Full-automatic test tube processing system and processing method

Abstract

The invention belongs to the technical field of laboratory inspection automation, and relates to a full-automatic test tube processing system and a processing method.The test tube processing system comprises at least one lifting rotating mechanism, an information collector and a conveying module; the lifting rotating mechanism comprises a lifting driving assembly and a lifting spinning module, the lifting driving assembly drives the lifting spinning module to ascend and descend, the lifting spinning module comprises a movement main plate, pipe grabbing shafts and a rotating triggering assembly, the one or more pipe grabbing shafts are arranged on the movement main plate side by side in a rotating mode, and when the movement main plate ascends to the preset height, the rotating triggering assembly triggers the pipe grabbing shafts to rotate. The rotation triggering assembly can drive the pipe grabbing shaft to rotate; the information collector is used for collecting information when the test tube rotates; and the conveying module is used for realizing multi-station circulation of the test tube rack in the system. Through cooperative operation of the lifting and rotating mechanism, the information collector and the conveying module, the automatic pulling, rotating, code scanning and conveying processes of the test tubes are achieved, and the test tube processing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a full-automatic test tube processing system and processing method, and belongs to the technical field of laboratory test automation. BACKGROUND

[0002] In the field of laboratory test automation, with the exponential growth of detection sample quantity, the laboratory has increasingly stringent requirements for test tube sample processing efficiency, safety and process closed-loop. At present, the test tube carrying blood samples needs to obtain key information (such as patient ID, detection item, sample quality, etc.) through code scanning or photographing identification, and then is transmitted to a refrigeration module or an analysis instrument by an automatic equipment for storage / processing. However, the technical architecture and process design of the existing test tube code scanning or photographing processing equipment have defects: Firstly, the existing equipment does not have a multi-tube code scanning processing scheme, and generally adopts a single-tube sequential code scanning scheme. The typical operation is to drive a single test tube to be separated from a test tube rack by a mechanical arm or a linear module, adjust it to a specific height, and then rotate to complete the code scanning. For a single-row test tube rack, a notch is usually designed on the test tube rack. This scheme sometimes does not need to pull out the test tube, and can directly rotate and scan the code on the test tube rack. The single-tube sequential code scanning scheme can maintain basic efficiency when processing low-density samples (such as single-root or single-row test tube racks). However, when processing high-density matrix test tube boxes (such as 50-hole test tube racks), due to the spatial interference of adjacent test tubes, the system needs to calculate the unobstructed rotation path through a complex algorithm, and then control the single tube to complete the code scanning through the steps of lifting-rotating-resetting, which greatly affects the throughput and speed. Even without complex obstacle avoidance algorithms, executing code scanning for each test tube will result in very low efficiency.

[0003] Secondly, to realize the three basic actions of test tube grabbing, rotating and tube separation, the existing equipment generally adopts a three-motor independent driving architecture. The lifting motor controls the Z-axis displacement, the rotating motor drives the test tube to rotate, and the tube separation motor executes the test tube separation. The three motors need to work cooperatively through a complex linkage mechanism, which has problems such as large mechanical synchronization error, high energy consumption and cost escalation. When maintaining, each device needs to be calibrated separately.

[0004] Thirdly, the existing equipment only has a forward transmission mechanism of samples, i.e. the transmission process from collection to processing and then to storage, but lacks a reverse process, such as empty rack recycling and sample re-inspection. The specific performance is that the empty test tube rack needs to be manually transported to the cleaning area; when a positive sample needs to be retrieved for re-inspection, the system cannot directly locate the refrigerator position where the sample is located, and must be manually transferred through a transfer table, resulting in low sample traceability efficiency. SUMMARY

[0005] The present application aims to provide a full-automatic test tube processing system and processing method to improve or solve the technical problems existing in the prior art as described above.

[0006] The technical scheme provided by the application is as follows: a full-automatic test tube processing system comprises at least one set of lifting and rotating mechanism, an information collector and a conveying module. The lifting and rotating mechanism comprises a lifting driving assembly and a lifting and rotating module, the lifting driving assembly drives the lifting and rotating module to lift, the lifting and rotating module comprises a motion main plate, a pipe grabbing shaft and a rotating trigger assembly, one or more pipe grabbing shafts are arranged on the motion main plate in a rotatable manner, and the rotating trigger assembly is used for driving the pipe grabbing shaft to rotate. The information collector is used for collecting information when the test tube rotates. The conveying module is used for realizing multi-station circulation of a test tube rack in the system.

[0007] Compared with the prior art, the technical scheme provided by the application has the following beneficial effects: one or more pipe grabbing shafts are arranged on the motion main plate of the application, the pipe grabbing shaft can lift the test tube during the lifting process of the motion main plate, the rotating trigger assembly can drive the pipe grabbing shaft to rotate, the information collector can synchronously collect the test tube information, the row rotation and synchronous information collection are realized, and the information collection efficiency is improved. The full-automatic test tube processing system of the application realizes the closed-loop process of automatic lifting, rotation, code scanning, conveying and handover of the test tube through the coordinated operation of the lifting and rotating mechanism, the information collector, the conveying module and the subsequent handover module, effectively avoids cross infection, and improves the efficiency and accuracy of test tube processing.

[0008] On the basis of the above technical scheme, the application can be further improved as follows.

[0009] Further, the rotating trigger assembly comprises a first positioning seat, a lifting seat, a gear, a rack and a pushing plate; the lifting seat and the pushing plate are connected together, the lifting driving assembly can drive the lifting seat and the pushing plate to synchronously lift, the first positioning seat is fixed on the motion main plate, a first spring is arranged between the lifting seat and the first positioning seat, the rack is installed on the motion main plate in a sliding manner perpendicular to the pipe grabbing shaft, a guide wheel is arranged on the rack, an inclined groove is arranged on the pushing plate, and the guide wheel is arranged in the inclined groove; a gear is arranged on the pipe grabbing shaft, the gear is engaged with the rack, and when the rack slides along the X-axis direction, the gear engaged with the rack can be driven to rotate.

[0010] The beneficial effect of the above further scheme is that when the slider drives the lifting seat to rise, the lifting self-rotating module can be lifted as a whole without compressing the first spring. When the motion mainboard moves up to contact the limiting block and stops, the lifting seat continues to move up with the slider and starts to compress the first spring, and the pushing plate also moves up synchronously. At this time, the inclined groove of the pushing plate forces the guide wheel to push the rack to move horizontally along the X-axis direction, thereby driving the gear to rotate and synchronously rotating the grabbing shaft. The total compression elastic force of the first spring is greater than or equal to the sum of the gravity of the lifting self-rotating module and the weight of the grabbed test tube.

