An automatic sorting apparatus for specimens

Abstract

The application relates to an automatic arrangement device for specimens, which comprises a rack, a platform, a specimen tube conveying mechanism, a specimen tube warehouse-in conveying line, a specimen tube warehouse-out conveying line, a first backflow operation conveying line, a second backflow operation conveying line, a first interception lane-changing mechanism, a second interception lane-changing mechanism, a capping and decapping station and a code scanning and photographing station located on the specimen tube warehouse-in conveying line, a capping and decapping mechanism located near the capping and decapping station, a code scanning and photographing mechanism located near the code scanning and photographing station, a specimen rack conveying mechanism located on the right side of the platform, a disposal device located near the specimen rack conveying mechanism and a specimen tube transfer manipulator. The device can complete the arrangement, positioning, capping and storage of the specimen tube, can complete the extraction, decapping and output of the specimen tube, has the functions of photographing and batch disposal, reduces the complexity, improves the work efficiency, is comprehensive in function and meets the actual needs of users.

Description

Technical Field

[0001] This invention relates to the field of medical equipment, and in particular to an automated specimen handling device. Background Technology

[0002] The hospital's laboratory handles a large number of blood samples every day, processing thousands of samples within a three-hour period. After testing, the samples need to be stored at low temperatures for a week.

[0003] Existing large-scale fully automated processing equipment can connect to the automated processing line of the inspection pipeline, and perform tasks such as sealing and sorting, before finally sending it to a refrigerated refrigerator for storage. However, this equipment only focuses on the realization of functions without considering the actual use of users, resulting in a large size, many and complex functions, high equipment cost, high failure rate and low efficiency, and cannot well meet the actual needs of users.

[0004] Existing small-scale automated storage devices can automatically pick up specimen tubes from the production line and send them into storage refrigerators. However, they have poor compatibility, limited functionality (only able to store and retrieve specimen tubes), high failure rate, and low efficiency; their storage capacity is also low, making it difficult to meet the testing and processing needs of general hospitals; and their complex structure results in high costs.

[0005] The two types of equipment mentioned above cannot adequately meet the needs of hospital laboratory departments for rapid and efficient processing and storage of specimen tubes; they only solve some of the problems and therefore cannot provide fully automated process services.

[0006] Therefore, how to design an automated specimen processing device that reduces complexity and improves work efficiency has become an urgent problem to be solved. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides an automated specimen handling device that can complete the storage process of specimen tubes, including sorting, positioning, capping, and storing, as well as the outbound process of specimen tubes, including extraction, cap removal, and output. It also features photography and batch disposal functions, reducing complexity, improving work efficiency, and providing comprehensive functionality to meet the actual needs of users.

[0008] The technical solution adopted by this invention to solve its technical problem is: an automatic specimen processing device, including a frame,

[0009] The platform, installed inside the rack, has a temporary storage area containing specimen racks for temporarily storing specimen tubes;

[0010] A specimen tube conveying mechanism, installed inside the frame and located at the rear of the platform, is used to convey specimen tubes with tube supports. The mechanism includes a left-to-right inbound conveyor line positioned at the front and a right-to-left outbound conveyor line positioned at the rear. The inbound conveyor line has a capping / removal station and a barcode scanning / photographing station. Between the inbound and outbound conveyor lines, a first backflow conveyor line is located to the left of the capping / removal station, conveying from back to front; a second backflow conveyor line is located to the right of the capping / removal station, conveying from front to back. The outbound conveyor line has a first intercepting and lane-changing mechanism at a position corresponding to the first backflow conveyor line; the inbound conveyor line has a second intercepting and lane-changing mechanism at a position corresponding to the second backflow conveyor line.

[0011] The capping and uncapping mechanism is installed inside the frame and located near the capping and uncapping station. It is used to cap or remove the sealing caps from specimen tubes located at the capping and uncapping station.

[0012] The barcode scanning and photo taking mechanism is installed inside the rack and located near the barcode scanning and photo taking station. It is used to scan and take photos of the specimen tubes located at the barcode scanning and photo taking station.

[0013] The specimen rack conveying mechanism is installed inside the frame and located on the right side of the platform, and is used for inputting or outputting specimen racks;

[0014] Disposal equipment, installed inside the frame and located near the specimen rack conveying mechanism, is used to discard specimen tubes in batches from the specimen racks on the specimen rack conveying mechanism;

[0015] The specimen tube transfer robot is installed in the upper area inside the frame and is used to transfer specimen tubes between the platform, the specimen tube conveying mechanism, and the specimen rack conveying mechanism.

[0016] Furthermore, the conveying mechanism also includes a tube support unloading conveyor line located directly below the specimen tube inbound conveyor line, conveying from right to left, and a tube support loading conveyor line located directly below the specimen tube outbound conveyor line, conveying from left to right; the right end of the specimen tube inbound conveyor line is connected to the right end of the tube support unloading conveyor line via a tube support slide; the right end of the tube support loading conveyor line is connected to the right end of the specimen tube outbound conveyor line via a tube support lifting and supply assembly.

[0017] Furthermore, the pipe support lifting and supply assembly includes a pipe support lifting and mounting frame, a pipe support lifting platform movably mounted on the pipe support lifting and mounting frame, and a pipe support lifting drive mechanism mounted on the pipe support lifting and mounting frame and used to drive the lifting and lowering action of the pipe support lifting and mounting frame; the pipe support lifting platform is provided with a pipe support receiving frame; the pipe support receiving frame has a pipe support inlet and outlet; the pipe support lifting platform is used, under the drive of the pipe support lifting drive mechanism, to connect the pipe support inlet and outlet of the pipe support receiving frame with the right end of the pipe support feeding conveyor line, or with the specimen tube outgoing conveyor line. The tube support is connected to the right end of the tube support container; when the tube support inlet and outlet are connected to the right end of the specimen tube delivery line, the tube support lifting and supply assembly also includes an ejection cam rotatably mounted on the tube support lifting platform and a tube support ejection motor mounted on the bottom side of the tube support lifting platform to drive the ejection cam to rotate; the ejection cam is used to eject the tube support from the tube support container to the specimen tube delivery line when the tube support inlet and outlet of the tube support container are connected to the right end of the specimen tube delivery line under the drive of the tube support ejection motor.

[0018] Furthermore, the capping and decapping mechanism includes a blocking component, a specimen tube clamping component, and a capping and decapping component; the blocking component and the specimen tube clamping component are respectively installed on both sides of the capping and decapping station of the specimen tube inbound conveyor line; the blocking component is used to separate and block the specimen tubes on the specimen tube inbound conveyor line at the capping and decapping station; the specimen tube clamping component is used to clamp and fix the specimen tubes located at the capping and decapping station; the capping and decapping component is used to apply a sealing cap to an uncapped specimen tube located at the capping and decapping station, or to grab a sealing cap from a capped specimen tube located at the capping and decapping station and perform a capping operation.

[0019] Furthermore, the blocking assembly includes a blocking mounting bracket, a blocking rotating shaft, and a blocking drive motor for driving the blocking rotating shaft to rotate; a first blocking plate, a second blocking plate, and a third blocking plate are sequentially fixed on the blocking rotating shaft according to the conveying direction of the specimen tube storage conveyor line; the first blocking plate, the second blocking plate, and the third blocking plate are used to block the specimen tubes entering the specimen tube storage conveyor line under the drive of the blocking drive motor, or to remove them from the specimen tube storage conveyor line for release; the specimen tube storage conveyor line forms a first blocking position at the first blocking plate, and in the second... The second stop is formed at the second stop plate, and the third stop is formed at the third stop plate. The third stop serves as the capping and uncapping station. The first, second, and third stops are also configured such that when the first stop plate releases the first stop, the second stop plate blocks the second stop, and the third stop plate releases the third stop.

[0020] Furthermore, the specimen tube clamping assembly includes a clamping mounting frame and two clamping arms rotatably mounted on the clamping mounting frame; one end of each clamping arm is fixed with a specimen tube clamping block, and the other end is fixed with a clamping driven gear; the clamping driven gears of the two clamping arms mesh; the specimen tube clamping assembly also includes a clamping drive motor mounted below the clamping mounting frame; the output end of the clamping drive motor is fixed with a clamping drive gear; the clamping drive gear meshes with a clamping driven gear; the two clamping arms cooperate to drive one clamping driven gear to rotate under the drive of the clamping drive motor, and the other clamping driven gear rotates in the opposite direction, thereby clamping or releasing the specimen tube at the capping / uncapping station through the specimen tube clamping block.

[0021] Furthermore, the cap-adding and cap-removing assembly includes a cap-adding and cap-removing mounting frame, a rotating frame fixed to the cap-adding and cap-removing mounting frame, a rotary motor fixed to the cap-adding and cap-removing mounting frame and used to drive the rotating frame to rotate, a mounting plate fixed to the rotating frame, a lifting assembly mounted on the mounting plate, a lifting drive motor fixed to the mounting plate and used to drive the lifting end of the lifting assembly to lift, and a sealing cap electric gripper fixed to the lifting end of the lifting assembly; a sealing cap clamping block is fixed to the clamping end on the bottom side of the sealing cap electric gripper.

