Transfer device for biological sample pretreatment

Abstract

The utility model relates to a biological sample pretreatment transfer device, which comprises an X-axis transfer mechanism, a Y-axis transfer mechanism and a first driving source, the X-axis transfer mechanism is connected with a clamping mechanism, the clamping mechanism can controllably move along a first horizontal direction and / or a vertical direction, the Y-axis transfer mechanism comprises two bases arranged at an interval, and the first driving source is connected with the X-axis transfer mechanism. Each base is provided with a first transmission element, the two first transmission elements are connected through a transmission shaft, the X-axis transfer mechanism is connected with the two first transmission elements, the first driving source is connected to the transmission shaft through a second transmission element, and the second transmission element is arranged between the first driving source and the X-axis transfer mechanism. At least two stages of transmission ratios are formed between the second transmission element and the first transmission element, so that the transfer device is of an n-shaped structure, the space is saved, the clamping mechanism can transfer a sample tube, a centrifugal machine adapter, a sample tube plug, a quality control bottle and the like among multiple stations in a compact space, and the transfer efficiency is improved. The problem that an existing sample pretreatment device is scattered in layout is solved.

Description

Technical Field

[0001] This application relates to the field of biological sample delivery technology, and in particular to a transfer device for biological sample pretreatment. Background Technology

[0002] In the field of biochemical and immunological analysis, a large number of biological samples need to be tested. In order to reduce testing time and free laboratory doctors from tedious, low-value-added labor, automated pretreatment equipment has emerged, which has functions such as sample sorting, centrifugation, automatic barcode scanning, serum quality testing, sample tube cap removal, single tube holder and sample rack switching device, sample buffer device, and automatic quality control device.

[0003] However, traditional streamlined automated biological sample pretreatment devices typically connect various functional modules in a simple series and arrange them in a "I" shape, "L" shape, or "F" shape according to the requirements of the laboratory. The layout is relatively scattered, occupies a large area, and has a relatively high cost. As the requirements of laboratory space efficiency continue to increase in the laboratory, how to realize the transfer of sample tubes, centrifuge adapters, sample tube stoppers, quality control bottles, etc. between multiple workstations in a compact space has become an urgent technical problem to be solved. Utility Model Content

[0004] Based on this, the purpose of this application is to provide a transfer device for biological sample pretreatment to solve the problem of the scattered layout of existing sample pretreatment devices.

[0005] According to one aspect of this application, a transfer device for biological sample pretreatment is provided, comprising:

[0006] An X-axis transfer mechanism is connected to a gripping mechanism for gripping samples, the gripping mechanism being controllably movable relative to the X-axis transfer mechanism along a first horizontal direction and / or a vertical direction;

[0007] The Y-axis transfer mechanism includes two bases spaced apart along the first horizontal direction, each base having a first transmission element, and the two first transmission elements being interconnected via a transmission shaft; the X-axis transfer mechanism is connected to the two first transmission elements and slidably connected to the two bases.

[0008] A first drive source is connected to the drive shaft via a second transmission element. The first drive source is used to drive the second transmission element to move, so that the second transmission element can drive the two first transmission elements together to drive the X-axis transfer mechanism to move in a second horizontal direction perpendicular to the first horizontal direction. Between the first drive source and the X-axis transfer mechanism, the second transmission element and the first transmission element form at least two levels of transmission ratio.

[0009] In one embodiment, the output end of the first drive source is connected to a first drive drive wheel, a first drive driven wheel is sleeved on the transmission shaft, and a second drive driven wheel and a third drive driven wheel are rotatably provided on each of the bases. The second drive driven wheel is sleeved on the transmission shaft and spaced apart from the third drive driven wheel in the second horizontal direction. One end of the second transmission element is wound around the first drive drive wheel and the other end is wound around the first drive driven wheel. One end of the first transmission element is wound around the second drive driven wheel and the other end is wound around the third drive driven wheel.

[0010] In one embodiment, the first transmission element and the second transmission element are arranged perpendicular to each other.

[0011] In one embodiment, one of the bases is provided with an X-axis guide rail extending along the second horizontal direction, and an X-axis slider is slidably provided on the X-axis guide rail; the other base is provided with a support shaft extending along the second horizontal direction, and a linear bearing is slidably provided on the support shaft; one end of the X-axis transfer mechanism is connected to the X-axis slider, and the other end is connected to the linear bearing.

