Uniform mixing device and uniform mixing method

Abstract

The invention belongs to the technical field of medical instruments, and discloses a blending device and a blending method, the blending device comprises a gripper assembly, a lifting mechanism, a vibration assembly and a reducing guide shaft. The gripper assembly is used for gripping test tubes, and the lifting mechanism can drive the gripper assembly to move in the vertical direction, so that the gripper assembly is close to or away from the reagent position. The lifting mechanism is connected with the gripper assembly through a first elastic piece, the vibration assembly is installed on the gripper assembly, and the vibration assembly can make the gripper assembly vibrate. The variable-diameter guide shaft is slidably connected to the lifting mechanism in the vertical direction, a guide hole extending in the vertical direction is formed in the gripper assembly, the variable-diameter guide shaft penetrates through the guide hole, the gripper assembly has a locking state and an unlocking state, and when the gripper assembly moves to the locking state, the inner wall of the guide hole is attached to the outer wall of the variable-diameter guide shaft; taking and placing the test tubes; when the gripper assembly moves to an unlocking state, the guide hole is in clearance fit with the variable-diameter guide shaft, and uniform mixing operation is carried out.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a mixing device and a mixing method. Background Art

[0002] In the medical field, sample analysis can provide important reference indicators for the analysis and diagnosis of diseases. In the existing technology, samples are detected and analyzed by a sample analyzer to obtain various indicators of the sample for reference.

[0003] Before testing a sample, a movable arm is used to remove the test tube from the reagent station, thoroughly mix the sample inside the test tube to ensure the accuracy of the test result, and then return the test tube to the reagent station. Existing movable arms are typically connected to a clamping mechanism that holds the test tube via an elastic member, allowing the clamping mechanism to slightly change its position relative to the movable arm. This, in turn, causes the test tube to change its position relative to the movable arm, achieving mixing of the sample inside the test tube.

[0004] Since the clamping mechanism is connected to the movable arm through an elastic member, it is difficult to ensure the accuracy of the test tube placement when the movable arm takes and places the test tube from the reagent position, resulting in deviation in the placement state of the test tube on the reagent position or the test tube cannot be placed in the reagent position. Summary of the Invention

[0005] The object of the present invention is to provide a mixing device and a mixing method, wherein the mixing device can fully mix the sample in the test tube and can make the grasping position more accurate when taking and placing the test tube.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] In one aspect, a mixing device is provided, comprising:

[0008] A gripper assembly, wherein the gripper assembly is provided with a guide hole extending in a vertical direction, and the gripper assembly is used to grab the test tube on the reagent position;

[0009] a lifting mechanism, the lifting mechanism being capable of driving the gripper assembly to move in a vertical direction, and the lifting mechanism being connected to the gripper assembly via a first elastic member;

[0010] a vibration assembly, the vibration assembly being mounted on the gripper assembly and capable of causing the gripper assembly to vibrate;

[0011] A variable diameter guide shaft, the variable diameter guide shaft is slidably connected to the lifting mechanism in the vertical direction, the variable diameter guide shaft is passed through the guide hole, the gripper assembly has a locked state and an unlocked state, when the gripper assembly moves to the locked state, the inner wall of the guide hole fits with the outer wall of the variable diameter guide shaft, when the gripper assembly moves to the unlocked state, the guide hole and the variable diameter guide shaft are clearance-matched.

[0012] Optionally, the mixing device also includes a limiting assembly, which includes a first fixed seat, a second fixed seat and a second elastic member. The gripper assembly is connected to the first fixed seat via the first elastic member. The lifting mechanism is driven and connected to the first fixed seat. The second fixed seat is arranged below the first fixed seat. One end of the second elastic member is connected to the first fixed seat, and the other end is connected to the second fixed seat. The variable diameter guide shaft is slidably connected to the first fixed seat in the vertical direction and can abut against the second fixed seat. When the gripper assembly moves to the locked state, the second elastic member is in a compressed state. When the gripper assembly moves to the unlocked state, the second elastic member is in a non-compressed state.

[0013] Optionally, the limiting assembly further includes a clamping member, which is clamped to the variable-diameter guide shaft, and the lower side of the clamping member can overlap the side of the first fixing seat facing away from the second fixing seat.

[0014] Optionally, the limiting assembly further includes a limiting shaft, the first fixing seat is provided with a first through hole extending in the vertical direction, the second fixing seat is provided with a positioning groove corresponding to the first through hole, and the limiting shaft is passed through the first through hole and extends into the positioning groove.

[0015] Optionally, the limiting assembly further includes a positioning member, which is disposed below the second fixing seat, and the second fixing seat can abut against the positioning member.