[0022] Furthermore, the scanning and photographing mechanism includes a positioning and rotating mechanism, a scanning device, and a photographing device; the positioning and rotating mechanism includes a positioning and rotating mounting frame, a positioning and rotating translational platform movably mounted on the positioning and rotating mounting frame, a positioning and rotating translational drive mechanism mounted on the positioning and rotating mounting frame and used to drive the positioning and rotating translational platform to move back and forth, and a positioning and rotating assembly mounted on the positioning and rotating translational platform; the positioning and rotating assembly includes a rotating drive pulley, a rotating drive motor for driving the rotating drive pulley, a rotating driven pulley, a rotating belt wound around the rotating drive pulley and the rotating driven pulley, and a driven roller; the rotating driven pulley and the driven roller are arranged on the positioning and rotating translational platform. The platform faces the side of the barcode scanning and photography station; the positioning rotation and translation platform, driven by the positioning rotation and translation drive mechanism, drives the driven pulley and passive roller to extend into the specimen tube storage conveyor line, so that the specimen tube located at the barcode scanning and photography station is tangentially engaged with the rotating belt and passive roller, thereby achieving the positioning of the specimen tube; the rotating belt, driven by the rotation drive motor, rotates the positioned specimen tube by friction through the rotation drive pulley; the barcode scanning device is used to scan and identify the barcode when the label on the specimen tube corresponds to the barcode scanning device; the photography device is used to take a picture when the area on the specimen tube that is not covered by the label corresponds to the photography device.

[0023] Furthermore, the positioning rotation and translation platform includes a first positioning rotation and translation frame and a second positioning rotation and translation frame; the first positioning rotation and translation frame is mounted on the positioning rotation mounting frame via a first slide rail slider assembly, allowing the first positioning rotation and translation frame to have the freedom to move back and forth relative to the positioning rotation mounting frame; the second positioning rotation and translation frame is mounted on the positioning rotation mounting frame via a second slide rail slider assembly, allowing the second positioning rotation and translation frame to have the freedom to move back and forth relative to the positioning rotation mounting frame; a spring assembly in the front-to-back direction is also provided between the first positioning rotation and translation frame and the second positioning rotation and translation frame; the first positioning rotation and translation frame is mounted on the drive end of the positioning rotation and translation drive mechanism; the second positioning rotation and translation frame is mounted on the positioning rotation assembly; the first positioning rotation and translation frame is used to move back and forth under the drive of the positioning rotation and translation drive mechanism; the second positioning rotation and translation frame is used to follow the first positioning rotation and translation frame in moving back and forth under the action of the spring assembly; the spring assembly is also used to provide elastic clamping force for the cooperation between the rotating belt and the passive roller and the specimen tube.

[0024] Furthermore, the specimen rack conveying mechanism includes a specimen rack conveying mounting platform, a specimen rack lifting plate that is movably mounted on the specimen rack conveying mounting platform, a specimen rack lifting drive mechanism fixed to the bottom side of the specimen rack conveying mounting platform and used to drive the specimen rack lifting plate to rise and fall, and a specimen rack left and right translation mechanism mounted on the specimen rack lifting plate; a top side translation plate is mounted on the top moving end of the specimen rack left and right translation mechanism; a specimen rack support plate is mounted on the top side of the top side translation plate; the left and right ends of the specimen rack support plate are respectively bent upward to form specimen rack limiting ends; the specimen rack lifting drive mechanism is used to drive the specimen rack lifting plate to rise and fall, thereby driving the specimen rack support plate to rise and fall; the specimen rack support plate is used to move left and right under the drive of the specimen rack left and right translation mechanism and driven by the top side translation plate, thereby realizing the input and output of the specimen rack.

[0025] Furthermore, the discarding device includes a discarding clamping mechanism and a needle ejection mechanism; the discarding clamping mechanism is located in front of the specimen rack conveying mechanism and includes a discarding clamping mounting plate, a flipping frame rotatably mounted on the discarding clamping mounting plate, a flipping drive mechanism fixed to the discarding clamping mounting plate and used to drive the flipping frame to flip back and forth relative to the discarding clamping mounting plate, and a clamping mechanism mounted on the flipping frame; the flipping frame includes two flipping arms arranged one in front of the other and one behind the other, and a flipping connecting arm fixed to the left side of the two flipping arms; a specimen rack support is formed between the two flipping arms. The specimen rack support area is provided with a specimen rack slot on the side of the flipping arm near the specimen rack support area. There are two clamping mechanisms, each installed on one flipping arm, with the clamping end of the clamping mechanism facing the specimen rack support area. The clamping mechanism includes a clamping drive mechanism fixed to the flipping arm, a clamping mounting frame installed on the drive end of the clamping drive mechanism, and a clamping tongue installed on the clamping mounting frame. The needle ejection mechanism is located in front of the discard clamping mechanism and includes a needle lifting mechanism, a needle plate installed on the lifting end of the needle lifting mechanism, and a needle fixed below the needle plate.

[0026] The flipping frame is used to flip backward under the drive of the flipping drive mechanism to above the specimen rack conveying mechanism. The specimen rack tray is used to lift the received specimen rack to its highest point under the drive of the specimen rack lifting drive mechanism, then move it to the left under the drive of the specimen rack left and right translation mechanism to above the specimen rack bearing area, and then lower it to its lowest point under the drive of the specimen rack lifting drive mechanism, landing it on the two specimen rack slots. The clamping tongue is used to be driven by the clamping mounting frame under the drive of the clamping drive mechanism to face the specimen rack. The bearing area is activated, inserting into the specimen rack placed on the two specimen rack slots to clamp and fix the specimen rack, or it is driven by the clamping and mounting frame under the drive of the clamping drive mechanism to move away from the specimen rack bearing area and disengage from the specimen rack placed on the two specimen rack slots; the flipping frame is also used to flip forward to directly below the pin plate under the drive of the flipping drive mechanism; the pin plate is used to move downward under the drive of the pin lifting mechanism and use the pins to disengage the specimen tubes from the top of the specimen rack one by one.

[0027] Furthermore, the specimen tube transfer robot includes two left-right sliding tables suspended in the upper area inside the frame, a front-back translation mechanism installed between the moving ends of the two sliding tables, an up-down movement mechanism installed on the moving end of the front-back translation mechanism, and a specimen tube electric gripper installed on the moving end of the up-down movement mechanism; the gripping end of the specimen tube electric gripper is fixed with a specimen tube gripping finger.

[0028] Advantages of this invention: This invention provides an automatic specimen sorting device with four double-layer, double-track conveyor lines. The inbound and outbound conveyor tracks are interconnected, allowing specimen tubes to reciprocate and circulate on two of the tracks simultaneously. A capping / removing mechanism allows for capping or removing specimen tubes. A specimen tube transfer robot and specimen rack conveyor mechanism enable docking with refrigeration equipment. A disposal device, in conjunction with the specimen rack conveyor mechanism, allows for batch disposal of specimen tubes. This device can complete the inbound process of positioning, capping, and storing specimen tubes, as well as the outbound process of extracting, removing caps, and outputting specimen tubes. It also features photography and batch disposal capabilities. This device reduces complexity, improves work efficiency, and offers comprehensive functionality to meet the actual needs of users. Attached Figure Description

[0029] Figure 1 This is a three-dimensional schematic diagram of an automated specimen sorting device according to an embodiment.

[0030] Figure 2 This is a three-dimensional schematic diagram of the internal structure of an automated specimen sorting device according to an embodiment.

[0031] Figure 3 A three-dimensional schematic diagram of the specimen tube delivery mechanism in an embodiment;

[0032] Figure 4 This is a top view schematic diagram of the specimen tube delivery mechanism in an embodiment;

[0033] Figure 5 for Figure 3 A magnified view of a portion of region A;

[0034] Figure 6 A perspective view of the pipe support lifting and supply assembly in an embodiment;

[0035] Figure 7 for Figure 4 A magnified view of a portion of region B;

[0036] Figure 8 This is a three-dimensional schematic diagram of the first intercepting lane-changing mechanism in an embodiment;

[0037] Figure 9 This is a perspective view of the stop component in an embodiment;

[0038] Figure 10 This is a three-dimensional schematic diagram of the specimen tube clamping assembly in an embodiment;

[0039] Figure 11 A perspective view of the capping and uncapping mechanism of the embodiment, excluding the stop assembly and the specimen tube clamping assembly;

[0040] Figure 12 A perspective view of a single feeding assembly of the sealing cap in an embodiment;

[0041] Figure 13 A perspective view of the cap-adding and cap-removing assembly for an embodiment;

[0042] Figure 14 for Figure 4 A magnified view of a portion of region C;

[0043] Figure 15 A perspective view of the positioning rotation mechanism and the barcode scanning device in an embodiment;

[0044] Figure 16 This is a three-dimensional schematic diagram of the positioning rotation mechanism and the barcode scanning device from another angle, as shown in the embodiment.

[0045] Figure 17 This is a perspective view of the specimen rack conveying mechanism and the disposal device in the embodiment;

[0046] Figure 18 A three-dimensional schematic diagram of the specimen rack conveying mechanism in an embodiment;

[0047] Figure 19 This is a top view schematic diagram of the specimen rack conveying mechanism in an embodiment;

[0048] Figure 20 for Figure 19 DD cross-sectional view;

[0049] Figure 21 A perspective view of the specimen rack tray in the extended state of the specimen rack conveying mechanism of the embodiment;

[0050] Figure 22 A perspective view of the disposal clamping mechanism in an embodiment;

[0051] Figure 23 This is a top view schematic diagram illustrating the cooperation between the specimen rack conveying mechanism and the discard clamping mechanism in an embodiment.

