Control method for gripping a storage tube

Abstract

This invention provides a control method for gripping storage tubes, which involves obtaining the height parameter of the storage tube at the storage location; if the height parameter is greater than or equal to a first preset height parameter, a gripper is invoked to grip the storage tube at a first gripping height; if the height parameter is less than the first preset height parameter, a gripper is invoked to grip the storage tube at a second gripping height; the gripper is invoked to grip the storage tube from the storage rack: the first gripping height is obtained by subtracting the first preset value from the height parameter, the gripping position of the gripper is determined based on the first gripping height, and the gripper is used to grip the storage tube from the storage rack; alternatively, the second gripping height is obtained by subtracting a second preset value from the height parameter, the gripping position of the gripper is determined based on the second gripping height, and the gripper is used to grip the storage tube from the storage rack, wherein the first preset value is greater than the second preset value. The technical solution provided by this application can solve the problem of low applicability of grippers to storage tubes of different heights in the prior art.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a control method for grasping and storing a storage tube. Background Technology

[0002] In clinical medical testing laboratories, sample analyzers are typically used to analyze and test samples and quality control materials.

[0003] In the existing technology, the sample analyzer uses a storage tube to store the sample to be tested and uses a gripper to grasp the storage tube to complete the movement of the storage tube within the sample analyzer.

[0004] However, storage tubes produced by different manufacturers have different heights, and the grippers in the existing technology cannot be used for storage tubes of different heights at the same time. This makes it impossible for the grippers in the existing technology to firmly grasp the storage tubes, affecting the applicability of the grippers in the existing technology to storage tubes of different heights. Summary of the Invention

[0005] This invention provides a control method for gripping storage tubes to solve the problem of low applicability of grippers to storage tubes of different heights in the prior art.

[0006] This invention provides a control method for grasping a storage tube. The control method for grasping a storage tube includes: moving a gripper above a storage position in a storage rack to obtain the height parameter of the storage tube at the storage position; comparing the obtained height parameter with a first preset height parameter; if the height parameter is greater than or equal to the first preset height parameter, calling the gripper to grasp the storage tube at a first grasping height; if the height parameter is less than the first preset height parameter, calling the gripper to grasp the storage tube at a second grasping height; calling the gripper to grasp the storage tube from the storage rack: subtracting a first preset value from the height parameter to obtain a first grasping height; determining the gripping position of the gripper based on the first grasping height; and using the gripper to grasp the storage tube from the storage rack; or subtracting a second preset value from the height parameter to obtain a second grasping height; determining the gripping position of the gripper based on the second grasping height; and using the gripper to grasp the storage tube from the storage rack, wherein the first preset value is greater than the second preset value.

[0007] Further, the step of comparing the obtained height parameter with a first preset height parameter, and calling the gripper to grab the storage tube at the first grabbing height if the height parameter is greater than or equal to the first preset height parameter, includes: comparing the obtained height parameter with a first preset height parameter and a second preset height parameter, wherein the first preset height parameter is less than the second preset height parameter; if the height parameter is greater than or equal to the first preset height parameter and less than the second preset height parameter, calling the gripper to grab the storage tube at the first grabbing height; if the height parameter is greater than or equal to the second preset height parameter, calling the gripper to grab the storage tube at a third grabbing height, wherein the third grabbing height is the reference plane height plus a third preset value.

[0008] Further, the steps of determining the gripper's gripping position based on the first gripping height and the second gripping height include: setting the height of the upper surface of the storage rack as the reference plane height; if the first gripping height is higher than the reference plane height, then setting the first gripping height as the height of the gripper's gripping position; if the first gripping height is lower than the reference plane height, then adding a fourth preset value to the reference plane height and setting it as the height of the gripper's gripping position; if the second gripping height is higher than the reference plane height, then setting the second gripping height as the height of the gripper's gripping position; if the second gripping height is lower than the reference plane height, then adding a fourth preset value to the reference plane height and setting it as the height of the gripper's gripping position.

[0009] Furthermore, after the step of moving the gripper above a storage cell in the storage rack, the control method for gripping the storage tube also includes: determining whether a storage tube exists in the storage cell of the storage rack.

[0010] Furthermore, the step of determining whether a storage tube exists in a storage location within the storage rack includes: acquiring the current light intensity value at the bottom of the gripper during the gripper's descent; determining whether the difference between the current light intensity value and the clean light intensity value is greater than or equal to a light intensity threshold; if the difference between the current light intensity value and the clean light intensity value is greater than or equal to the light intensity threshold, then it is determined that a storage tube exists in the storage location within the storage rack, the gripper stops moving, and the step of acquiring the height parameter of the storage tube in the storage location is executed; if the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, then the gripper continues to descend until the distance between the gripper and the upper surface of the storage rack reaches a preset distance, at which point the gripper stops descending.

[0011] Furthermore, the step of determining whether there is a storage tube in the storage position of the storage rack also includes: before the gripper descends, collecting multiple light intensity values ​​at preset time intervals, calculating the average value of the multiple light intensity values, and using the average value as the clean light intensity value.

