Sample unloading device and full-automatic luminoscope

Abstract

The invention relates to the field of sample treatment and detection, in particular to a sample unloading device and a full-automatic luminoscope, the sample unloading device comprises a pushing mechanism, a material grabbing mechanism and a driving mechanism, the driving mechanism drives the pushing mechanism to reciprocate, the pushing mechanism acts on the material grabbing mechanism and is used for continuously grabbing samples, and the driving mechanism drives the material grabbing mechanism to move back and forth. The grabbing mechanism comprises a push rod and an angle adjusting assembly, the push rod is connected with the pushing mechanism through the angle adjusting assembly and can rotationally stretch in or retract out, and when the push rod stretches into the discharging platform, the push rod is connected with the bottom of a sample in a clamped mode. According to the structure, the structure of the sample unloading device can be simplified, high-efficiency operation can be realized under the condition that miniaturization design is ensured, the unloading efficiency is further improved while the cost is reduced, and the high-efficiency detection requirement is met.

Description

Technical Field

[0001] The present application relates to the field of sample processing and detection, and in particular to a sample unloading device and a fully automatic fluorescence instrument. Background Art

[0002] In the field of biological sample testing, the automation level of in vitro quantitative testing instruments continues to improve. Automated in vitro diagnostic equipment plays a vital role in modern medical testing. It can quickly and accurately test and analyze biological samples, providing strong support for the diagnosis and treatment of diseases. Its detection efficiency and space utilization directly determine the timeliness and resource costs of clinical diagnosis. Sample detection identification and sample unloading are key links in the equipment. Their efficiency not only affects the processing time of a single sample, but also determines whether the equipment can achieve efficient operation under a miniaturized design. At present, the commonly used technical means for sample unloading is mainly to use a dual-power drive module to drive the vertical lifting mechanism and the horizontal translation mechanism to collaboratively complete the task of unloading samples. The vertical lifting mechanism usually uses a motor-driven screw or synchronous belt to first drive the push component up and down, adjust the height of the push component to abut the sample, and push the sample placed in the test completion area of ​​the sample testing platform to the horizontal translation mechanism. The horizontal translation mechanism uses a motor-driven synchronous belt or rack and pinion to move the pusher assembly along the infeed and outfeed ends of the horizontal translation mechanism to the unloading area of ​​the testing platform, completing the unloading of a single sample. The pusher assembly then returns to the infeed end of the horizontal translation mechanism to push the next sample. In addition, some manufacturers have custom-designed robotic arms to grip and transfer samples to the unloading area. Existing sample unloading methods have significant drawbacks. Firstly, the sample unloading structure is complex. Both the dual independent motor-driven lifting and translation mechanisms and the robotic arm increase hardware costs and control algorithm complexity, leading to high maintenance costs. Secondly, the sample unloading process requires four steps: lowering - translation - raising - translation. The time required for switching between the two motors increases the unloading cycle time for each sample, resulting in lower efficiency and an inability to meet the growing demand for efficient testing. Furthermore, for the larger test tube racks used in some biochemical analyzers, the existing vertical lift mechanism for sample unloading has a limited lifting range, making it impossible to achieve wide-ranging clearance. Summary of the Invention

[0003] In order to simplify the structure of the sample unloading device, ensure efficient operation under miniaturized design, reduce costs, further improve unloading efficiency, and meet the needs of efficient detection, the present application provides a sample unloading device and a fully automatic fluorescence instrument.