[0052] Figure 24 for Figure 23 EE sectional view;

[0053] Figure 25 A perspective view of the pin ejection mechanism in an embodiment;

[0054] Figure 26 A three-dimensional schematic diagram of the specimen rack conveying mechanism and the disposal device in the batch disposal state, as shown in the embodiment;

[0055] Figure 27 A three-dimensional schematic diagram of the specimen tube transfer robot as an example;

[0056] Among them, 1-frame, 2-platform, 3-specimen tube conveying mechanism, 4-capping and decapping mechanism, 5-scanning and photographing mechanism, 6-specimen rack conveying mechanism, 7-disposal device, 8-specimen tube transfer robot, 9-specimen tube, 10-tube support, 11-sealing cap, 12-specimen rack.

[0057] 301 - Specimen tube inbound conveyor line; 302 - Specimen tube outbound conveyor line; 303 - Tube support unloading conveyor line; 304 - Tube support loading conveyor line; 305 - Tube support chute; 306 - Tube support lifting and supply assembly; 307 - First return flow conveyor line; 308 - Second return flow conveyor line; 309 - First interception and lane changing mechanism; 310 - Second interception and lane changing mechanism; 3061 - Tube support lifting and mounting frame; 3062 - Tube support lifting platform; 3063 - Tube support lifting drive mechanism; 3064 - Tube support receiving frame; 3065 - Ejection cam; 3066 - Tube support ejection motor; 3091 - Interception and lane changing mounting frame; 3092 - Interception and lane changing baffle; 3093 - Interception and lane changing motor.

[0058] 401-Stop assembly, 402-Specimen tube clamping assembly, 403-Sealing cap feeding assembly, 404-Single sealing cap feeding assembly, 405-Capping and cap removal assembly, 406-Waste cap collection tube, 407-Waste cap storage bin, 4011-Stop mounting frame, 4012-Stop rotating shaft, 4013-First stop plate, 4014-Second stop plate, 4015-Third stop plate, 4016-Stop drive motor, 4021-Clamping mounting frame, 4022-Clamping arm, 4023-Specimen tube clamping block, 4024-Clamping drive motor, 4025-Clamping drive gear Wheel, 4026-Clamping driven gear, 4041-Feeding fixed frame, 4042-Feeding slider, 4043-Feeding slide rail, 4044-Feeding transmission mechanism, 4045-Feeding drive motor, 40411-Dating plate, 40412-Dating interface, 40421-Receiving groove, 40422-Feeding stop block, 4051-Cap-removing mounting frame, 4052-Rotating frame, 4053-Rotating motor, 4054-Mounting plate, 4055-Lifting assembly, 4056-Lifting drive motor, 4057-Electric gripper for sealing cover, 4058-Clamping block for sealing cover;

[0059] 501-Positioning rotation mechanism, 502-Scanning device, 503-Photographing device, 5011-Positioning rotation mounting bracket, 5012-Positioning rotation and translation platform, 5013-Positioning rotation and translation drive mechanism, 5014-Rotation drive pulley, 5015-Rotation drive motor, 5016-Rotation driven pulley, 5017-Rotation belt, 5018-Passive roller, 50121-First positioning rotation and translation frame, 50122-Second positioning rotation and translation frame, 50123-First slide rail slider assembly, 50124-Second slide rail slider assembly, 50125-Spring assembly, 50131-Positioning rotation and translation drive motor, 50132-Rotation wheel, 50133-Cam follower.

[0060] 601-Specimen rack conveying installation platform; 602-Specimen rack lifting plate; 603-Specimen rack lifting drive mechanism; 604-Left and right translation plate; 605-Left and right translation drive mechanism; 606-Top and side translation plate; 607-Linkage translation assembly; 608-Specimen rack support plate; 609-Third slide rail slider assembly; 610-Fourth slide rail slider assembly; 611-Lower belt fixing block; 612-Upper belt fixing block; 6071-Linkage belt pulley; 6072-Linkage belt; 6081-Specimen rack limiting end;

[0061] 701 - Disposable clamping mechanism; 702 - Needle ejection mechanism; 703 - Guide frame; 704 - Waste specimen tube collection container; 7011 - Disposable clamping mounting plate; 7012 - Flipping frame; 7013 - Flipping drive mechanism; 7014 - Clamping mechanism; 70121 - Flipping arm; 70122 - Flipping connecting arm; 70123 - Specimen rack slot; 70141 - Clamping drive mechanism; 70142 - Clamping mounting frame; 70143 - Clamping tongue; 7021 - Needle lifting mechanism; 7022 - Needle plate; 7023 - Needle.

[0062] 801-Slide table, 802-Forward and backward translation mechanism, 803-Up and down movement mechanism, 804-Electric gripper for specimen tube, 805-Specimen tube gripper finger. Detailed Implementation

[0063] To enhance understanding of the present invention, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. These embodiments are only used to explain the invention and do not limit the scope of protection of the invention.

[0064] Example

[0065] Please refer to Figures 1 to 27 As shown, this embodiment provides an automated specimen processing device, including a frame 1.

[0066] Platform 2, installed inside rack 1, has a temporary storage area, in which a specimen rack 12 for temporarily storing specimen tubes 9 is installed;

[0067] The specimen tube conveying mechanism 3, installed inside the frame 1 and located behind the platform 2, is used to convey specimen tubes 9 with tube supports 10. The specimen tube conveying mechanism 3 includes a left-to-right specimen tube inbound conveying line 301 positioned at the front and a right-to-left specimen tube outbound conveying line 302 positioned at the rear. The specimen tube inbound conveying line 301 has a capping / removal station and a barcode scanning / photographing station. The specimen tube inbound conveying line 301 and the specimen tube outbound conveying line 302 are connected by a... To the left of the capping and uncapping station is a first return transport line 307 that transports from back to front; to the right of the capping and uncapping station is a second return transport line 308 that transports from front to back; the specimen tube outbound transport line 302 is equipped with a first interception and lane-changing mechanism 309 at a position corresponding to the first return transport line 307; the specimen tube inbound transport line 301 is equipped with a second interception and lane-changing mechanism 310 at a position corresponding to the second return transport line 308.

[0068] The capping and uncapping mechanism 4 is installed inside the frame 1 and located near the capping and uncapping station. It is used to cap or remove the sealing cap 11 from the specimen tube 9 located at the capping and uncapping station.

[0069] The barcode scanning and photo taking mechanism 5 is installed inside the frame 1 and located near the barcode scanning and photo taking station. It is used to scan and take photos of the specimen tube 9 located at the barcode scanning and photo taking station.

[0070] The specimen rack conveying mechanism 6 is installed inside the frame 1 and located on the right side of the platform 2, and is used to input or output the specimen rack;

[0071] Disposal device 7 is installed inside the frame 1 and located near the specimen rack conveying mechanism 6, and is used to discard specimen tubes of specimen racks on the specimen rack conveying mechanism 6 in batches;

[0072] The specimen tube transfer robot 8 is installed in the upper area inside the frame 1 and is used to transfer specimen tubes between the platform 2, the specimen tube conveying mechanism 3, and the specimen rack conveying mechanism 6.

[0073] In this embodiment, the outer side of the frame 1 is covered by an outer shell, forming a relatively enclosed environment.

[0074] In this embodiment, as Figure 8As shown, the first intercepting lane change mechanism 309 includes an intercepting lane change mounting bracket 3091, an arc-shaped intercepting lane change baffle 3092 rotatably mounted on the intercepting lane change mounting bracket 3091, and an intercepting lane change motor 3093 mounted on the intercepting lane change mounting bracket 3091 and used to drive the intercepting lane change baffle 3092 to rotate; the second intercepting lane change mechanism 310 has the same structure as the first intercepting lane change mechanism 309. Specifically, taking the first intercepting and changing mechanism 309 as an example, when a specimen tube 9 on the specimen tube outgoing conveyor line 302 needs to be transferred to the specimen tube incoming conveyor line 301, the intercepting and changing motor 3093 of the first intercepting and changing mechanism 309 starts, driving the drive intercepting and changing baffle 3092 to flip forward above the specimen tube outgoing conveyor line 302. The specimen tube 9 uses the leftward conveying force of the specimen tube outgoing conveyor line 302, and under the guidance of the intercepting and changing baffle 3092, the specimen tube enters the first return conveyor line 307, and is then conveyed forward from the first return conveyor line 307 to the specimen tube incoming conveyor line 301. When no transfer is needed, the intercepting and changing motor 3093 of the first intercepting and changing mechanism 309 starts, driving the drive intercepting and changing baffle 3092 to move out from above the specimen tube outgoing conveyor line 302, and the specimen tube continues to be conveyed to the left along the specimen tube outgoing conveyor line 302.

[0075] Please refer to the following: Figure 3 As shown, the conveying mechanism 3 also includes a tube support unloading conveyor 303 located directly below the specimen tube inbound conveyor 301 and conveying from right to left, and a tube support loading conveyor 304 located directly below the specimen tube outbound conveyor 302 and conveying from left to right; the right end of the specimen tube inbound conveyor 301 is connected to the right end of the tube support unloading conveyor 303 via a tube support slide 305; the right end of the tube support loading conveyor 304 is connected to the right end of the specimen tube outbound conveyor 302 via a tube support lifting and supply assembly 306.

