A sample transfer system and clamping device

Abstract

This application provides a sample transfer system and clamping device, belonging to the field of medical device technology. The sample transfer system includes a transfer device, a clamping device, a pipetting device, and a controller; the transfer device has a liquid aspiration position; the clamping device is disposed at the liquid aspiration position, and the clamping device has at least one first clamping position, and the clamping device has a clamping state and an unfolded state; in the clamping state, the clamping device provides a supporting force to the sample module away from the transfer device in a first direction, lifting the sample module away from the transfer device in the first direction and clamping and fixing the sample module; in the unfolded state, the sample module falls back onto the transfer device under its own gravity. The sample transfer system provided by this application, by using the clamping device to lift the sample module off the transfer device, ensures that the liquid level in the sample tube in the sample module is always in a stable state, thereby ensuring the accuracy and stability of pipetting and improving pipetting efficiency.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a sample transfer system and clamping device. Background Technology

[0002] In the production line, the sample module is usually transported to the preset aspiration position via a transfer track, and the sample is aspirated from the sample module at the aspiration position by a pipette arm, and then the sample analyzer completes the detection.

[0003] However, to ensure the stability of the liquid level in the sample module during aspiration, existing technologies typically pause the operation of the transport track after the sample module reaches the aspiration position. While this method maintains a stable liquid level, it prevents continuous transfer of the sample module, limiting the real-time performance and overall efficiency of the assembly line operation. Summary of the Invention

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a sample transfer system and clamping device.

[0005] This application provides the following technical solution: a sample transmission system, comprising: A conveying device for transporting a sample module, the conveying device having a liquid aspiration position; A clamping device is provided at the liquid suction position, the clamping device has at least one first clamping position, and the clamping device has a clamping state and an unfolded state; In the clamping state, the clamping device provides a supporting force to the sample module in a first direction away from the conveying device, lifting the sample module away from the conveying device in the first direction and clamping and fixing the sample module. In the unfolded state, the sample module falls back onto the conveying device under its own gravity; A pipetting device, wherein the pipetting device is provided with at least one pipetting part for performing pipetting operations; The controller is communicatively connected to at least the clamping device and the pipetting device; When the transmission device is in operation while transmitting the sample module, the controller performs the following operations: When the sample module requiring pipetting is located at the aspiration position, the controller controls the clamping device to switch from the unfolded state to the clamping state, and controls the pipetting device to perform a pipetting operation; After the pipetting operation is completed, the controller controls the clamping device to switch from the clamping state to the unfolding state.

[0006] In some embodiments, the sample module includes a carrier and a sample tube, the carrier being used to carry the sample tube; The clamping device includes a clamping drive motor, a transmission assembly, a first clamping assembly, and a lifting assembly; The transmission assembly is driven to the output end of the clamping drive motor, the first clamping assembly and the lifting assembly are respectively driven to the transmission assembly, and the lifting assembly and the first clamping assembly are spaced apart along the first direction; In the clamping state, the lifting component at least partially abuts against the carrier and lifts the carrier away from the conveying device, while the first clamping component clamps and fixes the sample tube. In the deployed state, the lifting assembly moves away from the carrier, the first clamping assembly releases the sample tube, and the carrier falls back to the conveying device under its own gravity.

[0007] In some embodiments, the clamping device further includes a frame, a first mounting bracket, and a second mounting bracket; The first mounting bracket and the second mounting bracket are respectively connected to the transmission assembly, the first mounting bracket and the second mounting bracket are arranged opposite to each other, and are respectively slidably connected to the frame body; The lifting assembly and the first clamping assembly are both disposed on the first mounting frame and the second mounting frame, and are located between the first mounting frame and the second mounting frame; In the clamping state, the first mounting bracket and the second mounting bracket are close to each other; In the unfolded state, the first mounting bracket and the second mounting bracket are far apart from each other.

[0008] In some embodiments, the lifting assembly includes a first lifting member and a second lifting member. The first lifting member is disposed on the side of the first mounting bracket facing the second mounting bracket, and the second lifting member is disposed on the side of the second mounting bracket facing the first mounting bracket. The first lifting member and the second lifting member are disposed correspondingly along a second direction, and the first direction is perpendicular to the second direction. The first lifting member is located at one end of the first mounting frame near the conveying device, and the second lifting member is located at one end of the second mounting frame near the conveying device; In the clamping state, the first lifting member and the second lifting member approach each other and abut against the edge of the carrier on the side near the conveying device, and lift the carrier away from the conveying device along the first direction; In the deployed state, the first lifting member and the second lifting member move away from each other, and the carrier is returned to the conveying device.

[0009] In some embodiments, the clamping device further includes a second clamping assembly disposed on the first mounting bracket and the second mounting bracket, and located between the first mounting bracket and the second mounting bracket, the second clamping assembly being adjacent to the lifting assembly; In the clamping state, the second clamping assembly secures the carrier; in the unfolding state, the second clamping assembly releases the carrier.

[0010] In some embodiments, the first clamping assembly includes a first clamping member and a second clamping member, the first clamping member being disposed on the side of the first mounting bracket facing the second mounting bracket, the second clamping member being disposed on the side of the second mounting bracket facing the first mounting bracket, the first clamping member being located at the end of the first mounting bracket away from the conveying device, and the second clamping member being located at the end of the second mounting bracket away from the conveying device. At least one first clamping position is defined between the first clamping member and the second clamping member; In the clamping state, the first clamping member and the second clamping member are close to each other and fix the sample tube in the first clamping position; In the unfolded state, the first clamp and the second clamp move away from each other and release the sample tube from the first clamping position.

[0011] In some embodiments, the sample module includes a first sample module, the conveying device includes a first conveying device for conveying the first sample module, the liquid aspiration position is located on the first conveying device, and at least one clamping device is disposed on the first conveying device. The sample module further includes a second sample module, and the transmission device further includes a second transmission device, which is spaced apart from the first transmission device; The second conveying device is used to transport the second sample module, and the liquid dispensing position is located on the second conveying device, which is close to the liquid aspiration position.

[0012] In some embodiments, the second conveying device is provided with at least one of the clamping devices, which are disposed at the liquid discharge position.

[0013] In some embodiments, the first conveying device includes a first conveying section, the liquid suction position is located on the first conveying section, the second conveying device includes a second conveying section, the liquid discharge position is located on the second conveying section, and the first conveying section is parallel to the second conveying section.

[0014] In some embodiments, the clamping device has at least two of the first clamping positions; The pipetting device includes a moving drive mechanism and a pipetting mechanism connected to each other. The pipetting mechanism is provided with at least two pipetting parts, and the distance between two adjacent pipetting parts is equal to the distance between two adjacent first clamping positions. The pipetting operation includes aspiration and dispensing operations, and the conveying device has a dispensing position close to the aspiration position; Before the pipetting unit performs the aspiration operation, the controller controls the moving drive mechanism to move the pipetting mechanism to the aspiration position; after the aspiration operation is completed, the controller controls the moving drive mechanism to move the pipetting mechanism to the dispensing position. When the sample module is in the aspiration position, the controller is also used to control the pipetting unit to perform the aspiration operation; when the sample module is in the dispensing position, the controller is also used to control the pipetting unit to perform the dispensing operation.

[0015] In some embodiments, when the clamping device has two first clamping positions and the pipetting mechanism has two pipetting parts, the distance between the two pipetting parts is equal to the distance between the two first clamping positions; When the two first sample modules that need to be aspirated are in the aspiration position, the controller is also used to control the clamping device on the first conveying device to clamp the two first sample modules at the same time, and the two first sample modules respectively carry different samples; The controller is also used to control a plurality of second sample modules to alternately enter the second conveying device, wherein a portion of the plurality of second sample modules corresponds to one of the two first sample modules located at the liquid aspiration position, and another portion of the plurality of second sample modules corresponds to the other of the two first sample modules located at the liquid aspiration position; The controller is also used to control the pipette to move to the aspiration position and simultaneously perform the aspiration operation on the samples in the two first sample modules. After the aspiration operation is completed, the controller controls the pipette to move to the dispensing position and controls the pipette to dispense the two aspirated samples into the corresponding second sample modules.

[0016] In some embodiments, the conveying device includes a first conveying device, the first conveying device having a first stop member located downstream of the clamping device along the conveying direction of the first conveying device; Before the clamping device switches from the unfolded state to the clamping state, the controller is also used to control the first stop to block the sample module; after the pipetting operation is completed, the controller is also used to control the first stop to release the sample module.

[0017] In some embodiments, the first conveying device is provided with a limit recognition device, which is located on the side of the clamping device away from the first stop, and the first stop and the limit recognition device are spaced apart to form a buffer area; The limit recognition device includes a second stop and a recognition component; Before the identification device identifies the sample module, the controller controls the second stop to block the sample module; after the identification device identifies the sample module, the controller controls the second stop to release the sample module and triggers a timer. When the sample module requires pipetting, the controller is also configured to control the first stop to block the sample module; when the sample module does not require pipetting, the controller is also configured to control the first stop to release the sample module.

[0018] In some embodiments, when the clamping device has at least two first clamping positions, the controller is further configured to: after the identification of the identification component is completed, within a first preset time period, and each of the first clamping positions corresponds to one of the sample modules respectively, control the clamping device to switch to the clamping state, and clamp at least two of the sample modules simultaneously; if the first preset time period is exceeded, and at least one of the first clamping positions does not correspond to the sample module, control the clamping device to switch to the clamping state.

[0019] In some embodiments, when the number of sample modules in the buffer is equal to a preset number, the controller is further configured to control the second stop to block the sample modules; when the number of sample modules in the buffer is less than the preset number, the controller is further configured to control the second stop to release the sample modules.

[0020] Secondly, this application provides a clamping device applied to the sample transfer system, wherein the sample module includes a carrier and a sample tube, the carrier is used to carry the sample tube, and the clamping device includes a clamping drive motor, a transmission component, a first clamping component and a lifting component, and the clamping device has a clamping state and an unfolding state. The transmission assembly is driven to the output end of the clamping drive motor, the first clamping assembly and the lifting assembly are respectively driven to the transmission assembly, and the lifting assembly and the first clamping assembly are spaced apart along the first direction; In the clamping state, the lifting component at least partially abuts against the carrier and lifts the carrier away from the conveying device, while the first clamping component clamps and fixes the sample tube. In the deployed state, the lifting assembly moves away from the carrier, and the carrier falls back to the conveying device under its own gravity, at which point the first clamping assembly releases the sample tube.

