Rail transport device, test tube rack positioning device and positioning method thereof

Abstract

This application relates to a track conveying device, a test tube rack positioning device, and a positioning method thereof. The test tube rack positioning device includes a main body and a positioning mechanism; the main body is provided with multiple markers arranged at intervals, with each test tube on the rack corresponding to one marker; the positioning mechanism is connected to the main body; the positioning mechanism includes a sensor and a control component, the sensor moving along the arrangement direction of the markers, the sensor being used to sense the markers, and the control component controlling the moving distance of the test tube rack as the sensor moves; when the sensor moves to one of the markers, the test tube corresponding to the marker sensed by the sensor reaches the sample dispensing position. The solution provided by this application can position the test tube rack, ensuring that the test tubes to be dispensed can accurately reach the sample dispensing position.

Description

Technical Field

[0001] This application relates to the field of laboratory equipment technology, and in particular to track conveying devices, test tube rack positioning devices and positioning methods thereof. Background Technology

[0002] In biochemical experiments, test tubes are frequently used to hold samples or reagents. For automated experimental equipment, to improve efficiency, multiple test tubes are usually placed on a test tube rack, and then the test tube rack is sent to the working range of the sample dispensing instrument, which dispenses the sample into the test tubes. The position where the sample dispensing instrument can dispense the sample into the test tube is generally called the dispensing position. For sample dispensing instruments that use a rotating arm to drive the dispensing needle to rotate, the position of the dispensing position is fixed. Therefore, all test tubes on the test tube rack need to pass through the dispensing position and stop there.

[0003] In the prior art, the test tube rack is transported by a conveyor belt. When the test tube to be added reaches the addition position, the conveyor belt pauses. After the addition is completed, the conveyor belt continues to run. When the next test tube to be added reaches the addition position, the conveyor belt pauses. This process is repeated until the addition is completed. However, due to transmission errors, the conveyor belt is prone to causing deviation between the test tube and the addition position, resulting in the liquid added by the dispensing needle spilling outside the test tube, thus contaminating the experimental environment and affecting the accuracy of the experiment. Summary of the Invention

[0004] To solve or partially solve the problems existing in the related technologies, this application provides a track conveying device, a test tube rack positioning device and a positioning method thereof, which can position the test tube rack so that the test tube to be added can accurately reach the sample addition position.

[0005] The first aspect of this application provides a test tube rack positioning device, which includes a main body and a positioning mechanism; the main body is provided with a plurality of markers, the markers are arranged at intervals, and each test tube on the test tube rack corresponds to one marker; The positioning mechanism is connected to the main body; the positioning mechanism includes a sensor and a control component. The sensor moves along the arrangement direction of the markings and is used to sense the markings. The control component controls the moving distance of the test tube rack as the sensor moves. When the sensor moves to one of the markings, the test tube corresponding to the marking sensed by the sensor reaches the sample dispensing position.

[0006] Furthermore, at least two of the multiple identifiers form an identifier group, and one identifier group corresponds to one type of test tube rack; in the identifier group and the corresponding test tube rack, the identifier corresponds one-to-one with the test tube hole position of the test tube rack.

[0007] Furthermore, within the same group of identifiers, the identifiers are arranged at equal intervals; The logos in the same logo group have the same shape, while the logos in different logo groups have different shapes.

[0008] Furthermore, within the same group of markers, the distance between two adjacent markers is equal to the distance between the test tube holes on the test tube rack corresponding to the group of markers.

[0009] A second aspect of this application provides a track conveying device, which includes a base, a conveyor line, and a test tube rack positioning device. The main body is fixed to the base, the conveyor line is connected to the base, and the conveyor line is used to convey the test tube rack to the positioning device. The direction in which the conveyor line conveys the test tube rack is the same as the arrangement direction of the markings.

[0010] Furthermore, the positioning mechanism includes a bracket, the control element and the sensor are mounted on the bracket, and the control element restricts the conveyor line from conveying the test tube rack by cutting into the conveyor line.

[0011] Furthermore, the test tube delivery instrument also includes a baffle connected to the base and located on one side of the delivery line. The baffle is used to restrict the test tube rack from moving to a side perpendicular to the delivery direction of the delivery line.