[0011] During the rising process, the lifting seat first lifts the lifting self-rotating module as a whole through the first spring. When encountering the limiting block, the lifting seat can still continue to rise and further compress the first spring, and the guide block also continues to move up. The guide block cooperates with the guide wheel to drive the grabbing shaft to rotate. The present application does not need additional driving devices, and the rotation triggering assembly is designed by pure mechanical transmission, realizing the synchronous lifting and rotation of the grabbing shaft under the driving of a single motor.

[0012] The present application only needs one motor to complete the functions of two motors in the traditional scheme, reduces the cost and energy consumption, avoids the timing error caused by the cooperative control of multiple motors, and significantly improves the reliability of the system.

[0013] Further, the first spring is sleeved on the grabbing shaft, and two ends of the first spring are connected with the lifting seat and the first positioning seat respectively.

[0014] The beneficial effect of the above further scheme is that the first spring is sleeved on the grabbing shaft, which not only ensures the stability and directivity of the first spring, but also helps the uniform compression of the first spring during the rising process of the lifting seat, thereby ensuring the stability and accuracy of the rotating action of the grabbing shaft.

[0015] Further, the first positioning seat and the lifting seat are respectively provided with first and second shaft holes corresponding in up and down directions for mounting the grabbing shaft, and the motion mainboard is further provided with a second positioning seat, the second positioning seat is provided with at least one third shaft hole, and a bearing is arranged in the third shaft hole to support the grabbing shaft.

[0016] The beneficial effect of the above further scheme is that the first positioning seat, the lifting seat and the second positioning seat are arranged in sequence along the axial direction of the grabbing shaft from top to bottom, the first and second shaft holes enable the grabbing shaft to be stably mounted on the lifting seat, and the stability and accuracy of the grabbing shaft during the rotating and lifting process are ensured. Through the second positioning seat and the third shaft hole, the stability and support force of the grabbing shaft during the rotating process are further enhanced, the friction and wear caused by rotation are reduced, and the service life of the grabbing shaft is prolonged. At the same time, the use of the bearing also makes the rotation of the grabbing shaft more smooth.

[0017] Further, a tube releasing assembly is further included, the tube releasing assembly comprises a tube releasing plate and a tube releasing driving assembly, the fourth shaft hole is arranged on the tube releasing plate for the tube holding shaft to pass through, and the tube releasing driving assembly is capable of driving the tube releasing plate to move along the axial direction of the tube holding shaft to push the test tube away from the tube holding shaft.

[0018] The beneficial effect of the above further scheme is that the tube releasing plate is located below the second positioning seat, the fourth shaft hole on the tube releasing plate ensures that the tube holding shaft can pass through smoothly, and the tube releasing driving assembly can drive the tube releasing plate to move along the axial direction of the tube holding shaft, the tube releasing plate presses the top of the test tube cap, overcomes the friction between the tube holding shaft and the cap, and enables the test tube to be separated from the tube holding shaft smoothly after being processed.

[0019] Further, the tube releasing driving assembly comprises a U-shaped frame and a telescopic cylinder, the two sides of the tube releasing plate are respectively provided with a first tube releasing connecting plate and a second tube releasing connecting plate, the first tube releasing connecting plate and the second tube releasing connecting plate are slidingly installed on the two sides of the motion main plate, the two sides of the U-shaped frame are hinged to the motion main plate, the two sides of the U-shaped frame are connected to the first tube releasing connecting plate and the second tube releasing connecting plate through a tension spring, and the output shaft of the telescopic cylinder is capable of driving the U-shaped frame to rotate around the hinge point when the output shaft of the telescopic cylinder is extended, and pushing the tube releasing plate to move along the axial direction of the tube holding shaft.

[0020] The beneficial effect of the above further scheme is that the telescopic cylinder is driven to rotate around the hinge point through the telescopic action, and then the first tube releasing connecting plate and the second tube releasing connecting plate are pushed to move, so that the tube releasing plate moves along the axial direction of the tube holding shaft, the tube releasing plate and the tube holding shaft form relative displacement, and the test tube is effectively pushed away from the tube holding shaft.

[0021] Further, the lifting and rotating mechanism further comprises a mounting frame, the mounting frame is fixed on the rack, the lifting driving assembly comprises a first motor, a lead screw and a nut seat, the lead screw is installed on the mounting frame through a bearing, the first motor is connected to the lead screw through a shaft coupling, and the sliding block is connected to the nut seat.

[0022] The beneficial effect of the above further scheme is that the lifting function is realized through the cooperation of the lead screw and the nut seat, and the rotation function of the tube holding shaft is also realized, and the synchronous lifting and rotation compound action of the tube holding shaft can be completed by only one first motor. Meanwhile, the mounting frame ensures that the lifting and rotating mechanism is stably installed on the rack.

[0023] Further, the end of the tube holding shaft is provided with a plug, the plug is used for being inserted into the groove of the test tube cap and pulling the test tube out of the test tube rack.

[0024] The beneficial effect of the above further solution is that the plug enables the gripping shaft to be accurately inserted into the groove of the test tube cover plug, thereby stably pulling the test tube out of the test tube rack. The material and shape of the plug are optimized to ensure that it can firmly grip the test tube without causing damage to the test tube. In addition, the friction between the surface of the plug and the groove of the test tube cover plug can ensure the stability of pulling out the test tube.

[0025] Further, the conveying module comprises a horizontal shifting claw, a shifting channel, a test tube gripping station and a docking channel; the horizontal shifting claw is arranged on one side of the shifting channel and is used to shift the test tube rack along the shifting channel; the test tube gripping station is provided with a test tube gripping support plate and a second movement driving mechanism, and the second movement driving mechanism can drive the test tube gripping support plate to move; and the docking channel is used to dock with an external device to transfer the test tube rack.

[0026] The beneficial effect of the above further solution is that the lifting and rotating mechanism is fixed in operation, while the horizontal shifting claw and the test tube gripping support plate of the bottom conveying module drive the test tube rack to move along the X and Y axes, thereby realizing the automatic circulation of the test tube rack in the full-automatic test tube processing system. Specifically, the horizontal shifting claw can shift the test tube rack horizontally along the shifting channel to move the test tube rack from one station to another station. The test tube gripping support plate on the test tube gripping station is used to carry the test tube rack, and the second movement driving mechanism can drive the test tube gripping support plate to move linearly, so that the test tube rack moves close to or away from the lifting and rotating mechanism, thereby realizing the gripping and processing of the test tube. The docking channel is used to dock with an external device or system to realize the transfer and exchange of the test tube rack, thereby further improving the automation and flexibility of the test tube processing.

[0027] Further, the shifting channel is provided with a shifting support plate, the shifting support plate is installed on the workbench by a second spring, and the test tube gripping support plate can push the shifting support plate to move, and when the test tube gripping support plate moves away from the shifting support plate, the second spring can push the shifting support plate to reset.

[0028] The beneficial effect of the above further solution is that the shifting support plate is installed on the shifting channel by a second spring, which not only ensures the stability of the shifting support plate during the pushing process, but also helps the shifting support plate to automatically reset after the test tube gripping support plate moves away.

