Sample handoff apparatus and method

Abstract

The application belongs to the technical field of laboratory test automation, and relates to a sample handover device and method. The device comprises a cabinet, an outside access buffer area, a horizontal moving track, a lifting frame, a bidirectional transfer device and a conveying channel are arranged in the cabinet, the outside access buffer area comprises a plurality of outside access buffer cell spaces; the lifting frame is installed on the horizontal moving track in a reciprocating manner; the bidirectional transfer device is installed on the lifting frame in a lifting manner, the bidirectional transfer device is provided with a telescopic arm, and the telescopic arm can be telescoped in opposite first and second directions; the conveying channel is used for carrying a carrying container and conveying the carrying container to an information acquisition rotating mechanism; and the outside access buffer area and the conveying channel are arranged in the first and second directions respectively. The application constructs a complete blood sample handover confirmation system, realizes full-process operation from sample buffering, taking and placing, information acquisition to recycling, and solves the technical problem of lacking of a system-level handover confirmation device in the prior art.

Description

Technical Field

[0001] This invention relates to a sample transfer device and method, belonging to the field of laboratory testing automation technology. Background Technology

[0002] In biological laboratories, medical testing / diagnostic laboratories, and laboratory automation systems, the handover, buffering, handling, and data collection of laboratory consumables (including test tubes, sample tubes, reagent bottles, microplates, etc.) and their supporting devices (such as test tube racks) are fundamental to ensuring smooth testing processes and data traceability. Taking blood sample handover as an example, it is a crucial step in the blood collection and supply process, and its efficiency and accuracy directly affect the quality of blood testing and the safety of clinical blood use. According to relevant regulations, blood samples must be bound with a unique barcode from the moment of collection to ensure a one-to-one correspondence between the donor's personal information, blood collection time, test tube type, and testing request form.

[0003] Currently, blood samples have completed information entry and test tube labeling at the collection site. However, when batches of samples are transported to the blood bank's testing department or central laboratory, the handover process still faces many technical challenges. On the one hand, the current handover method mainly relies on purely manual visual verification and handheld barcode scanning. Laboratory staff must pick up each sample tube, adjust the barcode orientation, and scan it, comparing the physical information with the pre-entered sample information in the system before accepting it. With the continuous increase in blood collection volume, manual verification is time-consuming and labor-intensive, and its processing capacity is gradually failing to keep pace with the growth in blood volume. Furthermore, the frequent handling of sample tubes by personnel under the manual verification model increases the risk of cross-contamination.

[0004] On the other hand, to alleviate manual labor pressure, some large blood banks have introduced automated sample pretreatment systems (such as automatic sorting, centrifugation, and decapping equipment), achieving automation in some process steps. However, a complete system for information handover and confirmation is still lacking. While some independent automated reading devices exist in the existing technology to attempt to solve the efficiency problem of manual scanning, these solutions have many technical shortcomings in practical applications, specifically: First, existing automated reading equipment has strict requirements on the placement of barcodes on the test tube walls. However, due to individual differences in the manual application of barcodes by blood collection personnel, the position and angle of the barcodes on the test tubes are inconsistent. When using existing equipment for automated handover, inconsistencies in barcode placement can easily lead to information collection failures or misreadings.

[0005] Secondly, existing technologies typically only handle single-size test tubes (such as standard diameters of 13mm and 16mm, or standard heights of 75mm and 100mm). In actual work scenarios, blood banks often have a need for mixed testing of multiple sizes of tubes, including biochemical tubes, coagulation tubes, and nucleic acid tubes. If operators use existing equipment, they need to pre-classify the test tubes or adjust the clamping mechanism and recalibrate the equipment parameters according to the test tube sizes; otherwise, problems such as clamping failure and unstable rotation may easily occur.

[0006] Furthermore, the aforementioned independent automated reading devices only perform barcode scanning functions and lack systematic management of key aspects such as sample receiving status, handover time, and operator traceability. Essentially, they still belong to a stand-alone operation mode and cannot fundamentally liberate manpower.

[0007] In summary, the existing technology lacks a device that can solve the above problems, allow for the mixed placement and processing of test tubes of different sizes, avoid cross-contamination, and enable rapid and accurate transfer of blood samples. Summary of the Invention

[0008] The purpose of this invention is to provide a new technical solution to improve or solve the technical problems existing in the prior art as described above.

[0009] The technical solution provided by this invention is as follows: A sample transfer device includes a chassis, wherein the chassis is provided with an outer access buffer area, a transverse track, a lifting frame, a bidirectional transfer device, and a conveying channel; the outer access buffer area includes multiple outer access buffer compartments arranged along the height direction of the chassis; the lifting frame is installed on the transverse track in a reciprocating manner; the bidirectional transfer device is installed on the lifting frame in a lifting manner; the bidirectional transfer device is provided with a telescopic arm, which can extend and retract bidirectionally in opposite first and second directions; the conveying channel is used to carry a carrier container and transport it to a work station; the outer access buffer area and the conveying channel are respectively arranged in the first and second directions of the bidirectional transfer device; the bidirectional transfer device can place the carrier container into or remove it from the outer access buffer compartment by extending the telescopic arm along the first direction, and can place the carrier container into or remove it from the conveying channel by extending the telescopic arm along the second direction.

[0010] The technical solution provided by this invention has the following advantages compared with the prior art: First, this invention constructs a complete blood sample handover confirmation system by integrating an external storage and retrieval buffer area, a transverse track, a lifting frame, a bidirectional transfer device, and a transmission channel inside the chassis. Compared with traditional manual verification methods and scattered independent reading devices, it realizes the entire process from sample buffering, automatic retrieval and placement, information collection to recycling, and solves the technical problem of lacking system-level handover confirmation equipment in the prior art.

[0011] Secondly, the outer access buffer area and the conveying channel of the present invention are respectively set in the first and second directions of the bidirectional transfer device. The bidirectional transfer device realizes the placement and retrieval of the carrying container between the outer access buffer area and the carrying container through the extension of the telescopic arm in the first direction, and realizes the placement and retrieval of the carrying container between the carrying container and the conveying channel through the extension of the telescopic arm in the second direction. At the same time, the lifting frame moves back and forth along the transverse track to realize the horizontal position switching, the bidirectional transfer device moves up and down along the lifting frame to realize the vertical height switching, and the telescopic arm extends and retracts in both directions to realize the picking and placing of materials in the first and second directions. Moreover, after the bidirectional transfer device obtains the carrying container, it first retracts the multi-stage telescopic arm to the transportation state where each stage overlaps or is close to the minimum outline size, and then moves laterally and vertically with the lifting frame. After reaching the target workstation, it extends again for handover, reducing the risk of collision between the bidirectional transfer device and the buffer area or other mechanisms. With the above layout, a single bidirectional transfer device can access all levels of buffer areas and conveying channels, eliminating the need to configure a separate picking and placing mechanism for each level, simplifying the equipment structure, reducing manufacturing costs, and improving handover efficiency.

[0012] Furthermore, by automatically scheduling and continuously handing over samples, this invention reduces the rhythm differences between different operators and different batches, making the processing time of a fixed number of containers more stable. At the same time, the exposure time of samples at room temperature or other uncontrolled environments is more predictable and easier to control, which helps to ensure the quality stability of samples before testing.

[0013] Based on the above technical solution, the present invention can be further improved as follows.

[0014] Furthermore, it also includes at least one information acquisition and rotation mechanism, which is arranged on the conveying path of the conveying channel and is used to remove the test tube from the carrier container at the working station and drive it to rotate in order to acquire information from the test tube.

[0015] Furthermore, the conveying path of the conveying guide rail is also provided with a downstream storage device and / or a shared handover position, which is located on the downstream side of the information acquisition rotating mechanism.

[0016] Furthermore, the chassis is also equipped with an internal temporary buffer area, which is located above or below the transmission channel, and the internal temporary buffer area is provided with multiple internal temporary buffer compartments.

[0017] The beneficial effects of adopting the above-mentioned further solution are: the internal temporary buffer area is used to temporarily store the carrier containers to be processed or processed when the transmission channel is full. As an intermediate buffer area between the outer access buffer area and the transmission channel, it alleviates the congestion pressure of the transmission channel during peak sample handover periods. At the same time, setting the internal temporary buffer area above or below the transmission channel makes full use of the vertical space inside the chassis without increasing the floor space of the equipment.

[0018] Furthermore, it also includes two in-situ detection sensors, the detection directions of which are respectively oriented towards a first direction and a second direction. The in-situ detection sensors can move up and down with the bidirectional transfer device to perform in-situ detection on the buffer cells reached by the bidirectional transfer device. The in-situ detection sensors are communicatively connected to the controller. When the bidirectional transfer device moves to the target buffer cell, the corresponding in-situ detection sensor is used to detect whether there is a carrying container in the target buffer cell. After receiving the detection result, the controller associates the detection result with the number of the target buffer cell and stores it, and updates the occupancy status of the target buffer cell.

[0019] The above-mentioned further beneficial effects are as follows: First, when the bidirectional transfer device moves to any buffer compartment, the corresponding in-situ detection sensor moves to the front of that buffer compartment to detect the in-situ status of the container, eliminating the need to install a separate sensor in each buffer compartment, thus reducing costs. Second, the controller associates and stores the in-situ detection results of each buffer compartment with its compartment number and updates the occupancy status of each compartment in real time, enabling the system to dynamically monitor the occupancy distribution of all buffer compartments. Based on the acquired occupancy status information, when allocating storage locations for containers or selecting targets to be retrieved, the controller can prioritize vacant compartments or avoid vacant compartments, preventing the telescopic arm from traveling idly or making incorrect retrievals.

[0020] Furthermore, the outer access buffer area is equipped with an information reader; an information carrier is provided on one side of the carrier container. When the carrier container is placed in the outer access buffer cell with the correct orientation, the information carrier is located within the readable area of ​​the information reader; the controller is communicatively connected to the information reader. When the in-situ detection sensor detects the presence of the carrier container and the information reader does not read the signal of the information carrier, it determines that the orientation of the carrier container is abnormal, prohibits the bidirectional transfer device from performing pick-up and place-down actions, and outputs a prompt message.

[0021] The above-mentioned additional beneficial effects are as follows: Through the dual verification of in-situ detection and orientation detection, the placement posture of the carrier container can be identified before the transfer action is executed. This avoids risks such as failure of telescopic arm retrieval or damage to the carrier container due to reversed container placement, and also prevents subsequent information collection failures caused by abnormal posture, thus improving the stability and success rate of the handover operation. Moreover, after the information reader successfully reads the information carrier, the controller associates and stores the read carrier container identity information with the number of the current compartment where the carrier container is located and the current handover time information, forming a complete carrier container flow record. Based on the above information association, the system can trace the storage location, dwell time, and flow path of each carrier container in each buffer compartment and between each device, providing operators with a traceable handover record, facilitating rapid location and backtracking in case of sample anomalies, test result verification, or management audit.

[0022] Furthermore, each of the outer access buffer cells is provided with an opening and closing door on its outer side, which is used for the transfer of the carrying container between the outer access buffer cell and the outside.

[0023] The beneficial effects of adopting the above-mentioned further solution are: First, each level of cache compartment is independently equipped with an opening and closing door, so that external operators do not need to open the entire chassis door to perform the placement and removal of the container in the target level compartment, reducing the risk of the chassis interior being exposed to the external environment on a large scale.

[0024] Secondly, the controller obtains the opening and closing status signals of the door and makes a comprehensive judgment by combining the in-situ detection results and orientation detection results in the compartment. Only after confirming that the door is closed and the placement posture of the container meets the preset conditions will the telescopic arm of the bidirectional transfer device be allowed to enter the compartment to perform the pick-up and put-down action. When the door is not closed or the status is not confirmed, the telescopic arm is prohibited from entering, which avoids the risk of pinching injury caused by the telescopic arm suddenly extending into the compartment before the operator's hands have been removed. At the same time, it prevents equipment damage or pick-up and put-down failures caused by the container not being placed stably or placed backward.

[0025] Third, after the target buffer compartment is determined, the lifting frame and bidirectional transfer device can move to the corresponding safe waiting position in advance while the operator puts the carrying container in or waits for the door to open or close for confirmation; after the door is closed and the safety interlock conditions are met, the telescopic boom directly performs the pick-up and put-down action, reducing non-operation waiting time.

[0026] Fourth, processed containers can also be temporarily stored in the outer storage and retrieval buffer compartments. The controller will open the corresponding doors for operators to retrieve the containers based on retrieval requests, the number of processed containers reaching a preset threshold, or a preset time condition. This batch retrieval control method reduces the frequency of opening and closing doors, further reducing the exposure frequency of the environment inside and outside the chassis. At the same time, it facilitates operators to centrally check and batch retrieve processed containers, improving the overall efficiency of the handover operation.

[0027] Furthermore, the conveying channel includes a conveying guide rail, at least one movable carrier, and a moving drive mechanism, wherein the moving drive mechanism is used to drive the movable carrier to move along the conveying guide rail.

[0028] The beneficial effects of adopting the above-mentioned further solution are: by the independent movement of the mobile carrier on the conveying guide rail, the transport of the carrier container along the conveying guide rail is realized. The mobile carrier, as a standardized carrier unit, forms a stable cooperative relationship with the telescopic arm lifting structure of the bidirectional transfer device, ensuring the stability of the carrier container in the transfer process of each transport link.

[0029] Furthermore, the information acquisition rotating mechanism includes a lower lifting and rotating assembly and an upper limiting assembly. The lower lifting and rotating assembly includes a first support seat, on which at least one lower support portion for lifting the test tube from the bottom is rotatably disposed. The upper limiting assembly includes a second support seat, on which at least one upper pressing portion for pressing and limiting the test tube from the top is disposed. The upper pressing portion and the lower support portion are arranged vertically opposite each other, and the upper pressing portion can elastically extend and retract relative to the second support seat. When the lower support portion and the upper pressing portion act together on both ends of the test tube from the bottom and the top respectively, the lower support portion can drive the test tube to rotate around its own axis.

