Fully automated sample analysis pipeline

Abstract

The application discloses a kind of full-automatic sample analysis pipeline, including feeding track, sample in-out mechanism, centrifugal mechanism, cover opening detection mechanism;The sample in-out mechanism, centrifugal mechanism, cover opening detection mechanism are sequentially arranged and located at the side of feeding track.Due to the shunt plate on the shunt mechanism in feeding track can be switched in two straight line guide grooves, it can be guaranteed that the sample tray in two straight line guide grooves can be moved under normal conditions, avoid the defect that the traditional guide mechanism cannot satisfy the simultaneous movement of the sample tray in two straight line guide grooves under normal conditions.In the cover opening detection mechanism, small guide column and slide spring are provided between the slider and push block during the clamping of test tube, which can prevent large-diameter test tubes from being clamped and exploded due to excessive force, as the clamping mechanism of the present mechanism clamps the test tube through the spring force, which can adapt to test tubes of different diameters.

Description

Technical Field

[0001] This invention relates to a testing device, and more particularly to a fully automated sample analysis line. Background Technology

[0002] In the medical and biological fields, it is necessary to test collected samples. Usually, the samples are placed in test tubes, and then the test tubes containing the samples are centrifuged and sampled. Traditional testing methods mostly rely on manual sampling, which requires manually opening the caps on the test tubes, making the operation very inconvenient. Therefore, it is necessary to design an automatic testing device that can automatically transport test tubes, actively enter and exit test tubes, and grasp test tubes to meet the needs of automatic testing. Problems with traditional technology: (1) In existing analytical production lines, there is often a problem that the test tube holder does not turn smoothly at the turning corner of the feeding track; (2) Since the test tubes have different diameters, the caps are easily damaged or cannot be opened effectively during the opening process; (3) The existing robotic arms have limited extension distance and cannot meet the needs of long-distance extension. Summary of the Invention

[0003] The purpose of this invention is to provide a fully automated sample analysis production line that features smooth feeding, secure clamping, and stable lid opening.

[0004] To achieve the above objectives, the technical solution of the present invention is: This invention is a fully automated sample analysis line, including a feeding track, a sample inlet / outlet mechanism, a centrifugation mechanism, and a cap opening detection mechanism; the sample inlet / outlet mechanism, centrifugation mechanism, and cap opening detection mechanism are arranged sequentially and located on one side of the feeding track; The feeding track includes a feeding frame, a guide rail frame, an inlet mechanism, two sets of linear guide rails, a corner guide plate, four plate chains, two sets of end drive mechanisms, and a diversion mechanism.

[0005] The lower end of the guide rail frame is fixed to the top surface of the feeder frame. Two sets of linear guide rails are installed on the top surface of the guide rail frame. Corner guide plates are installed at both ends of the two sets of linear guide rails. The inlet mechanism is located at the inner end of the corner guide plate. The inlet mechanism is installed on the top of the guide rail frame and connected to the end of the linear guide rail. Two plate chains are placed inside the linear guide rail and are both connected to a set of end drive mechanisms. The two sets of end drive mechanisms are respectively installed on the feeder frame and located at both ends of the linear guide rail. The diversion mechanism is installed on the linear guide rail and located in the middle of the linear guide rail.

[0006] The end drive mechanism includes a feeding motor, a feeding pulley set, a drive shaft, two drive feeding gears, a transition mechanism, a driven shaft, and two driven feeding gears. The feeding motor is mounted on the feeding frame, and the output shaft of the feeding motor is connected to one end of the drive shaft through the feeding pulley set. The drive shaft is rotatably mounted on one end of the guide slot frame. The two drive feeding gears are fixedly sleeved at intervals in the middle of the drive shaft. One end of the plate chain meshes with the drive feeding gear, and the other end of the plate chain meshes with the driven feeding gear. The two driven feeding gears are fixedly sleeved at intervals in the middle of the driven shaft. The driven shaft is rotatably mounted on the other end of the guide slot frame. The transition mechanism is mounted on the guide slot frame and located in the middle of the ends of two adjacent straight guide slots.

[0007] The transition mechanism includes a transition motor frame, a transition motor, a transition coupling, a transition disk shaft, and a transition disk. The upper part of the transition motor frame is fixed on the guide slot frame, the transition motor is mounted on the transition motor frame, the output shaft of the transition motor is connected to the lower end of the transition disk shaft through the transition coupling, the middle part of the transition disk is fixed to the upper end of the transition disk shaft, and the transition disk is located in the middle of the corner guide plate, which is used to guide the sample holder to rotate.

[0008] The lid opening and detection mechanism includes a lid opening frame, a lid opening mechanism, a detection mechanism, a lid opening transfer mechanism, and a lid opening robot. The lid opening mechanism, detection mechanism, lid opening transfer mechanism, and lid opening robot are all mounted on the lid opening frame. The lid opening transfer mechanism is arranged around the lid opening mechanism and the detection mechanism. The first working position, the second working position, and the third working position of the lid opening robot are respectively connected to the feeding track, the detection mechanism, and the lid opening transfer mechanism. The opening mechanism includes a clamping frame, a clamping lifting mechanism, a clamping mechanism, an opening gripper, and a feeding mechanism; the clamping lifting mechanism is installed on the upper part of the clamping frame, the opening gripper is installed on the lifting end of the clamping lifting mechanism, the clamping mechanism is installed on the lower part of the clamping frame and located directly below the opening gripper, and the feeding mechanism is slidably connected to the clamping frame and connected to the clamping lifting mechanism. The clamping and lifting mechanism includes a lifting frame, a lifting motor, a lifting screw, a lifting plate, a lifting guide rail, a sensor plate, and two sensors. The lower end of the lifting frame is vertically fixed to the clamping frame. The lifting motor is installed on the top of the lifting frame, and the output shaft of the lifting motor is connected to the upper end of the lifting screw. The middle part of the lifting screw is screwed to the back of the lifting plate through a screw nut. The lifting plate slides on the lifting guide rail, which is installed on the lifting frame. The lifting motor drives the lifting plate to move up and down along the lifting guide rail through the lifting screw. One end of the sensor plate is fixed to the lifting plate, and the other end of the sensor plate extends out of the lifting plate. The two sensors are installed on the lifting frame from top to bottom and are located on the moving trajectory of the sensor plate so that the sensor plate passes over the sensors. The two sensors can control the lifting plate to move different distances for sample tubes of different heights. The sensors confirm whether the lifting plate has moved into place. The clamping mechanism includes two lead screw seats, a clamping lead screw, a clamping motor, a clamping motor seat, two guide rod seats, a clamping guide rod, two sliders, two guide blocks, two push blocks, a slider spring, a small guide post, two clamping blocks, a sensor, and an adjusting plate; The lower ends of the two lead screw seats are fixed to the clamping frame and are arranged opposite to each other. The two sides of the clamping lead screw are rotatably inserted through the upper part of the two lead screw seats. The two sides of the clamping lead screw are respectively provided with toothed grooves with opposite rotation directions. The output shaft of the clamping motor is connected to one end of the clamping lead screw through a coupling. The clamping motor is mounted on the upper part of the clamping motor seat. The lower end of the clamping motor seat is fixed to the clamping frame. The lower ends of the two guide rod seats are fixed to the clamping frame and are arranged opposite to each other. The two ends of the clamping guide rod are fixed to the two guide rods. At the top of the seat, two sliders and two push blocks are slidably connected to the clamping guide rod, with the two sliders facing each other. The outer sides of the two sliders are respectively connected to the inner sides of the two guide blocks. The outer sides of the guide blocks are slidably connected to the tooth grooves of the clamping screw. When clamping the test tube, the guide blocks and the tooth grooves of the clamping screw form a self-locking mechanism. The two sliders and two push blocks are facing each other, and small guide posts and slider springs are provided between the sliders and push blocks. The two clamping blocks are respectively fixed to the inner sides of the two sliders and are facing each other. The two clamping blocks together form a clamping station.

[0009] The import mechanism includes a motor frame, an import motor, an import plate, a sensing element, and a sensor. The motor frame is fixed on the machine frame, the import motor is mounted on the motor frame, the sensing element is fixedly sleeved on the middle of the import motor output shaft, and the import plate is fixedly sleeved on the outer end of the import motor output shaft. The import plate is a circular plate with an arc-shaped groove that matches the outer diameter of the sample holder.

[0010] The corner guide plate has an arc-shaped guide groove.

[0011] The diversion mechanism includes a diversion motor, a diversion plate, a diversion conductor, and a diversion guide plate. The diversion motor and the diversion conductor are both mounted on the feeder frame. One end of the diversion plate is fixedly sleeved on the output shaft of the diversion motor, and the diversion guide plate is fixedly sleeved on the output shaft of the diversion conductor. The diversion plate and the diversion guide plate are located on both sides of the linear guide groove and are arranged opposite to each other. The diversion guide plate is located in front of the diversion plate. The diversion plate is a strip-shaped guide plate and is a circular plate with an arc-shaped groove that matches the outer diameter of the sample tray.

[0012] The sample loading / unloading mechanism includes a sample loading / unloading frame, a sample loading / unloading robotic arm, a sample drawer, and multiple sample racks. The sample loading / unloading robotic arm is mounted on the top of the sample loading / unloading frame, the sample drawer is placed on the working platform in the middle of the sample loading / unloading frame, and the multiple sample racks are placed on the sample drawer. The sample loading / unloading robotic arm includes an loading / unloading platform, a magnetic motor, a magnetic scale, an X-axis guide rail, a Y-axis transmission mechanism, a Z-axis transmission mechanism, a clamping mechanism, a barcode scanner, and a camera. The loading / unloading platform is fixedly mounted on the top of the sample loading / unloading frame, the magnetic motor is mounted on the bottom surface of the loading / unloading platform, the X-axis guide rail and the magnetic scale are both fixed on the bottom surface of the loading / unloading platform and are arranged in parallel, the top surface of the Y-axis transmission mechanism slides on the X-axis guide rail and is driven by the magnetic motor, the Z-axis transmission mechanism is mounted on the Y-axis transmission mechanism, the upper end of the clamping mechanism is mounted on the Z-axis transmission mechanism, the barcode scanner is mounted on the Z-axis transmission mechanism and is located on one side of the clamping mechanism, and the camera is mounted on the top surface of the loading / unloading platform with the lens facing downwards.