[0076] Please refer to the following: Figure 5 and Figure 6As shown, the pipe support lifting and supply assembly 306 includes a pipe support lifting and mounting frame 3061, a pipe support lifting platform 3062 movably mounted on the pipe support lifting and mounting frame 3061, and a pipe support lifting drive mechanism 3063 mounted on the pipe support lifting and mounting frame 3061 and used to drive the pipe support lifting and mounting frame 3061 to lift and lower. A pipe support receiving frame 3064 is provided on the pipe support lifting platform 3062. The pipe support receiving frame 3064 has a pipe support inlet and outlet. Driven by the pipe support lifting drive mechanism 3063, the pipe support lifting platform 3062 is used to connect the pipe support inlet and outlet of the pipe support receiving frame 3064 with the right end of the pipe support feeding conveyor line 304, or with the specimen tube outflow conveyor line 306. The right end of 02 is connected; the tube support accommodating frame 3064 forms a specimen tube placement station when the tube support inlet and outlet are connected to the right end of the specimen tube delivery conveyor line 302; the tube support lifting and supply assembly 306 also includes an ejection cam 3065 rotatably mounted on the tube support lifting platform 3062 and a tube support ejection motor 3066 mounted on the bottom side of the tube support lifting platform 3062 and used to drive the ejection cam 3065 to rotate; the ejection cam 3065 is used to eject the tube support from the tube support accommodating frame 3064 to the specimen tube delivery conveyor line 302 when the tube support inlet and outlet of the tube support accommodating frame 3064 are connected to the right end of the specimen tube delivery conveyor line 302 under the drive of the tube support ejection motor 3066. In this embodiment, when the tube support is located at the specimen tube rotation station, the specimen tube transfer robot grabs the specimen tube to be shipped out and places it on the tube support at the specimen tube placement station. Then, the tube support ejection motor starts and ejects the specimen tube and tube support together to the specimen tube shipping line through the ejection cam.

[0077] Please refer to the following: Figure 7 and Figure 11 As shown, the capping and decapping mechanism 4 includes a blocking component 401, a specimen tube clamping component 402, and a capping and decapping component 405. The blocking component 401 and the specimen tube clamping component 402 are respectively installed on both sides of the capping and decapping station of the specimen tube storage conveyor line 301. The blocking component 401 is used to separate and block the specimen tubes 9 on the specimen tube storage conveyor line 301 at the capping and decapping station. The specimen tube clamping component 402 is used to clamp and fix the specimen tubes 9 located at the capping and decapping station. The capping and decapping component 405 is used to put a sealing cap on an uncapped specimen tube 9 located at the capping and decapping station, or to grab a sealing cap 11 from a capped specimen tube 9 located at the capping and decapping station and perform a capping operation.

[0078] Please refer to the following: Figure 7 and Figure 9As shown, the blocking assembly 401 includes a blocking mounting bracket 4011, a blocking rotating shaft 4012, and a blocking drive motor 4016 for driving the blocking rotating shaft 4012 to rotate. A first blocking plate 4013, a second blocking plate 4014, and a third blocking plate 4015 are sequentially fixed on the blocking rotating shaft 4012 according to the conveying direction of the specimen tube storage conveyor line 301. The first blocking plate 4013, the second blocking plate 4014, and the third blocking plate 4015 are used, under the drive of the blocking drive motor 4016, to either block the specimen tubes as they extend into the specimen tube storage conveyor line 301 driven by the blocking rotating shaft 4012, or to remove them from the specimen tube storage conveyor line 301 for release. The specimen tube storage conveyor line 301 forms a first blocking plate 4013. The system includes a second stop plate 4014 and a third stop plate 4015, which serve as a capping / removing station. The first stop plate 4013, second stop plate 4014, and third stop plate 4015 are configured such that when the first stop plate 4013 releases the first stop, the second stop plate 4014 stops the second stop, and the third stop plate 4015 releases the third stop. Furthermore, the system is also configured such that when the first stop plate 4013 stops the first stop, the second stop plate 4014 releases the second stop, and the third stop plate 4015 stops the third stop.

[0079] Please refer to the following: Figure 7 and Figure 10 As shown, the specimen tube clamping assembly 402 includes a clamping mounting frame 4021 and two clamping arms 4022 rotatably mounted on the clamping mounting frame 4021; one end of each clamping arm 4022 is fixed with a specimen tube clamping block 4023, and the other end is fixed with a clamping driven gear 4026; the clamping driven gears 4026 of the two clamping arms 4022 mesh; the specimen tube clamping assembly 402 also includes a clamping drive motor 4024 mounted below the clamping mounting frame 4021; the clamping drive... The output end of the motor 4024 is fixed with a clamping drive gear 4025; the clamping drive gear 4025 meshes with a clamping driven gear 4026; two clamping arms 4022 cooperate to drive the clamping drive motor 4024 to drive the clamping drive gear 4025 to rotate one clamping driven gear 4026, and the other clamping driven gear 4026 rotates in the opposite direction, thereby clamping or releasing the specimen tube 9 at the capping and uncapping station through the specimen tube clamping block 4023.

[0080] In this embodiment, when a specimen tube needs to be capped or recapped, the second stop plate of the stop assembly stops the tube at the second stop position, the first stop plate allows the tube to pass through, and the third stop plate allows the tube to pass through. A single row of adjacent specimen tubes is conveyed from left to right along the specimen tube storage conveyor line until the rightmost specimen tube reaches the second stop position and is stopped, while the second specimen tube from the right reaches the first stop position. The stop assembly is also equipped with a proximity sensor corresponding to the second stop position. When a specimen tube is detected to have reached the second stop position, the stop drive motor of the stop assembly starts, driving the stop... The rotating shaft stops rotating, causing the second stop plate to move out of the specimen tube receiving conveyor line, releasing the specimen tube at the second stop position. Simultaneously, the first and third stop plates enter the specimen tube receiving conveyor line, correspondingly stopping the first and third stop positions. The specimen tube on the far right continues to move with the specimen tube receiving conveyor line until it reaches the third stop position, which is the capping and uncapping station. The stopping assembly is also equipped with a proximity sensor corresponding to the third stop position. When it detects that a specimen tube has reached the third stop position, the clamping drive motor of the specimen tube clamping assembly starts, clamping the active clamping teeth. The wheel drives the clamping driven gear that meshes with it to rotate, and the clamping driven gear drives another clamping driven gear to rotate in the opposite direction, causing the specimen tube clamping blocks of the two clamping arms to move closer together until they clamp the specimen tube located at the capping and decapping station; a proximity sensor is also provided on the specimen tube clamping assembly at a position corresponding to the top of the specimen tube, which is used to determine whether the specimen tube located at the capping and decapping station has a sealing cap; if it is determined that there is no sealing cap and there is a need to add a cap, the capping operation is initiated, or if it is determined that there is a sealing cap and there is a need to remove the cap, the decapping operation is initiated. After the specimen tube at the capping / removal station completes the capping or removal operation, the stop drive motor of the stop assembly starts, driving the stop rotation shaft to rotate. This causes the first and third stop plates to move out of the specimen tube inbound conveyor line, releasing the first and third stop positions accordingly. Simultaneously, the second stop plate enters the specimen tube inbound conveyor line, stopping the specimen tube at the second stop position. The specimen tube at the capping / removal station continues to move to the right with the specimen tube inbound conveyor line. The second stop position then stops the next specimen tube under the rightward conveying action of the specimen tube inbound conveyor line.

[0081] In this embodiment, the clamping arm of the specimen tube clamping assembly has a corresponding rotation radius, requiring sufficient space on both sides of the specimen tube to be clamped for the clamping arm to move. Through the design of the three baffles of the stop assembly, which is adapted to the continuous conveying mode of the specimen tube storage conveyor line, the specimen tube to be clamped can be well separated from other specimen tubes and accurately positioned.

[0082] Please refer to the following: Figure 11As shown, the cap-adding and cap-removing assembly 405 includes a cap-adding and cap-removing mounting bracket 4051, a rotating bracket 4052 fixed to the cap-adding and cap-removing mounting bracket 4051, a rotary motor 4053 fixed to the cap-adding and cap-removing mounting bracket 4051 and used to drive the rotating bracket 4052 to rotate, a mounting plate 4054 fixed to the rotating bracket 4052, a lifting assembly 4055 mounted on the mounting plate 4054, a lifting drive motor 4056 fixed to the mounting plate 4054 and used to drive the lifting end of the lifting assembly 4055 to lift, and a sealing cap electric gripper 4057 fixed to the lifting end of the lifting assembly 4055; a sealing cap clamping block 4058 is fixed to the clamping end on the bottom side of the sealing cap electric gripper 4057.