[0030] The beneficial effects of adopting the above-mentioned further solution are as follows: The present invention uses the lower support portion of the lower lifting and rotating assembly to lift the test tube from the bottom, while the upper pressure portion of the upper limiting assembly provides elastic pressure and limitation from the top of the test tube. Both components work together from the bottom and top to clamp and limit the test tube at both ends, achieving double-end clamping and limiting. The lower support portion drives the test tube to rotate around its own axis. After the test tube is lifted, its top cap is automatically pressed tight under the elastic action of the upper pressure portion, eliminating the need to pre-adjust the initial position of the upper pressure portion based on the test tube height. This allows for adaptation to scenarios where test tubes of different heights are mixed. Simultaneously, the lower support portion only lifts the bottom of the test tube, and the upper pressure portion only presses against the test tube cap from the top. Neither component needs to be inserted into the test tube or come into contact with the sample, avoiding the risk of cross-contamination. Furthermore, the lower support only needs to contact the bottom of the test tube to lift it, without requiring precise alignment with the tube cap. The upper pressure component adapts to the actual position of the test tube top through elastic expansion and contraction, ensuring normal clamping, rotation, and return operations even if the test tube is slightly misaligned, preventing lifting failures due to misalignment and improving the device's reliability. Therefore, this invention allows test tubes of different diameters and heights to be mixed and placed in the same processing batch without requiring customers to pre-sort or adjust the equipment. The top limiting mechanism automatically compensates for height errors, placement deviations, and specification differences, ensuring that each test tube is stably clamped and data collection is completed. After data collection, the test tube returns to its pre-processing angle and initial bearing position, suitable for scenarios where the test tubes were already oriented in a uniform direction before processing, eliminating the need to rearrange the test tube orientation after data collection.

[0031] Furthermore, the lower lifting and rotating assembly also includes a lifting sleeve and at least one rotating shaft. The rotating shaft is rotatably mounted on the first support seat, and the end of the rotating shaft is provided with the lower support portion. A spiral guide groove is formed on the outer peripheral wall of the rotating shaft. The lifting sleeve is sleeved on the rotating shaft in a manner that allows it to slide along the axial direction of the rotating shaft. The lifting sleeve is provided with a guide pin that slides in cooperation with the spiral guide groove. The first support seat is provided with an upper limit position along its moving direction. When the first support seat moves to the upper limit position, the lifting sleeve moves axially relative to the rotating shaft, and the guide pin slides along the spiral guide groove, thereby driving the rotating shaft to rotate around its own axis.

[0032] The beneficial effects of adopting the above-mentioned further solution are as follows: The above structure achieves linkage between the vertical lifting and rotational movements of the test tube through the cooperation of the spiral guide groove and the guide pin. Before the first support seat rises to its limit position, the lifting sleeve rises synchronously with the first support seat, and the rotating shaft only performs a vertical upward movement without rotation, ensuring that the test tube is smoothly lifted to the upper pressure part and axially clamped. When the first support seat is stopped by the limit, the continued rise of the lifting sleeve drives the rotating shaft to generate rotational movement through the spiral guide groove. Through the sliding cooperation between the spiral guide groove on the outer peripheral wall of the rotating shaft and the guide pin on the lifting sleeve, the linear reciprocating motion of the lifting sleeve is directly converted into the rotational motion of the rotating shaft. Moreover, the three processes of lifting, clamping, and rotation can be completed sequentially through the continuous upward movement of only one lifting drive mechanism, without the need for a separate rotation drive source, simplifying the transmission structure and reducing equipment costs and failure rates.

[0033] Furthermore, the upper limiting assembly also includes a telescopic shaft and a telescopic elastic element. The second support seat is provided with at least one guide hole. The telescopic shaft is slidably installed in the guide hole. The telescopic elastic element is sleeved on the telescopic shaft and abuts against the second support seat and the upper pressing part. The upper pressing part is located at one end of the telescopic shaft facing the lower lifting and rotating assembly.

[0034] The beneficial effects of adopting the above-mentioned further solution are: each upper pressure part is independently equipped with a telescopic shaft and a telescopic elastic element, so that each upper pressure part can independently and adaptively compress according to the different heights of the test tubes at the corresponding positions. When test tubes of different heights are mixed in the same carrying container, the upper pressure parts at the top of each test tube are pushed to different height positions, and the telescopic elastic elements generate corresponding compression amounts and apply appropriate clamping forces to each test tube, thereby realizing the synchronous clamping and synchronous rotation of test tubes with inconsistent heights, without the need to classify the test tubes by height in advance.

[0035] Furthermore, the information acquisition rotating mechanism also includes a linkage lifting component, which is connected to the first support seat and the second support seat in a transmission manner, so that the first support seat and the second support seat move synchronously or relative to each other.

[0036] The beneficial effect of adopting the above-mentioned further solution is that the first support seat and the second support seat are connected by the linkage lifting component, so that the two move synchronously during the rising phase and move relative to each other during the falling phase, without the need to set up a separate drive source for the second support seat.

[0037] Furthermore, the bidirectional transfer device includes a support base, a multi-stage telescopic arm, an active transmission mechanism, and a linkage mechanism. The multi-stage telescopic arm includes an active telescopic arm and at least one stage of linkage telescopic arm slidably mounted on the outside of the active telescopic arm. The active transmission mechanism is used to drive the active telescopic arm to move bidirectionally. The linkage mechanism is used to drive the linkage telescopic arm to extend and retract along the moving direction of the active telescopic arm.

[0038] The beneficial effects of adopting the above-mentioned further solution are: the present invention drives the active telescopic arm to move in both directions through the active transmission mechanism, and at the same time the linkage mechanism drives the telescopic arms of each level to extend and retract synchronously, realizing the linkage of multiple telescopic arms. A large transfer stroke can be achieved in a single action. When the telescopic arm is fully retracted, it occupies a small space, so that the bidirectional transfer device can freely transfer the carrier container between the outer storage buffer on one side and the transfer channel on the other side in the width direction of the chassis, without having to reserve a large movement space for the telescopic arm in the chassis.

[0039] Furthermore, the linkage mechanism includes multiple flexible traction components and reversing guide components. One end of each flexible traction component is connected to the telescopic arm of the corresponding level, and the other end is reversing through the reversing guide component and connected to another telescopic arm of the corresponding level. Each flexible traction component is symmetrically arranged on both sides of the telescopic arm in the width direction.

[0040] The beneficial effects of adopting the above-mentioned further solution are as follows: The present invention realizes the mechanical linkage between each level of telescopic arm through the reversing transmission of the flexible traction component and the reversing guide component, without the need to set up multiple independent drive sources or complex gear rack synchronization mechanisms, and the structure is simple and reliable; the flexible traction component is symmetrically arranged on both sides in the width direction of the telescopic arm, so that the forces on both sides of each level of telescopic arm are balanced during the telescopic process, avoiding the phenomenon of skew or jamming caused by unilateral force, and ensuring the stability of the bearing container during the transfer process.

[0041] Furthermore, the bidirectional transfer device also includes a counterweight. One side of the support base is slidably mounted on the lifting frame. The pull rope of the counterweight passes around the reversing wheel on the lifting frame and is connected to the other side of the support base. The counterweight is used to provide a balancing torque during the lifting and lowering process of the bidirectional transfer device.

[0042] The beneficial effects of adopting the above-mentioned further solution are: the counterweight provides a balancing force opposite to the direction of gravity to the support seat through the pull rope and the reversing wheel, which significantly reduces the load torque that the screw nut lifting drive mechanism that drives the support seat to lift and lowers, and reduces the power demand and operating energy consumption of the drive motor; at the same time, the balancing effect of the counterweight effectively buffers the inertial impact of the bidirectional transfer device during lifting and braking, making the lifting action more stable.

[0043] A sample transfer method, utilizing the aforementioned sample transfer device, includes: S1. Open the door between the outer access buffer cells of the target and place the container carrying the test tube sample into the outer access buffer cell through the door. S2. The lifting frame and the bidirectional transfer device move to the waiting position corresponding to the target outer access buffer cell. The telescopic arm of the bidirectional transfer device extends to take out the carrying container in the target outer access buffer cell. After taking it out, the telescopic arm of the bidirectional transfer device retracts to a contracted state where each level overlaps or is close to the minimum outer dimension. S3. The lifting frame and the bidirectional transfer device move to the junction position of the conveying channel. The telescopic arm of the bidirectional transfer device extends in the opposite direction and places the carrying container on the moving frame of the conveying channel. The moving frame carries the carrying container and moves along the conveying channel to the testing station. S4. The information acquisition and rotation mechanism removes the test tube from the container and drives it to rotate, and collects information from the test tube through the information collector during the rotation process. S5. After the information collection is completed, the mobile carrier carrying the container moves out of the testing station along the conveyor channel.

[0044] Based on the above technical solution, the present invention can be further improved as follows.

[0045] Furthermore, in step S2, after the lifting frame and the bidirectional transfer device move to the waiting position corresponding to the access buffer cell outside the target, the method further includes: S21. The in-situ detection sensor detects whether there is a carrying container in the access buffer cell outside the target and sends the detection result to the controller. S22. After receiving the detection result, the controller associates and stores the detection result with the cell number of the current target outer access cache cell, and updates the occupancy status of the target outer access cache cell. S23. When the detection result confirms that the carrying container exists in the outer access buffer cell of the target and the orientation state of the carrying container meets the preset conditions, the controller allows the bidirectional transfer device to enter the outer access buffer cell to perform pick-up and put-down actions; otherwise, the controller prohibits the bidirectional transfer device from entering the outer access buffer cell and outputs a prompt message.

[0046] Furthermore, in S23, the method for detecting the orientation state of the carrier container is as follows: the controller activates the information reader set in the outer access buffer area to attempt to read the information carrier set on one side of the carrier container; If the information reader successfully reads the signal of the information carrier, it confirms that the carrier container is facing the correct direction; If the information reader fails to read the signal of the information carrier, it is determined that the orientation of the carrier container is abnormal.

[0047] Furthermore, in step S5, after the carrier container moves out of the testing station along the conveyor channel: The bidirectional transfer device removes the carrier container from the transfer channel and moves it to the outer access buffer, downstream storage device, or shared handover location; or, The mobile carrier transports the container along the conveyor channel to the downstream storage device or shared handover location.

[0048] Furthermore, in S2: when both the outer access buffer cell and the transmission channel are in full-load operation, the bidirectional transfer device transfers the carrier container in the outer access buffer cell to the internal temporary buffer area for temporary storage; when the transmission channel is idle, the bidirectional transfer device transfers the carrier container temporarily stored in the internal temporary buffer area to the transmission channel.

[0049] Furthermore, it also includes a reverse handover step: S6. Downstream equipment will move the container to the shared handover location; S7. The telescopic arm of the bidirectional transfer device moves to the shared handover position and removes the carrier container from the shared handover position; S8. The lifting frame moves along the transverse track to the target outer access buffer cell, the bidirectional transfer device moves up and down along the lifting frame to the height corresponding to the target outer access buffer cell, the telescopic arm extends, and the carrying container is placed into the target outer access buffer cell; S9. The carrier container is taken out from the outer access buffer cell through the opening and closing door.

[0050] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: First, the sample handover method provided by the present invention realizes full-process automation from the entry of the carrying container into the warehouse, the retrieval of the sample, the information collection and the return to the warehouse, and realizes the management of key links such as sample receiving status, handover time and operators, and solves the technical defects of existing independent reading devices that only undertake single-point scanning function.

[0051] Secondly, by setting up multiple compartments in the outer access buffer area, the carrier containers sent from the outside can be temporarily stored in batches inside the equipment without having to queue outside, reducing the waiting time for external operators. In conjunction with the intermediate buffer mechanism of the internal temporary buffer area, when the conveyor channel is in full load, the bidirectional transfer device can first transfer the carrier containers in the outer access buffer area to the internal temporary buffer area for temporary storage, and then transfer the carrier containers from the internal temporary buffer area to the conveyor channel when the conveyor channel is idle, ensuring continuous operation capability during peak sample handover periods.

[0052] Third, through a combination of actions including the movement of the lifting frame along the transverse track, the lifting and lowering of the bidirectional transfer device, and the retrieval and placement of the telescopic arm, the carrier container in any outer storage buffer compartment can be automatically retrieved and accurately delivered into the conveyor channel. After the moving frame carries the carrier container to the testing station, the information acquisition and rotation mechanism automatically completes the retrieval, rotation, and information acquisition of the test tubes. Throughout the process, the test tubes achieve stable rotation through the double-end limiting constraints of the lower support and upper pressure parts, and the barcode information is completely acquired, solving the problem of reading failure of fixed optical path equipment caused by inconsistent barcode pasting positions. After processing, the test tubes are restored to their initial placement angle, maintaining the uniformity of the orientation of each test tube in the carrier container. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention, and those skilled in the art can obtain other drawings based on the provided drawings without creative effort.