[0012] Furthermore, the step of determining whether a storage tube exists in a storage location within the storage rack also includes: before the gripper descends, collecting multiple light intensity values ​​at preset time intervals and storing these values ​​in an array; during the gripper's descent, continuously acquiring light intensity values ​​at the bottom of the gripper at preset time intervals, storing the acquired light intensity values ​​in an array, and using the latest light intensity value as the current light intensity value; and performing a judgment step: taking multiple light intensity values ​​within the first time period corresponding to the first time interval preceding the current time, calculating the average of the multiple light intensity values ​​within the first time period as the clean light intensity value, and determining whether the difference between the current light intensity value and the clean light intensity value is greater than or equal to a light intensity threshold; if at least two consecutive differences between the current light intensity value and the clean light intensity value are greater than or equal to the light intensity threshold, then it is determined that a storage tube exists in a storage location within the storage rack.

[0013] Furthermore, if the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, the gripper continues to descend until it reaches a preset distance from the upper surface of the storage rack. The steps for stopping the gripper's descent include: if the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, the gripper continues to descend; if the gripper reaches a preset distance from the upper surface of the storage rack, the step of determining whether there is a storage tube in the storage position of the storage rack is repeated a preset number of times; if no storage tube is detected in the storage position of the storage rack after repeating the preset number of times, the gripper stops descending.

[0014] Furthermore, after the step of calling the gripper to grab the storage tube from the storage rack, the control method for grabbing the storage tube also includes: using the gripper to place the storage tube onto the transfer seat, and using the clamping parts of the transfer seat to clamp the storage tube.

[0015] Furthermore, the steps of placing the storage tube onto the transfer seat using a gripper and clamping the storage tube using the clamping mechanism of the transfer seat include: placing the storage tube onto the transfer seat using a gripper; opening the gripper's jaws from the clamping width of the storage tube to the circumferential width surrounding the storage tube; clamping the storage tube using the clamping mechanism of the transfer seat; opening the gripper's jaws from the circumferential width to the maximum opening width; and raising the gripper to a separation height above the upper end face of the storage tube.

[0016] Furthermore, after the steps of placing the storage tube onto the transfer seat using the gripper and clamping the storage tube using the clamping member of the transfer seat, the control method for gripping the storage tube further includes: moving the gripper to a preset gripping height located on the outer periphery of the storage tube; retracting the gripper's jaws from the maximum opening width to the surrounding width; releasing the storage tube using the clamping member of the transfer seat; retracting the gripper's jaws from the surrounding width to the clamping width; and removing the storage tube from the transfer seat using the gripper.

[0017] Furthermore, before the step of moving the gripper above a storage location in the storage rack, the control method for gripping the storage tube further includes: moving the gripper to the target area and determining the type of the target area; if the target area is determined to be a quality control chamber area, then controlling the opening range of the gripper's jaws to a first opening range; if the target area is determined to be a sample chamber area or an open-lid area, then controlling the opening range of the gripper's jaws to a second opening range, the second opening range being greater than the first opening range.

[0018] By applying the technical solution of this invention, the gripper is moved above a storage slot in the storage rack. Based on a comparison between the height parameter of the storage tube in the storage slot and a first preset height parameter, different gripping positions of the gripper are selected, and the gripper is used to grasp the storage tube from the storage rack. Specifically, when the height parameter is greater than or equal to the first preset height parameter, the first preset value is subtracted from the height parameter to obtain a first gripping height, and the gripper grasps the portion of the storage tube located at the first gripping height from the storage rack. When the height parameter is less than the first preset height parameter, a second preset value is subtracted from the height parameter to obtain a second gripping height, and the gripper grasps the portion of the storage tube located at the second gripping height from the storage rack. Thus, by comparing the height parameter and the first preset height parameter, different gripping positions of the gripper are selected, thereby selecting different gripping positions for storage tubes of different heights, improving the gripper's gripping stability on the storage tube, and further improving the gripper's applicability to storage tubes of different heights. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0020] Figure 1 A flowchart of a control method for grasping a storage tube according to an embodiment of the present invention is shown;

[0021] Figure 2 A further flowchart of the control method for grasping the storage tube provided according to an embodiment of the present invention is shown;

[0022] Figure 3 This illustrates a flowchart of the control method for grasping storage tubes according to an embodiment of the present invention, which determines whether a storage tube exists in a storage location in a storage rack;

[0023] Figure 4 A further flowchart of the control method for grasping the storage tube provided according to an embodiment of the present invention is shown;

[0024] Figure 5 A schematic diagram illustrating the comparison of a height parameter with a first preset height parameter in the control method for gripping a storage tube according to an embodiment of the present invention is shown.

[0025] Figure 6 This illustration shows another schematic diagram of the control method for gripping a storage tube according to an embodiment of the present invention, which compares a height parameter with a first preset height parameter;

[0026] Figure 7 A schematic diagram illustrating the comparison of a height parameter with a second preset height parameter in a control method for gripping a storage tube according to an embodiment of the present invention is shown.

