A fully automatic sample processing system

Abstract

The present invention provides a fully automatic sample processing system, which is applied in the technical field of medical devices. The key points of its technical solution are as follows: a sample pretreatment device, which is used for performing operations such as sample loading, centrifugation, lid opening, and barcode scanning on the sample; an analytical instrument, which is used for detecting and analyzing various components of the pretreated sample; a conveying device, which is connected between the sample pretreatment device and the analytical instrument and conveys the pretreated sample into the analytical instrument for detection and analysis; a pre-storage sample processing device for covering and transporting the sample tube after detection and analysis, and a low-temperature storage device connected to the pre-storage sample processing device and used for storing the covered sample tubes; a pick-and-place manipulator is arranged in the pre-storage sample processing device to place the covered sample tubes into the low-temperature storage device or take out the sample tubes in the low-temperature storage device; the technical effect achieved is: the automatic processing of samples is realized, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a fully automatic sample processing system. Background Art

[0002] Blood samples are one of the most common sample types. Blood has extensive fluidity and the most important substance transport function in the organism. Its molecular components mainly include metabolites, biogenic hormones, antibodies, enzymes, inorganic salts, etc., which are very suitable for reflecting the most direct and effective metabolic conditions of the organism.

[0003] Currently, the general way of sample processing is the manual operation mode. Manually place the sample in a centrifuge for centrifugation. After centrifugation, manually open the sample lid, and then place the opened sample tube into the analytical instrument for analysis. After the analytical instrument finishes analyzing the sample, manually collect the sample and store it in a refrigerator or discard it.

[0004] The disadvantages of this mode are that manual assistance is required in each link, the degree of manual intervention is high and it is easy to make mistakes; the processing equipment may not be in the same place, resulting in very cumbersome processing of a single sample. Summary of the Invention

[0005] The purpose of the present invention is to provide a fully automatic sample processing system, the advantage of which is to realize the automatic processing of samples and greatly improve work efficiency.

[0006] To achieve the above purpose and other related purposes, the present invention provides the following technical solutions:

[0007] A fully automatic sample processing system, comprising:

[0008] A sample pre-processing device, which is used for loading, centrifuging, opening the lid, and scanning the code of the sample;

[0009] An analytical instrument, which is used for detecting and analyzing various components of the pre-processed sample;

[0010] A conveying device, which is connected between the sample pre-processing device and the analytical instrument and is used for conveying the pre-processed sample into the analytical instrument for detection and analysis.

[0011] In an embodiment of the present invention, it further includes a pre-storage sample processing device for covering and transporting the sample tube after detection and analysis, and a low-temperature storage device connected to the pre-storage sample processing device and used for storing the covered sample tube;

[0012] Inside the sample pre - treatment device before storage, there is a pick - and - place manipulator for placing the capped sample tubes into the low - temperature storage device or taking out the sample tubes from the low - temperature storage device.

[0013] In an embodiment of the present invention, the sample pre - treatment device includes a frame, and on the frame, there are a sample loading station, a centrifugation station, and an uncapping and barcode - scanning station.

[0014] On the sample loading station, there is a sample loading mechanism for loading sample tubes.

[0015] On the centrifugation station, there is a centrifuge for centrifuging the sample solution in the sample tubes.

[0016] On the uncapping and barcode - scanning station, there is an uncapping and barcode - scanning mechanism for opening the caps of the sample tubes and scanning the sample tubes to check the sample information.

[0017] On the frame, there is a transfer mechanism for caching and transferring sample tubes; the transfer mechanism includes a transfer rack, a transfer drive assembly arranged on the frame and used to drive the transfer rack to rotate, and a caching module arranged on the transfer rack and used to cache sample tubes; the transfer rack rotates to transfer the caching module to the sample loading station, the centrifugation station, and the uncapping and barcode - scanning station.

[0018] On the frame, there is a manipulator group for transferring sample tubes between the sample loading mechanism, the centrifuge, the uncapping and barcode - scanning mechanism, and the caching module.

[0019] On the frame, there is a transportation mechanism for reciprocally transporting test tube racks; on the frame, there is a blanking manipulator for grasping the uncapped and barcode - scanned sample tubes and placing them into empty test tube racks.

[0020] In an embodiment of the present invention, the conveying device includes a sampling device connected to the transportation mechanism and used to convey test tube racks towards the transportation mechanism and receive and transfer the pre - treated samples, and a conveying line group connected to the sampling device, the analytical instrument, and the sample pre - treatment device before storage and used to convey samples.

[0021] In an embodiment of the present invention, the sampling device includes a machine platform, a caching station arranged on the machine platform and used to cache empty test tube racks or test tube racks containing sample tubes, a transportation cart reciprocally sliding on the machine platform and used to transport empty test tube racks or test tube racks containing sample tubes, and a transfer cart for transferring the empty test tube racks or test tube racks containing sample tubes on the transportation cart to the conveying line group or transferring the empty test tube racks or test tube racks containing sample tubes on the conveying line group to the transportation cart.

[0022] On the machine platform on one side of the transport trolley, there are a loading rack connected to the transport mechanism and used for loading empty test tube racks, and an unloading rack for unloading test tube racks filled with sample tubes.

[0023] In an embodiment of the present invention, a transport driving member for driving the transport trolley to reciprocally slide is provided on the machine platform;

[0024] The transport trolley includes a moving frame connected to the action end of the transport driving member, a receiving groove provided on the moving frame, and a first pushing mechanism provided on the transfer frame and used for pushing the test tube rack on the receiving groove to the buffer station or pulling the test tube rack on the buffer station into the receiving groove.

[0025] In an embodiment of the present invention, the conveyor line group includes a sample loading conveyor line and a sample unloading conveyor line with two ends respectively connected to the sample injection device and the pre-storage sample processing equipment;

[0026] The sample loading conveyor line is arranged on the side close to the analytical instrument, and the sample loading conveyor line and the sample unloading conveyor line are arranged in parallel;

[0027] At the ends of the sample loading conveyor line and the sample unloading conveyor line close to the pre-storage sample processing equipment, a transfer mechanism is provided for transferring the samples on the sample loading conveyor line to the sample unloading conveyor line.

[0028] In an embodiment of the present invention, a blocking mechanism for restricting the continuous conveyance of the sample tubes is provided on the sample loading conveyor line;

[0029] On one side of the sample loading conveyor line, a detection robotic arm is provided for grasping the sample tubes restricted from continuous conveyance and sending them to the analytical instrument for detection and analysis.

[0030] In an embodiment of the present invention, the transfer trolley includes a transfer frame, a transfer channel provided on the transfer frame, a transfer driving member provided on the machine platform and used for driving the transfer frame to reciprocally move so that the transfer channel is respectively aligned with the sample loading conveyor line or the sample unloading conveyor line, and a second pushing mechanism provided on the transfer frame and used for pushing the test tube rack among the transport trolley, the transfer channel and the conveyor line group.

[0031] In an embodiment of the present invention, a waste bin is provided on one side of the pre-storage sample processing equipment, and the picking and placing robotic arm is used for taking out the sample tubes in the low-temperature storage equipment and placing them on the sample unloading conveyor line to return to the sample injection device for reloading and retesting, or placing the sample tubes taken out from the low-temperature storage equipment in the waste bin for waste treatment.