[0083] In this embodiment, as Figure 11 As shown, the capping and decapping mechanism 4 also includes a cap feeding assembly 403 and a single cap feeding assembly 404. The single cap feeding assembly 404 has an inlet end and a feeding position. The inlet end of the single cap feeding assembly 404 is connected to the output end of the cap feeding assembly 403, so that the caps 11 output by the cap feeding assembly 403 enter the single cap feeding assembly 404 individually from the inlet end of the single cap feeding assembly 404 and are conveyed to the feeding position of the single cap feeding assembly 404. The capping and decapping assembly 405 is used to grab the caps 11 from the feeding position of the single cap feeding assembly 404 and rotate them. Move to the capping and decapping station, apply the sealing cap to the uncapped specimen tube 9, or remove the sealing cap 11 from the capped specimen tube 9 located at the capping and decapping station; a waste cap collection pipe 406 is also provided near the capping and decapping assembly 405; the capping and decapping assembly 405 is also used to discard the sealing cap 11 picked up from the capped specimen tube 9 located at the capping and decapping station into the waste cap collection pipe 406; a waste cap storage bin 407 is also provided below the waste cap collection pipe 406 for storing the sealing caps 11 output from the waste cap collection pipe 406; specifically, as Figure 12As shown, the sealing cap feeding assembly 403 is used to output a single row of sealing caps 11; the single sealing cap feeding assembly 404 includes a feeding fixing frame 4041, a feeding slide rail 4043 fixed to the feeding fixing frame 4041, a feeding slider 4042 assembled with the feeding slide rail 4043, and a feeding drive assembly fixed to the feeding fixing frame 4041 and used to drive the feeding slider 4042 to move along the feeding slide rail 4043; the feeding fixing frame 4041 has a docking plate 40411; the feeding slider 4042 is clearance-fitted with the docking plate 40411; the docking plate 40411 has a mating interface 40412 that docks with the sealing cap feeding assembly 403, serving as a feeding end; the feeding slider 4042 facing the docking plate 40411 is also provided with a receiving part for accommodating a single sealing cap 11. The receiving groove 40421 is used to dock with the receiving interface 40412 or move to the feeding position during the translational stroke of the feeding slider 4042. The feeding slider 4042 is also provided with a feeding stop 40422. The feeding stop 40422 is used to block the receiving interface 40412 when the receiving groove 40421 and the receiving interface 40412 are not docked. The feeding drive assembly includes a feeding drive motor 4045 and a feeding transmission mechanism 4044. The feeding transmission mechanism 4044 includes two feeding pulleys and a feeding belt wrapped around the two feeding pulleys. The feeding slider 4042 is fixed to the feeding belt. The feeding belt is used to make the feeding slider 4042 translate along the feeding slide rail 4043 under the drive of the feeding drive motor 4045 and the drive of the feeding pulleys.

[0084] Specifically, a single row of sealing caps is always arranged at the output end of the sealing cap feeding assembly; the feeding drive motor of the individual sealing cap feeding assembly starts, driving the feeding pulley installed at the output end of the feeding drive motor to rotate. The belt moves accordingly under the action of the feeding pulley, thereby driving the feeding slider to move along the feeding slide rail, so that the receiving groove of the feeding slider moves to the interface. The sealing cap at the front of the output end of the sealing cap feeding assembly is pushed into the receiving groove. Then, the feeding pulley rotates in the opposite direction under the drive of the feeding drive motor, thereby driving the feeding slider to move in the opposite direction along the feeding slide rail, so that the receiving groove of the feeding slider disengages from the interface and is transferred to the feeding position; simultaneously, the feeding stop block of the feeding slider blocks the interface, thereby preventing the sealing cap at the output end of the sealing cap feeding assembly from entering the individual sealing cap feeding assembly.

[0085] In this embodiment, the capping and decapping station, the loading position of the individual cap loading assembly, and the inlet of the waste cap collection pipe are all located within the rotation stroke of the electric cap gripper. During the capping operation, the rotary motor of the capping and decapping assembly starts, driving the rotating frame to rotate, which in turn moves the electric cap gripper to directly above the loading position of the individual cap loading assembly. The lifting drive motor of the capping and decapping assembly starts, causing the electric cap gripper to descend to the loading position of the individual cap loading assembly. The electric cap gripper then clamps the cap at the loading position of the individual cap loading assembly using the cap clamping block. The lifting drive motor of the capping and decapping assembly controls the electric cap gripper to rise. Then, the rotary motor of the capping and decapping assembly rotates, causing the electric cap gripper to move directly above the capping and decapping station. The drive motor lowers the electric gripper of the sealing cap, placing the sealing cap on the specimen tube. The gripper then returns to its initial position, awaiting the next command. During the cap removal operation, the rotary motor of the capping / removal assembly starts, rotating the rotating frame and moving the electric gripper of the sealing cap directly above the capping / removal station. The lifting drive motor lowers the gripper, which then grasps the sealing cap from the specimen tube using the cap clamping block. The gripper then rises, pulling the cap from the top of the specimen tube. The gripper moves to above the inlet of the waste cap collection tube, discarding the cap into it. The waste cap collection tube then guides the cap to the waste cap storage bin. The gripper returns to its initial position, awaiting the next command.

[0086] In this embodiment, both capping and uncapping operations are completed on the conveyor line. This method, which does not require leaving the conveyor line, allows for quick capping or uncapping operations with a single positioning; it eliminates the need for a robotic arm to transfer the specimen tube before capping or uncapping; it avoids the complex design caused by repeated positioning; it can reduce equipment costs and improve operating efficiency; and a single set of equipment can realize both capping and uncapping functions, meeting practical needs.

[0087] Please refer to the following: Figure 14 and Figure 15As shown, the scanning and photographing mechanism 5 includes a positioning and rotating mechanism 501, a scanning device 502, and a photographing device 503; the positioning and rotating mechanism 501 includes a positioning and rotating mounting frame 5011, a positioning and rotating translation platform 5012 movably mounted on the positioning and rotating mounting frame 5011, a positioning and rotating translation drive mechanism 5013 mounted on the positioning and rotating mounting frame 5011 and used to drive the positioning and rotating translation platform 5012 to move back and forth, and a positioning and rotating assembly mounted on the positioning and rotating translation platform 5012; the positioning and rotating assembly includes a rotating drive pulley 5014, a rotating drive motor 5015 for driving the rotating drive pulley 5014, a rotating driven pulley 5016, a rotating belt 5017 wound around the rotating drive pulley 5014 and the rotating driven pulley 5016, and a driven roller 5018; the rotating driven pulley 5016 and the driven roller 5018 The positioning, rotating, and translating platform 5012 is positioned on the side facing the barcode scanning and photography station. Driven by the positioning, rotating, and translating drive mechanism 5013, the platform 5012 rotates the driven pulley 5016 and the passive roller 5018 into the specimen tube storage conveyor line 301, causing the specimen tube 9 at the barcode scanning and photography station to engage tangentially with the rotating belt 5017 and the passive roller 5018, thereby achieving positioning of the specimen tube 9. Driven by the rotating drive motor 5015 and the rotating drive pulley 5014, the rotating belt 5017 rotates the positioned specimen tube 9 using friction. The barcode scanning device 502 scans the barcode when the label on the specimen tube 9 aligns with it. The photography device 503 takes a picture when the area of ​​the specimen tube 9 not obscured by the label aligns with the photography device 503.

[0088] Please refer to the following: Figure 16As shown, the positioning rotation and translation platform 5012 includes a first positioning rotation and translation frame 50121 and a second positioning rotation and translation frame 50122. The first positioning rotation and translation frame 50121 is mounted on the positioning rotation mounting frame 5011 via a first slide rail slider assembly 50123, which allows the first positioning rotation and translation frame 50121 to have a degree of freedom to move back and forth relative to the positioning rotation mounting frame 5011. The second positioning rotation and translation frame 50122 is mounted on the positioning rotation mounting frame 5011 via a second slide rail slider assembly 50124, which allows the second positioning rotation and translation frame 50122 to have a degree of freedom to move back and forth relative to the positioning rotation mounting frame 5011. The first positioning rotation and translation frame 50121 and the second positioning rotation and translation frame 50122 are mounted on the positioning rotation mounting frame 5011 via a second slide rail slider assembly 50124. A spring assembly 50125 in the front-to-back direction is also provided between the two positioning rotation and translation frames 50122; the first positioning rotation and translation frame 50121 is installed at the drive end of the positioning rotation and translation drive mechanism 5013; the second positioning rotation and translation frame 50122 is equipped with the positioning rotation assembly; the first positioning rotation and translation frame 50121 is used to move back and forth under the drive of the positioning rotation and translation drive mechanism 5013; the second positioning rotation and translation frame 50122 is used to follow the first positioning rotation and translation frame 50121 in moving back and forth under the action of the spring assembly 50125; the spring assembly 50125 is also used to provide elastic clamping force for the cooperation between the rotating belt 5017 and the passive roller 5018 and the specimen tube 9.

[0089] In this embodiment, as Figure 16 As shown, the positioning rotation and translation drive mechanism 5013 includes a positioning rotation and translation drive motor 50131, a rotating wheel 50132 fixed to the rotation output end of the positioning rotation and translation drive motor 50131, and a cam follower 50133 eccentrically fixed to the rotating wheel 50132; the first positioning rotation and translation frame 50121 is provided with a left-right sliding groove at a position corresponding to the cam follower 50133; under the drive of the positioning rotation and translation drive motor 50131, the first positioning rotation and translation frame 50121 is driven to move back and forth through the cooperation of the cam follower 50133 and the sliding groove.