[0027] Figure 8 A schematic diagram of the gripper of the test object loading device provided according to an embodiment of the present invention is shown;

[0028] Figure 9 A schematic diagram of the storage rack of the test object loading device provided according to an embodiment of the present invention is shown;

[0029] Figure 10 A schematic diagram of the transmission base of the test object loading device provided according to an embodiment of the present invention is shown.

[0030] The above figures include the following reference numerals:

[0031] 10. Gripper; 11. Fiber optic sensor; 20. Storage rack; 21. Storage bay; 30. Storage tube; 40. Transmission base; 41. Clamping element;

[0032] H, height parameter; H0, reference plane height;

[0033] H1, First preset height parameter; H2, Second preset height parameter;

[0034] D1, First preset value; D2, Second preset value; D3, Third preset value. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] like Figures 1 to 10 As shown, this embodiment of the invention provides a control method for grasping a storage tube, the control method for grasping a storage tube includes:

[0037] S100: Move the gripper 10 above a storage position 21 in the storage rack 20 and obtain the height parameter H of the storage tube 30 on the storage position 21;

[0038] S200. The obtained height parameter H is compared with the first preset height parameter H1. If the height parameter H is greater than or equal to the first preset height parameter H1, the gripper 10 is called to grab the storage tube 30 at the first grabbing height. If the height parameter H is less than the first preset height parameter H1, the gripper 10 is called to grab the storage tube 30 at the second grabbing height.

[0039] S300, Call the gripper 10 to grab the storage tube 30 from the storage rack 20: Subtract the first preset value D1 from the height parameter H to obtain the first grab height, determine the grab position of the gripper 10 according to the first grab height, and use the gripper 10 to grab the storage tube 30 from the storage rack 20. Alternatively, subtract the second preset value D2 from the height parameter H to obtain the second grab height, determine the grab position of the gripper 10 according to the second grab height, and use the gripper 10 to grab the storage tube 30 from the storage rack 20. The first preset value is greater than the second preset value.

[0040] Using the control method for gripping storage tubes provided in this embodiment, the gripper 10 is moved above a storage position 21 of the storage rack 20. Based on the comparison result between the height parameter H of the storage tube 30 on the storage rack 20 and the first preset height parameter H1, different gripping positions of the gripper 10 are selected, and the gripper 10 is used to grip the storage tube 30 from the storage rack 20. Specifically, when the height parameter H is greater than or equal to the first preset height parameter H1, the first preset value D1 is subtracted from the height parameter H to obtain the first gripping height, and the gripper 10 is used to grip the portion of the storage tube located at the first gripping height from the storage rack 20; when the height parameter H is less than the first preset height parameter H1, the second preset value D2 is subtracted from the height parameter H to obtain the second gripping height, and the gripper 10 is used to grip the portion of the storage tube located at the second gripping height from the storage rack 20. Therefore, by comparing the height parameter H and the first preset height parameter H1, different gripping positions of the gripper 10 are selected, thereby selecting different gripping positions for storage tubes 30 at different heights, improving the gripping stability of the gripper 10 on the storage tubes 30, and thus improving the applicability of the gripper 10 to storage tubes 30 at different heights.

[0041] Specifically, when the height parameter H is greater than or equal to the first preset height parameter H1, it corresponds to the scenario of grabbing a tall executive; when the height parameter H is less than the first preset height parameter H1, it corresponds to the scenario of grabbing a short executive.

[0042] In some embodiments, the first preset value D1 is greater than or equal to 1 / 11 of the first preset height parameter H1.

[0043] In this embodiment, the first preset height parameter H1 is equal to 54mm. For example, when the height parameter H is greater than or equal to 54mm (e.g., 54mm-65mm), it corresponds to the scenario of grabbing a tall executive; when the height parameter H is less than 54mm (e.g., 42mm-53mm), it corresponds to the scenario of grabbing a short pipe.

[0044] like Figure 2 As shown, the obtained height parameter H is compared with the first preset height parameter H1. If the height parameter H is greater than or equal to the first preset height parameter H1, the step S200 of calling the gripper 10 to grasp the storage tube 30 at the first grasping height includes:

[0045] S210. The obtained height parameter H is compared with the first preset height parameter H1 and the second preset height parameter H2, wherein the first preset height parameter H1 is less than the second preset height parameter H2.

[0046] S220. If the height parameter H is greater than or equal to the first preset height parameter H1 and less than the second preset height parameter H2, then the gripper 10 is invoked to grip the storage tube 30 at the first gripping height.

[0047] S230. If the height parameter H is greater than or equal to the second preset height parameter H2, then the gripper 10 is called to grip the storage tube 30 at the third gripping height, where the third gripping height is the reference plane height H0 plus the third preset value D3.

[0048] In some embodiments, the reference plane height H0 is the height of the upper surface of the storage rack 20.

[0049] By refining step S200, the obtained height parameter H is compared with the first preset height parameter H1 and the second preset height parameter H2, which can further improve the applicability of the gripper 10 to storage tubes 30 of different heights, thereby further improving the gripping accuracy.