[0032] As described above, a full-automatic sample processing system of the present invention has the following beneficial effects:

[0033] This fully automatic sample processing system has functions of automatically loading samples, centrifuging, opening caps, scanning codes, verifying, automatically loading centrifuged samples, automatically transporting, automatically detecting and analyzing, and automatically saving or discarding, eliminating defects such as human misplacement; greatly improving work efficiency and reducing the labor intensity and repetitive labor of operators; and one or more analytical instruments can be connected in this processing system, which is applicable to the rapid processing of batch and small - volume samples, can be used in different occasions, meets various users with different requirements, and overcomes many disadvantages of single - machine and on - line use. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is the overall structural schematic diagram of an embodiment of the present invention;

[0035] Figure 2 is the connection structural schematic diagram of the sample pretreatment device and the sampling device in an embodiment of the present invention;

[0036] Figure 3 is the top - view of the connection structure of the sample pretreatment device and the sampling device in an embodiment of the present invention;

[0037] Figure 4 is the structural schematic diagram of the sample pretreatment device in an embodiment of the present invention;

[0038] Figure 5 is the top - view of the structure of the sample pretreatment device in an embodiment of the present invention;

[0039] Figure 6 is the structural schematic diagram of the automatic sample loading mechanism in an embodiment of the present invention;

[0040] Figure 7 is the top - view of the structure of the automatic sample loading mechanism in an embodiment of the present invention;

[0041] Figure 8 is the structural schematic diagram of the lifting component in an embodiment of the present invention;

[0042] Figure 9 is the structural schematic diagram of the sample loading positioning component in an embodiment of the present invention;

[0043] Figure 10 is the structural schematic diagram of the transfer component in an embodiment of the present invention;

[0044] Figure 11 is the side - view of the transfer component in an embodiment of the present invention;

[0045] Figure 12 is the structural schematic diagram of the cap - opening and code - scanning mechanism in an embodiment of the present invention;

[0046] Figure 13 is the schematic diagram of the positional relationship between the cap - opening and code - scanning mechanism and the transportation mechanism in an embodiment of the present invention;

[0047] Figure 14 It is a top view of the positional relationship between the lid-opening code-scanning mechanism and the transportation mechanism in an embodiment of the present invention;

[0048] Figure 15 It is a top view of the structure of the conveying tray in an embodiment of the present invention;

[0049] Figure 16 It is a schematic diagram of the commutation structure in an embodiment of the present invention;

[0050] Figure 17 It is a schematic diagram of the structure of the sample injection device in an embodiment of the present invention;

[0051] Figure 18 is Figure 17 an enlarged schematic diagram of part A in

[0052] Figure 19 It is a top view of the structure of the sample injection device in an embodiment of the present invention;

[0053] Figure 20 It is a schematic diagram of the structure of the transport trolley in an embodiment of the present invention;

[0054] Figure 21 It is a schematic diagram of the structure of the first pushing mechanism in an embodiment of the present invention;

[0055] Figure 22 It is a schematic diagram of the structure of the loading rack and the unloading rack in an embodiment of the present invention;

[0056] Figure 23 It is a schematic diagram of the structure of the conveyor line group in an embodiment of the present invention;

[0057] Figure 24 It is a top view of the structure of the conveyor line group in an embodiment of the present invention;

[0058] Figure 25 It is a schematic diagram of the structure of the transfer mechanism in an embodiment of the present invention;

[0059] Figure 26 It is a schematic diagram of the connection structure between the sample output rack and the first fixed rack in an embodiment of the present invention;

[0060] Figure 27 It is a schematic diagram of the positional structure of two blocking mechanisms in an embodiment of the present invention;

[0061] Figure 28 It is a schematic diagram of the structure of the blocking mechanism in an embodiment of the present invention.

[0062] Reference numerals: 1a, sample pretreatment device; 1, frame; 2, manual sample loading mechanism; 3, automatic sample loading mechanism; 31, sample bin; 32, sample loading lifting assembly; 33, sample loading conveying assembly; 34, sample loading positioning assembly; 321, lifting plate; 322, fixing plate; 323, lifting driving member; 331, hopper; 332, conveyor belt mechanism; 333, alignment channel; 341, lifting base; 342, lifting driving member; 343, baffle; 344, retaining piece; 345, elastic member; 4, centrifuge; 5, lid-opening and code-scanning mechanism; 51, conveying tray; 52, code-scanning assembly; 521, code-scanning gun; 522, code-scanning manipulator; 53, lid-opening assembly; 511, limiting ring plate; 512, conveying turntable; 513, conveying driving assembly; 514, sample slot; 531, clamping structure; 532, lid-opening manipulator; 533, waste lid storage structure; 5331, conveying pipe; 5332, waste lid storage barrel; 5311, clamping driving member; 5312, clamping plate; 5313, U-shaped groove; 6, transfer mechanism; 61, transfer rack; 62, transfer driving assembly; 63, buffer module; 621, transfer driving member; 622, reduction turntable; 623, reduction gear set; 611, first moving disk; 612, second moving disk; 613, eccentric rotating shaft; 614, eccentric fixed shaft; 631, loading disk; 632, sample tube tray; 10, transportation mechanism; 101, conveyor belt structure; 102, reversing structure; 1021, first reversing frame; 1022, reversing driving member; 1023, reversing conveyor; 1024, pipe rack channel; 103, limiting baffle; 104, blocking structure; 11, blanking manipulator; 12, first manipulator; 13, second manipulator; 2a, analytical instrument; 3a, conveying equipment; 4a, pre-storage sample pretreatment equipment; 41a, sample injection device; 42a, conveying line group; 411a, machine table; 412a, buffer station; 413a, transportation cart; 414a, transfer cart; 415a, loading rack; 416a, unloading rack; 417a, transportation driving member; 418a, second reversing frame; 4131a, moving frame; 4132a, receiving groove; 4133a, first pushing mechanism; 41331a, pushing rod; 41332a, lifting driving structure; 41333a, pushing driving member; 41334a, connecting frame; 4141a, transfer rack; 4142a, transfer channel; 4143a, transfer driving member; 4144a, second pushing mechanism; 421a, sample injection conveying line; 422a, sample output conveying line; 423a, transfer mechanism; 4231a, first fixing frame; 4232a, sample output rack; 4233a, sample loading rack; 4234a, sample loading driving member; 4235a, transfer spring; 425a, blocking assembly; 4251a, rotating baffle; 4252a, blocking motor; 424a, blocking mechanism; 4241a, second fixing frame; 4242a, blocking rack; 4243a, blocking driving member;4244a, mounting bracket; 4245a, blocking spring; 4246a, guide wheel; 4247a, guide rail; 5a, cryogenic storage device; Detailed implementation manners

[0063] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0064] Please refer to Figures 1 to 28 It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical essential significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, and are not used to limit the scope for the implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope that the present invention can implement.