[0013] The Y-axis transmission mechanism includes a Y-axis slide plate, a Y-axis motor, a Y-axis pulley assembly, and a Y-axis guide rail. The top of the Y-axis slide plate is slidably connected to the X-axis guide rail. The Y-axis motor is fixedly installed at one end of the Y-axis slide plate. The Y-axis pulley assembly is installed on the bottom surface of the Y-axis slide plate and connected to the output shaft of the Y-axis motor. The Y-axis guide rail is fixedly installed on the bottom surface of the Y-axis slide plate.

[0014] The Z-axis transmission mechanism includes a Z-axis slide plate, a Z-axis motor, a Z-axis pulley assembly, and a Z-axis guide rail. The top of the Z-axis slide plate is slidably connected to the Y-axis guide rail in the Y-axis transmission mechanism and is fixedly connected to the belt in the Y-axis pulley assembly. The Z-axis motor is fixedly installed on the upper end of the Z-axis slide plate. The Z-axis pulley assembly is installed on the Z-axis slide plate and connected to the output shaft of the Z-axis motor. The Z-axis guide rail is fixedly installed on the bottom surface of the Z-axis slide plate.

[0015] The clamping mechanism includes a clamping slide plate, an electric gripper seat, an electric gripper guide rail, an electric gripper, an anti-collision spring, an anti-collision rod, and an anti-collision sensor. The clamping slide plate is slidably connected to the Z-axis guide rail in the Z-axis transmission mechanism and is connected to the belt in the Z-axis pulley group. The electric gripper guide rail is mounted on the electric gripper seat, the electric gripper seat is slidably connected to the electric gripper guide rail, and the electric gripper is mounted on the electric gripper seat. The two ends of the anti-collision spring are respectively connected to the clamping slide plate and the electric gripper seat. One end of the anti-collision rod is fixed to the electric gripper seat, and the other end of the anti-collision rod extends toward the anti-collision sensor, which is mounted on the clamping slide plate.

[0016] The sample rack includes a sample base, a guide plate, and an RFID electronic tag; the guide plate is fixedly installed on the top surface of the sample base, and the RFID electronic tag is fixedly installed on the bottom surface of the sample base. The RFID electronic tag is matched with a transmitter on the conveyor belt for identification.

[0017] The sample base has support plates on both sides, and the guide plate is fixed on both sides of the support plates on both sides of the sample base, forming an accommodating space between the guide plate and the sample base. The sample base has multiple accommodating holes for accommodating test tubes in the middle. These accommodating holes are stepped countersunk holes, and the stepped surfaces of the stepped countersunk holes are arc-shaped. The stepped countersunk holes are larger at the top and smaller at the bottom. The small holes in the stepped countersunk holes serve to center the bottom of the test tubes. The bottom surface of the sample base is provided with anti-fool holes, and the top surface of the sample base is provided with two support columns in the middle of the top surface of the sample base. The top surfaces of the support columns abut against the guide plate.

[0018] The guide plate has multiple through holes in the middle for the test tubes to pass through. These through holes are opposite to multiple receiving holes in the middle of the base, so that the test tubes can be inserted into the receiving holes of the sample base after passing through the through holes of the guide plate. The top surfaces of the support plates on both sides of the sample base are provided with pin holes and snap-fit ​​grooves, and the two ends of the support plates are rounded chamfers. The bottom surfaces of both sides of the guide plate are provided with fixing pins and buckles. The fixing pins and buckles on the guide plate are respectively engaged in the pin holes and snap-fit ​​grooves on the support plates of the sample base, thereby fixing the sample base and the guide plate together.

[0019] The centrifugation mechanism includes a centrifuge track frame, a second-order manipulator, a transfer device, a distribution mechanism, and a centrifuge. The second-order manipulator is installed on the top of the centrifuge track frame, the transfer device and the distribution mechanism are both installed on the working platform of the centrifuge track frame and are adjacent to each other, and the centrifuge is installed below the working platform of the centrifuge track frame.

[0020] The distribution mechanism includes a weighing sensor, a distributor base, and a distributor. The weighing sensor is mounted on the working platform of the centrifugal track frame, the distributor base rests against the top surface of the weighing sensor, and the distributor is fitted inside the distributor base. The weighing sensor is used to weigh the distributor.

[0021] The second-order manipulator includes a second-order frame, a translation guide rail, a translation slide plate, a front motor, a rear motor, a first pulley group, a second pulley group, a guide rail block, a gripper guide rail, a gripper, a synchronous shaft, a lifting guide rail, and a slide plate guide block; The translation guide rail is fixed horizontally on the second-stage frame. The translation slide plate slides on the translation guide rail. The front motor and the rear motor are both fixedly installed on the second-stage frame and located at both ends of the second-stage frame. The output shaft of the front motor and the rear motor are both connected to the first pulley group. The first pulley group is connected to the lifting guide rail and is connected to the second pulley group through a synchronous shaft. The lifting guide rail slides in the guide groove of the slide plate guide block. The slide plate guide block is fixedly installed on the translation slide plate. The second pulley group is installed on the lifting guide rail and is connected to the upper end of the gripper guide rail. The gripper guide rail slides on the guide rail guide block. The guide rail guide block is installed on the lifting guide rail, and the gripper is installed at the lower end of the gripper guide rail.

[0022] The first pulley assembly includes two driving pulleys, four driven pulleys, one active lifting pulley, and a belt. The two driving pulleys are respectively fixedly sleeved on the output shaft of the front motor and the output shaft of the rear motor. The four driven pulleys are rotatably mounted on the translation slide plate. The active lifting pulley is rotatably mounted on one end of the synchronous shaft. The middle part of the belt is wound around the two driving pulleys, the four driven pulleys, and the active lifting pulley. The two ends of the belt are respectively connected to the upper end of the gripper guide rail.

[0023] The two driving wheels are a front driving wheel and a rear driving wheel, which are fixedly sleeved on the output shaft of the front motor and the output shaft of the rear motor, respectively; the four driven wheels are a first driven wheel, a second driven wheel, a third driven wheel, and a fourth driven wheel; the belt is sequentially wound around the first driven wheel, the front driving wheel, the second driven wheel, the driving lifting wheel, the third driven wheel, the rear driving wheel, and the fourth driven wheel.

[0024] The second pulley assembly includes a driven lifting pulley, a second lifting pulley, and a second belt; the driven lifting pulley is rotatably mounted on the other end of the synchronous shaft, the second lifting pulley is rotatably mounted on the lifting guide rail, and the second belt is wound around the driven lifting pulley and the second lifting pulley.

[0025] The transfer device includes a transfer mechanism, an inlet mechanism, and an outlet mechanism; the transfer mechanism, inlet mechanism, and outlet mechanism are all installed on the working platform of the centrifugal track frame, with the inlet mechanism located at the inlet of the transfer mechanism and the outlet mechanism located at the outlet of the transfer mechanism. The transfer mechanism includes a base plate, two sets of conveying mechanisms, two blocking mechanisms, multiple columns, and a guide plate. The two sets of conveying mechanisms are both installed on the base plate. The guide plate is fixed to the base plate by multiple columns and is located above the two sets of conveying mechanisms. The guide plate has a guide groove for guiding the movement of the sample holder. The two blocking mechanisms are both installed on the base plate, and the tops of the two blocking mechanisms are respectively located at the sample inlet section and the sample outlet section of the guide groove of the guide plate. The conveying mechanism includes a drive motor, multiple guide wheels, a conveyor belt, a conveyor belt pulley, an idler wheel bracket, and an idler wheel. The drive motor is mounted on the base plate of the transfer mechanism. The conveyor belt pulley is fixedly sleeved on the output shaft of the drive motor. The multiple guide wheels are rotatably mounted on the base plate of the transfer mechanism. The long groove on the idler wheel bracket is mounted on the base plate of the transfer mechanism by two screws. The idler wheel is rotatably mounted on the idler wheel bracket. The conveyor belt is wound around the conveyor belt pulley, multiple guide wheels, and idler wheel and is located on the top surface of the base plate. The tension of the conveyor belt can be adjusted by adjusting the position of the idler wheel bracket.

[0026] The blocking mechanism includes a sensing element, a blocking motor, a blocking plate, and a sensor. The blocking motor is fixedly mounted on the base plate, the blocking plate is fixedly sleeved on the outer end of the blocking motor's output shaft, and the sensing element is fixedly sleeved on the middle of the blocking motor's output shaft. The sensing element cooperates with the sensor mounted on the base plate. An arc-shaped groove matching the outer diameter of the sample holder is formed on the blocking plate. The blocking mechanism is a two-point reciprocating type, achieving precise switching between the blocking position and the placement position of the sample through sensing by sensors on both sides.

[0027] The guide plate consists of an inner guide plate and an outer guide plate. Both the inner and outer guide plates are fixed to the base plate of the transfer mechanism by columns and are suspended in the air. The outer edge of the inner guide plate and the inner edge of the outer guide plate form a guide groove, which guides the sample tray to move in a zigzag manner. As shown in the figure, the inner guide plate has a guide angle and an avoidance angle at the corresponding positions of the inlet and outlet mechanisms. The guide angle guides the sample tray in, and the avoidance angle facilitates the smooth entry of the sample tray into the track. Both prevent the sample tray from getting stuck.

[0028] The import mechanism includes a motor frame, an import motor, an import plate, a sensing element, and a sensor. The motor frame is fixed on the machine frame, the import motor is mounted on the motor frame, the sensing element is fixedly sleeved on the middle of the import motor output shaft, and the import plate is fixedly sleeved on the outer end of the import motor output shaft. The import plate has an arc-shaped groove that matches the outer diameter of the sample holder.

[0029] The opening gripper is a rotating electric gripper.

[0030] The feeding mechanism includes a feeding link, a feeding guide rail, a feeding tube, and a discharge tube. One end of the feeding link is hinged to the lifting plate of the clamping and lifting mechanism, and the other end is hinged to the side wall of the feeding tube. The bottom surface of the middle section of the feeding tube slides on the feeding guide rail, which is fixed to the clamping frame. The top opening of the feeding tube is opposite to the cap-opening gripper for receiving caps from the cap-opening gripper. The bottom outlet of the feeding tube is opposite to the top inlet of the discharge tube. The top inlet of the discharge tube is a rectangular opening, the length of which is greater than the travel of the feeding tube to receive caps from the feeding tube.

[0031] The detection mechanism includes a camera stand, a camera, a backlight panel, and a light source; the lower ends of the camera stand, the backlight panel, and the light source are all fixed on the cover-opening frame, the camera is mounted on the upper part of the camera stand and opposite the backlight panel, and the light source is located on one side of the camera.

[0032] The lid-opening robot includes a lid-opening robot frame and a lid-opening robot; the lid-opening robot is fixed to the lid-opening frame via the lid-opening robot frame.

