Dispatching manipulator, sample bearing component and sample processing module

Abstract

The utility model discloses a scheduling manipulator, a sample bearing part and a sample processing module, the scheduling manipulator comprises a plurality of clamping jaws, the scheduling manipulator comprises a plurality of clamping jaws, and each clamping jaw is provided with a first clamping part, a second clamping part and a first supporting surface. And when the dispatching manipulator transfers the sample bearing part, each first clamping part can clamp the grabbing rod, and each first supporting surface supports the second supporting surface. The dispatching manipulator clamps and transfers the sample bearing component through the friction force between the first clamping part and the grabbing rod and the supporting force between the first supporting surface and the second supporting surface, and the transferring stability of the dispatching manipulator for transferring the large-weight sample bearing component is greatly improved. And the dispatching manipulator can also clamp and transfer the sample container through the friction force between the second clamping part and the sample container. The dispatching manipulator not only can realize the transfer of a sample container, but also can realize the stable transfer of a heavy-weight sample bearing part, and is beneficial to simplifying the structure and reducing the cost.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a scheduling manipulator, a sample carrying component and a sample processing module. Background Art

[0002] In the current production lines for automatic analysis, in order to increase throughput, in some scenarios, the sample container is first moved into a sample carrying component, and then the sample carrying component carrying the sample container is transferred to other locations. For example, the analyzed sample container is moved into the sample carrying component of the cache platform, and then the sample carrying component is transferred from the cache platform to the low-temperature storage module. The above process requires the transfer of sample containers and sample carrying components. The current related scheduling robot has a complex structure, which increases the cost of design and maintenance. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a dispatching manipulator that can be used to transfer sample containers and sample carrying components, which helps to simplify the structure and reduce costs.

[0004] The utility model also provides a sample carrying component.

[0005] The utility model also proposes a sample processing module including a scheduling manipulator and a sample carrying component.

[0006] The utility model proposes a scheduling manipulator, which is used to transfer a sample carrying component and a sample container. The sample carrying component includes a carrying body and a grabbing rod. The carrying body has a plurality of placement holes for placing the sample container. The grabbing rod is connected to the carrying body and extends from the top of the carrying body. The grabbing rod has a second supporting surface. The scheduling manipulator includes a plurality of clamping claws, each of which has a first clamping portion, a second clamping portion and a first supporting surface; wherein, when the scheduling manipulator transfers the sample carrying component, each first clamping portion clamps the grabbing rod, and each first supporting surface supports the second supporting surface; when the scheduling manipulator transfers the sample container, each second clamping portion clamps the sample container.

[0007] The dispatching manipulator according to the embodiment of the utility model has at least the following beneficial effects:

[0008] In the technical solution of the utility model, the scheduling manipulator clamps and transfers the sample carrying component through the friction between the first clamping part and the grasping rod and the supporting force between the first support surface and the second support surface, and the stability of the scheduling manipulator in transferring the heavy-weight sample carrying component is greatly improved. The scheduling manipulator can also clamp and transfer the sample container through the friction between the second clamping part and the sample container. In this way, the scheduling manipulator of the utility model can not only realize the transfer of the sample container, but also realize the stable transfer of the heavy-weight sample carrying component, which helps to simplify the structure and reduce costs compared to the solution of transferring the sample container and the sample carrying component separately through different manipulators.

[0009] In some embodiments, a grabbing rod is provided including a first grabbing portion and a second grabbing portion which are arranged in sequence along its own axial direction, the second grabbing portion is located between the first grabbing portion and the carrying body, and the first clamping portion is used to clamp the side of the first grabbing portion; wherein the cross-sectional area of ​​the first grabbing portion along the direction perpendicular to the axial direction is larger than the cross-sectional area of ​​the second grabbing portion along the direction perpendicular to the axial direction, so as to form a second support surface at the connection between the first grabbing portion and the second grabbing portion.

[0010] In some embodiments, the grabbing rod includes a first grabbing portion and a third grabbing portion, and the first clamping portion is used to clamp the side of the first grabbing portion; wherein, in a reference plane perpendicular to the axis of the grabbing rod, the projection of the third grabbing portion in the reference plane extends beyond the projection of the first grabbing portion in the reference plane, and the lower side of the third grabbing portion has a second supporting surface.

[0011] In some embodiments, the first clamping portion has a first side facing the grabbing rod when clamping the grabbing rod, and a second side arranged opposite to the first side, and the first clamping portion is provided with a space avoidance groove on the first side, wherein when the first clamping portion clamps the sample-carrying component, the third grabbing portion is at least partially located in the space avoidance groove.

[0012] In some embodiments, the avoidance groove passes through the first clamping portion along the direction from the first side to the second side to separate the first clamping portion into two clamping rods arranged in parallel, and the second clamping portion is connected to the ends of the two clamping rods.

[0013] In some embodiments, a side surface of the first gripping portion is provided with an anti-slip structure.

[0014] In some embodiments, the anti-slip structure is a knurled structure.

[0015] In some embodiments, first clamping surfaces are respectively provided on two opposite edges of the first side of the avoidance groove, and the distance between the first clamping surfaces decreases along the direction from the first side to the second side, wherein when the robot is scheduled to transfer the sample-carrying component, the first clamping portion clamps the side of the first grasping portion through the first clamping surface.