[0065] Please refer to Figure 1 , Figure 2 and Figure 3 , the present invention provides a fully automatic sample processing system, including a sample pretreatment device 1a, an analytical instrument 2a, a conveying device 3a, a pre-storage sample processing device 4a, and a cryogenic storage device 5a;

[0066] The sample pretreatment device 1a is used for processing the sample by loading, centrifuging, opening the lid, and scanning the code;

[0067] The analytical instrument 2a is used for detecting and analyzing various components of the pretreated sample;

[0068] The conveying device 3a is connected between the sample pretreatment device 1a and the analytical instrument 2a and is used for conveying the pretreated sample into the analytical instrument 2a for detection and analysis;

[0069] The pre-storage sample processing device 4a is used for covering and transporting the sample tubes after detection and analysis;

[0070] The cryogenic storage device 5a is connected to the pre-storage sample processing device 4a and is used for storing the covered sample tubes.

[0071] Please refer to Figure 4 and Figure 5, where the sample pretreatment device 1a includes a frame 1. A housing (not shown in the figure) is fixedly arranged on the frame 1 to achieve fully enclosed automatic operation of the device; a sample loading station, a centrifugation station, and a tube cap opening and code scanning station are arranged on the frame 1;

[0072] A sample mechanism for loading samples on the sample loading station is arranged on the sample loading station;

[0073] A centrifuge 4 for centrifuging the sample solution in the sample tube is arranged on the centrifugation station;

[0074] A tube cap opening and code scanning mechanism 5 for opening the tube cap of the sample tube and scanning the sample tube to check the sample information is arranged on the tube cap opening and code scanning station;

[0075] A transfer mechanism 6 for caching and transferring sample tubes is arranged on the frame 1; the transfer mechanism 6 includes a transfer rack 61, a transfer drive assembly 62 arranged on the frame 1 and used for driving the transfer rack 61 to rotate, and a caching module 63 arranged on the transfer rack 61 and used for caching sample tubes; the transfer drive assembly 62 drives the transfer rack 61 to rotate to transfer the caching module 63 to the sample loading station, the centrifugation station, and the tube cap opening and code scanning station;

[0076] A manipulator group for transferring sample tubes among the sample loading mechanism, the centrifuge 4, the tube cap opening and code scanning mechanism, and the caching module 63 is arranged on the frame 1; the manipulator group includes a first manipulator 12 for grasping the sample tube on the sample loading mechanism and caching it in the caching module 63 at the sample loading station, or for grasping the sample tube in the caching module 63 at the sample loading station and centrifuging it with the centrifuge 4, or for grasping the sample tube centrifuged by the centrifuge 4 and caching it in the caching module 63 at the centrifugation station;

[0077] A second manipulator 13 for grasping the sample tube in the caching module 63 at the tube cap opening and code scanning station and placing it on the tube cap opening and code scanning mechanism 5 for opening the tube cap and scanning the code is arranged on the frame 1;

[0078] A transportation mechanism 10 for reciprocally transporting test tube racks is arranged on the frame 1; a blanking manipulator 11 for grasping the sample tube after opening the tube cap and scanning the code and placing it into an empty test tube rack is arranged on the frame 1.

[0079] Please refer to 4 and Figure 5 , in this embodiment, the sample loading mechanism may include a manual sample loading mechanism 2 and an automatic sample loading mechanism 3. The manual sample loading mechanism 2 is a sample loading drawer installed on the frame 1 in a pull-out manner, and a sample tray is placed in the sample loading drawer; during sample loading, the sample loading drawer can be pulled out manually and the sample tray can be filled with sample tubes, and then the sample loading drawer can be pushed into the frame 1 to wait for the first manipulator 12 to grasp.

[0080] Please refer to Figures 6 to 9, the automatic sample loading mechanism includes a sample bin 31 bolted to the frame 1, a sample loading lifting assembly 32 connected to the sample bin 31 and used to transport the sample tubes in the sample bin 31 out, a sample loading conveying assembly 33 connected to the sample loading lifting assembly and used to align the sample tubes with their caps facing upward and transport them, and a sample loading positioning assembly 34 used to position the aligned sample tubes;

[0081] The sample bin 31 is used to hold the sample tubes, and the bottom plate of the sample bin 31 is inclined; the sample loading lifting assembly 32 includes a number of lifting plates 321, a number of fixing plates 322, and a lifting driving member 323;

[0082] A number of lifting plates 321 are arranged staggeredly up and down and bolted together, and the lifting driving member 323 can drive a number of lifting plates 321 to lift synchronously; an opening is provided at the lowest point of the bottom plate of the sample bin 31, and the lowermost lifting plate 321 is located in the opening and connected to the bottom of the sample bin 31, so that the sample tubes in the sample bin 31 can fall onto the lowermost lifting plate 321. When the lifting driving member 323 drives the lifting plate 321 to rise, the lifting plate 321 can lift the sample tubes in the sample bin 31 out of the sample bin 31; the lifting driving member 323 in this embodiment is a chain drive mechanism;

[0083] A number of fixing plates 322 are respectively arranged between adjacent two lifting plates 321 and bolted to the frame 1 respectively, and the fixing plates 322 are in contact with the side walls of the adjacent two lifting plates 321; the upper end of the lifting plate 321 located inside the fixing plate 322 is lower than the upper end of the fixing plate 322 on the outside, and in this embodiment, the fixing plates 322 and the upper ends of the lifting plates 321 are both provided with inclined surfaces inclined in one direction; so that when the lifting driving member 323 drives the lifting plate 321 to rise, it drives the sample tubes to rise. When the sample tubes rise to the upper end of the fixing plate 322, due to the inclined surfaces at the ends of the lifting plate 321 and the fixing plate 322, the sample tubes on the lifting plate roll onto the fixing plate 322; when the lifting plate 321 falls again, the sample tubes roll from the fixing plate 322 onto the lifting plate 321 again, thus realizing the lifting of the sample tubes.

[0084] Please refer to Figure 8 , a hopper 331 connected to the sample loading lifting assembly 32 is provided on the frame 1 on one side of the sample loading lifting assembly 32;

[0085] The sample loading conveying assembly 33 includes two conveyor belt mechanisms 332 arranged in parallel, and a shaping channel 333 is formed between the two conveyor belt mechanisms 332; the width of the shaping channel 333 is W, the diameter of the tube body of the sample tube is d, and the diameter of the tube cap of the sample tube is D, where D > W > d;

[0086] Thereby, the lifting plate 321 lifts the sample tube into the upper hopper 331, and the upper hopper 331 guides the sample tube into the posture adjustment channel 333. Since the width of the posture adjustment channel 333 is larger than the diameter of the tube body of the sample tube, and the width of the posture adjustment channel 333 is smaller than the diameter of the tube cap of the sample tube, when the sample tube falls into the posture adjustment channel 333, the tube body of the sample tube falls into the posture adjustment channel, and the tube cap of the sample tube is placed on the conveyor belts on both sides, and the conveyor belt mechanism 332 drives the sample tube after posture adjustment to be conveyed.

