Test tube moving device and sample pretreatment equipment

Abstract

The utility model discloses a test tube moving device and sample pretreatment equipment. The test tube moving device comprises a test tube grabbing mechanism, a first moving mechanism, a second moving mechanism and a third moving mechanism. Through cooperation of the first moving mechanism, the second moving mechanism and the third moving mechanism, the test tube grabbing mechanism can move in the first direction, the second direction and the third direction to grab test tubes, the structure is simple, the grabbing range of the test tube grabbing mechanism is enlarged, and the test tube moving efficiency of the test tube moving device is improved. And the test tube moving device further comprises a movement detection mechanism used for detecting the movement smoothness of the second moving mechanism and the third moving mechanism, the stability and practicability of the test tube moving device are improved, and the use experience of a user on the test tube moving device is further improved.

Description

Technical Field

[0001] The present application relates to the field of test tube movement technology, and in particular to a test tube moving device and sample pre-processing equipment. Background Art

[0002] With the continuous improvement of medical testing capabilities, sample analyzers need to perform a variety of test items on large numbers of samples. Therefore, sample analysis and testing are generally carried out on an assembly line. Sample pre-processing devices are generally used in assembly lines to sort, load, and recycle test tubes. However, the test tube gripping components in existing sample pre-processing devices are complex and bulky, resulting in a small gripping range and low efficiency. Utility Model Content

[0003] In order to solve the above technical problems, the present application provides a test tube moving device. The test tube moving device comprises:

[0004] A test tube grabbing mechanism, used for grabbing the test tube in the storage device;

[0005] a first moving mechanism, a second moving mechanism, and a third moving mechanism, wherein the test tube grabbing mechanism is slidably disposed on the second moving mechanism, and the second moving mechanism is used to drive the test tube grabbing mechanism to move along the first direction; the second moving mechanism is slidably disposed on the first moving mechanism, and the first moving mechanism is used to drive the second moving mechanism to move along the second direction; the first moving mechanism is slidably disposed on the third moving mechanism, and the third moving mechanism is used to drive the second moving mechanism to move along the third direction;

[0006] Wherein, any two of the first direction, the second direction and the third direction are perpendicular to each other;

[0007] In which, the test tube moving device also includes a movement detection mechanism, which is arranged on the first moving mechanism, for detecting whether the movement of the second moving mechanism driven by the first moving mechanism is stuck; and / or, is arranged on the third moving mechanism, for detecting whether the movement of the first moving mechanism driven by the third moving mechanism is stuck.

[0008] The mobile detection mechanism includes a first detection mechanism, and the first mobile mechanism includes a first guide rail, a first synchronous belt, at least two first transmission wheels and a first motor.

[0009] The first guide rail is disposed on the third moving mechanism and extends along the second direction. The at least two first transmission wheels are disposed on the first guide rail. The first synchronous belt is disposed around the at least two first transmission wheels. The extension direction of the first synchronous belt is parallel to the extension direction of the first guide rail. The first motor is connected to one of the at least two transmission wheels.

[0010] The first moving mechanism is slidably disposed on the first guide rail and is connected to the first synchronous belt;

[0011] Part of the first detection mechanism is arranged on one of the at least two first transmission wheels.

[0012] The first detection mechanism includes a rotating code disk, a plurality of optical coupling baffles and a detection optical coupler.

[0013] The rotating code disk is arranged on one of the at least two first transmission wheels, the rotation axis of the rotating code disk coincides with the rotation axis of the first transmission wheel connected to the rotating code disk, and the cross-section of the rotating code disk perpendicular to the rotation axis is circular; the multiple optical coupling baffles are equidistantly arranged on the edge of the rotating code disk, and the detection optical coupler is arranged on the first guide rail and is spaced apart from the rotating code disk.

[0014] The second moving mechanism includes a fixed plate, a second guide rail, a second synchronous belt, at least two second transmission wheels and a second motor.

[0015] The fixed plate is slidably disposed on the second moving mechanism, the fixed plate is extended along the first direction, the second guide rail is disposed on the fixed plate, and the extension direction of the second guide rail is parallel to the extension direction of the fixed plate, the at least two second transmission wheels are disposed on the fixed plate, the second synchronous belt is surrounded by the at least two second transmission wheels, and the extension direction of the second synchronous belt is parallel to the extension direction of the second guide rail, the second motor is disposed on the fixed plate, and is connected to one of the at least two second transmission wheels;

[0016] The test tube grabbing mechanism is connected to the second synchronous belt and is slidably arranged on the second guide rail.

[0017] Wherein, the second moving mechanism further includes a tank chain, which is slidably arranged on the fixed plate, and the connecting wires on the test tube grabbing mechanism are passed through the tank chain.

[0018] The test tube moving device further comprises a scanning mechanism, which is arranged on the fixed plate and spaced apart from the second synchronous belt. The shortest distance between the scanning mechanism and the test tube grabbing mechanism is a first preset distance.