[0016] In some embodiments, the first clamping surface is provided with an anti-slip structure.

[0017] In some embodiments, the anti-slip structure is a knurled structure.

[0018] In some embodiments, the grabbing rod also includes a second grabbing portion, and along the axial direction of the grabbing rod, the first grabbing portion, the third grabbing portion and the second grabbing portion are arranged in sequence, and the cross-sectional area of ​​the first grabbing portion along the direction perpendicular to the axial direction is larger than the cross-sectional area of ​​the second grabbing portion along the direction perpendicular to the axial direction.

[0019] In some embodiments, the second clamping portion has a first side facing the grasping rod when clamping the grasping rod, and a second side arranged opposite to the first side, the first side of the second clamping portion has two second clamping surfaces arranged opposite to each other, and the distance between the second clamping surfaces decreases along the direction from the first side to the second side, wherein, when the scheduling robot transfers the sample container, the second clamping portion clamps the side of the sample container through the second clamping surface.

[0020] In some embodiments, a portion of the second clamping portion for clamping the sample container is provided with an anti-slip structure.

[0021] In some embodiments, the anti-slip structure is a knurled structure.

[0022] The second aspect of the utility model also provides a sample carrying component, which is configured to be transferred by a scheduling robot, and the scheduling robot includes a plurality of clamping claws, each of which has a first clamping portion and a first supporting surface; the sample carrying component includes a carrying body and a grabbing rod. The carrying body has a plurality of placement holes for placing sample containers. The grabbing rod is connected to the carrying body and extends from the top of the carrying body, and the grabbing rod has a second supporting surface; wherein, when the sample carrying component is transferred by the scheduling robot, each first clamping portion clamps the grabbing rod, and the first supporting surface supports the second supporting surface.

[0023] In some embodiments, the grabbing rod includes a first grabbing portion and a second grabbing portion arranged in sequence along its own axial direction, the second grabbing portion is located between the first grabbing portion and the carrying body, and the first clamping portion is used to clamp the side of the first grabbing portion; wherein, the cross-sectional area of ​​the first grabbing portion along the direction perpendicular to the axial direction is larger than the cross-sectional area of ​​the second grabbing portion along the direction perpendicular to the axial direction, so as to form a second support surface at the connection between the first grabbing portion and the second grabbing portion.

[0024] In some embodiments, the grabbing rod includes a first grabbing portion and a third grabbing portion, and the first clamping portion is used to clamp the side of the first grabbing portion; wherein, in a reference plane perpendicular to the axis of the grabbing rod, the projection of the third grabbing portion in the reference plane extends beyond the projection of the first grabbing portion in the reference plane, and the lower side of the third grabbing portion has a second supporting surface.

[0025] The third aspect of the utility model further provides a sample processing module, which includes a carrying platform and a scheduling manipulator. The carrying platform is used to place a sample carrying component; wherein the scheduling manipulator is configured to move a sample container into a placement hole of a sample carrying component placed on the carrying platform, and to move the sample carrying component carrying the sample container out of the carrying platform; and / or, to move the sample carrying component carrying the sample container into the carrying platform, and to move the sample container out of the placement hole of the sample carrying component.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0028] Figure 1 It is a schematic diagram of the exploded structure of the mechanical dispatching hand and the sample carrying component in one embodiment of the utility model;

[0029] Figure 2 It is a schematic diagram of the position structure of the mechanical dispatching hand and the sample carrying component in one embodiment of the utility model, wherein the clamping claws of the dispatching mechanical hand are separated so that the clamping claws can clamp the grabbing rod;

[0030] Figure 3 It is a structural schematic diagram of a mechanical dispatching hand gripping sample carrying component in one embodiment of the utility model;

[0031] Figure 4 It is a partial structural schematic diagram of a mechanical dispatching hand clamping grabbing rod in one embodiment of the utility model;

[0032] Figure 5 It is a structural schematic diagram of a single-side clamping claw of a mechanical dispatching hand in one embodiment of the utility model;

[0033] Figure 6 It is a structural schematic diagram of a mechanical dispatching hand gripping a sample container in an embodiment of the utility model;

[0034] Figure 7 It is a partial structural schematic diagram of a grab bar in one embodiment of the utility model;

[0035] Figure 8 It is a structural diagram of a sample processing module in one embodiment of the utility model.