[0087] See also Figure 9 The sample loading positioning assembly 34 includes a lifting base 341, a lifting drive member 342, a baffle 343, a baffle 344 and an elastic member 345; the lifting drive member 342 is bolted to the frame 1 at the bottom of the sample loading conveying assembly 33 away from the side of the loading hopper 331, the lifting base 341 is connected to the action end of the lifting drive member 342, and a bracket for accommodating the sample tube is provided on the lifting base 341, wherein the bracket is located below the posture adjustment channel 333; a first photoelectric sensor is fixedly provided on the frame 1 located on one side of the posture adjustment channel 333; when the sample tube is transferred to the top of the bracket, the first photoelectric sensor detects the sample tube, and the lifting drive member 342 drives the lifting base 341 to move upward, so that the sample tube enters the bracket and lifts the sample tube and then leaves the shaping channel;

[0088] The baffle 343 is bolted to the frame 1, and an arc groove matching the sample tube is provided on the baffle 343 on the side close to the upper hopper 331; the baffle 344 is arranged opposite to the baffle 343, and the baffle 344 is rotatably arranged on the frame 1, and the elastic member 345 is arranged on the frame 1 away from the side of the baffle 343, and the elastic member 345 abuts against the baffle 343, so that the baffle 343 and the baffle 344 cooperate to limit and position the sample tube, ensuring that the first manipulator can accurately grasp the sample tube and realize the loading of the sample tube; the elastic member 345 in this embodiment may include a low joint and a spring with one end connected to the low joint and the other end connected to the frame 1.

[0089] The working process of the automatic loading mechanism: the loading lifting assembly 32 is used to lift the sample tubes in the sample bin 31 one by one into the shaping channel for shaping. After shaping, the conveyor belt mechanism 332 transports the sample tubes. When the sample tubes are conveyed to the top of the bracket, the first photoelectric sensor detects the sample tubes, and the lifting drive 342 drives the lifting base 341 to move upward and lift the sample tubes. In the process of being lifted, the sample tubes pass through the baffle 343 and the baffle 344 and are located between the baffle 343 and the baffle 344. The elastic member 345 abuts against the baffle 344, so that the baffle 344 squeezes the sample tube and restricts the sample tube between the baffle 343 and the baffle 344; ensure that the first manipulator can accurately grasp the sample tube to realize the loading of the sample tube.

[0090] See alsoFigure 10 and Figure 11 The transfer driving assembly 62 includes a transfer driving member 621, a reduction turntable 622 driven by the transfer driving member 621 to rotate, and a reduction gear set 623 connecting the transfer driving member 621 and the reduction turntable 622. In this embodiment, the transfer driving member 621 can be a motor. The large gear in the reduction gear set 623 is fixedly installed on the reduction turntable 622, and the small gear in the reduction gear set 623 is installed on the output shaft of the motor;

[0091] The transfer rack 61 includes a first moving disk 611 and a second moving disk 612. In this embodiment, the first moving disk 611 and the second moving disk 612 are equilateral triangle structures. The reduction turntable 622 is bolted to the center position of the first moving disk 611, and the first moving disk 611 and the second moving disk 612 are arranged parallel to each other up and down; The first moving disk 611 and the second moving disk 612 are connected by an eccentric rotating shaft 613. The two ends of the eccentric rotating shaft 613 are respectively rotatably connected to the first moving disk 611 and the second moving disk 612. In this embodiment, the eccentric rotating shaft 613 is a cam; In this embodiment, three eccentric rotating shafts 613 are arranged between the first moving disk 611 and the second moving disk 612; The three eccentric rotating shafts 613 are respectively arranged at positions close to the three corners of the first moving disk 611 and the second moving disk 612;

[0092] One end of the reduction turntable 622 passes through the first moving disk 611, and the second moving disk 612 and the reduction turntable 622 are connected by an eccentric fixing shaft 614. In this embodiment, the eccentric fixing shaft 614 is a camshaft. One end of the camshaft is fixed on the frame, and the other end is rotatably connected to the second moving disk 612. The reduction turntable 622 is rotatably connected to the eccentric fixing shaft 614;

[0093] In this embodiment, three buffer modules 63 are provided. The included angle between two adjacent buffer modules 63 is 120°. The three buffer modules 63 are respectively connected to the three eccentric rotating shafts 613. The buffer module 63 includes a loading disk 631 and a sample tube tray 632 fixed on the loading disk 631. The loading disk 631 is arranged on the second moving disk 612, and one end of the eccentric rotating shaft 613 passes through the second moving disk 612 and is rotatably connected to the loading disk 631; Four sample tube trays 632 are fixedly arranged on the loading disk in this embodiment, and the four sample tube trays 632 are arranged in a cross shape.

[0094] The working process of the transfer mechanism 6 is as follows: The three buffer modules 63 rotate between the sample loading station, the centrifugation station, and the open cap and code scanning station respectively; The first manipulator 12 is used to grab the sample tube in the lifting base 341 and place it on the buffer module 63 at the sample loading station; The first manipulator 12 is used to grab the uncentrifuged sample tube in the buffer module 63 at the centrifugation station and place it in the centrifuge 4. After centrifugation, the first manipulator 12 is also used to grab the sample tube in the centrifuge 4 and put it back into the buffer module 63 at the centrifugation station; The buffer module 63 at the open cap and code scanning station stores the centrifuged sample tube, and the second manipulator 13 takes it away and places it on the open cap and code scanning mechanism 5; After the second manipulator 13 finishes operating, at this time, the buffer module 63 at the open cap and code scanning station is empty. The transfer driving part 621 drives the transfer rack 61 to rotate 120°. The empty buffer module 63 rotates to the sample loading station to continue sample loading; The buffer module 63 filled with sample tubes rotates to the centrifugation station again to continue centrifugation operation; The buffer module 63 filled with centrifuged sample tubes rotates to the open cap and code scanning station again, and the second manipulator 13 can continue to transfer the centrifuged sample tube to the open cap and code scanning mechanism 5.

[0095] Please refer to Figures 12 to 15 , the open cap and code scanning mechanism 5 includes a conveying tray 51, a code scanning component 52, and an open cap component 53;

[0096] The conveying tray 51 includes a limiting ring plate 511, a conveying turntable 512, and a conveying driving component 513; The limiting ring plate 511 is bolted to the frame 1. The conveying turntable 512 is located inside the limiting ring plate 511. The conveying driving component 513 is arranged at the bottom of the frame 1 and is used to drive the conveying turntable 512 to rotate. The conveying driving part in this embodiment can be a gear motor mechanism; A number of sample slots 514 for accommodating samples are equidistantly arranged on the circumference of the conveying turntable 512; A number of notches are provided on the limiting ring plate 511. The notches facilitate exposing the sample tubes in the sample slots 514, thereby facilitating operations such as opening the cap, code scanning, and blanking.

[0097] Please refer to Figure 12 and Figure 15 , the open cap component 53 includes a clamping structure 531, an open cap manipulator 532, and a waste cap storage structure 533; The clamping structure 531 is used to clamp and fix the sample tube on the conveying turntable 512. The open cap manipulator 532 is used to clamp the tube cap of the sample tube and rotate it, and raise it while rotating, so as to unscrew the tube cap from the sample tube. The open cap manipulator 532 then throws the waste tube cap into the waste cap storage structure 533;

[0098] The clamping structure 531 includes a clamping driving member 5311 and a clamping plate 5312. In this embodiment, it can be a clamping cylinder. The cylinder block of the clamping cylinder is bolted to the frame 1. The telescopic movement of the piston rod of the clamping cylinder can drive the clamping plate 5312 to clamp or release the sample tube. A spring can be connected between the clamping plate 5312 and the piston rod of the clamping cylinder. The spring plays a buffering role to avoid damaging the sample tube. A U-shaped groove 5313 matching the sample tube is provided on the clamping plate 5312.