[0012] Furthermore, the baffle has a limiting hole, the positioning mechanism includes an elastic element, the control element is rotatably connected to the bracket, the elastic element is connected to the bracket, the elastic element applies elastic force to the control element so that the control element passes through the limiting hole and cuts into the conveyor line; when the control element is misaligned with the limiting hole, the control element abuts against the baffle, and the control element cuts out of the conveyor line.

[0013] Furthermore, the positioning mechanism also includes a position detector, which is connected to the bracket and moves with the sensor. The position detector is used to detect the relative position of the test tube rack and the positioning mechanism.

[0014] A third aspect of this application provides a positioning method for a test tube rack positioning device, which includes the following steps: Identify the test tubes on the test tube rack that require sample addition; Send the test tube rack to the positioning mechanism; The sensor moves toward the marker corresponding to the test tube that needs to be sampled, and the controller controls the moving distance of the test tube rack. When the sensor reaches the marker corresponding to the test tube that needs to be sampled, the test tube that needs to be sampled will move to the sample dispensing position.

[0015] The technical solution provided in this application may include the following beneficial effects: This application sets multiple markers on the main body so that each test tube corresponds to one marker. The sensor detects the marker and moves along the marker, so that the control component moves synchronously with the sensor. This allows the control component to accurately position each test tube corresponding to the marker to the sample dispensing position, avoiding misalignment between the test tube and the sample dispensing position, thereby improving the accuracy of the experiment.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0018] Figure 1 This is a schematic diagram of the structure of the test tube delivery instrument shown in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the test tube rack positioning device shown in the embodiments of this application; Figure 3 This is another structural schematic diagram of the test tube rack positioning device shown in the embodiments of this application; Figure 4 This is a cross-sectional view of the test tube delivery instrument shown in the embodiments of this application.

[0019] Reference numerals: Main body 1; Identifier 11; Frame 12; Track 13; Positioning mechanism 2; Sensor 21; Control component 22; Support 23; Elastic component 24; Position detector 25; Positioning motor 26; Drive wheel 27; Transmission wheel 28; Synchronous belt 29; Base 3; Conveyor line 4; Drive wheel 41; Belt 42; Tensioning mechanism 43; Baffle 5; Limiting hole 51; Test tube rack 100; Sample loading position 200. Detailed Implementation

[0020] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0021] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0023] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] In existing technologies, test tube racks are transported by conveyor belts. The conveyor belt pauses when a test tube to be added reaches the addition position, resumes operation after addition is complete, and pauses again when the next test tube arrives at the addition position. This process repeats until all samples are added. However, due to transmission errors, the conveyor belt can easily cause deviations between the test tube and the addition position, resulting in liquid spillage outside the test tube, contaminating the experimental environment and affecting experimental accuracy. To address these problems, this application provides a test tube rack positioning device and a test tube transport instrument that can position the test tube rack so that the test tubes to be added can accurately reach the addition position.

[0025] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0026] Figure 1 This is a schematic diagram of the structure of the test tube delivery instrument shown in the embodiments of this application.

[0027] See Figure 1The test tube rack positioning device includes a main body 1 and a positioning mechanism 2. The main body 1 includes a frame 12 and a track 13. The track 13 is fixed on the frame 12. The frame 12 is provided with multiple markers 11, which are arranged at intervals. Preferably, the arrangement direction of the markers 11 is the same as the extension direction of the track 13. Each test tube on the test tube rack 100 corresponds to one marker 11. Specifically, taking a five-hole test tube rack 100 as an example, the test tube rack 100 has five test tube holes, each of which can hold one test tube. The frame 12 has at least five markers 11, each of which corresponds to one marker 11. One test tube hole can hold one test tube, that is, one test tube corresponds to one marker 11.

[0028] Figure 2 This is a schematic diagram of the structure of the test tube rack positioning device shown in the embodiments of this application.