[0004] In the first aspect, the present application provides a sample unloading device, comprising a pushing mechanism, a grabbing mechanism and a driving mechanism, wherein the driving mechanism drives the pushing mechanism to move back and forth, and the pushing mechanism acts on the grabbing mechanism to continuously grab samples, and the grabbing mechanism comprises a push rod and an angle adjustment assembly, wherein the push rod is connected to the pushing mechanism through the angle adjustment assembly and can be rotated to extend in or retracted, and when the push rod extends into the unloading platform, the push rod rotates to a vertical state and engages with the bottom of the sample. By adopting the above technical solution, the driving mechanism drives the pushing mechanism to move back and forth, and the pushing mechanism acts on the grabbing mechanism, so that the push rod in the grabbing mechanism can be connected and rotated with the pushing mechanism through the angle adjustment assembly. During the sample unloading process, when the push rod rotates and extends into the unloading platform, it can engage with the bottom of the sample, thereby realizing the grabbing action of the sample. The design of the reciprocating pushing mechanism and the rotatable pushing rod allows the push rod to freely grab or detach from the sample, and as the pushing mechanism moves, the grabbing mechanism can continuously grab the sample; Specifically, the original position of the push rod is a non-vertical tilted state, and the tilt angle is designed to form a clearance with the unloading platform. When the driving mechanism drives the pushing mechanism to move forward along its starting position, the push rod rotates to a vertical state to engage the sample. During the rotation of the push rod, the push rod and the unloading platform can avoid position to ensure that the push rod can extend into the unloading platform and engage with the sample. As the pushing mechanism continues to move forward to the end position, the sample is driven completely to the unloading platform, completing the unloading of a single sample. The driving mechanism then reverses and drives the pushing mechanism backward. The push rod rotates along the original path and returns to the tilted state to disengage the push rod from the sample. Then, as the pushing mechanism continues to return to the original path, it moves to the original starting position of the pushing mechanism, preparing for the unloading of the next sample. Compared with the existing method in which a dual-power drive module drives the vertical lifting mechanism and the horizontal translation mechanism to collaboratively complete the unloading of samples, this method avoids complex lifting and translation structures, reduces hardware costs and control algorithm complexity, and reduces fault repair costs. At the same time, it avoids the existing four-step unloading process of "descending-translating-ascending-translating" and the time buffer required for dual-power switching, shortens the unloading cycle time of a single sample, effectively improves the working efficiency of the sample unloading process, and can meet the growing demand for efficient detection. In addition, there is no need to move the sample in the vertical direction, further improving the stability of the sample during unloading. Preferably, the angle adjustment assembly includes a connecting rod, a push-pull member and a damping member, the connecting rod is rotatably connected to the middle part of the push rod and the push-pull member respectively, the push-pull member is connected to the output end of the pushing mechanism, the damping member is slidably arranged, and the bottom of the push rod is connected to the damping member. When the pushing mechanism is actuated, the push rod can be driven to rotate through the linkage cooperation between the push-pull member, the connecting rod and the damping member. By adopting the above technical solution, the driving mechanism drives the pushing mechanism to move, and the output end of the pushing mechanism drives the push-pull member to move. Since the connecting rod is respectively connected to the middle part of the push rod and the push-pull member, and the bottom of the push rod is connected to a slidable damping member, when the push-pull member moves, the push rod can be driven to rotate through the linkage between the push-pull member, the connecting rod and the damping member. This design allows the push rod to rotate and extend into or out of the unloading platform. When the push rod extends into the unloading platform, it can engage with the bottom of the sample to capture the sample. This avoids the problems of complex structure, high cost and low work efficiency caused by the coordinated operation of the traditional dual-power drive module driving the vertical lifting mechanism and the horizontal translation mechanism. It simplifies the sample unloading action steps, shortens the single sample unloading cycle time, and improves the work efficiency of the sample unloading process. At the same time, it also solves the problem that the lifting range of the existing sample unloading vertical lifting mechanism is limited and cannot achieve a large range of avoidance. Preferably, the pushing mechanism includes a pushing member and a sliding member, the pushing member is connected to the sliding member, the driving mechanism drives the pushing member to reciprocate, and the pushing member is fixedly connected to the pushing member.By adopting the above technical solution, the driving mechanism can drive the push member to move back and forth. Since the push member is connected to the sliding member, the sliding member can guide and support the movement of the push member, making the movement of the push member more stable. Because the push member is fixedly connected to the push-pull member, the push member will drive the push-pull member to move synchronously during the reciprocating movement. The movement of the push-pull member is further coordinated by the angle adjustment component to drive the push rod to rotate, so that the push rod can be extended into or retracted from the unloading platform to grab the sample, thereby realizing the function of continuously grabbing the sample, effectively improving the working efficiency of sample unloading, and the structure is simpler than the existing technology, reducing the hardware cost and the complexity of the control algorithm, and reducing the fault maintenance cost. Preferably, the sliding member includes a slide rail and a slider, the slide rail is arranged on the driving mechanism, the slider is slidably arranged on the slide rail, and the push member is connected to the slider. By adopting the above technical solution, the slide rail is arranged on the driving mechanism, the slider is slidably arranged on the slide rail, and the push member is connected to the slider, so that when the driving mechanism drives the push member to move, the slider will slide on the slide rail. The slide rail provides a stable sliding path for the slider, ensuring the linearity and stability of the slider's movement, thereby enabling the pusher connected to the slider to move back and forth smoothly. The smooth movement of the pusher facilitates its action on the grabbing mechanism, enabling the grabbing mechanism to more accurately, stably, and continuously grab samples. This avoids situations where the grabbing mechanism fails to grab samples or grabs inaccurate positions due to unstable movement of the pusher, thereby improving the efficiency and reliability of the sample unloading device in grabbing samples. Preferably, the damping member is slidably disposed on the slide rail. By adopting the above technical solution, the damping member is slidably disposed on the slide rail, so that when the driving mechanism drives the pusher mechanism to move back and forth, the pusher mechanism drives the angle adjustment assembly to move. Since the damping member can slide on the slide rail, it can better coordinate with the linkage of the various components in the angle adjustment assembly. When the pusher mechanism drives the push rod to rotate through the push-pull member and the connecting rod, the sliding of the damping member provides stable support and guidance for the rotation of the push rod, ensuring that the push rod can accurately rotate, extend, and retract to engage with the bottom of the sample on the unloading platform, achieving the function of continuously grabbing samples. At the same time, this arrangement can make the material grabbing mechanism more stable during operation, reduce shaking and offset, improve the accuracy and reliability of material grabbing, and thus improve the working efficiency and stability of the sample unloading device. Preferably, the material grabbing mechanism also includes a locking assembly, the locking assembly includes an abutment, the abutment is located between the pushing member and the connecting rod, the abutment is rotatably connected to the bottom of the push rod, the bottom of the abutment is connected to the damping member, the bottom of the connecting rod can be rotated to abut the abutment, and when the bottom of the connecting rod rotates to abut the abutment, the push rod rotates to a vertical state. By adopting the above technical solution, when the sample unloading device is working, the driving mechanism drives the pushing mechanism to operate, the output end of the pushing mechanism drives the push-pull member to move, and the push-pull member drives the push rod to rotate through the connecting rod.Because the abutment is located between the push member and the connecting rod, the abutment is rotatably connected to the bottom of the push rod, and the bottom is connected to the damping member. When the bottom of the connecting rod rotates and abuts the abutment, it will produce a limit effect on the push rod. This limit allows the push rod to be accurately locked in a vertical position during the rotation process. When the push rod is in the vertical position, the push rod can better engage with the bottom of the sample, ensuring the stability and reliability of the sample grabbing mechanism, thereby enabling the entire sample unloading device to more efficiently and stably complete the continuous grabbing and unloading of samples. Preferably, there are two grabbing mechanisms and they are symmetrically arranged. A connecting assembly is provided between the two grabbing mechanisms. The connecting assembly includes a first connecting member and a second connecting member arranged in parallel. The two ends of the first connecting member are respectively connected to the top of the two connecting rods, and the two ends of the second connecting member are respectively connected to the bottom of the two connecting rods. By adopting the above technical solution, the grabbing mechanisms are provided in two and symmetrically distributed. During the sample unloading process, more samples can be grabbed simultaneously, or larger sample structures can be grabbed, greatly improving the efficiency and stability of sample grabbing. A connecting assembly is provided, and the two ends of the first connecting member included in the connecting assembly are connected to the top of the two connecting rods, and the two ends of the second connecting member are connected to the bottom of the two connecting rods, so that a stable linkage relationship is formed between the two grabbing mechanisms. When the driving mechanism drives the pushing mechanism to move, the two grabbing mechanisms can move synchronously through the connecting action of the connecting assembly, ensuring the coordination and consistency of the two grabbing mechanisms when grabbing samples. This synchronous action avoids the situation where the two grabbing mechanisms move asynchronously and cause sample grabbing errors or unstable grabbing, further improving the success rate and stability of sample grabbing, thereby improving the working efficiency and reliability of the entire sample unloading device. Preferably, the abutment member is provided with an abutment groove, and the second connecting member can be rotated to abut in the abutment groove. By adopting the above technical solution, the abutment member is provided with an abutment groove, and when the second connecting member rotates, it can abut in the abutment groove. This structural design makes the cooperation between the second connecting member and the abutment member more stable and reliable during the movement of the grabbing mechanism. The abutment groove provides accurate positioning and abutment position for the second connecting member, ensuring that the connecting rod can move according to a predetermined trajectory and angle during the rotation process, thereby ensuring that the push rod can accurately rotate to a vertical state, achieving stable engagement with the bottom of the sample, improving the accuracy and stability of the grabbing mechanism in grabbing samples, and facilitating the sample unloading device to continuously and efficiently grab samples, thereby improving the work efficiency and reliability of the entire sample unloading process. Preferably, the driving mechanism includes a base and a driving member and a transmission member disposed on the base, the slide rail is disposed on the base, the output end of the driving member is connected to the transmission member, and the transmission member is connected to the pushing member to drive the pushing member to move.By adopting this technical solution, the pusher is fixedly connected to the push-pull member of the gripping mechanism. The movement of the pusher, through the coordinated interaction between the push-pull member, the connecting rod, and the damping member, drives the push rod to rotate, allowing it to extend into or out of the through-hole of the discharge platform to engage the bottom of the sample and complete the sample capture. Furthermore, the drive, transmission, and pusher components are rationally arranged on the base, resulting in a compact and rationally laid out device, reducing hardware costs and the complexity of the control algorithm.