[0029] Further, the conveying module further comprises a feeding station, the feeding station is provided with a feeding support plate and a first movement driving mechanism, and the first movement driving mechanism can drive the feeding support plate to move towards or away from the shifting channel.

[0030] The beneficial effect of the further scheme is that when detecting, the test tube rack loaded with test tubes is first placed on the feeding support plate of the feeding station, the test tube rack can be stably placed on the feeding support plate, and the test tube rack is smoothly transferred to the transfer channel through the driving of the first moving driving mechanism. The feeding station and the transfer channel work together to realize the automatic circulation of the test tube rack in the system, and further improve the efficiency of test tube processing.

[0031] Further, the handover module is further included, and the handover module includes a transfer chute and a push rack mechanism, the push rack mechanism is arranged on one side of the transfer chute, and the push rack mechanism is used for pushing the empty test tube rack to the transfer chute.

[0032] The beneficial effect of the further scheme is that the handover module enables the full-automatic test tube processing system to be connected with other external devices such as refrigerators, and realizes the automatic transfer of the test tube rack. The empty test tube rack is pushed to the transfer chute by the push rack mechanism, without manual carrying, saving manpower and time. At the same time, when the positive sample needs to be retrieved for re-inspection, the system can directly locate the position of the external device where the sample is located, and quickly transfer back to the system through the handover module, improving the efficiency of sample tracing.

[0033] A test tube processing method using the full-automatic test tube processing system, comprising the following steps: S1, transferring the test tube rack carrying one or more columns of test tubes to the test tube grabbing station; S2, controlling the test tube grabbing shaft to descend and grab any column of test tubes in the cap recess; S3, rotating the trigger assembly to drive the test tube grabbing shaft to rotate, synchronously driving the test tube to rotate, and collecting information through the information collector during the rotation; S4, lowering the test tube grabbing shaft to insert the test tube back into the test tube rack; S5, moving the test tube rack by one column spacing; S6, cyclically executing steps S2-S5 until all columns of test tubes in the current test tube rack are processed; S7, moving the processed test tube rack out of the system.

[0034] The technical scheme provided by the present application has the following beneficial effects compared with the prior art: the steps S1-S8 of the present application construct a fully-closed processing path from feeding-grabbing-scanning code-unloading: in step S1, the feeding module realizes positioning of the test tube rack in the tube grabbing station through linkage between the transverse shifting claw, the transfer support plate and the tube grabbing support plate; in steps S2-S3, the vertical lifting movement of the sliding block is converted into horizontal movement of the rack through the cooperative action of the push plate chute and the guide wheel, and then the three-stage action of insertion-pulling up-rotation is synchronously completed by the tube grabbing shaft; in step S4, when the sliding block moves downward, the tube grabbing shaft is first reversed and reset through the cooperation of the push plate chute and the guide wheel, so that the forward and reverse rotation of the tube grabbing shaft is realized, and the test tube is pushed away from the tube grabbing shaft by the downward movement of the unloading plate, and at the same time, the homing preparation of the tube grabbing shaft is automatically completed by the upward reset action of the motion main plate. The present application realizes the combined movement of rotation and lifting of the tube grabbing shaft by a single motor, realizes two-way flow of the test tube rack, realizes full-process closed-loop design and intelligent software cooperation, and solves the problems of low efficiency, high pollution risk and poor adaptability of the existing test tube processing method.

[0035] On the basis of the above technical scheme, the present application can also be improved as follows.

[0036] Further, step S2 further comprises: After the tube grabbing shaft grabs the test tube, the tube grabbing shaft is lifted to pull up the test tube to a preset height.

[0037] Further, step S5 further comprises: S5a, driving the unloading plate to move along the axial direction of the tube grabbing shaft to push the test tube away from the tube grabbing shaft; S5b, controlling the tube grabbing shaft to rise and reset.

[0038] The beneficial effects of the above further scheme are that in step S5a, the unloading driving assembly drives the unloading plate to move along the Z-axis direction through the extension and retraction action of the telescopic cylinder, the fourth shaft hole on the unloading plate ensures that the tube grabbing shaft can smoothly pass through, and the unloading plate stably pushes the test tube, so that the test tube can smoothly fall off from the tube grabbing shaft after being processed. This action realizes the stable separation of the test tube, and avoids damage or falling of the test tube during the separation process. In step S5b, the lifting driving assembly controls the tube grabbing shaft to rise and reset, and prepares for the next test tube processing. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any inventive labor on the basis of the provided drawings.

[0040] Figure 1 A perspective view of the test tube handling system of the present application is shown; Figure 2 A perspective view of the lifting and rotating mechanism of the present application is shown; Figure 3 A perspective view of the lifting and rotating mechanism of the present application is shown from the back; Figure 4 A perspective view of the mounting frame of the lifting and rotating mechanism of the present application is shown; Figure 5 A perspective view of the lifting and rotating mechanism of the present application is shown after removing the mounting frame; Figure 6 A perspective view of the test tube handling system of the present application is shown from the back; Figure 5 A perspective view of the test tube handling system of the present application is shown from the back; Figure 7 A perspective view of the test tube handling system of the present application is shown from the back; Figure 5 A perspective view of the test tube handling system of the present application is shown from the back; Figure 8 A front view of the lifting and rotating mechanism of the present application is shown when the test tube is grabbed; Figure 9 A front view of the test tube handling system of the present application is shown when the main board is moved to the upper limit position; Figure 10 A front view of the test tube handling system of the present application is shown when the lifting seat compresses the first spring and continues to move upward; Figure 11 A rear view of the test tube handling system of the present application is shown; Figure 8 A rear view of the test tube handling system of the present application is shown; Figure 12 A rear view of the test tube handling system of the present application is shown; Figure 9 A rear view of the test tube handling system of the present application is shown; Figure 13 A rear view of the test tube handling system of the present application is shown; Figure 10 A rear view of the test tube handling system of the present application is shown; Figure 14 A perspective view of the test tube handling system of the present application is shown after removing the rack; Figure 15 A perspective view of the test tube handling system of the present application is shown from another view after removing the rack.

[0041] Figure 16 A perspective view of the test tube handling system of the present application is shown from the bottom view after removing the rack.

