Sample discharging manipulator and assembly line sample discharging system

Abstract

The utility model provides a sample discharging manipulator and an assembly line sample discharging system, a clamping assembly comprises an assembly frame body, a clamping device and a scanning device, the clamping device and the scanning device are assembled on the assembly frame body, the assembly frame body is movably assembled on a moving part along a second linear track, and the assembly frame body defines a moving reference straight line; the plane where the first linear track and the second linear track are located is limited to be a horizontal reference plane, the motion reference straight line is perpendicular to the horizontal reference plane, and the clamping device is used for conducting reciprocating motion relative to the assembly frame body along the motion reference straight line and conducting fixed-axis rotation with the motion reference straight line as the central axis. Based on the design of the sample discharging manipulator, the data code scanning recognition action of the sample tube in the whole process can be combined and completed in the transportation process of the sample tube, so that the scanning position of the data code does not need to be set at other positions of a system track, the sample tube can be grabbed when arriving at a sample feeding station, the detection efficiency is improved, and the detection cost is reduced. And the blockage of the system track is reduced.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to sample delivery robots and automated sample delivery systems. Background Technology

[0002] Medical laboratory science (MLS) involves testing materials taken from the human body in areas such as microbiology, immunology, biochemistry, genetics, hematology, biophysics, and cytology, thereby providing effective information for the prevention, diagnosis, and treatment of human diseases and the assessment of human health.

[0003] In the field of medical testing, medical test samples can be processed by automated sample output systems. However, as the number of medical test samples increases, existing sample output systems can no longer meet the efficiency requirements of sample output or injection operations and cannot meet current testing requirements. Therefore, how to efficiently process medical test samples in batches and improve the efficiency of medical testing is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] Therefore, it is necessary to provide a sample-out robotic arm and a sample-out system for production lines to address the aforementioned technical problems.

[0005] This application provides a sample dispensing robot for a production line sample dispensing system, the sample dispensing robot comprising:

[0006] An assembly component, wherein the assembly component is provided with a first linear track;

[0007] A moving component is movably assembled to the assembly component along the first linear track; the moving component is provided with a second linear track, and the second linear track is perpendicular to the first linear track;

[0008] A clamping assembly includes a component frame and a clamping device and a scanning device mounted on the component frame. The component frame is movably mounted on the moving component along a second linear track. The component frame defines a motion reference line, and defines the plane containing the first linear track and the second linear track as a horizontal reference plane. The motion reference line is perpendicular to the horizontal reference plane. The clamping device is used to reciprocate relative to the component frame along the motion reference line, and the clamping device is used to rotate about the motion reference line as a central axis.

[0009] In one embodiment, the clamping assembly includes:

[0010] A guide post is disposed on the component frame, wherein the guide post is a straight post and is parallel to the motion reference line;

[0011] A lifting base is provided, wherein the lifting base has a guide hole, the guide hole of the lifting base is movably connected to the guide column, and the lifting base moves along the guide column;

[0012] A rotating base is connected to the lifting base. The rotating base is used to rotate about the motion reference line as the central axis relative to the lifting base. The clamping device is connected to the rotating base.

[0013] In one embodiment, the first linear track is a first raised track disposed at the bottom of the assembly component, and the top of the moving component is provided with a first fitting groove, the first fitting groove being movably fitted with the first raised track; and / or,

[0014] The second linear track is a second raised track disposed at the bottom of the moving component, and a second fitting groove is disposed at the top of the component frame, the second fitting groove being movably fitted with the second raised track; and / or,

[0015] The first linear track is oriented along the X-axis, the second linear track is oriented along the Y-axis, and the motion reference line is oriented along the Z-axis; and / or,

[0016] The scanning device is configured to scan the data code of the sample tube, and the information of the data code is configured to be compared with information in the system to generate a classification instruction for the sample tube.

[0017] This application provides a streamlined sample dispensing system, the streamlined sample dispensing system comprising:

[0018] A system rack, wherein the system rack has a sample platform;

[0019] The system track is connected to the system rack and is located on the side of the system rack;

[0020] The sample drawers are provided in a plurality of order, and the plurality of sample drawers are sequentially distributed on the sample platform of the system frame along a reference arrangement direction, wherein the reference arrangement direction is parallel to the track direction of the system track, and each sample drawer can move relative to the system frame along a pull-out direction, wherein the pull-out direction is perpendicular to the reference arrangement direction.

[0021] The sample delivery robot is movably mounted on the system frame.

[0022] In one embodiment, each sample drawer is equipped with a pull-out drive assembly, the pull-out drive assembly being disposed on the system rack, the pull-out drive assembly being used to drive the corresponding sample drawer to move along the pull-out direction; wherein, the pull-out drive assembly includes:

[0023] A transmission mechanism, which is connected to the sample drawer drive;

[0024] A driving device is connected to the transmission mechanism and is used to drive the sample drawer to move along the pull-out direction via the transmission mechanism.