[0005] On the second aspect, the present application also provides a fully automatic fluorescence instrument, including the sample unloading device, the unloading platform, the conveying device, the detection and identification device, the clamping and mixing device and the control system, the unloading platform is horizontally arranged on the conveying device, the unloading platform is located above the sample unloading device, and the starting position of the unloading platform is provided with a through hole, and the push rod can be rotated to extend into or retracted from the through hole. By adopting the above technical solution, the driving mechanism in the sample unloading device can drive the pushing mechanism to move back and forth, the pushing mechanism acts on the grabbing mechanism, and the push rod of the grabbing mechanism can be connected to the pushing mechanism through the angle adjustment component and rotated to extend into or retract from the through hole of the unloading platform. When the push rod is extended into the through hole, it can be engaged with the bottom of the sample, thereby realizing continuous grabbing of samples. The device is not limited by the lifting range of the vertical lifting mechanism, and can also achieve a large range of avoidance for samples with larger volume such as the test tube rack in the biochemical analyzer. In addition, by setting up a sample unloading device at the discharge end of the clamping and mixing device, combined with the conveying device, detection and identification device, clamping and mixing device and control system, the whole process of sample delivery, detection and identification, mixing to unloading can be automated, further improving the efficiency and accuracy of the entire detection process. In summary, this application includes at least one of the following beneficial technical effects: 1. This application uses a drive mechanism to drive the pushing mechanism and the material grabbing mechanism. Compared with the existing technology of dual independent motors driving the lifting and translation mechanisms or using a manipulator, this reduces the number of power components and complex mechanical structures, thereby simplifying the sample unloading structure, thereby reducing hardware costs and control algorithm complexity. At the same time, due to the simplified structure, the number of failure points is reduced, which also reduces the cost of fault repair. 2. The push rod of the gripping mechanism can be rotated to extend or retract, eliminating the need for the four-step operation of "lowering - translating - raising - translating" required in the existing technology when unloading samples. This avoids dual power switching and eliminates the time buffer required for dual power switching, thereby shortening the single sample unloading cycle time and improving the work efficiency of the sample unloading process; 3. The grabbing mechanism realizes the rotation of the push rod through the angle adjustment assembly. The linkage between the connecting rod, push-pull member and damping member in the angle adjustment assembly can drive the push rod to rotate, so that the push rod can flexibly change its position, thereby avoiding the detection platform. For larger test tube racks, a large range of avoidance can also be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a structural diagram of a sample unloading device in Example 1; Figure 2 This is an exploded view of a sample unloading device in Example 1; Figure 3 This is a bottom structural diagram of a pushing mechanism and a material grabbing mechanism of a sample unloading device in Example 1; Figure 4 is a side view of a sample unloading device in Example 1; Figure 5 This is a schematic diagram of the installation of a sample unloading device of a fully automatic fluorescence instrument in Example 2.

