Full-automatic specimen centrifugal sorting system

Abstract

The utility model provides a full-automatic specimen centrifugal sorting system, and belongs to the technical field of medical automation. The problems that a plurality of pretreatment devices are needed for various devices in a laboratory or test tubes are sorted after manual centrifugation, more manpower needs to be consumed, and the more machines are, the more complex operation is are solved. A full-automatic specimen centrifugal sorting system comprises a sample loading module, a centrifugal module and a sorting module, the sample loading module is used for orderly loading test tubes, the centrifugal module is used for centrifuging the test tubes placed in the centrifugal module, and the sorting module is used for placing the test tubes centrifuged by the centrifugal module into corresponding sorting drawers or test tube racks according to types. The device has the advantages that the test tubes subjected to automatic centrifugation are automatically placed into the picking-out drawer or automatically loaded into the test tube rack according to types, a large amount of manual operation is not needed, labor is saved, and efficiency and accuracy are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical automation, in particular to a full-automatic specimen centrifugal sorting system. Background Art

[0002] During the test tube inspection process in medical and laboratory settings, a crucial step is test tube pretreatment. The typical process involves loading, centrifugation, uncapping, liquid separation (optional), and racking / transportation. Automated pretreatment equipment on the market sorts and categorizes test tubes before centrifugation, with each pretreatment device processing test tubes for a specific analytical instrument. Laboratories with diverse equipment often require multiple pretreatment devices or manual post-centrifugation sorting, which consumes significant labor and increases operational complexity with the number of machines involved. Utility Model Content

[0003] (1) Technical problems solved

[0004] In response to the shortcomings of the existing technology, the present invention provides a fully automatic specimen centrifugal sorting system. This system automatically places test tubes after automatic centrifugation into a sorting drawer or into a test tube rack according to their type, eliminating the need for extensive manual operation, saving labor, and improving efficiency and accuracy. This system solves the problem that automated pre-processing equipment on the market sorts and categorizes test tubes before centrifugation, with each pre-processing device processing test tubes corresponding to a specific analytical instrument. Laboratories with multiple devices require multiple pre-processing devices or manual sorting of test tubes after centrifugation, which consumes a lot of manpower. Furthermore, the more machines there are, the more complex the operation becomes.

[0005] (2) Technical solution

[0006] In order to achieve the above-mentioned purpose of automatically placing the test tubes after automatic centrifugation into the picking drawer or automatically loading them into the test tube rack according to type without requiring a large amount of manual operation, saving labor, and improving efficiency and accuracy, the utility model provides the following technical solution: a fully automatic specimen centrifugal sorting system, including a loading module, a centrifugation module and a sorting module, the loading module is used to load the test tubes in an orderly manner, the centrifugation module centrifuges the test tubes placed therein, and the sorting module is used to place the test tubes that have been centrifuged by the centrifugation module into the corresponding picking drawer or test tube rack according to type.

[0007] Preferably, the sorting module includes a sorting robot, a picking drawer and a test tube rack.

[0008] Preferably, the sorting robot is a truss-type robotic arm, a four-axis robotic arm, or a six-axis robotic arm.

[0009] Preferably, the loading module includes a loading mechanism, a conveying mechanism is provided above the loading mechanism, an inclined slide is provided at the end of the conveying mechanism, the loading mechanism is used to lift a single test tube to the conveying mechanism, the conveying mechanism is used to transport the test tube to the inclined slide, and the test tube is arranged in an upright state in the inclined slide.

[0010] Preferably, the sample loading module further comprises a rotating code scanning mechanism provided at the end of the inclined slide, and the rotating code scanning mechanism is used to drive the test tube to rotate to scan the code on the test tube.

[0011] Preferably, the sorting robot is provided with a rotating code scanning mechanism, and the rotating code scanning mechanism is used to scan the test tube when the sorting robot grabs the test tube located in the inclined slide.

[0012] Preferably, the sample loading module further comprises a lifting mechanism arranged at the end of the inclined slide, and the lifting mechanism is used to lift the test tube out of the inclined slide.

[0013] Preferably, the centrifugal module includes a truss robot and a centrifuge, and the truss robot includes two sets of independently lifting truss robot manipulators, one set of the truss robot manipulators is used to grab the pre-centrifugation test tube adapter and place it into the centrifuge, take out the post-centrifugation test tube adapter in the centrifuge, and return the post-centrifugation test tube adapter to its place, and the other set of the truss robot manipulators is used to place the centrifuged test tube in the post-centrifugation test tube adapter into the conveying system and carrier, and the conveying system and carrier are used to convey the test tube to the sorting module.

[0014] Preferably, the transport system and carrier include a special test tube rack capable of holding a single or multiple test tubes.