[0042] In the figure, 100, rack; 200, lifting and rotating mechanism; 201, mounting frame; 202, first motor; 203, screw rod; 204, nut seat; 205, sliding block; 206, movement mainboard; 207, pipe grabbing shaft; 2071, plug; 208, first positioning seat; 209, lifting seat; 210, gear; 211, rack; 212, pushing plate; 213, inclined groove; 214, guide wheel; 215, U-shaped frame; 216, telescopic cylinder; 217, pipe releasing plate; 218, first pipe releasing connecting plate; 219, second pipe releasing connecting plate; 220, limiting stopper; 221, first spring; 222, second positioning seat; 300, information collector; 400, conveying module; 401, transverse shifting claw; 402, transfer supporting plate; 403, second spring; 404, feeding supporting plate; 405, pipe grabbing supporting plate; 406, first movement driving mechanism; 407, second movement driving mechanism; 408, transverse shifting driving mechanism; 500, handover module; 501, docking channel; 502, transfer slide; 503, pushing frame mechanism; 600, test tube; 700, test tube rack. DETAILED DESCRIPTION

[0043] The serial numbers, such as “first”, “second”, etc., coded for components in this document are only used to distinguish the described objects and do not imply any priority or specific technical meaning in sequence. In addition, the “connection” and “coupling” concepts mentioned in this application are considered to include both direct connection (coupling) and indirect connection (coupling) unless otherwise specified.

[0044] When interpreting the description of this application, it should be clear that the orientation or position relationship indicated by terms such as “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise”, etc. are based on the perspective and layout shown in the drawings, and are intended to facilitate explanation and simplify the description process, and are not an absolute limitation on the actual orientation, construction method and operation mode of the described device or element. Therefore, these terms should not be understood as a restrictive interpretation of the content of this application.

[0045] The principles and features of the present application are described below in conjunction with examples, which are only used to explain the present application and are not intended to limit the scope of the present application.

[0046] As Figures 1-13As shown, a fully automatic test tube processing system comprises a rack 100, at least one set of lifting and rotating mechanism 200, an information collector 300, a conveying module 400 and an interface module 500; the lifting and rotating mechanism 200 comprises a mounting frame 201, a lifting drive assembly and a lifting and rotating module, the mounting frame 201 is fixed on the rack 100, the lifting drive assembly is installed on the mounting frame 201, the lifting drive assembly drives the lifting and rotating module to lift and rotate through a sliding block 205; the lifting and rotating module comprises a moving main plate 206, a pipe grabbing shaft 207 and a rotating trigger assembly, one or more pipe grabbing shafts 207 are arranged side by side on the moving main plate 206 in a rotatable manner, the moving main plate 206 can move with the sliding block 205, when the moving main plate 206 reaches the upper limit position, the rotating trigger assembly can drive the pipe grabbing shaft 207 to rotate; the information collector 300 is used to read the identification information when the test tube 600 rotates; the conveying module 400 is used to realize the multi-station circulation of the test tube rack 700 in the system; the interface module 500 is used to interface with external equipment to transfer the test tube rack 700.

[0047] The lifting and rotating mechanism 200 can be provided with one or more sets, such as Figure 1 As shown, the structure of two sets of lifting and rotating mechanisms 200 arranged on the rack 100 is shown, each set of lifting and rotating mechanisms 200 works independently to improve the efficiency of test tube 600 processing. When multiple sets of lifting and rotating mechanisms 200 work simultaneously, they can process different test tubes 600 respectively, realize parallel processing, and greatly shorten the time of the whole processing flow.

[0048] In this embodiment, as shown in Figure 4 The lifting drive assembly comprises a first motor 202, a lead screw 203, a nut seat 204 and a sliding block 205, the lead screw 203 is installed on the mounting frame 201 through a bearing, the first motor 202 is connected with the lead screw 203 through a shaft coupling, and the sliding block 205 is connected with the nut seat 204.

[0049] As Figures 5-7As shown, the rotation trigger assembly comprises a first positioning seat 208, a lifting seat 209, a gear 210, a rack 211 and a pushing plate 212; the sliding block 205 is fixed on the back of the pushing plate 212, and the sliding block 205, the lifting seat 209 and the pushing plate 212 are connected together and can be lifted synchronously; the first positioning seat 208 is fixed on the motion main plate 206, and a second positioning seat 222 is further arranged on the motion main plate 206; the first positioning seat 208, the lifting seat 209 and the second positioning seat 222 are arranged in sequence from top to bottom; a plurality of first shaft holes are arranged on the first positioning seat 208, a plurality of second shaft holes are arranged on the lifting seat 209, and a plurality of third shaft holes are arranged on the second positioning seat 222; the number of the first shaft holes, the second shaft holes and the third shaft holes is matched; the grabbing pipe shaft 207 is installed on the front of the motion main plate 206 in sequence through the first shaft hole, the second shaft hole and the third shaft hole; a bearing is arranged in the third shaft hole to support the grabbing pipe shaft 207. A first spring 221 is arranged between the lifting seat 209 and the first positioning seat 208, more specifically, the first spring 221 is sleeved on the grabbing pipe shaft 207, and the two ends of the first spring 221 can abut against the lifting seat 209 and the first positioning seat 208 respectively; the rack 211 is slidingly installed on the top of the motion main plate 206 through a sliding rail, and the rack 211 can slide on the motion main plate 206 along the X-axis direction; a guide wheel 214 is arranged on the back of the rack 211, an inclined groove 213 is arranged on the pushing plate 212, and the guide wheel 214 is arranged in the inclined groove 213; the gear 210 is arranged on the grabbing pipe shaft 207, and the gear 210 is engaged with the rack 211; a limiting stopper 220 is arranged on the rack 100 to limit the upper limit of the motion main plate 206.

[0050] The number of the first springs 221 is not limited in the embodiment, and the first springs 221 can be sleeved on each of the tube gripping shafts 207 or only on part of the tube gripping shafts 207, as long as the total compression elastic force of the first springs 221 is greater than or equal to the sum of the gravity of the lifting self-rotation module and the weight of the gripped test tube 600. The reason is that when the slider 205 rises, the lifting seat 209 rises synchronously, and the lifting seat 209 can make the motion main plate 206 and the tube gripping shaft 207 rise synchronously without compressing the first springs 221. When the motion main plate 206 contacts the limiting stopper 220, the motion main plate 206 stops rising, and the lifting seat 209 can continue to rise by compressing the first springs 221. In the process of the continuous rising of the lifting seat 209, the push plate 212 also continues to rise relative to the motion main plate 206, forcing the guide wheel 214 to move in the chute 213, converting the vertical movement of the push plate 212 into the horizontal movement of the rack 211, driving the rack 211 to move along the X-axis direction. The rack 211 moves to drive the gear 210 to rotate, and then the gear 210 drives the tube gripping shaft 207 to rotate through the gear 210. By adjusting the inclination angle and length of the chute 213, the tube gripping shaft 207 can rotate at any angle.

[0051] As shown in Figure 5 The end of the tube gripping shaft 207 is provided with a plug 2071 for inserting into the groove of the test tube cap and pulling the test tube 600 from the test tube rack 700.