[0019] The second moving mechanism further includes an initial position optical coupler, which is arranged at one end of the fixing plate close to the second moving mechanism and spaced apart from the second synchronous belt.

[0020] The third moving mechanism includes a third guide rail, a third synchronous belt, at least two third transmission wheels and a third motor.

[0021] The third guide rail is spaced apart from the storage device, and an extension direction of the third guide rail is parallel to the third direction. The at least two third transmission wheels are disposed on the third guide rail. The third synchronous belt is encircled by the at least two third transmission wheels, and an extension direction of the third synchronous belt is parallel to an extension direction of the third guide rail. The third motor is connected to one of the at least two third transmission wheels.

[0022] The second moving mechanism is slidably disposed on the third guide rail, and the second moving mechanism is connected to the third synchronous belt;

[0023] Wherein, the movement detection mechanism includes a second detection mechanism, and a portion of the second detection mechanism is arranged on one of the at least two third transmission wheels.

[0024] Wherein, the test tube grabbing mechanism includes two test tube grabbing clamps, the two test tube grabbing clamps are arranged at intervals, and the interval distance between the two test tube grabbing clamps is equal to the distance between two test tubes spaced on the storage device.

[0025] In order to solve the above technical problems, the present application also provides a sample pre-processing device, comprising the test tube moving device and the storage device as described above, wherein the test tube moving device is spaced apart from the storage device and is used to clamp the test tubes stored in the storage device.

[0026] The beneficial effects of the present application are as follows: Different from the prior art, the test tube moving device provided by the present application includes a test tube grabbing mechanism, a first moving mechanism, a second moving mechanism, and a third moving mechanism. The test tube grabbing mechanism is slidably arranged on the second moving mechanism, and the second moving mechanism is used to drive the test tube grabbing mechanism to move along a first direction; the second moving mechanism is slidably arranged on the first moving mechanism, and the first moving mechanism is used to drive the second moving mechanism to move along a second direction, thereby driving the test tube grabbing mechanism to move in the second direction; the first moving mechanism is slidably arranged on the third moving mechanism, and the third moving mechanism is used to drive the first moving mechanism to move along a third direction, thereby driving the test tube grabbing mechanism to move in the third direction. Through the cooperation of the first moving mechanism, the second moving mechanism, and the third moving mechanism, the test tube grabbing mechanism can move in the first direction, the second direction, and the third direction to grab the test tube. The structure is simple, the grabbing range of the test tube grabbing mechanism is expanded, and the moving efficiency of the test tube moving device for the test tube is improved. The test tube moving device also includes a movement detection mechanism for detecting the movement smoothness of the first moving mechanism and the second moving mechanism, thereby improving the stability and practicality of the test tube moving device and further enhancing the user experience of the test tube moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] in:

[0029] Figure 1 This is a structural diagram of the first embodiment of the test tube moving device 1 of the present application;

[0030] Figure 2 This is another structural diagram of the first embodiment of the test tube moving device 1 of the present application;

[0031] Figure 3 yes Figure 2 Schematic diagram of the structure of the local area A in FIG;

[0032] Figure 4 This is a structural diagram of an embodiment of the second moving mechanism 13 of the present application;

[0033] Figure 5 This is a structural diagram of an embodiment of the test tube grabbing mechanism 11 of the present application;

[0034] Figure 6 It is a structural diagram of an embodiment of the sample pre-processing equipment of this application.

[0035] Figure 1: Sample pretreatment equipment A; test tube moving device 1; test tube grasping mechanism 11; test tube grasping clamp 111; first moving mechanism 12; first guide rail 121; first synchronous belt 122; first transmission wheel 123; first motor 124; second moving mechanism 13; fixed plate 131; second guide rail 132; second synchronous belt 133; second transmission wheel 134; second motor 135; tank chain 136; initial position optical coupler 137; tank chain isolation rod 138; third moving mechanism 14; third guide rail 141; third synchronous belt 142; third transmission wheel 143; third motor 144; moving detection mechanism 15; first detection mechanism 151; rotating code disk 1511; optical coupler baffle 1512; detection optical coupler 1513; second detection mechanism 152; scanning mechanism 16; first direction X; second direction Y; third direction Z. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present application in detail with reference to the accompanying drawings.

[0037] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0038] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] The term "and / or" in this application is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C. In addition, the terms "first", "second", and "third" in this application are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0040] See also Figure 1 , Figure 11 is a schematic structural diagram of a first embodiment of a test tube moving device 1 of the present application. The test tube moving device 1 provided in the embodiment of the present application comprises a test tube grabbing mechanism 11, a first moving mechanism 12, a second moving mechanism 13 and a third moving mechanism 14.

