second material bin 102 and cannot be smoothly dropped into the base shell 110, the reaction cup 200 will be accumulated on the second inclined surface 104 of the side wall 106. The vibration generated by the vibration mechanism 107 can be transmitted to the reaction cup 200 accumulated on the second inclined surface 104 through the second inclined surface 104. The accumulation state of the reaction cup 200 is changed by vibration, and the state of the reaction cup 200 being accumulated on the second inclined surface 104 is destroyed, so that the reaction cup 200 can smoothly fall into the base shell 110.

[0152] The present application also provides a sample analysis device, which may be an in vitro diagnostic device, including but not limited to a biochemical analysis device, a coagulation analysis device, an immunoassay device, etc. The sample analysis device includes an analysis device and a cup unscrambling device 100 as described in any of the above embodiments, and the cup unscrambling device 100 is used to transport a reaction cup 200 to the analysis device. The analysis device can be used to perform the analysis function of the sample analysis device, such as spectral analysis, chromatographic analysis, or immunoassay, etc.

[0153] The cup sorting device 100 can provide the sample analysis equipment with reaction cups 200 for sample analysis. When performing sample analysis, the sample analysis equipment sends a sample analysis application to the cup sorting device 100. After receiving the sample analysis application, the cup sorting device 100 delivers the reaction cups 200 to the analysis equipment, ensuring that the analysis equipment has sufficient supply of reaction cups during the analysis process, so that the sample analysis equipment can continue to perform sample analysis.

[0154] The sample analysis equipment provided in the present application includes a cup sorting device 100, which can provide reaction cups 200 for the analysis device. The cup sorting device 100 has a solution for identifying cup jamming failures and automatically resolving cup jamming failures. When the cup selection turntable 120 is stuck, it can reverse to resolve the cup jamming failures, thereby improving the automation level of the sample analysis equipment and reducing the time for manually handling cup jamming failures. The sample analysis equipment can process more samples per unit time.

[0155] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A cup sorting device, characterized in that: include: A base shell, used for storing the reaction cup, the base shell is provided with a cup outlet; A cup selection turntable, located in the base shell, for transporting the reaction cup; A driving device connected to the cup selection turntable, wherein the driving device drives the cup selection turntable to rotate, and the reaction cup is output from the cup outlet when the cup selection turntable rotates forward; A first detector, used to detect the rotation state of the cup selection turntable; A control system is connected to the first detector and the driving device respectively, and is used for controlling the cup selection turntable to reverse by a first angle when it is determined that the cup selection turntable is in a cup stuck state according to the detection result of the first detector.

2. The cup sorting device according to claim 1, characterized in that: The control system is used to control the cup selection turntable to rotate forward after the cup selection turntable is reversed by the first angle, and to control the cup selection turntable to rotate forward by a second angle when it is determined that the cup selection turntable is in a cup stuck state again after the cup selection turntable rotates forward for a first preset time period, wherein the second angle is greater than the first angle.

3. The cup sorting device according to claim 2, characterized in that: The control system is used for controlling the cup selection turntable to rotate forward after the cup selection turntable is reversed by the second angle, and controlling the alarm to sound an alarm when it is determined that the cup selection turntable is still in a cup stuck state after the cup selection turntable rotates forward for a second preset time period.

4. The cup sorting device according to any one of claims 1 to 3, characterized in that: The control system is used to determine that the cup selection turntable is in a cup stuck state when an angle difference between a target position of the cup selection turntable and a current position of the cup selection turntable is greater than a first threshold angle.

5. The cup sorting device according to claim 1, characterized in that: The control system is used to reset the cup jamming times data when the cup selection turntable is at the zero position. The control system also controls the first detector to re-detect the rotation state of the cup selection turntable, and determines whether the cup selection turntable is in the cup jamming state for the first time according to the detection result of the first detector.

6. The cup sorting device according to any one of claims 1 to 3, characterized in that: The base shell has a accommodating cavity, which is used to accommodate the reaction cup. The cup selection turntable is located in the accommodating cavity. A material trough is provided on the cup selection turntable. The cup selection turntable is used to allow the reaction cup to enter the material trough when rotating forward. The material trough includes a straight line segment and an arc segment. The straight line segment has a discharge end at the end away from the arc segment. When the discharge end is connected to the cup outlet, the reaction cup in the material trough is output to the outside of the base shell through the cup outlet.

7. The cup sorting device according to claim 6, characterized in that: The cup sorting device comprises a second detector, and the second detector is used to detect the relative rotation position between the discharge end and the base shell; The control system is connected to the second detector, and is used for controlling the cup selection turntable to rotate forward by a third angle and then stop rotating after the second detector detects that the discharge end is located at a predetermined positioning position, so that the discharge end is connected to the cup outlet and reaches a zero position.

8. The cup sorting device according to claim 1, characterized in that: The cup sorting device comprises a conveying track, a third detector and a material dividing device, wherein the material inlet end of the conveying track is connected to the cup outlet, and the material dividing device is connected to the material outlet end of the conveying track for transporting the reaction cups at the material outlet end; The conveying track is provided with a first detection position, which is close to the feeding end of the conveying track and spaced apart from the feeding end; the third detector is used to detect whether there is the reaction cup at the first detection position; The control system is used for controlling the cup selection turntable to stop rotating when the third detector detects that there is the reaction cup at the first detection position, and controlling the cup selection turntable to rotate forward when the third detector detects that there is no reaction cup at the first detection position.

9. The cup sorting device according to claim 8, characterized in that: The cup sorting device further includes a fourth detector, a second detection position is provided on the conveying track, the second detection position is close to the discharge end of the conveying track, and is spaced apart from the discharge end; The fourth detector is used to detect whether the reaction cup is located at the second detection position; The control system is used for controlling the material distributing device to stop transporting the reaction cup at the discharge end when the fourth detector detects that there is no reaction cup at the second detection position.

10. The cup sorting device according to any one of claims 1 to 3, characterized in that: The cup sorting device includes a first material bin and a second material bin, the second material bin is fixedly connected to the base shell, the first material bin is located on the side of the second material bin away from the base shell, the interior of the first material bin is connected to the interior of the second material bin, the first material bin includes a first inclined surface, the second material bin includes a second inclined surface, the plane where the first inclined surface is located intersects with the plane where the second inclined surface is located, and the shortest distance between the first inclined surface and the shortest edge of the second inclined surface and the second inclined surface is greater than 30 mm.

11. The cup sorting device according to claim 10, characterized in that: The outlet of the second material bin is communicated with the cup inlet of the base shell, and the cup inlet is located on a side of the base shell away from the driving device.

12. The cup sorting device according to claim 10, characterized in that: The second silo includes a side wall, on which a vibration mechanism is disposed. The vibration mechanism is located on a side of the side wall away from the interior of the second silo, and is used to drive the side wall to vibrate. The side of the side wall facing the interior of the second silo is the second inclined surface.

13. A sample analysis device, characterized in that: It comprises an analysis device and the cup sorting device according to any one of claims 1 to 12, wherein the cup sorting device is used to transport the reaction cups to the analysis device.

Images