[0021] In some embodiments, the clamping device includes a frame, a first mounting bracket, and a second mounting bracket; The first mounting bracket and the second mounting bracket are respectively connected to the transmission assembly, the first mounting bracket and the second mounting bracket are arranged opposite to each other, and are respectively slidably connected to the frame body; The lifting assembly and the first clamping assembly are both disposed on the first mounting frame and the second mounting frame, and are located between the first mounting frame and the second mounting frame; In the clamping state, the first mounting bracket and the second mounting bracket are close to each other; In the unfolded state, the first mounting bracket and the second mounting bracket are far apart from each other.

[0022] In some embodiments, the lifting assembly includes a first lifting member and a second lifting member, the first lifting member being disposed on the side of the first mounting bracket facing the second mounting bracket, the second lifting member being disposed on the side of the second mounting bracket facing the first mounting bracket, and the first lifting member being directly opposite the second lifting member; The first lifting member is located at one end of the first mounting frame near the conveying device, and the second lifting member is located at one end of the second mounting frame near the conveying device; In the clamping state, the first lifting member and the second lifting member approach each other and abut against the edge of the carrier on the side near the conveying device, and lift the carrier away from the conveying device along the first direction; In the deployed state, the first lifting member and the second lifting member move away from each other, and the carrier is returned to the conveying device.

[0023] In some embodiments, the clamping device further includes a second clamping assembly disposed on the first mounting bracket and the second mounting bracket, and located on the side of the lifting assembly facing the first clamping assembly; In the clamping state, the second clamping assembly secures the carrier; In the deployed state, the second clamping assembly releases the carrier.

[0024] In some embodiments, the first clamping assembly includes a first clamping member and a second clamping member, the first clamping member being disposed on the side of the first mounting bracket facing the second mounting bracket, the second clamping member being disposed on the side of the second mounting bracket facing the first mounting bracket, the first clamping member being located at the end of the first mounting bracket away from the conveying device, and the second clamping member being located at the end of the second mounting bracket away from the conveying device. At least one first clamping position is defined between the first clamping member and the second clamping member; In the clamping state, the first clamping member and the second clamping member are close to each other and fix the sample tube in the first clamping position; In the unfolded state, the first clamp and the second clamp move away from each other and release the sample tube from the first clamping position.

[0025] In some embodiments, the first lifting member has a first lifting guide surface along a side close to the second lifting member, the first lifting guide surface facing the second clamping member; The second lifting member has a second lifting guide surface along the side close to the first lifting member, and the second lifting guide surface faces the first clamping member; When the clamping device switches from the unfolded state to the clamping state, the first lifting guide surface and the second lifting guide surface move closer to each other and respectively provide a guiding lifting effect on the carrier along the first direction, thereby lifting the carrier away from the conveying device.

[0026] In some embodiments, the second clamping component includes at least one second clamping position, and the second clamping position corresponds one-to-one with the first clamping position along the first direction; In the clamping state, the second clamping position secures the carrier; In the deployed state, the second clamping position releases the carrier.

[0027] In some embodiments, the second clamping assembly includes a first clamping portion, a second clamping portion, a third clamping portion, and a fourth clamping portion. The first clamping portion is disposed on one side of the first mounting bracket along a third direction, and the second clamping portion is disposed on the other side of the first mounting bracket along the third direction. The first clamping portion and the second clamping portion are respectively adjacent to the side of the first lifting member away from the conveying device, and the third direction is perpendicular to the first direction. The third clamping part is disposed on one side of the second mounting frame along the third direction, and the fourth clamping part is disposed on the other side of the second mounting frame along the third direction. The third clamping part and the fourth clamping part are respectively adjacent to the side of the second lifting member away from the conveying device. The first clamping part is directly opposite the third clamping part, and the second clamping part is directly opposite the fourth clamping part. The first clamping part, the second clamping part, the third clamping part, and the fourth clamping part together form a second clamping position.

[0028] In some embodiments, the first clamping part is provided with a first clamping surface on the side facing the fourth clamping part and the second clamping part is provided with a second clamping surface on the side facing the third clamping part and the fourth clamping part is provided with a second clamping surface on the side facing the second clamping part and the side facing the first clamping part. The two first clamping surfaces and the two second clamping surfaces together form the second clamping position.

[0029] In some embodiments, the second clamping assembly further includes at least one fifth clamping portion and at least one sixth clamping portion, the fifth clamping portion being disposed on the side of the first mounting bracket facing the second mounting bracket and located between the first clamping portion and the second clamping portion, the fifth clamping portion being adjacent to the side of the first lifting member away from the conveying device; The sixth clamping part is disposed on the side of the second mounting bracket facing the first mounting bracket and is located between the third clamping part and the fourth clamping part. The sixth clamping part is adjacent to the side of the second lifting member away from the conveying device, and the fifth clamping part is directly opposite the sixth clamping part. The first clamping part and the third clamping part respectively form a second clamping position by enclosing the fifth clamping part and the sixth clamping part; the second clamping part and the fourth clamping part respectively form a second clamping position by enclosing the fifth clamping part and the sixth clamping part.

[0030] In some embodiments, the transmission assembly includes a transmission member, a first support plate, and a second support plate, wherein the transmission member is connected to the output end of the clamping drive motor; The first support plate is connected to the side of the first mounting bracket facing the clamping drive motor. The first support plate is provided with a first guide hole. The end of the transmission component near the first mounting bracket is movably connected to the wall of the first guide hole. The second support plate is connected to the side of the second mounting bracket facing the clamping drive motor. The second support plate is provided with a second guide hole, and the end of the transmission component near the second mounting bracket is movably connected to the wall of the second guide hole.

[0031] In some embodiments, the transmission component includes a rotating rod, a first bearing, and a second bearing. The first bearing is disposed at one end of the rotating rod near the first mounting bracket, and the second bearing is disposed at one end of the rotating rod near the second mounting bracket. The first bearing is movably connected to the wall of the first guide hole, and the second bearing is movably connected to the wall of the second guide hole. The distance from the axis of the first bearing to the axis of the output end of the clamping drive motor is equal to the distance from the axis of the second bearing to the axis of the output end of the clamping drive motor.

[0032] The embodiments of this application have the following advantages: The sample transfer system provided by this application, by setting a clamping device on the transfer device, lifts and clamps the sample module on the transfer device before performing pipetting operations on the sample module, and lifts the sample module away from the transfer device. This not only ensures the stability of the sample module by clamping it, but also prevents friction between the transfer device and the sample module during continuous operation, effectively suppressing sample liquid surface sloshing in the sample module, thereby ensuring the stability of the sample module during pipetting and significantly improving the accuracy and stability of pipetting. Simultaneously, the continuous movement of the transfer device ensures the normal transfer of other sample modules or carriers, thereby further improving work efficiency.

[0033] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This invention provides a schematic diagram of the structure of a sample transfer system from one perspective, based on some embodiments of the present application. Figure 2 This illustration shows a schematic diagram of the structure of a clamping device provided by some embodiments of this application from one perspective; Figure 3 This invention provides a schematic diagram of the structure of a clamping device from another perspective, illustrating some embodiments thereof. Figure 4 This invention provides a schematic diagram of the structure of a first mounting bracket in a clamping device according to some embodiments of the present application, from one perspective. Figure 5 This illustration shows a structural schematic diagram from one perspective of a second mounting bracket in a clamping device provided by some embodiments of this application.

[0036] Explanation of key component symbols: 100 - Conveying device; 110 - First conveying device; 111 - First transmission segment; 112 - Buffer area; 120 - Second conveying device; 121 - Second transmission segment; 200 - Clamping device; 210 - First clamping position; 220 - Clamping drive motor; 230 - Transmission assembly; 231 - Transmission component; 2311 - Rotating rod; 2312 - First bearing; 2313 - Second bearing; 232 - First support plate; 2321 - First guide hole; 233 - Second support plate; 2331 - Second guide hole; 240-First clamping assembly; 241-First mounting bracket; 242-First clamping member; 2421-First slot; 243-Second mounting bracket; 244-Second clamping member; 2441-Second slot; 250-Lifting assembly; 251-First lifting member; 2511-First lifting guide surface; 252-Second lifting member; 2521-Second lifting guide surface; 260-Second clamping assembly; 261-First clamping part; 262-Second clamping part; 263-Third clamping part; 264-Fourth clamping part; 265-First clamping surface; 266-Second clamping surface; 270-Frame; 400-First stop member; 500-Limit recognition device; 510-Second stop member; 520-Identification member; 600-Fifth clamping part; 700-Sixth clamping part.

[0037] Z - First direction; X - Second direction; Y - Third direction. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0039] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0040] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0043] like Figure 1 As shown, this application provides a sample transfer system that can ensure the stability of the liquid level in the sample module during the liquid aspiration process while realizing continuous transfer of the sample module, thereby ensuring the real-time performance and overall efficiency of the assembly line operation.

[0044] The sample transfer system includes a transfer device 100, a clamping device 200, a pipetting device (not shown in the figure), and a controller (not shown in the figure).

[0045] In this embodiment, the conveying device 100 is used to convey a sample module, which includes a carrier and sample tubes, wherein the sample tubes are placed on the carrier. In other embodiments, the conveying device 100 is also used to convey an empty carrier, i.e., a carrier not carrying sample tubes. That is, the conveying device 100 can convey carriers containing sample tubes as well as carriers not containing sample tubes. The conveying device 100 has a liquid aspiration position.

[0046] The clamping device 200 is positioned at the liquid suction location. The clamping device 200 has at least one first clamping position 210 and can be in a clamping state and an unfolded state. It is understood that the number of first clamping positions 210 can be one, two, or more, and can be specifically set according to the actual situation.

[0047] In the clamping state, the clamping device 200 provides a supporting force to the sample module along the first direction Z, moving away from the conveying device 100. This lifts the sample module away from the conveying device 100 along the first direction Z and clamps and fixes the sample module. This not only ensures the stability of the sample module by clamping it, but also prevents friction between the conveying device 100 and the sample module during continuous operation, effectively suppressing sample liquid surface sloshing within the sample module. This ensures the stability of the sample module during pipetting, significantly improving the accuracy and stability of pipetting. Simultaneously, the continuous movement of the conveying device 100 ensures the normal transmission of other sample modules or carriers, further improving work efficiency.

[0048] In the unfolded state, the sample module falls back onto the conveying device 100 under its own gravity. It can be understood that after the pipetting operation is completed, the sample module is released by the clamping device 200, allowing it to fall back onto the conveying device 100 under its own gravity, and then the conveying device 100 transfers the pipetting-completed sample module to the next process step.