[0025] In one embodiment, the transmission mechanism includes:

[0026] A drive wheel is provided, and the output end of the driving device is connected to the drive wheel. The driving device is used to drive the drive wheel to rotate.

[0027] Driven wheel, the driven wheel being rotatably mounted on the system frame;

[0028] A drive belt is connected between the driving pulley and the driven pulley. The driving pulley drives the driven pulley to rotate via the drive belt. The drive belt is detachably connected to the sample drawer.

[0029] In one embodiment, the transmission belt is provided with a snap-fit ​​element, at least a portion of the snap-fit ​​element having a flexible structure, and the flexible structure of the snap-fit ​​element is used to snap-fit ​​with the sample drawer.

[0030] The locking element is used to maintain a locking state with the sample drawer within a predetermined force range, and the locking element is used to release the locking state from the sample drawer outside the predetermined force range.

[0031] In one embodiment, the sample drawer is provided with a plurality of unit placement areas inside, and the plurality of unit placement areas are sequentially distributed inside the sample drawer along the pull-out direction. The unit placement areas are used to set up sample holders, and the interior of the sample holders is used to set up a plurality of sample tubes.

[0032] In one embodiment, the sample platform of the system rack is further provided with a plurality of fixed sample areas, which are sequentially distributed along a reference arrangement direction on the sample platform of the system rack. The number of the plurality of fixed sample areas is the same as the number of sample drawers, and each fixed sample area corresponds to one of the sample drawers in the pull-out direction; and / or,

[0033] Each of the sample holders is equipped with a data chip, and each unit placement area of ​​the sample drawer is equipped with a reading device for reading the data chip; and / or,

[0034] Each of the sample drawers contains several sample holders that can be used to hold different types of sample tubes.

[0035] In one embodiment, the system track is detachably connected to the system frame, wherein the system frame defines a plurality of mounting reference positions, and the system track can be assembled relative to the system frame through any one of the mounting reference positions; and / or,

[0036] The first linear track of the sample ejection manipulator is parallel to the track direction of the system track. The system track is provided with a track inlet and a track outlet. The sample ejection manipulator can move along the system track to the track inlet or the track outlet. The gripping component of the sample ejection manipulator can move along the second linear track of the sample ejection manipulator through the track inlet to the sample platform of the system frame. The gripping component of the sample ejection manipulator can also move along the second linear track of the sample ejection manipulator through the track outlet to leave the sample platform of the system frame.

[0037] In the aforementioned sample ejection robot and automated sample ejection system, the gripping device of the sample ejection robot can move along the X and Y axes to the target sample drawer on the system track. Then, the gripping device descends along the Z axis. The opening or closing action of the gripping device can be used to grasp or release the target sample tube. The gripping device can also move along the Z axis to the scanning position, which is the position aligned with the height of the scanning device. At this time, the gripping device rotates along a fixed axis, causing the data code on the sample tube to face the scanning device. The scanning device scans the data code on the current sample tube to identify the information in the data code and compares it with the information in the system. If the comparison is correct, the current sample tube is placed in the corresponding position; otherwise, it is placed in the error area.

[0038] For example, after identifying the data code information and comparing it with the information in the system, the sample tubes can be classified. For instance, tubes with the same error category can be grouped together; tubes for the same test item can be grouped together; or tubes for the same test progress can be grouped together. Those skilled in the art can set classification criteria according to actual needs, which are not limited here.

[0039] During the process of the clamping device rotating along a fixed axis to achieve data code scanning in conjunction with the scanning device, the clamping device of the sample ejection robot can also move along the XYZ axis in a predetermined three-dimensional space at the same time, that is, synchronously realize the transportation of the current sample tube. Thus, based on the above design of the sample ejection robot, the data code scanning and recognition action of the sample tube in the whole process can be combined into the transportation process of the sample tube. Therefore, there is no need to set the data code scanning position at other positions on the system track. The sample tube can be grasped as soon as it arrives at the sample loading station, which improves the detection efficiency and reduces the blockage of the system track. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of a production line sample output system provided in one embodiment of this application.

[0041] Figure 2 This is a schematic diagram of the structure of a sample-dispensing robot provided in one embodiment of this application.

[0042] Figure 3 For example Figure 2 The diagram shows a partially enlarged view of the sample-dispensing robot.

[0043] Figure 4 This is a schematic diagram showing the distribution of a sample platform provided in one embodiment of this application.

[0044] Figure 5 This is a schematic diagram of the structure of a sample drawer provided in one embodiment of this application.

[0045] Figure 6 This is a schematic diagram of the structure of a pull-out driving component provided in one embodiment of this application.