[0036] Reference numerals:

[0037] Sample processing module 10;

[0038] Dispatching robot 100;

[0039] Clamping jaw 110; first clamping portion 111; first side 1111; second side 1112; air-avoiding groove 1113; clamping rod 1114; first clamping surface 1115; anti-slip structure 1116; second clamping portion 112; second clamping surface 1121; first supporting surface 113;

[0040] Sample carrying part 200; carrying body 210; placement hole 211; grabbing rod 220; second supporting surface 221; first grabbing part 222; second grabbing part 223; third grabbing part 224;

[0041] Sample container 300;

[0042] The carrying platform 400. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0044] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] In the description of the present utility model, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0046] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0047] In the description of the utility model, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0048] As mentioned above, the test tube clamping structure in the related art is generally set as a four-rod clamping type or a two-petal clamping type. Regardless of whether it is a four-rod clamping type clamping jaw or a two-petal clamping type clamping jaw, the test tube clamping structure uses the movement and contraction of the chuck to clamp the test tube and the test tube carrying component. During the transfer process, the friction force of the chuck wall is relied on to resist gravity to achieve the scheduling of the test tube and the test tube carrying component. Therefore, the clamping jaw structure can only be adapted to scheduling scenarios with relatively small clamping force requirements. When the clamping force requirements of the chuck structure are relatively large, the clamping rod is extremely easy to deform, and the scheduling of test tubes and sample racks with larger mass cannot be achieved. Therefore, a separate manipulator for transferring sample racks is also required, which increases the cost of design and maintenance.

[0049] Based on the above problems, the first embodiment of the utility model proposes a scheduling robot 100, which is used to transfer the sample carrying component 200 and the sample container 300, wherein the scheduling robot 100 can transfer the sample carrying component 200 from the transmission track to the detection platform, or transfer the sample carrying component 200 from the detection platform to the transmission track; can take out the sample container 300 from the placement hole 211 of the sample carrying component 200, or can place the sample container 300 in the placement hole 211 of the sample carrying component 200, and there is no limitation here.

[0050] Reference Figure 1 as well as Figure 2 The sample carrying part 200 includes a carrying body 210 and a grabbing rod 220. The carrying body 210 has a plurality of placement holes 211 for placing the sample container 300. The grabbing rod 220 is connected to the carrying body 210 and extends from the top of the carrying body 210. The grabbing rod 220 has a second supporting surface 221. The sample in the sample container 300 can be an analyzed sample that has been analyzed by the sample analysis module and is waiting to be sent to the low-temperature storage module, or a sample to be retested that comes from the low-temperature storage module and is waiting to be sent to the sample analysis module for retesting, or a quality control sample or calibration sample that is waiting to be sent to the sample analysis module for analysis.

[0051] The grabbing rod 220 can be arranged at the middle position of the top of the carrying body 210, that is, the placement holes 211 can be arranged around the grabbing rod 220. The grabbing rod 220 can be connected to the carrying body 210 in any suitable manner. Specifically, the carrying body 210 can be provided with a connecting hole. One end of the grabbing rod 220 can be used to contact the dispatching manipulator 100, and the other end is passed through the connecting hole and is clamped or threadedly connected to the carrying body 210. The grabbing rod 220 can also be integrally formed with the carrying body 210.

[0052] Reference Figure 1 , Figure 2 , Figure 5 as well as Figure 7 In this embodiment, the sample carrier 200 is provided with a grabbing rod 220, which is arranged at the center of the carrier body 210. The dispatching robot 100 includes a plurality of clamping claws 110, each of which has a first clamping portion 111, a second clamping portion 112 and a first supporting surface 113. When the dispatching robot 100 transfers the sample carrier 200, each first clamping portion 111 clamps the grabbing rod 220, and each first supporting surface 113 supports the second supporting surface 221; when the dispatching robot 100 transfers the sample container 300, each second clamping portion 112 clamps the sample container 300.

[0053] The relative positions of the first clamping portion 111, the second clamping portion 112 and the first supporting surface 113 may vary according to the clamping requirements of the clamping jaw 110. Specifically, the grabbing rod 220 has an axis, the first clamping portion 111 and the second clamping portion 112 may be arranged adjacent to each other in a direction parallel to the axis of the grabbing rod 220, and the first supporting surface 113 may be arranged between the first clamping portion 111 and the second clamping portion 112. In some embodiments, the first clamping portion 111 and the second clamping portion 112 may also be arranged relative to each other in a direction intersecting the axis of the grabbing rod 220. The first supporting surface 113 may be arranged on the first clamping portion 111, the second clamping portion 112, or other portions different from the first clamping portion 111 and the second clamping portion 112. It can be understood that the first supporting surface 113 is used to support the second supporting surface 221. When the scheduling robot 100 transfers the sample supporting component 200, each first clamping portion 111 clamps the grabbing rod 220. The first supporting surface 113 is arranged on the side of the second supporting surface 221 close to the supporting body 210, and the second supporting surface 221 is located above the first supporting surface 113. The first supporting surface 113 can provide a supporting force for the second supporting surface 221 that is opposite to the gravity of the sample supporting component 200.

[0054] In this embodiment, when the dispatching robot 100 transfers the sample carrier 200, each first clamping portion 111 can clamp the grabbing rod 220, and each first support surface 113 supports the second support surface 221. The dispatching robot 100 clamps and transfers the sample carrier 200 through the friction between the first clamping portion 111 and the grabbing rod 220 and the support force between the first support surface 113 and the second support surface 221. The transfer stability of the sample carrier 200 by the dispatching robot 100 is greatly improved, so that it can adapt to the dispatch of heavy sample carriers 200. When the dispatching robot 100 transfers the sample container 300, each second clamping portion 112 clamps the sample container 300, and the dispatching robot 100 can clamp and transfer the sample container 300 through the friction between the second clamping portion 112 and the sample container 300. The scheduling robot 100 of the present invention can realize the transfer of sample containers 300, and can also realize the transfer of heavy-weight sample carrying components 200. Compared with the solution of transferring sample containers and sample carrying components separately through multiple robots, it can simplify the structure of the scheduling mechanism and reduce the design and maintenance costs.