[0049] In this embodiment, the pipetting device is provided with at least one pipetting section, which is used to perform pipetting operations. It is understood that the number of pipetting sections can be one, two, or more, and can be specifically set according to the actual situation.

[0050] Understandably, once the sample module is fixed by the clamping device 200, it indicates that a pipetting operation can be performed. At this time, the sample module is in a stable state, and the sample liquid in the sample module fixed on the clamping device 200 is pipetted through the pipetting device to ensure the accuracy of the pipetting.

[0051] In this embodiment, the controller is communicatively connected to at least the clamping device 200 and the pipetting device.

[0052] When the sample transmission module is in operation, the controller of the transmission device 100 performs the following operations: When the sample module requiring pipetting is in the aspiration position, the controller controls the clamping device to switch from the unfolded state to the clamping state, and controls the pipetting device to perform the pipetting operation; After the pipetting operation is completed, the controller switches the clamping device from the clamping state to the unfolding state.

[0053] In other words, when the sample module requiring pipetting is moved to the aspiration position by the conveying device 100, the controller controls the clamping device 200 to switch from the unfolded state to the clamping state. This clamping device 200 provides a supporting force along the first direction Z away from the conveying device 100 to the sample module at the aspiration position, lifting the sample module away from the conveying device 100 along the first direction Z and clamping and fixing the sample module. When pipetting is needed, the controller controls the pipetting device to perform the pipetting operation, that is, to perform the pipetting operation through the pipetting section of the pipetting device. The pipetting operation refers to transferring the mother sample from the mother sample module to the sub-sample tube in the sub-sample module through the pipetting section. Through this method, not only can the stability of the sample module be ensured by clamping it, but also the friction between the conveying device 100 and the sample module during continuous operation can be prevented, effectively suppressing sample liquid surface sloshing in the sample module, thereby ensuring the stability of the sample module during the pipetting process and significantly improving the accuracy and stability of pipetting. Meanwhile, the continuous movement of the conveying device 100 ensures the normal transmission of other sample modules or carriers, thereby further improving work efficiency.

[0054] After the pipetting operation is completed, the controller controls the clamping device 200 to switch from the clamping state to the unfolding state and releases the sample module, so that the sample module falls back onto the conveying device 100 under its own gravity. The conveying device 100 then transfers the pipetting sample module to the next process, so that it can wait for the next sample module to be transported to the aspiration position.

[0055] like Figure 1 As shown, in some embodiments of this application, the sample module includes a carrier and a sample tube. The carrier is used to carry the sample tube to provide support and fixation for the sample tube, so as to ensure the stability of the sample tube during transmission on the conveying device 100.

[0056] The clamping device 200 includes a clamping drive motor 220, a transmission assembly 230, a first clamping assembly 240, and a lifting assembly 250.

[0057] In this embodiment, the transmission assembly 230 is connected to the output end of the clamping drive motor 220. The first clamping assembly 240 and the lifting assembly 250 are respectively connected to the transmission assembly 230. The lifting assembly 250 and the first clamping assembly 240 are spaced apart along the first direction Z. It should be noted that in this embodiment, the first direction Z is the vertical direction. When the clamping drive motor 220 is running, the transmission assembly 230 drives the first clamping assembly 240 and the lifting assembly 250 to switch between a clamping state and an unfolded state.

[0058] In the clamping state, the lifting component 250 at least partially abuts against the carrier, and lifts the carrier away from the conveying device 100 along the first direction Z by the lifting component 250, while clamping and fixing the sample tube by the first clamping component 240 to ensure the stability of the sample module.

[0059] When deployed, the lifting assembly 250 moves away from the carrier, the first clamping assembly 240 releases the sample tube, and the carrier falls back to the conveying device 100 under its own gravity, so that the sample module can be conveyed to a subsequent position by the conveying device 100.

[0060] Understandably, as the carrier is lifted by the lifting assembly 250, the sample tube rises synchronously with the carrier, thereby lifting the sample module away from the transfer device 100. This avoids friction between the sample module and the operating transfer device 100 during pipetting, improving the stability of the liquid level in the sample tube during pipetting, thus ensuring the accuracy and stability of pipetting. In addition, after the lifting assembly 250 lifts the carrier, the first clamping assembly 240 clamps and fixes the sample tube on the carrier to further ensure the stability of the sample tube, thereby ensuring the accuracy of pipetting.

[0061] like Figure 1 and Figure 2 As shown, in some embodiments of this application, the clamping device 200 further includes a frame 270, a first mounting bracket 241, and a second mounting bracket 243.

[0062] The first mounting bracket 241 and the second mounting bracket 243 are respectively connected to the transmission assembly 230. The first mounting bracket 241 and the second mounting bracket 243 are arranged opposite to each other and are slidably connected to the frame 270.

[0063] In this embodiment, the lifting component 250 and the first clamping component 240 are both disposed on the first mounting bracket 241 and the second mounting bracket 243, and are located between the first mounting bracket 241 and the second mounting bracket 243.

[0064] It should be noted that the lifting assembly 250 can be a separate component that is detachably connected to the first mounting bracket 241 / second mounting bracket 243; or it can be an integrally formed structure with the first mounting bracket 241 / second mounting bracket 243.

[0065] It should be noted that the first clamping assembly 240 can be a separate component that is detachably connected to the first mounting bracket 241 / second mounting bracket 243; or it can be an integral structure formed with the first mounting bracket 241 / second mounting bracket 243.

[0066] In the clamping state, the first mounting bracket 241 and the second mounting bracket 243 move closer to each other, while the lifting component 250 and the first clamping component 240 retract, and the carrier is lifted away from the conveying device 100 by the lifting component 250, while the sample tube is clamped and fixed by the first clamping component 240.

[0067] In the unfolded state, the first mounting bracket 241 and the second mounting bracket 243 move away from each other, while the lifting assembly 250 and the first clamping assembly 240 open to release the fixation on the carrier and the sample tube, so that the carrier and the sample tube fall back to the conveying device 100 under their own gravity.

[0068] In this embodiment, by jointly setting the lifting component 250 and the first clamping component 240 on the first mounting frame 241 and the second mounting frame 243, the clamping and fixing of the sample tube and the lifting of the carrier are performed synchronously. This structural design not only avoids the problem of unstable clamping that may be caused by distributed operation, but also only requires one drive source, the clamping drive motor 220, to complete the above-mentioned linkage operation, thereby effectively saving resources.

[0069] It should be noted that the clamping drive motor 220 is located on the side of the frame 270 near the transmission device. The connection between the clamping drive motor 220 and the frame 270 can be any of the following: bolt connection, snap-fit, threaded connection, tenon and mortise connection, or welding. Furthermore, the transmission assembly 230 is movably connected to the frame 270, and the transmission assembly 230 is drively connected to the output shaft of the clamping drive motor 220. This allows the output shaft of the clamping drive motor 220 to drive the transmission assembly 230 to slide relative to the frame 270 during operation, thereby causing the first mounting bracket 241 and the second mounting bracket 243 to move closer or further apart.

[0070] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the lifting assembly 250 includes a first lifting member 251 and a second lifting member 252. The first lifting member 251 is disposed on the side of the first mounting bracket 241 facing the second mounting bracket 243, and the second lifting member 252 is disposed on the side of the second mounting bracket 243 facing the first mounting bracket 241.

[0071] The first lifting member 251 is positioned opposite the second lifting member 252 along the second direction X, forming a lifting assembly 250 through the cooperation of the first and second lifting members 251 and 252. This assembly is used to lift the carrier off the conveying device 100 to ensure stability and accuracy during the liquid transfer process. The first direction Z is perpendicular to the second direction X.

[0072] In addition, the first lifting member 251 is located at one end of the first mounting bracket 241 near the conveying device 100, and the second lifting member 252 is located at one end of the second mounting bracket 243 near the conveying device 100.

[0073] In the clamping state, the first lifting member 251 and the second lifting member 252 approach each other and abut against the edge of the carrier on the side close to the conveying device 100, lifting the carrier away from the conveying device 100 along the first direction Z to ensure the stability of the sample tube in the carrier.

[0074] In the deployed state, the first lifting member 251 and the second lifting member 252 move away from each other and return the carrier to the conveying device 100.

[0075] like Figures 1 to 4 As shown in the figure, in some embodiments of this application, the clamping device 200 further includes a second clamping component 260, which is disposed between the first mounting bracket 241 and the second mounting bracket 243, and is adjacent to the lifting component 250.

[0076] In the clamping state, the second clamping assembly 260 fixes the carrier, providing limiting and fixing functions to ensure the stability of the carrier in the clamping state. It can be understood that by clamping and fixing the carrier with the second clamping assembly 260, the carrier can be ensured to be placed vertically and accurately. Since the sample tube is placed on the carrier, accurate positioning of the sample tube is further achieved, allowing the sample tube to be directly opposite the first clamping assembly 240. This ensures that after the first clamping assembly 240 clamps and fixes the sample tube, the central axis of the sample tube coincides with the central axis of the carrier in the first direction Z, thus ensuring that the sample tube is placed vertically and centered in the carrier. This guarantees that during subsequent pipetting operations, the pipetting unit can accurately aspirate or dispense samples from the sample tube along the first direction Z, ensuring the accuracy and smoothness of pipetting.

[0077] In addition, when in the deployed state, the second clamping assembly 260 releases the carrier so that the carrier falls back to the conveying device 100 under its own gravity.

[0078] In some embodiments of this application, the second clamping component 260 may adopt a V-shaped or arc-shaped slot structure, or other structures that can achieve the fixing function.

[0079] like Figure 2 and Figure 3As shown, in some embodiments of this application, the first clamping assembly 240 includes a first clamping member 242 and a second clamping member 244. The first clamping member 242 is disposed on the side of the first mounting bracket 241 facing the second mounting bracket 243, and the second clamping member 244 is disposed on the side of the second mounting bracket 243 facing the first mounting bracket 241. In this embodiment, the first clamping member 242 is directly opposite the second clamping member 244 along the second direction X, so as to ensure that the sample tube can be clamped when the first clamping member 242 and the second clamping member 244 are close to each other along the second direction X. In addition, the sample tube can be released when the first clamping member 242 and the second clamping member 244 are far apart along the second direction X.

[0080] In addition, the first clamping member 242 is located at the end of the first mounting bracket 241 away from the conveying device 100, and the second clamping member 244 is located at the end of the second mounting bracket 243 away from the conveying device 100, so that the first clamping member 242 and the second clamping member 244 cooperate with each other to form the first clamping assembly 240.

[0081] At least one first clamping position 210 is defined between the first clamping member 242 and the second clamping member 244.

