Double-layer positioning automatic sample feeding and discharging device and control method

Abstract

The invention discloses a double-layer positioning automatic sample feeding and discharging device and a control method, and relates to the technical field of medical detection automation, in particular to a double-layer positioning automatic sample feeding and discharging device. The pushing hand operation module comprises a pushing hand fixing assembly and a second driving assembly, the pushing hand fixing assembly and the reference frame assembly are installed in a relative sliding mode in the first direction, and the second driving assembly is used for driving the pushing hand fixing assembly and the reference frame assembly to move relative to each other in the first direction; according to the double-layer positioning automatic sample feeding and discharging device and the control method, through the double-layer design of the pushing hand operation module and the sample operation module, the effective stroke of the tray fixing assembly is remarkably increased, then arrangement of a large-size sample tray is met, the sample feeding and sampling frequency of the sample tray is reduced, it can be guaranteed that the sample tray reaches a designated position, and the sample feeding and discharging efficiency is improved. And the automation of laboratory detection is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical detection automation, and more specifically, to a double-layer positioning automatic sample loading and unloading device. In addition, the present invention also relates to a control method applied to the above double-layer positioning automatic sample loading and unloading device. Background Art

[0002] When performing automated detection of samples in a laboratory, it is necessary to achieve automated loading and unloading of samples. The prerequisite is that the samples are pre-fixed in a sample tray at a specified position. To avoid interference from the external environment to the sample tray and the robotic arm for loading and unloading samples during the sampling process, in the prior art, the sample tray mostly adopts a drawer form for sample loading and sampling, that is, the actual travel of the sample tray during sample loading and sampling is the actual pulling travel of the drawer. Limited by the actual on-site space or the overall appearance size of the equipment, the actual pulling travel of the drawer is usually small, making it difficult to meet the travel requirements of a large-size sample tray, that is, a large-size sample tray cannot be arranged, resulting in the need for frequent sample loading and sampling of the sample tray, increasing the workload of manual labor, and affecting the detection efficiency of the laboratory. Or due to insufficient travel of the sample tray, it cannot reach the specified position, affecting the sampling and unloading of the robotic arm, and thus affecting the automated progress of the detection.

[0003] In summary, how to solve the problem that a large-size sample tray cannot be arranged or the sample tray cannot reach the specified position due to limited travel of the sample tray is an urgent problem to be solved by those skilled in the art at present. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a double-layer positioning automatic sample loading and unloading device. Through the double-layer design of the pusher operation module and the sample operation module, the effective travel of the tray fixing component is significantly increased, thereby meeting the arrangement of a large-size sample tray, reducing the sample loading and sampling frequency of the sample tray, and also ensuring that the sample tray reaches the specified position to ensure the automated progress of laboratory detection.

[0005] Another object of the present invention is to provide a control method applied to the above double-layer positioning automatic sample loading and unloading device, which can achieve automated sample loading and sampling of the sample tray and reduce manual labor.

[0006] To achieve the above objects, the present invention provides the following technical solutions:

[0007] A double-layer positioning automatic sample loading and unloading device, comprising:

[0008] A reference module, including a reference frame assembly;

[0009] The pusher operation module includes a pusher fixing component and a second driving component. The pusher fixing component is slidably installed relative to the reference frame component in the first direction, and the second driving component is used to drive the pusher fixing component and the reference frame component to move relative to each other in the first direction.

[0010] The sample operation module includes a tray fixing component and a first driving component. The tray fixing component is used to fix the sample tray. The tray fixing component is slidably installed relative to the pusher fixing component in the second direction, and the first driving component is used to drive the tray fixing component and the pusher fixing component to move relative to each other in the second direction.

[0011] Wherein, the first direction and the second direction are the same or different.

[0012] Preferably, a first position sensing component is arranged in the pusher operation module for detecting the relative position relationship between the tray fixing component and the pusher fixing component.

[0013] And / or

[0014] A second position sensing component is arranged in the reference module for detecting the relative position relationship between the pusher fixing component and the reference frame component.

[0015] Preferably, the first position sensing component includes a first origin sensing piece, a first in-place sensing piece, a first origin sensor and a first in-place sensor.

[0016] The first origin sensing piece and the first in-place sensing piece are fixedly arranged relative to the tray fixing component, and the first origin sensor and the first in-place sensor are fixedly arranged relative to the pusher fixing component.