[0016] Optionally, the mixing device further comprises a telescopic mechanism, which is drivably connected to the first fixing seat and can drive the first fixing seat to move horizontally, and the lifting mechanism is drivably connected to the telescopic mechanism.

[0017] Optionally, the limiting assembly further includes a bearing, the bearing is connected to the second fixing seat, and the second fixing seat can abut against the positioning member through the bearing.

[0018] Optionally, the bearing is a rubber bearing.

[0019] Optionally, the mixing device further comprises a rotating mechanism, which is drivingly connected to the lifting mechanism and can drive the lifting mechanism to rotate.

[0020] On the other hand, a mixing method is provided, which is used in the above-mentioned mixing device and specifically comprises the following steps:

[0021] The lifting mechanism drives the gripper assembly to move downward to a position corresponding to the test tube, the gripper assembly is in the locked state, the gripper assembly is fixedly connected to the lifting mechanism via the variable-diameter guide shaft, and the gripper assembly grabs the test tube;

[0022] The lifting mechanism drives the gripper assembly to move upward, so that the test tube is away from the reagent position. The gripper assembly is in the unlocked state. The gripper assembly is connected to the lifting mechanism via the first elastic member. The vibration assembly vibrates, thereby driving the gripper assembly to vibrate, and further driving the test tube grasped by the gripper assembly to vibrate, thereby performing a mixing operation on the sample in the test tube.

[0023] The vibration assembly stops vibrating, the lifting mechanism drives the gripper assembly to move downward, the gripper assembly is in the locked state, and the gripper assembly puts the test tube back into the reagent position.

[0024] Beneficial effects of the present invention:

[0025] The present invention provides a mixing device and a mixing method. The mixing device includes a gripper assembly, a lifting mechanism, a vibration assembly, and a variable-diameter guide shaft. The gripper assembly is used to grasp a test tube on a reagent station. The lifting mechanism can drive the gripper assembly to move vertically, thereby driving the gripper assembly toward or away from the reagent station. The lifting mechanism is connected to the gripper assembly via a first elastic member. The vibration assembly is mounted on the gripper assembly and is capable of vibrating, thereby driving the gripper assembly to vibrate, and in turn, the test tube grasped by the gripper assembly to vibrate. The variable diameter guide shaft is slidably connected to the lifting mechanism in the vertical direction. A guide hole extending in the vertical direction is provided on the gripper assembly. The variable diameter guide shaft is passed through the guide hole. The gripper assembly has a locked state and an unlocked state. When the gripper assembly moves to the locked state, the inner wall of the guide hole fits with the outer wall of the variable diameter guide shaft, and the gripper assembly and the lifting mechanism are relatively fixed through the variable diameter guide shaft, so as to take and place the test tube; when the gripper assembly moves to the unlocked state, the guide hole and the variable diameter guide shaft are clearance-matched, and the gripper assembly can move relative to the lifting mechanism, thereby vibrating the test tube to mix the sample in the test tube.

[0026] When the mixing device is working, first, the lifting mechanism drives the gripper assembly to move downward to the position corresponding to the test tube, the gripper assembly is in a locked state, the inner wall of the guide hole fits with the outer wall of the variable diameter guide shaft, and the gripper assembly and the lifting mechanism are fixedly connected through the variable diameter guide shaft. At this time, the gripper assembly grabs the test tube, and the gripper assembly will not shake relative to the lifting mechanism, and the gripper assembly grabs the position more accurately; then, the lifting mechanism drives the gripper assembly to move upward, and the test tube is away from the reagent position. The gripper assembly is in an unlocked state, the guide hole and the variable diameter guide shaft are in clearance, and the gripper assembly and the lifting mechanism are fixedly connected through the variable diameter guide shaft. The first elastic member is connected, and the gripper assembly can move relative to the lifting mechanism. At this time, the vibration assembly vibrates, which can drive the gripper assembly and the test tube to vibrate, and mix the sample in the test tube. The sample in the test tube can be fully mixed by vibration; finally, the vibration assembly stops vibrating, and the lifting mechanism drives the gripper assembly to move downward. The gripper assembly is in a locked state, and the inner wall of the guide hole fits with the outer wall of the variable diameter guide shaft. At this time, the gripper assembly puts the test tube back to the reagent position, and the gripper assembly will not shake relative to the lifting mechanism, which can make the placement of the test tube more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is an exploded view of a mixing device provided in an embodiment of the present invention;

[0028] Figure 2 Schematic diagram of the structure of the mixing device provided in an embodiment of the present invention;

[0029] Figure 3 It is a structural diagram of a gripper assembly provided by an embodiment of the present invention;

[0030] Figure 4 is a structural diagram of a first elastic member provided by an embodiment of the present invention;

[0031] Figure 5 It is a structural schematic diagram of the first fixing seat provided by an embodiment of the present invention;

[0032] Figure 6 1 is a schematic structural diagram of a second fixing base provided by an embodiment of the present invention;

[0033] Figure 7 is a structural diagram of a second elastic member provided by an embodiment of the present invention;

[0034] Figure 8 yes Figure 2 A partial enlarged view of point A in the middle.