[0082] In the clamping state, the first clamping member 242 and the second clamping member 244 approach each other and fix the sample tube in the first clamping position 210.

[0083] In the unfolded state, the first clamp 242 and the second clamp 244 move away from each other and release the sample tube from the first clamping position 210.

[0084] In some embodiments of this application, the lifting assembly 250 includes a first lifting member 251 and a second lifting member 252. The first lifting member 251 is disposed on the side of the first mounting bracket 241 facing the second mounting bracket 243, and the second lifting member 252 is disposed on the side of the second mounting bracket 243 facing the first mounting bracket 241.

[0085] It should be noted that the first clamping member 242 and the first lifting member are spaced apart along the first direction Z, and the second clamping member 244 and the second lifting member 252 are spaced apart along the first direction Z, so that the lifting assembly 250 and the first clamping assembly 240 are spaced apart along the first direction Z and operate independently without interfering with each other.

[0086] In the clamping state, the first lifting member 251 and the second lifting member 252 lift the carrier away from the conveying device 100, the first clamping member 242 and the second clamping member 244 move closer to each other, and fix the sample tube on the carrier lifted away from the conveying device 100 at the first clamping position 210.

[0087] In the deployed state, the first lifting member 251 and the second lifting member 252 move away from each other, allowing the carrier to fall back onto the conveying device 100 under its own weight. At the same time, the first clamping member 242 and the second clamping member 244 move away from each other and release the sample tube from the first clamping position 210, so that the sample tube descends synchronously with the carrier, ensuring the stability of the sample tube on the carrier and ensuring the synchronicity of the carrier and the sample tube rising and falling along the first direction Z.

[0088] The sample transfer system provided in this application can also be applied to the cup-dividing scenario, that is, to transfer the mother sample in the mother sample tube in the mother sample module to the sub sample tubes in multiple sub sample modules. Therefore, it is necessary to transfer and locate the mother sample module and the sub sample modules separately.

[0089] Based on this, such as Figure 1 As shown, in some embodiments of this application, the sample module includes a first sample module, and the conveying device 100 includes a first conveying device 110. The first conveying device 110 is used to transport the first sample module. The liquid aspiration position is located on the first conveying device 110, and at least one clamping device 200 is disposed on the first conveying device 110 to clamp or release the sample module on the first conveying device 110. It should be noted that the first sample module is a parent sample module, that is, the first sample module contains a parent sample that needs to be divided into cups. By setting the clamping device 200 at the liquid aspiration position, and by using the clamping device 200 to lift the first sample module away from the conveying device 100 along the first direction Z and clamp and fix the first sample module, it is ensured that the first sample module is not affected by the conveying device 100, and that the liquid level of the parent sample in the first sample module is stable and the liquid aspiration is accurate during the liquid aspiration process.

[0090] In addition, the sample module also includes a second sample module, and the transmission device 100 also includes a second transmission device 120, which is spaced apart from the first transmission device 110. It can be understood that the first transmission device 110 and the second transmission device 120 are independent of each other. The sample module on the first transmission device 110 is the first sample module, and the sample module on the second transmission device 120 is the second sample module. The first transmission device 110 is used to transmit the first sample module, and the second transmission device 120 is used to transmit the second sample module, to ensure that the first and second sample modules do not interfere with each other during transmission, thereby ensuring the smoothness and stability of the first and second sample modules during movement.

[0091] It should be noted that the second sample module is a sub-sample module, used to receive the parent sample from the first sample module.

[0092] In this embodiment, the dispensing position is located on the second conveying device 120, and the dispensing position is close to the aspiration position to reduce the distance between the aspiration position and the dispensing position, shorten the movement path of the pipetting device during the pipetting operation, and further improve the pipetting efficiency.

[0093] like Figure 1 As shown, in some embodiments of this application, the second conveying device 120 is provided with at least one clamping device 200. The clamping device 200 is located at the dispensing position so as to lift and clamp the second sample module that has entered the dispensing position by means of the clamping device 200 located on the second conveying device 120, so as to ensure that the second sample module is placed vertically and that the dispensing part of the pipetting device can accurately extend into the sub-sample tube of the second sample module to dispense the parent sample.

[0094] By providing clamping devices 200 on the first conveying device 110 and the second conveying device 120 respectively, the first sample module on the first conveying device 110 and the second sample module on the second conveying device 120 can be lifted, clamped and fixed by the clamping devices 200 respectively, thereby ensuring the stability of the first sample module and the second sample module during the liquid transfer process and ensuring the accuracy of liquid transfer.

[0095] Specifically, when the first sample module requiring liquid separation moves to the aspiration position under the transmission action of the first conveying device 110, the clamping device 200 located at the aspiration position is controlled by the controller to lift and clamp the first sample module in place. Similarly, when the second sample module moves to the dispensing position under the transmission action of the second conveying device 120, the clamping device 200 located at the dispensing position is controlled by the controller to lift and clamp the second sample module in place, ensuring the stability of both the first and second sample modules during the pipetting process and guaranteeing the accuracy and quality of the pipetting. It should be noted that after the first and second sample modules are clamped and fixed by the clamping devices 200, the pipetting device is controlled by the controller to perform the pipetting operation, aspirating the parent sample from the first sample module through the pipetting section and dispensing the aspirated parent sample into the sub-sample tube in the second sample module.

[0096] like Figure 1 As shown, in some embodiments of this application, the first conveying device 110 includes a first conveying section 111, with the aspiration position located on the first conveying section 111, and the second conveying device 120 includes a second conveying section 121, with the dispensing position located on the second conveying section 121. The first conveying section 111 is parallel to the second conveying section 121 and is close to the second conveying section 121, so as to reduce the distance between the aspiration position and the dispensing position, shorten the movement path of the pipetting device during the pipetting operation, and further improve the pipetting efficiency.

[0097] In addition, in some embodiments of this application, the distance between the dispensing position and the aspiration position is equal to the distance between the first transmission segment 111 and the second transmission segment 121, so as to further shorten the distance between the dispensing position and the aspiration position, thereby further shortening the movement path of the pipetting device during the pipetting operation and improving the pipetting efficiency.

[0098] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the clamping device 200 is provided with at least two first clamping positions 210. It is understood that the number of first clamping positions 210 can be any number of two or more values, and can be specifically set according to the actual situation.

[0099] By setting multiple first clamping positions 210, multiple sample tubes can be clamped simultaneously by a single clamping device 200, eliminating the need to equip each sample tube with a separate clamping device 200. This not only reduces production costs but also facilitates unified control of the spacing between sample tubes.

[0100] The pipetting device includes a moving drive mechanism and a pipetting mechanism connected to each other. The pipetting mechanism has at least two pipetting parts. The distance between two adjacent pipetting parts is equal to the distance between two adjacent first clamping positions 210, so that the pipetting device can simultaneously pipette multiple sample tubes placed on the first clamping positions 210, thereby improving pipetting efficiency.

[0101] In this embodiment, the pipetting operation includes aspiration and dispensing operations, and the conveying device 100 has a dispensing position close to the aspiration position.

[0102] In this embodiment, the pipetting efficiency is improved by setting the aspiration and dispensing positions adjacent to each other, i.e., shortening the distance between the aspiration and dispensing positions.

[0103] Before the aspiration operation is performed in the pipetting section, the controller controls the moving drive mechanism to move the pipetting mechanism to the aspiration position; after the aspiration operation is completed, the controller controls the moving drive mechanism to move the pipetting mechanism to the dispensing position.

[0104] When the sample module is in the aspiration position, the controller also controls the pipetting unit to perform aspiration operations. When the sample module is in the dispensing position, the controller also controls the pipetting unit to perform dispensing operations.

[0105] In this embodiment, a pipetting unit is fixed with a pipetting needle, and the distance between two adjacent pipetting units is equal to the distance between two adjacent first clamping positions 210, that is, the distance between two adjacent pipetting needles is equal to the distance between two adjacent first clamping positions 210. By setting multiple pipetting needles and ensuring that each pipetting needle corresponds one-to-one with a first clamping position 210, the pipetting device can perform pipetting operations on multiple sample modules simultaneously, thereby improving pipetting efficiency and ensuring pipetting accuracy.

[0106] It should be noted that the aspiration operation refers to the pipette using its pipetting section to pick up the sample from the first sample module located at the aspiration position. The dispensing operation refers to the process where, after the aspiration operation is completed, the pipetting section is moved to the dispensing position by a movement drive mechanism, transferring the picked-up sample to the second sample module located at the dispensing position.

[0107] In this embodiment, before the pipette performs the aspiration operation, the controller controls the moving drive mechanism to move the pipette part to the aspiration position, so that the pipette needle corresponds one-to-one with the first sample module at the aspiration position in the vertical direction. Then, the sample in the first sample module is aspirated. After the aspiration operation is completed, the controller controls the moving drive mechanism to move the pipette part to the dispensing position, so that the pipette needle corresponds one-to-one with the second sample module at the dispensing position in the vertical direction. Then, the aspirated sample is added to the second sample module.

[0108] In this embodiment, when the clamping device 200 is provided with two first clamping positions 210 and the pipetting mechanism is provided with two pipetting parts, and the distance between the two pipetting parts is equal to the distance between the two first clamping positions 210, so that when the sample modules are clamped on both first clamping positions 210, the two sample modules can be separated at the same time through the two pipetting parts, ensuring the accuracy of separation and improving the separation efficiency.

[0109] When the two first sample modules that need to be aspirated are in the aspiration position, the controller is also used to control the clamping device 200 on the first conveying device 110 to clamp the two first sample modules at the same time. The two first sample modules carry different samples respectively, so as to simultaneously separate the two first sample modules carrying different samples and improve the separation efficiency.

[0110] In this embodiment, the controller is also used to control multiple second sample modules to alternately enter the second transfer device 120. A portion of the multiple second sample modules corresponds to one of the two first sample modules in the aspiration position, and another portion of the multiple second sample modules corresponds to the other of the two first sample modules in the aspiration position. It should be noted that "alternating entry" here means that the second sample modules corresponding to two different first sample modules alternately enter the second transfer device, so that when the second sample modules corresponding to different first sample modules are in the dispensing position, the pipetting device can simultaneously transfer the samples from the two first sample modules to the two second sample modules respectively, thereby achieving simultaneous liquid separation from the two first sample modules and improving separation efficiency.

[0111] After the clamping device 200 clamps and fixes the two first sample modules at the aspiration position, the controller is also used to control the pipetting device to move to the aspiration position and simultaneously perform aspiration operations on the samples in the two first sample modules. After the aspiration operation is completed, the controller controls the pipetting device to move to the dispensing position and controls the pipetting device to dispense the two aspirated samples into the corresponding second sample modules.