[0033] By adopting the above solution, the present invention has the following advantages: 1. Because the end drive mechanism in the feeding track of this invention drives the plate chain to move forward, the sample tray placed on the plate chain moves forward with the plate chain. When the sample tray moves to the corner, the guiding mechanism will guide the sample tray into the arc-shaped guide groove of the corner guide plate, realizing the turning of the sample tray. During the movement of the sample tray in the straight guide groove, the diversion plate on the diversion mechanism can switch to another straight guide groove as needed. The sample tray first contacts the diversion guide plate on the diversion mechanism and then enters another straight guide groove through the diversion plate. This structural design of this invention can ensure that the sample trays in both straight guide grooves can move under normal conditions, avoiding the defect of the traditional guiding mechanism that cannot satisfy the simultaneous movement of sample trays in both straight guide grooves under normal conditions. In addition, the intermediate transition section of the end drive mechanism of this invention adopts a transition mechanism, which can smoothly realize the corner movement of the sample tray.

[0034] 2. In the centrifugal mechanism of the present invention, the front motor and the rear motor of the second-order manipulator can drive the lifting guide rail to move downward through the first pulley group. At the same time, the first pulley group drives the second pulley group to move through the synchronous shaft. The second pulley group can drive the gripper guide rail to move downward. The gripper fixed on the gripper guide rail can move downward a second time, so that the gripper extends downward a longer distance.

[0035] 3. The sample loading / unloading robotic arm of this invention includes a machine base, a magnetic motor, a magnetic scale, an X-axis guide rail, a Y-axis transmission mechanism, a Z-axis transmission mechanism, a clamping mechanism, and a barcode scanner. The magnetic motor drives the clamping mechanism to move along the X-axis, the Y-axis transmission mechanism drives it along the Y-axis, and the Z-axis transmission mechanism drives it along the Z-axis, thus achieving movement along the X, Y, and Z axes. This provides advantages such as flexible movement and reliable clamping. Furthermore, the anti-collision springs, anti-collision rods, and anti-collision sensors between the clamping mechanisms effectively prevent excessive movement of the electric gripper.

[0036] 4. Because the introduction mechanism of the transfer mechanism in the centrifugation mechanism of the present invention can guide the sample tray on the detection line to the transfer mechanism, the transfer mechanism slows down the discharge speed of the sample tray according to the detection progress, so as to avoid the accumulation of sample tray on the detection line.

[0037] 5. Because the receiving hole on the base of the clamping mechanism in the sample inlet and outlet mechanism of the present invention is a stepped countersunk hole, the stepped countersunk hole plays a role in positioning the bottom surface of the test tube, so that the test tube placed in the stepped countersunk hole will not tilt under the combined action of the stepped countersunk hole of the base and the guide plate, and is accurately positioned; in addition, the electronic tag on the present invention is adapted to the inspection of the production line, and the anti-fool hole can effectively avoid the misalignment of the sample rack placement direction.

[0038] 6. Advantages of the cap opening detection mechanism: (1) The clamping mechanism of the cap opening detection mechanism in this invention can clamp the test tube sent into the cap opening station. The clamping lifting mechanism can drive the cap opening mechanism to extend downward to the cap of the test tube and clamp the cap. After the cap opening mechanism rotates, it separates the cap from the test tube. The clamping lifting mechanism rises and simultaneously drives the guide tube on the feeding mechanism to move directly below the cap opening mechanism. The cap opening mechanism releases the cap that has been clamped, so that the cap falls into the guide tube and is fed. Since the guide tube of this mechanism is driven by the clamping lifting mechanism, it does not need to be driven by a separate motor, which can save a motor and make the structure simpler. Moreover, the simultaneous movement of the guide tube and the clamping lifting mechanism can save process time. (2) The process of separating the cap from the test tube in this mechanism is completed by the cooperation of the clamping mechanism and the cap opening mechanism, which has a high degree of automation. (3) The clamping motor of this mechanism drives the clamping screw to rotate. The clamping screw drives two sliders to move towards each other through two guide blocks to clamp the test tube. Since there are small guide posts and slider springs between the slider and the push block, and the initial distance between the adjusting plate and the sensor is fixed, the compression of the slider spring is fixed when clamping test tubes of different diameters. The slider spring can apply force to the test tube. The compression of the spring is different, and the clamping force on the test tube is also different. Under the condition of ensuring the clamping force, it can prevent large-diameter test tubes from being crushed by too much force. Since the clamping mechanism of this mechanism clamps the test tube by the spring force, it can be adapted to test tubes of different diameters. (4) The outer side of the guide block in the clamping mechanism of this mechanism slides in the tooth groove of the clamping screw. When clamping the test tube, the guide block and the tooth groove of the clamping screw form a self-locking mechanism, which prevents the test tube from loosening and has the advantages of stable and reliable clamping.

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0040] Figure 1 This is the forward isometric view of the present invention; Figure 2 This is a rear axonometric view of the present invention; Figure 3 This is an isometric view of the feeding track of the present invention; Figure 4 This is an isometric view of the end drive mechanism in the feeding track of the present invention; Figure 5 This is an isometric view of the transition mechanism in the feeding track of this invention; Figure 6 This is an isometric view of the diversion mechanism in the feeding track of the present invention; Figure 7 This is an isometric drawing of the sample inlet / outlet mechanism of the present invention. Figure 8 This is a bottom-view axonometric drawing of the sample inlet / outlet mechanism of the present invention; Figure 9 This is a top-view axonometric drawing of the sample entry / exit mechanism of the present invention; Figure 10 This is a forward isometric view of the Y-axis transmission mechanism and the Z-axis transmission mechanism in the sample entry / exit mechanism of this invention; Figure 11 This is a rear axonometric view of the Y-axis transmission mechanism and the Z-axis transmission mechanism in the sample entry / exit mechanism of this invention; Figure 12 This is an isometric view of the clamping mechanism in the sample inlet / outlet mechanism of the present invention; Figure 13 This is an isometric view of the sample holder in the sample loading and unloading mechanism of the present invention; Figure 14 This is an exploded perspective view of the sample holder in the sample loading and unloading mechanism of the present invention; Figure 15 This is a top view of the sample rack base in the sample loading and unloading mechanism of the present invention; Figure 16 This is a bottom view of the sample rack base in the sample loading and unloading mechanism of the present invention; Figure 17 This is a bottom view of the sample rack guide plate in the sample loading and unloading mechanism of the present invention; Figure 18 This is a diagram showing the usage status of the sample rack in the sample loading and unloading mechanism of this invention; Figure 19 This is a forward isometric view of the centrifugal mechanism of the present invention; Figure 20 This is a rear axonometric view of the centrifugal mechanism of the present invention; Figure 21 This is an isometric view of the second-order manipulator in the centrifugal mechanism of this invention; Figure 22 yes Figure 21 A magnified view of a portion at point A; Figure 23 This is an isometric view of the first and second pulley groups of the second-order manipulator in the centrifugal mechanism of this invention. Figure 24 This is an isometric view of the second-order robotic gripper guide rail and lifting guide rail in the centrifugal mechanism of the present invention; Figure 25 This is a top-view axonometric drawing of the transfer mechanism in the centrifugal mechanism of the present invention; Figure 26 This is a top axonometric view of the centrifugal mechanism of the present invention with the outer guide plate removed; Figure 27 This is a bottom-view axonometric drawing of the circulation mechanism in the centrifugal mechanism of the present invention; Figure 28 This is an isometric view of the feeding track in this invention; Figure 29 This is an isometric view of the blocking mechanism in the centrifugal mechanism of the present invention; Figure 30 This is a sample cache path diagram of the present invention; Figure 31 This is an isometric drawing of the lid-opening detection mechanism of the present invention. Figure 32 This is a frontal isometric view of the lid-opening mechanism in the lid-opening detection mechanism of the present invention; Figure 33 This is a rear axonometric view of the lid-opening mechanism in the lid-opening detection mechanism of the present invention; Figure 34 This is an isometric view of the clamping mechanism of the lid opening mechanism in the lid opening detection mechanism of the present invention. Detailed Implementation

[0041] like Figure 1 , Figure 2 As shown, the present invention is a fully automated sample analysis line, including a feeding track 1, a sample inlet / outlet mechanism 2, a centrifugation mechanism 3, and a cap opening and detection mechanism 4.

[0042] The sample inlet / outlet mechanism 2, centrifugation mechanism 3, and lid opening detection mechanism 4 are arranged in sequence and located on one side of the feeding track 1.

[0043] like Figures 3-6 As shown, the feeding track 1 includes a feeding frame 1A, a guide frame 2A, an inlet mechanism 3A, two sets of straight guide grooves 4A, a corner guide plate 5A, four plate chains 6A, two sets of end drive mechanisms 7A, and a diversion mechanism 8A.

[0044] The lower end of the guide rail frame 2A is fixed to the top surface of the feeder frame A1. Two sets of straight guide rails 4A are installed on the top surface of the guide rail frame 2A. The corner guide plate 5A is installed at both ends of the two sets of straight guide rails 4A. The inlet mechanism 3A is located at the inner end of the corner guide plate. The inlet mechanism 3A is installed on the top of the guide rail frame 2A and connected to the end of the straight guide rail 4A. Four plate chains 6A are placed inside the straight guide rail 4A and are all connected to a set of end drive mechanisms 7A. The two sets of end drive mechanisms 7A are respectively installed on the feeder frame 1A and located at both ends of the straight guide rail 4A. The diversion mechanism 8A is installed on the straight guide rail 4A and located in the middle of the straight guide rail 4A.

[0045] The end drive mechanism 7A includes a feeding motor 71A, a feeding pulley set 72A, a drive shaft 73A, two drive feeding gears 74A, a transition mechanism 75A, a driven shaft 76A, and two driven feeding gears 77A. The feeding motor 71A is mounted on the feeding frame 1A. The output shaft of the feeding motor 71A is connected to one end of the drive shaft 73A through the feeding pulley set 72A. The drive shaft 73A is rotatably mounted on one end of the guide rail frame 2A. The two drive feeding gears 74A are fixedly sleeved at intervals in the middle of the drive shaft 73A. One end of the plate chain 6A meshes with the drive feeding gear 74A, and the other end of the plate chain 6A meshes with the driven feeding gear 77A. The two driven feeding gears 77A are fixedly sleeved at intervals in the middle of the driven shaft 76A. The driven shaft 76A is rotatably mounted on the other end of the guide rail frame 2A. The transition mechanism 75A is mounted on the guide rail frame 2A and is located in the middle of the ends of two adjacent straight guide rails 4A.