[0029] See Figure 1 and Figure 2The positioning mechanism 2 is connected to the main body 1 and is mounted on the track 13. The positioning mechanism 2 can move along the extension direction of the track 13, and its movement direction is the same as the arrangement direction of the markers 11. The positioning mechanism 2 includes a sensor 21 and a control component 22. When the positioning mechanism 2 moves along the track 13, the sensor 21 moves along the arrangement direction of the markers 11. The sensor 21 can sense the markers 11. The sensor 21 and the control component 22 are relatively fixed, and the control component 22 controls the movement distance of the test tube rack 100 as the sensor 21 moves. When the sensor 21 moves to one of the markers 11, the test tube corresponding to the marker 11 sensed by the sensor 21 reaches the sample dispensing position 200. Specifically, the markers 11 are divided into first marker 11, second marker 11, third marker 11, etc., along the positive x-axis. When the sensor 21 reaches the first marker 11, the control unit 22 controls the movement distance of the test tube rack 100, causing the test tube in the first test tube well of the test tube rack 100 to reach the sample dispensing position 200. Then, the sensor 21 moves to the second marker 11. That is, when the sensor 21 moves along the positive x-axis, the test tube rack 100 moves along the positive x-axis. When the sensor 21 reaches the second marker 11, the control unit 22 controls the movement distance of the test tube rack 100, causing the test tube in the second test tube well of the test tube rack 100 to reach the sample dispensing position 200, and so on, until all test tubes can reach the sample dispensing position 200. In addition, taking a five-well test tube rack 100 as an example, the five-well test tube rack 100 along the negative x-axis... The directions are sequentially divided into the first test tube well position, the second test tube well position, the third test tube well position, the fourth test tube well position, and the fifth test tube well position. If there are test tubes in the first and third test tube well positions, but no test tube in the second test tube well position, the sensor 21 reaches the first marker 11, and the test tube in the first test tube well position of the test tube rack 100 reaches the sample dispensing position 200. After completing the sample dispensing process for the test tube in the first test tube well position, the test tube rack 100 continues to move in the positive direction of the x-axis. When the sensor 21 passes the second marker 11, it can move directly to the third marker 11 without stopping. Under the control of the control component 22, after the test tube in the second test tube well position reaches the sample dispensing position 200, the test tube rack 100 directly moves the test tube in the third test tube well position to the sample dispensing position 200 without stopping, thereby improving work efficiency. The sample dispensing position 200 can be the working position of the dispensing needle of an external dispensing instrument.

[0030] This application sets multiple markers 11 on the main body 1, so that each test tube corresponds to one marker 11. The sensor 21 senses the marker 11 and moves along the marker 11, so that the control component 22 moves synchronously with the sensor 21. This allows the control component 22 to accurately position each test tube corresponding to the marker 11 to the sample dispensing position 200, avoiding misalignment between the test tube and the sample dispensing position 200, thereby improving the accuracy of the experiment.

[0031] Figure 3This is another structural schematic diagram of the test tube rack positioning device shown in the embodiments of this application; See Figure 1-3 At least two of the multiple identifiers 11 form an identifier group, and each identifier group corresponds to a type of test tube rack 100. The types of test tube racks 100 can be distinguished by the number of test tube wells. For example, a five-well test tube rack 100 is one type, a six-well test tube rack is another type, and a four-well test tube rack 100 is yet another type. In the identifier group and the corresponding test tube rack 100, the identifier 11 corresponds one-to-one with the test tube well of the test tube rack 100. Taking a five-well test tube rack 100 as an example, the identifier group corresponding to the five-well test tube rack 100 has five identifiers 11, and taking a six-well test tube rack as an example, the identifier group corresponding to the six-well test tube rack has six identifiers 11. This ensures that the sensor 21 reaches each identifier 11, and the test tube corresponding to each identifier 11 can reach the sample dispensing position 200. The positioning mechanism 2 can position test tube racks 100 with different numbers of wells, making it more widely applicable.