[0041] The test tube grabbing mechanism 11 is used to grab the test tube in the storage device, and the test tube grabbing mechanism 11 is slidably arranged on the second moving mechanism 13, and the second moving mechanism 13 is used to drive the test tube grabbing mechanism 11 to move along the first direction X, such as Figure 1 As shown, the first direction X is the height direction of the storage device. The second moving mechanism 13 is slidably mounted on the first moving mechanism 12. The first moving mechanism 12 is configured to drive the second moving mechanism 13 to move along the second direction Y, which is the width direction of the storage device. The first moving mechanism 12 is slidably mounted on the third moving mechanism 14. The third moving mechanism 14 is configured to drive the first moving mechanism 12 to move along the third direction Z, which is the depth direction of the storage device. Any two of the first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

[0042] The cooperation of the first moving mechanism 12, the second moving mechanism 13, and the third moving mechanism 14 enables the test tube grasping mechanism 11 to move in the first direction X, the second direction Y, and the third direction Z, thereby expanding the range of movement of the test tube grasping mechanism 11 and improving the test tube grasping efficiency of the test tube grasping mechanism 11. Specifically, the second moving mechanism 13 can drive the test tube grasping mechanism 11 to move in the first direction X, so that the test tube grasping mechanism 11 can approach the test tube on the storage device along the first direction X and grasp the test tube. The first moving mechanism 12 can drive the second moving mechanism 13 to move in the second direction Y, thereby driving the test tube grasping mechanism 11 to move in the second direction Y, while the third moving mechanism 14 can drive the first moving mechanism 12 to move in the third direction Z, thereby driving the test tube grasping mechanism 11 to move in the third direction Z, so that the test tube grasping mechanism 11 can move along the second direction Y and the third direction Z to a specific position on the storage device and grasp the test tube at the specific position.

[0043] In one embodiment, the first moving mechanism 12 can be set across the width of the storage device, and the third moving mechanism 14 can be set across the depth of the storage device, thereby driving the test tube grasping mechanism 11 to move to any position on the storage device, further improving the test tube grasping mechanism 11's grasping efficiency for the test tubes in the storage device, and enhancing the user experience of the test tube moving device 1.

[0044] Further, such as Figure 2 As shown, Figure 2This is another structural diagram of the first embodiment of the test tube moving device 1 of the present application. The test tube moving device 1 also includes a movement detection mechanism 15, which is provided on the first moving mechanism 12 and is used to detect whether the movement of the second moving mechanism 13 driven by the first moving mechanism 12 has stalled, and / or is provided on the third moving mechanism 14 and is used to detect whether the movement of the first moving mechanism 12 driven by the third moving mechanism 14 has stalled.

[0045] As described above, the first moving mechanism 12 is used to drive the second moving mechanism 13 to move along the second direction Y, so as to drive the test tube grasping mechanism 11 to move in the second direction Y, and the movement detection mechanism 15 is arranged on the first moving mechanism 12, and is used to detect whether the movement of the second moving mechanism 13 driven by the first moving mechanism 12 is stuck. That is, the movement detection mechanism 15 is used to detect whether the movement of the test tube grasping mechanism 11 in the second direction Y is stuck.

[0046] The third moving mechanism 14 is used to drive the first moving mechanism 12 to move in the third direction Z, thereby driving the test tube grasping mechanism 11 to move in the third direction Z. The movement detection mechanism 15 is provided on the third moving mechanism 14 and is used to detect whether the movement of the first moving mechanism 12 driven by the third moving mechanism 14 is stuck. In other words, the movement detection mechanism 15 is used to detect whether the movement of the test tube grasping mechanism 11 in the third direction Z is stuck.

[0047] The test tube moving device 1 of the embodiment of the present application detects the movement of the test tube grasping mechanism 11 in the second direction Y and the third direction Z by setting a movement detection mechanism 15, thereby improving the safety and stability of the movement of the test tube grasping mechanism 11 in the test tube moving device 1 and enhancing the user experience of the test tube moving device 1.

[0048] In summary, the test tube moving device 1 provided in the embodiment of the present application includes a test tube grasping mechanism 11, a first moving mechanism 12, a second moving mechanism 13, a third moving mechanism 14, and a moving detection mechanism 15. The test tube grasping mechanism 11 is slidably disposed on the second moving mechanism 13, the second moving mechanism 13 is slidably disposed on the first moving mechanism 12, and the first moving mechanism 12 is slidably disposed on the third moving mechanism 14. Through the cooperation of the second moving mechanism 13, the second moving mechanism 13, and the third moving mechanism 14, the test tube grasping mechanism 11 can move in the first direction X, the second direction Y, and the third direction Z, thereby expanding the moving range of the test tube grasping mechanism 11, improving the efficiency of the test tube grasping mechanism 11 in grasping the test tubes in the storage device, and realizing automation and intelligence of the test tube grasping.