[0017] When the tray fixing component is at the first stroke end point relative to the pusher fixing component, the first origin sensing piece and the first origin sensor act on each other to trigger feedback. When the tray fixing component is at the second stroke end point relative to the pusher fixing component, the first in-place sensing piece and the first in-place sensor act on each other to trigger feedback.

[0018] Preferably, the second position sensing component includes a second origin sensing piece, a second in-place sensing piece, a second origin sensor and a second in-place sensor.

[0019] The second origin sensing piece and the second in-place sensing piece are fixedly arranged relative to the pusher fixing component, and the second origin sensor and the second in-place sensor are fixedly arranged relative to the reference frame component.

[0020] When the pusher fixing component is at the first stroke end point relative to the reference frame component, the second origin sensing piece acts on the second origin inductor to trigger feedback. When the pusher fixing component is at the second stroke end point relative to the reference frame component, the second in-place sensing piece acts on the second in-place inductor to trigger feedback.

[0021] Preferably, it further includes several groups of positioning components, which are used to position the pusher fixing component and the reference frame component moving to the relative stroke end points, or to position the pusher fixing component and the tray fixing component moving to the relative stroke end points, or to position the reference frame component and the tray fixing component moving to the relative stroke end points.

[0022] Preferably, the positioning component includes an origin positioning component relatively fixed to the reference frame component, and the origin positioning component includes a first bearing group and a second bearing group;

[0023] The rotation axis of the first bearing group is horizontal and perpendicular to the first direction, and the outer peripheral surface of the first bearing group is tangent to the lower surface of the tray fixing component;

[0024] There is an included angle between the two vertical side surfaces of the tray fixing component along the first direction. When the tray fixing component moves to a preset position relative to the reference frame component along the first direction, the outer peripheral surfaces of the two bearings in the second bearing group are respectively in contact with the two vertical side surfaces of the tray fixing component along the first direction, and the rotation axis of the second bearing group is vertical and perpendicular to the first direction.

[0025] Preferably, the positioning component includes a guiding and positioning component A and a guiding and positioning component B in the form of a guiding positioning block and a guiding positioning groove;

[0026] The guiding and positioning component A and the guiding and positioning component B are respectively fixed to the tray fixing component and the pusher fixing component. When the tray fixing component moves to the stroke end point relative to the pusher fixing component, the guiding and positioning component A can be clamped in the guiding and positioning component B;

[0027] and / or,

[0028] The guiding and positioning component A and the guiding and positioning component B are respectively fixed to the pusher fixing component and the reference frame component. When the pusher fixing component moves to the stroke end point relative to the reference frame component, the guiding and positioning component A can be clamped in the guiding and positioning component B.

[0029] Preferably, the pusher operation module further includes a drawer panel component, and the drawer panel component is fixedly connected relative to the pusher fixing component;

[0030] The reference module further includes an electromagnet fixedly arranged relative to the reference frame assembly. When the pusher operation module moves to the stroke end point relative to the preset end of the reference frame assembly, the electromagnet can adsorb an iron sheet fixedly arranged relative to the drawer panel assembly.

[0031] Preferably, the first driving component includes a driving motor, a synchronous toothed belt, and a driven wheel. Both the driving motor and the driven wheel are fixedly connected relative to the pusher fixing component. A synchronous toothed belt is arranged between the output wheel of the driving motor and the driven wheel. The length direction of the synchronous toothed belt is the same as the second direction, and one side of the synchronous toothed belt is fixedly connected to the tray fixing component through a connecting piece.

[0032] Preferably, the structure of the second driving component is the same as that of the first driving component;

[0033] Both the driving motor and the driven wheel of the second driving component are fixedly connected relative to the reference frame assembly. A synchronous toothed belt is arranged between the output wheel of the driving motor and the driven wheel. The direction of the synchronous toothed belt is the same as the first direction, and one side of the synchronous toothed belt is fixedly connected to the pusher fixing component through a connecting piece.

[0034] A control method is applied to the double-layer positioning automatic sample loading and unloading device described in any one of the above, including the steps:

[0035] Judge whether the double-layer positioning automatic sample loading and unloading device is in the sample loading state;

[0036] If so, control the second driving component to drive the pusher fixing component to move to the first preset stroke end point relative to the reference frame assembly, and then control the first driving component to drive the tray fixing component to move to the first preset stroke end point relative to the pusher fixing component;

[0037] If not, judge whether the double-layer positioning automatic sample loading and unloading device is in the sample sampling state;

[0038] If so, control the first driving component to drive the tray fixing component to move to the second preset stroke end point relative to the pusher fixing component, and then control the second driving component to drive the pusher fixing component to move to the second preset stroke end point relative to the reference frame assembly;

[0039] If not, control the first driving component and the second driving component to stop operating, and return to the step of judging whether the double-layer positioning automatic sample loading and unloading device is in the sample loading state.