[0012] In one embodiment, the X-axis transfer mechanism includes a connecting seat and a second drive source. The two opposite ends of the connecting seat are respectively connected to a corresponding first transmission element and a corresponding base. The second drive source is disposed on the connecting seat. The transfer device further includes a Z-axis transfer mechanism, which is slidably connected to the connecting seat and drively connected to the second drive source. The clamping mechanism is slidably connected to the Z-axis transfer mechanism and can be controllably moved relative to the Z-axis transfer mechanism along the vertical direction. The second drive source is used to drive the Z-axis transfer mechanism and the clamping mechanism to move together along the first horizontal direction relative to the Y-axis transfer mechanism.

[0013] In one embodiment, the second drive source is connected to a second drive drive wheel, and the X-axis transfer mechanism further includes a third transmission element and a fourth drive driven wheel. The fourth drive driven wheel is rotatably mounted on the connecting seat and spaced apart from the second drive drive wheel in the first horizontal direction. One end of the third transmission element is wound around the second drive drive wheel, and the other end is wound around the fourth drive driven wheel. The Z-axis transfer mechanism is connected to the third transmission element.

[0014] In one embodiment, the Z-axis transfer mechanism includes:

[0015] A support base is slidably connected to the connecting base, and a Z-axis slider is fixedly provided on the support base;

[0016] The Z-axis guide rail is connected to the clamping mechanism and is slidably connected to the Z-axis slider along the vertical direction;

[0017] A third drive source is disposed on the support base and is connected to the clamping mechanism via a fourth transmission element. The third drive source is used to drive the fourth transmission element to move the clamping mechanism relative to the Z-axis transfer mechanism in the vertical direction.

[0018] In one embodiment, the third drive source is connected to a third drive wheel, and an idler wheel is rotatably provided on the support base. The idler wheel and the third drive wheel are offset in the vertical direction. The fourth transmission element is alternately wound around the third drive wheel and the idler wheel, and the two ends of the fourth transmission element are respectively connected to the corresponding ends of the Z-axis guide rail.

[0019] In one embodiment, the third drive wheel has idler wheels on both sides along the vertical direction.

[0020] In one embodiment, the gripping mechanism is connected to a positioning camera, which is used to position the gripping mechanism as it moves.

[0021] The aforementioned transfer device for biological sample pretreatment, on the one hand, movably connects a gripping mechanism for gripping samples to the X-axis transfer mechanism, and on the other hand, sets two bases spaced apart along the first horizontal direction on the Y-axis transfer mechanism, each base having a first transmission element, and the two first transmission elements being interconnected by a transmission shaft; the X-axis transfer mechanism is connected to the two first transmission elements and slidably connected to the two bases, making the transfer device have a "gate" shaped structure, saving space. The gripping mechanism can move along the first horizontal direction, the second horizontal direction, and the vertical direction to grip the sample to be gripped in a compact space, thereby realizing the transfer of sample tubes, centrifuge adapters, sample tube plugs, quality control bottles, etc., between multiple stations in a compact space, solving the problem of the scattered layout of existing sample pretreatment devices;

[0022] On the other hand, by setting the first drive source connected to the transmission shaft, the second transmission component and the first transmission component are configured with at least two levels of transmission ratio between the first drive source and the X-axis transfer mechanism. This allows the transmission shaft to be driven by only one drive source, which in turn drives the first transmission components on both sides to move the X-axis transfer mechanism and the clamping mechanism together at a suitable speed along the second horizontal direction. This avoids the risk of reduced motion accuracy and jamming caused by asynchronous movement of the first transmission components on both sides. Attached Figure Description

[0023] Figure 1Axial view of a transfer device provided in an embodiment of this application Figure 1 .

[0024] Figure 2 Axial view of a transfer device provided in an embodiment of this application Figure 2 .

[0025] Figure 3 A partial structural diagram of the Y-axis transfer mechanism in a transfer device provided in an embodiment of this application. Figure 1 .

[0026] Figure 4 A partial structural diagram of the Y-axis transfer mechanism in a transfer device provided in an embodiment of this application. Figure 2 .

[0027] Figure 5 This is a schematic diagram of the X-axis transfer mechanism in a transfer device provided in an embodiment of this application.