[0046] The transition mechanism 75A includes a transition motor frame 751A, a transition motor 752A, a transition coupling 753A, a transition disc shaft 754A, a transition disc 755A, a transition bearing seat 756A, and a transition mounting plate 757A. The transition motor frame 751A is mounted on the transition bearing seat 756A, which is mounted on the transition mounting plate 757A. The transition mounting plate 757A is mounted between two sets of linear guide grooves 4A. The transition motor 752A is mounted on the transition motor frame 751A. The output shaft of the transition motor 752A is connected to the lower end of the transition disc shaft 754A through the transition coupling 753A. The middle part of the transition disc 755A is fixed to the upper end of the transition disc shaft 754A, and the transition disc 755A is located in the middle of the corner guide plate 5A, used to guide the sample holder at a 100° angle.

[0047] It should be noted that the two sets of end drive mechanisms 7A are installed in opposite directions, that is, the driving feed gear 74A of one set of end drive mechanisms 7A is adjacent to the driven feed gear 77A of the other set of end drive mechanisms 7A.

[0048] like Figure 28As shown, the import mechanism 3A includes a motor frame 31A, an import motor 32A, an import plate 33A, a sensing plate 34A, a sensor 35A, an import mounting plate 36A, an import bearing seat 37A, an import coupling 38A, and an import plate shaft 39A. The motor frame 31A is fixed on the import bearing seat 37A, which is mounted on the import mounting plate 36A. The import mounting plate 36A is mounted on the linear guide groove 4. The import motor 32A is mounted on the motor frame 31A. The output shaft of the import motor 32A is connected to the lower end of the import plate shaft 39A through the import coupling 38A. The sensing plate 34A is fixedly sleeved on the middle of the import plate shaft 39A and faces the sensor 35A. The sensor 35A is mounted on the motor frame 31A. The import plate 33A is fixedly sleeved on the outer end of the output shaft of the import motor 32A. The import plate 33A is a circular plate with an arc-shaped groove 331A that matches the outer diameter of the sample holder.

[0049] like Figures 3-6 As shown, the corner guide plate 5A has an arc-shaped guide groove 51A.

[0050] The diversion mechanism 8A includes a diversion motor 81A, a diversion plate 82A, a diversion motor 83A, and a diversion guide plate 84A. The diversion motor 81A and the diversion motor 83A are both mounted on the feeder frame 1A. One end of the diversion plate 82A is fixedly sleeved on the output shaft of the diversion motor 81A, and the diversion guide plate 84A is fixedly sleeved on the output shaft of the diversion motor 83A. The diversion plate 82A and the diversion guide plate 84A are located on both sides of the linear guide groove 4A and are arranged opposite to each other. The diversion guide plate 84A is located in front of the diversion plate 82A. The diversion plate 82A is a strip-shaped guide plate, and the diversion guide plate 84A is a circular plate with an arc-shaped groove 841A that matches the outer diameter of the sample holder.

[0051] Working principle of the invention: The end drive mechanism 7A drives the plate chain 6A to move forward. The sample tray 100 placed on the plate chain 6A moves forward with the plate chain 6A. When the sample tray 100 moves to the corner, the inlet mechanism 3A will guide the sample tray 100 into the arc-shaped guide groove 51A of the corner guide plate 5A, realizing the turning of the sample tray 100. During the movement of the sample tray 100 in the straight guide groove 4A, the diversion plate 82A on the diversion mechanism 8A can switch from one straight guide groove 4A to another as needed. The sample tray 100A first contacts the diversion guide plate 84A on the diversion mechanism and then enters the other straight guide groove 4A through the diversion plate. This structural design of the present invention can ensure that the sample tray 100 in both straight guide grooves 4A can move under normal conditions, avoiding the defect of the traditional inlet mechanism which cannot satisfy the simultaneous movement of the sample tray 100 in both straight guide grooves 4A under normal conditions. When the sample tray 100 is at a corner, the transition motor 75A drives the transition roller 76A to rotate smoothly.

[0052] like Figures 7-10 As shown, the sample loading and unloading mechanism 2 includes a sample loading and unloading frame 31B, a sample loading and unloading robotic arm 32B, a sample drawer 33B, and multiple sample racks 34B. The sample loading and unloading robotic arm 32B is installed on the top of the sample loading and unloading frame 31B, the sample drawer 33B is placed on the working platform in the middle of the sample loading and unloading frame 34B, and the multiple sample racks 34B are placed on the sample drawer 33B.

[0053] The sample loading and unloading robotic arm 32B includes a loading and unloading platform 1B, a magnetic motor 2B, a magnetic scale 3B, an X-axis guide rail 4B, a Y-axis transmission mechanism 5B, a Z-axis transmission mechanism 6B, a clamping mechanism 7B, a barcode scanner 8B, and a camera 9B.

[0054] The inlet / outlet platform 1B is fixedly installed on the top of the inlet / outlet sample frame 31B. The magnetic motor 2B is installed on the bottom surface of the inlet / outlet platform 1B. The X-axis guide rail 4B and the magnetic scale 5B are both fixed on the bottom surface of the inlet / outlet platform 1B and are arranged in parallel. The top surface of the Y-axis transmission mechanism 5B slides on the X-axis guide rail 4B and is driven by the magnetic motor 2B. The Z-axis transmission mechanism 6B is installed on the Y-axis transmission mechanism 5B. The upper end of the clamping mechanism 7B is installed on the Z-axis transmission mechanism 6B. The barcode scanner 8B is installed on the Z-axis transmission mechanism 6B and is located on one side of the clamping mechanism 7B. The camera 9B is installed on the top surface of the inlet / outlet platform 1B with the lens facing downward.

[0055] The Y-axis transmission mechanism 5B includes a Y-axis slide plate 51B, a Y-axis motor 52B, a Y-axis pulley assembly 53B, and a Y-axis guide rail 54B. The top of the Y-axis slide plate 51B is slidably connected to the X-axis guide rail 4B. The Y-axis motor 52B is fixedly installed at one end of the Y-axis slide plate 51B. The Y-axis pulley assembly 53B is installed on the bottom surface of the Y-axis slide plate 51B and connected to the output shaft of the Y-axis motor 52B. The Y-axis guide rail 54B is fixedly installed on the bottom surface of the Y-axis slide plate 51B.

[0056] The Z-axis transmission mechanism 6B includes a Z-axis slide plate 61B, a Z-axis motor 62B, a Z-axis pulley assembly 63B, and a Z-axis guide rail 64B. The top of the Z-axis slide plate 61B is slidably connected to the Y-axis guide rail 54B in the Y-axis transmission mechanism 5B and is fixedly connected to the belt 531B in the Y-axis pulley assembly 53B. The Z-axis motor 62B is fixedly installed on the upper end of the Z-axis slide plate 61B. The Z-axis pulley assembly 63B is installed on the Z-axis slide plate 61B and connected to the output shaft of the Z-axis motor 62B. The Z-axis guide rail 64B is fixedly installed on the bottom surface of the Z-axis slide plate 61B.

[0057] In this embodiment, the stator 21B of the magnetic motor 2B is mounted on the bottom surface of the inlet / outlet machine platform 1B, and the mover 22B of the magnetic motor 2B is mounted on the top of the Y-axis slide plate 51B of the Y-axis transmission mechanism 5B.

[0058] like Figure 11 , Figure 12 As shown, the clamping mechanism 7B includes a clamping slide plate 71B, an electric gripper seat 72B, an electric gripper guide rail 73B, an electric gripper 74B, an anti-collision spring 75B, an anti-collision rod 76B, and an anti-collision sensor 77B. The clamping slide plate 71B is slidably connected to the Z-axis guide rail 64B in the Z-axis transmission mechanism and is connected to the belt 631B in the Z-axis pulley assembly 63B. The electric gripper guide rail 73B is mounted on the electric gripper seat 72B, and the electric gripper seat 72B is slidably connected to the electric gripper guide rail 73B. The electric gripper 74B is mounted on the electric gripper seat 72B. The two ends of the anti-collision spring 75B are respectively connected to the clamping slide plate 71B and the electric gripper seat 72B. One end of the anti-collision rod 76B is fixed to the electric gripper seat 72B, and the other end of the anti-collision rod 76B extends toward the anti-collision sensor 77B, which is mounted on the clamping slide plate 71B.

[0059] It should be noted that the present invention has two sets of moving and gripping mechanisms consisting of a magnetic motor 2B, a magnetic grating ruler 3B, an X-axis guide rail 4B, a Y-axis transmission mechanism 5B, a Z-axis transmission mechanism 6B, a clamping mechanism 7B, and a barcode scanner 8B.

[0060] The working principle of the sample loading and unloading robotic arm 32B: The magnetic motor 2B drives the clamping mechanism 7B to move along the X-axis, the Y-axis transmission mechanism 5B drives the clamping mechanism 7B to move along the Y-axis, and the Z-axis transmission mechanism 6B drives the clamping mechanism 7B to move along the Z-axis, thereby realizing the movement of the X, Y, and Z axes. After the clamping mechanism 7B moves into place, the electric gripper 74B clamps the test tube 200 downwards.

[0061] like Figures 13-18 As shown, the sample rack 34B includes a sample base 1E, a guide plate 2E, and an RFID electronic tag 3E.

[0062] The guide plate 2E is fixedly installed on the top surface of the sample base 1E, and the RFID electronic tag 3E is fixedly installed on the bottom surface of the sample base 1E. The RFID electronic tag 3E is matched with the transmitter on the conveyor belt for identification.

[0063] The sample base 1E has support plates 11E on both sides. The guide plate 2E is fixed on the support plates 11E on both sides of the sample base 1E, forming an accommodating space between the guide plate 2E and the sample base 1E. The sample base 1E has multiple accommodating holes 12E for accommodating test tubes in the middle. The accommodating holes 12E are stepped countersunk holes. The stepped surface of the stepped countersunk hole 12E is an arc-shaped surface 121E. The stepped countersunk hole is larger at the top and smaller at the bottom. The small hole 122E in the stepped countersunk hole serves to center the bottom of the test tube. The bottom surface of the sample base 1E is provided with a foolproof hole 13E. The top surface of the sample base 1E is provided with two support columns 14E in the middle. The top surface of the support columns 14E rests against the guide plate 2E.

[0064] The guide plate 2E has multiple through holes 21E in the middle for the test tube to pass through. The diameter of the through holes 21E is 12.7-12.9 mm. The multiple through holes 21E are opposite to the multiple receiving holes 12E in the middle of the base, so that the test tube 200 can be inserted into the receiving hole 12E of the sample base 1E after passing through the through holes 21E of the guide plate 2E.