[0050] Specifically, by introducing a second preset height parameter H2, the storage tube 30 that is greater than or equal to the first preset height parameter H1 is further divided into two cases: ① greater than or equal to the second preset height parameter H2; ② greater than or equal to the first preset height parameter H1 and less than the second preset height parameter H2.

[0051] In this embodiment, the second preset height parameter H2 is equal to 66mm. For example, ① greater than or equal to 66mm (e.g., 66mm-68mm, 69mm-97mm, 98mm-108mm); ② greater than or equal to 54mm and less than 66mm (e.g., 54mm-65mm).

[0052] By adjusting the third preset value D3, the gripper 10 can grip the cap of the storage tube 30, or grip the middle of the storage tube 30 as much as possible according to the different heights of the storage tube 30.

[0053] The steps of determining the gripping position of the gripper 10 based on the first gripping height and the gripping position of the gripper 10 based on the second gripping height include:

[0054] S310, Set the height of the upper surface of the storage rack 20 to the reference plane height H0;

[0055] S320. If the first gripping height is higher than the reference plane height H0, then the first gripping height is set to the height of the gripping position of the gripper 10. If the first gripping height is lower than the reference plane height H0, then the reference plane height H0 is added to the fourth preset value D4 and set as the height of the gripping position of the gripper 10.

[0056] S330. If the second gripping height is higher than the reference plane height H0, then the second gripping height is set to the height of the gripping position of the gripper 10. If the second gripping height is lower than the reference plane height H0, then the reference plane height H0 plus the fourth preset value D4 is set to the height of the gripping position of the gripper 10.

[0057] Specifically, the height of the upper surface of the storage rack 20 is set as the reference plane height H0. When the first gripping height or the second gripping height is higher than the reference plane height H0, it is directly set as the height of the gripping position of the gripper 10. When the first gripping height is lower than the reference plane height H0, the reference plane height H0 is added to the fourth preset value D4 and set as the height of the gripping position of the gripper 10. When the second gripping height is lower than the reference plane height H0, the reference plane height H0 is added to the fourth preset value D4 and set as the height of the gripping position of the gripper 10. This ensures that the gripping position of the gripper 10 is always above the upper surface of the storage rack 20, which facilitates the gripper 10 to perform gripping actions and avoids interference with the gripping actions of the gripper 10.

[0058] Specifically, in this embodiment, the reference plane height H0 = 41 mm;

[0059] Specifically, the first preset value D1 is greater than or equal to 1 / 11 of the first preset height parameter H1, that is, in this embodiment, the first preset value D1 is greater than or equal to 5mm, preferably the first preset value D1=5mm;

[0060] Specifically, the second preset value D2 is less than the first preset value D1. In this embodiment, the second preset value D2 is preferably 3mm.

[0061] Specifically, the third preset value D3 is greater than 0 and less than or equal to 25mm. For example, when the height parameter H is between 66mm and 68mm, if the gripper 10 is to grip the cap of the storage tube 30, the third preset value D3 is preferably 21mm; when the height parameter H is between 69mm and 97mm, if the gripper 10 is to grip the middle of the storage tube 30, the third preset value D3 is preferably 2mm; when the height parameter H is between 98mm and 108mm, if the gripper 10 is to grip the middle of the storage tube 30, the third preset value D3 is preferably 12mm.

[0062] Specifically, the fourth preset value D4 is greater than 0 and less than or equal to 1 / 4 of (the first preset height parameter H1 - the reference surface height H0), ensuring that the gripper's gripping surface contacts the storage tube more often, thus ensuring that the gripper grips the storage tube more stably.

[0063] In this embodiment, after the step of moving the gripper 10 above a storage slot 21 in the storage rack 20, the control method for gripping the storage tube further includes:

[0064] Determine whether a storage tube 30 exists on a storage slot 21 in the storage rack 20. When the gripper 10 is above a storage slot 21 in the storage rack 20, determining whether a storage tube 30 exists on the storage rack 20 can prevent the gripper 10 from missing its target.

[0065] like Figure 3 As shown, the steps for determining whether a storage tube 30 exists on storage slot 21 in storage rack 20 include:

[0066] S1111. During the descent of the gripper 10, obtain the current light intensity value at the bottom of the gripper 10;

[0067] S1112. Determine whether the difference between the current light intensity value and the clean light intensity value is greater than or equal to the light intensity threshold.

[0068] S1113. If the difference between the current light intensity value and the clean light intensity value is greater than or equal to the light intensity threshold, it is determined that there is a storage tube 30 on the storage position 21 in the storage rack 20, the gripper 10 stops moving and executes the step of obtaining the height parameter of the storage tube 30 on the storage position 21.

[0069] S1114. If the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, the gripper 10 continues to descend until the gripper 10 moves to a distance of a preset distance from the upper surface of the storage rack 20, at which point the gripper 10 stops descending.