[0054] Figure 1 This is a three-dimensional structural diagram of the sample transfer device of the present invention; Figure 2 This is a three-dimensional structural diagram of the sample transfer device of the present invention from a rear-view angle; Figure 3 This is a front view of the sample transfer device of the present invention; Figure 4 This is a schematic diagram showing the installation location of the outer access buffer area and the internal temporary buffer area of ​​the sample transfer device of the present invention within the chassis. Figure 5 This is a three-dimensional structural diagram of the bidirectional transfer device of the sample transfer equipment of the present invention installed on the lifting frame; Figure 6 For the present invention Figure 5 Side view; Figure 7 This is a schematic diagram of the information acquisition rotating mechanism of the present invention located at both ends of the transmission channel; Figure 8 For the present invention Figure 7 The main view; Figure 9 This is a three-dimensional structural diagram of the information acquisition rotating mechanism of the present invention; Figure 10 This is a three-dimensional structural diagram of the lower lifting and rotating assembly of the present invention; Figure 11 This is a side view of the lower lifting and rotating assembly of the present invention; Figure 12This is a three-dimensional structural diagram of the upper limiting component of the present invention; Figure 13 This is a three-dimensional structural schematic diagram of the upper limiting component of the present invention from another perspective; Figure 14 This is a front view of the lower lifting and rotating assembly of the present invention when it is at its bottom. Figure 15 This is a three-dimensional structural diagram of the lower lifting and rotating component of the present invention when it is located at the bottom. Figure 16 For the present invention Figure 14 or Figure 15 Side view; Figure 17 This is a front view of the lower support rotating assembly of the present invention when the first bearing seat is moved to the upper limit position; Figure 18 For the present invention Figure 17 Side view; Figure 19 This is a schematic diagram of the structure of the carrier container of the present invention, which is moved to the testing station along the conveying channel by a movable carrier. Figure 20 This is a three-dimensional structural diagram of the present invention, showing how the lower support rises and lifts the test tube from the bottom. Figure 21 This is a three-dimensional structural diagram of the lower support portion of the present invention rising and lifting the test tube from the bottom, viewed from a rear angle. Figure 22 This is a schematic diagram of the structure of the present invention, which is adapted to test tubes of various heights. Figure 23 This is a three-dimensional structural diagram of the bidirectional transfer device of the present invention; Figure 24 This is a top view of the bidirectional transfer device of the present invention; Figure 25 For the present invention Figure 24 Sectional view along axis AA; Figure 26 This is a three-dimensional structural diagram of the active transmission mechanism of the bidirectional transfer device of the present invention; Figure 27 This is a three-dimensional structural diagram of the bidirectional transfer device of the present invention when the linkage telescopic arm is a single unit. Figure 28 This is a three-dimensional structural diagram of the bidirectional transfer device of the present invention when the linkage telescopic arm is a single unit; Figure 29 This is a schematic diagram of the structure of the bidirectional transfer device of the present invention when the linkage telescopic arm is a single unit, extending in the first direction. Figure 30This is a three-dimensional structural diagram of the bidirectional transfer device of the present invention when the linkage telescopic arm is a single unit, extending in the second direction. Figure 31 This is a three-dimensional structural diagram of the bidirectional transfer device of the present invention when there are two linkage telescopic arms. Figure 32 This is a three-dimensional structural diagram from another perspective when the linkage telescopic arms of the bidirectional transfer device of the present invention consist of two arms; Figure 33 This is a schematic diagram of the structure of the bidirectional transfer device of the present invention when there are two telescopic arms extending in the first direction; Figure 34 This is a three-dimensional structural diagram of the bidirectional transfer device of the present invention when there are two telescopic arms extending in the second direction.

[0055] In the picture: 1000, Chassis; 2100, External access buffer; 2200, Internal temporary buffer; 3000, Transverse track; 4000, Lifting frame; 4100, Counterweight; 4200, Reversing wheel; 4300, Pull rope; 5000, Information Acquisition Rotating Mechanism; 5100. Lower lifting and rotating assembly; 5101. First bearing seat; 5102. Lower support; 51021. Positioning seat; 51022. Pallet; 5103. Lifting sleeve; 5104. Rotating shaft; 5105. Spiral guide groove; 5106. Guide pin; 5107. Traction elastic element; 5109. Switch pressure plate; 5110. Motor; 5111. Lead screw; 5112. Nut seat; 5113. Rotating support plate; 5200, Upper limiting assembly; 5201, Second bearing seat; 5202, Upper pressing part; 52021, Limiting sleeve; 52022, Limiting protrusion; 5203, Telescopic shaft; 5204, Telescopic elastic element; 5205, Guide hole; 5300, Linkage lifting assembly; 5301, Displacement connecting plate; 5302, Tensioning seat; 5303, Pulley; 5304, First elastic element; 5305, Second elastic element; 5306, First lifting step; 5307, Second lifting step; 5308, Traction belt; 5400, rack; 6000, bidirectional transfer device; 6100, Support base; 6101, Active telescopic boom; 6102, First-stage telescopic boom; 6103, Second-stage telescopic boom; 6200. Drive mechanism; 6201. Rotary actuator; 6202. Double-sided toothed synchronous belt; 6203. Drive pulley; 6204. Inner tensioner; 6205. Outer tensioner; 6206. Linear meshing transmission component; 6311. First-direction flexible traction component AⅠ; 6312. First-direction flexible traction component AⅡ; 6313. First-direction flexible traction component BⅠ; 6314. First-direction flexible traction component BⅡ; 6321. Second-direction flexible traction component AⅠ; 6322. Second-direction flexible traction component AⅡ; 6323. Second-direction flexible traction component BⅠ; 6324. Second-direction flexible traction component BⅡ; 6400, In-situ detection sensor; 6500, Reversing guide; 7000, Conveyor channel; 7100, Conveyor rail; 7200, Moving frame; 7300, Moving drive mechanism; 8000, test tube; 8100, container. Detailed Implementation

[0056] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the objects described and do not imply any priority in order or any specific technical meaning. Furthermore, the concepts of "connection" and "linkage" mentioned in this application, unless otherwise specified, are considered to include both direct connection (linkage) and indirect connection (linkage).

[0057] When interpreting the description of this application, it should be clarified that terms such as "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating directions or positional relationships, are based on the perspective and layout shown in the accompanying drawings. They are intended to facilitate explanation and simplify the description process, and are not absolute limitations on the actual location, construction method, or operating mode of the described device or element. Therefore, these terms should not be construed as restrictive interpretations of the content of this application.

[0058] The principles and features of the present invention are described below with reference to examples. The examples are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0059] The term "carrying container" as used in this application refers to a container or carrier capable of carrying, containing, or positioning samples, reagents, or experimental consumables, and capable of being transferred as a whole, including but not limited to test tube racks, microplates, deep-well plates, sample boxes, reagent kits, and consumable boxes. The sample transfer device of this invention is applicable to all of the above-mentioned types of carrying containers. For ease of explanation, the following embodiments use a test tube rack carrying 8000 test tubes as an example.

[0060] like Figures 1-8As shown, a sample transfer device includes a chassis 1000. The chassis 1000 contains an outer access buffer area 2100, a transverse track 3000, a lifting frame 4000, a bidirectional transfer device 6000, and a transfer channel 7000. The outer access buffer area 2100 includes multiple layers of outer access buffer compartments arranged along the height of the chassis 1000, each layer of which is used to hold a carrying container 8100. The transverse track 3000 extends along the length of the chassis 1000 (see reference). Figure 1 or Figure 2 The X-axis direction of the device is located at the bottom of the chassis 1000, and the lifting frame 4000 is mounted on the transverse track 3000 in a reciprocating manner; the bidirectional transfer device 6000 is mounted on the lifting frame 4000 in a lifting (along the Z-axis) manner (see reference). Figure 5 The bidirectional transfer device 6000 is equipped with a telescopic arm that can extend and retract bidirectionally in opposite first and second directions; the transfer channel 7000 is used to carry the carrier container 8100 and transport it to the work station, which can be an information acquisition station, a detection station, or a station for performing storage and retrieval handover; the outer storage and retrieval buffer area 2100 and the transfer channel 7000 are respectively arranged in the first and second directions of the bidirectional transfer device 6000. The bidirectional transfer device 6000 can place the carrier container 8100 into or remove it from the outer storage and retrieval buffer area by extending the telescopic arm in the first direction, and can also place the carrier container 8100 into or remove it from the transfer channel 7000 by extending the telescopic arm in the second direction.

[0061] The lateral movement of the lifting frame 4000, the lifting and lowering of the bidirectional transfer device 6000, and the bidirectional extension and retraction of the bidirectional transfer device 6000 together enable access between different levels of buffer cells and the transmission channel, realizing the transfer of the carrying container 8100 between the outer access buffer area 2100 and the transmission channel 7000. The bidirectional transfer device 6000 or the transmission channel 7000 can also transfer the carrying container 8100 to the downstream storage device or the shared handover location, making it convenient for the transfer mechanism of the downstream equipment to take it away.

[0062] The following description will use the configuration information acquisition rotating mechanism 5000 as an example to illustrate the structure and working method of this sample transfer device; of course, in other embodiments, the sample transfer device may also be configured with other detection mechanisms, or may only perform the storage and transfer function.

[0063] More specifically, at least one information acquisition and rotation mechanism 5000 is provided on the conveying path of the conveying channel 7000, which is used to take the test tube 8000 out of the carrier container 8100 at the working station and drive it to rotate so as to collect information from the test tube 8000.

[0064] In this embodiment, the information acquisition rotating mechanism 5000 is used as the transport endpoint. However, in other embodiments, a downstream storage device and / or a shared transfer position may be provided on the transport path of the transport guide rail 7100. The downstream storage device and / or the shared transfer position are located downstream of the information acquisition rotating mechanism 5000, and the carrier container 8100 after information acquisition can be transported to the downstream storage device and / or the shared transfer position.

[0065] As a preferred embodiment of this example, Figure 7 and Figure 8 As shown, the conveying channel 7000 includes a conveying guide rail 7100, at least one movable carrier 7200, and a moving drive mechanism 7300. The movable carrier 7200 is slidably disposed on the conveying guide rail 7100, and the moving drive mechanism 7300 is used to drive the movable carrier 7200 to move along the conveying guide rail 7100. The moving drive mechanism 7300 includes a drive motor and a transmission belt, and the drive motor drives the movable carrier 7200 to reciprocate via the transmission belt. The bidirectional transfer device 6000 conveys the carrier container 8100 onto the movable carrier 7200, and the movable carrier 7200 conveys the carrier container 8100 to the working station.

[0066] The bidirectional transfer device 6000 transports the carrier container 8100 onto the mobile carrier 7200. The mobile carrier 7200 then transports the carrier container 8100 along the conveyor rail 7100 to the detection station of the information acquisition rotating mechanism 5000. After information acquisition is completed, the container continues to be transported along the conveyor rail 7100 to the downstream storage device or the shared handover station, and is then removed by the bidirectional transfer device 6000 or the transfer mechanism of the downstream device.

[0067] The lifting frame 4000 is provided with a screw and nut lifting drive mechanism for driving the bidirectional transfer device 6000 to move up and down along the lifting frame 4000. The support seat 6100 of the bidirectional transfer device 6000 is fixed on the nut seat 5112 of the screw and nut lifting drive mechanism.

[0068] In this embodiment, two presence detection sensors 6400 are provided on the top of the bidirectional transfer device 6000. The detection directions of the two presence detection sensors 6400 are respectively facing the first direction and the second direction. The presence detection sensors 6400 can rise and fall with the bidirectional transfer device 6000 to perform presence detection on the buffer cells reached by the bidirectional transfer device 6000. The presence detection sensors 6400 are communicatively connected to the controller. When the bidirectional transfer device 6000 moves to the target buffer cell, the corresponding presence detection sensor 6400 detects whether there is a carrying container in the buffer cell before moving to the buffer cell. After receiving the detection result, the controller associates the detection result with the corresponding cell number and stores it, and updates the occupancy status of the corresponding buffer cell. This allows the system to dynamically grasp the empty and full distribution of all buffer cells. Based on the acquired occupancy status information, when the controller allocates storage positions for the carrying container 8100 or selects a target to be retrieved, it can prioritize selecting empty cells or avoid empty cells to prevent the telescopic arm from traveling idly or being mistakenly retrieved. The in-situ detection sensor 6400 can employ photoelectric, proximity, or other non-contact detection methods.

[0069] The outer access buffer 2100 is equipped with an information reader (e.g., an RFID reader); one side of the carrier container 8100 is equipped with an information carrier (e.g., an RFID tag). When the carrier container 8100 is placed in the outer access buffer compartment with the correct orientation, the information carrier is located within the readable area of ​​the information reader; the controller is communicatively connected to the information reader. When the presence detection sensor 6400 detects the presence of the carrier container 8100 and the information reader does not read the signal of the information carrier, it determines that the orientation of the carrier container 8100 is abnormal, prohibits the bidirectional transfer device 6000 from performing pick-up and place-down actions, and outputs a prompt message.

[0070] Each of the outer access cache cells is provided with an opening and closing door, which is used for the transfer of the carrying container 8100 between the outer access cache cells and the outside.

[0071] like Figure 3 and Figure 4 As shown, the chassis 1000 is also provided with an internal temporary buffer area 2200, which is located above or below the transmission channel 7000. The internal temporary buffer area 2200 includes multiple internal temporary buffer compartments.

[0072] As a preferred embodiment of this example, Figure 7 and Figure 8As shown, the chassis 1000 is equipped with two information acquisition rotating mechanisms 5000. The two information acquisition rotating mechanisms 5000 are respectively located at both ends of the conveying guide rail 7100. The conveying guide rail 7100 is equipped with two mobile carriers 7200. The two mobile carriers 7200 are respectively used to transport the carrying container 8100 to the corresponding end of the information acquisition rotating mechanism 5000. The two mobile drive mechanisms 7300 are respectively driven connected to the two mobile carriers 7200.

[0073] Information acquisition rotating mechanism 5000: As a preferred embodiment of this invention, such as Figures 9-22 As shown, the information acquisition rotating mechanism 5000 includes a lower lifting and rotating assembly 5100 and an upper limiting assembly 5200. The lower lifting and rotating assembly 5100 includes a first support seat 5101, on which one or more lower support portions 5102 for lifting the test tube 8000 from the bottom are rotatably disposed. The upper limiting assembly 5200 includes a second support seat 5201, on which one or more upper pressing portions 5202 for pressing and limiting the test tube 8000 from the top are disposed. The upper pressing portions 5202 are arranged vertically opposite to the lower support portions 5102, and the upper pressing portions 5202 can elastically extend and retract relative to the second support seat 5201. When the lower support portions 5102 and the upper pressing portions 5202 act together from the bottom and top of the test tube 8000 respectively, the lower support portions 5102 can drive the test tube 8000 to rotate around its own axis.

[0074] More specifically, such as Figures 9-11 As shown, the lower lifting and rotating assembly 5100 further includes a lifting sleeve 5103 and at least one rotating shaft 5104. The rotating shaft 5104 is rotatably mounted on the first support seat 5101. The end of the rotating shaft 5104 is provided with the lower support portion 5102. A spiral guide groove 5105 is formed on the outer peripheral wall of the rotating shaft 5104. The lifting sleeve 5103 is sleeved on the rotating shaft 5104 in a manner that allows it to slide along the axial direction of the rotating shaft 5104. A guide pin 5106 is provided on the lifting sleeve 5103 that slides in cooperation with the spiral guide groove 5105. The first support seat 5101 is provided with an upper limit position along its moving direction. When the first support seat 5101 moves to the upper limit position, and the lifting sleeve 5103 moves axially relative to the rotating shaft 5104, the guide pin 5106 slides along the spiral guide groove 5105, thereby driving the rotating shaft 5104 to rotate around its own axis.