[0035] In the picture:

[0036] 1. Gripper assembly; 11. Guide hole; 12. Gripper; 13. Gripper fixing seat; 131. First connecting portion; 1311. First mounting hole; 132. Second connecting portion; 14. Vibrator fixing seat

[0037] 2. Test tube;

[0038] 3. Lifting mechanism; 31. First driving member; 32. First mounting plate; 33. First slide rail; 34. Second mounting plate; 35. Synchronous belt; 36. Synchronous pulley; 37. Third mounting plate; 38. Tensioner; 39. Mounting seat;

[0039] 4. Vibration component;

[0040] 5. Variable diameter guide shaft;

[0041] 6. Limiting assembly; 61. First fixing seat; 611. First through hole; 612. Second through hole; 62. Second fixing seat; 621. Positioning groove; 622. Abutting groove; 63. Second elastic member; 631. Third through hole; 64. Clamping member; 65. Limiting shaft; 66. Positioning member; 67. Bearing; 68. Fourth mounting plate;

[0042] 7. Telescopic mechanism; 71. Second driving member; 72. Second slide rail;

[0043] 8. Rotating mechanism;

[0044] 9. Reagent position;

[0045] 10. First elastic member; 101. First card slot; 102. Second card slot. DETAILED DESCRIPTION

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0047] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0048] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0049] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0050] like Figures 1-4 As shown, this embodiment provides a mixing device, which includes a gripper assembly 1, a lifting mechanism 3, a vibration assembly 4 and a variable diameter guide shaft 5. The gripper assembly 1 is used to grab the test tube 2 on the reagent position 9. The lifting mechanism 3 can drive the gripper assembly 1 to move in the vertical direction, and the lifting mechanism 3 drives the gripper assembly 1 to move closer to or away from the reagent position 9. The lifting mechanism 3 is connected to the gripper assembly 1 through a first elastic member 10. The vibration assembly 4 is installed on the gripper assembly 1. The vibration assembly 4 can vibrate, thereby driving the gripper assembly 1 to vibrate, and then driving the test tube 2 grasped by the gripper assembly 1 to vibrate. The variable diameter guide shaft 5 is slidably connected to the lifting mechanism 3 in the vertical direction. A guide hole 11 extending in the vertical direction is provided on the gripper assembly 1. The variable diameter guide shaft 5 is passed through the guide hole 11. The gripper assembly 1 has a locked state and an unlocked state. When the gripper assembly 1 moves to the locked state, the inner wall of the guide hole 11 fits with the outer wall of the variable diameter guide shaft 5, and the gripper assembly 1 and the lifting mechanism 3 are relatively fixed through the variable diameter guide shaft 5, so as to take and place the test tube 2; when the gripper assembly 1 moves to the unlocked state, the guide hole 11 and the variable diameter guide shaft 5 are clearance-matched, and the gripper assembly 1 can move relative to the lifting mechanism 3, thereby vibrating the test tube 2 to mix the sample in the test tube 2.

[0051] When the mixing device is working, first, the lifting mechanism 3 drives the gripper assembly 1 to move downward to the position corresponding to the test tube 2, the gripper assembly 1 is in a locked state, the inner wall of the guide hole 11 fits with the outer wall of the variable diameter guide shaft 5, and the gripper assembly 1 and the lifting mechanism 3 are fixedly connected through the variable diameter guide shaft 5. At this time, the gripper assembly 1 grabs the test tube 2, and the gripper assembly 1 will not shake relative to the lifting mechanism 3, and the position grabbed by the gripper assembly 1 is more accurate; then, the lifting mechanism 3 drives the gripper assembly 1 to move upward, and the test tube 2 is away from the reagent position 9. The gripper assembly 1 is in an unlocked state, the guide hole 11 and the variable diameter guide shaft 5 are clearance-matched, and the gripper assembly 1 and the lifting mechanism 3 are fixedly connected. Connected by the first elastic member 10, the gripper assembly 1 can move relative to the lifting mechanism 3. At this time, the vibration assembly 4 vibrates, which can drive the gripper assembly 1 and the test tube 2 to vibrate, and mix the sample in the test tube 2. The sample in the test tube 2 can be fully mixed by vibration; finally, the vibration assembly 4 stops vibrating, and the lifting mechanism 3 drives the gripper assembly 1 to move downward. The gripper assembly 1 is in a locked state, and the inner wall of the guide hole 11 is in contact with the outer wall of the variable-diameter guide shaft 5. At this time, the gripper assembly 1 puts the test tube 2 back to the reagent position 9. The gripper assembly 1 will not shake relative to the lifting mechanism 3, which can make the placement position of the test tube 2 more accurate.