[0028] Figure 6 This is a schematic diagram of the Z-axis transfer mechanism in a transfer device provided in an embodiment of this application.

[0029] Figure 7 This is a partial structural schematic diagram of the Z-axis transfer mechanism in a transfer device provided in an embodiment of this application.

[0030] Explanation of reference numerals in the attached figures:

[0031] 10. Transfer device; 100. X-axis transfer mechanism; 110. Connecting seat; 120. Second drive source; 121. Second drive wheel; 130. Third transmission element; 140. Fourth drive wheel; 150. Second adapter block; 160. Second drive plate; 170. Second pressure plate; 180. Y-axis guide rail; 190. Y-axis slider; 200. Y-axis transfer mechanism; 210. Base; 220. First transmission element; 230. Transmission shaft; 240. First drive wheel; 250. Second drive wheel; 260. Third drive wheel; 270. First drive plate; 280. First pressure plate 290. Belt plate; 291. First adapter block; 292. X-axis guide rail; 293. X-axis slider; 294. Support shaft; 295. Linear bearing; 296. Encoder disk; 300. Z-axis transfer mechanism; 310. Support base; 320. Z-axis guide rail; 330. Third drive source; 331. Third drive drive wheel; 340. Fourth transmission element; 350. Z-axis slider; 360. Third pressure plate; 370. Fixed bracket; 380. Guide rail pressure plate; 390. Idler wheel; 400. Clamping mechanism; 500. First drive source; 510. First drive drive wheel; 600. Second transmission element; 700. Positioning camera. Detailed Implementation

[0032] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0033] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0034] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0037] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0038] This application provides a transfer device for biological sample pretreatment, which allows for the transfer of various instruments for pretreatment of biological samples between different workstations, thereby solving the problem of the scattered layout of existing sample pretreatment devices.

[0039] The structure of the transfer device for biological sample pretreatment in this application will be described below. It is understood that, in other embodiments, the transfer device of this application is not limited to transferring only the apparatus for holding biological samples, but can also be used to transfer any apparatus for pretreatment of biological samples in a compact space, and can even be used to transfer any item in a compact space, without limitation.

[0040] See Figure 1 and Figure 2 , Figure 1 and Figure 2This illustration shows an axonometric view of a transfer device 10 for biological sample pretreatment provided in an embodiment of this application. The transfer device 10 for biological sample pretreatment provided in an embodiment of this application includes an X-axis transfer mechanism 100, a Y-axis transfer mechanism 200, a Z-axis transfer mechanism 300, a gripping mechanism 400, and a first drive source 500. The gripping mechanism 400 is disposed on the Z-axis transfer mechanism 300, the Z-axis transfer mechanism 300 is connected to the X-axis transfer mechanism 100, and the X-axis transfer mechanism 100 is connected to the Y-axis transfer mechanism 200. The gripping mechanism 400 is used to grip the object to be gripped. The Z-axis transfer mechanism 300 is used to drive the gripping mechanism 400 to move vertically. The X-axis transfer mechanism 100 is used to drive the Z-axis transfer mechanism 300 and the gripping mechanism 400 to move together along the first horizontal direction (i.e., the X direction shown in the figure). The first drive source 500 is used to drive the Y-axis transfer mechanism 200 to drive the X-axis transfer mechanism 100, the Z-axis transfer mechanism 300 and the gripping mechanism 400 to move together along the second horizontal direction perpendicular to the first horizontal direction (i.e., the Y direction shown in the figure), so as to realize the transfer of instruments used for pretreatment of biological samples, such as sample tubes, centrifuge adapters, sample tube plugs, and quality control bottles, between multiple workstations in a compact space.

[0041] In one embodiment, Figure 3 and Figure 4 As shown, the Y-axis transfer mechanism 200 includes two bases 210 spaced apart along a first horizontal direction. Each base 210 is provided with a first transmission element 220. The two first transmission elements 220 are interconnected by a transmission shaft 230. The X-axis transfer mechanism 100 is connected to the two first transmission elements 220 and slidably connected to the two bases 210. A first drive source 500 is connected to the transmission shaft 230 through a second transmission element 600. The first drive source 500 can drive the second transmission element 600 to move, so that the second transmission element 600 can drive the two first transmission elements 220 together to drive the X-axis transfer mechanism 100 to move along a second horizontal direction via the transmission shaft 230. There are at least two levels of transmission ratio between the first drive source 500 and the X-axis transfer mechanism 100, and between the second transmission element 600 and the first transmission element 220.