[0075] In a preferred embodiment of this invention, the first support seat 5101 is provided with a limiting part. This limiting part engages with an external limiting structure to prevent the first support seat 5101 from rising further when it reaches a preset position, at which point the first support seat 5101 reaches its upper limit position. After the first support seat 5101 is blocked by the external limiting structure, the lifting drive mechanism can continue to drive the lifting sleeve 5103 to move axially relative to the rotating shaft 5104. The guide pin 5106 slides along the spiral guide groove 5105 and drives the rotating shaft 5104 to rotate around its own axis. In other embodiments, the limiting part can also be located in other suitable positions, as long as it ensures that the first support seat 5101 can prevent it from moving further upward when it reaches its upper limit position.

[0076] The lifting sleeve 5103 is connected to the lifting drive mechanism via a transmission connection. In this embodiment, as shown... Figure 11 As shown, the lifting drive mechanism includes a motor 5110, a lead screw 5111, and a nut seat 5112. The motor 5110 is connected to the lead screw 5111 for transmission. The nut seat 5112 is mounted on the lead screw 5111. The lifting sleeve 5103 is fixedly connected to the nut seat 5112.

[0077] A switch pressure plate 5109 and a rotating support plate 5113 are fixedly disposed on the first bearing seat 5101. The rotating support plate 5113, the lifting sleeve 5103, and the switch pressure plate 5109 are arranged in parallel, with the rotating support plate 5113 and the switch pressure plate 5109 located on opposite sides of the lifting sleeve 5103. The rotating support plate 5113 is used to support the rotating shaft 5104 and maintain its rotational stability. The rotating support plate 5113 is provided with one or more shaft holes. The number of upper shaft holes is adapted to the number of rotating shafts 5104. The lower end of the rotating shaft 5104 is axially limited by a bearing and rotatably mounted on the switch pressure plate 5109. The upper end of the rotating shaft 5104 passes through the lifting sleeve 5103 and the rotating support plate 5113 in sequence and connects to the lower support part 5102. The lower support part 5102 includes a positioning seat 51021 and a tray 51022. The tray 51022 is mounted on the rotating shaft 5104 through the positioning seat 51021. Preferably, the tray 51022 is a rubber suction cup. The rubber suction cup can generate an adsorption effect when it contacts the bottom of the test tube 8000, thereby enhancing the gripping stability of the bottom of the test tube 8000 when lifting the test tube 8000, making it less likely for the test tube 8000 to deviate or shake during rotation. A bearing is also connected between the rotating support plate 5113 and the rotating shaft 5104. The traction elastic element 5107 is connected between the switch pressure plate 5109 and the lifting sleeve 5103. The traction elastic element 5107 is used to transmit the upward movement of the lifting sleeve 5103 to the first support seat 5101, so that the first support seat 5101 and the lifting sleeve 5103 rise synchronously. Moreover, the traction elastic element 5107 can undergo tensile deformation after the first support seat 5101 is limited and blocked, so as to allow the lifting sleeve 5103 to continue to rise relative to the first support seat 5101. In this embodiment, the number of traction elastic elements 5107 is not specifically limited, as long as the total elastic force of all traction elastic elements 5107 is greater than or equal to the total weight of the first support seat 5101 and its accessories and the test tube 8000 being supported. Thus, during the stage when the test tube 8000 is lifted but not rotated, the traction elastic element 5107 can withstand the weight of the first support seat 5101 and its accessories, as well as the lifted test tube 8000, without undergoing tensile deformation. This allows the first support seat 5101 to rise synchronously with the lifting sleeve 5103 under the drive of the lifting sleeve 5103. When the first support seat 5101 rises to the point where it is stopped, the lifting sleeve 5103 continues to rise and overcomes the total elastic force of each traction elastic element 5107, causing the traction elastic element 5107 to undergo tensile deformation.

[0078] In this embodiment, the first support seat 5101 is provided with a limiting part. The limiting part is used to cooperate with an external limiting structure to block the first support seat 5101 from rising to a preset position, thereby limiting the first support seat 5101 from continuing to rise. At this time, the first support seat 5101 reaches the upper limit position. In other embodiments, the limiting part can also be set in other suitable positions, as long as it can prevent the first support seat 5101 from moving upward when it reaches the upper limit position.

[0079] The working principle of the lower lifting and rotating assembly 5100 is as follows: The lifting drive mechanism starts and drives the lifting sleeve 5103 to rise. In the initial stage of rising, since the total elastic force of the traction elastic element 5107 is greater than the total weight of the first bearing seat 5101 and its accessories and the lifted test tube 8000, the traction elastic element 5107 does not undergo tensile deformation. The lifting sleeve 5103 drives the first bearing seat 5101 and the displacement connecting plate 5301 fixed thereon to rise synchronously through the traction elastic element 5107. During this rising process, the rotating shaft 5104 rises with the first bearing seat 5101, and its lower support part 5102 at its end passes through the hollow bottom of the insertion hole of the bearing container 8100, lifting the test tube 8000 from the bottom and pushing the test tube 8000 to rise. When the first support seat 5101 rises to the point where it is blocked by the external limiting structure, the first support seat 5101, its accessories, and the lifted test tube 8000 stop rising. Meanwhile, the nut seat 5112 of the lifting drive mechanism continues to drive the lifting sleeve 5103 to rise and overcome the total elastic force of each of the traction elastic elements 5107, causing the traction elastic elements 5107 to undergo tensile deformation. The guide pin 5106 on the lifting sleeve 5103 slides along the spiral guide groove 5105 and drives the rotating shaft 5104 to rotate around its own axis. The rotating shaft 5104 drives the test tube 8000 to rotate synchronously through the lower support part 5102.

[0080] like Figure 12 and Figure 13 As shown, the upper limiting component 5200 also includes a telescopic shaft 5203 and a telescopic elastic element 5204. The second support seat 5201 is provided with one or more guide holes 5205. The number of guide holes 5205, the telescopic shaft 5203 and the rotating shaft 5104 are adapted to each other. The telescopic shaft 5203 is slidably installed in the guide hole 5205. The telescopic elastic element 5204 is sleeved on the telescopic shaft 5203 and abuts between the second support seat 5201 and the upper pressing part 5202. The upper pressing part 5202 is rotatably disposed at one end of the telescopic shaft 5203 toward the lower lifting rotating component 5100.

[0081] In this embodiment, the upper pressing part 5202 includes a limiting sleeve 52021. The limiting sleeve 52021 has a groove at one end facing the test tube 8000 for fastening the cap of the test tube 8000. A limiting protrusion 52022 is provided in the center of the groove for engaging with the central hole of the cap of the test tube 8000. The limiting protrusion 52022 only serves a positioning function; its depth into the central hole of the cap of the test tube 8000 is small, and it does not need to form a tight insertion fit with the inside of the cap. Therefore, there is no risk of cross-contamination due to contact with the inner wall of the cap. When the top of the test tube 8000 abuts against the limiting sleeve 52021, the cap at the top of the test tube 8000 enters the groove of the limiting sleeve 52021, and the limiting protrusion 52022 is correspondingly located in the central hole of the cap, providing circumferential positioning for the test tube 8000. The limiting sleeve 52021 is rotatably mounted on the end of the telescopic shaft 5203 via a bearing. When the rotating shaft 5104 drives the test tube 8000 to rotate, the limiting sleeve 52021 forms a circumferential limit on the test tube 8000 through the fastening fit between the groove and the outer wall of the cap and the insertion fit between the limiting protrusion 52022 and the center hole of the cap. The test tube 8000 rotates stably with the rotating shaft 5104, and the limiting sleeve 52021 does not hinder the rotation of the test tube 8000.

[0082] The working principle of the upper limiting component 5200 is as follows: The bottom of the insertion hole of the bearing container 8100 for placing the test tube 8000 has a hollow structure. The rotating shaft 5104 can pass through the hollow bottom of the insertion hole to lift the test tube 8000 upward from below. When the lower lifting rotating component 5100 pushes the rotating shaft 5104 upward, the rotating shaft 5104 passes through the bottom of the bearing container 8100 to lift the test tube 8000 upward. The top of the test tube 8000 abuts against the upper pressing part 5202 and pushes the telescopic shaft 5203 to slide upward along the guide hole 5205. The telescopic elastic element 5204 is compressed between the second bearing seat 5201 and the telescopic shaft 5203. After the test tube 8000 rises to the position, the upper pressing part 5202... Under the elastic restoring force of the telescopic elastic element 5204, it presses against the top of the test tube 8000, and together with the lower lifting and rotating assembly 5100, clamps the test tube 8000 between them. When the lower lifting and rotating assembly 5100 drives the test tube 8000 to rotate, the upper pressing part 5202 rotates synchronously with the test tube 8000, and the telescopic shaft 5203 maintains a sliding fit within the guide hole 5205, so that the test tube 8000 is always subjected to axial elastic pressing force during rotation, maintaining stable rotation. When the lower lifting and rotating assembly 5100 descends, the test tube 8000 descends accordingly, and the telescopic elastic element 5204 gradually restores its deformation, pushing the telescopic shaft 5203 to slide downwards and reset along the guide hole 5205 until the telescopic shaft 5203 returns to its initial position.

[0083] like Figure 22 As shown, because the rotating shaft 5104 lifts the test tube 8000 upwards from the bottom, and the upper limiting component 5200 adaptively supports test tubes 8000 of different heights via the retractable telescopic shaft 5203, the shorter the test tube 8000, the shorter the sliding distance of the telescopic shaft 5203, and the smaller the compression of the telescopic elastic element 5204 (spring); the longer the test tube 8000, the longer the sliding distance of the telescopic shaft 5203, and the greater the compression of the telescopic elastic element 5204. However, regardless of the height of the test tube 8000, as long as it is within the stroke range of the telescopic shaft 5203, the upper pressing part 5202 can apply a pressing force to the top of the test tube 8000 under the action of the telescopic elastic element 5204. Therefore, the rotating device of the present invention can adapt to various test tubes 8000 of different heights and can perform synchronous rotation processing on test tubes 8000 of different heights. Meanwhile, since the lower support 5102 and the upper pressure 5202 respectively form end-to-end limiting constraints on the test tube 8000 from the bottom and top, it is also applicable to the mixed placement of test tubes 8000 with different diameters. That is, regardless of whether the test tubes 8000 are of the same thickness, they can be reliably clamped and rotated synchronously.

[0084] like Figures 15-18 As shown, the information acquisition rotating mechanism 5000 also includes a linkage lifting component 5300, which is connected to the first support seat 5101 and the second support seat 5201 in a transmission manner, so that the first support seat 5101 and the second support seat 5201 move synchronously or relative to each other.

[0085] In a preferred embodiment of this invention, the linkage lifting assembly 5300 includes a displacement connecting plate 5301, a tensioning seat 5302, a pulley 5303, a first elastic element 5304, and a second elastic element 5305. The tensioning seat 5302, the second bearing seat 5201, and the first bearing seat 5101 are slidably mounted on the slide rail of the frame 5400 from top to bottom. The pulley 5303 is rotatably mounted on the tensioning seat 5302. One end of the displacement connecting plate 5301 is connected to the first bearing seat 5101, and the other end of the displacement connecting plate 5301 is connected to a traction belt 5308. The traction belt 5308 passes around the pulley 5303 and connects to the second support seat 5201. The displacement connecting plate 5301 is also provided with a first lifting step 5306 and a second lifting step 5307. The first lifting step 5306 is used to push the second support seat 5201 to move upward along the slide rail, and the second lifting step 5307 is used to push the tension seat 5302 to move upward along the slide rail. The first elastic element 5304 is connected between the tension seat 5302 and the frame 5400, and the second elastic element 5305 is connected between the first support seat 5101 and the second support seat 5201.

[0086] When the device is in its initial position, the first support 5101 is located at the lower limit position of the slide rail, the lower support 5102 on the rotating shaft 5104 is lower than the bottom of the test tube 8000 on the support container 8100, and the upper pressing part 5202 maintains a distance from the top of the test tube 8000. At this time, both the first elastic element 5304 and the second elastic element 5305 are in a stretched state (e.g., Figure 15 , 16 (As shown).

[0087] The working method of the linkage lifting assembly 5300 is as follows: When the lifting drive mechanism drives the lifting sleeve 5103 to rise, in the initial stage of the first bearing seat 5101 rising, under the action of the elastic restoring force of the second elastic element 5305, the second bearing seat 5201 moves along the slide rail toward the first bearing seat 5101, the upper pressing part 5202 contacts the test tube 8000 and gradually applies a pressing force to the test tube 8000 from the top of the test tube 8000. At the same time, the displacement connecting plate 5301 moves upward synchronously with the first bearing seat 5101. After the upper pressing part 5202 presses against the top of the test tube 8000, the displacement connecting plate 5301 moves upward synchronously with the first bearing seat 5101. The first lifting step 5306 and the second lifting step 5307 on the transfer connecting plate 5301 contact the second bearing seat 5201 and the tensioning seat 5302 respectively. The first lifting step 5306 pushes the second bearing seat 5201 to slide upward along the slide rail, while the second lifting step 5307 pushes the tensioning seat 5302 to slide upward along the slide rail, so that the first bearing seat 5101, the second bearing seat 5201 and the tensioning seat 5302 rise synchronously, and at the same time, it can prevent the test tube 8000 from being excessively squeezed by the upper pressure part 5202 and the lower support part 5102 during the rising process.

[0088] When the first support seat 5101 rises to the point where it is blocked by the external limiting structure (i.e., when it rises to the upper limit position), the first support seat 5101 stops rising. At this time, the second support seat 5201 and the tensioning seat 5302 also reach the upper limit position. At this time, the first elastic element 5304 and the second elastic element 5305 are both in a free state (see reference). Figure 17 , 18 The upper pressure part 5202 on the second support 5201 has been pressed against the top of the test tube 8000 during the rising process, and the test tube 8000 is clamped between the lower support part 5102 and the upper pressure part 5202.

