Fully automatic sample pretreatment equipment

Abstract

The present invention provides a fully automatic sample pretreatment device, which is applied in the technical field of medical devices. The key points of its technical solution are as follows: It includes a frame. On the sample loading station, there is a sample loading mechanism for loading sample tubes. On the centrifugation station, there is a centrifuge for centrifuging the sample solution in the sample tubes. On the cap opening and code scanning station, there is a cap opening and code scanning mechanism for opening the tube caps of the sample tubes and scanning the sample tubes to check the sample information. On the frame, there is a transfer mechanism for caching and transferring sample tubes. On the frame, there is a manipulator group for transferring sample tubes among the sample loading mechanism, the centrifuge, the cap opening and code scanning mechanism, and the caching module. On the frame, there is a transportation mechanism for reciprocally transporting test tube racks back and forth. On the frame, there is a blanking manipulator for grasping the sample tubes after cap opening and code scanning and placing them into empty test tube racks. The technical effect is: realizing fully automatic sample pretreatment and improving work efficiency.

Description

Technical Field

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

[0002] Before the sample enters the analyzer for detection, it generally needs to be pretreated first. The sample pretreatment includes steps such as sample loading, centrifugation, tube cap opening, barcode scanning, and verification. Currently, the sample pretreatment method is mostly manual-assisted operation. Specifically, the operator manually places the sample in the centrifuge for centrifugation. After centrifugation, the sample is taken out of the centrifuge and the sample is barcode scanned and verified. After verification, the tube cap of the sample tube is opened, and finally the sample is placed in the analyzer for detection. Its disadvantages are that manual assistance is required in each link, the degree of manual intervention is high, and it is easy to make mistakes. Also, multiple pretreatment devices may not be in the same place, resulting in a very cumbersome process for processing a single sample. At the same time, multiple independent pretreatment devices occupy a large amount of office space. And for large hospitals with a large number of samples, when the number of samples is large, multiple people need 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 pretreatment device, and its advantage is to realize fully automatic sample pretreatment and improve work efficiency.

[0004] To achieve the above purpose and other related purposes, the present invention provides the following technical solutions:

[0005] A fully automatic sample pretreatment device includes a frame, and a sample loading station, a centrifugation station, and a tube cap opening and barcode scanning station are arranged on the frame;

[0006] A sample loading mechanism for loading sample tubes is arranged at the sample loading station;

[0007] A centrifuge for centrifuging the sample solution in the sample tube is arranged at the centrifugation station;

[0008] A tube cap opening and barcode scanning mechanism for opening the tube cap of the sample tube and barcode scanning and verifying the sample information is arranged at the tube cap opening and barcode scanning station;

[0009] A transfer mechanism for caching and transferring sample tubes is arranged on the frame; 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 tube cap opening and barcode scanning station;

[0010] A robot group for transferring sample tubes among the sample loading mechanism, the centrifuge, the tube cap opening and barcode scanning mechanism, and the caching module is arranged on the frame;

[0011] A transport mechanism for reciprocally transporting test tube racks is provided on the frame; a blanking manipulator for grasping the sample tubes after uncapping and scanning and placing them into empty test tube racks is provided on the frame.

[0012] In an embodiment of the present invention, the upper sample mechanism includes an automatic upper sample mechanism;

[0013] The automatic upper sample mechanism includes a sample bin fixed on the frame, a sample loading lifting assembly connected to the sample bin and used for transporting the sample tubes in the sample bin out of the sample bin, a sample loading conveying assembly connected to the sample loading lifting assembly and used for aligning the sample tubes so that their tube caps face upward and for transporting them, and a sample loading positioning assembly for positioning the aligned sample tubes.

[0014] In an embodiment of the present invention, the sample loading lifting assembly includes a plurality of staggered lifting plates, a plurality of fixing plates, and a lifting driving member for driving the plurality of lifting plates to lift synchronously;

[0015] The lowermost lifting plate is connected to the bottom of the sample bin, and the plurality of fixing plates are respectively fixed on the frame between two adjacent lifting plates.

[0016] In an embodiment of the present invention, a loading hopper connected to the sample loading lifting assembly is provided on the frame on one side of the sample loading lifting assembly;

[0017] The sample loading conveying assembly includes two parallel conveyor belt mechanisms. A posture alignment channel is formed between the two conveyor belt mechanisms, and the loading hopper is located above the posture alignment channel;

[0018] The width of the posture 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, where D > W > d.