[0052] The test tube processing system further comprises a tube removing assembly, which comprises a tube removing plate 217 and a tube removing drive assembly. The tube removing plate 217 is located below the lifting seat 209. The tube removing plate 217 is provided with a fourth shaft hole for the tube gripping shaft 207 to pass through. The tube removing drive assembly comprises a U-shaped frame 215 and a telescopic cylinder 216. The two sides of the tube removing plate 217 are respectively provided with a first tube removing connecting plate 218 and a second tube removing connecting plate 219. The first tube removing connecting plate 218 and the second tube removing connecting plate 219 are slidably installed on the two sides of the motion main plate 206 through slide rails. The two sides of the U-shaped frame 215 are hinged to the motion main plate 206, and the two ends of the U-shaped frame 215 are connected to the first tube removing connecting plate 218 and the second tube removing connecting plate 219 through tension springs. When the output shaft of the telescopic cylinder 216 extends, the U-shaped frame 215 can be driven to rotate around the hinge point.

[0053] When a test tube 600 is attached to the plug 2071 of the tube-grabbing shaft 207 and needs to be removed, the output shaft of the telescopic cylinder 216 extends, pushing the U-shaped frame 215 to rotate around the hinge point. The two ends of the U-shaped frame 215 contact the first tube-removal connecting plate 218 and the second tube-removal connecting plate 219 respectively, pushing these two connecting plates downwards along the slide rail. This, in turn, pushes the tube-removal plate 217 downwards along the axis, pressing against the top of the test tube 600 cap, overcoming the friction between the tube-grabbing shaft 207 and the cap, causing the test tube 600 to detach from the plug 2071 of the tube-grabbing shaft 207. When the output shaft of the telescopic cylinder 216 retracts, the U-shaped frame 215 rotates in the opposite direction around the hinge point under gravity, and the tension spring drives the tube-removal plate 217 to move upwards and reset.

[0054] like Figures 14-16 As shown, the conveying module 400 includes a workbench, on which a transverse pawl 401, a transfer channel, a loading station, a tube gripping station, and a docking channel 501 are provided. A machine cover is provided on the outside of the workbench, with an operation window at one end and a handover window at the other end. The loading station is located near the operation window, and the test tube rack 700 is placed on the loading station from the operation window. A transverse drive mechanism 408 is provided on the workbench, which can drive the transverse pawl 401 to reciprocate along the Y-axis. When moving, the transverse pawl 401 can move the test tube rack 700 along the transfer channel. The present invention does not limit the structure of the transverse drive mechanism 408. It can adopt a ball screw mechanism 203, a synchronous belt pulley mechanism, a cylinder, or other drive methods, as long as it can realize the reciprocating movement of the transverse pawl 401 along the Y-axis. The loading station is equipped with a loading pallet 404 and a first moving drive mechanism 406. The first moving drive mechanism 406 can drive the loading pallet 404 to move towards or away from the transfer channel. Multiple loading pallets 404 can move sequentially to the loading station. The pipe gripping station is equipped with a pipe gripping pallet 405 and a second moving drive mechanism 407. The second moving drive mechanism 407 can drive the pipe gripping pallet 405 to move towards or away from the lifting and rotating mechanism 200. The transfer channel is equipped with a transfer pallet 402. The transfer pallet 402 is mounted on the workbench by a second spring 403. The pipe gripping pallet 405 can push the transfer pallet 402 to move. When the pipe gripping pallet 405 moves away from the transfer pallet 402, the second spring 403 can push the transfer pallet 402 to reset. The docking channel 501 is located at one end of the workbench and is correspondingly set with the handover window. It is used to dock with external equipment such as refrigerators, centrifuges, analyzers, etc., to realize the transfer of test tube rack 700.

[0055] The test tube processing system further comprises a handover module 500, which comprises a transfer chute 502 and a push rack mechanism 503 arranged on one side of the transfer chute 502, and the push rack mechanism 503 is used to push the empty test tube rack 700 to the transfer chute 502. When the test tube rack 700 returns to the transfer channel through the docking channel 501, the transverse shifting claw 401 shifts it to the test tube grabbing support plate 405, and the second moving drive mechanism 407 drives the test tube grabbing support plate 405 to move to the inlet of the transfer chute 502, and the push rack mechanism 503 pushes the empty test tube rack 700 to the transfer chute 502, thereby completing the whole test tube processing process.

[0056] A test tube processing method using the full-automatic test tube processing system, comprising the following steps: S1, conveying the test tube rack 700 loaded with test tubes 600 to the test tube grabbing station through the conveying module 400; S2, controlling the test tube grabbing shaft 207 to descend and insert into the plug groove of any column of test tubes 600; Specifically, as shown in Figure 8 and Figure 10 , the sliding block 205 is lowered by the lifting drive assembly, and the sliding block 205 is fixedly connected with the pushing plate 212, so that the pushing plate 212 moves downward when the sliding block 205 descends. The guide wheel 214 is fixed on the rack 211 and located at the top end of the inclined groove 213 of the pushing plate 212, and the guide wheel 214 pulls the moving main plate 206 to move downward synchronously in the process of the pushing plate 212 moving downward, and the test tube grabbing shaft 207 also moves downward, so that the plug 2071 at the end of the test tube grabbing shaft 207 gradually inserts into the plug groove of any column of test tube caps from top to bottom.

[0057] S3, rotating the test tube grabbing shaft (207) by rotating the trigger assembly, synchronously driving the test tube (600) to rotate, and reading the identification information of the test tube (600) by the information collector (300) in the rotating process; Specifically, as shown in Figure 10 and Figure 13 , when the moving main plate 206 reaches the upper limit position, the lifting drive assembly drives the sliding block 205 to continue to rise, synchronously driving the lifting seat 209 to compress the first spring 221 and continue to rise, and in this process, the pushing plate 212 continuously moves upward, pressing the guide wheel 214 to slide along the inclined groove 213 from the top end to the bottom end. The downward movement of the guide wheel 214 drives the rack 211 to slide along the X axis, thereby driving the gear 210 to rotate. The gear 210 is fixed at the end of the test tube grabbing shaft 207, and the rotation of the gear 210 drives the test tube grabbing shaft 207 to rotate, and drives the test tube 600 to rotate. In the rotating process of the test tube 600, the information collector 300 reads the identification information of the test tube 600 in real time.

[0058] The present application can control the rotation angle through the rack stroke to ensure the full exposure of the identification; the vertical movement of the pushing plate is converted into the horizontal movement of the rack through the cooperation of the chute and the guide wheel, the horizontal movement of the rack drives the gear rotation, the rotation and the lifting action are linked to trigger, without additional driving source, reducing the control complexity.

[0059] S4, the descending gripping shaft 207 inserts the test tube 600 back into the test tube rack 700; Specifically, the sliding block 205 is driven to descend again by the lifting drive assembly, and the pushing plate 212 moves downward. At this time, the guide wheel 214 slides along the chute 213 from the bottom end to the top end, and the rack 211 is reset. In the process of resetting the rack 211, the gripping shaft 207 rotates reversely until it returns to the initial angle. After the guide wheel 214 returns to the top end of the chute, the moving main plate 206 is pulled to move downward, and finally the gripping shaft 207 reinserts the test tube 600 into the test tube rack 700.