[0089] The lifting drive mechanism will continue to drive the lifting sleeve 5103 to move upward. Since the first bearing seat 5101 has been limited and blocked, when the lifting sleeve 5103 continues to move upward, the traction elastic element 5107 will undergo tensile deformation, allowing the lifting sleeve 5103 to continue to rise. The spiral guide groove 5105 is axially arranged above the lifting sleeve 5103, that is, between the lifting sleeve 5103 and the rotating support plate 5113. During the process of the lifting sleeve 5103 continuing to move upward, the guide pin 5106 on the lifting sleeve 5103 will slide along the spiral guide groove 5105, driving the rotating shaft 5104 to rotate in the positive direction around its own axis, thereby converting the linear movement of the lifting sleeve 5103 into the rotational movement of the rotating shaft 5104. At this time, the lower support part 5102 on the rotating shaft 5104 will drive the test tube 8000 to rotate synchronously, and the upper pressure part 5202 will rotate passively with the test tube 8000. At this time, the information collector synchronously collects the information of the test tube 8000.

[0090] In one implementation, the information collector can be a barcode scanner, used to scan the label information on the outer wall of the test tube 8000 during rotation to achieve sample information traceability; in another implementation, the information collector can also be an image recognition device, used to take multi-angle pictures of the blood sample inside the test tube 8000 during rotation to assist in the analysis of sample quality.

[0091] This invention does not limit the specific type of the information collector, which can be flexibly configured according to actual testing needs. In one embodiment, the information collector can be a barcode scanner, used to scan label information on the outer wall of the test tube during rotation to achieve sample information traceability. In another embodiment, the information collector can also be an image recognition device, used to take multi-angle images of the blood sample inside the test tube during rotation to assist in sample quality analysis. The information collector is positioned relative to the information collection area of ​​the test tube, with its collection direction facing the side wall of the test tube, and acquires barcode, label images, or sample images during test tube rotation. The information collector can be fixed or movable, and one or more units can be used. For example, the information collector can be mounted on a rack 5400, on a conveyor channel 7000, or mounted via an independent bracket.

[0092] Furthermore, the information collector can also be used for fault diagnosis. For example, the information collector employs an image recognition device, which can identify whether the test tube 8000 is stuck by the upper pressure part 5202. When the upper pressure part 5202 presses down on the cap of the test tube 8000, if the upper pressure part 5202 rises and the cap of the test tube 8000 is stuck in the groove of the upper pressure part 5202 and cannot be properly dislodged, the image recognition device can identify this stuck state. At this time, the controller controls the lower support part 5102 to lift the test tube 8000 again. If the test tube 8000 still cannot be dislodged from the upper pressure part 5202, an alarm message is issued.

[0093] It should be noted that when the first support seat 5101 rises to its upper limit position, the lower support 5102 lifts the test tube 8000 to a height that does not obstruct information acquisition. When the test tube rack 8100 holds only a single row of test tubes 8000, the lifting height of the test tube 8000 is at least higher than the upper edge of the test tube rack 8100; when multiple rows of test tubes 8000 are placed in the test tube rack 8100, the height of the lifted test tube 8000 is at least higher than the highest point of the other rows of unlifted test tubes 8000 in the test tube rack 8100.

[0094] When the lifting sleeve 5103 rises to its upper limit position of its travel stroke, the guide pin 5106 reaches the highest point of the spiral guide groove 5105, and the test tube 8000 stops rotating forward. Subsequently, the lifting drive mechanism drives the lifting sleeve 5103 to descend in the reverse direction, and the guide pin 5106 slides in the reverse direction along the spiral guide groove 5105, driving the rotating shaft 5104 to rotate in the reverse direction around its own axis. When the guide pin 5106 slides to the lowest point of the spiral guide groove 5105, the rotating shaft 5104 stops rotating, and the test tube 8000 can return to its original placement angle before processing. This is suitable for scenarios where the tubes have been placed in a uniform orientation before processing. During the reverse rotation, the information collector can continue to collect information from the test tube 8000; if data collection has been completed during the forward rotation, it is not necessary to collect data during the reverse rotation.

[0095] Subsequently, the lifting drive mechanism will continue to drive the lifting sleeve 5103 to descend, and the traction elastic element 5107 will gradually return to its original position. Then, the lifting sleeve 5103 will push the first bearing seat 5101 and the displacement connecting plate 5301 to descend synchronously through the traction elastic element 5107. When the displacement connecting plate 5301 descends, the first lifting step 5306 and the second lifting step 5307 will disengage from the second bearing seat 5201 and the tensioning seat 5302, respectively. During this process, since one end of the traction belt 5308 is connected to the displacement connecting plate 5301 and the other end passes around the pulley 5303 installed on the tensioning seat 5302 and is connected to the second bearing seat 5201, when the displacement connecting plate 5301 descends, the traction belt 5308 pulls the second bearing seat 5201 along the slide rail relative to the first bearing seat 5101 through the pulley 5303, so that the upper pressing part 5202 on the second bearing seat 5201 gradually moves away from the top of the test tube 8000, releasing the axial clamping on the test tube 8000; at the same time, the first bearing seat 5101 continues to descend, the lower support part 5102 descends with the rotating shaft 5104, and the test tube 8000 falls back into the insertion hole of the bearing container 8100. After the first support 5101 descends to its initial position, the lower support 5102 completely exits the bottom of the insertion hole of the support container 8100, and the test tube 8000 falls completely back onto the support container 8100. Finally, the test tube 8000 returns to its pre-processing angle and returns to its initial support position (finally falling back onto the support container 8100), which is suitable for scenarios where the tubes have been placed in a uniform orientation before processing.

[0096] Throughout the entire working cycle, the first elastic element 5304 and the second elastic element 5305 adaptively extend and retract according to the relative displacement between the tension seat 5302, the first bearing seat 5101 and the second bearing seat 5201. The two work together to ensure that the traction belt 5308 remains taut at all stages of the movement of the linkage lifting assembly 5300. Specifically, during the entire descent of the first support seat 5101, the first elastic member 5304 connected between the tensioning seat 5302 and the frame 5400 is gradually stretched. The first elastic member 5304 applies an elastic force to the tensioning seat 5302 in the upward direction, so that the pulley 5303 always has an upward tendency, thereby providing continuous tension to the traction belt 5308 that passes over the pulley 5303. At the same time, the second elastic member 5305 connected between the first support seat 5101 and the second support seat 5201 is gradually stretched. The second elastic member 5305 applies an elastic force to the second support seat 5201 in the direction of the first support seat 5101, so that the second support seat 5201 has a tendency to move closer to the first support seat 5101, thereby helping to maintain the tension of the traction belt 5308 between the displacement connecting plate 5301 and the second support seat 5201 and preventing the traction belt 5308 from slackening. During the ascent of the first support seat 5101, the displacement connecting plate 5301 pushes the second support seat 5201 and the tension seat 5302 to rise synchronously via the first lifting step 5306 and the second lifting step 5307. During this ascent phase, the first elastic element 5304 and the second elastic element 5305 gradually recover their deformation. The first elastic element 5304 assists in pulling the tension seat 5302 upward, while the second elastic element 5305 pulls the second support seat 5201 closer to the first support seat 5101. Together, they maintain the tension of the traction belt 5308, ensuring that the linkage lifting assembly 5300 can operate smoothly and reliably in each movement phase.

[0097] Bidirectional transfer device 6000: As a preferred embodiment of this invention, such as Figures 23-34 As shown, the bidirectional transfer device 6000 includes a support base 6100, a multi-stage telescopic arm, an active transmission mechanism 6200, and a linkage mechanism. The multi-stage telescopic arm includes an active telescopic arm 6101 and at least one stage of linkage telescopic arm slidably mounted on the outside of the active telescopic arm 6101. The telescopic arms at each stage are slidably coupled through guide rails to ensure that the telescopic arms at each stage slide smoothly along the set direction during the telescopic process, thereby reducing frictional resistance.

[0098] The active transmission mechanism 6200 is used to drive the active telescopic arm 6101 to extend and retract bidirectionally in the horizontal direction. As a preferred embodiment of this invention, as follows... Figure 25 and Figure 26As shown, the active transmission mechanism 6200 includes a rotary driver 6201 (such as a motor 5110, hydraulic motor, etc.), a double-sided toothed synchronous belt 6202, a driving pulley 6203, several driven pulleys, and a linear meshing transmission component 6206. The output end of the rotary driver 6201 is connected to the driving pulley 6203. The double-sided toothed synchronous belt is wound around the driving pulley 6203 and each of the driven pulleys. The inner tooth surface of the double-sided toothed synchronous belt meshes with the driving pulley 6203. The linear meshing transmission component 6206 is mounted on the active telescopic arm 6101. The outer tooth surface of the double-sided toothed synchronous belt meshes with the linear meshing transmission component 6206. When the rotary driver 6201 drives the double-sided toothed synchronous belt to circulate in both forward and reverse directions, the engagement of the outer tooth surface with the linear meshing transmission component 6206 drives the active telescopic arm 6101 to extend and retract bidirectionally in the horizontal direction. The double-sided toothed synchronous belt is a flexible transmission component. It can maintain parallel and multi-tooth meshing with the linear meshing transmission component 6206, thereby reducing the impact of meshing looseness, tooth skipping, and backlash on transfer repeatability and ensuring that the test tube rack can be accurately transferred to the target position.

[0099] The linear meshing transmission component 6206 is a rigid long component with a meshing portion along its length, used to mesh with the outer tooth surface of a double-sided synchronous belt, converting the cyclic motion of the synchronous belt into the linear reciprocating motion of the telescopic arm. This embodiment does not limit the type of the linear meshing transmission component 6206; it can be a linear rack, a toothed insert, or have its teeth directly machined onto the telescopic arm body.

[0100] As a preferred embodiment of this example, Figure 25 As shown, the driven pulley includes two inner tensioning pulleys 6204 and one outer tensioning pulley 6205. The two inner tensioning pulleys 6204 are respectively disposed on both sides of the driving pulley 6203 in the horizontal direction. The inner tooth surface of the double-sided toothed synchronous belt meshes with the two inner tensioning pulleys 6204. The outer tensioning pulley 6205 is disposed on the outer side of the double-sided toothed synchronous belt and meshes with the outer tooth surface of the double-sided toothed synchronous belt. A section of the double-sided toothed synchronous belt between the two inner tensioning pulleys 6204 meshes parallel to the linear meshing transmission member 6206 (e.g., a linear rack). With the above structure, the two inner tensioning pulleys 6204 are respectively disposed on both sides of the driving pulley 6203 in the horizontal direction, so that the section of the double-sided toothed synchronous belt between the two inner tensioning pulleys 6204 maintains parallel meshing with the linear meshing transmission member 6206, ensuring that the outer tooth surface of the synchronous belt maintains uniform contact with the tooth surface of the linear meshing transmission member 6206. At the same time, the outer tensioning pulley 6205 meshes with the outer tooth surface of the double-sided synchronous belt to provide auxiliary tensioning and guidance for the synchronous belt, ensuring that the synchronous belt maintains appropriate tension during cyclic movement.

[0101] The linkage mechanism is used to drive the linkage telescopic arm to extend and retract along the movement direction of the active telescopic arm 6101. This invention drives the active telescopic arm 6101 to move bidirectionally through the active transmission mechanism 6200, while the linkage mechanism drives the telescopic arms at each level to extend and retract synchronously, realizing the linkage of multiple telescopic arms. The linkage mechanism adopts a reversing transmission method composed of flexible traction members and reversing guide members 6500 to realize the linkage extension and retraction of each level of telescopic arm and the active telescopic arm 6101. As a preferred embodiment of this invention, the linkage mechanism includes multiple flexible traction members and reversing guide members 6500. One end of each flexible traction member is connected to the corresponding level of telescopic arm, and the other end is reversing through the reversing guide member 6500 and then connected to another corresponding level of telescopic arm.

[0102] As a preferred embodiment of this example, Figure 27 As shown, each of the flexible traction components is in the telescopic arm width direction (i.e. Figure 27 The telescopic arms are symmetrically arranged on both sides (as shown in the left-right direction). This symmetrical arrangement ensures that the forces on both sides are balanced during the extension and retraction of each telescopic arm, preventing skewness or jamming caused by unilateral force and ensuring the smooth operation of the transfer device.

[0103] In a preferred embodiment of this invention, the flexible traction component is made of steel wire rope. Steel wire rope has high tensile strength and good wear resistance, and can withstand the cyclic load caused by frequent extension and retraction movements. It is not easy to break or wear.

[0104] In a preferred embodiment of this invention, the telescopic arms of adjacent stages are slidably connected by guide rails.

[0105] In a specific embodiment of the present invention, the reversing guide 6500 adopts a reversing wheel 4200, and each flexible traction component is wound around the reversing wheel 4200. The reversing wheel 4200 rotates flexibly and has low friction. Reversing is achieved through the reversing wheel 4200, which is suitable for high-speed and high-frequency telescopic scenarios.

[0106] In another specific embodiment of the present invention, the reversing guide 6500 adopts a reversing groove, that is, an arc-shaped groove is opened at the end of each telescopic arm, and the flexible traction member passes through the groove to realize reversal. The reversing groove is suitable for low-speed scenarios.

[0107] As a preferred embodiment of this example, Figure 5As shown, the bidirectional transfer device 6000 also includes a counterweight 4100. One side of the support base 6100 is slidably mounted on the lifting frame 4000. The pull rope 4300 of the counterweight 4100 passes around the reversing wheel 4200 on the lifting frame 4000 and is connected to the other side of the support base 6100. The counterweight 4100 is used to provide a balancing torque during the lifting and lowering process of the bidirectional transfer device 6000.

