Full-automatic sample pretreatment equipment

Abstract

The invention provides full-automatic sample pretreatment equipment, which is applied to the technical field of medical instruments, and is characterized in that the full-automatic sample pretreatment equipment comprises a rack, and a sample loading mechanism for loading a sample tube is arranged on a sample loading station; a centrifugal machine for centrifuging a sample solution in the sample tube is arranged on the centrifugal station; the uncovering and code scanning station is provided with an uncovering and code scanning mechanism which is used for opening tube covers of the sample tubes and scanning codes of the sample tubes to check sample information; a transfer mechanism for caching and transferring sample tubes is arranged on the rack; a manipulator group for transferring the sample tubes among the sample feeding mechanism, the centrifugal machine, the uncovering and code scanning mechanism and the cache module is arranged on the rack; a conveying mechanism for conveying the test tube rack back and forth is arranged on the rack; the rack is provided with a discharging mechanical arm used for grabbing the sample tubes subjected to uncovering and code scanning and placing the sample tubes into the empty test tube racks. The full-automatic sample pretreatment device has the technical effects that full-automatic sample pretreatment is realized, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a fully automatic sample pre-processing device. Background Art

[0002] Before entering the analytical instrument for testing, the sample must be pre-processed first. Sample pre-processing includes loading, centrifugation, opening the lid, scanning the code, and checking. Currently, most sample pre-processing methods are manually assisted, specifically placing the sample in a centrifuge for centrifugation, taking the sample out of the centrifuge after centrifugation, scanning the code, and checking the sample. After checking, the lid of the sample tube is opened and finally the sample is placed in the analytical instrument for testing. The disadvantage is that manual assistance is required in each link, with a high degree of manual intervention and prone to errors. In addition, multiple pre-processing devices may not be in the same place, making the processing of a sample very cumbersome. At the same time, multiple independent pre-processing devices occupy a large amount of office space. For hospitals with large volumes, when the number of samples is large, multiple people are required to cooperate to complete the task, wasting manpower and material resources. Summary of the invention

[0003] The purpose of the present invention is to provide a fully automatic sample pre-processing device, which has the advantage of realizing fully automatic sample pre-processing and improving work efficiency.

[0004] To achieve the above objectives and other related objectives, the present invention provides the following technical solutions: A fully automatic sample pre-processing device, comprising a frame, wherein the frame 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 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 for opening the tube cover of the sample tube and scanning the sample tube to verify the sample information; The rack is provided with a transfer mechanism for caching and transferring sample tubes; the transfer mechanism comprises a transfer rack, a transfer drive assembly provided on the rack and used to drive the transfer rack to rotate, and a cache module provided on the transfer rack and used to cache sample tubes; the transfer rack rotates to transfer the cache module to the sample loading station, the centrifugation station, and the cover opening and code scanning station; The rack is provided with a manipulator group for transferring sample tubes between the sample loading mechanism, the centrifuge, the cover opening and code scanning mechanism, and the cache module; The rack is provided with a transport mechanism for reciprocatingly transporting the test tube rack; the rack is provided with a feeding robot for grabbing the sample tubes after opening the cover and scanning the code and placing them into an empty test tube rack.

[0005] In one embodiment of the present invention, the sample loading mechanism comprises an automatic sample loading mechanism; The automatic sample loading mechanism includes a sample bin fixed on a frame, a sample loading lifting assembly connected to the sample bin and used to transport the sample tube in the sample bin out of the sample bin, a sample loading conveying assembly connected to the sample loading lifting assembly and used to adjust the sample tube so that its cap faces upward and transport it, and a sample loading positioning assembly used to position the adjusted sample tube.

[0006] In one embodiment of the present invention, the sample loading lifting assembly includes a plurality of staggered lifting plates, a plurality of fixed plates, and a lifting driving member for driving the plurality of lifting plates to rise and fall synchronously; The lowermost lifting plate is connected to the bottom of the sample chamber, and a plurality of fixing plates are respectively fixedly arranged on the racks between two adjacent lifting plates.

[0007] In one embodiment of the present invention, a loading hopper connected to the loading lifting assembly is provided on a frame located on one side of the loading lifting assembly; The sample loading and conveying assembly comprises two conveyor belt mechanisms arranged in parallel, a posture adjustment channel is formed between the two conveyor belt mechanisms, and the loading hopper is located above the posture adjustment channel; The width of the alignment channel 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, wherein D>W>d.