[0065] The top surfaces of the support plates 11E on both sides of the sample base 1E are provided with pin holes 111E and snap-fit ​​grooves 112E, and the two ends of the support plates 11E have rounded chamfers 111E; the bottom surfaces of both sides of the guide plate 2E are provided with fixing pins 22E and buckles 23E. The fixing pins 22E and buckles 23E on the guide plate 2E are respectively snapped into the pin holes 111E and snap-fit ​​grooves 112E on the support plates 11E of the sample base 1E, thereby fixing the sample base 1E and the guide plate 2E together.

[0066] The working principle of the sample holder 34B: like Figure 18 As shown, when a test tube 200 is inserted into the present invention, the lower part of the test tube 200 passes through the through hole 21E of the guide plate 2E and is inserted into the receiving hole 12E of the sample base 1E. The bottom surface of the test tube 200 is attached to the arc surface 121E of the sample base 1E. The test tube 200 will not tilt under the combined action of the stepped countersunk hole of the sample base 1E and the guide plate 2E.

[0067] like Figure 19 , Figure 20 As shown, the centrifuge mechanism 3 includes a centrifuge track frame 31C, a second-order manipulator 32C, a transfer device 33C, a distribution mechanism 34C, and a centrifuge 35C. The second-order manipulator 32C is installed on the top of the centrifuge track frame 31C. The transfer device 33C and the distribution mechanism 34C are both installed on the working platform of the centrifuge track frame 31C and are adjacent to each other. The centrifuge 35C is installed below the working platform of the centrifuge track frame 31C.

[0068] The dispensing mechanism 34C includes a weighing sensor 341C, a distributor base 342C, and a distributor 343C. The weighing sensor 341C is mounted on the working platform of the centrifugal track frame 31C and located directly below the distributor base 342C. The distributor base 342C rests against the top surface of the weighing sensor 341C, and the distributor 343C is fitted inside the distributor base 342C. The weighing sensor 341C is used to weigh the distributor 343C.

[0069] like Figures 21-24 As shown, the second-order manipulator 32C includes a second-order frame 1C, a translation guide rail 2C, a translation slide plate 3C, a front motor 4C, a rear motor 5C, a first pulley group 6C, a second pulley group 7C, a guide rail block 8C, a gripper guide rail 9C, a gripper 10C, a synchronous shaft 20C, a lifting guide rail 30C, a slide plate guide block 40C, a Z-axis top cover 50C, a pressure plate 60C, and an inner connecting plate 70C.

[0070] The translation guide rail 2C is fixed horizontally on the second-stage frame 1C. The translation slide plate 3 is slidably connected to the translation guide rail 2C. The front motor 4C and the rear motor 5C are both fixedly mounted on the second-stage frame 1C and located at both ends of the second-stage frame 1C. The output shaft of the front motor 4C and the rear motor 5C are both connected to the first pulley group 6C. The first pulley group 6C is connected to the lifting guide rail 30C through the Z-axis top cover 50C and the second pulley group 7C through the Z-axis top cover 50C and the lifting guide rail 30C. The belt on the first pulley group 6C and the belt on the second pulley group 7C are connected. The top cover 50C of the Z-axis is fixed together. The lifting guide rail 30C is slidably connected in the guide groove 401C of the slide guide block 40C. The slide guide block 40C is fixedly installed on the translation slide 3C. The second pulley group 7C is installed on the lifting guide rail 30C. The belt of the second pulley group 7C is connected to the inner belt connecting plate 70C, and the inner belt connecting plate 70C is connected to the translation slide 3C. The second pulley group 7C is connected to the upper end of the gripper guide rail 9C. The gripper guide rail 9C is slidably connected on the guide rail guide block 8C. The guide rail guide block 8C is installed on the lifting guide rail 30C. The gripper 10C is installed at the lower end of the gripper guide rail 9C. The first pulley group 6C includes two driving pulleys 61C, four driven pulleys 62C, one driven lifting pulley 63C, and a belt 64C. The two driving pulleys 61C are respectively fixedly sleeved on the output shaft of the front motor 4C and the output shaft of the rear motor 5C. The four driven pulleys 62C are rotatably mounted on the translation slide plate 3C. The driven lifting pulley 63C is rotatably mounted on one end of the synchronous shaft 20C. The middle part of the belt 64C is wound around the two driving pulleys 61C, the four driven pulleys 62C, and the driven lifting pulley 63C. The two ends of the belt 64C are respectively connected to the upper end of the gripper guide rail 9C.

[0071] The two driving wheels 61C are a front driving wheel 611C and a rear driving wheel 612C, which are respectively fixedly sleeved on the output shaft of the front motor 4C and the output shaft of the rear motor 5C; the four driven wheels 62C are a first driven wheel 621C, a second driven wheel 622C, a third driven wheel 623C, and a fourth driven wheel 624C; the belt 64C is sequentially wound around the first driven wheel 621C, the front driving wheel 611C, the second driven wheel 622C, the driven lifting wheel 63C, the third driven wheel 623C, the rear driving wheel 612C, and the fourth driven wheel 624C.

[0072] The second pulley group 7C includes a driven lifting pulley 71C, a second lifting pulley 72C, and a second belt 73C; the driven lifting pulley 71C is rotatably mounted on the other end of the synchronous shaft 20C, the second lifting pulley 72C is rotatably mounted on the lifting guide rail 30C, and the second belt 73C is wound around the driven lifting pulley 71C and the second lifting pulley 72C.

[0073] Working principle of the invention: The front motor 4C and the rear motor 5C drive the Z-axis top cover 50C to move through the first pulley group 6C. The Z-axis top cover 50C drives the lifting guide rail 30C and the second pulley group 7C connected to it to move. At the same time, since the belt on the second pulley group 7C is connected to the upper end of the gripper guide rail 9C through the pressure plate 60C, the second pulley group 7C drives the gripper guide rail 9C to move up and down. The gripper guide rail 9C will also drive the lifting guide rail 30C to move up and down synchronously. Since the gripper guide rail 9C is connected to the gripper 10C, the gripper 10C also moves synchronously with the gripper guide rail 9C.

[0074] Because the belt of the second pulley group 7C is connected to the inner belt connecting plate 70C, and the inner belt connecting plate 70C is connected to the translation slide plate 3C, when the lifting guide rail 30C moves up and down, the belt of the second pulley group 7C moves at twice the speed of the lifting guide rail 30C in the Z-axis direction. The gripper guide rail 9C is also connected to the belt of the second pulley group 7C, which also drives the gripper guide rail 9C to move. That is, the distance of the gripper guide rail 9C moving up and down is twice that of the lifting guide rail 30C, thus achieving a second-order speed.

[0075] like Figures 25-30 As shown, the transfer device 33C includes a transfer mechanism 2F, a transfer inlet mechanism 3F, and a transfer outlet mechanism 4F.

[0076] The transfer mechanism 2F, the transfer inlet mechanism 3F, and the transfer outlet mechanism 4F are all installed on the working platform of the centrifugal track frame 31C. The transfer inlet mechanism 3F is located at the inlet of the transfer mechanism 2F, and the transfer outlet mechanism 4F is located at the outlet of the transfer mechanism 2F.

[0077] The transfer mechanism 2F includes a base plate 21F, two sets of conveying mechanisms 22F, two blocking mechanisms 23F, multiple columns 24F, and a guide plate 25F. The two sets of conveying mechanisms 22F are both installed on the base plate 21F. The guide plate 25F is fixed on the base plate 1F by multiple columns 24F and is located above the two sets of conveying mechanisms 22F. The guide plate 25F has a guide groove 250F for guiding the movement of the sample holder 100. The two blocking mechanisms 23F are both installed on the base plate 1F, and the tops of the two blocking mechanisms 23F are respectively located at the sample inlet section and the sample outlet section of the guide groove 250F of the guide plate 25F.

[0078] The conveying mechanism 22F includes a drive motor 221F, multiple guide wheels 222F, a conveyor belt 223F, a conveyor belt pulley 224F, an idler wheel bracket 225F, and an idler wheel 226F. The drive motor 221F is mounted on the base plate 21F of the transfer mechanism 2F. The conveyor belt pulley 224F is fixedly sleeved on the output shaft of the drive motor 221F. The multiple guide wheels 222F are rotatably mounted on the base plate 21F of the transfer mechanism 2F. The long groove 2251F on the idler wheel bracket 225F is mounted on the base plate 21F of the transfer mechanism 2F by two screws 227F. The idler wheel 226F is rotatably mounted on the idler wheel bracket 225F. The conveyor belt 223F is wound around the conveyor belt pulley 224F, the multiple guide wheels 222F, and the idler wheel 226F and is located on the top surface of the base plate 21F. The tension of the conveyor belt 223F can be adjusted by adjusting the position of the idler wheel bracket 225F. In this embodiment, the conveyor belt 223F is a double-toothed belt.

[0079] The blocking mechanism 23F includes a sensing element 231F, a blocking motor 232F, a blocking plate 233F, and a sensor 234F. The blocking motor 232F is fixedly mounted on the base plate 1F. The blocking plate 233F is fixedly sleeved on the outer end of the output shaft of the blocking motor 232F. The sensing element 231F is fixedly sleeved on the middle part of the output shaft of the blocking motor 232F. The sensing element 231F cooperates with the sensor 234F mounted on the base plate 21F. An arc-shaped groove 2331F matching the outer diameter of the sample holder is formed on the blocking plate 233F. The blocking mechanism 23F is a two-point reciprocating type, which realizes the precise switching of the sample between the blocking position and the placement position through sensing by the sensors 234F on both sides.

[0080] The guide plate 25F is composed of an inner guide plate 251F and an outer guide plate 252F; both the inner guide plate 251F and the outer guide plate 252F are fixed to the base plate 21F of the transfer mechanism 2F by columns 24F, and are in a suspended state. The outer edge of the inner guide plate 251F and the inner edge of the outer guide plate 252F form a guide groove 250F, which guides the sample holder 100 to move in a zigzag manner. Figure 30As shown, the inner guide plate 251 is provided with a guide angle 2511F and an avoidance angle 2512F at the corresponding positions of the flow-introducing mechanism 3F and the flow-outtroducing mechanism 4F. The guide angle 2511F guides the sample tray 100 to enter, and the avoidance angle facilitates the smooth entry of the sample tray 100 into the track. Both prevent the tray from getting stuck.

[0081] like Figure 28 As shown, the flow-introducing mechanism 3F, the flow-outtroducing mechanism 4F, and the flow-introducing mechanism 3F have basically the same structure as the introducing mechanism 3A.