[0108] In one specific embodiment of the present invention, such as Figures 27-30 As shown, the linkage telescopic arm is a single unit, suitable for applications with small transfer stroke requirements. Four flexible traction components are needed to achieve linkage between the linkage telescopic arm and the active telescopic arm 6101. The flexible traction components include two first-direction flexible traction components and two second-direction flexible traction components. When the active telescopic arm 6101 moves towards the first direction, the first-direction flexible traction components drive the linkage telescopic arm to extend synchronously. When the active telescopic arm 6101 moves towards the second direction, the second-direction flexible traction components drive the linkage telescopic arm to extend synchronously. The first direction and the second direction are opposite.

[0109] like Figure 27 and Figure 28 As shown, the two first-direction flexible traction members are first-direction flexible traction member AⅠ6311 (left side) and first-direction flexible traction member AⅡ6312 (right side), which are symmetrically arranged on both sides of the telescopic arm's width direction. One end of the first-direction flexible traction member AⅠ6311 is fixedly connected to the left side of the support base 6100, and the other end is fixedly connected to the linkage telescopic arm (i.e., the left side of the first-stage telescopic arm 6102) after being reversed by the reversing guide member 6500 located on the left side of the first end of the active telescopic arm 6101. One end of the first-direction flexible traction member AⅡ6312 is fixedly connected to the right side of the support base 6100, and the other end is fixedly connected to the linkage telescopic arm (i.e., the right side of the first-stage telescopic arm 6102) after being reversed by the reversing guide member 6500 located on the right side of the first end of the active telescopic arm 6101. Figure 29 As shown, when the active telescopic arm 6101 extends in the first direction, the two flexible traction members in the first direction (located on both sides) drive the linkage telescopic arm (i.e. the first-stage telescopic arm 6102) to extend in the first direction simultaneously; when the active telescopic arm 6101 extends by a stroke L relative to the support base 6100, the linkage telescopic arm also extends by a stroke L relative to the active telescopic arm 6101, so the total extension stroke of the entire device is 2L.

[0110] like Figure 27 and Figure 28As shown, the two second-direction flexible traction members are second-direction flexible traction member AⅠ6321 (left) and second-direction flexible traction member AⅡ6322 (right), which are symmetrically arranged on both sides of the telescopic arm's width direction. One end of the second-direction flexible traction member AⅠ6321 is fixedly connected to the left side of the support base 6100, and the other end is fixedly connected to the linkage telescopic arm (i.e., the left side of the first-stage telescopic arm 6102) after being reversed by the reversing guide member 6500 located on the left side of the second end of the active telescopic arm 6101. One end of the second-direction flexible traction member AⅡ6322 is fixedly connected to the right side of the support base 6100, and the other end is fixedly connected to the linkage telescopic arm (i.e., the right side of the first-stage telescopic arm 6102) after being reversed by the reversing guide member 6500 located on the right side of the second end of the active telescopic arm 6101. Figure 30 As shown, when the active telescopic arm 6101 extends in the second direction, the two flexible traction members in the second direction drive the linkage telescopic arm to extend in the second direction simultaneously. When the active telescopic arm 6101 extends by a stroke L relative to the support base 6100, the linkage telescopic arm also extends by a stroke L relative to the active telescopic arm 6101. Therefore, the total extension stroke of the entire device is 2L.

[0111] In another specific embodiment of the present invention, the number of linked telescopic arms is n, n≥2, and the flexible traction member includes 2n flexible traction members in the first direction and 2n flexible traction members in the second direction; along the direction away from the support base 6100, the telescopic arms at each level are sequentially from the 0th level telescopic arm to the nth level telescopic arm, the 0th level telescopic arm is the active telescopic arm 6101, and the 1st level telescopic arm to the nth level telescopic arm are linked telescopic arms; The first-direction flexible traction component and the second-direction flexible traction component are each divided into n groups, with two components in each group and symmetrically arranged on both sides of the telescopic arm in the width direction; The first flexible traction member of the first group in the first direction is connected between the support base 6100 and the first telescopic arm 6102, and is reversed by the reversing guide member 6500 at the end of the 0th telescopic arm, so as to drive the first telescopic arm 6102 to extend when the 0th telescopic arm moves toward the first direction. The first flexible traction member of the i-th group is connected between the (i-2)th telescopic arm and the i-th telescopic arm, and is reversed by the reversing guide member 6500 at the end of the (i-1)th telescopic arm, so as to drive the i-th telescopic arm to extend when the 0th telescopic arm moves toward the first direction, i=2,3,…,n; The connection method of the second-direction flexible traction member is the same as that of the first-direction flexible traction member, and the second-direction flexible traction member is used to drive each level of telescopic arm to extend when the 0th-level telescopic arm moves toward the second direction, the first direction being opposite to the second direction.

[0112] More specifically: The 2n flexible traction components in the first direction are divided into n groups, with two components in each group and symmetrically arranged on both sides of the telescopic arm in the width direction. One end of the first-direction flexible traction member of the first group is fixedly connected to the support base 6100, and the other end is fixedly connected to the first-stage telescopic arm 6102 after being reversed by the reversing guide member 6500 at the first end of the active telescopic arm 6101 (i.e. the 0th stage telescopic arm). One end of the first-direction flexible traction member of the second group is fixedly connected to the active telescopic arm 6101, and the other end is fixedly connected to the second-stage telescopic arm 6103 after being reversed by the reversing guide member 6500 at the first end of the first-stage telescopic arm 6102. The first flexible traction member of the i-th group in the first direction, i=3,…,n, has one end fixedly connected to the (i-2)-th stage telescopic arm, and the other end fixedly connected to the i-th stage telescopic arm after being reversed by the reversing guide member 6500 at the first end of the (i-1)-th stage telescopic arm.

[0113] The first flexible traction member in the first direction of the first group drives the first-stage telescopic arm 6102, the first flexible traction member in the second group drives the second-stage telescopic arm 6103, and the first flexible traction member in the i-th group drives the i-th stage telescopic arm.

[0114] The 2n flexible traction components in the second direction are divided into n groups, with two components in each group and symmetrically arranged on both sides of the telescopic arm in the width direction. One end of the second-direction flexible traction member of the first group is fixedly connected to the support base 6100, and the other end is fixedly connected to the first-stage telescopic arm 6102 after being reversed by the reversing guide member 6500 at the second end of the active telescopic arm 6101. One end of the second-direction flexible traction member of the second group is fixedly connected to the active telescopic arm 6101, and the other end is fixedly connected to the second-stage telescopic arm 6103 after being reversed by the reversing guide member 6500 at the second end of the first-stage telescopic arm 6102. The second-direction flexible traction member of the i-th group, i=3,…,n, has one end fixedly connected to the (i-2)-th stage telescopic arm, and the other end fixedly connected to the i-th stage telescopic arm after being reversed by the reversing guide member 6500 at the second end of the (i-1)-th stage telescopic arm.

[0115] The first group of second-direction flexible traction members drives the first-stage telescopic arm 6102, the second group of second-direction flexible traction members drives the second-stage telescopic arm 6103, and the i-th group of second-direction flexible traction members drives the i-th-stage telescopic arm.

[0116] When there are two or more telescopic arms, through the step-by-step series reversing transmission of n sets of flexible traction components, each telescopic arm extends and retracts synchronously with the active telescopic arm 6101, realizing the superposition of the stroke of the multi-stage telescopic arms, greatly increasing the transfer stroke. Moreover, the transfer stroke can be expanded by increasing the number of telescopic arms, which can meet the transfer stroke requirements of different specifications of analytical equipment for the carrying container 8100.

[0117] Taking the case where there are two telescopic arms as an example, such as Figures 31-34 As shown, it includes a first-stage telescopic arm 6102 and a second-stage telescopic arm 6103. The first-stage telescopic arm 6102 is slidably mounted on the active telescopic arm 6101, and the second-stage telescopic arm 6103 is slidably mounted on the first-stage telescopic arm 6102.

[0118] The first-direction flexible traction member and the second-direction flexible traction member are 2n=4 each, meaning that a total of eight flexible traction members are required in this embodiment.

[0119] The four flexible traction components in the first direction are divided into two groups of two, symmetrically arranged on both sides of the telescopic boom's width direction. The specific connection method is as follows: To facilitate differentiation of the various traction components, see attached Figures 31-34 The various traction components have been distinguished by color. First-direction flexible traction components AⅠ6311 and AⅡ6312 are marked in red; first-direction flexible traction components BⅠ6313 and BⅡ6314 are marked in blue; second-direction flexible traction components AⅠ6321 and AⅡ6322 are marked in magenta; and second-direction flexible traction components BⅠ6323 and BⅡ6324 are marked in grass green.

[0120] The first group includes a first-direction flexible traction member AⅠ6311 and a first-direction flexible traction member AⅡ6312. One end of the first-direction flexible traction member AⅠ6311 is fixedly connected to the left side of the support base 6100, and the other end passes through the bottom of the active telescopic arm 6101 along the first direction. After being reversed by the reversing guide member 6500 (e.g., reversing wheel 4200) on the left side of the first end of the active telescopic arm 6101, it is fixedly connected to the left side of the first-stage telescopic arm 6102. One end of the first-direction flexible traction member AⅡ6312 is fixedly connected to the right side of the support base 6100, and the other end passes through the bottom of the active telescopic arm 6101 along the first direction. After being reversed by the reversing guide member 6500 on the right side of the first end of the active telescopic arm 6101, it is fixedly connected to the right side of the first-stage telescopic arm 6102. Group 2 (i.e., Group n) includes first-direction flexible traction component BⅠ6313 and first-direction flexible traction component BⅡ6314; one end of the first-direction flexible traction component BⅠ6313 is fixedly connected to the left side of the active telescopic arm 6101, and the other end passes through the bottom of the first-stage telescopic arm 6102 along the first direction, and then is reversed by the reversing guide 6500 on the left side of the first end of the first-stage telescopic arm and fixedly connected to the left side of the second-stage telescopic arm 6103; one end of the first-direction flexible traction component BⅡ6314 is fixedly connected to the right side of the active telescopic arm 6101, and the other end passes through the bottom of the first-stage telescopic arm 6102 along the first direction, and then is reversed by the reversing guide 6500 on the right side of the first end of the first-stage telescopic arm 6102 and fixedly connected to the right side of the second-stage telescopic arm 6103.

[0121] The four flexible traction components in the second direction are divided into two groups, with two components in each group and symmetrically arranged on both sides of the telescopic arm in the width direction. The first group includes a second-direction flexible traction member AⅠ6321 and a second-direction flexible traction member AⅡ6322; one end of the second-direction flexible traction member AⅠ6321 is fixedly connected to the left side of the support base 6100, and the other end passes through the bottom of the active telescopic arm 6101 along the second direction, and then is reversed by the reversing guide member 6500 on the left side of the second end of the active telescopic arm 6101 and fixedly connected to the left side of the first-stage telescopic arm 6102; one end of the second-direction flexible traction member AⅡ6322 is fixedly connected to the right side of the support base 6100, and the other end passes through the bottom of the active telescopic arm 6101 along the second direction, and then is reversed by the reversing guide member 6500 on the right side of the second end of the active telescopic arm 6101 and fixedly connected to the right side of the first-stage telescopic arm 6102. The second group of flexible traction components (i.e., the nth group) includes a second-direction flexible traction component BⅠ6323 and a second-direction flexible traction component BⅡ6324. One end of the second-direction flexible traction component BⅠ6323 is fixedly connected to the left side of the active telescopic arm 6101, and the other end passes through the bottom of the first-stage telescopic arm 6102 along the second direction, and then is reversed by the reversing guide 6500 on the left side of the second end of the first-stage telescopic arm 6102 before being fixedly connected to the left side of the second-stage telescopic arm 6103. One end of the second-direction flexible traction component BⅡ6324 is fixedly connected to the right side of the active telescopic arm 6101, and the other end passes through the bottom of the first-stage telescopic arm 6102 along the second direction, and then is reversed by the reversing guide 6500 on the right side of the second end of the first-stage telescopic arm 6102 before being fixedly connected to the right side of the second-stage telescopic arm 6103.

[0122] Working principle: Taking extension in the first direction as an example, when the active telescopic arm 6101 extends in the first direction, the first-direction flexible traction member of the first group drives the first-stage telescopic arm 6102 to extend synchronously in the first direction (relative to the active telescopic arm 6101). At the same time, the first-direction flexible traction member of the second group drives the second-stage telescopic arm 6103 to extend synchronously in the first direction (relative to the first-stage telescopic arm 6102). The extension direction of each stage of the linked telescopic arm is the same as the extension direction of the active telescopic arm 6101.

[0123] Travel Relationship: When the active telescopic arm 6101 extends by a travel of L relative to the support base 6100, the first-stage linkage telescopic arm extends by a travel of L relative to the active telescopic arm 6101, and the second-stage linkage telescopic arm extends by a travel of L relative to the first-stage linkage telescopic arm. Therefore, the total extension travel of the entire device is 3L. The total travel is the sum of the relative travel of each stage; when there are n linkage telescopic arms, and the relative travel of each stage is L, the total travel is (n+1)L, achieving a doubling of travel.

[0124] By employing the aforementioned step-by-step series reversing transmission method, each stage of the linkage telescopic arm extends and retracts synchronously with the active telescopic arm 6101, achieving the superposition of the strokes of multiple telescopic arms. The total extension stroke is (n+1)L (where L is the extension stroke of the active telescopic arm 6101 relative to the support base 6100). By increasing the number of linkage telescopic arms, the transfer stroke can be easily expanded, meeting the diverse needs of different specifications of analytical equipment for the transfer stroke of the carrying container 8100.

[0125] In another embodiment, along the direction away from the active telescopic arm 6101, the length of the last-stage linkage telescopic arm is less than the length of the other stages of linkage telescopic arms. By reducing the length of the last-stage linkage telescopic arm, the stroke is shortened to meet the transfer stroke requirements.

[0126] In a preferred embodiment of this invention, the flexible traction members located on the same width direction side of the telescopic arm are staggered relative to each other in the width direction of the telescopic arm to prevent interference caused by overlapping positions of multiple flexible traction members during the telescopic arm's extension and retraction, thus ensuring that each flexible traction member can transmit power independently and smoothly. Figure 31 and Figure 32 As shown (taking the right side as an example), the flexible traction components on the right side of the first group and the flexible traction components on the right side of the second group are staggered by a certain distance in the width direction (i.e., the direction perpendicular to the telescopic direction and parallel to the surface of the telescopic arm), so that each flexible traction component does not contact or interfere with each other during the telescopic process.