[0008] In one embodiment of the present invention, the sample positioning assembly includes a lifting base, a lifting driving member arranged on a frame and used to drive the lifting base to rise and fall, a baffle fixedly arranged on the frame, a baffle plate arranged opposite to the baffle plate and rotatably arranged on the frame, and an elastic member fixed on the frame and abutting against the baffle plate.

[0009] In one embodiment of the present invention, the transfer drive assembly includes a transfer drive member, a reduction disc driven to rotate by the transfer drive member, and a reduction gear set connecting the transfer drive member and the reduction disc; The transfer frame includes a first moving plate and a second moving plate, the first moving plate is fixedly connected to the deceleration rotating plate, the first moving plate and the second moving plate are arranged vertically and parallelly, and the first moving plate and the second moving plate are connected via an eccentric rotating shaft, and the second moving plate is connected to the deceleration rotating plate via an eccentric fixed shaft; The cache module includes a loading plate and a sample tube tray fixed on the loading plate. The loading plate is arranged on the second moving plate and is rotatably connected to one end of the eccentric rotating shaft.

[0010] In one embodiment of the present invention, the transfer mechanism includes three buffer modules, and the angle between two adjacent buffer modules is 120°.

[0011] In one embodiment of the present invention, the cover opening and code scanning mechanism includes a conveyor plate, a code scanning component and a cover opening component; The conveyor disc comprises a limiting ring plate fixed on the frame, a conveyor turntable located in the limiting ring plate, and a conveyor drive assembly arranged on the frame and used for driving the conveyor turntable to rotate; The conveying turntable is provided with a sample slot for accommodating samples.

[0012] In one embodiment of the present invention, the cover opening assembly includes a clamping structure for clamping the sample tube on the conveying turntable, a cover opening manipulator disposed on the frame, and a waste cover storage structure disposed on the frame; The clamping structure comprises a clamping driving member arranged on a frame and a clamping plate fixed on an action end of the clamping driving member, wherein the clamping plate is provided with a U-shaped groove matching the sample tube.

[0013] In one embodiment of the present invention, the transport mechanism includes two conveyor belt structures arranged in parallel and in opposite transport directions and a reversing structure connecting the two conveyor belt structures; Limit baffles are arranged on both sides of the two conveyor belt structures.

[0014] As described above, the fully automatic sample pre-processing device of the present invention has the following beneficial effects: 1. It integrates automatic sample loading, centrifugation, lid opening, code scanning, and verification operations to achieve fully automatic sample pre-processing and improve work efficiency. The automated operation avoids human contact with the sample after the sample tube is opened, ensuring the safety of the operator and eliminating the defects of human error in taking or placing the sample; 2. The equipment is highly integrated, compact in structure, and has concentrated functions. It has the characteristics of small footprint, low cost, strong economy, and can be operated by one person. It is suitable for rapid processing of batch and small samples, greatly improving work efficiency and reducing the labor intensity and repetitive work of operators; 3. The transfer mechanism is used to cache and transfer sample tubes before and after centrifugation. A robot group is used to transfer sample tubes between the upper sample mechanism, centrifuge, cover opening and code scanning mechanism, and cache module. A robot group is used to grab sample tubes in places where frequent grabbing takes a long time. The robots perform their respective duties, so the grabbing speed is fast, which reduces the waiting time of the centrifuge and improves the centrifugal efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 is a top view of the overall structure of an embodiment of the present invention; Figure 3 is a structural schematic diagram of an automatic sample loading mechanism according to an embodiment of the present invention; Figure 4 is a top view of the structure of the automatic sample loading mechanism according to an embodiment of the present invention; Figure 5 is a schematic structural diagram of a lifting assembly according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of a sample loading and positioning component according to an embodiment of the present invention; Figure 7 is a schematic structural diagram of a transfer assembly according to an embodiment of the present invention; Figure 8 is a side view of a transfer assembly according to an embodiment of the present invention; Fig. 9 2 is a schematic diagram of the structure of the cover opening and code scanning mechanism according to an embodiment of the present invention; Fig.10 Schematic diagram of the positional relationship between the cover opening and code scanning mechanism and the transportation mechanism in an embodiment of the present invention; Fig.11 1. It is a top view of the positional relationship between the cover opening and code scanning mechanism and the transportation mechanism of an embodiment of the present invention; Fig.12 is a top view of the conveyor tray structure of an embodiment of the present invention; Fig.13 Schematic diagram of a commutation structure according to an embodiment of the present invention.