[0049] At the same time, the mobile detection mechanism 15 is arranged on the first moving mechanism 12 and / or the third moving mechanism 14, and is used to detect the movement of the test tube grasping mechanism 11 in the second direction Y and / or the third direction Z, thereby improving the safety and stability of the movement of the test tube grasping mechanism 11 in the test tube moving device 1 and enhancing the user's experience of using the test tube moving device 1.

[0050] Optionally, see Figure 1 and Figure 2 The mobile detection mechanism 15 includes a first detection mechanism 151 , and the first mobile mechanism 12 includes a first guide rail 121 , a first synchronous belt 122 , at least two first transmission wheels 123 and a first motor 124 .

[0051] The first guide rail 121 is mounted on the third moving mechanism 14 and extends in the second direction Y. At least two first transmission wheels 123 are mounted on the first guide rail 121. A first synchronous belt 122 is mounted around the at least two first transmission wheels 123, extending parallel to the direction of the first guide rail 121. A first motor 124 is connected to one of the at least two first transmission wheels 123. The second moving mechanism 13 is slidably mounted on the first guide rail 121 and is connected to the first synchronous belt 122.

[0052] Specifically, the first motor 124 drives the connected first transmission wheel 123 to rotate, and the rotating first transmission wheel 123 drives the first synchronous belt 122 and the remaining first transmission wheels 123 to rotate. The second moving mechanism 13 is connected to the first synchronous belt 122, and the rotation of the first synchronous belt 122 will drive the second moving mechanism 13 to move in the second direction Y. Since the second moving mechanism 13 is slidably set on the first guide rail 121, the first guide rail 121 will limit the movement of the second moving mechanism 13, so that the second moving mechanism 13 can only move in the second direction Y along the first guide rail 121.

[0053] The first detection mechanism 151 is provided on any one of the first transmission wheels 123 (which may be the first transmission wheel 123 connected to the first motor 124 or the first transmission wheel 123 not connected to the first motor 124) and is used to detect the rotation of the first transmission wheel 123. By detecting the rotation of the first transmission wheel 123, the movement of the second moving mechanism 13 driven by the first synchronous belt 122 is detected.

[0054] Optionally, see further Figure 3 , Figure 3 yes Figure 2 The first detection mechanism 151 includes a rotating code disk 1511 , a plurality of optical coupling baffles 1512 and a detection optical coupler 1513 .

[0055] A rotating code disk 1511 is mounted on the first transmission wheel 123, with its axis of rotation coinciding with the axis of rotation of the first transmission wheel 123. This allows the first transmission wheel 123 to drive the rotating code disk in synchronous, concentric rotation. The interface between the rotating code disk 1511 and the axis of rotation is circular, with multiple optical coupler flaps 1512 equally spaced along the edge of the rotating code disk 1511. A detection optical coupler 1513 is mounted on the first guide rail 121 and spaced from the rotating code disk 1511.

[0056] As the rotating code disk 1511 rotates with the first transmission wheel 123, it drives the optical coupler baffles 1512 to sequentially enter the detection optical coupler 1513, blocking the light generated by the detection optical coupler 1513. Since multiple optical coupler baffles 1512 are equidistantly arranged at the edge of the rotating code disk 1511, that is, the distance between any two adjacent optical coupler baffles 1512 is equal, when the rotating code disk 1511 rotates at a constant speed with the first transmission wheel 123, the optical coupler baffles 1512 regularly block the light from the detection optical coupler 1513, that is, the detection optical coupler 1513 can generate regular high and low level changes. If the detection optical coupler 1513 generates irregular high and low level changes, it can be considered that there is a problem with the rotation of the first transmission wheel 123, and it can be considered that the movement of the second moving mechanism 13 in the second direction Y is stuck.

[0057] In practical applications, the rotation of the first transmission wheel 123 can also be determined based on the corresponding relationship between the drive pulses generated by the first motor 124 to rotate the first transmission wheel 123 and the time difference between two adjacent optical coupling baffles 1512 entering the detection optical coupling 1513. For example, but not limited to, when the first motor 124 generates three pulses, one optical coupling baffle 1512 will enter the detection optical coupling 1513. After the first motor 124 generates the next three pulses, the other optical coupling baffle 1512 enters the detection optical coupling 1513. Therefore, it can be determined that the first motor 124 generated three pulses during the high-low level transition of the detection optical coupling 1513, and the time it takes for the first motor 124 to generate three pulses under normal circumstances (i.e., the time difference between two adjacent optical coupling baffles 1512 entering the detection optical coupling 1513) can be calculated. Furthermore, it may be that within the time when the first motor 124 normally generates 6 pulses, the detection optocoupler 1513 does not show any high-low level change (that is, the first motor 124 is stuck for more than 6 pulses), or it may be that within a period of time, the detection optocoupler 1513 normally generates 3 high-low level changes, but only generates 2 times within this time (that is, the first motor 124 should generate 9 pulses, but only generates 6-8 pulses within this time). The first detection mechanism 151 can determine that the first transmission wheel 123 is stuck in rotation, and then determine that the second moving mechanism 13 is stuck in movement.