[0040] The double-layer positioning automatic sample loading and unloading device provided by the present invention, compared with the prior art, has at least the following beneficial effects:

[0041] 1. Through the double - layer design of the pusher operation module and the sample operation module, where the pusher operation module has a first stroke displacement relative to the reference module, and the sample operation module has a second stroke displacement relative to the pusher movement module. Therefore, the total stroke of the sample operation module relative to the reference module is the sum of the first stroke and the second stroke, effectively expanding the effective stroke of the sample operation module, further meeting the layout of large - size sample trays, and ensuring that the sample tray can move to the designated position to meet the requirements of sampling and unloading samples in laboratory sample automated detection.

[0042] 2. Internally integrated with the first drive component and the second drive component, it can drive the tray fixing component to move automatically relative to the pusher fixing component, and drive the pusher fixing component to move automatically relative to the reference frame component, realizing the automatic sample injection and sampling of the sample tray, reducing manual labor, and ensuring the smoothness of sample injection and sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0044] Figure 1 It is a schematic structural diagram of the double - layer positioning automatic sample loading and unloading device provided by the present invention;

[0045] Figure 2 It is a schematic structural diagram of the assembly of the sample operation module and the pusher fixing component provided by the present invention;

[0046] Figure 3 It is a bottom view of the assembly of the sample operation module and the pusher fixing component provided by the present invention;

[0047] Figure 4 It is a schematic structural diagram of the assembly of the pusher operation module and the reference module provided by the present invention;

[0048] Figure 5 It is a bottom view of the assembly of the pusher operation module and the reference module provided by the present invention;

[0049] Figure 6 It is a schematic structural diagram of the origin positioning component provided by the present invention;

[0050] Figure 7 It is a front view of the origin positioning component provided by the present invention;

[0051] Figure 8Schematic flow diagram of the control method provided by the present invention.

[0052] In the figure:

[0053] 100, sample operation module; 101, tray fixing component; 102, first guide rail component; 103, first origin sensing piece; 104, first in-place sensing piece; 105, first guiding and positioning component A;

[0054] 200, pusher operation module; 201, pusher fixing component; 202, first drive component; 2021, drive motor; 2022, synchronous toothed belt; 2023, driven wheel; 2024, connecting piece; 2025, tensioning wheel; 203, first origin sensor; 204, first in-place sensor; 205, first guiding and positioning component B; 206, second in-place sensing piece; 207, second guiding and positioning component A; 208, door adapter; 209, second origin sensing piece; 210, second guide rail component; 211, drawer panel component;

[0055] 300, reference module; 301, reference frame component; 302, second drive component; 303, origin positioning component; 3031, first bearing group; 3032, second bearing group; 304, electromagnet; 305, second origin sensor; 306, second in-place sensor; 307, second guiding and positioning component B;

[0056] 400, sample tray. Detailed implementation manners

[0057] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0058] The core of the present invention is to provide a double-layer positioning automatic sample loading and unloading device. Through the double-layer design of the pusher operation module and the sample operation module, the effective stroke of the tray fixing component is significantly increased, thereby meeting the layout of large-size sample trays, reducing the sample loading and sampling frequencies of the sample tray, and also ensuring that the sample tray reaches the designated position to ensure the automation of laboratory testing.

[0059] Another core of the present invention is to provide a control method applied to the above double-layer positioning automatic sample loading and unloading device, which can realize the automatic sample loading and sampling of the sample tray and reduce manual labor.

[0060] Please refer to Figures 1-5 , a double-layer positioning automatic sample loading and unloading device, comprising:

[0061] The reference module 300 includes a reference frame assembly 301;

[0062] The pusher operation module 200 includes a pusher fixing assembly 201 and a second driving assembly 302. The pusher fixing assembly 201 is slidably mounted relative to the reference frame assembly 301 in a first direction, and the second driving assembly 302 is used to drive the pusher fixing assembly 201 and the reference frame assembly 301 to move relative to each other in the first direction;

[0063] The sample operation module 100 includes a tray fixing assembly 101 and a first driving assembly 202. The tray fixing assembly 101 is used to fix the sample tray 400. The tray fixing assembly 101 is slidably mounted relative to the pusher fixing assembly 201 in a second direction, and the first driving assembly 202 is used to drive the tray fixing assembly 101 and the pusher fixing assembly 201 to move relative to each other in the second direction;

[0064] Wherein, the first direction and the second direction are the same or different.