[0016] 1. Rack; 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. Fixed plate; 323. Lifting drive member; 331. Loading hopper; 332. Conveyor belt mechanism; 333. Positioning channel; 341. Lifting base; 342. Lifting drive member; 343. Baffle plate; 344. Baffle plate; 345. Elastic member; 4. Centrifuge; 5. Cover opening and code scanning mechanism; 51. Conveyor plate; 52. Code scanning assembly; 521. Code scanning gun; 522. Code scanning manipulator; 53. Cover opening assembly; 511. Limiting ring plate; 512. Conveyor turntable; 513. Conveyor drive assembly; 514. Sample slot; 531. Clamping structure; 532. Cover opening manipulator; 533. Waste cover storage Structure; 5331, conveying tube; 5332, waste cover storage bucket; 5311, clamping drive; 5312, clamping plate; 5313, U-shaped groove; 6, transfer mechanism; 61, transfer rack; 62, transfer drive assembly; 63, cache module; 621, transfer drive; 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, reversing rack; 1022, reversing drive; 1023, reversing conveying member; 1024, tube rack channel; 103, limit baffle; 104, blocking structure; 11, unloading robot; 12, first robot; 13, second robot. DETAILED DESCRIPTION

[0017] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0018] See also Figures 1 to 13 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0019] See also Figure 1 and Figure 2 The present invention provides a fully automatic sample pre-processing device, including a frame 1, on which a housing (not shown) is fixedly arranged to realize fully enclosed automatic operation of the device; a sample loading station, a centrifugation station, and a cover opening and code scanning station are arranged on the frame 1; The sample loading station is provided with a sample loading mechanism for loading sample tubes; The centrifuge 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 rack 1 is provided with a transfer mechanism 6 for caching and transferring sample tubes; the transfer mechanism 6 comprises a transfer rack 61, a transfer drive assembly 62 provided on the rack 1 and used to drive the transfer rack 61 to rotate, and a cache module 63 provided on the transfer rack 61 and used to cache sample tubes; the transfer drive assembly 62 drives the transfer rack 61 to rotate so as to transfer the cache module 63 to the sample loading station, the centrifugation station, and the 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 scanning mechanism, and the buffer module 63; the manipulator group includes a first manipulator 12 for grabbing the sample tube on the sample loading mechanism to the buffer module 63 at the sample loading station for buffering, or grabbing the sample tube in the buffer module 63 at the sample loading station to the centrifuge 4 for centrifugation, or grabbing the sample tube after centrifugation in the centrifuge 4 to the buffer module 63 at the centrifugation station for buffering; The frame 1 is provided with a second manipulator 13 for grabbing the sample tube in the buffer module 63 at the cover opening and code scanning station to the cover opening and code scanning mechanism 5 for cover opening and code scanning; The rack 1 is provided with a transport mechanism 10 for transporting the test tube rack back and forth; the rack 1 is provided with a feeding robot 11 for grabbing the sample tubes after opening the cover and scanning the code and placing them into the empty test tube rack.

[0020] See also Figure 1 and Figure 2 The sample loading mechanism in this embodiment 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. When loading samples, 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 onto the frame to wait for the first manipulator 12 to grab it.

[0021] See also Figures 3 to 6The automatic sample loading mechanism 3 includes a sample chamber 31 bolted to the frame 1, a sample loading lifting assembly 32 connected to the sample chamber 31 and used to transport the sample tube in the sample chamber 31 out of the sample chamber 31, a sample loading conveying assembly 33 connected to the sample loading lifting assembly and used to adjust the sample tube so that the tube cover faces upward and transport it, and a sample loading positioning assembly 34 used to position the adjusted sample tube; The sample chamber 31 is used to hold sample tubes, and the bottom plate of the sample chamber 31 is tilted; the sample loading lifting assembly 32 includes a plurality of lifting plates 321, a plurality of fixing plates 322 and a lifting driving member 323; The plurality of lifting plates 321 are staggered and fixed together with bolts, and the lifting driving member 323 can drive the plurality of lifting plates 321 to rise and fall synchronously; an opening is provided at the lowest part of the bottom plate of the sample chamber 31, and the lowest lifting plate 321 is located in the opening and connected to the bottom of the sample chamber 31, so that the sample tube in the sample chamber 31 can fall onto the lowest lifting plate 321, and when the lifting driving member 323 drives the lifting plate 321 to rise, the lifting plate 321 can lift the sample tube in the sample chamber 31 out of the sample chamber 31; the lifting driving member 323 in this embodiment is a chain transmission mechanism; The plurality of fixed plates 322 are respectively arranged between two adjacent lifting plates 321, and the plurality of fixed plates 322 are respectively bolted to the frame 1, wherein the fixed plates 322 are in contact with the side walls of the two adjacent lifting plates 321; the upper end of the lifting plate 321 located on the inner side of the fixed plate 322 is lower than the upper end of the outer fixed plate 322, and the upper ends of the fixed plate 322 and the lifting plate 321 in this embodiment are both provided with inclined surfaces inclined in one direction; so that the lifting driving member 323 drives the lifting plate 321 to lift and drives the sample tube to rise, and when the sample tube rises to the upper end of the fixed plate 322, since the ends of the lifting plate 321 and the fixed plate 322 are inclined surfaces, the sample tube on the lifting plate rolls down to the fixed plate 322; when the lifting plate 321 falls back again, the sample tube rolls down from the fixed plate 322 to the lifting plate 321, thereby realizing the lifting of the sample tube.