[0032] See Figure 1-3 In some embodiments, the rack 12 is provided with two groups of labels, one group corresponding to a six-well test tube rack and the other group corresponding to a five-well test tube rack 100; since the distance between the centers of two adjacent test tube wells in the six-well test tube rack is different from the distance between the centers of two adjacent test tube wells in the five-well test tube rack 100. See Figure 1 The test tube positions on the five-hole test tube rack 100 are sequentially designated as the first, second, third, fourth, and fifth test tube positions, counting in the opposite direction of the x-axis. (See also...) Figure 2There are nine markers in total, numbered sequentially along the positive x-axis as markers 1, 2, 3, 4, 5, 6, 7, 8, and 9. The six-hole test tube rack corresponds to markers 2, 3, 4, 6, 8, and 9, while the five-hole test tube rack corresponds to markers 1, 3, 5, 7, and 9. The first test tube hole corresponds to marker 1, the second to marker 3, the third to marker 5, the fourth to marker 7, and the fifth to marker 9. Markers 3 and 9 overlap with those of the five-hole and six-hole test tube racks, but the marker for the six-hole rack is longer than that for the five-hole rack. Along the positive x-axis, the six-hole test tube rack... The second marker 11 (i.e., marker number three) in the marker group corresponding to 100 coincides with the second marker 11 in the marker group corresponding to the five-hole test tube rack 100. When the five-hole test tube rack 100 needs to be positioned, the sensor 21 moves to the first short marker 11 (i.e., marker number one), and the control component 22 controls the moving distance of the test tube rack 100 so that the first test tube of the five-hole test tube rack 100 counted in the opposite direction of the x-axis is in the sample dispensing position 200. Then, the sensor 21 moves to the second long marker 11 (i.e., marker number three), and the control component 22 controls the moving distance of the five-hole test tube rack 100 in the positive direction of the x-axis. The five-hole test tube rack 100 moves the position of one test tube in the positive direction of the x-axis so that the second test tube of the five-hole test tube rack 100 counted in the opposite direction of the x-axis is in the sample dispensing position 200. This process continues until each test tube can stay in the sample dispensing position 200 and be dispensed by an external sample dispensing instrument.

[0033] See Figure 1 and Figure 3 In some embodiments, the labels 11 are arranged at equal intervals within the same label group, which facilitates the sensor 21 to move at a constant speed along the labels 11 and identify the labels 11, and also facilitates the setting of corresponding labels 11 for different types of test tube racks 100.

[0034] See Figure 3 In some embodiments, the identifiers 11 in the same identifier group have the same shape, while the identifiers 11 in different identifier groups have different shapes. This facilitates the staff's observation of the sensor 21's operation, thereby understanding whether the positioning mechanism 2 is malfunctioning. The identifier 11 can be a QR code, a perforated hole, a reflective sheet, etc. Preferably, the identifier 11 is a perforated hole. The sensor 21 is a grating sensor. The identifiers 11 in different identifier groups have different lengths. See [reference needed]. Figure 3 The six-hole sign group's sign 11 is longer than the five-hole sign group's sign 11.

[0035] See Figure 1-3 Sensor 21 from One of the markers 11 moves to another marker 11The distance is equal to test tube rack 100 distance moved Preferably, the control element 22 moves synchronously with the sensor 21, and the distance the control element 22 moves is equal to the distance the sensor 21 moves. The distance the control element 22 moves is also equal to the distance the test tube rack 100 moves. Within the same identification group, the distance between two adjacent identification elements 11 is equal to the distance between the central axes of two adjacent test tubes in the corresponding test tube rack 100. Furthermore, because the control element 22 moves synchronously with the sensor 21, the identification mechanism structure can be designed to be simpler, thereby reducing production costs.

[0036] Corresponding to the aforementioned application function implementation device embodiments, this application also provides a track conveying device and corresponding embodiments.

[0037] Figure 4 This is a cross-sectional view of the test tube delivery instrument shown in the embodiments of this application.

[0038] See Figure 1 and Figure 4 The track conveying device includes a base 3, a conveyor line 4, and a test tube rack positioning device. The main body 1 is fixed to the base 3, and the conveyor line 4 is connected to the base 3. The conveyor line 4 is used to convey the test tube rack 100 to the positioning mechanism 2. The direction in which the conveyor line 4 conveys the test tube rack 100 is the same as the arrangement direction of the markings 11. In some embodiments, the conveyor line 4 includes a drive motor, a drive wheel 41, a belt 42, and multiple transmission wheels 28. The belt 42 is sleeved on the drive wheel 41 and the multiple transmission wheels 28. The drive motor drives the drive wheel 41 to rotate, and the drive wheel 41 drives the belt 42 to rotate. The transmission wheels 28 rotate with the belt 42. When the test tube rack 100 is placed on the belt 42, the belt 42 can drive the test tube rack 100 to reach the positioning mechanism 2, thereby allowing the test tubes to reach the sample loading position 200. In some embodiments, the conveyor line 4 includes multiple rollers arranged side by side. When the test tube rack 100 is placed on the rollers, the rollers can drive the test tube rack 100 to the positioning mechanism 2. In some embodiments, the conveyor line 4 is a flat plate, and the control element 22 is a pusher. The test tube rack 100 can be placed on the flat plate, and the control element 22 pushes the test tube rack 100 forward from one end of the test tube rack 100.