[0052] Specifically, the gripper assembly 1 includes a gripper 12 and a gripper fixing seat 13. The gripper 12 is connected to the gripper fixing seat 13. The gripper 12 can move relative to or toward each other, so as to grasp or release the test tube 2. The specific connection method of the gripper 12 and the gripper fixing seat 13 refers to the prior art, and this application will not go into details here. The gripper fixing seat 13 is L-shaped and includes a first connecting portion 131 and a second connecting portion 132 that are perpendicular to each other. The guide hole 11 is provided on the second connecting portion 132. A first mounting hole 1311 is provided on the first connecting portion 131, and a first card groove 101 is provided on the outer wall of the first elastic member 10 near one end of the gripper assembly 1. The first card groove 101 is clamped and fixed to the first mounting hole 1311. The material of the first elastic member 10 is rubber. In other embodiments, the first elastic member 10 can also be made of a soft material such as resin.

[0053] Specifically, the variable diameter guide shaft 5 includes a small diameter section, a transition section and a large diameter section from top to bottom. The radius of the transition section gradually increases in the direction from the small diameter section to the large diameter section. The transition section smoothly connects the small diameter section and the large diameter section to avoid the variable diameter guide shaft 5 from getting stuck during movement. Among them, the outer diameter of the small diameter section is smaller than the diameter of the guide hole 11, and the outer diameter of the large diameter section is equal to the diameter of the guide hole 11. When the gripper assembly 1 moves to the locked state, the variable diameter guide shaft 5 moves upward relative to the gripper assembly 1, the guide hole 11 corresponds to the large diameter section of the variable diameter guide shaft 5, and the inner wall of the guide hole 11 fits with the outer wall of the large diameter section. When the gripper assembly 1 moves to the unlocked state, the guide hole 11 and the small diameter section are loosely matched.

[0054] Specifically, the reagent position 9 is a semicircular structure, and a plurality of grooves are arranged at intervals on the reagent position 9. The test tube 2 is inserted into the groove, and the groove extends above the test tube 2 to facilitate the gripper assembly 1 to clamp it. The specific number of grooves is set according to the size of the reagent position 9 and the test tube 2, and this embodiment does not limit this. The gripper assembly 1 also includes a vibrator fixing seat 14, and the vibrator fixing seat 14 is fixedly connected to the side wall of the first connecting portion 131. The vibration assembly 4 includes a vibrator and a power supply, the vibrator is electrically connected to the power supply, and the vibrator is installed on the vibrator fixing seat 14. The vibrator can vibrate, thereby driving the vibrator fixing seat 14 to vibrate, and then driving the first connecting portion 131 to vibrate. The first connecting portion 131 drives the gripper 12 to vibrate, and the gripper 12 can drive the grasped test tube 2 to vibrate to mix the sample in the test tube 2. The specific model of the vibrator refers to the prior art, and this application will not go into details here.

[0055] Specifically, the lifting mechanism 3 includes a first driving member 31, a first mounting plate 32, a first slide rail 33, a second mounting plate 34, a synchronous belt 35, a synchronous pulley 36, a third mounting plate 37, a tensioner 38, and a mounting base 39. The mounting base 39 is coaxial with the reagent station 9. The first mounting plate 32 and the third mounting plate 37 are connected to the mounting base 39 by screws. The first driving member 31 is a motor and is fixed to the first mounting plate 32 by screws. There are three synchronous pulleys 36, one of which is mounted on the output shaft of the motor, and the other two are spaced apart vertically and mounted on the third mounting plate 37. The synchronous belt 35 is mounted on the three synchronous pulleys 36, allowing the synchronous belt 35 to move vertically between the two synchronous pulleys 36 mounted on the third mounting plate 37. The gripper assembly 1 is connected to the vertically arranged synchronous belt 35. Rotation of the motor output shaft drives the synchronous belt 35, thereby driving the gripper assembly 1 in the vertical direction.