[0022] See also Figure 5 A loading hopper 331 connected to the sample loading lifting assembly 32 is provided on the frame 1 located on one side of the sample loading lifting assembly 32; The sample conveying assembly 33 includes two parallel conveyor belt mechanisms 332, and a posture adjustment channel 333 is formed between the two conveyor belt mechanisms 332; the width of the posture adjustment 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, wherein D>W>d; 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.

[0023] See also Figure 6 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; 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.

[0024] The working process of the automatic sample loading mechanism 3: the sample loading lifting component 32 is used to lift the sample tubes in the sample bin 31 one by one into the shaping channel for shaping. After the 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 member 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.

[0025] See also Figure 7 and Figure 8 The transfer drive assembly 62 includes a transfer drive member 621, a reduction disc 622 driven to rotate by the transfer drive member 621, and a reduction gear set 623 connecting the transfer drive member 621 and the reduction disc 622. The transfer drive member 621 in this embodiment can be a motor, wherein the large gear in the reduction gear set 623 is fixedly mounted on the reduction disc 622, and the small gear in the reduction gear set 623 is mounted on the output shaft of the motor; The transfer frame 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, wherein the deceleration rotating disk 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 in parallel up and down; the first moving disk 611 and the second moving disk 612 are connected by an eccentric rotating shaft 613, and 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, and the eccentric rotating shaft 613 in this embodiment 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 three corners of the first moving disk 611 and the second moving disk 612; One end of the deceleration rotary disc 622 passes through the first moving disc 611, and the second moving disc 612 is connected to the deceleration rotary disc 622 via an eccentric fixed shaft 614. The eccentric fixed shaft 614 in this embodiment is a camshaft, one end of which is fixed to the frame and the other end is rotatably connected to the second moving disc 612. The deceleration rotary disc 622 is rotatably connected to the eccentric fixed shaft 614. In this embodiment, three cache modules 63 are provided, and the angle between two adjacent cache modules 63 is 120°. The three cache modules 63 are respectively connected to three eccentric rotating shafts 613, wherein the cache module 63 includes a loading disk 631 and a sample tube tray 632 fixed on the loading disk 631, wherein 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 provided on the transfer disk in this embodiment, and the four sample tube trays 632 are distributed in a field shape.

[0026] The working process of the transfer mechanism 6 is as follows: the three buffer modules 63 rotate between the loading station, the centrifugation station and the cover opening and code scanning station respectively; the first manipulator 12 is used to grab the sample tube in the lifting base 341 to the buffer module 63 located at the loading station; the first manipulator 12 is used to grab the sample tube that has not been centrifuged in the buffer module 63 located at the centrifugation station and place it in the centrifuge 4. After the centrifugation is completed, the first manipulator 12 is also used to grab the sample tube in the centrifuge 4 and put it back to the buffer module 63 at the centrifugation station; and the buffer module 63 located at the cover opening and code scanning station caches the sample tube that has not been centrifuged in the buffer module 63 located at the centrifugation station. The second manipulator 13 takes away the sample tube after centrifugation and places it on the cover opening and code scanning mechanism 5; after the second manipulator 13 completes the operation, the cache module 63 located at the cover opening and code scanning station is empty, and the transfer drive 621 drives the transfer rack 61 to rotate 120°, and the empty cache module 63 rotates to the loading station for further loading; the cache module 63 filled with sample tubes rotates to the centrifugation station again, and the centrifugation operation can continue; the cache module 63 filled with centrifuged sample tubes rotates to the cover opening and code scanning station again, and the second manipulator 13 can continue to transfer the centrifuged sample tubes to the cover opening and code scanning mechanism 5.