[0070] Specifically, during the descent of the gripper 10, a fiber optic sensor 11 located at the bottom of the gripper 10 is used for detection. The detected value is filtered by software to obtain the current light intensity value that changes over time. An appropriate light intensity threshold is set to meet the judgment of storage tubes 30 with different transparency. Before the gripper 10 moves to a distance from the upper surface of the storage rack 20 that reaches a preset distance, if the difference between the current light intensity value and the clean light intensity value is greater than or equal to the light intensity threshold, it is determined that there is a storage tube 30 in the storage position 21 of the storage rack 20. If the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, it is not yet detected that there is a storage tube 30 in the storage position 21 of the storage rack 20.

[0071] The step of determining whether a storage tube 30 exists in storage position 21 of storage rack 20 further includes: before the gripper 10 descends, collecting multiple light intensity values ​​at preset time intervals, calculating the average value of the multiple light intensity values, and using the average value as the clean light intensity value to improve the accuracy of the determination.

[0072] In some embodiments, the step of determining whether a storage tube 30 exists on a storage location 21 in a storage rack 20 further includes:

[0073] S1211. Before the gripper 10 descends, collect multiple light intensity values ​​at preset time intervals and store the multiple light intensity values ​​in an array;

[0074] S1212. During the descent of the gripper 10, the light intensity value at the bottom of the gripper 10 is continuously acquired at preset time intervals, the acquired light intensity value is stored in an array, and the latest light intensity value is used as the current light intensity value.

[0075] S1213. Execute the judgment step: Take multiple light intensity values ​​in the first time period corresponding to the first time interval before the current time, and calculate the average value of multiple light intensity values ​​in the first time period as the clean light intensity value. Determine whether the difference between the current light intensity value and the clean light intensity value is greater than or equal to the light intensity threshold.

[0076] S1214. If the difference between at least two consecutive current light intensity values ​​and clean light intensity values ​​is greater than or equal to the light intensity threshold, it is determined that there is a storage tube 30 on the storage position 21 in the storage rack 20.

[0077] Specifically, before the gripper 10 descends, the fiber optic sensor 11 located at the bottom of the gripper 10 detects light intensity values ​​at preset time intervals, storing multiple light intensity values ​​in an array. During the descent of the gripper 10, light intensity values ​​are continuously acquired and stored in the array to update it in real time. When performing the judgment step, multiple light intensity values ​​within the first time period corresponding to the first time interval preceding the current time are retrieved, and the average of these values ​​within the first time period is calculated as the clean light intensity value. The difference between the current light intensity value and the clean light intensity value is then checked against a light intensity threshold to determine the presence of the storage tube 30, thus improving the accuracy of the judgment.

[0078] Furthermore, if the difference between at least two consecutive current light intensity values ​​and clean light intensity values ​​is greater than or equal to the light intensity threshold, it is determined that there is a storage tube 30 on the storage position 21 in the storage rack 20, which can avoid errors caused by false detection.

[0079] The setting of the first time interval needs to be determined by comprehensively considering the distance and speed of the gripper 10's descent. The first time interval is less than the time required for the gripper 10 to descend from its initial height to near the storage tube 30.

[0080] In this embodiment, the first time interval is 50ms, and the corresponding first period is a series of consecutive 1ms.

[0081] In some embodiments, the average of all light intensity values ​​up to 50ms prior to the current time can be used as the clean light intensity value.

[0082] Wherein, if the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, the gripper 10 continues to descend until the gripper 10 moves to a distance of a preset distance from the upper surface of the storage rack 20, and the gripper 10 stops descending, step S1114 includes:

[0083] S11141. If the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, then the gripper 10 will continue to decrease.

[0084] S11142. If the gripper 10 moves to a distance of a preset distance from the upper surface of the storage rack 20, the step of determining whether there is a storage tube 30 on the storage position 21 in the storage rack 20 is executed again a preset number of times.

[0085] S11143. If, after repeating the preset number of times, no storage tube 30 is detected on storage position 21 in storage rack 20, then gripper 10 stops descending.

[0086] By repeating the test a preset number of times, detection accuracy can be improved, and errors caused by false detections can be avoided.

[0087] Before determining whether a storage tube 30 exists on the storage rack 20, the control method for grabbing the storage tube further includes: obtaining the light intensity reference value of a clean storage tube 30; subtracting the light intensity redundancy value from the light intensity reference value to obtain the light intensity threshold.

[0088] It should be noted that the light intensity redundancy value refers to the difference between the light transmittance of the storage tube 30 in actual use and the light transmittance of a clean storage tube 30. Considering that the storage tube 30 is affected by daily use in actual use, such as scratches or stains, which affect the light transmittance of the storage tube 30, in order to avoid missing the relatively clean storage tube 30 during testing, the light intensity threshold is obtained by subtracting the preset light intensity redundancy value from the light intensity reference value, which can improve the accuracy of the light intensity threshold.

[0089] Among them, the storage tube 30 is selected from storage tubes with high transparency and low detection difficulty on the market, such as glass blood collection tubes, so as to improve the applicability of the light intensity threshold to the high transparency storage tube 30.