[0090] In this embodiment, the scanning and photographing process is as follows: The specimen tube is transported to the scanning and photographing station. A proximity sensor at this station detects the specimen tube, triggering the positioning rotation and translation drive motor. The output of the motor drives the rotating wheel to rotate. Through the cooperation of the eccentrically positioned cam follower and the slide rail, the first positioning rotation and translation frame moves towards the scanning and photographing station. The second positioning rotation and translation frame, under the linkage of the spring assembly, also moves towards the scanning and photographing station, causing the driven pulley, rotating belt, and driven roller mounted on it to extend into the scanning and photographing station. This locks the specimen tube between the driven pulley and the driven roller, creating a tangential fit, thus restricting further transport of the specimen tube and precisely positioning it. The spring force of the spring assembly also uses the combined elasticity of the rotating belt and driven roller to press the specimen tube firmly. Then, the rotation drive motor starts, driving the rotating active belt... The pulley rotates, which in turn drives the rotating belt, using friction to rotate the positioned specimen tube. When the label of the specimen tube corresponds to the barcode scanning device, the barcode scanning device scans and reads the information. When the area of ​​the specimen tube not covered by the label corresponds to the photographing device, the photographing device takes a picture of the specimen tube and saves the corresponding photo. After the barcode scanning and photographing are completed, the rotating drive motor stops. At this time, the barcode scanning and photographing station also serves as the specimen tube output station. The specimen tube transfer robot grabs the specimen tube at this position and transfers it to the next process. After the specimen tube is transferred, the first positioning rotating translation frame retracts, driving the second positioning rotating translation frame to return to its initial position, waiting for the next specimen tube. The tube support left on the specimen tube storage conveyor line continues to be conveyed along the specimen tube storage conveyor line until it reaches the tube support slide at the right end. The tube support slides down from the tube support slide onto the tube support unloading conveyor line.

[0091] Please refer to the following: Figures 18 to 21 As shown, the specimen rack conveying mechanism 6 includes a specimen rack conveying mounting platform 601, a specimen rack lifting plate 602 that is vertically mounted on the specimen rack conveying mounting platform 601, a specimen rack lifting drive mechanism 603 fixed to the bottom side of the specimen rack conveying mounting platform 601 and used to drive the specimen rack lifting plate 602 to rise and fall, and a specimen rack left and right translation mechanism mounted on the specimen rack lifting plate 602; a top side translation plate 606 is installed on the top side moving end of the specimen rack left and right translation mechanism; the top side translation... A specimen rack support plate 608 is installed on the top side of the plate 606; the left and right ends of the specimen rack support plate 608 are bent upward to form specimen rack limiting ends 6081; the specimen rack lifting drive mechanism 603 is used to drive the specimen rack lifting plate 602 to lift, and then drive the specimen rack support plate 608 to lift; the specimen rack support plate 608 is used to move left and right under the drive of the specimen rack left and right translation mechanism and driven by the top side translation plate 606, thereby realizing the input and output of the specimen rack.

[0092] In this embodiment, the specimen rack left-right translation mechanism includes a left-right translation plate 604; the bottom side of the left-right translation plate 604 is movably mounted on the specimen rack lifting plate 602 via a third slide rail slider assembly 609; the specimen rack left-right translation mechanism further includes a left-right translation drive mechanism 605 mounted on the specimen rack lifting plate 602 and used to drive the left-right translation plate 604 to move left and right relative to the specimen rack lifting plate 602; the bottom side of the top translation plate 606 is movably mounted on the left-right translation plate 604 via a fourth slide rail slider assembly 610; a linkage translation component 607 is also mounted on the left-right translation plate. The linkage translation component 607 includes linkage pulleys 6071 that are rotatably mounted to the left and right ends of the left and right translation plates 604, respectively. A linkage belt 6072 is wound between the two linkage pulleys 6071. A lower belt fixing block 611 is fixed on the specimen rack lifting plate 602 in the right area. The lower belt fixing block 611 is fixedly connected to the section of the linkage belt 6072 located below the left and right translation plates 604. An upper belt fixing block 612 is fixed on the bottom of the top side translation plate 606 in the left area. The upper belt fixing block 612 is fixedly connected to the section of the linkage belt 6072 located below the left and right translation plates 604.

[0093] Please refer to the following: Figure 17 , Figures 22 to 26 As shown, the discarding device 7 includes a discarding clamping mechanism 701 and a needle ejection mechanism 702; the discarding clamping mechanism 701 is located on the front side of the specimen rack conveying mechanism 6, and includes a discarding clamping mounting plate 7011, a flipping frame 7012 rotatably mounted on the discarding clamping mounting plate 7011, a flipping drive mechanism 7013 fixed to the discarding clamping mounting plate 7011 and used to drive the flipping frame 7012 to flip back and forth relative to the discarding clamping mounting plate 7011, and a clamping mechanism 7014 mounted on the flipping frame 7012; the flipping frame 7012 includes two flipping arms 70121 arranged one in front of the other, and a flipping connecting arm 70122 fixed to the left side of the two flipping arms 70121; a specimen rack carrying area is formed between the two flipping arms 70121. The flip arm 70121 has a specimen rack slot 70123 on one side near the specimen rack support area. There are two clamping mechanisms 7014, each installed on one flip arm 70121, with the clamping end of the clamping mechanism 7014 facing the specimen rack support area. The clamping mechanism 7014 includes a clamping drive mechanism 70141 fixed to the flip arm 70121, a clamping mounting bracket 70142 installed on the drive end of the clamping drive mechanism 70141, and a clamping tongue 70143 installed on the clamping mounting bracket. The needle ejection mechanism 702 is located in front of the discard clamping mechanism 701 and includes a needle lifting mechanism 7021, a needle plate 7022 installed on the lifting end of the needle lifting mechanism 7021, and a needle 7023 fixed below the needle plate 7022.

[0094] The flipping frame 7012 is used to flip backward under the drive of the flipping drive mechanism 7013 to above the specimen rack conveying mechanism 6. The specimen rack tray 608 is used to lift the received specimen rack 12 to its highest point under the drive of the specimen rack lifting drive mechanism 603, then move it to the left under the drive of the specimen rack left and right translation mechanism to above the specimen rack carrying area, and then lower it to its lowest point under the drive of the specimen rack lifting drive mechanism 603, so that it falls onto the two specimen rack trays 70123. The clamping tongue 70143 is used to move towards the specimen rack carrying area under the drive of the clamping drive mechanism 70141 and the clamping mounting bracket 70142 to insert the specimen rack tray into the specimen rack carrying area. The specimen rack 12 placed on the two specimen rack slots 70123 is clamped and fixed, or driven by the clamping and mounting frame 70142 under the drive of the clamping drive mechanism 70141, it moves away from the specimen rack bearing area and disengages from the specimen rack 12 placed on the two specimen rack slots 70123; the flipping frame 7012 is also used to flip forward under the drive of the flipping drive mechanism 7013 to directly below the pin plate 7022; the pin plate 7022 is used to move downward under the drive of the pin lifting mechanism 7021, and uses the pins 7023 to push the specimen tube 9 out of the specimen rack 12 one by one.

[0095] In this embodiment, the disposal device 7 further includes a guide frame 703, which has a guide channel that is larger at the top and smaller at the bottom; the guide channel is located directly below the needle plate 7022; the disposal device 7 also includes a waste specimen tube collection bucket 704 located below the guide channel.

[0096] In this embodiment, the batch disposal process is as follows: the specimen rack conveying mechanism receives the specimen rack containing specimen tubes to be disposed of from the refrigerator; the left and right translation drive mechanism drives the left and right translation plates to move to the left, and under the action of the linkage belt of the linkage translation component, the top translation plate also moves to the left until the specimen rack on the specimen rack support plate is sent to the top of the specimen rack carrying area; the specimen rack lifting drive mechanism drives the specimen rack lifting plate to descend, thereby causing the specimen rack to fall into the specimen rack support slot; the clamping drive mechanism drives the clamping mounting bracket to move toward the specimen rack carrying area, thereby causing the clamping tongue to insert into the specimen rack, so that the specimen rack is fixed in the specimen rack carrying area; the flipping drive mechanism drives... The flipping frame and specimen rack are flipped forward as a whole until the specimen rack is directly below the pin plate. The specimen tubes will fall freely under gravity. If a specimen tube cannot fall freely from the specimen rack due to the pressure of the label, the pin ejection mechanism is activated. The pin lifting mechanism drives the pin plate to move downward, so that the pins on the pin plate are inserted into the corresponding holes on the bottom of the specimen rack (at this time, the bottom holes are facing upward), and the remaining specimen tubes on the specimen rack are ejected one by one. After being guided by the guide frame, the specimen tubes fall into the waste specimen tube collection bucket. Then, the pin ejection mechanism and the disposal clamping mechanism are reset, waiting for the next batch disposal of specimen tubes.

[0097] Please refer to the following: Figure 2 and Figure 27 As shown, the specimen tube transfer robot 8 includes two left-right sliding tables 801 suspended in the upper region inside the frame 1, a front-back translation mechanism 802 installed between the moving ends of the two sliding tables 801, a vertical movement mechanism 803 installed at the moving end of the front-back translation mechanism 802, and a specimen tube electric gripper 804 installed at the moving end of the vertical movement mechanism 803; a specimen tube gripper finger 805 is fixed to the gripping end on the bottom side of the specimen tube electric gripper 804.

[0098] In this embodiment, the two slides 801 are driven by the same drive mechanism to ensure that the moving ends of the two slides 801 move synchronously.