[0082] Working principle of the transfer device 33C like Figure 26 As shown, the transfer and introduction mechanism 3F can guide the sample tray 100 on the feeding track 1 to the transfer mechanism 2F. The sample tray 100 enters the guide groove 250F of the guide plate 25F and moves along the J-direction line (e.g., ...). Figure 30 As shown), the drive motor 221F drives the conveyor belt 223F to move through the conveyor pulley 224F. The conveyor belt 223F is a double toothed belt, which can drive the sample tray 100 to move forward along the guide groove 250F. When the sample tray 100 moves to the blocking mechanism 23F, it can block the sample tray 100 according to the detection progress to slow down the discharge speed of the sample tray and avoid the accumulation of the sample tray on the detection line.

[0083] The working principle of the centrifugation mechanism 3 is as follows: The transfer device 33F introduces test tubes 200 from the feeding track 1. The second-stage robot 32C picks up the test tubes 200 from the transfer device 33C and places them into the distribution mechanism 34C for configuration, so as to keep the weight of each distributor 343C basically the same. Then, the second-stage robot 32C puts the multiple distributors 343C containing test tubes 200 into the centrifuge 35C one by one for centrifugation. After centrifugation, the second-stage robot 32C takes out the distributors 343C and places them into the distributor base 342C. The second-stage robot 32C then puts the separated test tubes 200 in the distributors 343C into the transfer device 33C, and the test tubes 200 are sent into the feeding track 1 by the transfer device 33C.

[0084] like Figure 31 As shown, the lid opening detection mechanism 4 includes a lid opening frame 41D, a lid opening mechanism 42D, a detection mechanism 43D, a lid opening transfer mechanism 44D, and a lid opening robot arm 45D.

[0085] The opening mechanism 42D, the detection mechanism 43D, the opening transfer mechanism 44D, and the opening robot 45D are all mounted on the opening frame 41D. The opening transfer mechanism 44D is arranged around the opening mechanism 42D and the detection mechanism 43D. The first working position, the second working position, and the third working position of the opening robot 45D are respectively connected to the feeding track 1D, the detection mechanism 43D, and the opening transfer mechanism 44D.

[0086] The detection mechanism 43D includes a camera frame 431D, a camera 432D, a backlight panel 433D, and a light source 434D. The lower ends of the camera frame 431D, the backlight panel 433D, and the light source 434D are all fixed on the cover opening frame 41D. The camera 432D is installed on the upper part of the camera frame 431D and is opposite to the backlight panel 433D. The light source 434D is located on one side of the camera 432D.

[0087] The lid-opening robot 45D includes a lid-opening robot frame 451D and a lid-opening robot 452D; the lid-opening robot 452D is fixed on the lid-opening frame 41D through the lid-opening robot frame 451D.

[0088] The structural principle of the opening and transfer mechanism 44D is basically the same as that of the transfer mechanism 2.

[0089] The working principle of the opening detection mechanism 4D is as follows: The opening robot 45D picks up the test tube 200 from the feeding track 1 and moves it to the detection mechanism 43D for detection. After the detection is completed, it is sent to the opening transfer mechanism 44D and transferred to the opening mechanism 42D for opening.

[0090] As described Figures 32-34 As shown, the opening mechanism 42D includes a clamping frame 1D, a clamping lifting mechanism 2D, a clamping mechanism 3D, an opening gripper 4D, and a feeding mechanism 5D.

[0091] The clamping lifting mechanism 2D is installed on the upper part of the clamping frame 1D, the opening gripper 4D is installed on the lifting end of the clamping lifting mechanism 2D, the clamping mechanism 3D is installed on the lower part of the clamping frame 1D and located directly below the opening gripper 4D, and the unloading mechanism 5D is slidably connected to the clamping frame 1D and connected to the clamping lifting mechanism 2D.

[0092] The clamping and lifting mechanism 2D includes a lifting frame 21D, a lifting motor 22D, a lifting screw 23D, a lifting plate 24D, a lifting guide rail 25D, a sensor plate 26D, and two sensors 27D. The lower end of the lifting frame 21D is vertically fixed to the clamping frame 1D. The lifting motor 22D is mounted on the top of the lifting frame 21D. The output shaft of the lifting motor 22D is connected to the upper end of the lifting screw 23D. The middle part of the lifting screw 23D is screwed to the back of the lifting plate 24D through a screw nut. The lifting plate 24D slides on the lifting guide rail 25D. D is installed on the lifting frame 21D. The lifting motor 22D drives the lifting plate 24D to move up and down along the lifting guide rail 25D through the lifting screw 23D. One end of the sensing plate 26D is fixed on the lifting plate 24D, and the other end of the sensing plate 26D extends out of the lifting plate 24D. Two sensors 27D are installed on the lifting frame 21D from top to bottom and are located on the moving trajectory of the sensing plate 26D so that the sensing plate 26D passes by the sensor 27D. The two sensors 27D can control the lifting plate 24D to move different distances for sample tubes of different heights. The sensor 27D confirms whether the lifting plate 24D has moved into place.

[0093] The clamping mechanism 3D includes two lead screw seats 31D, a clamping lead screw 32D, a clamping motor 33D, a clamping motor seat 34D, two guide rod seats 35D, a clamping guide rod 36D, two sliders 37D, two guide blocks 38D, two push blocks 310D, a slider spring 311D, a small guide post 312D, two clamping blocks 313D, a sensor 314D, and an adjusting plate 315D.

[0094] The lower ends of the two lead screw seats 31D are fixed to the clamping frame 31D and arranged opposite to each other. The two sides of the clamping lead screw 32D are rotatably inserted through the upper parts of the two lead screw seats 31D. The two sides of the clamping lead screw 32D are respectively provided with toothed grooves 321D with opposite rotation directions. The output shaft of the clamping motor 33D is connected to one end of the clamping lead screw 32D. The clamping motor 33D is mounted on the upper part of the clamping motor seat 34D, and the lower end of the clamping motor seat 34D is fixed to the clamping frame 31D. The lower ends of the two guide rod seats 35D... Fixed on the clamping frame 1D and arranged opposite each other, the two ends of the clamping guide rod 36D are fixed to the upper part of the two guide rod seats 35D. The two sliders 37D and the two push blocks 310D are all slidably connected to the clamping guide rod 36D and the two sliders 37D are arranged opposite each other. The outer sides of the two sliders 37D are respectively connected to the inner sides of the two guide blocks 38D. The outer sides of the guide blocks 38D are all slidably connected to the tooth groove 321D of the clamping screw 32D. When clamping the test tube, the guide block 38D and the tooth groove 321D of the clamping screw 32D form a self-locking mechanism. In this embodiment, the slider 37D and the guide block 38D are an integral component. The two sliders 37D and the two push blocks 310D are opposite each other, and a small guide post 312D and a slider spring 311D are provided between the sliders 37D and the push blocks 310D. The two clamping blocks 313D are respectively fixed on the inner side of the two sliders 37D and are arranged opposite each other, forming a clamping station between the two clamping blocks 313D. The adjusting plate 315D is installed on the left slider 37D and can move horizontally with the slider 37D. The sensor 314D is installed on the slider 37D and located on the moving trajectory of the adjusting plate 315D to detect the compression of the slider spring 311D.

[0095] The opening gripper 4D is a rotating electric gripper.

[0096] The feeding mechanism 5D includes a feeding link 51D, a feeding guide rail 52D, a feeding tube 53D, and a discharge tube 54D. One end of the feeding link 51D is hinged to the lifting plate 24D of the clamping and lifting mechanism 2D, and the other end is hinged to the side wall of the feeding tube 53D. The bottom surface of the middle section of the feeding tube 53D slides on the feeding guide rail 52D, which is fixed to the clamping frame 1. The top opening of the feeding tube 53D is opposite to the cover-opening gripper 4D, used to receive the cover 300 from the cover-opening gripper 4D. The bottom outlet of the feeding tube 53D is opposite to the top inlet of the discharge tube 54D. The top inlet of the discharge tube 54D is a rectangular opening, the length of which is greater than the travel of the feeding tube 53D, so as to receive the cover 300 from the feeding tube 53D. In this embodiment, a feeding tube 53D with a large slope is used.

[0097] The working principle of the opening mechanism 42D is as follows: Test tube 200 is sent to the capping station by capping transfer mechanism 44D. The clamping motor 33D in clamping mechanism 3D drives clamping screw 32D to rotate. Clamping screw 32D drives two sliders 37D to move towards each other through left guide block 38D and right guide block 39D respectively, clamping test tube 200. Clamping lifting mechanism 2 drives capping jaw 4D to extend downward to cap 300 of test tube 200 and clamp cap 300. After capping jaw 4D rotates, cap 300 is separated from test tube 200. Clamping lifting mechanism 2D rises and simultaneously drives guide tube 53D on unloading mechanism 5D to move directly below capping jaw 4D. Capping jaw 4D releases the clamped cap 300, causing cap 300 to fall into guide tube 53D and be unloaded.

[0098] In addition, the clamping motor 33D in the clamping mechanism 3D drives the clamping screw 32D to rotate. The clamping screw 32D drives the two sliders 37D to move towards each other through the two guide blocks 38D, clamping the test tube 200. Since there is a small guide post 312D and a slider spring 311D between the slider 37D and the push block 310D, and since the initial distance between the adjusting plate 315D and the sensor 314D is fixed, the compression of the slider spring 311D is fixed when clamping test tubes of different diameters. The slider spring 311D can apply force to the test tube. The compression of the spring is different, and the clamping force on the test tube is also different. While ensuring the clamping force, it can prevent large-diameter test tubes from being crushed by excessive force.

[0099] like Figure 1 , Figure 7 As shown, the working principle of this invention is as follows: Sample tray 100 flows through feeding track 1 to sample inlet / outlet mechanism 2, where multiple sample racks 34B containing test tubes 200 are placed in sample drawer 33B. Sample inlet / outlet robotic arm 32B places the test tubes into sample tray 100. Sample tray 100 containing test tubes 200 is sent by feeding track 1 to centrifugation mechanism 3 for centrifugation. After centrifugation, test tubes 200 are sent by feeding track 1 to cap opening and detection mechanism 4 for detection and cap opening. After cap opening, test tubes 200 are sent by feeding track 1 to sample inlet / outlet mechanism 2, where sample inlet / outlet robotic arm 32B places the test tubes 200 into sample rack 34B.

[0100] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of the patent application and the contents of the specification of the present invention should still fall within the scope of the patent of the present invention.