[0060] Step S4 further comprises: S4a, driving the tube pulling plate 217 to move axially along the gripping shaft 207, and pushing the test tube 600 to separate from the gripping shaft 207; Specifically, the output shaft of the telescopic cylinder 216 extends to push the U-shaped frame 215 to rotate around the hinge point, and the U-shaped frame 215 pulls the first tube pulling connecting plate 218 and the second tube pulling connecting plate 219 through the tension spring. The tube pulling connecting plate drives the tube pulling plate 217 to move axially downward along the gripping shaft 207, and the tube pulling plate 217 presses the top of the test tube 600 cap, overcomes the friction between the gripping shaft 207 and the cap, and separates the test tube 600 from the gripping shaft 207. The linear motion of the tube pulling plate 217 along the axis can avoid the test tube 600 from being pushed to fall laterally.

[0061] S4b, controlling the gripping shaft 207 to rise and reset; S5, moving the test tube rack 700 by a test tube 600 column spacing through the driving of the gripping support plate 405; S6, cyclically executing steps S2-S5 until all columns of test tubes 600 in the current test tube rack 700 are processed; S7, moving the processed test tube rack 700 out of the system; Specifically, the processed test tube rack 700 is transferred to the handover module 500 through the transfer channel, and then is handed over to the external equipment through the docking channel 501. After the processing is completed, the test tube rack 700 can be automatically transferred from the docking channel 501 to the external equipment, such as a refrigerator, for subsequent storage or detection. This process realizes the automatic circulation of the test tube rack 700 between the processing system and the external equipment.

[0062] In another embodiment, step S2 further comprises: after the tube gripping shaft 207 is inserted into the cover groove, lifting the tube gripping shaft 207 to lift the test tube 600 to a preset height. Lifting the test tube 600 to the preset height can effectively prevent the test tube from being blocked by adjacent test tubes, test tube rack frames or other equipment components during the subsequent rotation and code scanning process, ensuring that the code scanner can clearly and unobstructed read the barcode information, while avoiding unnecessary collisions between test tubes.

[0063] Specifically, as shown in Figure 9 and Figure 12 The lifting drive assembly drives the slider 205 to rise, which in turn drives the lifting seat 209 to rise synchronously. The lifting seat 209 pushes the moving main plate 206 upward through the first spring 221. At this time, the first spring 221 is not compressed. The tube gripping shaft 207 rises with the moving main plate 206, lifting the test tube 600 from the test tube rack 700 until the moving main plate 206 contacts the limiting block 220 on the rack 100, and the moving main plate 206 reaches the upper limit position and stops moving upward.

[0064] In another embodiment, step S8 is further included. The test tube rack 700 returned from the external device through the docking channel 501 is pushed by the horizontal shifting claw 401 to the tube gripping tray 405. Then, the second moving drive mechanism drives the tube gripping tray 405 to move to the entrance of the transfer chute 502, and the push rack mechanism 503 pushes the discarded test tube rack 700 to the transfer chute 502.

[0065] By adding step S8, the test tube rack 700 can also be returned to the transfer channel through the docking channel 501, pushed by the horizontal shifting claw 401 to the tube gripping tray 405, moved to the entrance of the transfer chute 502 by the tube gripping tray 405, and finally pushed into the transfer chute 502 by the push rack mechanism 503.

[0066] Next, this embodiment will take the example of setting three loading trays 404 and two sets of lifting and rotating mechanisms 200 in the loading station to illustrate the working process of the conveying module 400. Each loading tray 404 can place a test tube rack 700. The number of loading trays 404 can be flexibly adjusted according to actual needs to adapt to different scales and processing capacities.

[0067] The test tube rack 700 is configured with multiple rows of hole positions, and the test tubes 600 containing samples are vertically inserted into these hole positions.

[0068] After the system is started, the operator first places the test tube rack 700 carrying the test tubes 600 on the loading station through the operation window of the outer cover of the workbench. At this time, the recognition module integrated in the loading station starts immediately, and automatically identifies the specifications of the test tubes 600 on the test tube rack 700 through optical or mechanical sensing, and the identification basis includes but is not limited to the diameter size of the test tubes 600 or the specific color identification of the tube body. According to the identification result, the intelligent scheduling system of the conveying module 400 will select the matching test tube gripping pallet 405 and pre-position it in the standby position of the transfer channel. Then the horizontal shifting claw 401 moves along the Y axis under the action of the horizontal shifting driving mechanism 408, and pushes the test tube rack 700 on the loading pallet 404 in the transfer channel to the corresponding test tube gripping pallet 405. After completing this action, the horizontal shifting claw 401 automatically resets to the initial position of the operation window, and at the same time the first moving driving mechanism 406 starts to drive the next loading pallet 404 to be processed into the working area of the transfer channel, and the horizontal shifting claw 401 immediately performs the same shifting action to realize the continuous transfer of the test tube rack 700 to the test tube gripping pallet 405.

[0069] When the test tube rack 700 is stably positioned on the target test tube gripping pallet 405, the second moving driving mechanism 407 responds immediately to drive the test tube gripping pallet 405 carrying the test tube rack 700 to translate along the predetermined track towards the lifting and rotating mechanism 200 until the test tube rack 700 reaches the preset test tube gripping station. At this time, the lifting and rotating mechanism 200 works: the first motor 202 drives the lead screw 203 to rotate in the forward direction, and drives the sliding block 205 and the pushing plate 212 fixedly connected thereto to descend synchronously through the nut seat 204. At this stage, the guide wheel 214 is at the topmost position of the inclined groove 213 of the pushing plate 212, and the pushing plate 212 pulls the movement main plate 206 to move downward through the linkage relationship between the guide wheel 214 and the movement main plate 206, so that the plug 2071 at the end of the test tube gripping shaft 207 is inserted into the groove inside the first row of test tube stoppers of the test tube rack 700.

[0070] Then the first motor 202 rotates reversely, driving the slider 205 and the lifting seat 209 to ascend synchronously. The lifting seat 209 lifts the motion main plate 206 and the gripping shaft 207 upward by the first spring 221, and vertically lifts the whole row of test tubes 600 from the test tube rack 700. When the motion main plate 206 ascends to contact with the upper limit stopper 220 on the rack 100, the test tubes 600 reach the predetermined lifting height, which is calculated to ensure that the identification area of the test tubes 600 is completely exposed in the effective field of view of the information collector 300. At this time, the motion main plate 206 stops ascending, but the slider 205 continues to drive the lifting seat 209, causing the lifting seat 209 to compress the first spring 221. In this process, the push plate 212 ascends synchronously, forcing the guide wheel 214 to slide along the inclined groove 213 of the push plate 212 from the highest end to the lowest end. Through the cooperation of the inclined groove 213 and the guide wheel 214, the vertical displacement of the push plate 212 is converted into the horizontal movement of the rack 211 along the X-axis. The linear movement of the rack 211 drives the gear 210 meshing with it to rotate, finally driving the gripping shaft 207 and the test tubes 600 to rotate circumferentially. The information collector 300 is started synchronously in this rotating process, and scans and identifies the bar code or two-dimensional code on the surface of the test tubes 600 in all directions.