[0058] After determining that the second moving mechanism 13 is stuck, the first detection mechanism 151 can report the fault and inform the user that the second moving mechanism 13 is stuck, so as to avoid the movement jam affecting the moving efficiency of the test tube moving device 1 for the test tube, thereby improving the safety and stability of the test tube moving device 1.

[0059] Optionally, see Figure 4 , Figure 4 1 is a schematic structural diagram of an embodiment of the second moving mechanism 13 of the present application. The second moving mechanism 13 provided in the embodiment of the present application includes a fixing plate 131, a second guide rail 132, a second synchronous belt 133, at least two second transmission wheels 134 and a second motor 135.

[0060] The fixed plate 131 is slidably mounted on the second moving mechanism 13 and extends along the first direction X. Specifically, the fixed plate 131 is slidably mounted on the first guide rail 121 and is connected to the first synchronous belt 122. A second guide rail 132 is mounted on the fixed plate 131 and extends parallel to the direction of the fixed plate 131, that is, the second guide rail 132 also extends along the first direction X. At least two second transmission wheels 134 are mounted on the fixed plate 131, and a second synchronous belt 133 is mounted around the at least two second transmission wheels 134 and extends parallel to the direction of the second guide rail 132. A second motor 135 is mounted on the fixed plate 131 and is connected to one of the second transmission wheels 134. The test tube grasping mechanism 11 is connected to the second synchronous belt 133 and slidably mounted on the second guide rail 132.

[0061] Specifically, the second motor 135 drives the second transmission wheel 134 connected thereto to rotate, and the rotation of the second transmission wheel 134 drives the second synchronous belt 133 and the remaining second transmission wheels 134 to rotate. Since the test tube grabbing mechanism 11 is connected to the second synchronous belt 133 and is slidably arranged on the second guide rail 132, when the second synchronous belt 133 rotates, it drives the test tube grabbing mechanism 11 to move in the first direction X. The second guide rail 132 further restricts the test tube grabbing mechanism 11, so that the test tube grabbing mechanism 11 moves along the first direction X.

[0062] Optionally, the second moving mechanism 13 also includes a tank chain 136, which is slidably set on the fixed plate 131, and then the connecting wires of the test tube grabbing mechanism 11 can be passed through the tank chain 136. When the test tube grabbing mechanism 11 moves along the second guide rail 132, the tank chain 136 will move accordingly to protect the connecting wires of the test tube grabbing mechanism 11, so as to prevent the connecting wires of the test tube grabbing mechanism 11 from rubbing against the mechanism on the fixed plate 131 (such as the second guide rail 132, the second synchronous belt 133, etc.) while following the movement of the test tube grabbing mechanism 11, thereby affecting the operation of the mechanism on the fixed plate 131 and causing wear on the connecting wires, thereby causing leakage of the connecting wires, thereby improving the safety of the movement of the test tube grabbing mechanism 11.

[0063] Optionally, the test tube moving device 1 further includes a scanning mechanism 16. The scanning mechanism 16 is disposed on the fixing plate 131 and spaced apart from the second synchronous belt 133. The shortest distance between the scanning mechanism 16 and the test tube grabbing mechanism 11 is a first preset distance.

[0064] Among them, the scanning mechanism 16 can scan the test tube grasped by the test tube grasping mechanism 11 and identify the type of the test tube grasped by the test tube grasping mechanism 11. In one embodiment, the test tube grasping mechanism 11 can also drive the grasped test tube to rotate, and then the scanning mechanism 16 can scan the rotating test tube, thereby improving the success rate of the scanning mechanism 16 in scanning the test tube.

[0065] The scanning distance of the scanning mechanism 16 is generally 45 mm to 90 mm. Therefore, the shortest distance between the scanning mechanism 16 and the test tube grasping mechanism 11 should be within the range of 45 mm to 90 mm (the shortest distance between the scanning mechanism 16 and the test tube grasping mechanism 11 is the distance between the scanning mechanism 16 and the test tube grasping mechanism 11 when the two are aligned). In one embodiment, the first preset distance is 55 mm. In other embodiments, the first preset distance may also be other specific values, which are not limited by this application.

[0066] Optionally, the second moving mechanism 13 also includes an initial position optical coupler 137. The initial position optical coupler 137 is provided at one end of the fixed plate 131 close to the first moving mechanism 12. And it is spaced apart from the second synchronous belt 133. After the test tube grabbing mechanism 11 grabs the test tube on the storage device, the second synchronous belt 133 drives the test tube grabbing mechanism 11 to move upward along the first direction X. The initial position optical coupler 137 is used to detect that the test tube grabbing mechanism 11 moves to the initial position. When the initial position optical coupler 137 detects that the test tube grabbing mechanism 11 is in the initial position, the second synchronous belt 133 stops rotating to prevent the second synchronous belt 133 from continuing to rotate and driving the test tube grabbing mechanism 11 to move. The test tube grabbing mechanism 11 moves excessively and collides with the second transmission wheel 134 or even falls on the second moving mechanism 13, thereby further improving the safety of the movement of the test tube grabbing mechanism 11.