Claims

1. A fully automated sample analysis pipeline, characterized in that: It includes a feeding track, a sample inlet / outlet mechanism, a centrifugation mechanism, and a lid opening detection mechanism; the sample inlet / outlet mechanism, centrifugation mechanism, and lid opening detection mechanism are arranged sequentially and located on one side of the feeding track; The feeding track includes a feeding frame, a guide frame, an inlet mechanism, two or more straight guide channels, a corner guide plate, a plate chain, two sets of end drive mechanisms, and a diversion mechanism; The lower end of the guide rail frame is fixed to the top surface of the feeder frame. Two sets of straight guide rails are installed on the top surface of the guide rail frame. Corner guide plates are installed at both ends of the two sets of straight guide rails. The inlet mechanism is located at the inner end of the corner guide plate. The inlet mechanism is installed on the top of the guide rail frame and connected to the end of the straight guide rail. Two plate chains are placed in the straight guide rail and are both connected to a set of end drive mechanisms. The two sets of end drive mechanisms are respectively installed on the feeder frame and located at both ends of the straight guide rail. The diversion mechanism is installed on the straight guide rail and located in the middle of the straight guide rail. The end drive mechanism includes a feeding motor, a feeding pulley set, a drive shaft, two drive feeding gears, a transition mechanism, two driven feeding gears, and a driven shaft. The feeding motor is mounted on the feeding frame, and the output shaft of the feeding motor is connected to one end of the drive shaft through the feeding pulley set. The drive shaft is rotatably mounted on one end of the guide slot frame. The two drive feeding gears are fixedly sleeved at intervals in the middle of the drive shaft. One end of the plate chain meshes with the drive feeding gear, and the other end of the plate chain meshes with the driven feeding gear. The two driven feeding gears are fixedly sleeved at intervals in the middle of the driven shaft. The driven shaft is rotatably mounted on the other end of the guide slot frame. The transition mechanism is mounted on the guide slot frame and located in the middle of the ends of two adjacent straight guide slots. The transition mechanism includes a transition motor frame, a transition motor, a transition coupling, a transition disc shaft, a transition disc, a transition bearing seat, and a transition mounting plate. The transition motor frame is mounted on the transition bearing seat, which is mounted on the transition mounting plate. The transition mounting plate is installed between two sets of linear guide slots. The transition motor is mounted on the transition motor frame. The output shaft of the transition motor is connected to the lower end of the transition disc shaft via the transition coupling. The middle part of the transition disc is fixed to the upper end of the transition disc shaft, and the transition disc is located in the middle of the corner guide plate, used to guide the sample holder to rotate. The lid opening and detection mechanism includes a lid opening frame, a lid opening mechanism, a detection mechanism, a lid opening transfer mechanism, and a lid opening robot. The lid opening mechanism, detection mechanism, lid opening transfer mechanism, and lid opening robot are all mounted on the lid opening frame. The lid opening transfer mechanism is arranged around the lid opening mechanism and the detection mechanism. The first working position, the second working position, and the third working position of the lid opening robot are respectively connected to the feeding track, the detection mechanism, and the lid opening transfer mechanism. The opening mechanism includes a clamping frame, a clamping lifting mechanism, a clamping mechanism, an opening gripper, and a feeding mechanism; the clamping lifting mechanism is installed on the upper part of the clamping frame, the opening gripper is installed on the lifting end of the clamping lifting mechanism, the clamping mechanism is installed on the lower part of the clamping frame and located directly below the opening gripper, and the feeding mechanism is slidably connected to the clamping frame and connected to the clamping lifting mechanism. The clamping and lifting mechanism includes a lifting frame, a lifting motor, a lifting screw, a lifting plate, a lifting guide rail, a sensor plate, and two sensors. The lower end of the lifting frame is vertically fixed to the clamping frame. The lifting motor is installed on the top of the lifting frame, and the output shaft of the lifting motor is connected to the upper end of the lifting screw. The middle part of the lifting screw is screwed to the back of the lifting plate through a screw nut. The lifting plate slides on the lifting guide rail, which is installed on the lifting frame. The lifting motor drives the lifting plate to move up and down along the lifting guide rail through the lifting screw. One end of the sensor plate is fixed to the lifting plate, and the other end of the sensor plate extends out of the lifting plate. The two sensors are installed on the lifting frame from top to bottom and are located on the moving trajectory of the sensor plate so that the sensor plate passes over the sensors. The two sensors can control the lifting plate to move different distances for sample tubes of different heights. The sensors confirm whether the lifting plate has moved into place. The clamping mechanism includes two lead screw seats, a clamping lead screw, a clamping motor, a clamping motor seat, two guide rod seats, a clamping guide rod, two sliders, two guide blocks, two push blocks, a slider spring, a small guide post, two clamping blocks, a sensor, and an adjusting plate; The lower ends of the two lead screw seats are fixed to the clamping frame and are arranged opposite to each other. The two sides of the clamping lead screw are rotatably inserted through the upper part of the two lead screw seats. The two sides of the clamping lead screw are respectively provided with toothed grooves with opposite rotation directions. The output shaft of the clamping motor is connected to one end of the clamping lead screw through a coupling. The clamping motor is mounted on the upper part of the clamping motor seat. The lower end of the clamping motor seat is fixed to the clamping frame. The lower ends of the two guide rod seats are fixed to the clamping frame and are arranged opposite to each other. The two ends of the clamping guide rod are fixed to the two guide rods. At the top of the seat, two sliders and two push blocks are slidably connected to the clamping guide rod, with the two sliders facing each other. The outer sides of the two sliders are respectively connected to the inner sides of the two guide blocks. The outer sides of the guide blocks are slidably connected to the tooth grooves of the clamping screw. When clamping the test tube, the guide blocks and the tooth grooves of the clamping screw form a self-locking mechanism. The two sliders and two push blocks are facing each other, and small guide posts and slider springs are provided between the sliders and push blocks. The two clamping blocks are respectively fixed to the inner sides of the two sliders and are facing each other. The two clamping blocks together form a clamping station.

2. The fully automated sample analysis pipeline according to claim 1, characterized in that: The import mechanism includes a motor frame, an import motor, an import plate, a sensing element, a sensor, an import mounting plate, an import bearing seat, an import coupling, and an import plate shaft. The motor frame is fixed on the import bearing seat, the import bearing seat is mounted on the import mounting plate, the import mounting plate is mounted on a linear guide groove, the import motor is mounted on the motor frame, the output shaft of the import motor is connected to the lower end of the import plate shaft through the import coupling, the sensing element is fixedly sleeved on the middle of the import plate shaft and is opposite to the sensor, the sensor is mounted on the motor frame, and the import plate is fixedly sleeved on the outer end of the import motor output shaft.

3. The fully automated sample analysis pipeline according to claim 1, characterized in that: The corner guide plate has an arc-shaped guide groove.

4. The fully automated sample analysis pipeline according to claim 1, characterized in that: The diversion mechanism includes a diversion motor, a diversion plate, a diversion conductor, and a diversion guide plate. The diversion motor and the diversion conductor are both mounted on the feeder frame. One end of the diversion plate is fixedly sleeved on the output shaft of the diversion motor, and the diversion guide plate is fixedly sleeved on the output shaft of the diversion conductor. The diversion plate and the diversion guide plate are located on both sides of the linear guide groove and are arranged opposite to each other. The diversion guide plate is located in front of the diversion plate. The diversion plate is a strip-shaped guide plate and is a circular plate with an arc-shaped groove that matches the outer diameter of the sample tray.

5. The fully automated sample analysis pipeline according to claim 1, characterized in that: The sample loading / unloading mechanism includes a sample loading / unloading frame, a sample loading / unloading robotic arm, a sample drawer, and multiple sample racks. The sample loading / unloading robotic arm is mounted on the top of the sample loading / unloading frame, the sample drawer is placed on the working platform in the middle of the sample loading / unloading frame, and the multiple sample racks are placed on the sample drawer. The sample loading / unloading robotic arm includes an loading / unloading platform, a magnetic motor, a magnetic scale, an X-axis guide rail, a Y-axis transmission mechanism, a Z-axis transmission mechanism, a clamping mechanism, a barcode scanner, and a camera. The loading / unloading platform is fixedly mounted on the top of the sample loading / unloading frame, the magnetic motor is mounted on the bottom surface of the loading / unloading platform, the X-axis guide rail and the magnetic scale are both fixed on the bottom surface of the loading / unloading platform and are arranged in parallel, the top surface of the Y-axis transmission mechanism slides on the X-axis guide rail and is driven by the magnetic motor, the Z-axis transmission mechanism is mounted on the Y-axis transmission mechanism, the upper end of the clamping mechanism is mounted on the Z-axis transmission mechanism, the barcode scanner is mounted on the Z-axis transmission mechanism and is located on one side of the clamping mechanism, and the camera is mounted on the top surface of the loading / unloading platform with the lens facing downwards.

6. The fully automated sample analysis pipeline according to claim 5, characterized in that: The Y-axis transmission mechanism includes a Y-axis slide plate, a Y-axis motor, a Y-axis pulley assembly, and a Y-axis guide rail. The top of the Y-axis slide plate is slidably connected to the X-axis guide rail. The Y-axis motor is fixedly installed at one end of the Y-axis slide plate. The Y-axis pulley assembly is installed on the bottom surface of the Y-axis slide plate and connected to the output shaft of the Y-axis motor. The Y-axis guide rail is fixedly installed on the bottom surface of the Y-axis slide plate.

7. The fully automated sample analysis pipeline according to claim 5, characterized in that: The Z-axis transmission mechanism includes a Z-axis slide plate, a Z-axis motor, a Z-axis pulley assembly, and a Z-axis guide rail. The top of the Z-axis slide plate is slidably connected to the Y-axis guide rail in the Y-axis transmission mechanism and is fixedly connected to the belt in the Y-axis pulley assembly. The Z-axis motor is fixedly installed on the upper end of the Z-axis slide plate. The Z-axis pulley assembly is installed on the Z-axis slide plate and connected to the output shaft of the Z-axis motor. The Z-axis guide rail is fixedly installed on the bottom surface of the Z-axis slide plate.

8. The fully automated sample analysis pipeline according to claim 5, characterized in that: The clamping mechanism includes a clamping slide plate, an electric gripper seat, an electric gripper guide rail, an electric gripper, an anti-collision spring, an anti-collision rod, and an anti-collision sensor. The clamping slide plate is slidably connected to the Z-axis guide rail in the Z-axis transmission mechanism and is connected to the belt in the Z-axis pulley group. The electric gripper guide rail is mounted on the electric gripper seat, the electric gripper seat is slidably connected to the electric gripper guide rail, and the electric gripper is mounted on the electric gripper seat. The two ends of the anti-collision spring are respectively connected to the clamping slide plate and the electric gripper seat. One end of the anti-collision rod is fixed to the electric gripper seat, and the other end of the anti-collision rod extends toward the anti-collision sensor, which is mounted on the clamping slide plate.