[0071] After the first row of test tubes 600 are scanned, the first motor 202 drives the slider 205 to descend again. The lifting seat 209 and the push plate 212 first descend with the slider 205, the guide wheel 214 moves in the inclined groove 213 from bottom to top, driving the rack 211 to move reversely and reset. At the same time, the gripping shaft 207 drives the test tubes 600 to rotate reversely and reset, and the compressed first spring 221 gradually releases the elastic force. When the guide wheel 214 retreats to the top end of the inclined groove 213, the push plate 212 continues to descend to pull the motion main plate 206 to descend as a whole, and the gripping shaft 207 inserts the test tubes 600 back into the original hole position of the test tube rack 700.

[0072] Subsequently, the tube removal assembly is started: the output shaft of the telescopic cylinder 216 extends, pushing the U-shaped frame 215 to rotate around its hinge point. The U-shaped frame 215 presses the first tube removal connecting plate 218 and the second tube removal connecting plate 219 at both ends downward, forcing them to move downward along the slide rails on both sides of the motion main plate 206, thereby driving the tube removal plate 217 to descend as a whole. The tube removal plate 217 forms a relative displacement with the gripping shaft 207, pushing the test tubes 600 away from the plug 2071 of the gripping shaft 207. After the tube removal action is completed, the telescopic cylinder 216 retracts the output shaft, and the U-shaped frame 215 reverses under the action of gravity, and the tube removal plate 217 is reset to the initial height by the traction of the tension spring.

[0073] After the tube removal operation is completed, the first motor 202 reverses to drive the slider 205 to rise, and the lifting seat 209 is lifted by the first spring 221 to move the main board 206 and the tube holding shaft 207 back to the standby position. At this time, the second moving drive mechanism 407 drives the tube holding plate 405 to translate by one test tube 600 column spacing, so that the second row of test tubes 600 reaches the grabbing position. The lifting and rotating mechanism 200 repeats the above-mentioned grabbing, lifting, rotating and scanning, resetting and inserting back, and tube removal processes, and the cycle is repeated until the processing work of all test tubes 600 on the test tube rack 700 is completed.

[0074] When the last row of test tubes 600 is processed, the second moving drive mechanism 407 drives the tube holding plate 405 to carry the processed test tube rack 700 back to the transfer channel. The horizontal shifting claw 401 immediately moves to push the test tube rack 700 along the transfer channel to the transfer window at the end of the machine cover, and through the interface mechanism of the transfer module 500 and the external equipment (such as an automated refrigerator), the transfer of the test tube rack 700 is completed. At the same time, the horizontal shifting claw 401 automatically returns to the starting position of the operation window, and pushes the next to-be-processed feeding plate 404 to the corresponding tube holding plate 405, forming a continuous operation closed loop. It needs to be specially pointed out that when the external equipment returns the empty test tube rack 700 to the transfer channel through the transfer window, the horizontal shifting claw 401 will shift it to the tube holding plate 405, and the second moving drive mechanism 407 will transport the empty test tube rack 700 to the transfer chute 502 entrance, and the push rack mechanism 503 will push it into the transfer chute 502 to complete the waste process. Through the circulation of three feeding plates 404 and the parallel operation of two lifting and rotating mechanisms 200, the whole system realizes the uninterrupted operation of the test tube processing process, and significantly improves the processing efficiency per unit time. According to actual needs, the number of lifting and rotating mechanisms 200 can be expanded or the number of feeding plates 404 can be increased to provide solutions for different flux application scenarios.

[0075] The full-automatic test tube processing system of the application, the lifting and rotating mechanism 200 completes the core operation through the cooperation of the double motors: the first motor 202 synchronously drives the displacement of the test tube 600 in the vertical direction (Z axis) and the rotation around the center axis, and the telescopic cylinder 216 is responsible for the tube removal operation after scanning, and accurately controls the time point of tube removal and the lifting position relationship.

[0076] The tube pulling height is self-adaptively adjusted, the tube pulling height is greater than or equal to the height of the front row of tubes, and the tube 600 information code in a high-density matrix (such as a 50-hole tube rack) is completely exposed; the plug 2071 of the tube grabbing shaft 207 is inserted into the groove of the tube cover plug to avoid the label area, so that the barcode is not blocked. By designing the length of the inclined groove 213 and the lifting height of the slider 205, the rotation angle of the tube 600 can be controlled within 360° and supports forward and reverse rotation, and the rotation speed of the tube 600 is linked with the lifting speed. The present application adopts a rotation design that is separated from the tube rack 700, which fundamentally avoids label wear caused by friction on the inner wall of the rack body. Of course, it is also foreseeable to perform rotation in the tube rack 700.

[0077] The present application can also solve the problem of adjacent tube 600 blocking by adopting a pulling and rotating mode for single tube, single row and multi-row tube 600 matrix.

[0078] The code scanning module preferentially adopts image recognition technology to replace the traditional infrared laser code scanner to realize simultaneous scanning of multiple tubes 600. When reading the barcode / two-dimensional code, the identification module can also realize the following four functions: (1) classification and identification of sample cover color and diameter, (2) dynamic monitoring of sample volume, (3) analysis of hemolysis / lipemia state, (4) electronic image archiving and real-time uploading to the database. The information collector 300 supports code scanning in the rotating or stationary state of the tube 600.

[0079] The lifting and rotating mechanism 200 is fixed for work, and the components such as the transverse shifting claw 401, the feeding support plate 404, the tube grabbing support plate 405 and the moving support plate 402 of the conveying module 400 are coordinated with each other to drive the tube rack 700 to move along the XY axis, realizing the rapid and accurate circulation of the tube rack 700 in the system, ensuring the stability and smoothness of the code scanning process; the reader is arranged on the side above the transverse shifting claw 401, so that the conveying action of the tube rack 700 does not affect its working position, and multiple reading devices can be arranged in the system.

[0080] The system supports bidirectional flow: the forward process transports the sample to the external equipment for processing after code scanning and identification; the reverse process includes empty rack recycling and sample recall. Through the interface window, the tube rack 700 is forwardly or reversely interfaced with external equipment, so that the operator can complete the sample interface without entering the laboratory, and cross contamination is avoided. The information collector 300 integrates image recognition function, can detect abnormal tubes 600 such as barcode damage and liquid leakage in real time, and trigger the conveying module 400 to transfer them to the isolation area, avoiding process interruption. In the process of the system of the present application, whether it is a forward process or a reverse process, the tube does not need to be transferred throughout the process, and the basic carrier for conveying is the tube rack 700 placed at the time.