[0065] As Figure 1 shown, the reference module 300 is used as a module that is absolutely fixed to the laboratory automation detection device. The pusher operation module 200 has a first stroke relative to the reference module 300. That is, the pusher fixing assembly 201 is slidably mounted to the reference frame assembly 301 through the second guide rail assembly 210. The direction of the second guide rail assembly 210 is the first direction. The first stroke end point of the pusher fixing assembly 201 relative to the reference frame assembly 301 is the working origin of the pusher fixing assembly 201, and the second stroke end point of the pusher fixing assembly 201 relative to the reference frame assembly 301 is the working in-place point of the pusher fixing assembly 201. And the second driving assembly 302 can drive the pusher fixing assembly 201 to move between the working origin and the working in-place point relative to the reference frame assembly 301;

[0066] At the same time, the tray fixing assembly 101 is slidably mounted relative to the pusher fixing assembly 201 through the first guide rail assembly 102. The direction of the first guide rail assembly 102 is the second direction. The first stroke end point of the tray fixing assembly 101 relative to the pusher fixing assembly 201 is the working origin, and the second stroke end point of the tray fixing assembly 101 relative to the pusher fixing assembly 201 is the working in-place point. And the first driving assembly 202 can drive the tray fixing assembly 101 to move between the working origin and the working in-place point relative to the pusher fixing assembly 201;

[0067] In some embodiments, such as Figure 1As shown, the first direction and the second direction are the same. In some embodiments, the first direction is different from the second direction, and there is an included angle between the two. For example, the first direction is perpendicular to the second direction to meet the sampling and sample-taking requirements of the sample tray 400 fixed within the tray fixing assembly 101.

[0068] In some embodiments, a first position sensing component is provided within the pusher operation module 200 for detecting the relative positional relationship between the tray fixing assembly 101 and the pusher fixing assembly 201.

[0069] And / or

[0070] A second position sensing component is provided within the reference module 300 for detecting the relative positional relationship between the pusher fixing assembly 201 and the reference frame assembly 301.

[0071] Such as Figure 2 and Figure 3 As shown, a first position sensing component is provided within the pusher operation module 200 for detecting the position of the tray fixing assembly 101 relative to the pusher fixing assembly 201. The first position sensing component includes several groups and is arranged at set positions of the pusher fixing assembly 201. When the tray fixing assembly 101 reaches the set position, the first position sensing component can be triggered, and thus the relative position of the tray fixing assembly 101 relative to the pusher fixing assembly 201 can be determined.

[0072] Similarly, as Figure 4 and Figure 5 As shown, second position sensing components are provided at several set positions within the reference frame assembly 301. When the pusher fixing assembly 201 moves to the set position, the corresponding second position sensing component is triggered, and thus the relative position of the pusher fixing assembly 201 and the reference frame assembly 301 can be determined.

[0073] In some embodiments, the first position sensing component includes a first origin sensing piece 103, a first in-place sensing piece 104, a first origin sensor 203, and a first in-place sensor 204.

[0074] The first origin sensing piece 103 and the first in-place sensing piece 104 are fixedly arranged relative to the tray fixing assembly 101, and the first origin sensor 203 and the first in-place sensor 204 are fixedly arranged relative to the pusher fixing assembly 201.

[0075] When the tray fixing assembly 101 is at the first stroke end point relative to the pusher fixing assembly 201, the first origin sensing piece 103 and the first origin sensor 203 act on each other to trigger a feedback. When the tray fixing assembly 101 is at the second stroke end point relative to the pusher fixing assembly 201, the first in-place sensing piece 104 and the first in-place sensor 204 act on each other to trigger a feedback.

[0076] As Figure 2 and Figure 3 shown, the first position sensing component is respectively used to detect whether the tray fixing component 101 moves to its working origin and working in-place point relative to the pusher fixing component 201. Specifically, when the first origin sensing piece 103 and the first origin sensor 203 trigger feedback, it indicates that the tray fixing component 101 moves to the working origin. When the first in-place sensing piece 104 and the first in-place sensor 204 trigger feedback, it indicates that the tray fixing component 101 moves to the working in-place point.