[0015] Preferably, the centrifuge module further comprises a four-axis / six-axis robot, an NG sample output drawer and an emergency sample loading test tube rack, wherein the four-axis / six-axis robot is used to grab the test tube on the inclined slide and place it into the test tube adapter before centrifugation.

[0016] (3) Beneficial effects

[0017] Compared with the existing technology, the present invention provides a fully automatic specimen centrifugal sorting system with the following beneficial effects:

[0018] This fully automatic specimen centrifugal sorting system is used through the mutual cooperation of the sample loading module, the centrifugal module and the sorting module. The test tubes that need to be centrifuged are transferred to the transmission mechanism through the loading mechanism. The transmission mechanism gradually transports the test tubes to the inclined slide, so that the test tubes are arranged in an upright state in the inclined slide. Then the rotary scanning mechanism will scan the frontmost test tube for identification and numbering for subsequent operations. After the scanning is completed, the test tube is pushed up to a certain height by the lifting mechanism to facilitate the subsequent grasping of the sorting robot. Of course, the rotary scanning mechanism at the end of the inclined slide can also be set on the robotic arm of the sorting robot. Either of the two is provided with a rotary scanning mechanism. After placing the test tubes in the pre-centrifuge tube adapter rack, the truss robot manipulator places the pre-centrifuge tube adapter rack containing uncentrifuged test tubes into the centrifuge for centrifugation. After centrifugation is complete, the truss robot manipulator places the post-centrifuge tube adapter rack in the centrifuge into the tube unloading area. Another set of manipulators places the centrifuged specimens in the post-centrifuge tube adapter rack in the tube unloading area into the conveyor system and carrier. The specimens are transported to the sorting module via the conveyor system and carrier, and the truss robot manipulator then returns the empty post-centrifuge tube adapter to its original position. The sorting robot then grabs each centrifuged tube based on the previously scanned code and places it into the corresponding test tube rack in the sorting drawer. This achieves the goal of automatically placing centrifuged test tubes by type into the sorting drawer or automatically loading them into the test tube rack, eliminating the need for extensive manual labor and improving efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural diagram of a fully automatic specimen centrifugal sorting system of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of a sample loading module of a fully automatic specimen centrifugal sorting system of the present utility model;

[0021] Figure 3 This is a schematic diagram of the structure of a centrifugal module of a fully automatic specimen centrifugal sorting system of the present utility model;

[0022] Figure 4 This is a structural schematic diagram of a sorting module of a fully automatic specimen centrifugal sorting system of the present utility model.

[0023] In the picture:

[0024] 1. Sample loading module; 11. Loading mechanism; 12. Transmission mechanism; 13. Inclined slide; 14. Lifting mechanism; 15. Rotating code scanning mechanism;

[0025] 2. Centrifuge module; 21. Truss robot; 22. Four-axis / six-axis robot; 23. Truss robot manipulator; 24. Conveying system and carrier; 25. NG sample output drawer; 26. Emergency sample loading test tube rack; 27. Pre-centrifugation test tube adapter; 28. Centrifuge; 29. ​​Post-centrifugation test tube adapter;

[0026] 3. Sorting module; 31. Sorting robot; 32. Pick-out drawer; 33. Test tube rack. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] See also Figure 1-4 A fully automated specimen centrifugal sorting system comprises a loading module 1, a centrifugation module 2, and a sorting module 3. Loading module 1 is the entrance to the system, responsible for lifting test tubes to be centrifuged from their original containers into the system's centrifugation process. Centrifugation module 2 is the processing unit of the system, responsible for centrifuging the test tubes delivered by loading module 1. Sorting module 3 is the output of the system, responsible for sorting and storing the centrifuged test tubes according to their types.

[0029] The sorting module 3 includes a sorting robot 31, a sorting drawer 32, and a test tube rack 33. The sorting robot 31 is used to place test tubes centrifuged in the centrifugation module 2 into the corresponding sorting drawer 32 or test tube rack 33. The sorting robot 31 is a sorting device that is responsible for picking up and placing centrifuged test tubes one by one according to identification marks on the test tubes, such as barcodes or QR codes, into the corresponding sorting drawers 32 or test tube racks 33. The use of the sorting robot 31 greatly improves sorting accuracy and efficiency, reducing manual intervention and errors. The sorting drawer 32 and test tube rack 33 are containers in the sorting module 3 for storing sorted test tubes.

[0030] The sorting robot 31 is a truss-type robotic arm, a four-axis robotic arm, or a six-axis robotic arm. The four-axis robotic arm's primary function is to grab centrifuged test tubes from the centrifuge module 2 and move them to a designated sorting drawer 32 or test tube rack 33. Compared to a four-axis robotic arm, a six-axis robotic arm has more joints and degrees of freedom, making its movement more flexible and versatile. It can grasp and move test tubes in more complex ways, even in narrow or confined spaces.