[0127] The bidirectional transfer device 6000 operates as follows: The telescopic boom extension process: Taking rightward extension as an example, the rotary driver 6201 rotates clockwise, driving the drive pulley 6203 to rotate clockwise. The drive pulley 6203 drives the double-sided toothed synchronous belt in a cyclical motion. The outer tooth surface of the double-sided toothed synchronous belt meshes with the linear meshing transmission component 6206 (linear rack) mounted on the drive telescopic boom 6101, causing the drive telescopic boom 6101 to extend to the right relative to the support base 6100, with an extension stroke of L. Simultaneously, the first-direction flexible traction component, through the reversing transmission of the various stages of the reversing guide components 6500, sequentially drives the 1st, 2nd, ..., nth stage telescopic booms to extend to the right relative to the previous stage telescopic boom. Telescopic boom retraction process: Taking the retraction after extending to the right as an example, the rotary driver 6201 rotates in the opposite direction, driving the drive pulley 6203 to rotate in the opposite direction. The double-sided toothed synchronous belt rotates in the opposite direction, causing the drive telescopic boom 6101 to retract to the left relative to the support base 6100. At the same time, the second-direction flexible traction component, through the reversing transmission of each stage of the reversing guide component 6500, drives each stage of the linkage telescopic boom to retract to the left relative to the previous stage telescopic boom, realizing the retraction of the entire device.

[0128] A sample transfer method, utilizing the aforementioned sample transfer device, includes: S1. Open the door between the target outer access buffer cells, place the carrier container 8100 containing the test tube 8000 into the outer access buffer cell, and then close the door between the outer access buffer cells. The controller obtains the closing status signal of the door. S2. The lifting frame 4000 and the bidirectional transfer device 6000 move to the waiting position corresponding to the target outer access buffer cell. The telescopic arm of the bidirectional transfer device 6000 extends to take out the carrying container 8100 in the target outer access buffer cell. After taking it out, the telescopic arm of the bidirectional transfer device 6000 retracts to a contracted state where each level overlaps or is close to the minimum outer dimension, reducing the risk of collision with the buffer cell or other mechanisms. After the target outer access buffer cell is determined in S2, the lifting frame 4000 and the bidirectional transfer device 6000 are moved in advance to the waiting position corresponding to the target outer access buffer cell. Specifically, the lifting frame 4000 moves along the transverse track 3000 to a position close to the target outer access buffer cell, and the bidirectional transfer device 6000 is raised and lowered along the lifting frame 4000 to the height corresponding to the target outer access buffer cell. Then, the telescopic arm of the bidirectional transfer device 6000 extends towards the target outer access buffer cell, so that the final stage linkage telescopic arm inserts into the bottom of the carrying container 8100 in the target outer access buffer cell. Then, the bidirectional transfer device 6000 moves upward a certain distance along the lifting frame 4000 to lift the carrying container 8100 from the target outer access buffer cell. After that, the telescopic arm of the bidirectional transfer device 6000 retracts to the overlapping middle position, thereby removing the carrying container 8100 from the outer access buffer cell. The final telescopic boom is provided with a support portion adapted to the bottom of the carrying container 8100, and the support portion is provided with a limiting structure for restricting the lateral movement of the carrying container. Optionally, the limiting structure is one or more combinations of positioning grooves, positioning protrusions, blocks, clamping parts, magnetic parts, or replaceable adapters.

[0129] In step S2, after the lifting frame 4000 and the bidirectional transfer device 6000 move to the waiting position corresponding to the access buffer cell outside the target, the method further includes: S21. The in-situ detection sensor 6400 located on top of the bidirectional transfer device 6000 detects whether there is a carrier container 8100 in the access buffer cell outside the target and sends the detection result to the controller. S22. After receiving the detection result, the controller associates and stores the detection result with the cell number of the current target outer access cache cell, and updates the occupancy status of the target outer access cache cell. S23. When the detection result confirms that the carrying container 8100 exists in the target outer access buffer compartment, the opening and closing door is in the closed state and the orientation state meets the preset conditions, the controller allows the bidirectional transfer device 6000 to enter the outer access buffer compartment to perform pick-up and put-down actions; otherwise, the bidirectional transfer device 6000 is prohibited from entering the outer access buffer compartment and a prompt message is output.

[0130] S3. The lifting frame 4000 and the bidirectional transfer device 6000 move to the junction position of the transfer channel 7000. The telescopic arm of the bidirectional transfer device 6000 extends in the opposite direction and places the carrying container 8100 on the moving frame 7200 of the transfer channel 7000. The moving frame 7200 carries the carrying container 8100 and moves it along the transfer channel 7000 to the inspection station. More specifically, the mobile carrier 7200 first moves to the handover station of the conveyor channel 7000; the telescopic arm of the bidirectional transfer device 6000 extends in the opposite direction, and the last telescopic arm supports the carrier container 8100 and places it on the mobile carrier 7200; then, the bidirectional transfer device 6000 moves downward a certain distance along the lifting frame 4000, so that the last telescopic arm separates from the carrier container 8100, and then the telescopic arm of the bidirectional transfer device 6000 retracts. Subsequently, the mobile carrier 7200 carries the carrier container 8100 and moves along the conveyor channel 7000 to the inspection station.

[0131] S4. The information acquisition rotating mechanism (5000) takes out the test tube (8000) from the carrying container (8100) and drives it to rotate, and collects information of the test tube (8000) through the information collector during the rotation process. More specifically, such as Figures 14-16 , Figure 19 As shown, when the device is in its initial position, the first support 5101 is located at the lower limit position of the slide rail, the lower support 5102 on the rotating shaft 5104 is lower than the bottom of the test tube 8000 on the carrying container 8100, and the upper pressing part 5202 maintains a distance from the top of the test tube 8000. At this time, both the first elastic element 5304 and the second elastic element 5305 are in a stretched state (e.g., Figure 15 and Figure 16 (As shown). The carrier container 8100, which contains the test tubes 8000 to be collected, is moved horizontally along the conveyor channel 7000 to the detection station, so that the test tubes 8000 in the target row are aligned with the axial position between the lower support 5102 and the upper pressure part 5202.

[0132] S41, the lower support portion 5102 and the upper pressure portion 5202 together form a constraint state on both ends of the test tube 8000.

[0133] S411, the lower support 5102 rises and lifts the test tube 8000 from the bottom.

[0134] More specifically, the lifting drive mechanism is activated and drives the lifting sleeve 5103 to rise. In the initial stage of rising, because the total elastic force of the traction elastic element 5107 is greater than the total weight of the first support seat 5101 and its accessories, along with the lifted test tube 8000, the traction elastic element 5107 does not undergo tensile deformation. The lifting sleeve 5103, through the traction elastic element 5107, drives the first support seat 5101 and the displacement connecting plate 5301 fixed thereon to rise synchronously. During this rising process, the rotating shaft 5104 rises with the first support seat 5101, and its lower support portion 5102 penetrates through the hollow bottom of the insertion hole in the support container 8100, lifting the test tube 8000 from the bottom and pushing it upwards.

[0135] S412. Drive the first support seat 5101 and the second support seat 5201 to move closer to each other, so that the upper pressing part 5202 presses against the end of the test tube 8000 from the top. During the pressing process, the upper pressing part 5202 elastically contracts relative to the second support seat 5201, so as to form a double-end limit for the test tube 8000 together with the lower support part 5102.

[0136] More specifically, after the test tube 8000 rises, its top cap enters the groove of the limiting sleeve 52021 of the upper pressure part 5202. At the same time, the top of the test tube 8000 pushes the telescopic shaft 5203 to slide upward along the guide hole 5205 and compress the telescopic elastic element 5204. When the first support seat 5101 rises to the point where its limiting part blocks the external limiting structure (i.e., when it rises to the upper limit position), the first support seat 5101 stops rising. At this time, the second support seat 5201 and the tensioning seat 5302 also reach the upper limit position under the push of the first lifting step 5306 and the second lifting step 5307. At this time, the test tube 8000 is supported at the bottom by the lower support part 5102 and pressed at the top by the upper pressure part 5202, which is elastically pressed by the telescopic elastic element 5204. The test tube 8000 is stably clamped between the lower support part 5102 and the upper pressure part 5202 at both ends.

[0137] S42. Drive the lower support 5102 to rotate around its own axis, thereby causing the test tube 8000 to rotate around its own axis.

[0138] More specifically, after the test tube 8000 is stably clamped at both ends between the lower support 5102 and the upper pressure part 5202, the lifting drive mechanism continues to drive the lifting sleeve 5103 to rise relative to the first support seat 5101. Since the first support seat 5101 has been blocked from moving further upward, the traction elastic element 5107 begins to overcome its elastic force and undergo tensile deformation, allowing the lifting sleeve 5103 to continue to rise. When the lifting sleeve 5103 rises, its guide pin 5106 slides along the spiral guide groove 5105 on the rotating shaft 5104, driving the rotating shaft 5104 to rotate positively around its own axis. The rotating shaft 5104 drives the lower support 5102 and the test tube 8000 to rotate synchronously in the forward direction. The upper pressing part 5202 rotates with the test tube 8000 by means of a groove and a limiting protrusion 52022 that circumferentially limits the cap of the test tube 8000. At the same time, the telescopic shaft 5203 maintains a sliding fit in the guide hole 5205, so that the test tube 8000 is always subjected to axial elastic pressing force during rotation, thus maintaining stable rotation.

[0139] S43. During the forward rotation in step S42, the information collector mounted on the rack 5400 synchronously collects information from the test tube 8000. The collected information includes, but is not limited to, label information, label images, images of samples inside the test tube, and / or other information to be collected.

[0140] S44. After completing the information collection, restore the test tube 8000 to its initial placement angle.

[0141] When the lifting sleeve 5103 rises to its upper limit position of its travel stroke, the guide pin 5106 reaches the highest point of the spiral guide groove 5105, and the test tube 8000 completes its forward rotation stroke and stops rotating. Subsequently, the lifting drive mechanism drives the lifting sleeve 5103 to descend in the reverse direction, and the guide pin 5106 slides in the reverse direction along the spiral guide groove 5105, driving the rotating shaft 5104 to rotate the test tube 8000 in the reverse direction. During this reverse rotation, the information collector can continue to collect information from the test tube 8000. After the information collection is completed, the test tube 8000 can return to its pre-processing angle and return to its initial bearing position, suitable for scenarios where the tubes have been placed in a uniform orientation before processing. When the guide pin 5106 slides to the lowest point of the spiral guide groove 5105, the rotating shaft 5104 stops rotating, and the test tube 8000 completes its rotation information collection.

[0142] S45. Release the constraints and return the test tube 8000 to its initial bearing position.

[0143] After the information collection of test tube 8000 is completed, the lifting drive mechanism continues to drive the lifting sleeve 5103 to descend. The lifting sleeve 5103 drives the first support seat 5101 and the displacement connecting plate 5301 to descend synchronously. When the displacement connecting plate 5301 descends, the first lifting step 5306 and the second lifting step 5307 disengage from the second support seat 5201 and the tensioning seat 5302, respectively. At the same time, since one end of the traction belt 5308 is connected to the displacement connecting plate 5301 and the other end passes around the pulley 5303 installed on the tensioning seat 5302 and is connected to the second support seat 5201, when the displacement connecting plate 5301 descends, the traction belt 5308 pulls the second support seat 5201 along the slide rail relative to the first support seat 5101 through the pulley 5303, so that the upper pressure part 5202 actively moves away from the top of the test tube 8000, releasing the axial clamping on the top of the test tube 8000.

[0144] As the first support 5101 continues to descend, the lower support 5102 drives the test tube 8000 to descend synchronously, and the test tube 8000 falls back into the insertion hole of the support container 8100. When the first support 5101 descends to the initial position, the lower support 5102 completely exits the bottom of the insertion hole of the support container 8100, and the test tube 8000 falls completely back onto the support container 8100.

[0145] After the test tubes 8000 fall back, the carrying container 8100 is driven to move a preset distance on the conveying channel 7000, so that the next row of test tubes 8000 is aligned with the working position of the lower support 5102 and the upper pressure part 5202. By repeating the above steps S41 to S45, the lifting, rotation and information collection operations of the next row of test tubes 8000 can be performed.

[0146] S5. After the information collection is completed, the mobile carrier 7200 carries the carrier container 8100 and moves it out of the testing station along the conveyor channel 7000.

[0147] After being removed from the testing station, the bidirectional transfer device (6000) removes the carrier container (8100) from the conveying channel (7000) and transfers it to the outer access buffer area (2100), downstream storage device, or shared handover location. For example, the bidirectional transfer device (6000) can temporarily store the carrier container (8100) in the outer access buffer compartment, waiting to be sent out through the opening and closing door; or, the bidirectional transfer device (6000) can temporarily store the carrier container (8100) in the downstream storage device, which is a refrigerator or a room temperature buffer cabinet; or, the bidirectional transfer device (6000) can transfer the carrier container (8100) to the shared handover location for the transfer mechanism of the downstream equipment to take away.

[0148] Alternatively, after the carrier container (8100) moves out of the testing station along the conveyor channel (7000), the mobile carrier (7200) carries the carrier container (8100) directly along the conveyor channel (7000) to move it out of the testing station to the downstream storage device or shared handover location.

[0149] The following describes the specific process using the bidirectional transfer device 6000 as an example, whereby it retrieves the carrier container 8100 from the conveying channel 7000 and transfers it to the outer storage buffer compartment: The telescopic arm of the bidirectional transfer device extends towards the conveying channel 7000, with the final telescopic arm extending below the carrier container 8100 at a height lower than its bottom. Then, the bidirectional transfer device 6000 rises a certain distance along the lifting frame 4000, lifting the carrier container 8100. Afterward, the telescopic arm of the bidirectional transfer device 6000 retracts to its overlapping mid-position. Next, the lifting frame... The device 4000 moves along the transverse track 3000 to the outer access buffer compartment of the carrier container 8100. The telescopic arm of the bidirectional transfer device 6000 extends towards the outer access buffer compartment. The bidirectional transfer device 6000 moves downward a certain distance along the lifting frame 4000, so that the final telescopic arm separates from the carrier container 8100. Finally, the telescopic arm of the bidirectional transfer device 6000 retracts, completing the transfer of the carrier container 8100 within the equipment. Afterward, the opening and closing door opens, and the carrier container 8100, after information collection, can be taken out from the outer access buffer compartment.