9. The fully automated sample analysis pipeline according to claim 5, characterized in that: The sample rack includes a sample base, a guide plate, and an RFID electronic tag; the guide plate is fixedly installed on the top surface of the sample base, and the RFID electronic tag is fixedly installed on the bottom surface of the sample base. The RFID electronic tag is matched with a transmitter on the conveyor belt for identification.

10. The fully automated sample analysis pipeline according to claim 9, characterized in that: The sample base has support plates on both sides, and the guide plate is fixed on both sides of the support plates on both sides of the sample base, forming an accommodating space between the guide plate and the sample base. The sample base has multiple accommodating holes for accommodating test tubes in the middle. These accommodating holes are stepped countersunk holes, and the stepped surfaces of the stepped countersunk holes are arc-shaped. The stepped countersunk holes are larger at the top and smaller at the bottom. The small holes in the stepped countersunk holes serve to center the bottom of the test tubes. The bottom surface of the sample base is provided with anti-fool holes, and the top surface of the sample base is provided with two support columns in the middle of the top surface of the sample base. The top surfaces of the support columns abut against the guide plate.

11. The fully automated sample analysis pipeline according to claim 9, characterized in that: The guide plate has multiple through holes in the middle for the test tubes to pass through. These through holes are opposite to multiple receiving holes in the middle of the base, so that the test tubes can be inserted into the receiving holes of the sample base after passing through the through holes of the guide plate. The top surfaces of the support plates on both sides of the sample base are provided with pin holes and snap-fit ​​grooves, and the two ends of the support plates are rounded chamfers. The bottom surfaces of both sides of the guide plate are provided with fixing pins and buckles. The fixing pins and buckles on the guide plate are respectively engaged in the pin holes and snap-fit ​​grooves on the support plates of the sample base, thereby fixing the sample base and the guide plate together.

12. The fully automated sample analysis pipeline according to claim 1, characterized in that: The centrifugation mechanism includes a centrifuge track frame, a second-order manipulator, a transfer device, a distribution mechanism, and a centrifuge. The second-order manipulator is installed on the top of the centrifuge track frame, the transfer device and the distribution mechanism are both installed on the working platform of the centrifuge track frame and are adjacent to each other, and the centrifuge is installed below the working platform of the centrifuge track frame.

13. The fully automated sample analysis pipeline according to claim 12, characterized in that: The distribution mechanism includes a weighing sensor, a distributor base, and a distributor; the weighing sensor is installed on the working platform of the centrifugal track frame, the distributor base is attached to the top surface of the weighing sensor, and the distributor is fitted inside the distributor base; the weighing sensor is used to weigh the distributor.

14. The fully automated sample analysis pipeline according to claim 12, characterized in that: The second-order manipulator includes a second-order frame, a translation guide rail, a translation slide plate, a front motor, a rear motor, a first pulley group, a second pulley group, a guide rail block, a gripper guide rail, a gripper, a synchronous shaft, a lifting guide rail, a slide plate guide block, a Z-axis top cover, a pressure plate, and an inner connecting plate. The translation guide rail is fixed horizontally on the frame, and the translation slide plate slides on the translation guide rail. The front motor and the rear motor are both fixedly mounted on the frame and located at both ends of the frame. The output shaft of the front motor and the rear motor are both connected to the first pulley group. The first pulley group is connected to the lifting guide rail through the Z-axis top cover and is also connected to the second pulley group through the Z-axis top cover, the lifting guide rail, and the second pulley group. The belts on the first pulley group and the belts on the second pulley group are fixed together through the Z-axis top cover. The lifting guide rail slides in the guide groove of the slide plate guide block. The slide plate guide block is fixedly mounted on the translation slide plate. The second pulley group is mounted on the lifting guide rail. The belt of the second pulley group is connected to the inner belt connecting plate, and the inner belt connecting plate is connected to the translation slide plate. The second pulley group is connected to the upper end of the gripper guide rail. The gripper guide rail slides on the guide rail guide block, the guide rail guide block is mounted on the lifting guide rail, and the gripper is mounted on the lower end of the gripper guide rail.

15. The fully automated sample analysis pipeline according to claim 14, characterized in that: The first pulley assembly includes two driving pulleys, four driven pulleys, one driven lifting pulley, and a belt. The two driving pulleys are respectively fixedly sleeved on the output shaft of the front motor and the output shaft of the rear motor. The four driven pulleys are rotatably mounted on the translation slide plate. The driven lifting pulley is rotatably mounted on one end of the synchronous shaft. The middle part of the belt is wound around the two driving pulleys, the four driven pulleys, and the driven lifting pulley. The two ends of the belt are respectively connected to the upper end of the gripper guide rail.

16. The fully automated sample analysis pipeline according to claim 14, characterized in that: The two driving wheels are a front driving wheel and a rear driving wheel, which are fixedly sleeved on the output shaft of the front motor and the output shaft of the rear motor, respectively; the four driven wheels are a first driven wheel, a second driven wheel, a third driven wheel, and a fourth driven wheel; the belt is sequentially wound around the first driven wheel, the front driving wheel, the second driven wheel, the driven lifting wheel, the third driven wheel, the rear driving wheel, and the fourth driven wheel.

17. The fully automated sample analysis pipeline according to claim 14, characterized in that: The second pulley assembly includes a driven lifting pulley, a second lifting pulley, and a second belt; the driven lifting pulley is rotatably mounted on the other end of the synchronous shaft, the second lifting pulley is rotatably mounted on the lifting guide rail, and the second belt is wound around the driven lifting pulley and the second lifting pulley.

18. The fully automated sample analysis pipeline according to claim 12, characterized in that: The transfer device includes a transfer mechanism, an inlet mechanism, and an outlet mechanism; the transfer mechanism, inlet mechanism, and outlet mechanism are all installed on the working platform of the centrifugal track frame, with the inlet mechanism located at the inlet of the transfer mechanism and the outlet mechanism located at the outlet of the transfer mechanism. The transfer mechanism includes a base plate, two sets of conveying mechanisms, two blocking mechanisms, multiple columns, and a guide plate. The two sets of conveying mechanisms are both installed on the base plate. The guide plate is fixed to the base plate by multiple columns and is located above the two sets of conveying mechanisms. The guide plate has a guide groove for guiding the movement of the sample holder. The two blocking mechanisms are both installed on the base plate, and the tops of the two blocking mechanisms are respectively located at the sample inlet section and the sample outlet section of the guide groove of the guide plate. The conveying mechanism includes a drive motor, multiple guide wheels, a conveyor belt, a conveyor belt pulley, an idler wheel bracket, and an idler wheel. The drive motor is mounted on the base plate of the transfer mechanism. The conveyor belt pulley is fixedly sleeved on the output shaft of the drive motor. The multiple guide wheels are rotatably mounted on the base plate of the transfer mechanism. The long groove on the idler wheel bracket is mounted on the base plate of the transfer mechanism by two screws. The idler wheel is rotatably mounted on the idler wheel bracket. The conveyor belt is wound around the conveyor belt pulley, multiple guide wheels, and idler wheel and is located on the top surface of the base plate. The tension of the conveyor belt can be adjusted by adjusting the position of the idler wheel bracket.

19. The fully automated sample analysis pipeline according to claim 18, characterized in that: The blocking mechanism includes a sensing element, a blocking motor, a blocking plate, and a sensor. The blocking motor is fixedly mounted on the base plate, the blocking plate is fixedly sleeved on the outer end of the blocking motor output shaft, and the sensing element is fixedly sleeved on the middle part of the blocking motor output shaft. The sensing element cooperates with the sensor mounted on the base plate. An arc-shaped groove matching the outer diameter of the sample holder is provided on the blocking plate. The blocking mechanism is a two-point reciprocating type, which realizes the precise switching of the sample between the blocking position and the placement position through sensing by sensors on both sides.

20. The fully automated sample analysis pipeline according to claim 18, characterized in that: The guide plate consists of an inner guide plate and an outer guide plate. Both the inner and outer guide plates are fixed to the base plate of the transfer mechanism by columns and are suspended in the air. The outer edge of the inner guide plate and the inner edge of the outer guide plate form a guide groove, which can guide the sample tray to move in a tortuous manner. The inner guide plate is provided with a guide angle and an avoidance angle at the corresponding positions of the inlet mechanism and the outlet mechanism. The guide angle guides the sample tray to enter, and the avoidance angle facilitates the smooth entry of the sample tray into the track. Both prevent the sample tray from getting stuck.

21. The fully automated sample analysis pipeline according to claim 1, characterized in that: The import mechanism includes a motor frame, an import motor, an import plate, a sensing sheet, and a sensor; the motor frame is fixed on the machine frame, the import motor is mounted on the motor frame, the sensing sheet is fixedly sleeved on the middle part of the output shaft of the import motor, and the import plate is fixedly sleeved on the outer end of the output shaft of the import motor; the import plate has an arc-shaped groove that matches the outer diameter of the sample holder.

22. The fully automated sample analysis pipeline according to claim 1, characterized in that: The opening gripper is a rotating electric gripper.

23. The fully automated sample analysis pipeline according to claim 1, characterized in that: The feeding mechanism includes a feeding link, a feeding guide rail, a feeding tube, and a discharge tube. One end of the feeding link is hinged to the lifting plate of the clamping and lifting mechanism, and the other end of the feeding link is hinged to the side wall of the feeding tube. The bottom surface of the middle section of the feeding tube slides on the feeding guide rail, which is fixed to the clamping frame. The top opening of the feeding tube is opposite to the cover-opening claw for receiving the cover from the cover-opening claw. The bottom outlet of the feeding tube is opposite to the top inlet of the discharge tube. The top inlet of the discharge tube is a rectangular opening, and the length of the top inlet is greater than the travel of the feeding tube to receive the cover from the feeding tube.

24. The fully automated sample analysis pipeline according to claim 1, characterized in that: The detection mechanism includes a camera stand, a camera, a backlight panel, and a light source; the lower ends of the camera stand, the backlight panel, and the light source are all fixed on the cover-opening frame, the camera is mounted on the upper part of the camera stand and opposite the backlight panel, and the light source is located on one side of the camera.

25. The fully automated sample analysis pipeline according to claim 1, characterized in that: The lid-opening robot includes a lid-opening robot frame and a lid-opening robot; the lid-opening robot is fixed to the lid-opening frame via the lid-opening robot frame.

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