[0055] Based on the first embodiment, in some embodiments, reference Figure 4 The grabbing rod 220 includes a first grabbing portion 222 and a second grabbing portion 223 which are sequentially arranged along the axis direction of the grabbing rod 220. The second grabbing portion 223 is located between the first grabbing portion 222 and the bearing body 210. In a direction parallel to the axis of the grabbing rod 220, one end of the second grabbing portion 223 is connected to the bearing body 210, and the other end is connected to the first grabbing portion 222. In this embodiment, the first clamping portion 111 clamping the grabbing rod 220 mentioned above specifically refers to the first clamping portion 111 clamping the side of the first grabbing portion 222. Among them, the cross-sectional area of ​​the first grabbing portion 222 along the direction perpendicular to the axis is larger than the cross-sectional area of ​​the second grabbing portion 223 along the direction perpendicular to the axis, so as to form a second supporting surface 221 at the connection between the first grabbing portion 222 and the second grabbing portion 223.

[0056] Specifically, the second support surface 221 may be at any other suitable angle with the axis of the grabbing rod 220, as long as the first support surface 113 can provide a support force opposite to the gravity for the second support surface 221. In some embodiments, the second support surface 221 may be perpendicular to the axis of the grabbing rod 220, the first support surface 113 abuts against the second support surface 221, and the first support surface 113 can provide a support force opposite to the gravity of the sample supporting component 200 for the second support surface 221, thereby enabling the clamping jaw 110 to provide a lifting force opposite to the gravity for the sample supporting component 200. The cross-sectional area of ​​the first grasping portion 222 along the direction perpendicular to the axis is greater than the cross-sectional area of ​​the second grasping portion 223 along the direction perpendicular to the axis. The second supporting surface 221 can be directly formed at the connection between the two, which can simplify the structure of the grasping rod 220 and reduce the weight of the grasping rod 220. In addition, the second grasping portion 223 can be avoided when the first clamping portion 111 clamps the first grasping portion 222, thereby avoiding interference between the second grasping portion 223 and the grasping rod 220.

[0057] Based on the first embodiment, refer to Figure 4 , Figure 7 The grabbing rod 220 includes a first grabbing portion 222 and a third grabbing portion 224. In the present embodiment, the first clamping portion 111 mentioned above for clamping the grabbing rod 220 specifically refers to the first clamping portion 111 being used to clamp the side surface of the first grabbing portion 222; wherein, in a reference plane perpendicular to the axis of the grabbing rod 220, a projection of the third grabbing portion 224 in the reference plane extends beyond the projection of the first grabbing portion 222 in the reference plane, and the lower side of the third grabbing portion 224 has a second supporting surface 221. In order to avoid excessively increasing the size of the first clamping portion 111, the diameter of the first gripping portion 222 cannot be too large, and in order to ensure strength, the diameter of the second gripping portion 223 cannot be too small. On this basis, the area of ​​the connection between the first gripping portion 222 and the second gripping portion 223 is relatively small, that is, the area of ​​the second supporting surface 221 is relatively small. Therefore, there is a risk that the contact area between the first supporting surface 113 and the second supporting surface 221 is insufficient and cannot provide stable support. In this embodiment, the second supporting surface 221 is formed by a third gripping portion 224 that is different from the first gripping portion 222, so that the area of ​​the second supporting surface 221 is not constrained by the first gripping portion 222, thereby ensuring that there is sufficient contact area between the first supporting surface 113 and the second supporting surface 221, thereby achieving stable support for the gripping rod 220.

[0058] In some specific embodiments, the third gripping portion 224 can be connected to the first gripping portion 222, for example, the third gripping portion 224 extends from the side of the first gripping portion 222; in other specific embodiments, when the gripping rod 220 also has a second gripping portion 223, the third gripping portion 224 can also be connected to the second gripping portion 223, for example, the third gripping portion 224 extends from the side of the second gripping portion 223; in some specific embodiments, when the gripping rod 220 also has a second gripping portion 223, the third gripping portion 224 can also be located between the first gripping portion 222 and the second gripping portion 223, for example Figure 4 , Figure 7 It should be noted that, in the above-mentioned different embodiments, the first gripping portion 222 and the third gripping portion 224 can be connected as an integral structure, the second gripping portion 223 and the third gripping portion 224 can be connected as an integral structure, and the first gripping portion 222, the second gripping portion 223 and the third gripping portion 224 can be connected as an integral structure.

[0059] Based on the embodiment in which the grab bar 220 includes the first grab portion 222 and the third grab portion 224, refer to Figure 5 In some embodiments, the first clamping portion 111 has a first side 1111 facing the grabbing rod 220 when clamping the grabbing rod 220, and a second side 1112 arranged opposite to the first side 1111, and the first clamping portion 111 is provided with a space avoiding groove 1113 on the first side 1111, wherein when the first clamping portion 111 clamps the sample supporting part 200, the third grabbing portion 224 is at least partially located in the space avoiding groove 1113.