[0067] In one embodiment, if the initial position optocoupler 137 does not detect that the test tube grasping mechanism 11 returns to the initial position within a preset time (the preset time may be the time for the test tube grasping mechanism 11 to move from the initial position to grasp the test tube and return to the initial position under normal circumstances), it can be considered that the test tube grasping mechanism 11 is stuck in movement. At this time, a fault can be reported to further improve the safety of the test tube grasping mechanism 11.

[0068] Optionally, see Figure 1 The third moving mechanism 14 includes a third guide rail 141 , a third synchronous belt 142 , at least two third transmission wheels 143 and a third motor 144 .

[0069] The third guide rail 141 is spaced apart from the storage device, and its extension direction is parallel to the third direction Z. In one embodiment, the third guide rail 141 can be disposed above the storage device 1, thereby saving installation space for the test tube moving device 1 and reducing the movement of the test tube grasping mechanism 11 in the second direction Y and the third direction Z. At least two third transmission wheels 143 are disposed on the third guide rail 141, and a third synchronous belt 142 is disposed around the at least two third transmission wheels 143. The extension direction of the third synchronous belt 142 is parallel to the extension direction of the third guide rail 141. The third motor 144 is connected to one of the third transmission wheels 143. The first moving mechanism 12 is slidably disposed on the third guide rail 141 and is connected to the third synchronous belt 142. Specifically, the first guide rail 121 can be slidably disposed on the third guide rail 141 and connected to the third synchronous belt 142.

[0070] Specifically, the third motor 144 drives the third transmission wheel 143 connected to it to rotate, and the rotating third transmission wheel 143 drives the third synchronous belt 142 and the remaining third transmission wheels 143 to rotate, and the third synchronous belt 142 drives the first moving mechanism 12 to move in the third direction Z, and the third guide rail 141 further restricts the movement of the first moving mechanism 12 in the third direction Z.

[0071] In one embodiment, if Figure 1 As shown, the third moving mechanism 14 may include two third guide rails 141 , which are arranged at both ends of the storage device, and then both ends of the first moving mechanism 12 are respectively arranged on a third guide rail 141 , thereby improving the stability of the first moving mechanism 12 moving on the third guide rail 141 .

[0072] It is understood that when the third moving mechanism 14 includes two third guide rails 141, the matching structure of the transmission wheel and the synchronous belt can be provided on only one of the two third guide rails 141, so as to drive one end of the first moving mechanism 12 to move, while the other end of the first moving mechanism 12 follows on the other third guide rail 141. Alternatively, each third guide rail 141 has a matching structure of the transmission wheel and the synchronous belt, and a third transmission wheel 143 on one third guide rail 141 is connected to a third transmission wheel 143 on the other third guide rail 141 via a coupling, ensuring that the two third synchronous belts 142 rotate synchronously. This prevents the two ends of the first moving mechanism 12 from moving asynchronously on the two third guide rails 141, and improves the stability of the third moving mechanism 14 in driving the first moving mechanism 12 to move along the third direction Z.

[0073] Further, such as Figure 2 As shown, the movement detection mechanism 15 further includes a second detection mechanism 152 . The second detection mechanism 152 is disposed on any one of the third transmission wheels 143 and is used to detect the movement of the first movement mechanism 12 .

[0074] In one embodiment, the structure of the second detection mechanism 152 is the same as that of the first detection mechanism 151, that is, the second detection mechanism 152 also includes a rotating code disk, an optical coupling baffle and a detection optical coupler. The specific detection principle is as described above and will not be repeated here.

[0075] In summary, the first moving mechanism 12 , the second moving mechanism 13 and the third moving mechanism 14 drive the moving mechanisms and the test tube grabbing mechanism 11 to move in corresponding directions through the cooperation of the synchronous belt, the transmission wheel and the guide rail, and the structure is simple.

[0076] Furthermore, a tank chain 136 is provided on the second moving mechanism 13 to protect the connecting wires of the test tube grabbing mechanism 11, thereby improving the safety of the movement of the test tube grabbing mechanism 11. The initial position optical coupler 137 and the movement detection mechanism 15 detect the movement of the test tube grabbing mechanism 11 and the moving components, thereby improving the safety of the movement of each mechanism in the test tube moving device 1.

[0077] Optionally, see Figure 5 , Figure 5 1 is a schematic structural diagram of an embodiment of a test tube grabbing mechanism 11 of the present application. The test tube grabbing mechanism 11 provided in the embodiment of the present application includes two test tube grabbing clamps 111, which are spaced apart and the spacing between the two test tube grabbing clamps 111 is equal to the distance between the two test tubes spaced apart on the storage device.