[0007] Explanation of the accompanying drawings: 1. driving mechanism; 2. pushing mechanism; 3. material grabbing mechanism; 11. base; 12. driving member; 13. conveying member; 14. mounting frame; 15. belt pressure plate; 131. belt; 132. pulley; 21. pushing member; 22. sliding member; 23. photoelectric sensing structure; 221. slide rail; 222. slider; 31. push rod; 32. angle adjustment assembly; 33. locking assembly; 34. connecting assembly; 321. connecting rod; 322. push-pull member; 323. damping member; 331. abutting member; 332. pin; 331a, abutting groove; 341. first connecting member; 342. second connecting member; 4. unloading platform; 5. sample; 6. conveying device; 41. through hole. DETAILED DESCRIPTION

[0008] The following is combined with Figure 1-5 This application is described in further detail.

[0009] Example 1 The present application provides a sample unloading device, referring to Figure 1 and Figure 2 , including a driving mechanism 1, a pushing mechanism 2 and a grabbing mechanism 3, wherein the driving mechanism 1 is used to drive the pushing mechanism 2 to move back and forth in a straight line between the starting position and the final position of the unloading platform 4, the pushing mechanism 2 acts on the grabbing mechanism 3, and the grabbing mechanism 3 is used to continuously grab the sample 5 at the starting position of the unloading platform 4, and the pushing mechanism 2 is used to push the grabbing mechanism 3, thereby driving the sample 5 to move from the starting position of the unloading platform 4 to the final position. After the grabbing mechanism 3 releases the grip of the sample 5, it returns along the original path to the starting position and performs the unloading action of the next sample 5. The device achieves the effect of continuously grabbing the sample 5 under the action of one driving mechanism 1. This is because the driving mechanism 1 provides power for the entire device, pushes the pushing mechanism 2 to move, and then drives the grabbing mechanism 3 to complete the grabbing action, thereby realizing the effective transmission and utilization of power.

[0010] Specifically, the driving mechanism 1 of this embodiment includes a base 11 and a driving member 12 and a transmission member 13 arranged on the base 11. The output end of the driving member 12 is connected to the transmission member 13, and the transmission member 13 is connected to the pushing member 21 to drive the pushing member 21 to move.