[0060] It can be understood that the air-avoiding groove 1113 can be a through groove or a blind groove. When the third gripping portion 224 is disposed in the air-avoiding groove 1113, the third gripping portion 224 can only be partially engaged in the groove. For example, the third engaging portion can be passed through the air-avoiding groove 1113, so that the third engaging portion is partially located in the air-avoiding groove 1113 and partially passes through the air-avoiding groove 1113. In addition, the third gripping portion 224 can also be completely placed in the groove. Due to the provision of the air-avoiding groove 1113, the first clamping portion 111 can effectively avoid the first gripping portion 222 when abutting against the third gripping portion 224, thereby adapting to the round rod-type gripping rod 220. In addition, the provision of the air-avoiding groove 1113 can effectively reduce the weight of the dispatching manipulator 100 and reduce the manufacturing cost of the dispatching manipulator 100.

[0061] Furthermore, in some embodiments, the avoidance groove 1113 may penetrate the first clamping portion 111 to form a through groove, so as to separate the first clamping portion 111 into two clamping rods 1114 arranged in parallel, and the second clamping portion 112 is connected to the ends of the two clamping rods 1114. Figure 4 as well as Figure 5The first clamping portion 111 is configured as two separately arranged clamping rods 1114. Along a direction parallel to the axis of the grabbing rod 220, one end of the two clamping rods 1114 is commonly connected to the base of the scheduling manipulator 100, and the other end is connected to each other through the second clamping portion 112. On the one hand, the two clamping rods 1114 are separately arranged so that the first clamping portion 111 can clamp sample containers 300 of various types, and the mass of the first clamping portion 111 can be greatly reduced. On the other hand, the ends of the two clamping rods 1114 close to the supporting body 210 are connected to each other, and the strength of the end of the first clamping portion 111 close to the supporting body 210 is improved, which can greatly improve the stability of the first clamping portion 111 when clamping the first grabbing portion 222, thereby reducing the risk of clamping failure caused by shaking of the end of the first clamping portion 111 close to the supporting body 210.

[0062] It can be understood that, in some embodiments, the scheduling robot 100 has two clamping jaws 110 relatively arranged along the first side 1111 to the second side 1112, and the first clamping portions 111 of the two clamping jaws 110 can be respectively provided with air avoidance grooves 1113. Correspondingly, the scheduling robot 100 has four clamping rods 1114, and the four clamping rods 1114 constitute two relatively arranged clamping jaws 110. The ends of each clamping jaw 110 are connected to the two clamping rods 1114 by the second clamping portion 112. In this embodiment, the four clamping rods 1114 can jointly clamp the first grasping portion 222, and the second clamping portion 112 is connected to the end of the clamping rod 1114 close to the supporting body 210, so that the stability of the clamping jaw 110 is greatly improved.

[0063] In order to improve the ability of the first clamping portion 111 to clamp the grab bars 220 of different sizes, refer to Figure 5 In some embodiments, the spacing between the clamping surfaces on the clamping rods 1114 on both sides of the air-avoiding groove 1113 may vary. Specifically, in the present embodiment, the air-avoiding groove 1113 is provided with first clamping surfaces 1115 on two opposite edges of the first side 1111, respectively, and the distance between the first clamping surfaces 1115 decreases along the direction from the first side 1111 to the second side 1112, wherein, when the scheduling manipulator 100 transfers the sample-carrying component 200, the first clamping portion 111 clamps the side of the first gripping portion 222 through the first clamping surface 1115. When gripping rods 220 of different sizes are clamped, the first clamping surfaces 1115 on both sides can realize automatic centering of the gripping rods 220, and at this time, it is only necessary to adjust the spacing between the clamping jaws 110 on both sides to adapt to gripping rods 220 of different diameters.

[0064] It should be noted that, depending on different clamping requirements, the first clamping surface 1115 can be a flat surface or an arc-shaped curved surface, which is not limited here.

[0065] It can be understood that when the first clamping part 111 abuts against the side of the first gripping part 222 to clamp the first gripping part 222, there is a friction force between the first clamping part 111 and the first gripping part 222 that is opposite to the gravity of the sample supporting part 200. The greater the friction force between the first clamping part 111 and the first gripping part 222, the higher the stability of the first clamping part 111 gripping the first gripping part 222. Therefore, in order to improve the friction force between the first gripping part 222 and the first clamping part 111, an anti-slip structure 1116 can be provided on the first clamping surface 1115 where the first clamping part 111 contacts the first gripping part 222 and the wall surface where the first gripping part 222 contacts the first clamping part 111. Specifically, the anti-slip structure 1116 can be a structure with a large friction coefficient, such as anti-slip rubber, or a structure with a certain viscosity, such as a rubber layer, or a structure that can increase friction, such as a knurled structure, wherein the knurled structure specifically refers to a plurality of grooves and / or convex grooves formed on the wall surface where the first clamping surface 1115 or the first grasping portion 222 contacts the first clamping portion 111.