[0039] See Figure 1 and Figure 2 The positioning mechanism 2 includes a bracket 23, a control element 22 and a sensor 21 mounted on the bracket 23, and an identifier 11 located on the bracket 23. In some embodiments, the control element 22 is inserted into the conveyor line 4. To restrict the transport of test tube racks by conveyor line 4 100Specifically, the conveyor line 4 drives the test tube rack 100 via the belt 42. The control unit 22 cuts into the conveyor line 4, thereby blocking the forward direction of the test tube rack 100, so that the test tubes on the test tube rack 100 can stay at the sample dispensing position 200. When it is necessary to stop other test tubes at the sample dispensing position 200, When sensor 21 moves to the next marker 11, control unit 22 moves forward simultaneously. The test tube rack 100 moves forward under the drive of the belt 42. Since the forward distance of the test tube rack 100 is limited by the control component 22, the test tubes on the test tube rack 100 corresponding to the mark 11 can stay at the sample dispensing position 200. In some embodiments, the support 23 is installed on the track 13 and can slide along the track 13. The positioning mechanism 2 includes a positioning motor 26, a drive wheel 27 and a tensioning mechanism 43. The drive wheel 27 and the tensioning mechanism 43 are covered with a synchronous belt 29. The synchronous belt 29 is fixed to the support 23. The positioning motor 26 drives the drive wheel 27 to rotate, and the drive wheel 27 drives the synchronous belt 29 to drive the support 23 to slide along the track 13. The control component 22 and the sensor 21 move with the support 23.

[0040] See Figure 1 and Figure 4 The track conveying device also includes baffles 5, which are connected to the base 3. The baffles 5 are located on one side of the conveyor line 4 and extend along the transmission direction of the conveyor line 4. Preferably, there are two baffles 5, located on opposite sides of the conveyor line 4, with the distance between the two baffles greater than or equal to the width of the test tube rack 100. The baffles 5 restrict the movement of the test tube rack 100 to the side perpendicular to the transmission direction of the conveyor line 4, preventing the test tube rack 100 from falling off either side of the conveyor line 4 and ensuring that the test tube rack 100 can move smoothly along the transmission direction of the conveyor line 4.

[0041] See Figure 1 and Figure 3The baffle 5 has a limiting hole 51, which is elongated and wider than the thickness of the control member 22. The limiting hole 51 extends along the transmission direction of the conveyor line 4. The control member 22 is rotatably connected to the bracket 23. The control member 22 rotates relative to the bracket 23 to pass through the limiting hole 51 and cut into or out of the conveyor line 4. When the control member 22 cuts into the conveyor line 4, it can block the transmission of the test tube rack 100 on the conveyor line 4. When the control member 22 cuts out of the conveyor line 4, the test tube rack 100 is not blocked by the control member 22 and can move in the positive x-axis direction under the transmission of the conveyor line 4. Positioning mechanism The device 2 includes an elastic element 24 connected to the support 23. The elastic element 24 applies a spring force to the control element 22, causing the control element 22 to pass through the limiting hole 51 and cut into the conveyor line 4. After the support 23 moves a certain distance in the positive x-axis direction, the control element 22 reaches the end of the limiting hole 51 and contacts the baffle 5. The baffle 5 applies a reaction force to the control element 22, causing the control element 22 to retract. At this time, when the control element 22 is misaligned with the limiting hole 51, the control element 22 abuts against the baffle 5 and slides along the surface of the baffle 5. The control element 22 cuts out of the conveyor line 4, and the test tube rack 100 can move in the positive x-axis direction under the transmission of the conveyor line 4. Specifically, the elastic element 24 can be a torsion spring, a sheet spring, a spring, or rubber. Preferably, the elastic element 24 is a sheet spring. In some embodiments, the initial position of the test tube rack 100 during the transmission of the conveyor line 4 is defined as the initial end of the conveyor line 4, and the final position of the test tube rack 100 during the transmission of the conveyor line 4 is defined as the end of the conveyor line 4. The control member 22 is elongated and cuts into the conveyor line 4 under the action of the elastic member 24. The extension direction of the control member 22 is inclined relative to the transmission direction of the conveyor line 4, and one end of the control member 22 that cuts into the conveyor line 4 is closer to the initial end of the conveyor line 4 than the end of the conveyor line 4. When the support 23 moves toward the end of the conveyor line 4, the control member 22 moves closer to the conveyor line 4. one noodle It will be subject to the reaction force of baffle 5, control component 22 Towards the end of conveyor line 4 Rotate until the entire control component 22 is separated from the conveyor line 4 by the baffle 5. This design makes it easier for the control component 22 to cut out of the conveyor line 4 when it is subjected to the reaction force of the baffle 5, preventing the control component 22 from getting stuck on the conveyor line 4.