[0011] Among them, the base 11 is made of welded metal plates, which plays the role of supporting the entire driving mechanism 1 and has the shape of a rectangular frame structure. The driving member 12 adopts a motor, such as a stepping motor, which can accurately control the rotation angle and speed. The transmission member 13 is a belt transmission device, which is composed of a belt 131 and a pulley 132. Specifically, the pulley 132 includes a driving wheel and a driven wheel, and the two are arranged horizontally. The motor drives the driving wheel to rotate, and the belt 131 is mounted on the driving wheel and the driven wheel to realize the circular rotation of the belt 131, which can realize the smooth transmission of power. When the driving member 12 is working, the power is transmitted to the pushing member 21 through the transmission member 13, so that the pushing member 21 can move back and forth. For example, after the stepping motor is started, it drives the pulley 132 to rotate, and the belt 131 rotates accordingly, thereby driving the pushing member 21 connected to the belt 131 to move back and forth.

[0012] Specifically, the pushing mechanism 2 of this embodiment includes a pushing member 21 and a sliding member 22 .

[0013] The push member 21 of this embodiment is a push plate in the shape of a rectangular plate. Its function is to transmit the power of the drive mechanism 1. The push member 21 is connected to the sliding member 22, which includes a slide rail 221 and a non-damped slider 222. The slide rail 221 is made of steel with a finely processed surface for good flatness and wear resistance. It is in the shape of an elongated strip. The slider 222 is slidably mounted on the slide rail 221 and is made of metal. Specifically, a concave-convex structure is provided between the slide rail 221 and the slider 222 to form a sliding fit. The bottom of the push plate is connected to the slider 222, and the drive mechanism 1 drives the push member 21 to move back and forth. The push member 21 is fixedly connected to the material grabbing mechanism 3. When the drive mechanism 1 provides power, the push member 21 moves back and forth along the slide rail 221 driven by the slider 222. Since the push member 21 is fixedly connected to the material grabbing mechanism 3, it drives the material grabbing mechanism 3 to move, thereby achieving the driving of the material grabbing mechanism 3. In particular, the bottom of the push plate is connected to the belt 131 through a mounting frame 14 and a belt pressure plate 15 for realizing transmission. Specifically, the bottom of the mounting frame 14 abuts against the belt 131, and the belt pressure plate 15 abuts against the lower surface of the belt 131. The bottom of the mounting frame 14 and the belt pressure plate 15 are connected by bolts, and the top of the mounting frame 14 is connected to the push plate by bolts. The mounting frame 14 of this embodiment is a "U"-shaped structure, and can also be other shapes in other embodiments, as long as it can meet the requirements of stable connection between the push plate and the belt 131.

[0014] Specifically, the material grabbing mechanism 3 of this embodiment includes a push rod 31 , an angle adjustment component 32 and a locking component 33 .

[0015] The push rod 31 is connected to the pushing mechanism 2 through the angle adjustment component 32 and can be rotated to extend or retract. The push rod 31 is made of metal with certain strength and corrosion resistance. It is rod-shaped and the top is designed to be easily engaged with the bottom of the sample 5.

[0016] The angle adjustment assembly 32 includes a connecting rod 321, a push-pull member 322, and a damping member 323. The connecting rod 321 is a straight metal rod with rotational holes at both ends to facilitate rotational connection with other components. The connecting rod 321 is rotatably connected to the middle portion of the push rod 31 and the push-pull member 322, respectively. The specific connection method may be a bearing connection, which ensures the flexibility of the connecting rod 321 during rotation. The push-pull member 322 is a long, metal push-pull rod arranged along the pushing direction, with one end connected to the push plate.

[0017] The damping member 323 is slidably mounted on the slide rail 221. The damping member 323 is a magnetic damper that provides a more precise damping force to ensure rotational stability. The slider 222 with damping and the slider 222 without damping are sequentially arranged along the unloading and conveying direction.

[0018] Reference Figure 1 and Figure 3 , wherein the locking assembly 33 includes an abutment 331 and a pin 332. The abutment 331 is made of metal, has a plate-like shape, and a smooth surface. It is located between the push member 21 and the connecting rod 321. The abutment 331 is rotatably connected to the bottom of the push rod 31. The specific connection method is connected through the pin 332 to ensure the flexibility of rotation. The bottom of the abutment 331 is fixedly connected to the damping slider 222, and the bottom of the connecting rod 321 is movable to abut against the abutment 331. Due to the existence of the damping slider 222, when the bottom of the connecting rod 321 moves to abut against the abutment 331, the push rod 31 rotates to a vertical state. This design can ensure that the push rod 31 is in a stable vertical state when grabbing the sample 5, thereby improving the reliability of grabbing. For example, when the push rod 31 rotates to a certain angle, the bottom of the connecting rod 321 abuts against the abutment 331. At this time, the abutment 331 stabilizes the push rod 31 in a vertical state through the connection with the damping member 323 and the rotational connection between itself and the bottom of the push rod 31. The rotational connection between the top of the connecting rod 321 and the push rod 31 will move with the push-pull member 322, allowing the push rod 31 to rotate around the point where it is rotationally connected to the connecting rod 321, thereby causing the push rod 31 to rotate from an inclined state to a vertical state, so that the push rod 31 is more firmly engaged with the bottom of the sample 5.