[0077] In some embodiments, the second position sensing component includes a second origin sensing piece 209, a second in-place sensing piece 206, a second origin sensor 305 and a second in-place sensor 306;

[0078] The second origin sensing piece 209 and the second in-place sensing piece 206 are fixedly arranged relative to the pusher fixing component 201, and the second origin sensor 305 and the second in-place sensor 306 are fixedly arranged relative to the reference frame component 301;

[0079] When the pusher fixing component 201 is at the first stroke end point relative to the reference frame component 301, the second origin sensing piece 209 and the second origin sensor 305 act to trigger feedback. When the pusher fixing component 201 is at the second stroke end point relative to the reference frame component 301, the second in-place sensing piece 206 and the second in-place sensor 306 act to trigger feedback.

[0080] As Figure 4 and Figure 5 shown, the second position sensing component is used to detect whether the pusher fixing component 201 moves to its working origin or working in-place point relative to the reference frame component 301. Specifically, when the second origin sensing piece 209 and the second origin sensor 305 trigger feedback, it indicates that the second pusher fixing component 201 moves to its working origin relative to the reference frame component 301. When the second in-place sensing piece 206 and the second in-place sensor 306 trigger feedback, it indicates that the second pusher fixing component 201 moves to its working in-place point relative to the reference frame component 301.

[0081] In some embodiments, several groups of positioning components are further included, which are used to position the pusher fixing component 201 and the reference frame component 301 that move to the relative stroke end points, or are used to position the pusher fixing component 201 and the tray fixing component 101 that move to the relative stroke end points, or are used to position the reference frame component 301 and the tray fixing component 101 that move to the relative stroke end points.

[0082] The double-layer positioning automatic sample loading and unloading device also integrates several groups of positioning components, which are mainly arranged at the working origin position and the working in-place position at both ends of the reference frame component 301. The purpose is to position the tray fixing component 101 and the pusher fixing component 201 that reach this position, ensuring that they have an accurate positional relationship at the end points of their own strokes. For example, when both the pusher fixing component 201 and the tray fixing component 101 reach their own working origin positions, the tray fixing component 101 can have a relatively stable positional relationship, so that the robotic arm for picking and unloading samples can accurately pick up the samples in the sample tray 400.

[0083] In some embodiments, the positioning component includes an origin positioning component 303 that is relatively fixed to the reference frame component 301. The origin positioning component 303 includes a first bearing group 3031 and a second bearing group 3032;

[0084] The rotation axis of the first bearing group 3031 is horizontal and perpendicular to the first direction, and the outer peripheral surface of the first bearing group 3031 is tangent to the lower surface of the tray fixing component 101;

[0085] There is an included angle between the two vertical side surfaces of the tray fixing component 101 along the first direction. When the tray fixing component 101 moves relative to the reference frame component 301 along the first direction to a preset position, the outer peripheral surfaces of the two bearings in the second bearing group 3032 are respectively in contact with the two vertical side surfaces of the tray fixing component 101 along the first direction, and the rotation axis of the second bearing group 3032 is vertical and perpendicular to the first direction.

[0086] Such as Figure 5 、 Figure 6 and Figure 7 As shown, by setting the origin positioning component 303 at one end of the reference frame component 301, the tray fixing component 101 when both the pusher fixing component 201 and the tray fixing component 101 reach their own working origins is positioned. The first bearing group 3031 supports the tray fixing component 101 from the bottom, so that it will not move downward under the action of the robotic arm. At the same time, the second bearing group 3032 positions the tray fixing component 101 from both sides, avoiding its left and right shaking, and thus ensuring that the tray fixing component 101 has a relatively stable positional relationship at the working origin position;

[0087] In some embodiments, the origin positioning component 303 is used to position the pusher fixing component 201 that reaches the origin position. Its positioning principle is the same as the above principle, ensuring that the pusher fixing component 201 has a stable positional relationship at the working origin position, and then positioning the tray fixing component 101 at the working origin position through the pusher fixing component 201, so as to ensure the stability of the positional relationship of the tray fixing component 101 at the working origin position.

[0088] In some embodiments, the positioning component includes guiding and positioning components A and B in the form of guiding and positioning blocks and guiding and positioning grooves;

[0089] The guiding and positioning components A and B are respectively fixed to the tray fixing component 101 and the pusher fixing component 201. When the tray fixing component 101 moves to the stroke end point relative to the pusher fixing component 201, the guiding and positioning component A can be clamped inside the guiding and positioning component B;

[0090] and / or,

[0091] The guiding and positioning components A and B are respectively fixed to the pusher fixing component 201 and the reference frame component 301. When the pusher fixing component 201 moves to the stroke end point relative to the reference frame component 301, the guiding and positioning component A can be clamped inside the guiding and positioning component B.