[0099] Please refer to Figure 1 , where the lid-opening manipulator 532 is arranged above the clamping mechanism; the waste lid storage structure 533 includes a delivery pipe 5331 fixed to the frame 1 and a waste lid storage barrel 5332 fixed to the bottom of the frame 1. One end of the delivery pipe 5331 is open on the side close to the lid-opening manipulator 532, and the other end is communicated with the waste lid storage barrel 5332. The waste lid grabbed by the lid-opening manipulator 532 can be placed in the opening at one end of the delivery pipe 5331, and the waste pipe is guided into the waste lid storage barrel 5332 through the delivery pipe 5331.

[0100] Please refer to Figure 12 , taking the rotation direction of the conveying turntable 512 as the front. In this embodiment, the code scanning assembly 52 includes a code scanning gun 521 and a code scanning manipulator 522. The code scanning gun 521 is bolted to the frame 1 on one side of the limit ring plate 511. The code scanning gun 521 is located in front of the clamping structure 531.

[0101] The working process of the lid-opening and code scanning mechanism is as follows: The second manipulator 13 transfers the centrifuged sample tube from the buffer module 63 to the lid-opening and code scanning mechanism 5; the second manipulator 13 places the sample tube in the sample slot 514. The conveying drive assembly 513 drives the conveying turntable 512 to rotate. When the conveying turntable 512 conveys the sample tube to the clamping structure 531, the clamping driving member 5311 drives the clamping plate 5312 to clamp and fix the sample tube on the conveying turntable 512; then the lid-opening manipulator 532 moves down and clamps the tube cap. While the lid-opening manipulator 532 unscrews the tube cap and moves up at the same time to remove the tube cap from the tube body of the sample tube; the lid-opening manipulator 532 puts the waste tube cap into the delivery pipe 5331; at the same time, the conveying drive assembly 513 continues to drive the conveying turntable 512 to rotate, and the conveying turntable 512 continues to convey the opened sample tube forward. When the opened sample tube is conveyed to directly below the code scanning manipulator 522, the code scanning manipulator 522 grabs the sample tube and rotates it. While the sample tube is rotating, the code scanning gun 521 scans the bar code on the sample tube and checks the information of the scanned sample according to the system data; when the scanned sample tube is conveyed close to the transportation mechanism 10, the blanking manipulator 11 grabs the scanned sample tube and places it on the empty test tube rack transported by the transportation mechanism 10.

[0102] Please refer to Figure 13 、Figure 14 and Figure 16 The transport mechanism 10 is located in front of the barcode scanner 521. The transport mechanism 10 includes two conveyor belt structures 101 arranged in parallel with opposite transport directions and a reversing structure 102 connecting the two conveyor belt structures 101. Limiting baffles 103 are arranged on both sides of the two conveyor belt structures 101, and the limiting baffles 103 on both sides are used to limit the test tube rack during transportation so that it is transported standing upright. The two conveyor belt structures 101 can be divided into a loading conveyor belt structure and an unloading conveyor belt structure.

[0103] Please refer to Figure 16 , the reversing structure 102 includes a first reversing frame 1021, a reversing driving member 1022, and a reversing conveyor member 1023. The reversing driving member 1022 is arranged on the frame 1 at the ends of the two conveyor belt structures 101 and is perpendicular to the conveyor belt structure 101. In this embodiment, the reversing driving member 1022 can be a linear screw module, and the linear screw module drives the first reversing frame 1021 to slide perpendicular to the two conveyor belt structures 101. The reversing conveyor member 1023 is arranged on the first reversing frame 1021. The reversing conveyor member 1023 is a belt transmission mechanism, and a tube rack channel 1024 for accommodating the test tube rack is arranged above the reversing conveyor member 1023. When the reversing driving member 1022 drives the first reversing frame 1021 to face the loading conveyor belt structure, the test tube rack on the loading conveyor belt structure is conveyed into the tube rack channel 1024. When the reversing driving member 1022 drives the first reversing frame 1021 to face the unloading conveyor belt structure, the reversing conveyor member 1023 drives in the reverse direction, and the test tube rack located in the tube rack channel 1024 is conveyed in the reverse direction onto the unloading conveyor belt structure, thereby realizing the reversing transportation of the test tube rack.

[0104] The unloading conveyor belt structure is arranged close to one side of the limiting ring plate 511. A plurality of blocking structures 104 for blocking the transportation of the test tube racks on the unloading conveyor belt structure and the loading conveyor belt structure are arranged on the frame 1. In this embodiment, the blocking structure 104 can be a cylinder and a blocking rod fixed on the piston rod of the cylinder. When the unloading conveyor belt structure conveys the test tube rack to the unloading area close to one side of the limiting ring plate 511, the blocking structure 104 is used to block the continuous transportation of the test tube rack. At this time, the unloading manipulator 11 grabs the sample tubes that have been scanned in the sample trough 514 into the test tube rack. When a test tube rack is filled with sample tubes, the blocking structure 104 releases the test tube rack, and the unloading conveyor belt structure continues to convey the test tube rack filled with samples out.

[0105] The working process of the transportation mechanism 10 is as follows: The feeding conveyor belt structure conveys the standing test tube racks. The first reversing frame 1021 faces the feeding conveyor belt structure, and the feeding conveyor belt structure transfers the test tube racks into the tube rack channel 1024. Then, the reversing driving member 1022 drives the first reversing frame 1021 to move to face the discharging conveyor belt structure, and the reversing conveying member 1023 drives in the reverse direction to transfer the test tube racks located in the tube rack channel 1024 to the discharging conveyor belt structure in the reverse direction. The discharging conveyor belt structure conveys the test tube racks to the discharging area near the limiting ring plate 511, and the blocking structure 104 blocks the continuous conveyance of the test tube racks. The discharging manipulator 11 grabs the sample tubes that have completed the barcode scanning in the sample tank 514 and places them into the test tube racks. When a test tube rack is filled with sample tubes, the blocking structure 104 releases the test tube rack, and the discharging conveyor belt structure continues to convey the test tube racks filled with samples out.

[0106] Please refer to Figure 2 and Figure 3 As shown in FIGS. 3a and 3b, the conveying device 3a includes a sampling device 41a connected to the transportation mechanism 10 and used for conveying test tube racks towards the transportation mechanism 10 and receiving and transferring the samples that have undergone pretreatment, and a conveying line group 42a connected to the sampling device 41a, the analytical instrument, and the pre-sample processing device 4a and used for conveying samples.

[0107] Please refer to Figure 17 、 Figure 18 and Figure 19 As shown in FIGS. 4a and 4b, the sampling device 41a includes a machine table 411a, a buffer station 412a, a transportation trolley 413a, a transfer trolley 414a, a loading rack 415a, and an unloading rack 416a.

[0108] A transportation driving member 417a for driving the transportation trolley 413a to reciprocate and slide is arranged in the middle of the machine table 411a along the length direction of the machine table 411a. In this embodiment, the transportation driving member 417a is a conveyor belt structure. A plurality of buffer stations 412a are arranged on the machine table 411a on both sides of the conveying driving member, and the buffer stations 412a are used for buffering empty test tube racks or test tube racks filled with sample tubes.