[0031] The loading module 1 includes a loading mechanism 11, above which is disposed a conveying mechanism 12, and at the end of which is disposed an inclined slide 13. The loading mechanism 11 is used to lift individual test tubes onto the conveying mechanism 12, which in turn transports the test tubes to the inclined slide 13, where they are arranged upright. The conveying mechanism 12 is located above the loading mechanism 11, and its primary function is to smoothly transport the test tubes lifted by the loading mechanism 11 to the inclined slide 13. As the test tubes enter the inclined slide 13 from the conveying mechanism 12, the inclined slide 13 arranges them, making them more orderly and facilitating subsequent lifting by the lifting mechanism 14 and grasping by the four-axis / six-axis robot 22.

[0032] The loading module 1 also includes a rotating code scanning mechanism 15 disposed at the end of the inclined slide 13. The rotating code scanning mechanism 15 is used to rotate the test tube to scan the code on the test tube. The function of the rotating code scanning mechanism 15 is to scan the barcode, QR code, or other type of identification code on the test tube. These codes typically contain the identity information of the test tube, experimental information, or other important data. By scanning these codes, the system can automatically obtain relevant information about the test tube, providing data support for subsequent processing and sorting.

[0033] The sorting robot 31 is equipped with a rotating code scanning mechanism 15, which is used to scan the test tube when the sorting robot 31 grabs the test tube in the inclined chute 13. In this case, the rotating code scanning mechanism 15 is no longer installed at the end of the inclined chute 13. Instead, the rotating code scanning mechanism 15 is installed on either the inclined chute 13 or the robotic arm of the sorting robot 31. When the rotating code scanning mechanism 15 is installed on the sorting robot 31, after the sorting robot 31 grabs the test tube in the inclined chute 13, the rotating code scanning mechanism 15 on the sorting robot 31 will scan the grabbed test tube.

[0034] The loading module 1 also includes a lifting mechanism 14 at the end of the inclined slide 13. This mechanism is used to lift the test tube to a height suitable for grasping by the sorting robot 31. The main function of the lifting mechanism 14 is to lift the test tube at the end of the inclined slide 13 to a certain height, so that the upper half of the test tube can be ejected from the inclined slide 13, making it easier for the four-axis / six-axis robot 22 of the centrifuge module 2 to grasp it.

[0035] The centrifuge module 2 includes a truss robot 21 and a centrifuge 28. The truss robot 21 includes two sets of independently lifting truss robot manipulators 23. One set of truss robot manipulators 23 is used to grab the pre-centrifugation test tube adapter 27 containing uncentrifuged test tubes and place it into the centrifuge 28, take out the post-centrifugation test tube adapter 29 containing centrifuged test tubes in the centrifuge 28 and place it in the specimen unloading area, and replace the empty post-centrifugation test tube adapter 29 in its original position for loading and taking uncentrifuged test tubes, etc. The other set of truss robot manipulators 23 is used to place the centrifuged test tubes in the post-centrifugation test tube adapter 29 placed in the specimen unloading area into the conveying system and carrier 24. The conveying system and carrier 24 are used to transport the centrifuged test tubes to the sorting module 3.

[0036] The transport system and carrier 24 include specialized test tube racks that can hold single or multiple samples.

[0037] The centrifuge module 2 also includes a four-axis / six-axis robot 22, an NG sample output drawer 25, and an emergency sample loading test tube rack 26. The four-axis / six-axis robot 22 is used to grab test tubes from the chute 13 and place them into the pre-centrifugation test tube adapter 27. The four-axis / six-axis robot 22 places the grabbed test tubes into the pre-centrifugation test tube adapter 27, automating the loading process from the chute 13 to the pre-centrifugation stage. The NG sample output drawer 25 is used to store and process samples deemed unqualified during the centrifugation process. By isolating and sorting unqualified samples in a dedicated drawer, they are prevented from being mixed with qualified samples, ensuring the accuracy and reliability of subsequent processing. The emergency sample loading test tube rack 26 provides a dedicated loading location for test tubes requiring urgent processing. In emergencies or when samples require rapid results, these tubes can be quickly transferred to the centrifugation process using the emergency sample loading test tube rack 26. By establishing a dedicated loading channel and processing flow for emergency samples, they are prioritized, shortening processing time and meeting urgent needs.