[0078] The two test tube grippers 111 may each have a separate control system, that is, the two test tube grippers 111 may grip the test tubes separately and at different times. It is understood that the two test tube grippers 111 may also grip the test tubes simultaneously, enabling the test tube gripping mechanism 11 to grip two test tubes at once, thereby improving the gripping efficiency of the test tube gripping mechanism 11.

[0079] It is understood that if the test tube grasping mechanism 11 includes two test tube grippers 111, the second moving mechanism 13 may include two tank chains 136, each of which protects the connecting wires of the test tube grippers 111. Furthermore, a tank chain isolation rod 138 may be provided between the two tank chains 136 to isolate the two tank chains 136, preventing friction and wear of the two tank chains 136 and improving the safety of the movement of the test tube grippers 111. Furthermore, the test tube moving device 1 may include two scanning mechanisms 16, each of which scans the test tube grasped by the corresponding test tube grippers 111.

[0080] Among them, the placement distance between two adjacent test tubes in the storage device can be 20 mm, and the setting distance between the two test tube grippers 111 can be 20 mm. Alternatively, the distance between the two test tube grippers 111 is 40 mm (the left and right test tubes of a test tube can be grabbed at the same time). Compared with the setting distance between the two test tube grippers 111 being the distance between two adjacent test tubes, the setting distance between the two test tube grippers 111 is twice the distance between two adjacent test tubes, which can reduce the difficulty of setting between the two test tube grippers 111, avoid the test tube grippers 111 being too close to each other and affecting each other's operation, and improve the stability of the test tube grippers 111.

[0081] In other embodiments, when the setting distance between the two test tubes in the storage device changes, the setting distance between the two test tube clamps 111 also changes accordingly. This application does not limit the specific value of the setting distance between the test tube clamps 111.

[0082] Alternatively, as Figure 5 Each test tube gripper 111 is provided with four claws, which are symmetrically arranged. When a test tube is grasped, the four claws can evenly apply force to the contact points on the test tube, thereby improving the stability of the test tube grasping. In one embodiment, a slot is formed at the lower end of each claw. After the test tube gripper 111 grasps the test tube, the slot clamps the test tube cap, further improving the stability of the test tube grasping.

[0083] In summary, the test tube moving device 1 provided in the embodiment of the present application includes a test tube grabbing mechanism 11, a first moving mechanism 12, a second moving mechanism 13, a third moving mechanism 14, and a moving detection mechanism 15. The test tube grabbing mechanism 11 is slidably arranged on the second moving mechanism 13, the second moving mechanism 13 is slidably arranged on the first moving mechanism 12, and the first moving mechanism 12 is slidably arranged on the third moving mechanism 14. Through the cooperation of the first moving mechanism 12, the second moving mechanism 13, and the third moving mechanism 14, the test tube grabbing mechanism 11 can move in the first direction X, the second direction Y, and the third direction Z, thereby expanding the movement range of the test tube grabbing mechanism 11, improving the efficiency of the test tube grabbing mechanism 11 in grabbing test tubes in the storage device, and realizing the automation and intelligence of the test tube grabbing. Moreover, each moving mechanism drives the corresponding mechanism to move through the cooperation mechanism of the transmission wheel and the synchronous belt, which has a simple structure and improves the user experience of the test tube moving device 1.

[0084] Meanwhile, a movement detection mechanism 15 is provided on the first moving mechanism 12 and / or the third moving mechanism 14 to detect movement of the test tube grasping mechanism 11 in the second direction Y and / or the third direction Z, thereby improving the safety and stability of movement of the test tube grasping mechanism 11 in the test tube moving device 1. Furthermore, the test tube grasping mechanism 11 includes two test tube grippers 111, which improve test tube grasping efficiency and further enhance the user experience of the test tube moving device 1.

[0085] This application also provides a sample pre-processing device, such as Figure 6 As shown, Figure 6 The sample pre-processing device A provided in this embodiment includes a test tube moving device 1 and a storage device 2. The test tube moving device 1 is spaced apart from the storage device 2 and is used to pick up test tubes stored in the storage device 2.

[0086] The storage device 2 can be a code disk for loading test tubes in the sample pretreatment device A, or a test tube rack for loading test tubes. The test tube moving device 1 can grab test tubes to be tested from the code disk and load them into the test tube rack, or it can grab completed test tubes from the test tube rack and unload them. The test tube moving device 1 actively loads and unloads test tubes in the sample pretreatment device A, improving the practicality of the sample pretreatment device A.