[0019] In an embodiment of the present invention, the sample loading positioning assembly includes a lifting base, a lifting driving member provided on the frame and used for driving the lifting base to lift, a baffle fixed on the frame, a retaining piece disposed opposite to the baffle and rotatably disposed on the frame, and an elastic member fixed on the frame and abutted against the retaining piece.

[0020] In an embodiment of the present invention, the transfer driving assembly includes a transfer driving member, a reduction turntable driven by the transfer driving member to rotate, and a reduction gear set connecting the transfer driving member and the reduction turntable;

[0021] The transfer rack includes a first moving disk and a second moving disk. The first moving disk is fixedly connected to the reduction turntable. The first moving disk and the second moving disk are arranged parallel to each other up and down, and are connected by an eccentric rotating shaft between the first moving disk and the second moving disk. The second moving disk is connected to the reduction turntable by an eccentric fixed shaft;

[0022] The buffer module includes a loading tray and a sample tube tray fixed on the loading tray. The loading tray is arranged on the second moving disk and is rotationally connected to one end of the eccentric rotating shaft.

[0023] In an embodiment of the present invention, the transfer mechanism includes three buffer modules, and the included angle between two adjacent buffer modules is 120°.

[0024] In an embodiment of the present invention, the lid-opening and code-scanning mechanism includes a conveying tray, a code-scanning component, and a lid-opening component;

[0025] The conveying tray includes a limiting ring plate fixed on the frame, a conveying turntable located inside the limiting ring plate, and a conveying driving component arranged on the frame and used to drive the conveying turntable to rotate;

[0026] The conveying turntable is provided with a sample slot for accommodating samples.

[0027] In an embodiment of the present invention, the lid-opening component includes a clamping structure for clamping the sample tube on the conveying turntable, a lid-opening manipulator arranged on the frame, and a waste lid storage structure arranged on the frame;

[0028] The clamping structure includes a clamping driving part arranged on the frame and a clamping plate fixed on the action end of the clamping driving part. The clamping plate is provided with a U-shaped groove matching the sample tube.

[0029] In an embodiment of the present invention, the transportation mechanism includes two conveyor belt structures arranged in parallel and with opposite transportation directions and a commutation structure connecting the two conveyor belt structures;

[0030] Limit baffle plates are arranged on both sides of the two conveyor belt structures.

[0031] As described above, the full-automatic sample pretreatment equipment of the present invention has the following beneficial effects:

[0032] 1. It integrates operations such as automatic sample loading, centrifugation, lid opening, code scanning, and verification, realizes full-automatic sample pretreatment, and improves work efficiency; and the automatic operation avoids human contact with the sample after the sample tube is opened, ensures the safety of the operator, and more eliminates defects such as human misplacement and wrong placement;

[0033] 2. The equipment is highly integrated, with a compact structure and concentrated functions. It has the characteristics of small floor area, low cost, strong economy, and can be operated by one person; it is suitable for the rapid processing of batch and small-volume samples, greatly improving work efficiency and reducing the labor intensity and repetitive labor of the operator;

[0034] 3. The transfer mechanism is used to cache and transfer the sample tubes before and after centrifugation; a robotic arm group is used to transfer the sample tubes between the sample loading mechanism, the centrifuge, the lid-opening and code-scanning mechanism, and the cache module. The robotic arm group is used to grab the sample tubes at the places where frequent grabbing takes a long time. Each robotic arm performs its own function, so the grabbing speed is fast. At the same time, the waiting time of the centrifuge is reduced, and the centrifugation efficiency is improved. Description of the Drawings

[0035] Figure 1 is the overall structural schematic diagram of the embodiment of the present invention;

[0036] Figure 2 is the overall structural top view of the embodiment of the present invention;

[0037] Figure 3 is the structural schematic diagram of the automatic sample loading mechanism of the embodiment of the present invention;

[0038] Figure 4 is the top view of the structure of the automatic sample loading mechanism of the embodiment of the present invention;

[0039] Figure 5 is the structural schematic diagram of the lifting assembly of the embodiment of the present invention;

[0040] Figure 6 is the structural schematic diagram of the sample loading positioning assembly of the embodiment of the present invention;

[0041] Figure 7 is the structural schematic diagram of the transfer assembly of the embodiment of the present invention;

[0042] Figure 8 is the side view of the transfer assembly of the embodiment of the present invention;

[0043] Figure 9 is the structural schematic diagram of the lid-opening and code-scanning mechanism of the embodiment of the present invention;

[0044] Figure 10 is the schematic diagram of the positional relationship between the lid-opening and code-scanning mechanism and the transportation mechanism of the embodiment of the present invention;

[0045] Figure 11 is the top view of the positional relationship between the lid-opening and code-scanning mechanism and the transportation mechanism of the embodiment of the present invention;

[0046] Figure 12 is the top view of the structure of the conveying tray of the embodiment of the present invention;

[0047] Figure 13 is the schematic diagram of the commutation structure of the embodiment of the present invention.