[0046] Icon labels:

[0047] 1000, Sample ejection robot; 2000, System frame; 3000, System track; 4000, Sample drawer; 5000, Pull-out drive assembly; 6000, Sample tube;

[0048] 1100. Assembly components; 1200. Moving components; 1300. Clamping components;

[0049] 1110. First straight track;

[0050] 1210. The second straight track;

[0051] 1310. Component frame; 1320. Clamping device; 1330. Scanning device; 1340. Guide column; 1350. Lifting base; 1360. Rotating base;

[0052] 2100, Sample Platform;

[0053] 3100, Track inlet; 3200, Track outlet;

[0054] 4100, Unit placement area; 4200, Sample holder; 4300, Sample fixing area;

[0055] 4110. Data chip;

[0056] 5100. Transmission mechanism; 5200. Drive mechanism;

[0057] 5110, driving pulley; 5120, driven pulley; 5130, transmission belt; 5131, snap-fit ​​element. Detailed Implementation

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] See Figures 1 to 6 As shown, this application provides a streamlined sample delivery system, which includes a system frame 2000, a system track 3000, a sample drawer 4000, and a sample delivery robot 1000. Figure 1 As shown, the system rack 2000 has a sample platform 2100, and the system track 3000 is connected to the system rack 2000, and the system track 3000 is located in the lateral direction of the system rack 2000, for example, the system track 3000 is located at... Figure 1 The system rack 2000 is positioned laterally along the Y-axis. The number of sample drawers 4000 is set to a certain number, arranged along a reference direction (e.g., ...). Figure 1 Samples are sequentially distributed on the sample platform 2100 of the system frame 2000 (in the X-axis direction). The reference arrangement direction is parallel to the track direction of the system track 3000. Figure 1 In the X-axis direction, each sample drawer 4000 can be pulled out along the direction of the drawer (e.g. Figure 1 The sample ejector 1000 moves relative to the system frame 2000 in the Y-axis direction, wherein the pulling direction is perpendicular to the reference arrangement direction. The sample ejector 1000 is movably mounted on the system track 3000, allowing the sample ejector 1000 to move along the track direction of the system track 3000 (e.g., along the Y-axis direction). Figure 1 (In the X-axis direction) reciprocating motion.

[0065] See Figure 2 and Figure 3 As shown, the aforementioned sample-dispensing robot 1000 includes an assembly component 1100, a motion component 1200, and a clamping assembly 1300. The assembly component 1100 is provided with a first linear track 1110, the track direction of which is the X-axis. The motion component 1200 is movably assembled to the assembly component 1100 along the first linear track 1110. The motion component 1200 is provided with a second linear track 1210, the track direction of which is the Y-axis, such that the second linear track 1210 is perpendicular to the first linear track 1110.

[0066] The clamping assembly 1300 includes an assembly frame 1310 and a clamping device 1320 and a scanning device 1330 mounted on the assembly frame 1310. The assembly frame 1310 is movably mounted on the moving component 1200 along a second linear track 1210. The assembly frame 1310 defines a motion reference line, and the plane containing the first linear track 1110 and the second linear track 1210 is defined as a horizontal reference plane. The motion reference line is perpendicular to the horizontal reference plane, and therefore its direction is the Z-axis direction. The clamping device 1320 is used to reciprocate relative to the assembly frame 1310 along the motion reference line, and the clamping device 1320 is also used to rotate about the motion reference line as a central axis.

[0067] Therefore, as the moving part 1200 moves relative to the assembly part 1100 along the first linear track 1110, the clamping device 1320 can move in the X-axis direction. The component frame 1310 moves relative to the moving part 1200 along the second linear track 1210, enabling the clamping device 1320 to move in the Y-axis direction. The clamping device 1320 reciprocates relative to the component frame 1310 along the motion reference line, allowing it to move in the Z-axis direction. This allows the clamping device 1320 to move to any position in three-dimensional space. When the aforementioned sample ejection robot 1000 is applied to a production line sample ejection system, it can quickly position itself on any sample drawer 4000 and can be used to pick up and place any sample tube 6000 stored in several sample drawers 4000.

[0068] Furthermore, the aforementioned sample ejection robot 1000 is also equipped with a scanning device 1330, which is also mounted on the component frame 1310. Therefore, the sample ejection robot 1000 itself can scan the data information of different sample tubes 6000. For example, each sample tube 6000 can be set with a data code (barcode or QR code) containing independent information. When the sample ejection robot 1000 moves to the target position in the predetermined three-dimensional space and takes out the target sample tube 6000 from the specific sample drawer 4000, the clamping device 1320 can also rotate around the central axis with the motion reference line as the center axis. This allows the data code set on the side wall of the sample tube 6000 to face the scanning device 1330 on the component frame 1310. The scanning device 1330 scans the data code on the sample tube 6000 to complete the information identification of the currently clamped sample tube 6000.