[0019] Specifically, when the pushing mechanism 2 is activated, the push rod 31 is driven to rotate through the linkage between the push-pull member 322, the connecting rod 321, and the damping member 323. When the push-pull member 322 moves under the drive of the pushing mechanism 2, the connecting rod 321 rotates with the movement of the push-pull member 322. Because the connecting rod 321 is connected to the middle of the push rod 31 and the bottom of the push rod 31 is connected to the damping member 323, the sliding of the damping member 323 limits the movement of the bottom of the push rod 31, thereby allowing the push rod 31 to rotate about the connection point with the connecting rod 321, achieving the extension or retraction action. For example, when the driving mechanism 1 drives the pushing mechanism 2 to move forward, the push-pull member 322 is pushed forward, and the connecting rod 321 rotates accordingly. Under the action of the damping member 323, the bottom of the push rod 31 moves along a certain trajectory, so that the push rod 31 gradually rotates and extends into the unloading platform 4. When the hook-shaped structure at the bottom of the push rod 31 is engaged with the bottom of the sample 5, the driving mechanism 1 reverses and drives the pushing mechanism 2 to move backward, thereby grabbing and unloading the sample 5.

[0020] Specifically, in this embodiment, there are two material grabbing mechanisms 3 , which are symmetrically arranged on both sides of the pushing member 21 , and a connecting component 34 is provided between the two material grabbing mechanisms 3 .

[0021] The connecting assembly 34 includes a first connecting member 341 and a second connecting member 342 arranged in parallel. Both the first connecting member 341 and the second connecting member 342 are metal rods in the shape of straight rods. The two ends of the first connecting member 341 are respectively connected to the top of the two connecting rods 321, and the two ends of the second connecting member 342 are respectively connected to the bottom of the two connecting rods 321. A receiving cavity for accommodating the abutting member 331 is formed between the second connecting member 342 and the push plate. The abutting member 331 is provided with an abutting groove 331a. The second connecting member 342 can rotatably abut within the abutting groove 331a. When the second connecting member 342 abuts within the abutting groove 331a, it can further enhance the connection stability between the two grasping mechanisms 3. For example, when the driving mechanism 1 drives the pushing mechanism 2 to move, the push rods 31 of the two grabbing mechanisms 3 will rotate at the same time. The first connecting member 341 and the second connecting member 342 ensure that the connecting rods 321 of the two grabbing mechanisms 3 move in a coordinated manner. When the second connecting member 342 abuts against the abutting groove 331a, the relative displacement between the two grabbing mechanisms 3 is further limited, so that the two grabbing mechanisms 3 can grab the samples 5 more stably and at the same time.

[0022] Reference Figure 2 and Figure 4 In particular, the pushing mechanism 2 of this embodiment is also provided with a photoelectric sensing structure 23, specifically, a photoelectric panel is provided on one side of the push plate to move synchronously with the push plate, and a photoelectric sensor is provided on the base. When in the initial position, the photoelectric panel cooperates with the photoelectric sensor to monitor whether the push plate is reset to the starting position of the unloading platform.

[0023] The implementation principle of this embodiment is: with a driving mechanism 1 as the core, the sample 5 is unloaded through orderly linkage between various components. The specific process is as follows: Power start-up and transmission: The motor in the driving mechanism 1 starts, driving the driving wheel of the belt transmission device to rotate, and the belt 131 mounted on the driving wheel and the driven wheel rotates accordingly, smoothly transmitting power to the pushing member 21 connected to the belt 131.

[0024] Movement of Pushing Mechanism 2: Driven by power, pushing member 21 moves back and forth linearly along slide rail 221, guided by slide rail 221 and slider 222. The damping slider 222 limits the movement of pushing rod 31, locking it when it rotates to a vertical position and ensuring its timely retraction. The bottom of the pushing plate is stably connected to the belt 131 via the mounting bracket 14 and belt pressure plate 15, ensuring reliable power transmission.

[0025] The grabbing mechanism 3 is in joint preparation: the movement of the push plate drives the push-pull member 322 fixedly connected to it to move. The push-pull member 322 is rotatably connected to one end of the connecting rod 321, and the other end of the connecting rod 321 is rotatably connected to the middle part of the push rod 31. At the same time, the bottom of the push rod 31 is connected to the damping slider 222 slidably set on the slide rail 221. The push rod 31 rotates to grab the sample 5: when the push-pull member 322 moves forward with the push plate, the connecting rod 321 rotates accordingly. Because the bottom of the push rod 31 is restricted by the sliding of the damping member 323, the push rod 31 rotates around the connection point with the connecting rod 321 and gradually extends into the unloading platform 4. The top design of the push rod 31 facilitates engagement with the bottom of the sample 5. When rotated to the appropriate angle, the push rod 31 engages with the bottom of the sample 5, completing the grabbing of the sample 5. At this time, the locking assembly 33 works, and the bottom of the connecting rod 321 moves and abuts against the abutment 331. Since the abutment 331 is located between the pushing member 21 and the connecting rod 321, it is rotationally connected to the bottom of the push rod 31, and the bottom is fixedly connected to the damping slider 222. Under the action of the damping slider 222, the push rod 31 is locked in a vertical state to ensure the reliability of the gripping.