[0099] In this embodiment, an automated specimen handling device is located at the end of a laboratory blood specimen testing production line. Specimen tube inbound conveyor line 301 and specimen tube outbound conveyor line 302 are connected to the laboratory blood specimen testing production line, and the specimen rack conveyor mechanism is connected to a refrigerator. This device provides post-testing specimen tube handling and classified storage. The handling section involves grabbing, sealing, placing, scanning, and coded specimen tubes according to system instructions. The storage section places the coded specimen tubes in designated compartments according to system requirements and outputs them to the refrigerator for refrigerated storage. Specific functions include:

[0100] 1. Specimen tube storage function

[0101] When specimen tubes need to be stored, they run on the specimen tube storage conveyor line. First, they are capped at the capping and uncapping station, then scanned and photographed at the barcode scanning and photography station for record-keeping. Finally, the specimen tubes are removed from the specimen tube storage conveyor line by the specimen tube transfer robot and placed on the specimen rack in the temporary storage area of ​​the platform according to the specified location. This process works in conjunction with the laboratory production line and is repeated as soon as a specimen tube is input.

[0102] Then, the specimen tubes in the temporary storage area are sorted and placed on the specimen racks on the specimen rack conveyor by the specimen tube transfer robot. After receiving the system instruction, the conveyor transports the specimen rack containing the specimen tubes into the refrigerator to complete the storage work.

[0103] 2. Specimen tube release function

[0104] When specimen tubes need to be taken out of storage, the robotic arm inside the refrigerator sends out the specimen rack containing the specimen tubes to be taken out, and the specimen rack conveying mechanism of this equipment receives the specimen rack; then, the specimen tube transfer robotic arm transfers the specimen tubes to be taken out of storage to the specimen rack in the temporary storage area of ​​the platform according to the regulations.

[0105] Afterwards, the specimen tubes in the temporary storage area are transferred to the tube support at the specimen tube placement station by the specimen tube transfer robot. The specimen tubes then enter the specimen tube outbound conveyor line for the specimen tube cap removal operation. At this time, the first interception and rerouting mechanism is activated, and the specimen tubes to be capped are guided and transported to the first return conveyor line and then into the specimen tube inbound conveyor line. The cap removal operation is carried out at the capping and cap removal station. The second interception and rerouting mechanism is activated, and the capped specimen tubes are guided and transported to the second return conveyor line and then into the specimen tube outbound conveyor line. The first interception and rerouting mechanism returns to its initial state and no longer intercepts. The capped specimen tubes are then output through the specimen tube outbound conveyor line.

[0106] In this embodiment, the specimen entry and exit operations can be performed simultaneously. The specimen tube transfer robot only needs to pick up the specimen tubes in turn and place them in the designated position, without pausing any function.

[0107] The above embodiments should not limit the present invention in any way. All technical solutions obtained by equivalent substitution or equivalent conversion fall within the protection scope of the present invention.

Claims

1. An automated specimen preparation device, characterized in that, include: Rack (1), Platform (2), installed inside rack (1), has a temporary storage area, in which a specimen rack (12) for temporarily storing specimen tubes (9) is loaded; A specimen tube conveying mechanism (3) is installed inside the frame (1) and located behind the platform (2) for conveying specimen tubes (9) with tube supports (10). The specimen tube conveying mechanism (3) includes a specimen tube inbound conveying line (301) arranged at the front and conveying from left to right, and a specimen tube outbound conveying line (302) arranged at the rear and conveying from right to left. The specimen tube inbound conveying line (301) has a capping and decapping station and a barcode scanning and photography station. The specimen tube inbound conveying line (301) and the specimen tube outbound conveying line (302) A first return transport line (307) is set to the left of the capping and uncapping station, and a second return transport line (308) is set to the right of the capping and uncapping station, and a first interception and lane-changing mechanism (309) is set at the position corresponding to the first return transport line (307) on the specimen tube outbound transport line (302); a second interception and lane-changing mechanism (310) is set at the position corresponding to the second return transport line (308) on the specimen tube inbound transport line (301). The capping and uncapping mechanism (4) is installed inside the frame (1) and located near the capping and uncapping station. It is used to cap or remove the sealing cap (11) from the specimen tube (9) located at the capping and uncapping station. The barcode scanning and photo taking mechanism (5) is installed inside the frame (1) and located near the barcode scanning and photo taking station. It is used to scan and identify the specimen tube (9) located at the barcode scanning and photo taking station and to take photos. The specimen rack conveying mechanism (6) is installed inside the frame (1) and located to the right of the platform (2) for inputting or outputting the specimen rack; Disposal device (7), installed inside the frame (1) and located near the specimen rack conveying mechanism (6), is used to discard specimen tubes of specimen racks on the specimen rack conveying mechanism (6) in batches; The specimen tube transfer robot (8) is installed in the upper area inside the frame (1) and is used to transfer specimen tubes between the platform (2), the specimen tube conveying mechanism (3), and the specimen rack conveying mechanism (6).

2. The automatic specimen processing device according to claim 1, characterized in that, The conveying mechanism (3) also includes a tube support unloading conveyor (303) located directly below the specimen tube inbound conveyor (301) and a tube support loading conveyor (304) located directly below the specimen tube outbound conveyor (302) and a tube support loading conveyor (304) located directly below the specimen tube outbound conveyor (302); the right end of the specimen tube inbound conveyor (301) is connected to the right end of the tube support unloading conveyor (303) via a tube support slide (305); the right end of the tube support loading conveyor (304) is connected to the right end of the specimen tube outbound conveyor (302) via a tube support lifting and supply assembly (306).

3. An automatic specimen processing device according to claim 2, characterized in that, The pipe support lifting and supply assembly (306) includes a pipe support lifting and mounting frame (3061), a pipe support lifting platform (3062) movably mounted on the pipe support lifting and mounting frame (3061), and a pipe support lifting drive mechanism (3063) mounted on the pipe support lifting and mounting frame (3061) and used to drive the pipe support lifting and mounting frame (3061) to lift and lower; a pipe support receiving frame (3064) is provided on the pipe support lifting platform (3062); the pipe support receiving frame ( 3064) has a pipe support inlet and outlet; the pipe support lifting platform (3062) is used to connect the pipe support inlet and outlet of the pipe support accommodating frame (3064) with the right end of the pipe support feeding conveyor line (304) or the right end of the specimen tube outgoing conveyor line (302) under the drive of the pipe support lifting area driving mechanism (3063); the pipe support accommodating frame (3064) forms a specimen tube placement station when the pipe support inlet and outlet are connected with the right end of the specimen tube outgoing conveyor line (302); The tube support lifting and supply assembly (306) further includes an ejection cam (3065) rotatably mounted on the tube support lifting platform (3062) and a tube support ejection motor (3066) mounted on the bottom side of the tube support lifting platform (3062) for driving the ejection cam (3065) to rotate. The ejection cam (3065) is used to eject the tube support from the tube support holding frame (3064) to the specimen tube outgoing conveyor line (302) when the tube support inlet and outlet of the tube support holding frame (3064) is connected to the right end of the specimen tube outgoing conveyor line (302) under the drive of the tube support ejection motor (3066).

4. An automatic specimen processing device according to claim 1, characterized in that, The capping and uncapping mechanism (4) includes a stop assembly (401), a specimen tube clamping assembly (402), and a capping and uncapping assembly (405); the stop assembly (401) and the specimen tube clamping assembly (402) are respectively installed on both sides of the capping and uncapping station of the specimen tube storage conveying line (301); The blocking component (401) is used to separate and block the specimen tubes (9) on the specimen tube storage conveyor line (301) at the capping and uncapping station; the specimen tube clamping component (402) is used to clamp and fix the specimen tubes (9) located at the capping and uncapping station; the capping and uncapping component (405) is used to put the sealing cap on the uncapped specimen tubes (9) located at the capping and uncapping station, or to grab the sealing cap (11) from the capped specimen tubes (9) located at the capping and uncapping station and perform the capping operation.

5. An automatic specimen processing device according to claim 4, characterized in that, The blocking assembly (401) includes a blocking mounting bracket (4011), a blocking rotating shaft (4012), and a blocking drive motor (4016) for driving the blocking rotating shaft (4012) to rotate. A first blocking plate (4013), a second blocking plate (4014), and a third blocking plate (4015) are sequentially fixed on the blocking rotating shaft (4012) according to the conveying direction of the specimen tube storage conveyor line (301). The first blocking plate (4013), second blocking plate (4014), and third blocking plate (4015) are used, under the drive of the blocking drive motor (4016), to either block the specimen tubes as they extend into the specimen tube storage conveyor line (301) driven by the blocking rotating shaft (4012), or to allow them to exit the specimen tube storage conveyor line (301) for release. The specimen tube storage conveyor line (301) is located at the first blocking plate (4013). A first stop position is formed, a second stop position is formed at the second stop plate (4014), and a third stop position is formed at the third stop plate (4015). The third stop position serves as the capping and uncapping station. The first stop plate (4013), the second stop plate (4014), and the third stop plate (4015) are further configured such that when the first stop plate (4013) releases the first stop position, the second stop plate (4014) stops the second stop position, and the third stop plate (4015) releases the third stop position. The first stop plate (4013), the second stop plate (4014), and the third stop plate (4015) are configured such that when the first stop plate (4013) stops the first stop position, the second stop plate (4014) releases the second stop position, and the third stop plate (4015) stops the third stop position. The specimen tube clamping assembly (402) includes a clamping mounting frame (4021) and two clamping arms (4022) rotatably mounted on the clamping mounting frame (4021); one end of each clamping arm (4022) is fixed with a specimen tube clamping block (4023), and the other end is fixed with a clamping driven gear (4026); the clamping driven gears (4026) of the two clamping arms (4022) mesh; the specimen tube clamping assembly (402) also includes a clamping drive motor (4024) mounted below the clamping mounting frame (4021); the clamping drive motor... The output end of the machine (4024) is fixed with a clamping drive gear (4025); the clamping drive gear (4025) meshes with a clamping driven gear (4026); two clamping arms (4022) cooperate to drive a clamping driven gear (4026) to rotate under the drive of the clamping drive motor (4024), and the other clamping driven gear (4026) rotates in the opposite direction, thereby clamping or releasing the specimen tube (9) at the capping and uncapping station through the specimen tube clamping block (4023); The cap-adding and cap-removing assembly (405) includes a cap-adding and cap-removing mounting bracket (4051), a rotating bracket (4052) fixed to the cap-adding and cap-removing mounting bracket (4051), a rotary motor (4053) fixed to the cap-adding and cap-removing mounting bracket (4051) and used to drive the rotating bracket (4052) to rotate, a mounting plate (4054) fixed to the rotating bracket (4052), a lifting assembly (4055) mounted on the mounting plate (4054), a lifting drive motor (4056) fixed to the mounting plate (4054) and used to drive the lifting end of the lifting assembly (4055) to lift, and a sealing cap electric gripper (4057) fixed to the lifting end of the lifting assembly (4055); a sealing cap clamping block (4058) is fixed to the clamping end on the bottom side of the sealing cap electric gripper (4057).