[0109] The transportation trolley 413a is connected to the conveyor belt, and the conveyor belt can drive the transportation trolley 413a to reciprocate and slide, so as to realize the transportation of the test tube racks filled with sample tubes or empty test tube racks by the transportation trolley 413a.

[0110] Please refer to Figure 22, The loading rack 415a and the unloading rack 416a are arranged in parallel on one side of the machine table 411a. The loading rack 415a is structurally connected to the loading conveyor belt to achieve sample loading for the empty test tube racks, and the unloading rack 416a is structurally connected to the unloading conveyor belt for unloading the test tube racks filled with sample tubes. A second reversing rack 418a is arranged on the rack between the loading rack 415a and the unloading rack 416a. The second reversing rack 418a is driven by a motor to rotate and is arranged on the machine table 411a, and can adjust the direction of the test tube racks on the transport trolley 413a, so that the test tube racks entering the loading rack 415a are in the same direction.

[0111] The transfer trolley 414a is arranged on the other side of the machine table 411a. The transfer trolley 414a is used to transfer the empty test tube racks or the test tube racks with sample tubes on the transport trolley 413a to the conveyor line group 42a, or transfer the empty test tube racks or the test tube racks with sample tubes on the conveyor line group 42a to the transport trolley 413a.

[0112] Please refer to Figure 20 and Figure 21 , The transport trolley 413a includes a moving rack 4131a connected to the action end of the transport driving member 417a, a receiving groove 4132a arranged on the moving rack 4131a, and a first pushing mechanism 4133a arranged on the transfer rack 61 and used to push the test tube racks on the receiving groove 4132a to the buffer station 412a or pull the test tube racks on the buffer station 412a into the receiving groove 4132a.

[0113] The first pushing mechanism 4133a includes a pushing rod 41331a, a lifting driving structure 41332a for driving the pushing rod 41331a to lift, and a pushing driving member 41333a for driving the pushing rod 41331a to reciprocate and slide synchronously with the lifting structure.

[0114] In this embodiment, the pushing driving member 41333a is a conveyor belt structure, and a connecting frame 41334a is fixedly arranged on the conveyor belt. The lifting driving structure 41332a is arranged on the connecting frame 41334a. The lifting driving structure 41332a in this embodiment can be a gear-rack transmission structure. The motor is fixedly arranged on the connecting frame 41334a, the gear is arranged on the output shaft of the motor, the rack is fixedly connected to the pushing rod 41331a, and the pushing rod 41331a is slidably connected to the connecting frame 41334a. Then the motor drives the gear to rotate, and the gear cooperates with the rack to convert the rotational motion into a linear motion, thereby realizing the lifting of the pushing rod 41331a.

[0115] Please refer to Figure 17 and Figure 18, the transfer trolley 414a includes a transfer rack 4141a, a transfer channel 4142a provided on the transfer rack 4141a, a transfer driving member 4143a provided on the machine platform 411a and used to drive the transfer rack 4141a to reciprocate so that the transfer channel 4142a is aligned with the conveyor line group 42a, and a second pushing mechanism 4144a provided on the transfer rack 4141a and used to push the test tube rack between the transport trolley 413a, the transfer channel 4142a and the conveyor line group 42a; the second pushing mechanism 4144a in this embodiment has the same structure as the first pushing mechanism 4133a.

[0116] Please refer to Figure 23 and Figure 24 , the conveyor line group 42a includes a sample injection conveyor line 421a and a sample output conveyor line 422a, and the sample injection conveyor line 421a and the sample output conveyor line 422a convey in opposite directions; both the conveyor line and the sample output conveyor line 422a are arranged in parallel and are respectively connected to the sample injection device 41a and the pre-storage sample processing device 4a at both ends, wherein the sample injection conveyor line 421a is arranged close to the analysis instrument side; the number of the analysis instruments 2a can be one or more. Since the sample injection conveyor line 421a is used to convey samples for the analysis instrument 2a, the same number of sample injection conveyor lines 421a can be increased while increasing the number of the analysis instruments 2a; in this embodiment, two analysis instruments 2a are provided, and the two analysis instruments 2a can be one immunoassay instrument and one biochemical instrument, or both can be immunoassay instruments or both can be biochemical instruments; correspondingly, two sample injection conveyor lines 421a are provided to convey samples for the two analysis instruments 2a respectively; blocking mechanisms 424a used to limit the continuous conveyance of the sample tubes are arranged on both of the two sample injection conveyor lines 421a in this embodiment; two detection robotic arms are arranged on one side of the sample injection conveyor line 421a and used to respectively grab the sample tubes limited from continuous conveyance to the two analysis instruments 2a for detection and analysis.

[0117] In this embodiment, the transfer driving member 4143a can be a conveyor belt structure, where the transfer rack 4141a is fixed on the conveyor belt, and the conveyor belt can drive the transfer trolley 414a to move, so that the transfer channel 4142a is aligned with the two sample loading conveyor lines 421a and / or the sample unloading conveyor line 422a respectively; the second pushing mechanism 4144a has the same structure and function as the first pushing mechanism 4133a. The second pushing mechanism 4144a is used to pull the test tube rack with sample tubes on the transport trolley 413a onto the transfer trolley 414a, and then the transfer trolley 414a pushes it onto different sample loading conveyor lines 421a; when the sample needs to be re-inspected, the sample returns from the sample unloading conveyor line 422a. At this time, the transfer trolley 414a is aligned with the sample unloading conveyor line 422a, and the second pushing mechanism 4144a pulls the test tube rack with the sample tubes to be re-inspected on the sample unloading conveyor line 422a onto the transfer trolley 414a, and then pushes the test tube rack with the sample tubes to be re-inspected onto the transport trolley 413a, and then the transport trolley 413a transports it and the first pushing mechanism 4133a pushes it to the buffer station 412a to wait for re-inspection.

[0118] Please refer to Figure 25 and Figure 26 , at the ends of the sample loading conveyor line 421a and the sample unloading conveyor line 422a close to the side of the pre-storage sample processing device 4a, a transfer mechanism 423a is provided for transferring the samples on the sample loading conveyor line 421a to the sample unloading conveyor line 422a;

[0119] The transfer mechanism 423a includes a first fixing frame 4231a fixed on the conveyor line group 42a, a sample unloading rack 4232a slidably connected to the first fixing frame 4231a and aligned with the sample unloading conveyor line 422a, a sample loading rack 4233a slidably connected to the first fixing frame 4231a, and a sample loading driving member 4234a provided on the first fixing frame 4231a and used to drive the sample loading rack 4233a to be aligned with the two sample loading conveyor lines 421a and the sample unloading conveyor line 422a respectively. In this embodiment, the sample loading driving member 4234a is a conveyor belt mechanism 332, and one end of the sample loading rack 4233a is fixed on the conveyor belt. The conveyor belt drive can drive the sample loading rack 4233a to be aligned with the two sample loading conveyor lines 421a and the sample unloading conveyor line 422a respectively; one end of the sample unloading rack 4232a is connected with a transfer spring 4235a, and the other end of the transfer spring 4235a is fixedly connected to the first fixing frame 4231a;