[0112] In some embodiments of this application, the controller is used to control the pipetting mechanism to perform pipetting operations based on pipetting operation information.

[0113] The pipetting operation information includes at least one of the following: pipetting tip selection information, single dispensing volume of the pipetting tip, number of dispensing cups, and total aspirated volume.

[0114] It should be noted that the selection information for the pipetting unit refers to the number of pipetting units required. For example, since the pipetting mechanism has at least two pipetting units, if the clamping device 200 only fixes one sample module, it means that only one sample tube needs to be dispensed. In this case, the controller sends a single-tube dispensing control command to the pipetting mechanism and controls the pipetting mechanism to use one pipetting unit to perform the pipetting operation on the sample tube.

[0115] If the clamping device 200 fixes two sample modules, it means that the two sample tubes need to be separated into cups. In this case, the controller sends a double-tube separation control command to the pipetting mechanism, and the pipetting mechanism is controlled to use two pipettes to perform pipetting operations on the two sample tubes simultaneously.

[0116] It is understandable that if the clamping device 200 fixes multiple sample modules, it means that multiple sample tubes need to be separated into cups. In this case, the controller sends a multi-tube separation control command to the pipetting mechanism, and the pipetting mechanism controls multiple pipetting parts to perform pipetting operations on multiple sample tubes simultaneously. The number of sample tubes is equal to the number of pipetting tubes, and each sample tube corresponds to each pipetting tube.

[0117] In addition, the single-dispensing volume information of the pipette refers to the amount of sample that can be dispensed from the sample tube in a single transaction by controlling the pipette with the pipette, thereby ensuring the accuracy of dispensing. The total dispensing volume information refers to the total amount of liquid that needs to be dispensed in the first sample module.

[0118] In this embodiment, the number of aliquots refers to the number of samples that need to be aliquoted from the first sample module to the second sample module. For example, if a sample from one first sample module needs to be aliquoted into two second sample modules, the controller controls the pipetting mechanism to perform two pipetting operations (such as performing "one aspiration and one dispensing", i.e., aspiration operation-dispensing operation-aspiration operation-dispensing operation, or performing "one aspiration and multiple dispensing", i.e., aspiration operation-dispensing operation-dispensing operation).

[0119] like Figure 1 As shown, in some embodiments of this application, the conveying device 100 includes a first conveying device 110, on which a first stop 400 is provided. The first stop 400 is located downstream of the clamping device 200 along the conveying direction of the first conveying device 110, so as to provide a limiting effect on the sample module moving to the liquid aspiration position through the first stop 400, so as to ensure the stability of the clamping device 200 in clamping the sample module at the liquid aspiration position.

[0120] Before the clamping device 200 switches from the unfolded state to the clamping state, the controller is also used to control the first stop 400 to block the sample module, thereby ensuring the stability of the sample module in the liquid aspiration position and ensuring the accuracy of the clamping device 200 in clamping the sample module.

[0121] In addition, after the pipetting operation is completed, the controller is also used to control the first stop 400 to release the sample module so that the clamping device 200 can clamp and fix the next set of sample modules that need to be separated.

[0122] like Figure 1 As shown, in some embodiments of this application, the first transmission device 100 is provided with a limit identification device 500. The limit identification device 500 is located on the side of the first clamping device 200 away from the first stop 400. The first stop 400 and the limit identification device 500 form a buffer area 112 at intervals, so as to buffer the identified sample module through the buffer area 112, ensuring that the sample module can quickly reach the aspiration position and improve the pipetting efficiency.

[0123] The limit recognition device 500 includes a second stop 510 and a recognition element 520. Before the recognition element 520 recognizes the sample module, the controller controls the second stop 510 to block the sample module to ensure the accuracy of the recognition element 520's identification of the sample module information. After the recognition element 520 completes the identification of the sample module, the controller controls the second stop 510 to release the sample module and triggers a timer. By recording the time when the sample module enters the buffer area 112, the sample module can be effectively managed based on this time, such as avoiding sample module buffer timeout.

[0124] In this embodiment, when the sample module needs to be pipetted, the controller is also used to control the first stop 400 to block the sample module.

[0125] In addition, when the sample module does not require pipetting, the controller is also used to control the first stop 400 to release the sample module.

[0126] In this embodiment, when the clamping device 200 is provided with at least two first clamping positions 210, the controller is further configured to: after the identification member 520 identifies the sample module, within a first preset time period, and each first clamping position 210 corresponds to a sample module, control the clamping device 200 to switch to the clamping state, and clamp at least two sample modules at the same time, so as to facilitate the simultaneous liquid separation of at least two sample modules, thereby improving the liquid separation efficiency.

[0127] In addition, if the first preset time is exceeded and at least one first clamping position 210 does not correspond to a sample module, the controller controls the clamping device 200 to switch to the clamping state. By controlling the first preset time, the time for pairing a sample module that moves to the buffer area 112 within the first preset time with another sample module is too long, thus avoiding wasting time and ensuring the efficiency of cup dispensing.

[0128] In this embodiment, when the number of sample modules in the buffer 112 is equal to a preset number, the controller is also used to control the second stop 510 to stop the sample modules, so as to prevent the sample modules from entering the buffer 112, thereby controlling the number of sample modules in the buffer 112.

[0129] Additionally, when the number of sample modules in buffer 112 is less than a preset number, the controller also controls the second stop 510 to release the obstruction of the sample modules. It can be understood that, at this time, if the number of sample modules in buffer 112 is insufficient, the second stop 510 allows the identified sample modules to pass through, enabling them to enter buffer 112 so that adjacent sample modules in buffer 112 can be paired.

[0130] like Figures 2 to 5As shown in the figure, this application also provides a clamping device 200, which is applied to the sample transfer system in any of the above embodiments. The sample module includes a carrier and a sample tube, wherein the sample tube is placed on the carrier. The clamping device 200 includes a clamping drive motor 220, a transmission component 230, a first clamping component 240, and a lifting component 250.

[0131] The transmission component 230 is connected to the output end of the clamping drive motor 220. The lifting component 250 and the first clamping component 240 are respectively connected to the transmission component 230. The lifting component 250 and the first clamping component 240 are arranged at intervals along the first direction Z to avoid mutual interference between the first clamping component 240 and the lifting component 250, and to ensure the smoothness and stability of both during operation.

[0132] In this embodiment, the first clamping component 240 has a clamping state and an unfolded state, so that when the clamping drive motor 220 is running, the transmission component 230 drives the first clamping component 240 and the lifting component 250 to switch between the clamping state and the unfolded state respectively.

[0133] In the clamping state, the lifting component 250 at least partially abuts against the carrier and lifts the carrier away from the conveying device 100. The first clamping component 240 retracts and clamps and fixes the sample tube to form a positioning of the sample module, so as to avoid friction between the conveying device 100 and the carrier during continuous operation, thereby ensuring the stability of the carrier and the sample tube on the first clamping component 240, ensuring the stability of the liquid level in the sample tube, and thus ensuring the accuracy of pipetting.

[0134] In the deployed state, the lifting assembly 250 moves away from the carrier, and the carrier falls back to the conveying device 100 under its own gravity. The first clamping assembly 240 releases the sample tube. It should be noted that in the deployed state, the first clamping assembly 240 releases the sample tube simultaneously with the lifting assembly 250 moving away from the carrier.

[0135] Understandably, as the carrier is lifted by the lifting assembly 250, the sample tube rises synchronously with the carrier, thereby lifting the sample module away from the transfer device 100. This avoids friction between the sample module and the operating transfer device 100 during pipetting, improving the stability of the liquid level in the sample tube during pipetting, thus ensuring the accuracy and stability of pipetting. In addition, after the lifting assembly 250 lifts the carrier, the first clamping assembly 240 clamps and fixes the sample tube on the carrier to further ensure the stability of the sample tube, thereby ensuring the accuracy of pipetting.

[0136] like Figures 3 to 5As shown, in some embodiments of this application, the clamping device 200 further includes a frame 270, a first mounting bracket 241, and a second mounting bracket 243.

[0137] The first mounting bracket 241 and the second mounting bracket 243 are respectively connected to the transmission assembly 230. The first mounting bracket 241 and the second mounting bracket 243 are arranged opposite to each other and are slidably connected to the frame 270.

[0138] In this embodiment, the lifting component 250 and the first clamping component 240 are both disposed on the first mounting bracket 241 and the second mounting bracket 243, and are located between the first mounting bracket 241 and the second mounting bracket 243.

[0139] It should be noted that the lifting assembly 250 and the first clamping assembly 240 can be separate components that are detachably connected to the first mounting bracket 241 / second mounting bracket 243; or they can be integrally formed with the first mounting bracket 241 / second mounting bracket 243.

[0140] It should be noted that the first clamping assembly 240 can be a separate component that is detachably connected to the first mounting bracket 241 / second mounting bracket 243; or it can be an integral structure formed with the first mounting bracket 241 / second mounting bracket 243.

[0141] In the clamping state, the first mounting bracket 241 and the second mounting bracket 243 move closer to each other, while the lifting component 250 and the first clamping component 240 retract, and the carrier is lifted away from the conveying device 100 by the lifting component 250, while the sample tube is clamped and fixed by the first clamping component 240.

[0142] In the unfolded state, the first mounting bracket 241 and the second mounting bracket 243 move away from each other, while the lifting assembly 250 and the first clamping assembly 240 open to release the fixation on the carrier and the sample tube, so that the carrier and the sample tube fall back to the conveying device 100 under their own gravity.

[0143] In this embodiment, by jointly setting the lifting component 250 and the first clamping component 240 on the first mounting frame 241 and the second mounting frame 243, the clamping and fixing of the sample tube and the lifting of the carrier are performed synchronously. This structural design not only avoids the problem of unstable clamping that may be caused by distributed operation, but also only requires one drive source, the clamping drive motor 220, to complete the above-mentioned linkage operation, thereby effectively saving resources.

[0144] It should be noted that the clamping drive motor 220 is located on the side of the frame 270 near the transmission device. The connection between the clamping drive motor 220 and the frame 270 can be any of the following: bolt connection, snap-fit, threaded connection, tenon and mortise connection, or welding. Furthermore, the transmission assembly 230 is movably connected to the frame 270, and the transmission assembly 230 is drively connected to the output shaft of the clamping drive motor 220. This allows the output shaft of the clamping drive motor 220 to drive the transmission assembly 230 to slide relative to the frame 270 during operation, thereby causing the first mounting bracket 241 and the second mounting bracket 243 to move closer or further apart.