[0092] As Figure 2 and Figure 3 shown, the first guiding and positioning component A 105 is an elongated positioning block, and the first guiding and positioning component B 205 is a single-end open chute. When the tray fixing component 101 moves to the working end point, the first guiding and positioning component A 105 can be inserted into the first guiding and positioning component B 205, thereby realizing the relative fixation of the tray fixing component 101 and the pusher fixing component 201 at the working end point position, and further ensuring the stability of the relative position relationship between the two at this position;

[0093] Similarly, as Figure 4 and Figure 5 shown, the second guiding and positioning component A 207 is an elongated positioning block, and the second guiding and positioning component B 307 is a single-end open chute. When the pusher fixing component 201 moves to the working end point, the second guiding and positioning component A 207 can be inserted into the second guiding and positioning component B 307, thereby realizing the relative fixation of the pusher fixing component 201 and the reference frame component 301 at the working end point position, and further ensuring the stability of the relative position relationship between the two at this position.

[0094] In some embodiments, the pusher operation module 200 further includes a drawer panel component 211, and the drawer panel component 211 is fixedly connected to the pusher fixing component 201 relatively;

[0095] The reference module 300 further includes an electromagnet 304 fixedly arranged relative to the reference frame component 301. When the pusher operation module 200 moves to the stroke end point relative to the preset end of the reference frame component 301, the electromagnet 304 can adsorb the iron sheet fixedly connected to the drawer panel component 211.

[0096] As Figure 1 、Figure 4 and Figure 5 As shown in Figure 5 , one end of the pusher fixing component 201 is fixedly connected to the drawer panel component 211 through the door adapter 208. When the pusher fixing component 201 moves to the working origin, the drawer panel component 211 can close the sample inlet to isolate the influence of the external environment on the sample.

[0097] Meanwhile, when the pusher fixing component 201 moves to the working origin, the electromagnet 304 arranged in the reference module 300 adsorbs the iron sheet in the drawer panel component 211 to lock the drawer panel component 211.

[0098] In some embodiments, the first driving component 202 includes a driving motor 2021, a synchronous toothed belt 2022 and a driven wheel 2023. Both the driving motor 2021 and the driven wheel 2023 are fixedly connected to the pusher fixing component 201 relatively. A synchronous toothed belt 2022 is arranged between the output wheel of the driving motor 2021 and the driven wheel 2023. The length direction of the synchronous toothed belt 2022 is the same as the second direction, and one side of the synchronous toothed belt 2022 is fixedly connected to the tray fixing component 101 through the connecting piece 2024.

[0099] The first driving component 202 uses the driving motor 2021 to drive the synchronous toothed belt 2022 to rotate, thereby driving the tray fixing component 101 to move relative to the pusher fixing component 201. By changing the rotation direction of the driving motor 2021, the movement direction of the tray fixing component 101 can be changed;

[0100] In some embodiments, to ensure the accuracy of the synchronous toothed belt 2022, an integrated tension pulley 2025 is selected to keep the synchronous toothed belt 2022 taut.

[0101] In some embodiments, the first driving component 202 can be driven by a crank - connecting rod mechanism, a lead - screw driving mechanism, a linear motor driving, etc., all of which can achieve the above - mentioned effects.

[0102] In some embodiments, the structure of the second driving component 302 is the same as that of the first driving component 202;

[0103] The driving motor and the driven wheel of the second driving component 302 are fixedly connected to the reference frame component 301 relatively. A synchronous toothed belt is arranged between the output wheel of the driving motor and the driven wheel. The direction of the synchronous toothed belt is the same as the first direction, and one side of the synchronous toothed belt is fixedly connected to the pusher fixing component 201 through the connecting piece.

[0104] The second driving component 302 and the first driving component 202 adopt the same structural design to drive the pusher fixing component 201 to move relative to the reference frame component 301.