[0048] Reference Numerals: 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, feeding 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, open lid and code scanning mechanism; 51, conveying tray; 52, code scanning assembly; 521, code scanning gun; 522, code scanning manipulator; 53, open lid assembly; 511, limiting ring plate; 512, conveying turntable; 513, conveying driving assembly; 514, sample slot; 531, clamping structure; 532, open lid 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, 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. Detailed Embodiment

[0049] 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.

[0050] Please refer to Figures 1 to 13 Note 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 implementation conditions of the present invention. Therefore, they do not have technical essence. Any modification of the structure, change of the ratio 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 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 implementation scope of the present invention. The change or adjustment of their relative relationships, without substantial change of the technical content, should also be regarded as the implementation scope of the present invention.

[0051] Please refer to Figure 1 and Figure 2 , the present invention provides a fully automatic sample pretreatment device, including a frame 1, on which a housing (not shown in the figure) is fixedly arranged to realize the fully enclosed automatic operation of the device; a sample loading station, a centrifugation station and an opening and code scanning station are arranged on the frame 1;

[0052] A sample mechanism for the sample tube on the sample loading station is provided;

[0053] A centrifuge 4 for centrifuging the sample solution in the sample tube is arranged on the centrifugation station;

[0054] An 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 opening and code scanning station;

[0055] A transfer mechanism 6 for caching and transferring the 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 to drive the transfer rack 61 to rotate, and a caching module 63 arranged on the transfer rack 61 and used to cache the 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 opening and code scanning station;

[0056] A manipulator group for transferring the sample tubes among the sample mechanism, the centrifuge 4, the 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 mechanism and caching it in the caching module 63 at the sample loading station or grasping the sample tube in the caching module 63 at the sample loading station and centrifuging it with the centrifuge 4 or grasping the sample tube centrifuged by the centrifuge 4 and caching it in the caching module 63 at the centrifugation station;

[0057] A second manipulator 13 for grasping the sample tube in the caching module 63 at the opening and code scanning station and placing it on the opening and code scanning mechanism 5 for opening the cap and scanning the code is arranged on the frame 1;

[0058] A transport mechanism 10 for reciprocally transporting the test tube racks is arranged on the frame 1; a blanking manipulator 11 for grasping the sample tube after opening the cap and scanning the code and placing it into an empty test tube rack is arranged on the frame 1.

[0059] Please refer to Figure 1 and Figure 2 , in this embodiment, the sample mechanism may include a manual sample mechanism 2 and an automatic sample mechanism 3. The manual sample 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 is pushed into the frame to wait for the first manipulator 12 to grasp.

[0060] Please refer to Figures 3 to 6 , the automatic sample loading mechanism 3 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 of the sample bin 31, 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;

[0061] 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 plurality of lifting plates 321, a plurality of fixing plates 322, and a lifting driving member 323;

[0062] The plurality of lifting plates 321 are arranged staggeredly up and down and bolted together, and the lifting driving member 323 can drive the plurality 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 lift, 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;

[0063] The plurality of fixing plates 322 are respectively arranged between two adjacent lifting plates 321, and the plurality of fixing plates 322 are respectively bolted to the frame 1, wherein the fixing plates 322 are in contact with the side walls of two adjacent 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 lift, 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, thereby realizing the lifting of the sample tubes.

[0064] Please refer to Figure 5 , a feeding 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;

[0065] 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;

[0066] 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.

[0067] 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;

[0068] 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.

[0069] 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.

[0070] Please refer to Figure 7 and Figure 8 , 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;

[0071] 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. Both ends of the eccentric rotating shaft 613 are rotatably connected to the first moving disk 611 and the second moving disk 612 respectively. 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;

[0072] 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;

[0073] 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.