[0145] like Figure 4 and Figure 5 As shown, in some embodiments of this application, the lifting assembly 250 includes a first lifting member 251 and a second lifting member 252. The first lifting member 251 is disposed on the side of the first mounting bracket 241 facing the second mounting bracket 243, and the second lifting member 252 is disposed on the side of the second mounting bracket 243 facing the first mounting bracket 241.

[0146] The first lifting member 251 is positioned opposite the second lifting member 252 along the second direction X, forming a lifting assembly 250 through the cooperation of the first and second lifting members 251 and 252. This assembly is used to lift the carrier off the conveying device 100 to ensure stability and accuracy during the liquid transfer process. The first direction Z is perpendicular to the second direction X.

[0147] In addition, the first lifting member 251 is located at one end of the first mounting bracket 241 near the conveying device 100, and the second lifting member 252 is located at one end of the second mounting bracket 243 near the conveying device 100.

[0148] In the clamping state, the first lifting member 251 and the second lifting member 252 approach each other and abut against the edge of the carrier on the side close to the conveying device 100, lifting the carrier away from the conveying device 100 along the first direction Z to ensure the stability of the sample tube in the carrier.

[0149] In the deployed state, the first lifting member 251 and the second lifting member 252 move away from each other and return the carrier to the conveying device 100.

[0150] like Figures 1 to 3 As shown, in some embodiments of this application, the clamping device 200 further includes a second clamping component 260, which is disposed on the first mounting bracket 241 and the second mounting bracket 243 and located between the first mounting bracket 241 and the second mounting bracket 243. The second clamping component 260 is adjacent to the lifting component 250.

[0151] In the clamping state, the second clamping assembly 260 fixes the carrier, providing limiting and fixing functions to ensure the stability of the carrier in the clamping state. It can be understood that after the carrier is clamped and fixed by the second clamping assembly 260, it can be ensured that the carrier is placed vertically and accurately. Since the sample tube is placed on the carrier, accurate positioning of the sample tube is further achieved, so that the sample tube is directly opposite the first clamping assembly 240. This ensures that after the first clamping assembly 240 clamps and fixes the sample tube, the central axis of the sample tube coincides with the central axis of the carrier in the first direction Z, thus ensuring that the sample tube is placed vertically and centered in the carrier. This guarantees that during subsequent pipetting operations, the pipetting unit can accurately draw or dispense samples from the sample tube along the first direction Z, ensuring the accuracy and smoothness of pipetting.

[0152] In addition, when in the deployed state, the second clamping assembly 260 releases the carrier so that the carrier falls back to the conveying device 100 under its own gravity.

[0153] In some embodiments of this application, the second clamping component 260 may adopt a V-shaped or arc-shaped slot structure, or other structures that can achieve the fixing function.

[0154] like Figure 3 As shown, in some embodiments of this application, the first clamping assembly 240 includes a first clamping member 242 and a second clamping member 244. The first clamping member 242 is disposed on the side of the first mounting bracket 241 facing the second mounting bracket 243, and the second clamping member 244 is disposed on the side of the second mounting bracket 243 facing the first mounting bracket 241. In this embodiment, the first clamping member 242 is directly opposite the second clamping member 244 along the second direction X, so as to ensure that the sample tube can be clamped when the first clamping member 242 and the second clamping member 244 are close to each other along the second direction X. In addition, the sample tube can be released when the first clamping member 242 and the second clamping member 244 are far apart along the second direction X.

[0155] In addition, the first clamping member 242 is located at the end of the first mounting bracket 241 away from the conveying device 100, and the second clamping member 244 is located at the end of the second mounting bracket 243 away from the conveying device 100, so that the first clamping member 242 and the second clamping member 244 cooperate with each other to form the first clamping assembly 240.

[0156] At least one first clamping position 210 is defined between the first clamping member 242 and the second clamping member 244.

[0157] In the clamping state, the first clamping member 242 and the second clamping member 244 approach each other and fix the sample tube in the first clamping position 210.

[0158] In the unfolded state, the first clamp 242 and the second clamp 244 move away from each other and release the sample tube from the first clamping position 210.

[0159] In some embodiments of this application, the lifting assembly 250 includes a first lifting member 251 and a second lifting member 252. The first lifting member 251 is disposed on the side of the first mounting bracket 241 facing the second mounting bracket 243, and the second lifting member 252 is disposed on the side of the second mounting bracket 243 facing the first mounting bracket 241.

[0160] It should be noted that the first clamping member 242 and the first lifting member 251 are spaced apart along the first direction, and the second clamping member 244 and the second lifting member 252 are spaced apart along the first direction, so that the lifting assembly and the first clamping assembly 240 are spaced apart along the first direction Z and operate independently without interfering with each other.

[0161] In the clamping state, the first lifting member 251 and the second lifting member 252 lift the carrier away from the conveying device 100, the first clamping member 242 and the second clamping member 244 move closer to each other, and fix the sample tube on the carrier lifted away from the conveying device 100 at the first clamping position 210.

[0162] In the deployed state, the first lifting member 251 and the second lifting member 252 move away from each other, allowing the carrier to fall back onto the conveying device under its own gravity. Simultaneously, the first clamping member 242 and the second clamping member 244 move away from each other and release the sample tube from the first clamping position 210, causing the sample tube to descend synchronously with the carrier. This ensures the stability of the sample tube on the carrier and guarantees the synchronicity of the carrier and sample tube's lifting and lowering along the first direction Z.

[0163] like Figure 1 and Figure 5 As shown, in some embodiments of this application, the first clamping member 242 is provided with a plurality of first slots 2421 arranged at intervals along the third direction Y on the side facing the second clamping member 244, and the second clamping member 244 is provided with a plurality of second slots 2441 arranged at intervals along the third direction Y on the side facing the first clamping member 242. The first slots 2421 are directly opposite the second slots 2441 along the first direction Z to form a first clamping position 210.

[0164] It should be noted that the number of first card slots 2421 is equal to the number of second card slots 2441. The number of first card slots 2421 and second card slots 2441 can be V-shaped or arc-shaped, respectively.

[0165] like Figures 2 to 3As shown, in some embodiments of this application, the first lifting member 251 has a first lifting guide surface 2511 along the side facing the second lifting member 252, and the first lifting guide surface 2511 faces the second clamping member 244.

[0166] The second lifting member 252 has a second lifting guide surface 2521 along the side facing the first lifting member 251, and the second lifting guide surface 2521 faces the first clamping member 242.

[0167] Understandably, when the clamping device 200 switches from the unfolded state to the clamping state, when the first lifting member 251 and the second lifting member 252 approach each other, the first lifting guide surface 2511 and the second lifting guide surface 2521 form a guiding lifting effect on the bottom of the carrier along the first direction Z, and the carrier is lifted away from the conveying device 100 along the first direction Z under the guidance of the first lifting guide surface 2511 and the second lifting guide surface 2521. This ensures the stability and smoothness of the carrier when it is lifted or lowered along the first direction Z, and avoids the influence of the conveying device 100 on the sample module, ensuring that the conveying device 100 can operate continuously.

[0168] It should be noted that the first lifting guide surface 2511 and the second lifting guide surface 2521 may be partially or entirely of inclined or curved surface structure, so that the bottom of the carrier can move along the first lifting guide surface 2511 and the second lifting guide surface 2521 in the first direction Z and finally leave the conveying device 100.

[0169] like Figures 2 to 3 As shown, in some embodiments of this application, the second clamping assembly 260 includes at least one second clamping position, which corresponds one-to-one with the first clamping position 210 along the first direction Z. It is understood that the number of second clamping positions can be one, two, or more, and can be specifically set according to actual conditions.

[0170] In the clamping state, the second clamping position fixes the carrier to ensure the stability of the carrier after it is lifted away from the conveying device 100 by the lifting device.

[0171] When in the deployed state, the second clamping position releases the carrier, allowing the carrier to fall back to the conveyor 100 under its own gravity.

[0172] like Figures 1 to 4As shown, in some embodiments of this application, the second clamping assembly 260 includes a first clamping part 261, a second clamping part 262, a third clamping part 263, and a fourth clamping part 264. The first clamping part 261 is disposed on one side of the first mounting bracket 241 along the third direction Y, and the second clamping part 262 is disposed on the other side of the first mounting bracket 241 along the third direction Y. The first clamping part 261 and the second clamping part 262 are respectively adjacent to the side of the first lifting member 251 away from the conveying device 100, and the third direction Y is perpendicular to the first direction Z.

[0173] It should be noted that, along the first direction Z, the distance between the first lifting member 251 and the first clamping part 261 is equal to the distance between the first lifting member 251 and the second clamping part 262, thereby ensuring that the carrier can be lifted in an upright state, thus ensuring that the sample tube carried on the carrier remains in an upright state and ensuring the stability of pipetting.

[0174] In addition, the third clamping part 263 is provided on one side of the second mounting bracket 243 along the third direction Y, and the fourth clamping part 264 is provided on the other side of the second mounting bracket 243 along the third direction Y. The third clamping part 263 and the fourth clamping part 264 are respectively adjacent to the side of the second lifting member 252 away from the conveying device 100.

[0175] It should be noted that, along the first direction Z, the distance between the second lifting member 252 and the third clamping part 263 is equal to the distance between the second lifting member 252 and the fourth clamping part 264, thereby ensuring that the carrier can be lifted in an upright state, thus ensuring that the sample tube carried on the carrier remains in an upright state and ensuring the stability of pipetting.

[0176] In this embodiment, the first clamping part 261 is directly opposite the third clamping part 263, and the second clamping part 262 is directly opposite the fourth clamping part 264. The first clamping part 261, the second clamping part 262, the third clamping part 263 and the fourth clamping part 264 surround to form a second clamping position, thereby ensuring that the sample tube can be clamped stably and upright.

[0177] like Figure 1 , Figure 4 and Figure 5 As shown, in some embodiments of this application, the first clamping part 261 facing the fourth clamping part 264 and the second clamping part 262 facing the third clamping part 263 are respectively provided with a first clamping surface 265, and the third clamping part 263 facing the second clamping part 262 and the fourth clamping part 264 facing the first clamping part 261 are respectively provided with a second clamping surface 266. The first clamping surface 265 and the second clamping surface 266 respectively limit and fix the four corners of the carrier, thereby ensuring the stability of the carrier after lifting.

[0178] like Figure 2 and Figure 4 As shown, in some embodiments of this application, the second clamping assembly 260 further includes at least one fifth clamping part 600 and at least one sixth clamping part 700. It is understood that the number of the fifth clamping part 600 and the sixth clamping part 700 can be any number of one, two or more, and can be specifically set according to the actual situation.