6. An automatic specimen processing device according to claim 1, characterized in that, The scanning and photographing mechanism (5) includes a positioning and rotating mechanism (501), a scanning device (502), and a photographing device (503); the positioning and rotating mechanism (501) includes a positioning and rotating mounting frame (5011), a positioning and rotating translation platform (5012) movably mounted on the positioning and rotating mounting frame (5011), a positioning and rotating translation drive mechanism (5013) mounted on the positioning and rotating mounting frame (5011) and used to drive the positioning and rotating translation platform (5012) to move back and forth, and a positioning and rotating translation drive mechanism (5013) mounted on the positioning and rotating translation platform (5012). The positioning and rotating assembly includes a rotating drive pulley (5014), a rotating drive motor (5015) for driving the rotating drive pulley (5014), a rotating driven pulley (5016), a rotating belt (5017) wound around the rotating drive pulley (5014) and the rotating driven pulley (5016), and a passive roller (5018); the rotating driven pulley (5016) and the passive roller (5018) are disposed on the side of the positioning and rotating translation platform (5012) facing the barcode scanning and photo taking station; The positioning rotation and translation platform (5012) is used to drive the driven pulley (5016) and the driven roller (5018) to extend into the specimen tube storage conveyor line (301) under the drive of the positioning rotation and translation drive mechanism (5013), so that the specimen tube (9) located at the barcode scanning and photography station is tangentially engaged with the rotating belt (5017) and the driven roller (5018), thereby achieving the positioning of the specimen tube (9); the rotating belt (5017) is used to... Driven by the rotary drive motor (5015), the specimen tube (9) is rotated by friction through the rotating drive pulley (5014); the barcode scanning device (502) is used to scan and identify the barcode when the specimen tube (9) rotates to a point where the label on it corresponds to the barcode scanning device (502); the photographing device (503) is used to take a picture when the specimen tube (9) rotates to a point where the area on it that is not covered by the label corresponds to the photographing device (503).

7. An automatic specimen processing device according to claim 6, characterized in that, The positioning rotation and translation platform (5012) includes a first positioning rotation and translation frame (50121) and a second positioning rotation and translation frame (50122). The first positioning rotation and translation frame (50121) is mounted on the positioning rotation mounting frame (5011) via a first slide rail slider assembly (50123), which allows the first positioning rotation and translation frame (50121) to have the freedom to move back and forth relative to the positioning rotation mounting frame (5011). The second positioning rotation and translation frame (50122) is mounted on the positioning rotation mounting frame (5011) via a second slide rail slider assembly (50124). A positioning rotary mounting bracket (5011) is provided to allow the second positioning rotary translation bracket (50122) to have the freedom to move back and forth relative to the positioning rotary mounting bracket (5011); a spring assembly (50125) in the front-back direction is also provided between the first positioning rotary translation bracket (50121) and the second positioning rotary translation bracket (50122); the first positioning rotary translation bracket (50121) is mounted to the drive end of the positioning rotary translation drive mechanism (5013); the second positioning rotary translation bracket (50122) is mounted with the positioning rotary assembly; The first positioning rotary translation frame (50121) is used to move back and forth under the drive of the positioning rotary translation drive mechanism (5013); the second positioning rotary translation frame (50122) is used to follow the first positioning rotary translation frame (50121) to move back and forth under the action of the spring assembly (50125); the spring assembly (50125) is also used to provide elastic clamping force for the cooperation between the rotating belt (5017) and the passive roller (5018) and the specimen tube (9).

8. An automatic specimen processing device according to claim 1, characterized in that, The specimen rack conveying mechanism (6) includes a specimen rack conveying mounting platform (601), a specimen rack lifting plate (602) that is vertically mounted on the specimen rack conveying mounting platform (601), a specimen rack lifting drive mechanism (603) that is fixed to the bottom side of the specimen rack conveying mounting platform (601) and used to drive the specimen rack lifting plate (602) to rise and fall, and a specimen rack left and right translation mechanism mounted on the specimen rack lifting plate (602); a top side translation plate (606) is installed on the top side of the top side translation plate (606); a specimen rack support plate (608) is installed on the top side of the top side translation plate (606); the left and right ends of the specimen rack support plate (608) are respectively bent upward to form specimen rack limiting ends (6081); The specimen rack lifting drive mechanism (603) is used to drive the specimen rack lifting plate (602) to lift, and then drive the specimen rack support plate (608) to lift; the specimen rack support plate (608) is used to move left and right under the drive of the specimen rack left and right translation mechanism and driven by the top side translation plate (606), thereby realizing the input and output of the specimen rack.

9. An automatic specimen processing device according to claim 8, characterized in that, The discarding device (7) includes a discarding clamping mechanism (701) and a needle ejection mechanism (702); the discarding clamping mechanism (701) is located on the front side of the specimen rack conveying mechanism (6), and includes a discarding clamping mounting plate (7011), a flipping frame (7012) rotatably mounted on the discarding clamping mounting plate (7011), a flipping drive mechanism (7013) fixed to the discarding clamping mounting plate (7011) and used to drive the flipping frame (7012) to flip back and forth relative to the discarding clamping mounting plate (7011), and a clamping mechanism (7014) mounted on the flipping frame (7012); the flipping frame (7012) includes two flipping arms (70121) arranged one in front of the other, and a flipping connecting arm (70122) fixed to the left side of the two flipping arms (70121); a specimen rack carrying area is formed between the two flipping arms (70121), and the flipping... The rotating arm (70121) has a specimen rack slot (70123) on one side near the specimen rack carrying area. There are two clamping mechanisms (7014), each installed on one rotating arm (70121). The clamping end of the clamping mechanism (7014) faces the specimen rack carrying area. The clamping mechanism (7014) includes a clamping drive mechanism (70141) fixed to the rotating arm (70121), a clamping mounting frame (70142) installed on the drive end of the clamping drive mechanism (70141), and a clamping tongue (70143) installed on the clamping mounting frame. The needle ejection mechanism (702) is located in front of the discard clamping mechanism (701) and includes a needle lifting mechanism (7021), a needle plate (7022) installed on the lifting end of the needle lifting mechanism (7021), and a needle (7023) fixed below the needle plate (7022). The flipping frame (7012) is used to flip backward under the drive of the flipping drive mechanism (7013) to the top of the specimen rack conveying mechanism (6). The specimen rack tray (608) is used to lift the received specimen rack (12) to the highest point under the drive of the specimen rack lifting drive mechanism (603), then move it to the left to the top of the specimen rack carrying area under the drive of the specimen rack left and right translation mechanism, and then lower it to the lowest point under the drive of the specimen rack lifting drive mechanism (603), so that it falls onto the two specimen rack trays (70123). The clamping tongue (70143) is used to move towards the specimen rack carrying area under the drive of the clamping drive mechanism (70141) and the clamping mounting bracket (70142), and insert it into the specimen rack placed in the tray. The specimen racks (12) on the two specimen rack slots (70123) are used to clamp and fix the specimen racks (12), or to be driven by the clamping and mounting frame (70142) under the drive of the clamping drive mechanism (70141) to move away from the specimen rack bearing area and disengage from the specimen racks (12) placed on the two specimen rack slots (70123); the flipping frame (7012) is also used to flip forward to directly below the pin plate (7022) under the drive of the flipping drive mechanism (7013); the pin plate (7022) is used to move downward under the drive of the pin lifting mechanism (7021) and use the pins (7023) to push the specimen tubes (9) off the specimen racks (12) one by one.

10. An automatic specimen processing device according to claim 1, characterized in that, The specimen tube transfer robot (8) includes two left-right sliding tables (801) suspended in the upper area inside the frame (1), a front-back translation mechanism (802) installed between the moving ends of the two sliding tables (801), an up-down movement mechanism (803) installed at the moving end of the front-back translation mechanism (802), and a specimen tube electric gripper (804) installed at the moving end of the up-down movement mechanism (803); a specimen tube gripper finger (805) is fixed to the gripping end on the bottom side of the specimen tube electric gripper (804).

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