[0105] In addition to the double-layer positioning automatic sample loading and unloading device disclosed in each of the above embodiments, the present invention also provides a control method applied to the double-layer positioning automatic sample loading and unloading device, including the steps of:

[0106] Judge whether the double-layer positioning automatic sample loading and unloading device is in the sample loading state;

[0107] If it is, control the second driving component 302 to drive the pusher fixing component 201 to move to the first preset stroke end point relative to the reference frame component 301, and then control the first driving component 202 to drive the tray fixing component 101 to move to the first preset stroke end point relative to the pusher fixing component 201;

[0108] If not, judge whether the double-layer positioning automatic sample loading and unloading device is in the sampling state;

[0109] If it is, control the first driving component 202 to drive the tray fixing component 101 to move to the second preset stroke end point relative to the pusher fixing component 201, and then control the second driving component 302 to drive the pusher fixing component 201 to move to the second preset stroke end point relative to the reference frame component 301;

[0110] If not, control the first driving component 202 and the second driving component 302 to stop operating, and return to the step of judging whether the double-layer positioning automatic sample loading and unloading device is in the sample loading state.

[0111] By detecting the commands executed by the belt, control the corresponding driving components to perform relative actions, realizing the automation of sample tray 400 sample loading and sampling. And through the limitation of the sequence of movement of the tray fixing component 101 and the pusher fixing component 201, when the tray fixing component 101 moves, the pusher fixing component 201 always remains at the working origin position. That is, when the pusher fixing component 201 is in the working in-place point, the pusher fixing component 201 is in the open area. At this time, if the tray fixing component 101 moves, there will be a problem of pinching hands, so its movement is limited.

[0112] In this specification, each embodiment is described in a progressive manner. The key points of each embodiment are the differences from other embodiments. The same and similar parts among the embodiments can be referred to each other.

[0113] The above has introduced in detail the double-layer positioning automatic sample loading and unloading device and control method provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A double-layer positioning automatic sample loading and unloading device, characterized in that, Comprising: A reference module (300), including a reference frame component (301); A pusher operation module (200), including a pusher fixing component (201) and a second driving component (302), wherein the pusher fixing component (201) is slidably mounted relative to the reference frame component (301) in a first direction, and the second driving component (302) is used to drive the pusher fixing component (201) and the reference frame component (301) to move relative to each other in the first direction; A sample operation module (100), including a tray fixing component (101) and a first driving component (202), wherein the tray fixing component (101) is used to fix a sample tray (400), the tray fixing component (101) is slidably mounted relative to the pusher fixing component (201) in a second direction, and the first driving component (202) is used to drive the tray fixing component (101) and the pusher fixing component (201) to move relative to each other in the second direction; Wherein, the first direction and the second direction are the same or different.

2. The double-layer positioning automatic sample loading and unloading device according to claim 1, characterized in that A first position sensing component is arranged in the pusher operation module (200) for detecting the relative position relationship between the tray fixing component (101) and the pusher fixing component (201); And / or, A second position sensing component is arranged in the reference module (300) for detecting the relative position relationship between the pusher fixing component (201) and the reference frame component (301).

3. The double-layer positioning automatic sample loading and unloading device according to claim 2, wherein, The first position sensing component includes a first origin sensing piece (103), a first in-place sensing piece (104), a first origin sensor (203) and a first in-place sensor (204); The first origin sensing piece (103) and the first in-place sensing piece (104) are fixedly arranged relative to the tray fixing component (101), and the first origin sensor (203) and the first in-place sensor (204) are fixedly arranged relative to the pusher fixing component (201); When the tray fixing component (101) is at a first stroke end point relative to the pusher fixing component (201), the first origin sensing piece (103) acts on the first origin sensor (203) to trigger feedback, and when the tray fixing component (101) is at a second stroke end point relative to the pusher fixing component (201), the first in-place sensing piece (104) acts on the first in-place sensor (204) to trigger feedback.

4. The double-layer positioning automatic sample loading and unloading device according to claim 2, wherein, The second position sensing component includes a second origin sensing piece (209), a second in-place sensing piece (206), a second origin sensor (305) and a second in-place sensor (306); The second origin sensing piece (209) and the second in-place sensing piece (206) are fixedly arranged relative to the pusher fixing component (201), and the second origin sensor (305) and the second in-place sensor (306) are fixedly arranged relative to the reference frame component (301); When the pusher fixing component (201) is at the first stroke end point relative to the reference frame component (301), the second origin sensing piece (209) acts on the second origin sensor (305) to trigger feedback. When the pusher fixing component (201) is at the second stroke end point relative to the reference frame component (301), the second in-place sensing piece (206) acts on the second in-place sensor (306) to trigger feedback.

5. The double-layer positioning automatic sample loading and unloading device according to claim 1, wherein It further includes several groups of positioning components, which are used to position the pusher fixing component (201) and the reference frame component (301) that move to the relative stroke end points, or to position the pusher fixing component (201) and the tray fixing component (101) that move to the relative stroke end points, or to position the reference frame component (301) and the tray fixing component (101) that move to the relative stroke end points.