[0179] The fifth clamping part 600 is disposed on the side of the first mounting bracket 241 facing the second mounting bracket 243 and is located between the first clamping part 261 and the second clamping part 262. The fifth clamping part 600 is adjacent to the side of the first lifting member 251 away from the conveying device 100.

[0180] In addition, the sixth clamping part 700 is disposed on the side of the second mounting bracket 243 facing the first mounting bracket 241 and located between the third clamping part 263 and the fourth clamping part 264. The sixth clamping part 700 is adjacent to the side of the second lifting member 252 away from the conveying device 100, and the fifth clamping part 600 is directly opposite the sixth clamping part 700.

[0181] In some embodiments, the first clamping part 261 and the third clamping part 263 are respectively enclosed with the fifth clamping part 600 and the sixth clamping part 700 to form a second clamping position.

[0182] In other embodiments, the second clamping portion 262 and the fourth clamping portion 264 are respectively enclosed with the fifth clamping portion 600 and the sixth clamping portion 700 to form a second clamping position.

[0183] It should be noted that by setting the fifth clamping part 600 and the sixth clamping part 700, the number of second clamping positions is increased, thereby increasing the number of carriers clamped, so that the clamping device 200 can clamp and fix at least two carriers at the same time.

[0184] like Figure 2 As shown, in some embodiments of this application, the transmission component 230 includes a transmission member 231, a first support plate 232 and a second support plate 233. The transmission member 231 is connected to the output end of the clamping drive motor 220, and the central part of the transmission member 231 is connected to the output shaft of the clamping drive motor 220.

[0185] The first support plate 232 is connected to the first mounting bracket 241 on the side facing the clamping drive motor 220. The first support plate 232 is provided with a first guide hole 2321. The end of the transmission member 231 near the first mounting bracket 241 is movably connected to the wall of the first guide hole 2321 so as to provide guidance and clearance to one end of the transmission member 231 through the wall of the first guide hole 2321. When the clamping drive motor 220 is running, it drives the transmission member 231 to rotate around the axis of the output end, and provides a force along the second direction X to the wall of the first guide hole 2321 through the end of the transmission member 231 near the first mounting bracket 241, thereby driving the first support plate 232 to move along the second direction X, and thus driving the first mounting bracket 241 to move along the second direction X through the first support plate 232.

[0186] It should be noted that the first direction Z, the third direction Y, and the second direction X are all perpendicular to each other.

[0187] In addition, the second support plate 233 is connected to the second mounting bracket 243 on the side facing the clamping drive motor 220. The second support plate 233 is provided with a second guide hole 2331. The end of the transmission member 231 near the second mounting bracket 243 is movably connected to the hole wall of the second guide hole 2331 so as to provide guidance and clearance to the other end of the transmission member 231 through the hole wall of the second guide hole 2331. When the clamping drive motor 220 is running, it drives the transmission member 231 to rotate around the axis of the output end, and provides a force along the second direction X to the hole wall of the second guide hole 2331 through the end of the transmission member 231 near the second mounting bracket 243, and drives the second support plate 233 to move along the second direction X, thereby driving the second mounting bracket 243 to move along the second direction X through the second support plate 233.

[0188] It is understandable that when the transmission component 231 rotates, it can drive the first support plate 232 and the second support plate 233 to move closer to each other or further away from each other along the second direction X, thereby controlling the clamping device 200 to switch between the clamping state and the unfolding state.

[0189] It should be noted that the first guide hole 2321 and the second guide hole 2331 are both strip holes, and the extension directions of the first guide hole 2321 and the second guide hole 2331 are both parallel to the third direction Y.

[0190] like Figures 2 to 4As shown, in some embodiments of this application, the transmission component 231 includes a rotating rod 2311, a first bearing 2312, and a second bearing 2313. The first bearing 2312 is disposed at the end of the rotating rod 2311 near the first mounting bracket 241, and the second bearing 2313 is disposed at the end of the rotating rod 2311 near the second mounting bracket 243. The first bearing 2312 is movably connected to the wall of the first guide hole 2321, and the second bearing 2313 is movably connected to the wall of the second guide hole 2331, so as to ensure that during the rotation of the rotating rod 2311 under the drive of the clamping drive motor 220, it drives the first shaft... The first bearing 2312 moves within the first guide hole 2321 to reduce friction between the first bearing 2312 and the wall of the first guide hole 2321, thereby improving the smoothness of the first support frame moving along the second direction X. At the same time, the second bearing 2313 moves within the second guide hole 2331 via the rotating rod 2311 to reduce friction between the second bearing 2313 and the wall of the second guide hole 2331, thereby improving the smoothness of the second support frame moving along the second direction X, and thus improving the smoothness and stability of the clamping device 200 switching between the clamping state and the unfolding state.

[0191] It should be noted that, in this embodiment, the distance from the axis of the first bearing 2312 to the axis of the output end of the clamping drive motor 220 is equal to the distance from the axis of the second bearing 2313 to the axis of the output end of the clamping drive motor 220. This ensures the consistency of the synchronous movement distance of the first mounting bracket 241 and the second mounting bracket 243 along the second direction X, thereby ensuring the accuracy and stability of the clamping of the sample tube by the first clamping assembly 240, the stability of the lifting assembly 250 in lifting the carrier, and the stability and accuracy of the clamping of the carrier by the second clamping device 200, thus ensuring the accuracy and stability of the clamping device 200 in fixing the sample module.

[0192] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0193] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0194] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A sample transfer system, characterized in that, include: A conveying device for transporting a sample module, the conveying device having a liquid aspiration position; A clamping device is provided at the liquid suction position, the clamping device has at least one first clamping position, and the clamping device has a clamping state and an unfolded state; In the clamping state, the clamping device provides a supporting force to the sample module in a first direction away from the conveying device, lifting the sample module away from the conveying device in the first direction and clamping and fixing the sample module. In the unfolded state, the sample module falls back onto the conveying device under its own gravity; A pipetting device, wherein the pipetting device is provided with at least one pipetting part for performing pipetting operations; The controller is communicatively connected to at least the clamping device and the pipetting device; When the transmission device is in operation while transmitting the sample module, the controller performs the following operations: When the sample module requiring pipetting is located at the aspiration position, the controller controls the clamping device to switch from the unfolded state to the clamping state, and controls the pipetting device to perform a pipetting operation; After the pipetting operation is completed, the controller controls the clamping device to switch from the clamping state to the unfolding state.

2. The sample transfer system according to claim 1, characterized in that, The sample module includes a carrier and a sample tube, wherein the carrier is used to carry the sample tube; The clamping device includes a clamping drive motor, a transmission assembly, a first clamping assembly, and a lifting assembly; The transmission assembly is driven to the output end of the clamping drive motor, the first clamping assembly and the lifting assembly are respectively driven to the transmission assembly, and the lifting assembly and the first clamping assembly are spaced apart along the first direction; In the clamping state, the lifting component at least partially abuts against the carrier and lifts the carrier away from the conveying device, while the first clamping component clamps and fixes the sample tube. In the deployed state, the lifting assembly moves away from the carrier, the first clamping assembly releases the sample tube, and the carrier falls back to the conveying device under its own gravity.

3. The sample transfer system according to claim 2, characterized in that, The clamping device also includes a frame, a first mounting bracket, and a second mounting bracket; The first mounting bracket and the second mounting bracket are respectively connected to the transmission assembly, the first mounting bracket and the second mounting bracket are arranged opposite to each other, and are respectively slidably connected to the frame body; The lifting assembly and the first clamping assembly are both disposed on the first mounting frame and the second mounting frame, and are located between the first mounting frame and the second mounting frame; In the clamping state, the first mounting bracket and the second mounting bracket are close to each other; In the unfolded state, the first mounting bracket and the second mounting bracket are far apart from each other.

4. The sample transfer system according to claim 3, characterized in that, The lifting assembly includes a first lifting member and a second lifting member. The first lifting member is disposed on the side of the first mounting frame facing the second mounting frame, and the second lifting member is disposed on the side of the second mounting frame facing the first mounting frame. The first lifting member and the second lifting member are disposed correspondingly along a second direction, and the first direction is perpendicular to the second direction. The first lifting member is located at one end of the first mounting frame near the conveying device, and the second lifting member is located at one end of the second mounting frame near the conveying device; In the clamping state, the first lifting member and the second lifting member approach each other and abut against the edge of the carrier on the side near the conveying device, and lift the carrier away from the conveying device along the first direction; In the deployed state, the first lifting member and the second lifting member move away from each other, and the carrier is returned to the conveying device.

5. The sample transfer system according to claim 3, characterized in that, The clamping device further includes a second clamping assembly, which is disposed on the first mounting bracket and the second mounting bracket and located between the first mounting bracket and the second mounting bracket, and the second clamping assembly is adjacent to the lifting assembly; In the clamping state, the second clamping assembly secures the carrier; in the unfolding state, the second clamping assembly releases the carrier.

6. The sample transfer system according to claim 3, characterized in that, The first clamping assembly includes a first clamping member and a second clamping member. The first clamping member is disposed on the side of the first mounting frame facing the second mounting frame, and the second clamping member is disposed on the side of the second mounting frame facing the first mounting frame. The first clamping member is located at the end of the first mounting frame away from the conveying device, and the second clamping member is located at the end of the second mounting frame away from the conveying device. At least one first clamping position is defined between the first clamping member and the second clamping member; In the clamping state, the first clamping member and the second clamping member are close to each other and fix the sample tube in the first clamping position; In the unfolded state, the first clamp and the second clamp move away from each other and release the sample tube from the first clamping position.

7. The sample transfer system according to any one of claims 1 to 6, characterized in that, The sample module includes a first sample module, the conveying device includes a first conveying device, the first conveying device is used to convey the first sample module, the liquid aspiration position is located on the first conveying device, and at least one of the clamping devices is disposed on the first conveying device. The sample module further includes a second sample module, and the transmission device further includes a second transmission device, which is spaced apart from the first transmission device; The second conveying device is used to transport the second sample module, and the liquid dispensing position is located on the second conveying device, which is close to the liquid aspiration position.

8. The sample transfer system according to claim 7, characterized in that, The second conveying device is provided with at least one of the clamping devices, which are located at the liquid discharge position.

9. The sample transfer system according to claim 7, characterized in that, The first conveying device includes a first conveying section, and the liquid suction position is located on the first conveying section. The second conveying device includes a second conveying section, and the liquid discharge position is located on the second conveying section. The first conveying section is parallel to the second conveying section.