[0042] In some embodiments, the first drive source 500 may be a motor, and both the first transmission element 220 and the second transmission element 600 may be annular closed synchronous belts. Regarding the specific transmission connection method, such as... Figure 3As shown, the output end of the first drive source 500 is connected to the first drive drive wheel 510, and the first drive driven wheel 240 is sleeved on the transmission shaft 230. Each base 210 is rotatably provided with a second drive driven wheel 250 and a third drive driven wheel 260 that can rotate around their own central axis via bearings. The second drive driven wheel 250 is sleeved on the transmission shaft 230 and spaced apart from the third drive driven wheel 260 in the second horizontal direction. One end of the second transmission element 600 is wound around the first drive drive wheel 510 and the other end is wound around the first drive driven wheel 240. One end of the first transmission element 220 is wound around the second drive driven wheel 250 and the other end is wound around the third drive driven wheel 260. In the connection structure between the X-axis transfer mechanism 100 and the first transmission element 220, the end of the X-axis transfer mechanism 100 is connected to a first adapter block 290, the first transmission element 220 is provided with a first driving plate 270, the first driving plate 270 is fixedly connected to the first transmission element 220 through a first pressure plate 280, and the first adapter block 290 is connected to the first driving plate 270.

[0043] Thus, when the first drive source 500 is started, the first drive drive wheel 510 rotates around its own central axis, causing the second transmission element 600 to move. The second transmission element 600 drives the first drive driven wheel 240 to rotate around its own central axis, and at the same time drives the transmission shaft 230 to rotate around its own central axis. This, in turn, drives the second transmission driven wheels at both ends of the transmission shaft 230 to rotate and drives the two first transmission elements 220 to move simultaneously. This allows the two first transmission elements 220 to drive the first drive plate 270 and the first adapter block 290 to move along the second horizontal direction, thereby realizing the movement of the X-axis transfer mechanism 100 along the second horizontal direction.

[0044] As can be seen, with the above configuration, only one drive source can drive the transmission shaft 230 to drive the first transmission elements 220 on both sides, and simultaneously drive the X-axis transfer mechanism 100 and the clamping mechanism 400 to move together along the second horizontal direction at a suitable speed. This not only achieves speed regulation and reduces costs, but also overcomes the risk of drive lag caused by asynchronous effect time when the first transmission elements 220 on both sides are driven by two drive sources, which leads to reduced motion accuracy and jamming.

[0045] Preferably, the first transmission element 220 and the second transmission element 600 are arranged perpendicular to each other, so that the space in the vertical direction and the second horizontal direction can be fully utilized, thereby improving the space utilization rate and saving the space occupied by the entire device in the first horizontal direction and the second horizontal direction.

[0046] It is understandable that the specific transmission structure is not limited to this. Figure 3The transmission structure shown can have multiple transmission elements connected in sequence between the first drive source 500 and the X-axis transfer mechanism 100 to form a multi-stage transmission ratio for transmission. It is not limited to only the first transmission element 220 and the second transmission element 600 being connected to each other to form a two-stage transmission ratio for transmission. It can be set as needed. Moreover, the first transmission element 220 and the second transmission element 600 are not limited to synchronous belts. None of the above are particularly limited.

[0047] For further information, please refer to [link / reference]. Figure 3 To increase the smoothness of the X-axis transfer mechanism 100 moving along the second horizontal direction, one of the bases 210 is provided with an X-axis guide rail 291 extending along the second horizontal direction, and an X-axis slider 292 is slidably provided on the X-axis guide rail 291. (See reference...) Figure 4 Another base 210 is provided with a support shaft 293 extending in the second horizontal direction. A linear bearing 294 is slidably provided on the support shaft 293. One of the two first adapter blocks 290 connected to both ends of the X-axis transfer mechanism 100 is connected to the X-axis slider 292, and the other is connected to the linear bearing 294.