[0056] Specifically, the second mounting plate 34 is screwed to one side of the third mounting plate 37, the first slide rail 33 is screwed to the second mounting plate 34, and the gripper assembly 1 is slidably connected to the first slide rail 33, thereby improving the stability of the gripper assembly 1 during vertical movement. The tensioner 38 is a tensioner pulley, which is adjustably fixed to the third mounting plate 37 via screws. The tensioner 38 abuts the side of the synchronous belt 35 facing away from the synchronous pulley 36, and the tension of the synchronous belt 35 can be adjusted via the tensioner pulley. In other embodiments, the tensioner 38 can be fixed, while the two synchronous pulleys 36 are adjustably fixed to the third mounting plate 37. The tension of the synchronous belt 35 can be adjusted by adjusting the positions of the two synchronous pulleys 36.

[0057] Optionally, the mixing device also includes a limiting assembly 6, which includes a first fixed seat 61, a second fixed seat 62 and a second elastic member 63. The gripping assembly 1 is connected to the first fixed seat 61 through the first elastic member 10. The lifting mechanism 3 is driven and connected to the first fixed seat 61. The second fixed seat 62 is arranged below the first fixed seat 61. One end of the second elastic member 63 is connected to the first fixed seat 61, and the other end is connected to the second fixed seat 62. The variable diameter guide shaft 5 is slidably connected to the first fixed seat 61 in the vertical direction and can abut against the second fixed seat 62.

[0058] When the gripper assembly 1 moves to the locked state, the variable diameter guide shaft 5 abuts against the second fixed seat 62, the second elastic member 63 is in a compressed state, and the variable diameter guide shaft 5 moves upward relative to the first fixed seat 61, thereby moving upward relative to the gripper assembly 1 connected to the first fixed seat 61, and then the variable diameter guide shaft 5 moves upward relative to the guide hole 11, so that the position with a larger diameter of the variable diameter guide shaft 5 corresponds to the guide hole 11, and the outer wall of the variable diameter guide shaft 5 fits with the inner wall of the guide hole 11, and the gripper assembly 1 is fixed to the first fixed seat 61 through the variable diameter guide shaft 5.

[0059] When the gripper assembly 1 moves to the unlocked state, the variable diameter guide shaft 5 disengages from the abutment with the second fixed seat 62, the second elastic member 63 is in a non-compressed state, and the variable diameter guide shaft 5 moves downward relative to the first fixed seat 61, thereby moving downward relative to the gripper assembly 1 connected to the first fixed seat 61, and then the variable diameter guide shaft 5 moves downward relative to the guide hole 11, so that the position with a smaller diameter of the variable diameter guide shaft 5 corresponds to the guide hole 11, so that there is a gap between the variable diameter guide shaft 5 and the guide hole 11. Since the first fixed seat 61 and the gripper assembly 1 are connected through the first elastic member 10, the vibration assembly 4 can drive the gripper assembly 1 to vibrate.

[0060] Specifically, if Figure 1-Figure 7As shown, a second mounting hole is defined in the first fixing seat 61. A second retaining groove 102 is provided on the outer wall of the first elastic member 10 at the end away from the gripper assembly 1. The second retaining groove 102 is secured to the second mounting hole. The first fixing seat 61 is connected to the vertically mounted timing belt 35. The first fixing seat 61 moves vertically, thereby driving the gripper assembly 1 in the vertical direction. The second elastic member 63 can be secured to the first and second fixing seats 61, 62 by means of a snap connection, adhesive bonding, or a connector, which is not limited in this embodiment. The first fixing seat 61 is provided with a second through hole 612 extending in a vertical direction. The second elastic member 63 is provided with a third through hole 631 corresponding to the second through hole 612. The second fixing seat 62 is provided with an abutment groove 622. The variable diameter guide shaft 5 is sequentially inserted through the second through hole 612 and the third through hole 631 and is capable of abutting the bottom wall of the abutment groove 622. The provision of the abutment groove 622 can improve the stability of the variable diameter guide shaft 5 when abutting the abutment groove 622. The material of the second elastic member 63 can be a flexible material such as rubber or resin, and the second elastic member 63 can also be a spring. In other embodiments, a slide groove extending in the vertical direction can also be provided on the first fixing seat 61, and the variable diameter guide shaft 5 is slidably connected to the slide groove.

[0061] Alternatively, as Figure 1 and Figure 8 As shown, the limit assembly 6 also includes a clamping member 64, which is clamped to the variable diameter guide shaft 5. The lower side of the clamping member 64 can overlap the side of the first fixed seat 61 facing away from the second fixed seat 62. When the gripper assembly 1 moves to the unlocked state, the variable diameter guide shaft 5 is prevented from falling under the action of gravity.

[0062] Specifically, the clamping member 64 is an e-shaped buckle, which is sleeved on the outer wall of the large diameter section and has an interference fit with the variable diameter guide shaft 5. In other embodiments, the clamping member 64 can also be a clamping ring or a C-shaped buckle.