[0027] See also Figures 9 to 12 The cover opening and code scanning mechanism 5 includes a conveying tray 51, a code scanning component 52 and a cover opening component 53; The conveying disk 51 includes a limiting ring plate 511, a conveying turntable 512 and a conveying drive assembly 513; the limiting ring plate 511 is bolted to the frame 1, the conveying turntable 512 is located in the limiting ring plate 511, and the conveying drive assembly 513 is arranged at the bottom of the frame 1 and is used to drive the conveying turntable 512 to rotate. The conveying drive member in this embodiment can be a gear motor mechanism; wherein a plurality of sample slots 514 for accommodating samples are equidistantly provided on the circumference of the conveying turntable 512; a plurality of notches are provided on the limiting ring plate 511, and the notches facilitate exposing the sample tubes located in the sample slots 514, thereby facilitating operations such as opening the cover, scanning the code, and unloading.

[0028] See also Fig. 9 and Fig.12 The cover opening assembly 53 includes a clamping structure 531, a cover opening robot 532 and a waste cover storage structure 533; the clamping structure 531 is used to clamp and fix the sample tube on the conveying turntable 512, and the cover opening robot 532 is used to clamp the tube cover of the sample tube and rotate it, and rise while rotating, so as to screw the tube cover off the sample tube, and the cover opening robot 532 throws the waste tube cover into the waste cover storage structure 533; The clamping structure 531 includes a clamping drive part 5311 and a clamping plate 5312, which may be a clamping cylinder in this embodiment. The cylinder body of the clamping cylinder is bolted to the frame 1, and the piston rod of the clamping cylinder can be extended and retracted to drive the clamping plate 5312 to clamp or release the sample tube, wherein a spring can be connected between the clamping plate 5312 and the clamping cylinder piston rod; the spring acts as a buffer to avoid damage to the sample tube; the clamping plate 5312 is provided with a U-shaped groove 5313 that matches the sample tube.

[0029] See also Figure 1 , wherein the lid opening robot 532 is arranged above the clamping mechanism; the waste cap storage structure 533 includes a conveying pipe 5331 fixed on the frame 1 and a waste cap storage bucket 5332 fixed at the bottom of the frame 1, wherein one end of the conveying pipe 5331 is opened and located close to the side of the lid opening robot 532, and the other end is opened and connected to the waste cap storage bucket 5332; the waste caps grabbed by the lid opening robot 532 can be placed in the opening at one end of the conveying pipe 5331, and the waste pipe is guided into the waste cap storage bucket 5332 through the conveying pipe 5331.

[0030] See also Fig. 9 , with the rotation direction of the conveying turntable 512 as the front, the code scanning component 52 in this embodiment includes a code scanning gun 521 and a code scanning robot 522, and the code scanning gun 521 is bolted to the frame 1 on one side of the limiting ring plate 511, wherein the code scanning gun 521 is located in front of the clamping structure 531.

[0031] The working process of the cover opening and code scanning mechanism is as follows: the second manipulator 13 transfers the centrifuged sample tube from the buffer module 63 to the cover opening and code scanning mechanism 5; the second manipulator 13 places the sample tube in the sample slot 514, and the conveying drive component 513 drives the conveying turntable 512 to rotate. When the conveying turntable 512 conveys the sample tube to the clamping structure 531, the clamping drive component 5311 drives the clamping plate 5312 to clamp and fix the sample tube on the conveying turntable 512; then the cover opening manipulator 532 moves down and clamps the tube cover, and the cover opening manipulator 532 screws the tube cover and moves up at the same time to remove the tube cover from the tube body of the sample tube; the cover opening manipulator 5 32 Place the waste tube cap into the conveying tube 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 uncapped sample tube forward. When the uncapped sample tube is conveyed to the bottom of the barcode scanning robot 522, the barcode scanning robot 522 grabs the sample tube and rotates it. While the sample tube rotates, the barcode scanning gun 521 scans the barcode on the sample tube and verifies the information of the scanned sample according to the system data; when the scanned sample tube is conveyed to a place near the transportation mechanism 10, the unloading robot 11 grabs the scanned sample tube and places it on the empty test tube rack transported by the transportation mechanism 10.