[0150] The bidirectional transfer device 6000 is used to transfer the carrier container 8100 between the outer access buffer cells, the internal temporary buffer area 2200, the transfer channel 7000, the downstream storage device, or the shared handover location. In S2, when the carrier container 8100 is stored in the outer access buffer cell and the transfer channel 7000 is in a fully loaded working state, the bidirectional transfer device 6000 transfers the carrier container 8100 in the outer access buffer cell to the internal temporary buffer area 2200 for temporary storage. When the transfer channel 7000 is in an idle state, the bidirectional transfer device 6000 transfers the carrier container 8100 temporarily stored in the internal temporary buffer area 2200 to the transfer channel 7000, and continues to S3 and S4.

[0151] The device of the present invention is equipped with a controller, which is responsible for performing time-series logic control on each actuator in the device (including the opening and closing door, the lifting frame 4000, the bidirectional transfer device 6000, the moving carrier 7200 of the conveying channel 7000, and the information acquisition and rotation mechanism 5000). According to the preset handover process, the controller drives each actuator to complete actions such as picking up and placing the carrier container 8100, conveying, lifting and rotating, and information acquisition, so as to ensure that the device operates stably under unattended conditions. During equipment operation, the controller monitors and records the execution status of each step of the equipment action in real time, including the opening and closing signals of the door in S1, the arrival signal of the carrier container 8100, the picking and placing stroke of the bidirectional transfer device 6000 in S2 to S4, the conveying status of the mobile carrier 7200, the lifting and rotating action parameters of the information acquisition rotating mechanism 5000, and the completion signals of the return of the carrier container 8100 to the warehouse and the closing of the door in S5. In the whole process, every picking and placing of the carrier container 8100, every barcode reading result, and every step of the equipment action command are stored in the controller as traceable log records, which enables operators to trace back to the handover operation records of specific time points and specific batches of samples, as well as the corresponding equipment action sequences. This solves the technical defects of existing independent reading devices that only undertake single-point scanning functions and lack process control and traceability capabilities.

[0152] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A sample transfer device, characterized in that, Includes a chassis (1000), which is provided with an outer access buffer area (2100), a transverse rail (3000), a lifting frame (4000), a bidirectional transfer device (6000), and a transfer channel (7000). The outer access cache area (2100) includes multiple outer access cache cells arranged along the height direction of the chassis (1000); The lifting frame (4000) is mounted on the transverse track (3000) in a manner that allows it to reciprocate. The bidirectional transfer device (6000) is mounted on the lifting frame (4000) in a lifting manner. The bidirectional transfer device (6000) is provided with a telescopic arm that can extend and retract bidirectionally in opposite first and second directions. The conveying channel (7000) is used to carry the carrier container (8100) and transport it to the work station; The outer access buffer (2100) and the conveying channel (7000) are respectively arranged in the first direction and the second direction of the bidirectional transfer device (6000). The bidirectional transfer device (6000) inserts or removes the carrier container (8100) from the outer access buffer by extending the telescopic arm along the first direction, and can insert or remove the carrier container (8100) from the conveying channel (7000) by extending the telescopic arm along the second direction.

2. The sample transfer device according to claim 1, characterized in that, It also includes at least one information acquisition rotating mechanism (5000), which is arranged on the conveying path of the conveying channel (7000) and is used to take the test tube (8000) out of the carrier container (8100) at the working station and drive it to rotate so as to collect information from the test tube (8000).

3. The sample transfer device according to claim 1 or 2, characterized in that, The conveying channel (7000) has a downstream storage device and / or a shared handover location along its conveying path.

4. The sample transfer device according to claim 1, characterized in that, The chassis (1000) is also provided with an internal temporary buffer area (2200), which is located above or below the transmission channel (7000), and the internal temporary buffer area (2200) is provided with multiple internal temporary buffer compartments.

5. The sample transfer device according to claim 4, characterized in that, It also includes two in-situ detection sensors (6400), the detection directions of which are respectively facing a first direction and a second direction. The in-situ detection sensors (6400) can rise and fall with the bidirectional transfer device (6000) to perform in-situ detection on the buffer cells reached by the bidirectional transfer device (6000). The in-situ detection sensors (6400) are communicatively connected to the controller. When the bidirectional transfer device (6000) moves to the target buffer cell, the corresponding in-situ detection sensor (6400) is used to detect whether there is a carrying container in the target buffer cell. After receiving the detection result, the controller associates the detection result with the number of the target buffer cell and stores it, and updates the occupancy status of the target buffer cell.

6. The sample transfer device according to claim 5, characterized in that, An information reader is provided in the outer access buffer (2100); an information carrier is provided on one side of the carrier container (8100), and when the carrier container (8100) is placed in the outer access buffer cell with the correct orientation, the information carrier is located in the readable area of ​​the information reader; The controller is communicatively connected to the information reader. When the in-situ detection sensor (6400) detects the presence of the carrier container (8100) and the information reader does not read the signal of the information carrier, it determines that the orientation of the carrier container (8100) is abnormal, prohibits the bidirectional transfer device (6000) from performing pick-up and put-down actions, and outputs a prompt message.

7. The sample transfer device according to claim 1, characterized in that, Each of the outer access cache cells is equipped with an opening and closing door, which is used to transfer the carrying container (8100) between the outer access cache cell and the outside.

8. The sample transfer device according to claim 1, characterized in that, The conveying channel (7000) includes a conveying guide rail (7100), at least one movable carrier (7200), and a moving drive mechanism (7300), the moving drive mechanism (7300) being used to drive the movable carrier (7200) to move along the conveying guide rail (7100).

9. The sample transfer device according to claim 2, characterized in that, The information acquisition rotating mechanism (5000) includes a lower lifting rotating assembly (5100) and an upper limiting assembly (5200). The lower lifting rotating assembly (5100) includes a first support seat (5101), on which at least one lower support portion (5102) for lifting the test tube (8000) from the bottom is rotatably provided. The upper limiting assembly (5200) includes a second support seat (5201), on which at least one lower support portion (5102) is provided. An upper pressure part (5202) is used to press and limit the test tube (8000) from the top. The upper pressure part (5202) and the lower support part (5102) are arranged opposite each other vertically, and the upper pressure part (5202) can elastically extend and retract relative to the second support seat (5201). When the lower support part (5102) and the upper pressure part (5202) act together from the bottom and top of the test tube (8000) respectively, the lower support part (5102) can drive the test tube (8000) to rotate around its own axis.

10. The sample transfer device according to claim 9, characterized in that, The lower support and rotation assembly (5100) further includes a lifting sleeve (5103) and at least one rotating shaft (5104). The rotating shaft (5104) is rotatably mounted on the first support seat (5101). The end of the rotating shaft (5104) is provided with the lower support portion (5102), and a spiral guide groove (5105) is formed on the outer peripheral wall of the rotating shaft (5104). The lifting sleeve (5103) is sleeved on the rotating shaft (5104) in a manner that allows it to slide along the axial direction of the rotating shaft (5104). 04) In addition, the lifting sleeve (5103) is provided with a guide pin (5106) that slides with the spiral guide groove (5105); the first bearing seat (5101) is provided with an upper limit position along its moving direction. When the first bearing seat (5101) moves to the upper limit position, the lifting sleeve (5103) moves axially relative to the rotating shaft (5104), and the guide pin (5106) slides along the spiral guide groove (5105), thereby driving the rotating shaft (5104) to rotate around its own axis.

11. The sample transfer device according to claim 9, characterized in that, The upper limiting assembly (5200) further includes a telescopic shaft (5203) and a telescopic elastic element (5204). The second support seat (5201) is provided with at least one guide hole (5205). The telescopic shaft (5203) is slidably installed in the guide hole (5205). The telescopic elastic element (5204) is sleeved on the telescopic shaft (5203) and abuts against the second support seat (5201) and the upper pressing part (5202). The upper pressing part (5202) is disposed at one end of the telescopic shaft (5203) facing the lower lifting and rotating assembly (5100).

12. The sample transfer device according to claim 9, characterized in that, The information acquisition rotating mechanism (5000) further includes a linkage lifting component (5300), which is connected to the first support seat (5101) and the second support seat (5201) for transmission, so that the first support seat (5101) and the second support seat (5201) move synchronously or relative to each other.

13. The sample transfer device according to claim 1, characterized in that, The bidirectional transfer device (6000) includes a support base (6100), a multi-stage telescopic arm, an active transmission mechanism (6200), and a linkage mechanism. The multi-stage telescopic arm includes an active telescopic arm (6101) and at least one stage of linkage telescopic arm slidably mounted on the outside of the active telescopic arm (6101). The active transmission mechanism (6200) is used to drive the active telescopic arm (6101) to move bidirectionally. The linkage mechanism is used to drive the linkage telescopic arm to extend and retract along the moving direction of the active telescopic arm (6101).

14. The sample transfer device according to claim 13, characterized in that, The linkage mechanism includes multiple flexible traction components and reversing guide components (6500). One end of each flexible traction component is connected to the telescopic arm of the corresponding level, and the other end is connected to the telescopic arm of another corresponding level after being reversed by the reversing guide component (6500). Each flexible traction component is symmetrically arranged on both sides of the telescopic arm in the width direction.

15. The sample transfer device according to claim 13, characterized in that, The bidirectional transfer device (6000) also includes a counterweight (4100). One side of the support base (6100) is slidably mounted on the lifting frame (4000). The pull rope (4300) of the counterweight (4100) passes around the reversing wheel (4200) on the lifting frame (4000) and is connected to the other side of the support base (6100). The counterweight (4100) is used to provide a balancing torque during the lifting and lowering process of the bidirectional transfer device (6000).

16. A sample handover method, characterized in that, The sample transfer device as described in any one of claims 1-15 includes: S1. Open the door between the outer access buffer cells of the target and place the carrier container (8100) containing the test tube (8000) sample into the outer access buffer cell. S2. The lifting frame (4000) and the bidirectional transfer device (6000) move to the waiting position corresponding to the target outer access buffer cell. The telescopic arm of the bidirectional transfer device (6000) extends to take out the carrying container (8100) in the target outer access buffer cell. After taking it out, the telescopic arm of the bidirectional transfer device (6000) retracts to a contracted state where each level overlaps or is close to the minimum outer dimension. S3. The lifting frame (4000) and the bidirectional transfer device (6000) move to the junction position of the transfer channel (7000). The telescopic arm of the bidirectional transfer device (6000) extends in the opposite direction and places the carrying container (8100) on the moving frame (7200) of the transfer channel (7000). The moving frame (7200) carries the carrying container (8100) and moves it along the transfer channel (7000) to the inspection station. S4. The information acquisition rotating mechanism (5000) takes out the test tube (8000) from the carrying container (8100) and drives it to rotate, and collects information of the test tube (8000) through the information collector during the rotation process. S5. After the information collection is completed, the mobile carrier (7200) carries the carrier container (8100) and moves it out of the testing station along the conveyor channel (7000).

17. The sample handover method according to claim 16, characterized in that, In step S2, after the lifting frame (4000) and the bidirectional transfer device (6000) move to the corresponding waiting position between the outer access buffer cells of the target, the method further includes: S21. The in-situ detection sensor (6400) detects whether there is a carrier container (8100) in the access buffer cell outside the target and sends the detection result to the controller. S22. After receiving the detection result, the controller associates and stores the detection result with the cell number of the current target outer access cache cell, and updates the occupancy status of the target outer access cache cell. S23. When the detection result confirms that the carrier container (8100) exists in the outer access buffer cell of the target and the orientation state of the carrier container (8100) meets the preset conditions, the controller allows the bidirectional transfer device (6000) to enter the outer access buffer cell to perform pick-up and put-down actions; otherwise, the controller prohibits the bidirectional transfer device (6000) from entering the outer access buffer cell and outputs a prompt message.

18. The sample handover method according to claim 17, characterized in that, In S23, the method for detecting the orientation state of the carrier container (8100) is as follows: the controller activates the information reader set in the outer access buffer (2100) to attempt to read the information carrier set on one side of the carrier container (8100); If the information reader successfully reads the signal of the information carrier, it confirms that the carrier container (8100) is facing correctly; If the information reader does not read the signal of the information carrier, it is determined that the orientation of the carrier container (8100) is abnormal.

19. The sample handover method according to claim 16, characterized in that, In step S5, after the carrier container (8100) moves out of the testing station along the conveyor channel (7000): The bidirectional transfer device (6000) removes the carrier container (8100) from the transfer channel (7000) and transfers it to the outer access buffer (2100), downstream storage device, or shared handover location; or, The mobile carrier (7200) carries the carrier container (8100) and moves it along the conveying channel (7000) to the downstream storage device or shared handover location.

20. The sample handover method according to claim 16, characterized in that, In S2: When both the outer access buffer cell and the transfer channel (7000) are in full-load operation, the bidirectional transfer device (6000) transfers the carrier container (8100) in the outer access buffer cell to the internal temporary buffer area (2200) for temporary storage. When the transfer channel (7000) is idle, the bidirectional transfer device (6000) transfers the carrier container (8100) temporarily stored in the internal temporary buffer area (2200) to the transfer channel (7000).

21. The sample handover method according to claim 16, characterized in that, It also includes a reverse handover step: S6. The downstream equipment will move the container (8100) to the shared handover location; S7. The telescopic arm of the bidirectional transfer device (6000) moves to the shared handover position and removes the carrier container (8100) from the shared handover position; S8. The lifting frame (4000) moves along the transverse track (3000) to the target outer access buffer cell, and the bidirectional transfer device (6000) is lifted along the lifting frame (4000) to the height corresponding to the target outer access buffer cell. The telescopic arm extends and places the carrying container (8100) into the target outer access buffer cell. S9. The carrying container (8100) is taken out from the outer access buffer cell through the opening and closing door.

Images