[0063] Alternatively, as Figure 1 、 Figure 5 、 Figure 6 and Figure 8 As shown, the limiting assembly 6 also includes a limiting shaft 65. A first through hole 611 extending in the vertical direction is provided on the first fixed seat 61, and a positioning groove 621 corresponding to the first through hole 611 is provided on the second fixed seat 62. The limiting shaft 65 passes through the first through hole 611 and extends into the positioning groove 621. By setting the limiting shaft 65, the position of the second fixed seat 62 can be limited to prevent the second fixed seat 62 from rotating or shaking.

[0064] Optionally, the limiting assembly 6 further includes a positioning member 66, which is disposed below the second fixing seat 62. The second fixing seat 62 can abut against the positioning member 66, and the positioning member 66 can limit the position of the second fixing seat 62. When the first fixing seat 61 moves downward, the second fixing seat 62 moves downward at the same time. After the second fixing seat 62 moves to a certain position, the second fixing seat 62 abuts against the positioning member 66. At this time, the first fixing seat 61 continues to move downward, the second elastic member 63 is compressed, and the distance between the first fixing seat 61 and the second fixing seat 62 becomes smaller. The variable diameter guide shaft 5 abuts against the second fixing seat 62. The first fixing seat 61 continues to move downward, the second elastic member 63 continues to be compressed, and the variable diameter guide shaft 5 moves upward relative to the first fixing seat 61, so that the gripper assembly 1 can be in a locked state.

[0065] The limiting assembly 6 further includes a fourth mounting plate 68 , which is fixed to the second mounting plate 34 by screws. One end of the positioning member 66 is fixed to the fourth mounting plate 68 by screws, and the other end extends below the second fixing seat 62 .

[0066] Alternatively, as Figure 1 and Figure 2 As shown, the mixing device further includes a telescopic mechanism 7, which is drivably connected to the first fixed base 61. The telescopic mechanism 7 can drive the first fixed base 61 to move horizontally, thereby driving the gripper assembly 1 to move horizontally, thereby increasing the range of movement of the gripper assembly 1. The lifting mechanism 3 is drivably connected to the telescopic mechanism 7.

[0067] Specifically, the telescopic mechanism 7 includes a second driving member 71, a second slide rail 72 and a mounting plate 73. The second slide rail 72 is connected to the mounting plate 73 in a sliding manner in the horizontal direction. The second driving member 71 can drive the second slide rail 72 to telescope in the horizontal direction. The first fixed seat 61 is connected to the second slide rail 72 by screws. The second slide rail 72 can drive the first fixed seat 61 to telescope in the horizontal direction, thereby driving the gripper assembly 1 to telescope in the horizontal direction. The second driving member 71 is a motor. The specific way in which the second driving member 71 drives the second slide rail 72 to telescope refers to the prior art, and this application will not elaborate on it here. The mounting plate 73 is fixedly connected to the vertically arranged synchronous belt 35. The synchronous belt 35 can drive the mounting plate 73 to move in the vertical direction, thereby driving the first fixed seat 61 to move in the vertical direction, thereby driving the gripper assembly 1 to move in the vertical direction. A slide groove is provided on the mounting plate 73, which is slidably connected to the first slide rail 33, thereby improving the stability of the mounting plate 73 when moving in the vertical direction, thereby driving the stability of the first fixed seat 61 when moving in the vertical direction, and further driving the stability of the gripper assembly 1 when moving in the vertical direction, thereby improving the gripping accuracy.

[0068] Alternatively, as Figure 1 and Figure 8 As shown, the limit assembly 6 also includes a bearing 67, which is connected to the second fixed seat 62. The second fixed seat 62 can abut against the positioning member 66 through the bearing 67. When the telescopic mechanism 7 drives the first fixed seat 61 to move in the horizontal direction, rolling friction is formed between the bearing 67 and the positioning member 66, which reduces the friction between the bearing 67 and the positioning member 66, and avoids excessive friction between the second fixed seat 62 and the positioning member 66, which may cause damage to the second fixed seat 62 and the positioning member 66.

[0069] Specifically, a threaded hole is provided on one side of the second fixing seat 62 horizontally adjacent to the positioning member 66. The bearing 67 is provided with an external thread that mates with the threaded hole. The external thread is threadedly connected to the threaded hole, securing the bearing 67 to the second fixing seat 62. In another embodiment, the bearing 67 and the second fixing seat 62 may be secured by a snap-fit connection. In other embodiments, the positioning member 66 extends downwardly and obliquely below the second fixing seat 62 to prevent direct contact between the second fixing seat 62 and the positioning member 66, thereby preventing sliding friction.