[0066] In some embodiments, the grab bar 220 may have multiple grab portions, and the cross-sectional areas of each grab portion may be different. Figure 4 , Figure 5 as well as Figure 7 In the present embodiment, the grabbing rod 220 comprises a first grabbing portion 222, a second grabbing portion 223 and a third grabbing portion 224. The first grabbing portion 222, the third grabbing portion 224 and the second grabbing portion 223 are sequentially arranged along the axial direction of the grabbing rod 220, and the first clamping portion 111 is used to clamp the side of the first grabbing portion 222; wherein, in a reference plane perpendicular to the axis of the grabbing rod 220, a projection of the third grabbing portion 224 in the reference plane extends beyond the projection of the first grabbing portion 222 in the reference plane, and the lower side of the third grabbing portion 224 has a second supporting surface 221.

[0067] The cross-sectional area of ​​the first gripping portion 222 along the direction perpendicular to the axis is greater than the cross-sectional area of ​​the second gripping portion 223 along the direction perpendicular to the axis. That is, along the direction parallel to the axis, there are respectively provided a first gripping portion 222 having a cross-sectional area greater than the cross-sectional area of ​​the second gripping portion 223, a third gripping portion 224 whose projection in the reference plane extends out of the projection of the first gripping portion 222, and a second gripping portion 223 having a cross-sectional area smaller than the cross-sectional area of ​​the first gripping portion 222. The cross-sectional area of ​​the second gripping portion 223 is smaller than the cross-sectional area of ​​the first gripping portion 222, so that the clamping jaw 110 can accurately obtain the gripping rod 220 when gripping the sample supporting member 200, reducing the risk of the clamping jaw 110 touching the gripping rod 220. The projection of the third gripping portion 224 extends out of the projection of the first gripping portion 222, so that the first supporting surface 113 can stably support the third gripping portion 224.

[0068] The second clamping part 112 is used to clamp the sample container 300. The sample container 300 generally has a cover and a rod with a receiving cavity. When the second clamping part 112 clamps the sample container 300, the clamping part of the sample container 300 can be selected according to the clamping requirements. Specifically, the second clamping part 112 can clamp the cover of the sample container 300 or the rod of the sample container 300. Figure 5 In this embodiment, the second clamping portion 112 has a first side 1111 facing the grabbing rod 220 when clamping the grabbing rod 220, and a second side 1112 arranged opposite to the first side 1111. The first side 1111 of the second clamping portion 112 has two second clamping surfaces 1121 arranged opposite to each other. The distance between the second clamping surfaces 1121 decreases along the direction from the first side 1111 to the second side 1112. When the scheduling manipulator 100 transfers the sample container 300, the second clamping portion 112 clamps the side of the sample container 300 through the second clamping surface 1121. Similarly, according to different clamping requirements, the second clamping surface 1121 can be a plane or an arc-shaped curved surface, which is not limited here.

[0069] In some specific embodiments, when the second clamping portion 112 abuts against the wall surface of the sample container 300, there is a friction force between the second clamping portion 112 and the sample container 300 that is opposite to the gravity of the sample container 300. The greater the friction force between the second clamping portion 112 and the sample container 300, the higher the stability of the second clamping portion 112 in grasping the sample container 300. Therefore, in order to improve the friction force between the second clamping portion 112 and the sample container 300, an anti-slip structure 1116 may be provided on the second clamping surface 1121 where the second clamping portion 112 contacts the sample container 300 and on the wall surface where the sample container 300 contacts the second clamping portion 112. Specifically, the anti-slip structure 1116 can be a structure with a large friction coefficient, such as anti-slip rubber, or a structure with a certain viscosity, such as a glue layer, or a structure that can increase friction, such as a knurled structure, wherein the knurled structure specifically refers to a plurality of grooves and / or convex grooves formed on the second clamping surface 1121 or the wall surface where the sample container 300 contacts the second clamping portion 112.

[0070] Reference Figure 6In the second embodiment of the utility model, a sample carrying component 200 is also provided. Specifically, the sample carrying component 200 is configured to be transferred by the scheduling robot 100. The scheduling robot 100 includes a plurality of clamping jaws 110, and each clamping jaw 110 has a first clamping portion 111 and a first supporting surface 113. The sample carrying component 200 includes a carrying body 210 and a grabbing rod 220. The carrying body 210 has a plurality of placement holes 211 for placing sample containers 300. The grabbing rod 220 is connected to the carrying body 210 and extends from the top of the carrying body 210, and the grabbing rod 220 has a second supporting surface 221.

[0071] Among them, when the sample carrying component 200 is transferred by the scheduling robot 100, each first clamping portion 111 clamps the grabbing rod 220, and the first supporting surface 113 supports the second supporting surface 221. In this embodiment, when the scheduling robot 100 transfers the sample carrying component 200, the first clamping portion 111 can clamp the grabbing rod 220, the first supporting surface 113 supports the second supporting surface 221, the first supporting surface 113 is arranged on the side of the second supporting surface 221 close to the carrying body 210, the second supporting surface 221 is located above the first supporting surface 113, and the first supporting surface 113 can provide the second supporting surface 221 with a supporting force opposite to the gravity of the sample carrying component 200. That is to say, the scheduling robot 100 can not only clamp the grabbing rod 220 through the friction force between the first clamping part 111 and the grabbing rod 220, but also clamp and transfer the sample carrying component 200 through the supporting force between the first supporting surface 113 and the second supporting surface 221. The transfer stability of the sample carrying component 200 by the scheduling robot 100 is greatly improved, and thus the transfer of a large-weight sample carrying component 200 can be realized, which will not be repeated here.