[0074] 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 capping and 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 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 place it back on the buffer module 63 at the centrifugation station; The buffer module 63 at the capping and scanning station stores the centrifuged sample tube, and the second manipulator 13 takes it away and places it on the capping and scanning mechanism 5; After the second manipulator 13 finishes the operation, at this time, the buffer module 63 at the capping and 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 loading station and can continue loading; The buffer module 63 filled with sample tubes rotates to the centrifugation station again and can continue the centrifugation operation; The buffer module 63 filled with centrifuged sample tubes rotates to the capping and scanning station again, and the second manipulator 13 can continue to transfer the centrifuged sample tube to the capping and scanning mechanism 5.

[0075] Please refer to Figures 9 to 12 , the capping and scanning mechanism 5 includes a conveying tray 51, a scanning assembly 52, and a capping assembly 53;

[0076] The conveying tray 51 includes a limiting ring plate 511, a conveying turntable 512, and a conveying driving assembly 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 assembly 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 capping, scanning, and blanking.

[0077] Please refer to Figure 9 and Figure 12 , the capping assembly 53 includes a clamping structure 531, a capping 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 capping manipulator 532 is used to clamp the tube cap of the sample tube and rotate it, and at the same time raise it while rotating, so as to screw the tube cap off the sample tube. The capping manipulator 532 then throws the waste tube cap into the waste cap storage structure 533;

[0078] 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 fixed to the frame 1 by bolts. 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.

[0079] 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.

[0080] Please refer to Figure 9 , 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 fixed to the frame 1 on one side of the limit ring plate 511 by bolts, and the code scanning gun 521 is located in front of the clamping structure 531.

[0081] 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, it also moves up 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 verifies the information of the scanned sample according to the system data; when the scanned sample tube is conveyed close to the transport mechanism 10, the blanking manipulator 11 grabs the scanned sample tube and places it on the empty test tube rack transported by the transport mechanism 10.

[0082] Please refer to Figure 10 、Figure 11 and Figure 13 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 racks during transportation so that they are transported standing upright. The two conveyor belt structures 101 can be divided into a feeding conveyor belt structure and a discharging conveyor belt structure.

[0083] Please refer to Figure 13 , the reversing structure 102 includes a reversing frame 1021, a reversing driving member 1022, and a reversing conveying 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 arranged perpendicular to the conveyor belt structures 101. In this embodiment, the reversing driving member 1022 can be a linear screw module, and the linear screw module drives the reversing frame 1021 to slide perpendicular to the two conveyor belt structures 101. The reversing conveying member 1023 is arranged on the reversing frame 1021. The reversing conveying member 1023 is a belt transmission mechanism, and a tube rack channel 1024 for accommodating test tube racks is arranged above the reversing conveying member 1023. When the reversing driving member 1022 drives the reversing frame 1021 to face the feeding conveyor belt structure, the test tube racks on the feeding conveyor belt structure are conveyed into the tube rack channel 1024. When the reversing driving member 1022 drives the reversing frame 1021 to face the discharging conveyor belt structure, the reversing conveying member 1023 drives in the reverse direction, and the test tube racks located in the tube rack channel 1024 are conveyed in the reverse direction onto the discharging conveyor belt structure, thereby realizing the reversing transportation of the test tube racks.

[0084] The discharging 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 discharging conveyor belt structure and the feeding 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 discharging conveyor belt structure conveys the test tube racks to the discharging 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 racks. At this time, the discharging manipulator 11 grabs the sample tubes that have completed barcode scanning in the sample tank 514 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.

[0085] The working process of the transportation mechanism 10 is as follows: the feeding conveyor belt structure conveys the standing test tube racks. The reversing frame 1021 faces the feeding conveyor belt structure, and the feeding conveyor belt structure conveys the test tube racks into the tube rack channel 1024. Then, the reversing driving member 1022 drives the reversing frame 1021 to move to face the discharging conveyor belt structure, and the reversing conveying member 1023 drives in the reverse direction to convey the test tube racks located in the tube rack channel 1024 in the reverse direction onto the discharging conveyor belt structure. 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 scanning in the sample trough 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.

[0086] In summary, the present invention combines operations such as automatically loading samples, centrifuging, opening caps, scanning codes, and checking, achieving fully automatic sample pretreatment and improving work efficiency. Moreover, the automated operation avoids human contact with the samples after the caps of the sample tubes are opened, ensuring the safety of the operators and eliminating defects such as misplacing and wrong placing caused by humans.

[0087] 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 made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should 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; 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).

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 mechanism (6) comprises three buffer modules (63), and the angle between two adjacent buffer modules (63) is 120°.

7. 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.

8. The fully automatic sample pre-processing device according to claim 7, 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.

9. 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).

Images