[0090] In this embodiment, after the step of calling the gripper 10 to grab the storage tube 30 from the storage rack 20, the control method for grabbing the storage tube further includes:

[0091] The storage tube 30 is placed on the transfer seat 40 using the gripper 10, and the storage tube 30 is clamped using the clamping member 41 of the transfer seat 40.

[0092] The storage tube 30 is clamped by the clamping member 41 on the transmission seat 40 to prevent the storage tube 30 from shaking on the transmission seat 40.

[0093] In this embodiment, the steps of placing the storage tube 30 onto the transfer seat 40 using the gripper 10 and clamping the storage tube 30 using the clamping member 41 of the transfer seat 40 include:

[0094] S410, Use the gripper 10 to place the storage tube 30 onto the transmission base 40;

[0095] S420, the gripper of the gripper 10 is opened from the clamping width of the storage tube 30 to the circumferential width surrounding the storage tube 30.

[0096] S430, the storage tube 30 is clamped by the clamping member 41 of the transfer seat 40;

[0097] S440, Open the gripper 10 from the surrounding width to the maximum opening width;

[0098] S450, Raise the gripper 10 to a separation height above the upper end face of the storage tube 30.

[0099] Using the clamping steps described above, the gripper 10's jaws are opened from the clamping width of the storage tube 30 to the circumferential width surrounding the storage tube 30. This ensures that the jaws release the storage tube while simultaneously providing support and stability around it. Then, the clamping member 41 of the transfer seat 40 clamps the storage tube 30, opening the gripper 10's jaws from the circumferential width to its maximum opening width and raising them to a separation height above the upper end face of the storage tube 30. This completes the clamping of the storage tube 30 by the clamping member 41 and separates the jaws from the storage tube 30. Therefore, during the process of transferring the storage tube 30 to the transfer seat 40 using the gripper 10, the storage tube remains centered, ensuring the normal operation of subsequent operations on the storage tube 30.

[0100] Furthermore, to prevent adhesion between the outer wall of the storage tube 30 and the clamping jaws, the above clamping steps can reduce the tilting of the storage tube 30 to a certain extent, and use the clamping member 41 to clamp the storage tube 30, preventing the gripper 10 from sticking and taking the storage tube 30 away. In addition, it prevents the clamping jaws and the clamping member 41 from clamping the storage tube 30 at the same time, and avoids mutual interference between the clamping jaws and the clamping member.

[0101] In this embodiment, after the steps of placing the storage tube 30 onto the transfer seat 40 using the gripper 10 and clamping the storage tube 30 using the clamping member 41 of the transfer seat 40, the control method for gripping the storage tube further includes:

[0102] S510, Move the gripper 10 to a preset gripping height located on the outer periphery of the storage tube 30;

[0103] S520, retract the gripper of the gripper 10 from its maximum opening width to its wraparound width;

[0104] S530, the clamping member 41 of the transmission seat 40 releases the storage tube 30;

[0105] S540, retract the gripper of the gripper 10 from the surrounding width to the clamping width;

[0106] S550, use gripper 10 to move storage tube 30 off transmission base 40.

[0107] When the transfer seat 40 returns the storage tube 30, the clamping steps described above are used. The gripper 10 is moved to a preset gripping height located on the outer periphery of the storage tube 30, and the gripper jaws retract from their maximum opening width to their surrounding width. This ensures that the gripper jaws surround the outer periphery of the storage tube 30, providing support and stability and reducing tilting of the storage tube 30. Then, the clamping member 41 of the transfer seat 40 is used to release the storage tube 30, and the gripper jaws of the gripper 10 retract from their surrounding width to their clamping width. The gripper 10 is then used to remove the storage tube 30 from the transfer seat 40, completing the clamping of the storage tube 30 by the gripper jaws and separating the clamping member 41 from the storage tube 30. Therefore, when the transfer seat 40 returns the storage tube 30, the storage tube remains centered, ensuring that subsequent operations on the storage tube 30 proceed normally.

[0108] Furthermore, to prevent adhesion between the outer wall of the storage tube 30 and the clamping member 41, the above clamping steps can reduce the tilting of the storage tube 30 to a certain extent, and prevent the jaws and clamping member 41 from clamping the storage tube 30 at the same time, thus avoiding mutual interference between the jaws and clamping member.

[0109] In this embodiment, in step S510, where the gripper 10 is moved to a preset gripping height located on the outer periphery of the storage tube 30:

[0110] The preset gripping height is set to the height of the gripper 10 during the step of placing the storage tube 30 onto the transfer seat 40 using the gripper 10; or...

[0111] Move the gripper 10 above the transmission base 40, obtain the height parameter of the storage tube 30 on the transmission base 40, compare the obtained height parameter with the first preset height parameter and / or the second preset height parameter, and determine the preset gripping height accordingly.

[0112] Therefore, the gripping positions of storage tubes 30 at different heights are continued in step S300, or different gripping positions of gripper 10 are selected by comparing the height parameter with the first preset height and / or the second preset height parameter, thereby selecting different gripping positions for storage tubes 30 at different heights, improving the gripping stability of gripper 10 on storage tubes 30, and thus improving the applicability of gripper 10 to storage tubes 30 at different heights.