[0032] See also Fig.10 , Fig.11 and Fig.13 The transport mechanism 10 is located in front of the barcode scanning gun 521, wherein the transport mechanism 10 includes two parallel conveyor belt structures 101 with opposite transport directions and a reversing structure 102 connecting the two conveyor belt structures 101; wherein both sides of the two conveyor belt structures 101 are provided with limit baffles 103, and the limit baffles 103 on both sides are used to limit the test tube rack in transport so that it can be transported in a standing position; wherein the two conveyor belt structures 101 can be divided into a loading conveyor belt structure and a unloading conveyor belt structure.

[0033] See also Fig.13 The reversing structure 102 includes a reversing frame 1021, a reversing drive member 1022, and a reversing conveying member 1023; wherein the reversing drive member 1022 is arranged on the frame 1 at the ends of the two conveyor belt structures 101 and is arranged perpendicular to the conveyor belt structure 101. The reversing drive member 1022 in this embodiment can be a linear screw module, which drives the reversing frame 1021 to slide perpendicularly to the two conveyor belt structures 101; wherein the reversing conveying member 1023 is arranged on the reversing frame 1021, and the reversing conveying member 1023 is a belt transmission mechanism. A tube rack channel 1024 for accommodating a test tube rack is arranged above the reversing conveying member 1023. When the reversing driving member 1022 drives the reversing frame 1021 to be opposite to the loading conveyor belt structure, the test tube rack on the loading conveyor belt structure is transferred to the tube rack channel 1024; when the reversing driving member 1022 drives the reversing frame 1021 to be opposite to the unloading conveyor belt structure, the reversing conveying member 1023 drives in the reverse direction to reversely transfer the test tube rack in the tube rack channel 1024 to the unloading conveyor belt structure; thereby realizing reversing transportation on the test tube rack; The unloading conveyor belt structure is arranged near one side of the limiting ring plate 511; a plurality of blocking structures 104 for blocking the transport of the test tube rack on the unloading conveyor belt structure and the loading conveyor belt structure are arranged on the frame 1; the blocking structure 104 in this embodiment can be a cylinder and a blocking rod fixed on the cylinder piston rod; when the unloading conveyor belt structure transports the test tube rack to the unloading area near one side of the limiting ring plate 511, the blocking structure 104 is used to block the continuous transport of the test tube rack, at this time, the unloading robot 11 grabs the sample tube that has been scanned in the sample slot 514 into the test tube rack, and when a test tube rack is full of sample tubes, the blocking structure 104 releases the test tube rack, and the unloading conveyor belt structure continues to transport the test tube rack full of samples.

[0034] The working process of the transportation mechanism 10 is as follows: the loading conveyor belt structure transports the standing test tube rack, the reversing frame 1021 is opposite to the loading conveyor belt structure, and the loading conveyor belt structure transports the test tube rack to the tube rack channel 1024; then the reversing drive member 1022 drives the reversing frame 1021 to move opposite to the unloading conveyor belt structure, and the reversing conveying member 1023 reversely drives to reversely transport the test tube rack located in the tube rack channel 1024 to the unloading conveyor belt structure; the unloading conveyor belt structure transports the test tube rack to the unloading area close to the side of the limiting ring plate 511, and the blocking structure 104 blocks the test tube rack from being continuously transported, and the unloading robot 11 grabs the sample tube that has been scanned in the sample slot 514 into the test tube rack. When a test tube rack is full of sample tubes, the blocking structure 104 releases the test tube rack, and the unloading conveyor belt structure continues to transport the test tube rack full of samples.

[0035] In summary, the present invention integrates operations such as automatic sample loading, centrifugation, lid opening, code scanning, and verification to achieve fully automatic sample pre-processing and improve work efficiency; and the automated operation avoids human contact with the sample after the sample tube is opened, thereby ensuring the safety of the operator and eliminating defects such as human error in taking or placing the sample.

[0036] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A fully automatic sample pre-processing device, characterized in that: The machine comprises a frame (1), wherein 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, and the buffer module (63); The rack (1) is provided with a transport mechanism (10) for reciprocatingly transporting the test tube rack; 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.