[0087] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A test tube moving device, characterized in that: include: A test tube grabbing mechanism, used for grabbing the test tube in the storage device; a first moving mechanism, a second moving mechanism, and a third moving mechanism, wherein the test tube grabbing mechanism is slidably disposed on the second moving mechanism, and the second moving mechanism is used to drive the test tube grabbing mechanism to move along a first direction; the second moving mechanism is slidably disposed on the first moving mechanism, and the first moving mechanism is used to drive the second moving mechanism to move along a second direction; the first moving mechanism is slidably disposed on the third moving mechanism, and the third moving mechanism is used to drive the first moving mechanism to move along a third direction; Wherein, any two of the first direction, the second direction and the third direction are perpendicular to each other; In which, the test tube moving device also includes a movement detection mechanism, which is arranged on the first moving mechanism, for detecting whether the movement of the second moving mechanism driven by the first moving mechanism is stuck; and / or, is arranged on the third moving mechanism, for detecting whether the movement of the first moving mechanism driven by the third moving mechanism is stuck.

2. The test tube moving device according to claim 1, characterized in that The mobile detection mechanism includes a first detection mechanism, and the first mobile mechanism includes a first guide rail, a first synchronous belt, at least two first transmission wheels and a first motor. The first guide rail is disposed on the third moving mechanism and extends along the second direction. The at least two first transmission wheels are disposed on the first guide rail. The first synchronous belt is disposed around the at least two first transmission wheels. The extension direction of the first synchronous belt is parallel to the extension direction of the first guide rail. The first motor is connected to one of the at least two transmission wheels. The second moving mechanism is slidably disposed on the first guide rail and is connected to the first synchronous belt; The first detection mechanism is disposed on one of the at least two first transmission wheels.

3. The test tube moving device according to claim 2, characterized in that: The first detection mechanism includes a rotating code disk, a plurality of optical coupling baffles and a detection optical coupler. The rotating code disk is arranged on one of the at least two first transmission wheels, the rotation axis of the rotating code disk coincides with the rotation axis of the first transmission wheel connected to the rotating code disk, and the cross-section of the rotating code disk perpendicular to the rotation axis is circular; the multiple optical coupling baffles are equidistantly arranged on the edge of the rotating code disk, and the detection optical coupler is arranged on the first guide rail and is spaced apart from the rotating code disk.

4. The test tube moving device according to claim 1, characterized in that The second moving mechanism includes a fixed plate, a second guide rail, a second synchronous belt, at least two second transmission wheels and a second motor. The fixed plate is slidably disposed on the second moving mechanism, the fixed plate is extended along the first direction, the second guide rail is disposed on the fixed plate, and the extension direction of the second guide rail is parallel to the extension direction of the fixed plate, the at least two second transmission wheels are disposed on the fixed plate, the second synchronous belt is surrounded by the at least two second transmission wheels, and the extension direction of the second synchronous belt is parallel to the extension direction of the second guide rail, the second motor is disposed on the fixed plate, and is connected to one of the at least two second transmission wheels; The test tube grabbing mechanism is connected to the second synchronous belt and is slidably arranged on the second guide rail.

5. The test tube moving device according to claim 4, characterized in that: The second moving mechanism further comprises a tank chain, which is slidably arranged on the fixed plate, and the connecting wires on the test tube grabbing mechanism are passed through the tank chain.

6. The test tube moving device according to claim 4, characterized in that: The test tube moving device further includes a scanning mechanism, which is disposed on the fixed plate and spaced apart from the second synchronous belt. The shortest distance between the scanning mechanism and the test tube grabbing mechanism is a first preset distance.

7. The test tube moving device according to claim 4, characterized in that: The second moving mechanism further includes an initial position optical coupler, which is arranged at one end of the fixing plate close to the second moving mechanism and spaced apart from the second synchronous belt.

8. The test tube moving device according to claim 1, characterized in that: The third moving mechanism includes a third guide rail, a third synchronous belt, at least two third transmission wheels and a third motor. The third guide rail is spaced apart from the storage device, and an extension direction of the third guide rail is parallel to the third direction. The at least two third transmission wheels are disposed on the third guide rail. The third synchronous belt is encircled by the at least two third transmission wheels, and an extension direction of the third synchronous belt is parallel to an extension direction of the third guide rail. The third motor is connected to one of the at least two third transmission wheels. The second moving mechanism is slidably disposed on the third guide rail, and the second moving mechanism is connected to the third synchronous belt; Wherein, the movement detection mechanism includes a second detection mechanism, and a portion of the second detection mechanism is arranged on one of the at least two third transmission wheels.

9. The test tube moving device according to claim 1, characterized in that: The test tube grabbing mechanism includes two test tube grabbing clamps, which are spaced apart, and the spacing between the two test tube grabbing clamps is equal to the distance between two spaced test tubes on the storage device.

10. A sample pre-processing device, characterized in that: It comprises the test tube moving device and the storage device according to any one of claims 1 to 9, wherein the test tube moving device is spaced apart from the storage device and is used to clamp the test tubes stored in the storage device.

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