[0113] like Figure 4 As shown, prior to the step of moving the gripper 10 above a storage slot 21 in the storage rack 20, the control method for gripping the storage tube further includes:

[0114] S010, Move the gripper 10 to the target area and determine the type of the target area;

[0115] S020. If the target area is determined to be the quality control warehouse area, the opening range of the gripper 10 is controlled to be the first opening range.

[0116] S030. If the target area is determined to be a sample compartment area or an open area, the opening range of the gripper 10 is controlled to be the second opening range, which is greater than the first opening range.

[0117] Due to limited space, the quality control chamber is designed to be compact. To avoid interference between the gripper and the chamber wall when the gripper enters the chamber, the pipe-taking coordinates of the gripper 10 are analyzed. If the pipe-taking coordinates are located in the quality control chamber, the opening range of the gripper 10 is set to the first opening range to reduce the size of the gripper and avoid interference between the gripper and the chamber wall.

[0118] In this embodiment, after step S100, where the gripper 10 is moved above a storage slot 21 in the storage rack 20, the control method for gripping the storage tube further includes:

[0119] Determine whether the storage tube 30 on the storage rack 20 has a tube cap.

[0120] Specifically, by determining whether the storage tube 30 on the storage rack 20 has a cap, if the storage tube 30 has a cap, the subsequent capping operation is performed on the storage tube 30; if the storage tube 30 does not have a cap, the subsequent capping operation is not performed on the storage tube 30, thus simplifying the operation process and improving efficiency.

[0121] like Figures 8 to 10 As shown, another embodiment of the present invention provides a test analyte loading device. The test analyte loading device is applied to a sample analyzer. The storage tube control method provided in this embodiment can be implemented using the test analyte loading device. The test analyte loading device includes a gripper 10, a storage rack 20 for placing the storage tube 30, and a transfer seat 40. The gripper 10 can transfer the storage tube 30 placed on the storage rack 20 to the transfer seat 40, and the transfer seat 40 carries and transfers the storage tube 30 to a designated position. In addition, the gripper 10 can also transfer the storage tube 30 placed on the transfer seat 40 to the storage rack 20.

[0122] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0123] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0124] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0125] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0126] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0127] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for grasping a storage tube, characterized in that, The control method for the grabbing storage tube includes: Move the gripper (10) above a storage slot (21) in the storage rack (20) and obtain the height parameter of the storage tube (30) on the storage slot (21); The obtained height parameter is compared with the first preset height parameter. If the height parameter is greater than or equal to the first preset height parameter, the gripper (10) is called to grab the storage tube (30) at the first grabbing height. If the height parameter is less than the first preset height parameter, the gripper (10) is called to grab the storage tube (30) at the second grabbing height. Call the gripper (10) to grab the storage tube (30) from the storage rack (20): subtract a first preset value from the height parameter to obtain the first grabbing height, determine the grabbing position of the gripper (10) according to the first grabbing height, and use the gripper (10) to grab the storage tube (30) from the storage rack (20); or, subtract a second preset value from the height parameter to obtain the second grabbing height, determine the grabbing position of the gripper (10) according to the second grabbing height, and use the gripper (10) to grab the storage tube (30) from the storage rack (20), wherein the first preset value is greater than the second preset value; The steps of determining the gripping position of the gripper (10) based on the first gripping height and the gripping position of the gripper (10) based on the second gripping height include: The height of the upper surface of the storage rack (20) is set as the reference plane height; If the first gripping height is higher than the reference plane height, the first gripping height is set to the gripping position height of the gripper (10). If the first gripping height is lower than the reference plane height, the reference plane height plus a fourth preset value is set to the gripping position height of the gripper (10). If the second gripping height is higher than the reference plane height, the second gripping height is set to the gripping position height of the gripper (10). If the second gripping height is lower than the reference plane height, the reference plane height plus a fourth preset value is set to the gripping position height of the gripper (10).

2. The control method for grasping the storage tube according to claim 1, characterized in that, The step of comparing the obtained height parameter with the first preset height parameter, and if the height parameter is greater than or equal to the first preset height parameter, then calling the gripper (10) to grip the storage tube (30) at the first gripping height includes: The obtained height parameter is compared with the first preset height parameter and the second preset height parameter, wherein the first preset height parameter is less than the second preset height parameter; If the height parameter is greater than or equal to the first preset height parameter and less than the second preset height parameter, then the gripper (10) is invoked to grip the storage tube (30) at the first gripping height. If the height parameter is greater than or equal to the second preset height parameter, the gripper (10) is invoked to grip the storage tube (30) at the third gripping height, wherein the third gripping height is the reference plane height plus the third preset value.

3. The control method for grasping the storage tube according to claim 1 or 2, characterized in that, After the step of moving the gripper (10) above one of the storage slots (21) in the storage rack (20), the control method for gripping the storage tube further includes: Determine whether the storage tube (30) exists on the storage position (21) in the storage rack (20).