[0048] Thus, the X-axis guide rail 291 and the support shaft 293 respectively play a guiding role, causing the X-axis transfer mechanism 100 to move only along the second horizontal direction, thereby increasing the smoothness of the movement. Furthermore, by setting one side of the first horizontal direction to be guided by a linear guide pair and the other side to be guided by the cooperation of the support shaft 293 and the linear bearing 294, the problem of over-constraint (i.e., over-positioning) that exists when both sides use linear guide pairs is overcome. It also overcomes the problem of increased processing costs and increased assembly difficulty caused by excessively high parallelism and height difference accuracy.

[0049] In some embodiments, each base 210 is provided with a detection optocoupler at both ends in the second horizontal direction, and each first adapter block 290 is provided with an optocoupler zero-position baffle. When the optocoupler zero-position baffle moves with the first adapter block 290 to the position corresponding to the optocoupler, the background can determine that the first adapter block 290 has moved to its maximum stroke, causing the first drive source 500 to stop driving, thus avoiding safety accidents. Optionally, an encoder 295 is also installed on the third drive driven wheel 260. The encoder 295 can rotate with the third drive driven wheel 260 to detect the moving distance and moving speed of the X-axis transfer mechanism 100, and to determine whether the movement is stuck.

[0050] In the structure of the X-axis transfer mechanism 100, such as Figure 5As shown, the X-axis transfer mechanism 100 includes a connecting seat 110 and a second drive source 120. The two opposite ends of the connecting seat 110 are respectively connected to a corresponding first adapter block 290, so that the two opposite ends of the connecting seat 110 are respectively connected to a corresponding first transmission element 220 and a corresponding base 210 through a first adapter block 290. The second drive source 120 is disposed on the connecting seat 110. The Z-axis transfer mechanism 300 is also slidably disposed on the connecting seat 110 and is connected to the second drive source 120. The second drive source 120 can also be a motor, which is used to drive the Z-axis transfer mechanism 300 and the clamping mechanism 400 to move together along the first horizontal direction relative to the Y-axis transfer mechanism 200.

[0051] Specifically, the X-axis transfer mechanism 100 has a similar structure to the Y-axis transfer mechanism 200, such as... Figure 5 As shown, the output end of the second drive source 120 is connected to a reducer, and the output end of the reducer is connected to a second drive drive wheel 121. The X-axis transfer mechanism 100 also includes a third transmission element 130 and a fourth drive driven wheel 140. The fourth drive driven wheel 140 is rotatably mounted on the connecting seat 110 and can rotate around its own central axis. The third transmission element 130 can also be a closed annular synchronous belt, with one end wound around the second drive drive wheel 121 and the other end wound around the fourth drive driven wheel 140. The Z-axis transfer mechanism 300 is connected to the third transmission element 130. In terms of specific connection method, similar to the structure of the X-axis transfer mechanism 100 connected to the first transmission element 220, the Z-axis transfer mechanism 300 is connected to a second adapter block 150. The third transmission element 130 is provided with a second driving plate 160, which is connected to the third transmission element 130 through a second pressure plate 170. The second adapter block 150 is connected to the second driving plate 160.

[0052] When the second drive source 120 is started, the second drive drive wheel 121 rotates around its own central axis, and at the same time drives the third transmission element 130 to move, so that the third transmission element 130 can drive the second drive plate 160 and the second adapter block 150 to move along the first horizontal direction, thereby realizing the drive Z-axis transfer mechanism 300 and the clamping mechanism 400 to move together along the first horizontal direction.

[0053] Furthermore, the connecting seat 110 is also provided with a Y-axis guide rail 180 and a Y-axis slider 190 slidably connected to the Y-axis guide rail 180. The second adapter block 150 is also connected to the Y-axis slider 190, so that the X-axis guide rail 291 can guide the X-axis transfer mechanism 100 when it moves along the first horizontal direction. In addition, both ends of the connecting seat 110 are also provided with detection optocouplers, and the second adapter block 150 is provided with an optocoupler zero-position baffle. Its function is the same as that of the detection optocoupler and optocoupler zero-position baffle provided on the aforementioned Y-axis transfer mechanism 200. Furthermore, the fourth drive driven wheel 140 can also be provided with an encoder 295, which has the same function as the encoder 295 described above, and will not be described again here.