[0026] Sample 5 unloaded and push rod 31 repositioned: Driving mechanism 1 reverses, driving pushing mechanism 2 backward. Push-pull member 322 then moves backward, causing connecting rod 321 to rotate in the opposite direction. Driven by connecting rod 321 and damping member 323, push rod 31 gradually retracts from unloading platform 4, unloading sample 5. Grasping mechanism 3 then releases grip on sample 5 and returns to its starting position, preparing to unload the next sample 5.

[0027] The dual gripping mechanisms 3 work in tandem: This device features two symmetrical gripping mechanisms 3, each connected to the top and bottom of the two connecting rods 321 via a parallel first connector 341 and a second connector 342, enabling synchronized movement. The abutment member 331 is provided with an abutment groove 331a, into which the second connector 342 rotatably abuts, enhancing the connection stability between the two gripping mechanisms 3, ensuring simultaneous and stable capture of the sample 5 and improving unloading efficiency.

[0028] Example 2 The embodiment of the present application provides a fully automatic fluorescence instrument, referring to Figure 5 , including the above-mentioned sample unloading device, and further including a conveying device 6, a detection and identification device, a clamping and mixing device and a control system. Sample 5 is a test tube rack containing several test tubes.

[0029] The sample unloading device of this embodiment is arranged at the discharge end of the clamping and mixing device, and the conveying device 6 is provided with a unloading platform 4. The unloading platform 4 is horizontally installed on the conveying device 6 and is located above the sample unloading device. A through hole 41 is provided at the starting position of the unloading platform 4. There are two through holes 41, which are symmetrically arranged and are in the shape of long strips. The push rod 31 can be rotated to extend into or retract from the through hole 41. After the sample 5 is detected by the detection and identification device and mixed by the clamping and mixing device, it reaches the feed end of the unloading platform 4. At this time, the driving mechanism 1 drives the pushing mechanism 2, and the pushing mechanism 2 acts on the gripping mechanism 3, causing the push rod 31 to rotate and extend into the unloading platform 4, engaging with the bottom of the sample 5. Then the driving mechanism 1 drives the pushing mechanism 2 to move, thereby unloading the sample 5 from the unloading platform 4. The conveying direction of the conveying device 6 is perpendicular to the feeding direction of the unloading device.

[0030] Specifically, the conveying device 6 of this embodiment is provided with a push rod, which conveys the test tube rack being conveyed on the conveying device 6 to the feed end of the unloading platform 4, and then pushes out the sample 5 so that the bottom of the test tube rack can correspond to the through hole 41 on the unloading platform 4, which is convenient for the sample unloading device to unload. The conveying device 6 conveys the sample 5 in a straight line. The common conveying device 6 can be a conveyor belt made of rubber or plastic, and its surface can be provided with anti-slip texture to ensure the stability of the sample 5 during the conveying process.

[0031] The detection and identification device can be an optical detection device, such as a fluorescence detector, which identifies information about sample 5 by detecting the fluorescent signal emitted by sample 5. Alternatively, an electrochemical detection device can be used to detect samples 5 with specific chemical components, or a mass spectrometer can provide more precise information about the composition of sample 5. For example, a fluorescence detector can emit light of a specific wavelength to excite fluorescent substances in sample 5, and then detect the fluorescent signal emitted by sample 5, thereby identifying relevant information about sample 5. If specific chemical components in sample 5 need to be detected, an electrochemical detection device can be selected, which generates electrical signals through chemical reactions to detect chemical components in sample 5.

[0032] The clamping and mixing device is used to clamp and mix the sample 5. A common clamping method is a mechanical metal gripper that is driven by a motor to clamp and release. The mixing method is rotational mixing, in which the motor rotates the sample 5, allowing the sample 5 to be thoroughly mixed under the action of centrifugal force.

[0033] The control system can be a programmable logic controller (PLC), which precisely controls all components of the fluorometer. The PLC programmatically controls the motor of the drive mechanism 1, the conveyor belt motor of the conveyor device 6, the detection and identification device, the clamping and mixing device's gripper movements, and the mixing motor, ensuring coordinated operation of all components. For high-cost applications, a single-chip microcomputer control system can be selected, as it offers lower costs but simpler control functions. For more complex control functions, such as data processing and remote monitoring, an industrial computer control system can be selected.