[0081] The above merely describes preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A fully automated test tube processing system, characterized in that, It includes at least one set of lifting and rotating mechanism (200), information collector (300) and conveying module (400); The lifting and rotating mechanism (200) includes a lifting drive assembly and a lifting spin module. The lifting drive assembly drives the lifting spin module to lift and lower. The lifting spin module includes a motion main board (206), a gripping shaft (207), and a rotation trigger assembly. One or more gripping shafts (207) are rotatably mounted on the motion main board (206). The rotation trigger assembly is used to drive the gripping shafts (207) to rotate. The information collector (300) is used to collect information when the test tube (600) is rotated; The conveying module (400) is used to realize the multi-station flow of the test tube rack (700) within the system.

2. The fully automated test tube processing system according to claim 1, characterized in that, The rotation trigger assembly includes a first positioning seat (208), a lifting seat (209), a gear (210), a rack (211), and a push plate (212). The lifting seat (209) and the push plate (212) are connected together, and the lifting drive assembly can drive the lifting seat (209) and the push plate (212) to rise and fall synchronously; The first positioning seat (208) is fixed on the motion mainboard (206); A first spring (221) is provided between the lifting seat (209) and the first positioning seat (208); The rack (211) is mounted on the motion mainboard (206) in a manner that allows it to slide in a direction perpendicular to the gripping shaft (207); The rack (211) is provided with a guide wheel (214), the push plate (212) is provided with a groove (213), and the guide wheel (214) is disposed in the groove (213); The gripping shaft (207) is provided with a gear (210), which meshes with the rack (211).

3. The fully automated test tube processing system according to claim 2, characterized in that, The first spring (221) is sleeved on the gripping shaft (207), and the two ends of the first spring (221) are connected to the lifting seat (209) and the first positioning seat (208) respectively.

4. The fully automated test tube processing system according to claim 2, characterized in that, The first positioning seat (208) and the lifting seat (209) are respectively provided with a first shaft hole and a second shaft hole corresponding to each other, for installing the gripping shaft (207); the motion main board (206) is also provided with a second positioning seat (222), the second positioning seat (222) is provided with at least one third shaft hole, and a bearing is provided in the third shaft hole to support the gripping shaft (207).

5. The fully automated test tube processing system according to claim 4, characterized in that, It also includes a tube removal assembly, which includes a tube removal plate (217) and a tube removal drive assembly. The tube removal plate (217) is provided with a fourth shaft hole for the tube gripping shaft (207) to pass through. The tube removal drive assembly can drive the tube removal plate (217) to move axially along the tube gripping shaft (207) to push the test tube (600) away from the tube gripping shaft (207).

6. The fully automated test tube processing system according to claim 5, characterized in that, The tube removal drive assembly includes a U-shaped frame (215) and a telescopic cylinder (216). The tube removal plate (217) has a first tube removal connecting plate (218) and a second tube removal connecting plate (219) on both sides. The first tube removal connecting plate (218) and the second tube removal connecting plate (219) are slidably mounted on both sides of the motion main board (206). The two sides of the U-shaped frame (215) are hinged to the motion main board (206), and the two sides of the U-shaped frame (215) are connected to the first tube removal connecting plate (218) and the second tube removal connecting plate (219) through tension springs. When the output shaft of the telescopic cylinder (216) extends, it can drive the U-shaped frame (215) to rotate around the hinge point and push the tube removal plate (217) to move along the axial direction of the tube gripping shaft (207).

7. The fully automated test tube processing system according to claim 2, characterized in that, The lifting drive assembly includes a first motor (202), a lead screw (203), a nut seat (204), and a slider (205). The lead screw (203) is mounted on the mounting bracket (201) via bearings. The first motor (202) is connected to the lead screw (203) via a coupling. The slider (205) is fixed on the push plate (212) and connected to the nut seat (204).

8. The fully automated test tube processing system according to claim 1, characterized in that, The end of the tube gripping shaft (207) is provided with a plug (2071), which is used to insert into the groove of the test tube cap.

9. The fully automated test tube processing system according to any one of claims 1 to 8, characterized in that, The conveying module (400) includes a transverse pawl (401), a transfer channel, a tube gripping station, and a docking channel (501); the transverse pawl (401) is located on one side of the transfer channel and is used to move the test tube rack (700) along the transfer channel; the tube gripping station is provided with a tube gripping plate (405) and a second moving drive mechanism, which can drive the tube gripping plate (405) to move; the docking channel (501) is used to dock with an external transfer test tube rack (700).

10. The fully automated test tube processing system according to claim 9, characterized in that, The transfer channel is provided with a transfer tray (402). The transfer tray (402) is mounted on the workbench by a second spring (403). The pipe gripping tray (405) can push the transfer tray (402) to move. When the pipe gripping tray (405) moves away from the transfer tray (402), the second spring (403) can push the transfer tray (402) to reset.

11. The fully automated test tube processing system according to claim 9, characterized in that, The conveying module (400) also includes a loading station, which is provided with a loading pallet (404) and a first moving drive mechanism. The first moving drive mechanism can drive the loading pallet (404) to move towards or away from the transfer channel.

12. The fully automated test tube processing system according to any one of claims 1 to 8, characterized in that, It also includes a transfer module (500), which includes a transfer slide (502) and a pusher mechanism (503). The pusher mechanism (503) is located on one side of the transfer slide (502) and can push the test tube rack (700) to the transfer slide (502).

13. A test tube processing method, characterized in that, The fully automated test tube processing system according to any one of claims 1 to 11 includes the following steps: S1. Transfer the test tube rack (700) carrying one or more rows of test tubes (600) to the tube gripping station; S2. Control the tube gripping shaft (207) to descend and grip any column of test tubes (600); S3. The rotation trigger component drives the tube gripping shaft (207) to rotate, synchronously driving the test tube (600) to rotate, and collecting information through the information collector (300) during the rotation process; S4. Lower the tube gripping shaft (207) to insert the test tube (600) back into the test tube rack (700); S5, movable test tube rack (700) one column spacing; S6. Repeat steps S2-S5 until all columns of test tubes (600) in the current test tube rack (700) have been processed. S7. Remove the processed test tube rack (700) from the system.

14. The test tube processing method according to claim 13, characterized in that, Step S2 also includes: after the tube gripping shaft grips the test tube, raising the tube gripping shaft to pull the test tube to a preset height.

15. The test tube processing method according to claim 13, characterized in that, Step S4 also includes: S4a, drive the tube release plate (217) to move axially along the tube gripping shaft (207) and push the test tube (600) to detach from the tube gripping shaft (207). S4b, control the lifting and resetting of the gripping shaft (207).

Images