[0038] Working Principle: Test tubes to be centrifuged are transferred to the conveyor mechanism 12 via the loading mechanism 11. The conveyor mechanism 12 gradually transports the test tubes to the inclined slide 13, arranging the test tubes in an upright position in the inclined slide 13. The rotary code scanning mechanism 15 then scans the code of the test tube at the front end to identify its number for subsequent operations. After the code scanning is completed, the lifting mechanism 14 pushes the test tube upward to a certain height to facilitate subsequent grasping by the sorting robot 31. Of course, the rotary code scanning mechanism 15 at the end of the inclined slide 13 can also be set on the robotic arm of the sorting robot 31. Either of the two methods can be equipped with the rotary code scanning mechanism 15. After placing the test tubes in the pre-centrifugation test tube adapter rack, the truss robot manipulator 23 places the pre-centrifugation test tube adapter rack containing uncentrifuged test tubes into the centrifuge 28 for centrifugation. After centrifugation is complete, the truss robot manipulator 23 places the post-centrifugation test tube adapter rack in the centrifuge 28 into the test tube unloading area. Another set of manipulators places the centrifuged specimens in the post-centrifugation test tube adapter rack in the test tube unloading area into the conveyor system and carrier 24. The specimens are transported to the sorting module 3 via the conveyor system and carrier 24. The truss robot manipulator 23 then returns the empty post-centrifugation test tube adapter 29 to its original position. The sorting robot 31 then grabs the centrifuged test tubes one by one according to the previously scanned code information and places them into the corresponding test tube rack 33 in the outgoing drawer 32. This achieves the effect of automatically placing the centrifuged test tubes into the outgoing drawer 32 or automatically loading them into the test tube rack 33 according to their type, eliminating the need for extensive manual operation, saving labor, and improving efficiency and accuracy.

[0039] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic specimen centrifugal sorting system, characterized by: The invention comprises a sample loading module (1), a centrifugation module (2) and a sorting module (3), wherein the sample loading module (1) is used for sequentially loading test tubes, the centrifugation module (2) is used for centrifuging the test tubes placed therein, and the sorting module (3) is used for placing the test tubes centrifuged by the centrifugation module (2) into corresponding picking drawers (32) or test tube racks (33) according to their types.

2. The fully automatic specimen centrifugal sorting system according to claim 1, characterized in that: The sorting module (3) comprises a sorting robot (31), a picking drawer (32) and a test tube rack (33).

3. The fully automatic specimen centrifugal sorting system according to claim 2, characterized in that: The sorting robot (31) is a truss-type robotic arm, a four-axis robotic arm, or a six-axis robotic arm.

4. The fully automatic specimen centrifugal sorting system according to claim 2, characterized in that: The loading module (1) comprises a loading mechanism (11), a transmission mechanism (12) is provided above the loading mechanism (11), an inclined slide (13) is provided at the end of the transmission mechanism (12), the loading mechanism (11) is used to lift a single test tube to the transmission mechanism (12), the transmission mechanism (12) is used to transport the test tube to the inclined slide (13), and the test tube is arranged in an upright state in the inclined slide (13).

5. The fully automatic specimen centrifugal sorting system according to claim 4, characterized in that: The sample loading module (1) further comprises a rotating code scanning mechanism (15) arranged at the end of the inclined slide (13), and the rotating code scanning mechanism (15) is used to drive the test tube to rotate to scan the code on the test tube.

6. The fully automatic specimen centrifugal sorting system according to claim 4, characterized in that: The sorting robot (31) is provided with a rotary code scanning mechanism (15), and the rotary code scanning mechanism (15) is used to scan the test tube when the sorting robot (31) grabs the test tube located in the inclined slide (13).

7. The fully automatic specimen centrifugal sorting system according to claim 1, characterized in that: The sample loading module (1) further comprises a lifting mechanism (14) arranged at the end of the inclined slide (13), and the lifting mechanism (14) is used to lift the test tube out of the inclined slide (13).

8. The fully automatic specimen centrifugal sorting system according to claim 1, characterized in that: The centrifugal module (2) includes a truss robot (21) and a centrifuge (28). The truss robot (21) includes two sets of independently lifting truss robot manipulators (23). One set of the truss robot manipulators (23) is used to grab the pre-centrifugation test tube adapter (27) and place it into the centrifuge (28), take out the post-centrifugation test tube adapter (29) in the centrifuge (28), and return the post-centrifugation test tube adapter (29) to its original position. The other set of the truss robot manipulators (23) is used to place the centrifuged test tube in the post-centrifugation test tube adapter (29) into the conveying system and carrier (24). The conveying system and carrier (24) are used to convey the test tube to the sorting module (3).

9. The fully automatic specimen centrifugal sorting system according to claim 8, characterized in that: The transport system and carrier (24) include a special test tube rack capable of holding single or multiple samples.

10. The fully automatic specimen centrifugal sorting system according to claim 1, characterized in that: The centrifugal module (2) further comprises a four-axis / six-axis robot (22), an NG sample output drawer (25), and an emergency sample loading test tube rack (26). The four-axis / six-axis robot (22) is used to grab the test tube on the inclined slide (13) and place it into the pre-centrifugation test tube adapter (27).

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