[0070] Furthermore, the bearing 67 is a rubber bearing, so that the bearing 67 and the positioning member 66 are in elastic contact, thereby avoiding damage to the bearing 67 and the positioning member 66.

[0071] Optionally, the mixing device further includes a rotating mechanism 8, which is driven and connected to the lifting mechanism 3. The rotating mechanism 8 can drive the lifting mechanism 3 to rotate, thereby driving the gripper assembly 1 to rotate, thereby increasing the gripping range of the gripper assembly 1.

[0072] Specifically, rotating mechanism 8 includes a motor and a rotating shaft. The motor drives the rotating shaft to rotate. The rotating shaft is connected to the center of mounting base 39, and the rotating shaft drives mounting base 39 to rotate along the central axis. The specific method of rotating the rotating shaft driven by the motor is referred to in the prior art and will not be described in detail in this application.

[0073] like Figures 1-8 As shown, this embodiment also provides a mixing method, which is used for the above-mentioned mixing device, and specifically includes the following steps:

[0074] The lifting mechanism 3 drives the gripper assembly 1 to move downward to the position corresponding to the test tube 2. The gripper assembly 1 is in a locked state. The gripper assembly 1 and the lifting mechanism 3 are fixedly connected via the variable-diameter guide shaft 5. The gripper assembly 1 grabs the test tube 2.

[0075] The lifting mechanism 3 drives the gripper assembly 1 to move upward, so that the test tube 2 is away from the reagent position 9. The gripper assembly 1 is in the unlocked state. The gripper assembly 1 and the lifting mechanism 3 are connected by the first elastic member 10. The vibration assembly 4 vibrates, thereby driving the gripper assembly 1 to vibrate, and then driving the test tube 2 grasped by the gripper assembly 1 to vibrate, thereby mixing the sample in the test tube 2.

[0076] The vibration assembly 4 stops vibrating, and the lifting mechanism 3 drives the gripper assembly 1 to move downward. The gripper assembly 1 is in a locked state, and the gripper assembly 1 puts the test tube 2 back to the reagent position 9.

[0077] Specifically,

[0078] In the first step, the rotating mechanism 8 rotates the mounting base 39, aligning the gripper assembly 1 vertically with one of the test tubes 2 on the reagent station 9. The lifting mechanism 3 lowers the telescopic mechanism 7, aligning the gripper 12 horizontally with the test tube 2. At this point, the bearing 67 abuts the positioning member 66, the second elastic member 63 is compressed, and the inner wall of the guide hole 11 aligns with the outer wall of the large-diameter section, locking the gripper assembly 1. The telescopic mechanism 7 drives the first fixed base 61 toward the test tube 2, driving the gripper 12 toward the test tube 2 and thereby grasping the test tube 2.

[0079] In the second step, the lifting mechanism 3 drives the telescopic mechanism 7 upward, allowing the test tube 2 to separate from the reagent position 9. At this time, the bearing 67 and the positioning member 66 are disengaged, the second elastic member 63 recovers its deformation, the inner wall of the guide hole 11 and the outer wall of the small-diameter section are loosely fitted, and the gripper assembly 1 is unlocked. This causes the vibration assembly 4 to vibrate, thereby driving the gripper 12 to vibrate, and further driving the test tube 2 grasped by the gripper 12 to vibrate, thereby mixing the sample in the test tube 2.

[0080] In the third step, after the mixing operation is completed, the vibration assembly 4 stops vibrating, and the lifting mechanism 3 drives the telescopic mechanism 7 to descend, causing the bearing 67 to abut against the positioning member 66. The second elastic member 63 is compressed, causing the inner wall of the guide hole 11 to fit the outer wall of the large-diameter section, and the gripper assembly 1 is locked. At this time, the test tube 2 is returned to the reagent position 9. The gripper 12 is separated from the test tube 2, and the telescopic mechanism 7 drives the first fixed seat 61 to move away from the test tube 2, driving the gripper 12 away from the test tube 2. The rotating mechanism 8 drives the mounting seat 39 to rotate, so that the gripper assembly 1 is aligned vertically with the other test tube 2 on the reagent position 9.

[0081] Repeat steps 1 to 3 to mix each test tube 2 on the reagent position 9.