[0072] Reference Figure 3 , Figure 4 , Figure 5 as well as Figure 7 In some embodiments, the grabbing rod 220 includes a first grabbing portion 222 and a second grabbing portion 223 which are sequentially arranged along its own axial direction, the second grabbing portion 223 is located between the first grabbing portion 222 and the bearing body 210, and the first clamping portion 111 is used to clamp the side of the first grabbing portion 222; wherein, the cross-sectional area of ​​the first grabbing portion 222 along the direction perpendicular to the axial direction is larger than the cross-sectional area of ​​the second grabbing portion 223 along the direction perpendicular to the axial direction, so as to form a second supporting surface 221 at the connection between the first grabbing portion 222 and the second grabbing portion 223. This embodiment can achieve the same effect as the relevant scheme in the first embodiment.

[0073] In some embodiments, the grabbing rod 220 includes a first grabbing portion 222 and a third grabbing portion 224, and the first clamping portion 111 is used to clamp the side of the first grabbing portion 222; wherein, in a reference plane perpendicular to the axis of the grabbing rod 220, the projection of the third grabbing portion 224 in the reference plane extends beyond the projection of the first grabbing portion 222 in the reference plane, and the lower side of the third grabbing portion 224 has a second supporting surface 221. This embodiment can achieve the same effect as the relevant scheme in the first embodiment.

[0074] In some embodiments, the grabbing rod 220 may include a first grabbing portion 222, a second grabbing portion 223, and a third grabbing portion 224. The first grabbing portion 222, the third grabbing portion 224, and the second grabbing portion 223 are sequentially arranged along the axis direction of the grabbing rod 220, and the first clamping portion 111 is used to clamp the side of the first grabbing portion 222; wherein, in a reference plane perpendicular to the axis of the grabbing rod 220, the projection of the third grabbing portion 224 in the reference plane extends beyond the projection of the first grabbing portion 222 in the reference plane, and the lower side of the third grabbing portion 224 has a second supporting surface 221. The cross-sectional area of ​​the first grabbing portion 222 along the direction perpendicular to the axis is greater than the cross-sectional area of ​​the second grabbing portion 223 along the direction perpendicular to the axis. The cross-sectional area of ​​the second gripping portion 223 is smaller than that of the first gripping portion 222, so that the clamping jaw 110 can accurately grasp the gripping rod 220 when grasping the sample holding member 200, reducing the risk of the clamping jaw 110 touching the second gripping portion 223. The projection of the third gripping portion 224 extends beyond the projection of the first gripping portion 222, so that the first supporting surface 113 can stably support the second supporting surface 221 of the third gripping portion 224.

[0075] Reference Figure 8 In the third embodiment of the present utility model, a sample processing module 10 is further provided, and the sample processing module 10 includes a carrying platform 400 and a scheduling manipulator 100. The carrying platform 400 is used to place the sample carrying component 200 of any of the above embodiments. The scheduling manipulator 100 is configured to move the sample container 300 into the placement hole 211 of the sample carrying component 200 placed on the carrying platform 400, and to move the sample carrying component 200 carrying the sample container 300 out of the carrying platform 400.

[0076] The scheduling robot 100 can also move the sample carrying component 200 carrying the sample container 300 into the carrying platform 400, and move the sample container 300 out of the placement hole 211 of the sample carrying component 200. The scheduling robot 100 of this embodiment can be the scheduling robot 100 in the aforementioned first embodiment and its related solutions, and the sample carrying component 200 can be the sample carrying component 200 in the aforementioned second embodiment and its related solutions. Therefore, the sample processing module 10 of this embodiment has the same beneficial effects as the above-mentioned sample carrying component 200 and scheduling robot 100, which will not be repeated here.

[0077] The embodiments of the utility model are described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the utility model. In addition, the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.

Claims

1. A dispatching manipulator, characterized in that: Used to transfer a sample carrying component and a sample container, the sample carrying component comprises a carrying body and a grabbing rod, the carrying body has a plurality of placement holes for placing the sample container, the grabbing rod is connected to the carrying body and extends from the top of the carrying body, and the grabbing rod has a second supporting surface; The dispatching manipulator comprises a plurality of clamping claws, each of which has a first clamping portion, a second clamping portion and a first supporting surface; Among them, when the scheduling robot transfers the sample carrying component, each first clamping part clamps the grabbing rod, and each first supporting surface supports the second supporting surface; when the scheduling robot transfers the sample container, each second clamping part clamps the sample container.

2. The dispatching manipulator according to claim 1, characterized in that: The grabbing rod comprises a first grabbing portion and a second grabbing portion sequentially arranged along the axis direction thereof, the second grabbing portion is located between the first grabbing portion and the bearing body, and the first clamping portion is used to clamp the side surface of the first grabbing portion; The cross-sectional area of ​​the first grasping portion along the direction perpendicular to the axis is greater than the cross-sectional area of ​​the second grasping portion along the direction perpendicular to the axis, so as to form the second supporting surface at the connection between the first grasping portion and the second grasping portion.