[0054] See Figure 6 , Figure 6 The specific structure of a Z-axis transfer mechanism 300 in one embodiment is shown. In this embodiment, the Z-axis transfer mechanism 300 includes a support base 310, a Z-axis guide rail 320, a third drive source 330, and a fourth transmission element 340, combined with... Figure 7 As shown, the support base 310 is connected to the third transmission element 130 via the second driving plate 160 and the second pressure plate 170, and the support base 310 is also connected to the second slider, so that the support base 310 is slidably connected to the connecting base 110; at the same time, a Z-axis slider 350 is fixedly provided on the support base 310, and the Z-axis guide rail is connected to the clamping mechanism 400 and slidably connected to the Z-axis slider 350 in the vertical direction; the third drive source 330 is provided on the support base 310 and is connected to the clamping mechanism 400 via the fourth transmission element 340. The third drive source 330 can also be a motor, which is used to drive the fourth transmission element 340 to drive the clamping mechanism 400 to move in the vertical direction relative to the Z-axis transfer mechanism 300.

[0055] In one specific embodiment, the fourth transmission element 340 is an open synchronous belt, i.e., a non-enclosed synchronous belt. One end of the belt is connected to the clamping mechanism 400 through the third pressure plate 360, and the other end is connected to a fixed bracket 370. The clamping mechanism 400 is connected to one end of the Z-axis guide rail 320 through a guide rail pressure plate 380, and the fixed bracket 370 is connected to the other end of the Z-axis guide rail 320 through another guide rail pressure plate 380, so that the clamping mechanism 400 and the Z-axis guide rail 320 are fixedly connected to each other. When the Z-axis guide rail 320 moves relative to the Z-axis slider 350 in the conveying direction, the clamping mechanism 400 also moves together with the Z-axis guide rail 320 in the vertical direction.

[0056] In the transmission method that uses a third drive source 330 and a fourth transmission element 340 to drive the clamping assembly to move vertically, the output end of the third drive source 330 is connected to a third drive drive wheel 331, and an idler wheel 390 is rotatably provided on the support base 310. Both the third drive drive wheel 331 and the idler wheel 390 can rotate around their own central axis, and the idler wheel 390 and the third drive drive wheel 331 are offset in the vertical direction. The fourth transmission element 340 is alternately wound around the third drive drive wheel 331 and the idler wheel 390, so that the fourth transmission element 340 can be tensioned and driven by the third drive drive wheel 331 and the idler wheel 390 to move, thereby enabling the fourth transmission element 340 to make close contact with the third drive drive wheel 331 and reducing wear between the fourth transmission element 340 and the third drive drive wheel 331.

[0057] Thus, when the third drive source 330 drives the third drive wheel 331 to rotate, it can drive the fourth transmission element 340 to move vertically. Specifically, if the third drive wheel 331 rotates in one direction, the lower end of the fourth transmission element 340 becomes longer and the upper end becomes shorter, thereby driving the Z-axis transfer mechanism 300 and the clamping mechanism 400 to move vertically downward together. Conversely, if the third drive wheel 331 rotates in the opposite direction, the upper end of the fourth transmission element 340 becomes shorter and the lower end becomes longer, thereby driving the Z-axis transfer mechanism 300 and the clamping mechanism 400 to move vertically upward together. This achieves double the extension stroke by having the third drive source 330 drive the fourth transmission element 340 to extend and retract, achieving energy saving and space saving, and is low in cost, easy to operate, and simple to maintain, and easy to observe during inspection and maintenance.

[0058] In a preferred embodiment, the idler wheel 390 is not limited to one. In the embodiment shown in the figure, the third drive wheel 331 is provided with idler wheels 390 on both sides along the vertical direction, so that two or more idler wheels 390 can provide greater tension to the fourth transmission element 340, ensuring the reliability of the clamping mechanism 400 moving in the vertical direction.

[0059] Furthermore, based on this, a waist-shaped hole is provided on the support base 310 at the position where the idler wheel 390 is installed, so that the position of the idler wheel 390 on the support base 310 can be adjusted, thereby adjusting the tension of the fourth transmission element 340 as needed. Further, an encoder 295 can also be provided on the third drive drive wheel 331, an optocoupler can also be provided on the Z-axis guide rail 320, and an optocoupler zero-position stop plate can be provided on the clamping mechanism 400; these will not be elaborated further here.