[0082] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A mixing device, characterized in that: include: A gripper assembly (1), wherein the gripper assembly (1) is provided with a guide hole (11) extending in a vertical direction, and the gripper assembly (1) is used to grip a test tube (2) on a reagent position (9); A lifting mechanism (3), the lifting mechanism (3) being capable of driving the gripper assembly (1) to move in a vertical direction, and the lifting mechanism (3) and the gripper assembly (1) being connected via a first elastic member (10); a vibration assembly (4), the vibration assembly (4) being mounted on the gripper assembly (1), the vibration assembly (4) being capable of causing the gripper assembly (1) to vibrate; A variable diameter guide shaft (5), the variable diameter guide shaft (5) is slidably connected to the lifting mechanism (3) in the vertical direction, the variable diameter guide shaft (5) is inserted into the guide hole (11), and the gripper assembly (1) has a locked state and an unlocked state. When the gripper assembly (1) moves to the locked state, the inner wall of the guide hole (11) fits with the outer wall of the variable diameter guide shaft (5); when the gripper assembly (1) moves to the unlocked state, the guide hole (11) and the variable diameter guide shaft (5) are clearance-matched.

2. The mixing device according to claim 1, characterized in that The mixing device also includes a limiting assembly (6), the limiting assembly (6) includes a first fixed seat (61), a second fixed seat (62) and a second elastic member (63), the gripping assembly (1) is connected to the first fixed seat (61) through the first elastic member (10), the lifting mechanism (3) is driven and connected to the first fixed seat (61), the second fixed seat (62) is arranged below the first fixed seat (61), one end of the second elastic member (63) is connected to the first fixed seat (61), and the other end is connected to the second fixed seat (62), the variable diameter guide shaft (5) is slidably connected to the first fixed seat (61) in the vertical direction and can abut against the second fixed seat (62), when the gripping assembly (1) moves to the locked state, the second elastic member (63) is in a compressed state, and when the gripping assembly (1) moves to the unlocked state, the second elastic member (63) is in a non-compressed state.

3. The mixing device according to claim 2, characterized in that: The limiting assembly (6) further includes a clamping member (64), the clamping member (64) being clamped to the variable diameter guide shaft (5), and the lower side of the clamping member (64) being able to overlap the side of the first fixing seat (61) facing away from the second fixing seat (62).

4. The mixing device according to claim 2, characterized in that: The limiting assembly (6) further includes a limiting shaft (65); a first through hole (611) extending in a vertical direction is provided on the first fixing seat (61); a positioning groove (621) corresponding to the first through hole (611) is provided on the second fixing seat (62); the limiting shaft (65) passes through the first through hole (611) and extends into the positioning groove (621).

5. The mixing device according to claim 2, characterized in that: The limiting assembly (6) further includes a positioning member (66), wherein the positioning member (66) is arranged below the second fixing seat (62), and the second fixing seat (62) can abut against the positioning member (66).

6. The mixing device according to claim 5, characterized in that: The mixing device further comprises a telescopic mechanism (7), wherein the telescopic mechanism (7) is drivably connected to the first fixed seat (61), and the telescopic mechanism (7) is capable of driving the first fixed seat (61) to move in a horizontal direction, and the lifting mechanism (3) is drivably connected to the telescopic mechanism (7).

7. The mixing device according to claim 6, characterized in that: The limiting assembly (6) further includes a bearing (67), and the bearing (67) is connected to the second fixing seat (62). The second fixing seat (62) can abut against the positioning member (66) through the bearing (67).

8. The mixing device according to claim 7, characterized in that: The bearing (67) is a rubber bearing.

9. The mixing device according to any one of claims 1 to 8, characterized in that: The mixing device further comprises a rotating mechanism (8), wherein the rotating mechanism (8) is drivingly connected to the lifting mechanism (3), and the rotating mechanism (8) can drive the lifting mechanism (3) to rotate.

10. A mixing method, characterized in that: The mixing device according to any one of claims 1 to 9 comprises the following steps: The lifting mechanism (3) drives the gripper assembly (1) to move downward to a position corresponding to the test tube (2), the gripper assembly (1) is in the locked state, the gripper assembly (1) and the lifting mechanism (3) are fixedly connected via the variable diameter guide shaft (5), and the gripper assembly (1) grabs the test tube (2); The lifting mechanism (3) drives the gripper assembly (1) to move upward, so that the test tube (2) is away from the reagent position (9), and the gripper assembly (1) is in the unlocked state. The gripper assembly (1) is connected to the lifting mechanism (3) via the first elastic member (10), and the vibration assembly (4) vibrates, thereby driving the gripper assembly (1) to vibrate, and further driving the test tube (2) grasped by the gripper assembly (1) to vibrate, thereby performing a mixing operation on the sample in the test tube (2); The vibration component (4) stops vibrating, the lifting mechanism (3) drives the gripper component (1) to move downward, the gripper component (1) is in the locked state, and the gripper component (1) puts the test tube (2) back into the reagent position (9).

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