4. The control method for grasping the storage tube according to claim 3, characterized in that, The step of determining whether the storage tube (30) exists in the storage slot (21) of the storage rack (20) includes: During the descent of the gripper (10), the current light intensity value at the bottom of the gripper (10) is obtained; Determine whether the difference between the current light intensity value and the clean light intensity value is greater than or equal to the light intensity threshold; If the difference between the current light intensity value and the clean light intensity value is greater than or equal to the light intensity threshold, it is determined that the storage tube (30) exists on the storage position (21) in the storage rack (20), and the gripper (10) stops moving and performs the step of obtaining the height parameter of the storage tube (30) on the storage position (21); If the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, the gripper (10) continues to descend until the gripper (10) moves to a distance of a preset distance from the upper surface of the storage rack (20), at which point the gripper (10) stops descending.

5. The control method for grasping the storage tube according to claim 4, characterized in that, The step of determining whether the storage tube (30) exists in the storage slot (21) of the storage rack (20) further includes: Before the gripper (10) descends, multiple light intensity values ​​are collected at preset time intervals, the average value of the multiple light intensity values ​​is calculated, and the average value is used as the clean light intensity value.

6. The control method for grasping the storage tube according to claim 4, characterized in that, The step of determining whether the storage tube (30) exists in the storage slot (21) of the storage rack (20) further includes: Before the gripper (10) descends, multiple light intensity values ​​are collected at preset time intervals and stored in an array; During the descent of the gripper (10), the light intensity value at the bottom of the gripper (10) is continuously acquired at the preset time interval, the acquired light intensity value is stored in the array, and the latest light intensity value is used as the current light intensity value. Execution judgment steps: Take multiple light intensity values ​​within the first time period corresponding to the first time interval before the current time, and calculate the average value of multiple light intensity values ​​within the first time period as the clean light intensity value, and determine whether the difference between the current light intensity value and the clean light intensity value is greater than or equal to the light intensity threshold. If the difference between at least two consecutive current light intensity values ​​and the clean light intensity value is greater than or equal to the light intensity threshold, then it is determined that the storage tube (30) exists on the storage position (21) in the storage rack (20).

7. The control method for grasping the storage tube according to claim 4, characterized in that, If the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, the gripper (10) continues to descend until the gripper (10) moves to a distance from the upper surface of the storage rack (20) that reaches the preset distance, and the step of stopping the gripper (10) from descending includes: If the difference between the current light intensity value and the clean light intensity value is less than the light intensity threshold, the gripper (10) continues to descend; If the gripper (10) moves to a distance of the upper surface of the storage rack (20) that reaches the preset distance, then the step of determining whether the storage tube (30) exists in the storage position (21) of the storage rack (20) is repeated a preset number of times. If, after repeating the preset number of times, the storage tube (30) is still not detected on the storage position (21) in the storage rack (20), the gripper (10) stops descending.

8. The control method for grasping the storage tube according to claim 1 or 2, characterized in that, After the step of invoking the gripper (10) to grab the storage tube (30) from the storage rack (20), the control method for grabbing the storage tube further includes: The storage tube (30) is placed on the transfer seat (40) using the gripper (10), and the storage tube (30) is clamped by the clamping member (41) of the transfer seat (40).

9. The control method for grasping the storage tube according to claim 8, characterized in that, The steps of placing the storage tube (30) onto the transfer seat (40) using the gripper (10) and clamping the storage tube (30) using the clamping member (41) of the transfer seat (40) include: The storage tube (30) is placed onto the transmission seat (40) using the gripper (10); The gripper (10) is opened from the clamping width of the storage tube (30) to the circumferential width surrounding the outer periphery of the storage tube (30); The storage tube (30) is clamped by the clamping member (41) of the transmission seat (40). The gripper (10) is opened from the surrounding width to the maximum opening width; Raise the gripper (10) to a separation height above the upper end face of the storage tube (30).

10. The control method for grasping the storage tube according to claim 8, characterized in that, After the steps of placing the storage tube (30) onto the transfer seat (40) using the gripper (10) and clamping the storage tube (30) using the clamping member (41) of the transfer seat (40), the control method for gripping the storage tube further includes: Move the gripper (10) to a preset gripping height located on the outer periphery of the storage tube (30); The gripper (10) is contracted from its maximum opening width to its circumferential width; The clamping member (41) of the transmission seat (40) releases the storage tube (30). The gripper (10) is contracted from the surrounding width to the clamping width; The storage tube (30) is removed from the transmission seat (40) using the gripper (10).

11. The control method for grasping the storage tube according to claim 1 or 2, characterized in that, Prior to the step of moving the gripper (10) above one of the storage slots (21) in the storage rack (20), the control method for gripping the storage tube further includes: Move the gripper (10) to the target area and determine the type of the target area; If the target area is determined to be the quality control warehouse area, the opening range of the gripper (10) is controlled to be the first opening range; If the target area is determined to be a sample compartment area or an open area, the opening range of the gripper (10) is controlled to be a second opening range, which is greater than the first opening range.

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