[0034] The implementation principle of this embodiment is as follows: the fully automatic fluorescence instrument realizes the automatic transportation, detection, mixing and unloading of the sample 5 by combining the sample unloading device with the conveying device 6, the detection and identification device, the clamping and mixing device and the control system. The simplified structure and efficient working mode of the sample unloading device improve the sample 5 processing efficiency of the entire fluorescence instrument and shorten the detection cycle. At the same time, the coordinated work between the various devices ensures the accuracy and reliability of the detection of the sample 5. The precise control of the control system enables the entire fluorescence instrument to operate stably, meeting the requirements of modern medical testing for efficiency and accuracy.

[0035] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A sample unloading device, characterized in that: The invention comprises a driving mechanism (1), a pushing mechanism (2) and a grabbing mechanism (3), wherein the driving mechanism (1) drives the pushing mechanism (2) to move back and forth, the pushing mechanism (2) acts on the grabbing mechanism (3) to continuously grab samples (5), and the grabbing mechanism (3) comprises a push rod (31) and an angle adjustment component (32), the push rod (31) is connected to the pushing mechanism (2) through the angle adjustment component (32), and can be rotated to extend in or out, and when the push rod (31) extends into the unloading platform (4), the push rod (31) is engaged with the bottom of the sample (5).

2. The sample unloading device according to claim 1, characterized in that The angle adjustment assembly (32) includes a connecting rod (321), a push-pull member (322) and a damping member (323). The connecting rod (321) is rotatably connected to the middle portion of the push rod (31) and the push-pull member (322), respectively. The push-pull member (322) is connected to the output end of the pushing mechanism (2). The damping member (323) is slidably arranged. The bottom of the push rod (31) is connected to the damping member (323). When the pushing mechanism (2) is actuated, the push rod (31) can be driven to rotate through the linkage cooperation among the push-pull member (322), the connecting rod (321) and the damping member (323).

3. The sample unloading device according to claim 2, characterized in that: The pushing mechanism (2) comprises a pushing member (21) and a sliding member (22), the pushing member (21) is connected to the sliding member (22), the driving mechanism (1) drives the pushing member (21) to move back and forth, and the pushing member (21) is fixedly connected to the push-pull member (322).

4. The sample unloading device according to claim 3, characterized in that: The sliding member (22) comprises a sliding rail (221) and a sliding block (222); the sliding rail (221) is arranged on the driving mechanism (1); the sliding block (222) is slidably arranged on the sliding rail (221); and the pushing member (21) is connected to the sliding block (222).

5. The sample unloading device according to claim 4, characterized in that: The damping member (323) is slidably disposed on the slide rail (221).

6. The sample unloading device according to claim 3, characterized in that: The material grabbing mechanism (3) further includes a locking assembly (33), the locking assembly (33) including an abutting member (331), the abutting member (331) being located between the pushing member (21) and the connecting rod (321), the abutting member (331) being rotatably connected to the bottom of the pushing rod (31), the bottom of the abutting member (331) being connected to the damping member (323), the bottom of the connecting rod (321) being rotatable and abutting against the abutting member (331), and when the bottom of the connecting rod (321) is rotated and abutted against the abutting member (331), the pushing rod (31) is rotated to a vertical state.

7. The sample unloading device according to claim 6, characterized in that: There are two material grabbing mechanisms (3) and they are symmetrically arranged. A connecting assembly (34) is arranged between the two material grabbing mechanisms (3). The connecting assembly (34) includes a first connecting member (341) and a second connecting member (342) arranged in parallel. The two ends of the first connecting member (341) are respectively connected to the tops of the two connecting rods (321), and the two ends of the second connecting member (342) are respectively connected to the bottoms of the two connecting rods (321).

8. The sample unloading device according to claim 7, characterized in that: The abutting member (331) is provided with an abutting groove (331a), and the second connecting member (342) can be rotatably abutted in the abutting groove (331a).

9. The sample unloading device according to claim 4, characterized in that: The driving mechanism (1) comprises a base (11), a driving member (12) and a conveying member (13) arranged on the base (11), the slide rail (221) being arranged on the base (11), the output end of the driving member (12) being connected to the conveying member (13), and the conveying member (13) being connected to the pushing member (21) to drive the pushing member (21) to move.

10. A fully automatic fluorescence instrument, characterized in that: The sample unloading device comprises the sample unloading device according to any one of claims 1 to 9, and further comprises an unloading platform (4), a conveying device (6), a detection and identification device, a clamping and mixing device and a control system in sequence, wherein the unloading platform (4) is horizontally arranged on the conveying device (6), the unloading platform (4) is located above the sample unloading device, and a through hole (41) is provided at the starting position of the unloading platform (4), and the push rod (31) can be rotated to extend into or retract out of the through hole (41).

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