3. The dispatching manipulator according to claim 1, characterized in that: The grabbing rod comprises a first grabbing portion and a third grabbing portion, wherein the first clamping portion is used to clamp the side surface of the first grabbing portion; Wherein, in a reference plane perpendicular to the axis of the grabbing rod, the projection of the third grabbing portion in the reference plane extends beyond the projection of the first grabbing portion in the reference plane, and the lower side of the third grabbing portion has the second supporting surface.

4. The dispatching manipulator according to claim 3, characterized in that: The first clamping portion has a first side facing the grabbing rod when clamping the grabbing rod, and a second side arranged opposite to the first side, and the first clamping portion is provided with a space avoidance groove on the first side, wherein when the first clamping portion clamps the sample carrying component, the third grabbing portion is at least partially located in the space avoidance groove.

5. The dispatching robot according to claim 4, characterized in that: Along the direction from the first side to the second side, the avoidance groove penetrates the first clamping part to separate the first clamping part into two clamping rods arranged in parallel, and the second clamping part is connected to the ends of the two clamping rods.

6. The dispatching robot according to claim 5, characterized in that: The side surface of the first gripping portion is provided with an anti-slip structure.

7. The dispatching robot according to claim 6, characterized in that: The anti-slip structure is a knurled structure.

8. The dispatching robot according to claim 4, characterized in that: The air avoidance groove is respectively provided with first clamping surfaces on two opposite edges of the first side, and the distance between the first clamping surfaces decreases along the direction from the first side to the second side, wherein when the scheduling robot transfers the sample carrying part, the first clamping part clamps the side of the first grasping part through the first clamping surface.

9. The dispatching robot according to claim 8, characterized in that: The first clamping surface is provided with an anti-slip structure.

10. The dispatching robot according to claim 9, characterized in that: The anti-slip structure is a knurled structure.

11. The dispatching robot according to claim 3, characterized in that: The grabbing rod also includes a second grabbing portion. Along the axial direction of the grabbing rod, the first grabbing portion, the third grabbing portion and the second grabbing portion are arranged in sequence, and the cross-sectional area of ​​the first grabbing portion along the direction perpendicular to the axial direction is larger than the cross-sectional area of ​​the second grabbing portion along the direction perpendicular to the axial direction.

12. The dispatching robot according to claim 1, characterized in that: The second clamping portion has a first side facing the grabbing rod when clamping the grabbing rod, and a second side arranged opposite to the first side, the first side of the second clamping portion has two second clamping surfaces arranged opposite to each other, and the distance between the second clamping surfaces decreases along the direction from the first side to the second side, wherein, when the scheduling robot transfers the sample container, the second clamping portion clamps the side of the sample container through the second clamping surface.

13. The dispatching robot according to claim 12, characterized in that: The portion of the second clamping portion used for clamping the sample container is provided with an anti-slip structure.

14. The dispatching robot according to claim 13, characterized in that: The anti-slip structure is a knurled structure.

15. A sample carrying component, characterized in that: is configured to be transferable by a dispatching robot, the dispatching robot comprising a plurality of grippers, each of the grippers having a first gripping portion and a first supporting surface; The sample carrying component comprises: A carrying body having a plurality of placement holes for placing sample containers; a grab bar connected to the load-bearing body and extending from the top of the load-bearing body, the grab bar having a second support surface; Wherein, when the sample carrying component is transferred by the scheduling robot, each of the first clamping parts clamps the grabbing rod, and the first supporting surface supports the second supporting surface.

16. The sample carrying component according to claim 15, characterized in that: The grabbing rod comprises a first grabbing portion and a second grabbing portion sequentially arranged along the axis direction thereof, the second grabbing portion is located between the first grabbing portion and the bearing body, and the first clamping portion is used to clamp the side surface of the first grabbing portion; wherein the cross-sectional area of ​​the first grabbing portion along the direction perpendicular to the axis is larger than the cross-sectional area of ​​the second grabbing portion along the direction perpendicular to the axis, so as to form the second supporting surface at the connection between the first grabbing portion and the second grabbing portion; Alternatively, the grabbing rod comprises a first grabbing portion and a third grabbing portion, the first clamping portion being used to clamp a side surface of the first grabbing portion; wherein, in a reference plane perpendicular to the axis of the grabbing rod, a projection of the third grabbing portion in the reference plane extends beyond a projection of the first grabbing portion in the reference plane, and the lower side of the third grabbing portion has the second supporting surface.

17. The sample processing module is characterized in that: include: A carrying platform, the carrying platform is used to place the sample carrying component according to claim 15 or 16; The dispatching manipulator according to any one of claims 1 to 14; Wherein, the scheduling robot is configured to move the sample container into the placement hole of the sample carrying component placed on the carrying platform, and move the sample carrying component carrying the sample container out of the carrying platform; and / or, move the sample carrying component carrying the sample container into the carrying platform, and move the sample container out of the placement hole of the sample carrying component.

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