10. The sample transfer system according to claim 7, characterized in that, The clamping device is provided with at least two first clamping positions; The pipetting device includes a moving drive mechanism and a pipetting mechanism connected to each other. The pipetting mechanism is provided with at least two pipetting parts, and the distance between two adjacent pipetting parts is equal to the distance between two adjacent first clamping positions. The pipetting operation includes aspiration and dispensing operations, and the conveying device has a dispensing position close to the aspiration position; Before the pipetting unit performs the aspiration operation, the controller controls the moving drive mechanism to move the pipetting mechanism to the aspiration position; after the aspiration operation is completed, the controller controls the moving drive mechanism to move the pipetting mechanism to the dispensing position. When the sample module is in the aspiration position, the controller is also used to control the pipetting unit to perform the aspiration operation; when the sample module is in the dispensing position, the controller is also used to control the pipetting unit to perform the dispensing operation.

11. The sample transfer system according to claim 10, characterized in that, When the clamping device has two first clamping positions, the pipetting mechanism has two pipetting parts, and the distance between the two pipetting parts is equal to the distance between the two first clamping positions; When the two first sample modules that need to be aspirated are in the aspiration position, the controller is also used to control the clamping device on the first conveying device to clamp the two first sample modules at the same time, and the two first sample modules respectively carry different samples; The controller is also used to control a plurality of second sample modules to alternately enter the second conveying device, wherein a portion of the plurality of second sample modules corresponds to one of the two first sample modules located at the liquid aspiration position, and another portion of the plurality of second sample modules corresponds to the other of the two first sample modules located at the liquid aspiration position; The controller is also used to control the pipette to move to the aspiration position and simultaneously perform the aspiration operation on the samples in the two first sample modules. After the aspiration operation is completed, the controller controls the pipette to move to the dispensing position and controls the pipette to dispense the two aspirated samples into the corresponding second sample modules.

12. The sample transfer system according to claim 1, characterized in that, The conveying device includes a first conveying device, on which a first stop is provided, and the first stop is located downstream of the clamping device along the conveying direction of the first conveying device. Before the clamping device switches from the unfolded state to the clamping state, the controller is also used to control the first stop to block the sample module; after the pipetting operation is completed, the controller is also used to control the first stop to release the sample module.

13. The sample transfer system according to claim 12, characterized in that, The first conveying device is provided with a limit recognition device, which is located on the side of the clamping device away from the first stop, and the first stop and the limit recognition device form a buffer area at intervals; The limit recognition device includes a second stop and a recognition component; Before the identification device identifies the sample module, the controller controls the second stop to block the sample module; after the identification device identifies the sample module, the controller controls the second stop to release the sample module and triggers a timer. When the sample module requires pipetting, the controller is also configured to control the first stop to block the sample module; when the sample module does not require pipetting, the controller is also configured to control the first stop to release the sample module.

14. The sample transfer system according to claim 13, characterized in that, When the clamping device has at least two first clamping positions, the controller is further configured to: after the identification of the identification component is completed, within a first preset time period, and each of the first clamping positions corresponds to one of the sample modules respectively, control the clamping device to switch to the clamping state, and clamp at least two of the sample modules at the same time; if the first preset time period is exceeded, and at least one of the first clamping positions does not correspond to the sample module, control the clamping device to switch to the clamping state.

15. The sample transfer system according to claim 13, characterized in that, When the number of sample modules in the buffer area is equal to a preset number, the controller is also used to control the second stop to block the sample modules; When the number of sample modules in the buffer is less than a preset number, the controller is also used to control the second stop to release the sample modules.

16. A clamping device, applied to a sample transfer system according to any one of claims 1 to 15, wherein the sample module comprises a carrier and a sample tube, the carrier being used to carry the sample tube, characterized in that, The clamping device includes a clamping drive motor, a transmission assembly, a first clamping assembly, and a lifting assembly. The clamping device has a clamping state and an unfolded state. The transmission assembly is driven to the output end of the clamping drive motor, the first clamping assembly and the lifting assembly are respectively driven to the transmission assembly, and the lifting assembly and the first clamping assembly are spaced apart along the first direction; In the clamping state, the lifting component at least partially abuts against the carrier and lifts the carrier away from the conveying device, while the first clamping component clamps and fixes the sample tube. In the deployed state, the lifting assembly moves away from the carrier, and the carrier falls back to the conveying device under its own gravity, at which point the first clamping assembly releases the sample tube.

17. The clamping device according to claim 16, characterized in that, The clamping device includes a frame, a first mounting frame, and a second mounting frame; The first mounting bracket and the second mounting bracket are respectively connected to the transmission assembly, the first mounting bracket and the second mounting bracket are arranged opposite to each other, and are respectively slidably connected to the frame body; The lifting assembly and the first clamping assembly are both disposed on the first mounting frame and the second mounting frame, and are located between the first mounting frame and the second mounting frame; In the clamping state, the first mounting bracket and the second mounting bracket are close to each other; In the unfolded state, the first mounting bracket and the second mounting bracket are far apart from each other.

18. The clamping device according to claim 17, characterized in that, The lifting assembly includes a first lifting member and a second lifting member. The first lifting member is disposed on the side of the first mounting frame facing the second mounting frame, and the second lifting member is disposed on the side of the second mounting frame facing the first mounting frame. The first lifting member is directly opposite the second lifting member. The first lifting member is located at one end of the first mounting frame near the conveying device, and the second lifting member is located at one end of the second mounting frame near the conveying device; In the clamping state, the first lifting member and the second lifting member approach each other and abut against the edge of the carrier on the side near the conveying device, and lift the carrier away from the conveying device along the first direction; In the deployed state, the first lifting member and the second lifting member move away from each other, and the carrier is returned to the conveying device.

19. The clamping device according to claim 18, characterized in that, The clamping device further includes a second clamping assembly, which is disposed on the first mounting bracket and the second mounting bracket, and is located on the side of the lifting assembly facing the first clamping assembly; In the clamping state, the second clamping assembly secures the carrier; In the deployed state, the second clamping assembly releases the carrier.

20. The clamping device according to claim 18, characterized in that, The first clamping assembly includes a first clamping member and a second clamping member. The first clamping member is disposed on the side of the first mounting frame facing the second mounting frame, and the second clamping member is disposed on the side of the second mounting frame facing the first mounting frame. The first clamping member is located at the end of the first mounting frame away from the conveying device, and the second clamping member is located at the end of the second mounting frame away from the conveying device. At least one first clamping position is defined between the first clamping member and the second clamping member; In the clamping state, the first clamping member and the second clamping member are close to each other and fix the sample tube in the first clamping position; In the unfolded state, the first clamp and the second clamp move away from each other and release the sample tube from the first clamping position.

21. The clamping device according to claim 20, characterized in that, The first lifting member has a first lifting guide surface along the side close to the second lifting member, and the first lifting guide surface faces the second clamping member; The second lifting member has a second lifting guide surface along the side close to the first lifting member, and the second lifting guide surface faces the first clamping member; When the clamping device switches from the unfolded state to the clamping state, the first lifting guide surface and the second lifting guide surface move closer to each other and respectively provide a guiding lifting effect on the carrier along the first direction, thereby lifting the carrier away from the conveying device.

22. The clamping device according to claim 19, characterized in that, The second clamping assembly includes at least one second clamping position, and the second clamping position corresponds one-to-one with the first clamping position along the first direction; In the clamping state, the second clamping position secures the carrier; In the deployed state, the second clamping position releases the carrier.

23. The clamping device according to claim 22, characterized in that, The second clamping assembly includes a first clamping part, a second clamping part, a third clamping part, and a fourth clamping part. The first clamping part is disposed on one side of the first mounting frame along a third direction, and the second clamping part is disposed on the other side of the first mounting frame along the third direction. The first clamping part and the second clamping part are respectively adjacent to the side of the first lifting member away from the conveying device, and the third direction is perpendicular to the first direction. The third clamping part is disposed on one side of the second mounting frame along the third direction, and the fourth clamping part is disposed on the other side of the second mounting frame along the third direction. The third clamping part and the fourth clamping part are respectively adjacent to the side of the second lifting member away from the conveying device. The first clamping part is directly opposite the third clamping part, and the second clamping part is directly opposite the fourth clamping part. The first clamping part, the second clamping part, the third clamping part, and the fourth clamping part together form a second clamping position.

24. The clamping device according to claim 23, characterized in that, The first clamping part is provided with a first clamping surface on the side facing the fourth clamping part and the second clamping part is provided with a second clamping surface on the side facing the third clamping part and the fourth clamping part is provided with a second clamping surface on the side facing the second clamping part and the side facing the first clamping part. The two first clamping surfaces and the two second clamping surfaces together form the second clamping position.

25. The clamping device according to claim 23, characterized in that, The second clamping assembly further includes at least one fifth clamping part and at least one sixth clamping part. The fifth clamping part is disposed on the side of the first mounting bracket facing the second mounting bracket and is located between the first clamping part and the second clamping part. The fifth clamping part is adjacent to the side of the first lifting member away from the conveying device. The sixth clamping part is disposed on the side of the second mounting bracket facing the first mounting bracket and is located between the third clamping part and the fourth clamping part. The sixth clamping part is adjacent to the side of the second lifting member away from the conveying device, and the fifth clamping part is directly opposite the sixth clamping part. The first clamping part and the third clamping part respectively form a second clamping position by enclosing the fifth clamping part and the sixth clamping part; the second clamping part and the fourth clamping part respectively form a second clamping position by enclosing the fifth clamping part and the sixth clamping part.

26. The clamping device according to claim 17, characterized in that, The transmission assembly includes a transmission component, a first support plate, and a second support plate. The transmission component is connected to the output end of the clamping drive motor. The first support plate is connected to the side of the first mounting bracket facing the clamping drive motor. The first support plate is provided with a first guide hole. The end of the transmission component near the first mounting bracket is movably connected to the wall of the first guide hole. The second support plate is connected to the side of the second mounting bracket facing the clamping drive motor. The second support plate is provided with a second guide hole, and the end of the transmission component near the second mounting bracket is movably connected to the wall of the second guide hole.

27. The clamping device according to claim 26, characterized in that, The transmission component includes a rotating rod, a first bearing, and a second bearing. The first bearing is disposed at one end of the rotating rod near the first mounting bracket, and the second bearing is disposed at one end of the rotating rod near the second mounting bracket. The first bearing is movably connected to the wall of the first guide hole, and the second bearing is movably connected to the wall of the second guide hole. The distance from the axis of the first bearing to the axis of the output end of the clamping drive motor is equal to the distance from the axis of the second bearing to the axis of the output end of the clamping drive motor.

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