[0042] See Figure 1-3The positioning mechanism 2 also includes a position detector 25, which is connected to the bracket 23. The position detector 25 moves with the sensor 21. The position detector 25 is used to detect the relative position of the test tube rack 100 and the positioning mechanism 2. When the conveyor line 4 drives the test tube rack 100 through the belt 42, the belt 42 may jam, causing the test tube rack 100 to fail to be properly driven to the positioning mechanism 2. In order to prevent the positioning mechanism 2 and the external sampling needle from continuing to work without contacting the test tube rack 100, the position detector 25 can detect the test tube rack 100 after it reaches the positioning mechanism 2. The position detector 25 issues a command, and the external sampling needle adds a sample to the test tube at the sampling position 200. The positioning mechanism 2 moves to the next mark 11. When the positioning mechanism 2 reaches the next mark 11, the position detector 25 checks whether the test tube rack 100 is in position. The sampling needle adds a sample to the test tube at the sampling position 200, and so on, until all test tubes are sampled. The position detector 25 can be an infrared sensor or a grating sensor.

[0043] Corresponding to the aforementioned application function implementation device embodiments, this application also provides a positioning method for a test tube rack positioning device and corresponding embodiments.

[0044] See Figure 1-4 The positioning method of the test tube rack positioning device includes the following steps: S01. Determine the test tubes on test tube rack 100 that need to be sampled.

[0045] Before entering the track conveying device, the test tube rack 100 is identified by scanning a code to determine its type; the sensor 21 moves to the first mark 11.

[0046] S02. Send the test tube rack 100 to the positioning mechanism 2.

[0047] In this process, a robotic arm picks up the test tube rack 100 from the outer rail and places it at the initial end of the conveyor line 4. The conveyor line 4 then moves the test tube rack 100 to the positioning mechanism 2, causing the test tube rack 100 to abut against the control component 22. The positioning detector 25 checks whether the test tube rack 100 has reached the positioning mechanism 2.

[0048] S03, the sensor 21 moves to the mark 11 corresponding to the test tube that needs to be sampled, and the control unit 22 controls the moving distance of the test tube rack 100.

[0049] Specifically, after the arrival detector 25 detects that the test tube rack 100 has arrived at the positioning mechanism 2, the external sample dispensing instrument dispenses the sample to the test tube in the first test tube position hole of the test tube rack 100. The positioning mechanism 2 moves along the positive x-axis, wherein the sensor 21 moves toward the mark 11 corresponding to the test tube that needs to be sampled, and the control element 22 moves simultaneously along the positive x-axis; the test tube rack 100 moves along the positive x-axis under the drive of the conveyor line 4, and the moving distance of the test tube rack 100 is limited by the control element 22.

[0050] S04, when sensor 21 reaches the marker 11 corresponding to the test tube that needs to be sampled, the test tube that needs to be sampled reaches the sample dispensing position 200.