[0120] When the sample on a certain sample injection conveyor line 421a fails the detection and needs to be retested; the sample loading driving member 4234a drives the sample loading rack 4233a to align with the end of its sample injection conveyor line 421a, so as to convey the test tube rack of the sample to be retested into the sample loading rack 4233a. The sample loading driving member 4234a drives the sample loading rack 4233a again and drives the test tube rack of the sample to be retested to move. Since the sample discharging rack 4232a is connected to the first fixed rack 4231a through a transfer spring 4235a, the sample loading rack 4233a pushes the sample discharging rack 4232a to one side and then aligns it with the sample discharging conveyor line 422a. Due to the continuous conveyance of the sample discharging conveyor line 422a, the test tube rack of the sample to be retested in the sample loading rack 4233a is conveyed in the reverse direction by the sample discharging conveyor line 422a and then conveyed to the sample injection device 41a again to wait for retest conveyance; after the sample loading driving member 4234a drives the sample loading rack 4233a away from the sample discharging conveyor line 422a, due to the elasticity of the transfer spring 4235a, the sample discharging rack 4232a aligns with the sample discharging conveyor line 422a again;

[0121] A blocking assembly 425a for blocking the continuous forward conveyance of the test tube rack in the sample loading rack 4233a is arranged on one side of the first fixed rack 4231a; the blocking assembly 425a includes a rotating baffle 4251a rotatably connected to the first fixed rack 4231a and a blocking motor 4252a fixedly arranged on the first fixed rack 4231a and used for driving the rotating baffle 4251a to rotate.

[0122] Please refer to Figure 27 and Figure 28 , the blocking mechanism 424a includes a second fixed rack 4241a fixed to the bottom of the sample injection conveyor line 421a, a blocking rack 4242a arranged on the second fixed rack 4241a, and a blocking driving member 4243a arranged on the second fixed rack 4241a and used for driving the blocking rack 4242a to reciprocally slide on the second fixed rack 4241a;

[0123] In this embodiment, the blocking driving member 4243a is a conveyor belt structure, wherein a connecting mounting rack 4244a is fixedly arranged on the conveyor belt, wherein the blocking rack 4242a is slidably connected to the mounting rack 4244a, a blocking spring 4245a is connected between the blocking rack 4242a and the mounting rack 4244a, a guide wheel 4246a is connected to the blocking rack 4242a, and guide tracks 4247a with different depths are arranged on the second fixed rack 4241a;

[0124] When the conveyor belt can drive the mounting bracket 4244a and the blocking bracket 4242a to move, the guide wheel 4246a slides on the guide track 4247a. Due to the different depths of the guide track 4247a, when the guide wheel 4246a slides to the deeper area of the guide track 4247a, the blocking spring 4245a is in a released state, and the blocking bracket 4242a is inserted into the sample feeding conveyor line 421a to block the test tube rack containing the sample tube, restricting the continuous transportation of the sample tube. The detection robotic arm grabs the sample tube and sends it to the analysis instrument 2a for detection and analysis; after the detection and analysis of the sample tube are completed, the detection robotic arm places the sample tube in the analysis instrument 2a back into the test tube rack, and the sample feeding conveyor line 421a and the blocking driving member 4243a continuously transport the test tube rack containing the sample tube. When the guide wheel 4246a moves to the shallower area of the guide track 4247a, the blocking spring 4245a is in a compressed state. Therefore, the blocking bracket 4242a releases the test tube rack containing the sample tube, and the sample feeding conveyor line 421a can continue to transport the sample.

[0125] The working process of the conveying device 3a: The transport trolley 413a feeds the empty test tube rack on the buffer station 412a onto the feeding conveyor belt structure through the feeding rack 415a; the transport trolley 413a then receives the test tube rack filled with sample tubes on the discharging rack 416a, places the test tube rack filled with sample tubes at the buffer station 412a waiting for detection and analysis, or directly transfers the test tube rack filled with sample tubes to the transfer trolley 414a. The transfer trolley 414a then transfers the test tube rack filled with sample tubes to the corresponding sample feeding conveyor line 421a of the analysis instrument 2a and transports it through the sample feeding conveyor line 421a; when the sample is transported to the sampling position of the analysis instrument 2a, the blocking mechanism 424a restricts the continuous transportation of the test tube rack filled with sample tubes, and the detection robotic arm samples the test tubes in the test tube rack one by one into the analysis instrument 2a. After the sample analysis and detection in the analysis instrument 2a are completed, the detection robotic arm grabs the sample tube in the analysis instrument 2a again and places it in the empty test tube rack on the sample feeding conveyor line 421a. At this time, the blocking mechanism 424a moves synchronously with the test tube rack filled with sample tubes again, and the blocking bracket 4242a releases the test tube rack through the cooperation of the guide wheel 4246a and the guide track 4247a, and the sample feeding conveyor line 421a continues to transport the sample;

[0126] If the sample test and analysis are unqualified, a re-inspection is required. When the test tube rack containing the sample tube to be re-inspected is transported to the end of the sample injection conveyor line 421a, the test tube rack containing the sample tube to be re-inspected is transported into the sample loading rack 4233a. The sample loading driving member 4234a drives the sample loading rack 4233a and drives the test tube rack of the sample tube to be re-inspected to move and align with the sample output conveyor line 422a. Due to the continuous transportation of the sample output conveyor line 422a, the test tube rack of the sample tube to be re-inspected in the sample loading rack 4233a is transported in the reverse direction by the sample output conveyor line 422a; the transfer trolley 414a pulls the test tube rack of the sample tube to be re-inspected transported on the sample output conveyor line 422a into the transfer channel 4142a. The transfer trolley 414a adjusts its position to realign with the sample injection conveyor line 421a, and then pushes the sample tube to be re-inspected onto the sample injection conveyor line 421a again, and transports it into the analytical instrument 2a for re-testing and analysis; or it is pushed onto the transport trolley 413a, and the transport trolley 413a transfers it to the buffer station 412a for buffering and waiting for re-inspection.

[0127] Please refer to Figure 1 , there is an automatic capping mechanism (not shown in the figure) for automatically loading the caps of the sample tubes in the pre-storage sample processing device 4a, a capping mechanism (not shown in the figure) for automatically capping the uncapped sample tubes, and a pick-and-place manipulator (not shown in the figure) for placing the capped sample tubes into the low-temperature storage device 5a or taking out the sample tubes from the low-temperature storage device 5a;

[0128] The specific structures of the automatic capping mechanism and the capping mechanism in this embodiment can be referred to the Chinese invention patent with the publication number CN117169533B and the patent name of a high-speed automatic cupping instrument.

[0129] The low-temperature storage device 5a in this embodiment is an automated sample library, and its specific structure can be referred to the Chinese invention patent with the publication number CN109368107A and the patent name of a biological sample storage library and its storage method.

[0130] The working processes of the pre-storage sample processing device 4a and the low-temperature storage device 5a: If the sample test and analysis are completed, the sample injection conveyor line 421a transports it to the pre-storage sample processing device 4a, and the capping mechanism caps the uncapped sample tubes; the pick-and-place manipulator then transports the capped ones into the low-temperature storage device 5a for storage; if the sample tubes in the low-temperature storage device 5a still need to be re-inspected, the sample tubes can be taken out again through the pick-and-place manipulator, and are transported to the sample injection device 41a through the sample output conveyor line 422a, and are re-opened and re-tested and analyzed.