6. The double-layer positioning automatic sample loading and unloading device according to claim 5, wherein, The positioning component includes an origin positioning component (303) relatively fixed to the reference frame component (301), and the origin positioning component (303) includes a first bearing group (3031) and a second bearing group (3032); The rotation axis of the first bearing group (3031) is horizontal and perpendicular to the first direction, and the outer peripheral surface of the first bearing group (3031) is tangent to the lower surface of the tray fixing component (101); There is an included angle between the two vertical side surfaces of the tray fixing component (101) along the first direction. When the tray fixing component (101) moves to a preset position relative to the reference frame component (301) along the first direction, the outer peripheral surfaces of the two bearings in the second bearing group (3032) are respectively in contact with the two vertical side surfaces of the tray fixing component (101) along the first direction, and the rotation axis of the second bearing group (3032) is vertical and perpendicular to the first direction.

7. The double-layer positioning automatic sample loading and unloading device according to claim 5, wherein, The positioning component includes a guiding and positioning component A and a guiding and positioning component B in the form of a guiding positioning block and a guiding positioning groove; The guiding and positioning component A and the guiding and positioning component B are respectively fixed to the tray fixing component (101) and the pusher fixing component (201). When the tray fixing component (101) moves to the stroke end point relative to the pusher fixing component (201), the guiding and positioning component A can be clamped in the guiding and positioning component B; and / or The guiding and positioning component A and the guiding and positioning component B are respectively fixed to the pusher fixing component (201) and the reference frame component (301). When the pusher fixing component (201) moves to the stroke end point relative to the reference frame component (301), the guiding and positioning component A can be clamped in the guiding and positioning component B.

8. The double-layer positioning automatic sample loading and unloading device according to claim 1, characterized in that, The pusher operation module (200) further includes a drawer panel component (211), and the drawer panel component (211) is fixedly connected relative to the pusher fixing component (201); The reference module (300) further includes an electromagnet (304) fixedly arranged relative to the reference frame assembly (301). When the pusher operation module (200) moves to the stroke end point of the preset end relative to the reference frame assembly (301), the electromagnet (304) can adsorb an iron sheet fixedly arranged relative to the drawer panel assembly (211).

9. The double-layer positioning automatic sample loading and unloading device according to claim 1, characterized in that, The first driving component (202) includes a driving motor (2021), a synchronous toothed belt (2022), and a driven wheel (2023). Both the driving motor (2021) and the driven wheel (2023) are fixedly connected relative to the pusher fixing component (201). A synchronous toothed belt (2022) is arranged between the output wheel of the driving motor (2021) and the driven wheel (2023). The length direction of the synchronous toothed belt (2022) is the same as the second direction, and one side of the synchronous toothed belt (2022) is fixedly connected to the tray fixing component (101) through a connecting piece (2024).

10. The double-layer positioning automatic sample loading and unloading device according to claim 9, characterized in that, The structure of the second driving component (302) is the same as that of the first driving component (202); The driving motor and the driven wheel of the second driving component (302) are both fixedly connected relative to the reference frame assembly (301). A synchronous toothed belt is arranged between the output wheel of the driving motor and the driven wheel. The direction of the synchronous toothed belt is the same as the first direction, and one side of the synchronous toothed belt is fixedly connected to the pusher fixing component (201) through a connecting piece.

11. A control method, characterized in that, Applied to the double-layer positioning automatic sample loading and unloading device according to any one of claims 1-10, it includes the steps of: Judging whether the double-layer positioning automatic sample loading and unloading device is in the sample loading state; If it is, control the second driving component (302) to drive the pusher fixing component (201) to move to the first preset stroke end point relative to the reference frame assembly (301), and then control the first driving component (202) to drive the tray fixing component (101) to move to the first preset stroke end point relative to the pusher fixing component (201); If it is not, judge whether the double-layer positioning automatic sample loading and unloading device is in the sample sampling state; If it is, control the first driving component (202) to drive the tray fixing component (101) to move to the second preset stroke end point relative to the pusher fixing component (201), and then control the second driving component (302) to drive the pusher fixing component (201) to move to the second preset stroke end point relative to the reference frame assembly (301); If it is not, control the first driving component (202) and the second driving component (302) to stop operating, and return to the step of judging whether the double-layer positioning automatic sample loading and unloading device is in the sample loading state.

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