[0060] In a preferred embodiment, see [link to document]. Figure 1The gripping mechanism 400 is also connected to a positioning camera 700. The positioning camera 700 can move along with the gripping mechanism 400 when the gripping mechanism 400 moves in the first horizontal direction or the second horizontal direction. It is used to take pictures when the gripping mechanism 400 moves, so that the picture results can be fed back to the gripping mechanism 400 for position compensation, thereby realizing the positioning of the gripping mechanism 400, so that the gripping mechanism 400 can accurately grip the object to be gripped and avoid the occurrence of gripping failure.

[0061] It should also be noted that the aforementioned transfer device 10 for biological sample pretreatment is not limited to the structure shown in the embodiment in the figure. For example, in other embodiments, the Z-axis transfer mechanism 300 may not be provided. Instead, the X-axis transfer mechanism 100 may be a structure consisting of multiple robotic arms connected end to end in sequence. The gripping mechanism 400 is provided on the robotic arms, and the gripping mechanism 400 may also move in the first horizontal and vertical directions. There is no limitation here.

[0062] The transfer device 10 for biological sample pretreatment provided in this application can be applied in various scenarios during the pretreatment of biological samples, such as sample tube transfer, centrifuge adapter transfer, balancing tube transfer (test tubes used for weight balancing in in vitro diagnostic equipment pretreatment equipment), quality control refrigerator lid, quality control bottle cap and quality control bottle transfer, or for the transfer and capping of sample tube caps. Its applications are wide-ranging. The gripping mechanism 400 is flexible and can move, grasp, and release at any position within space, and can also support the transfer needs of different working positions within a region.

[0063] For example, when used for sample tube transport, the clamping mechanism 400 clamps sample tubes from the unordered sample loading module (i.e., the module where sample tubes are not placed in a fixed order and sample tubes can be clamped randomly) and places them in the centrifuge adapter; or it clamps sample tubes from the ordered sample loading module (i.e., the module where sample tubes are placed in a fixed order and sample tubes must be clamped in a certain order), places sample tubes that require centrifugation testing in the centrifuge adapter, and places sample tubes that do not require centrifugation in the single-tube sample holder of the sample placement position of the track module. After the sample tubes that require centrifugation have completed the centrifugation test, the tested sample tubes are returned to the ordered sample loading module or other designated positions.

[0064] When used for transporting centrifuge adapters, the clamping mechanism 400 places the centrifuge adapter loaded with sample tubes into the centrifuge for centrifugation testing. After the centrifugation test is completed, the centrifuge adapter is removed from the centrifuge and returned to its original position. The sample tubes are then removed from the centrifuge adapter and placed in the single-tube sample holder of the sample placement position on the track module.

[0065] When used for balancing tube transfer, the clamping mechanism 400 transfers the corresponding balancing tube from the balancing module to the corresponding centrifuge adapter, and returns the balancing tube to its original position after the centrifugation test is completed.

[0066] When transferring the quality control refrigerator lid, quality control bottle cap, and quality control bottle, the gripping mechanism 400 moves the quality control refrigerator lid between the refrigerator position and the cap placement position, takes out the quality control bottle from the quality control refrigerator, and transfers it to the quality control mixing module for mixing. After mixing, the quality control bottle is transferred to the quality control bottle cap removal gripper for opening. Then, the quality control bottle cap is transferred to the quality control bottle cap loading box for disposal. Finally, the capless quality control bottle is transferred to the quality control sample rack of the sample tube loading / unloading module.

[0067] When used for sample tube cap transfer and capping, the gripping mechanism 400 grips the sample tube cap from the disordered capping module, then transfers it to the sample tube loading / unloading module and caps the sample tubes or quality control bottles after the test is completed.

[0068] As can be seen, the transfer device 10 for biological sample pretreatment in the above embodiment has a "door" shaped structure in its overall layout, which saves space. The gripping mechanism 400 can move along the first horizontal direction, the second horizontal direction and the vertical direction to grip the object to be gripped in a compact space. This enables the gripping mechanism 400 to transfer sample tubes, centrifuge adapters, sample tube plugs, quality control bottles and other items between multiple stations in a compact space, thus solving the problem of the scattered layout of existing sample pretreatment devices.