2. The fully automatic sample pre-processing device according to claim 1, characterized in that: The sample loading mechanism comprises an automatic sample loading mechanism (3); The automatic sample loading mechanism (3) comprises a sample chamber (31) fixed on a frame (1), a sample loading lifting assembly (32) connected to the sample chamber (31) and used for transporting a sample tube in the sample chamber (31) out of the sample chamber (31), a sample loading conveying assembly (33) connected to the sample loading lifting assembly (32) and used for aligning the sample tube so that its tube cover faces upward and transporting it, and a sample loading positioning assembly (34) used for positioning the aligned sample tube.

3. The fully automatic sample pre-processing device according to claim 2, characterized in that: The sample loading lifting assembly (32) comprises a plurality of staggered lifting plates (321), a plurality of fixing plates (322), and a lifting driving member (323) for driving the plurality of lifting plates (321) to rise and fall synchronously; The lowermost lifting plate (321) is connected to the bottom of the sample chamber (31), and a plurality of fixing plates (322) are respectively fixedly arranged on the frame (1) between two adjacent lifting plates (321).

4. The fully automatic sample pre-processing device according to claim 2, characterized in that: A loading hopper (331) connected to the sample loading lifting component (32) is arranged on the frame (1) located on one side of the sample loading lifting component (32); The sample loading and conveying assembly (33) comprises two conveyor belt mechanisms (332) arranged in parallel, a posture adjustment channel (333) is formed between the two conveyor belt mechanisms (332), and the loading hopper (331) is located above the posture adjustment channel (333); The width of the alignment 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, wherein D>W>d.

5. The fully automatic sample pre-processing device according to claim 2, characterized in that: The sample loading positioning assembly (34) comprises a lifting base (341), a lifting driving member (342) arranged on the frame (1) and used for driving the lifting base (341) to rise and fall, a baffle (343) fixedly arranged on the frame (1), a baffle (344) arranged opposite to the baffle (343) and rotatably arranged on the frame (1), and an elastic member (345) fixed on the frame (1) and abutting against the baffle (344).

6. The fully automatic sample pre-processing device according to claim 1, characterized in that: The transfer drive assembly (62) comprises a transfer drive member (621), a deceleration turntable (622) driven to rotate by the transfer drive member (621), and a deceleration gear set (623) connecting the transfer drive member (621) and the deceleration turntable (622); The transfer frame (61) comprises a first moving disk (611) and a second moving disk (612), wherein the first moving disk (611) is fixedly connected to a deceleration rotating disk (622), the first moving disk (611) and the second moving disk (612) are arranged vertically and parallelly, and the first moving disk (611) and the second moving disk (612) are connected via an eccentric rotating shaft (613), and the second moving disk (612) and the deceleration rotating disk (622) are connected via an eccentric fixed shaft (614); The cache module (63) includes a loading plate (631) and a sample tube tray (632) fixed on the loading plate (631), wherein the loading plate (631) is arranged on the second moving plate (612) and is rotatably connected to one end of the eccentric rotating shaft (613).

7. The fully automatic sample pre-processing device according to claim 1, characterized in that: The transfer mechanism (6) comprises three buffer modules (63), and the angle between two adjacent buffer modules (63) is 120°.

8. The fully automatic sample pre-processing device according to claim 1, characterized in that: The cover opening and code scanning mechanism comprises a conveying plate (51), a code scanning component (52) and a cover opening component (53); The conveying disc (51) comprises a limiting ring plate (511) fixed on the frame (1), a conveying turntable (512) located inside the limiting ring plate (511), and a conveying driving assembly (513) arranged on the frame (1) and used for driving the conveying turntable (512) to rotate; The conveying turntable (512) is provided with a sample slot (514) for accommodating samples.

9. The fully automatic sample pre-processing device according to claim 8, characterized in that: The cover opening assembly (53) comprises a clamping structure (531) for clamping the sample tube on the conveying turntable (512), a cover opening robot (532) arranged on the frame (1), and a waste cover storage structure (533) arranged on the frame (1); The clamping structure (531) comprises a clamping drive member (5311) arranged on the frame (1) and a clamping plate (5312) fixed to the action end of the clamping drive member (5311), and the clamping plate (5312) is provided with a U-shaped groove (5313) matching the sample tube.

10. The fully automatic sample pre-processing device according to claim 1, characterized in that: The transport mechanism (10) comprises two conveyor belt structures (101) arranged in parallel and with opposite transport directions, and a reversing structure (102) connecting the two conveyor belt structures (101); Limit baffles (103) are provided on both sides of the two conveyor belt structures (101).

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