[0131] A waste bin (not shown in the figure) is provided on one side of the sample processing device 4a before storage. The pick-and-place manipulator can place the sample tubes from the cryogenic storage device into the waste bin for disposal; the empty test tube racks are conveyed to the sample loading device 41a through the sample output conveyor line 422a.

[0132] In summary, the full-automatic sample processing system of the present invention has the functions of automatically loading samples, centrifuging, opening caps, scanning codes, verifying, automatically loading the centrifuged samples, automatically conveying, and automatically detecting and analyzing, eliminating defects such as human misplacement and incorrect placement; greatly improving work efficiency and reducing the labor intensity and repetitive labor of operators; and one or more analytical instruments can be connected in the processing system, which is suitable for the rapid processing of batch and small-volume samples, can be used in different occasions, meets the various needs of different users, and overcomes many disadvantages of single-machine and online use.

[0133] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A fully automatic sample processing system, characterized in that: include: A sample pre-processing device (1a), the sample pre-processing device (1a) is used to load, centrifuge, open the cover, and scan the sample; The sample pre-treatment device (1a) comprises a frame (1), and the frame (1) is provided with a sample loading station, a centrifugation station and a cover opening and code scanning station; The sample loading station is provided with a sample loading mechanism for loading the sample tube; The centrifugal station is provided with a centrifuge (4) for centrifuging the sample solution in the sample tube; The cover opening and code scanning station is provided with a cover opening and code scanning mechanism (5) for opening the tube cover of the sample tube and scanning the sample tube to verify the sample information; The frame (1) is provided with a transfer mechanism (6) for caching and transferring sample tubes; the transfer mechanism (6) comprises a transfer frame (61), a transfer drive assembly (62) arranged on the frame (1) and used for driving the transfer frame (61) to rotate, and a cache module (63) arranged on the transfer frame (61) and used for caching sample tubes; the transfer frame (61) rotates to transfer the cache module (63) to a sample loading station, a centrifugation station, and a cover opening and code scanning station; The rack (1) is provided with a manipulator group for transferring sample tubes between the sample loading mechanism, the centrifuge (4), the cover opening and code scanning mechanism (5) and the buffer module (63); An analysis instrument (2a), the analysis instrument (2a) being used to detect and analyze various components of the pre-treated sample; A conveying device (3a), the conveying device (3a) is connected between the sample pre-treatment device (1a) and the analysis instrument (2a) and is used to convey the pre-treated sample to the analysis instrument (2a) for detection and analysis; A pre-storage sample processing device (4a), wherein the pre-storage sample processing device (4a) is used to cap and transport the sample tubes after detection and analysis; The rack (1) is provided with a transport mechanism (10) for reciprocatingly transporting the test tube rack; The conveying device (3a) comprises a sample introduction device (41a) connected to the conveying mechanism (10) and used to convey the test tube rack toward the conveying mechanism (10) and to receive and transport the pre-treated sample, and a conveying line group (42a) connected to the sample introduction device (41a), the analysis instrument (2a) and the pre-storage sample processing device (4a) and used to convey the sample; The sample introduction device (41a) comprises a machine platform (411a), a buffering station (412a) arranged on the machine platform (411a) and used for buffering empty test tube racks or test tube racks loaded with sample tubes, a transport trolley (413a) that slides back and forth on the machine platform (411a) and is used for transporting empty test tube racks or test tube racks loaded with sample tubes, and a transport trolley (414a) that transfers the empty test tube racks or test tube racks loaded with sample tubes on the transport trolley (413a) to the conveying line group (42a) or transfers the empty test tube racks or test tube racks loaded with sample tubes on the conveying line group (42a) to the transport trolley (413a); The platform (411a) is provided with a transport driving member (417a) for driving the transport trolley (413a) to slide back and forth; The transport trolley (413a) comprises a moving frame (4131a) connected to the action end of the transport driving member (417a), a receiving slot (4132a) arranged on the moving frame (4131a), and a first pushing mechanism (4133a) arranged on the transfer frame (61) and used for pushing the test tube rack on the receiving slot (4132a) to the buffer station (412a) or pulling the test tube rack on the buffer station (412a) into the receiving slot (4132a); The conveying line group (42a) comprises a sample feeding conveying line (421a) and a sample discharging conveying line (422a) whose two ends are respectively connected to the sample feeding device (41a) and the pre-storage sample processing equipment (4a); The transfer trolley (414a) comprises a transfer frame (4141a), a transfer channel (4142a) arranged on the transfer frame (4141a), and a transfer driving member (4143a) arranged on the machine platform (411a) and used for driving the transfer frame (4141a) to move back and forth so that the transfer channel (4142a) is aligned with the sample injection conveying line (421a) or the sample output conveying line (422a), and a second pushing mechanism (4144a) arranged on the transfer frame (4141a) and used for pushing the test tube rack between the transport trolley (413a), the transfer channel (4142a) and the conveying line group (42a).

2. A fully automatic sample processing system according to claim 1, characterized in that: Also included is a low temperature storage device (5a) connected to the pre-storage sample processing device (4a) and used to store the capped sample tubes; The pre-storage sample processing device (4a) is provided with a pick-and-place robot for placing the capped sample tube in the low-temperature storage device (5a) or taking out the sample tube in the low-temperature storage device (5a).

3. A fully automatic sample processing system according to claim 2, characterized in that: The rack (1) is provided with a material unloading robot (11) for grabbing the sample tube after opening the cover and scanning the code and placing it into an empty test tube rack.

4. A fully automatic sample processing system according to claim 3, characterized in that: A loading rack (415a) connected to the transport mechanism (10) and used for loading samples on an empty test tube rack and a unloading rack (416a) for unloading samples from a test tube rack loaded with sample tubes are arranged on a machine platform (411a) located on one side of the transport trolley (413a).

5. A fully automatic sample processing system according to claim 4, characterized in that: The sample inlet conveying line (421a) is arranged close to one side of the analysis instrument (2a), and the sample inlet conveying line (421a) and the sample outlet conveying line (422a) are arranged in parallel; The ends of the sample inlet conveying line (421a) and the sample outlet conveying line (422a) close to one side of the pre-storage sample processing device (4a) are provided with a transfer mechanism (423a) for transferring the sample on the sample inlet conveying line (421a) to the sample outlet conveying line (422a).

6. A fully automatic sample processing system according to claim 5, characterized in that: The sample feeding conveying line (421a) is provided with a blocking mechanism (424a) for limiting the continuous conveying of the sample tube; A detection robot arm is provided on one side of the sample feeding conveying line (421a) for grabbing the sample tube with limited continuous conveying to the analysis instrument (2a) for detection and analysis.

7. A fully automatic sample processing system according to claim 2, characterized in that: A scrap bin is provided on one side of the pre-storage sample processing device (4a), and the pick-and-place robot is used to take out the sample tubes in the low-temperature storage device (5a) and place them on the sample delivery conveyor line (422a) to return to the sample introduction device (41a) to achieve re-loading for re-inspection, or to place the sample tubes in the low-temperature storage device (5a) in the scrap bin for scrapping.

Images