[0069] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A transfer device for biological sample pretreatment, characterized in that, include: An X-axis transfer mechanism is connected to a gripping mechanism for gripping samples, the gripping mechanism being controllably movable relative to the X-axis transfer mechanism along a first horizontal direction and / or a vertical direction; The Y-axis transfer mechanism includes two bases spaced apart along the first horizontal direction, each base having a first transmission element, and the two first transmission elements being interconnected via a transmission shaft; the X-axis transfer mechanism is connected to the two first transmission elements and slidably connected to the two bases. A first drive source is connected to the drive shaft via a second transmission element. The first drive source is used to drive the second transmission element to move, so that the second transmission element can drive the two first transmission elements together to drive the X-axis transfer mechanism to move in a second horizontal direction perpendicular to the first horizontal direction. Between the first drive source and the X-axis transfer mechanism, the second transmission element and the first transmission element form at least two levels of transmission ratio.

2. The transfer device according to claim 1, characterized in that, The output end of the first drive source is connected to a first drive drive wheel, and a first drive driven wheel is sleeved on the transmission shaft. A second drive driven wheel and a third drive driven wheel are rotatably provided on each of the bases. The second drive driven wheel is sleeved on the transmission shaft and spaced apart from the third drive driven wheel in the second horizontal direction. One end of the second transmission element is wound around the first drive drive wheel, and the other end is wound around the first drive driven wheel. One end of the first transmission element is wound around the second drive driven wheel, and the other end is wound around the third drive driven wheel.

3. The transfer device according to claim 2, characterized in that, The first transmission element and the second transmission element are arranged perpendicular to each other.

4. The transfer device according to claim 1, characterized in that, One of the bases is provided with an X-axis guide rail extending along the second horizontal direction, and an X-axis slider is slidably provided on the X-axis guide rail. The other base is provided with a support shaft extending along the second horizontal direction, and a linear bearing is slidably provided on the support shaft. One end of the X-axis transfer mechanism is connected to the X-axis slider, and the other end is connected to the linear bearing.

5. The transfer device according to claim 1, characterized in that, The X-axis transfer mechanism includes a connecting seat and a second drive source. The two ends of the connecting seat are respectively connected to a corresponding first transmission element and a corresponding base. The second drive source is disposed on the connecting seat. The transfer device also includes a Z-axis transfer mechanism. The Z-axis transfer mechanism is slidably connected to the connecting seat and drively connected to the second drive source. The clamping mechanism is slidably connected to the Z-axis transfer mechanism and can be controllably moved relative to the Z-axis transfer mechanism in the vertical direction. The second drive source is used to drive the Z-axis transfer mechanism and the clamping mechanism to move together in the first horizontal direction relative to the Y-axis transfer mechanism.

6. The transfer device according to claim 5, characterized in that, The second drive source is connected to a second drive drive wheel. The X-axis transfer mechanism also includes a third transmission element and a fourth drive driven wheel. The fourth drive driven wheel is rotatably mounted on the connecting seat and is spaced apart from the second drive drive wheel in the first horizontal direction. One end of the third transmission element is wound around the second drive drive wheel, and the other end is wound around the fourth drive driven wheel. The Z-axis transfer mechanism is connected to the third transmission element.

7. The transfer device according to claim 5, characterized in that, The Z-axis transfer mechanism includes: A support base is slidably connected to the connecting base, and a Z-axis slider is fixedly provided on the support base; The Z-axis guide rail is connected to the clamping mechanism and is slidably connected to the Z-axis slider along the vertical direction; A third drive source is disposed on the support base and is connected to the clamping mechanism via a fourth transmission element. The third drive source is used to drive the fourth transmission element to move the clamping mechanism relative to the Z-axis transfer mechanism in the vertical direction.

8. The transfer device according to claim 7, characterized in that, The third drive source is connected to a third drive wheel, and an idler wheel is rotatably provided on the support base. The idler wheel and the third drive wheel are offset in the vertical direction. The fourth transmission element is alternately wound around the third drive wheel and the idler wheel, and the two ends of the fourth transmission element are respectively connected to the corresponding ends of the Z-axis guide rail.

9. The transfer device according to claim 8, characterized in that, The third driving drive wheel has idler wheels on both sides along the vertical direction.

10. The transfer device according to claim 1, characterized in that, The clamping mechanism is connected to a positioning camera, which is used to position the clamping mechanism as it moves.

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