[0051] Specifically, after sensor 21 reaches the marker 11 corresponding to the test tube requiring sample addition, sensor 21 and control unit 22 stop moving. Test tube rack 100 also stops moving due to being blocked by control unit 22. At this time, the test tube requiring sample addition reaches the sample addition position 200, and the sample addition needle of the external sample addition instrument can add sample to the test tube at the sample addition position 200. After the test tube at the sample addition position 200 has finished adding sample, sensor 21 moves to the marker 11 corresponding to the next test tube requiring sample addition, and so on, until all test tubes have finished adding sample. Finally, control unit 22 cuts off the conveyor line 4, and test tube rack 100, no longer blocked by control unit 22, can move in the positive x-axis direction under the drive of conveyor line 4. When test tube rack 100 reaches the end of conveyor line 4, the robot arm picks up test tube rack 100 from conveyor line 4.

[0052] The positioning method of the test tube rack positioning device is to sense the mark 11 by sensor 21 and move along the mark 11, so that the control component 22 moves synchronously with the sensor 21, thereby allowing the control component 22 to accurately position each test tube that needs to be added to the mark 11 to the sample addition position 200, avoiding the test tube from being misaligned with the sample addition position 200, thereby improving the accuracy of the experiment.

[0053] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0054] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A test tube rack positioning device, characterized by, include: The main body is provided with multiple labels, which are arranged at intervals, and each test tube on the test tube rack corresponds to one label. A positioning mechanism is connected to the main body; the positioning mechanism includes a sensor and a control component, the sensor moves along the arrangement direction of the markings, the sensor is used to sense the markings, and the control component controls the moving distance of the test tube rack as the sensor moves; when the sensor moves to one of the markings, the test tube corresponding to the marking sensed by the sensor reaches the sample dispensing position.

2. The test tube rack positioning device of claim 1, wherein: At least two of the multiple identifiers form an identifier group, and one identifier group corresponds to one type of test tube rack; in the identifier group and the corresponding test tube rack, the identifier corresponds one-to-one with the test tube hole position of the test tube rack.

3. The test tube rack positioning device of claim 2, wherein: Within the same group of identifiers, the identifiers are arranged at equal intervals; And / or, the identifiers in the same identifier group have the same shape, while the identifiers in different identifier groups have different shapes.

4. The test tube rack positioning device of claim 2, wherein: Within the same group of markers, the distance between two adjacent markers is equal to the distance between the test tube holes on the test tube rack corresponding to the group of markers.

5. A track conveying device, comprising a base, a conveyor line, and a test tube rack positioning device as described in claims 1-4, characterized in that: The main body is fixed to the base, the conveyor line is connected to the base, the conveyor line is used to transport the test tube rack to the positioning mechanism, and the direction in which the conveyor line transports the test tube rack is the same as the arrangement direction of the markings.

6. The rail conveyor of claim 5, wherein: The positioning mechanism includes a bracket, and the control element and the sensor are mounted on the bracket. The control element restricts the transport of the test tube rack by cutting into the conveyor line.

7. The rail conveyor of claim 6, wherein: It also includes a baffle connected to the base and located on one side of the conveyor line. The baffle is used to restrict the test tube rack from moving to a side perpendicular to the conveying direction of the conveyor line.

8. The rail conveyor of claim 7, wherein: The baffle has a limiting hole, the positioning mechanism includes an elastic element, the control element is rotatably connected to the bracket, the elastic element is connected to the bracket, the elastic element applies elastic force to the control element so that the control element passes through the limiting hole and cuts into the conveyor line; when the control element is misaligned with the limiting hole, the control element abuts against the baffle and the control element cuts out of the conveyor line.

9. The rail conveyor of claim 5, wherein: The positioning mechanism also includes a position detector, which is connected to the bracket and moves with the sensor. The position detector is used to detect the relative position of the test tube rack and the positioning mechanism.

10. A method of positioning a rack positioning device according to any one of claims 1 to 4, characterized in that Includes the following steps: Identify the test tubes on the test tube rack that require sample addition; Send the test tube rack to the positioning mechanism; The sensor moves toward the marker corresponding to the test tube that needs to be sampled, and the controller controls the moving distance of the test tube rack. When the sensor reaches the marker corresponding to the test tube that needs to be sampled, the test tube that needs to be sampled will move to the sample dispensing position.

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