[0069] Based on the structural design of the sample delivery robot 1000 described above, the sample delivery robot 1000 can be suspended from the top of the system frame 2000 via its included assembly components 1100, allowing for placement of the sample delivery robot 1000 at the top of the system frame 2000. Using this suspension method to fix the sample delivery robot 1000 saves installation space while ensuring stable movement. The sample delivery robot 1000 has XYZ three-dimensional motion capabilities, allowing its X-axis travel to span all sample drawers 4000, and its Y-axis travel to span both the sample drawers 4000 and the system track 3000.

[0070] In one embodiment, the gripping device 1320 of the sample ejection robot 1000 can move along the X-axis and Y-axis directions to the target sample drawer 4000 on the system track 3000. Then, the gripping device 1320 of the sample ejection robot 1000 descends along the Z-axis direction. The opening or closing action of the gripping device 1320 can be used to grasp or release the target sample tube 6000. The gripping device 1320 of the sample ejection robot 1000 can also move along the Z-axis direction to the scanning position, which is the position at the same height as the scanning device 1330.

[0071] At this time, the clamping device 1320 rotates along a fixed axis, causing the data code on the sample tube 6000 to be directed towards the scanning device 1330. The scanning device 1330 is configured to scan the data code on the sample tube 6000. The information in the data code is configured to be compared with information in the system to generate a classification instruction for the sample tube 6000. For example, the scanning device 1330 is used to scan the data code on the current sample tube 6000 to identify the information in the data code and compare it with information in the system. If the comparison is correct, the current sample tube 6000 is placed in the corresponding position; otherwise, it is placed in the error area. For example, after identifying the information in the data code and comparing it with information in the system, the sample tubes 6000 are classified. For example, those with the same error category can be placed together; for example, sample tubes 6000 of the same test item can be placed together; for example, sample tubes 6000 of the same test progress can be placed together. Those skilled in the art can set classification criteria according to actual needs, which are not limited here.

[0072] During the process of the clamping device 1320 rotating on a fixed axis to achieve data code scanning in conjunction with the scanning device 1330, the clamping device 1320 of the sample ejection robot 1000 can also simultaneously move along the XYZ axes in a predetermined three-dimensional space, that is, synchronously realize the transportation of the current sample tube 6000. Thus, based on the above design of the sample ejection robot 1000, the data code scanning and recognition action of the sample tube 6000 in the entire process can be combined into the transportation process of the sample tube 6000. Therefore, there is no need to set the data code scanning position at other positions on the system track 3000. The sample tube 6000 can be gripped as soon as it arrives at the sample loading station, which improves the detection efficiency and reduces the blockage of the system track 3000.

[0073] Therefore, upon receiving a new instruction, the sample delivery robot 1000 can perform sample feeding or dispensing actions at any time. The scheduling algorithm enables efficient sample loading and queueing of sample tubes 6000. Information identification of sample tubes 6000 can be completed during the scheduling process, eliminating the need for separate barcode scanning positions. This ensures that the system track 3000 of the production line remains unobstructed, avoiding wasted time and facilitating centralized, intelligent, and efficient management of the sample tubes 6000 throughout the entire line.

[0074] like Figure 3As shown, in one embodiment, the clamping assembly 1300 includes guide posts 1340, a lifting base 1350, and a rotating base 1360. Several guide posts 1340 can be provided, and these guide posts 1340 are disposed on the assembly frame 1310. Each guide post 1340 is a straight post parallel to a motion reference line. The lifting base 1350 has guide holes that are movably connected to the guide posts 1340, allowing the lifting base 1350 to reciprocate along the guide posts 1340. The assembly of the lifting base 1350 and the guide posts 1340 on the assembly frame 1310 enables the clamping device 1320 to move in the Z-axis direction.

[0075] Meanwhile, the rotating base 1360 is connected to the lifting base 1350. The rotating base 1360 is used to rotate about the motion reference line as the central axis relative to the lifting base 1350. The clamping device 1320 is connected to the rotating base 1360. At this time, the rotating base 1360 can be used to realize the fixed-axis rotation of the clamping device 1320.

[0076] In one embodiment, the first linear track 1110 is a first raised track disposed at the bottom of the assembly component 1100, and the top of the moving component 1200 is provided with a first fitting groove, which is movably fitted with the first raised track. The second linear track 1210 is a second raised track disposed at the bottom of the moving component 1200, and the top of the component frame 1310 is provided with a second fitting groove, which is movably fitted with the second raised track.

[0077] In one embodiment, each sample drawer 4000 is equipped with a pull-out drive assembly 5000, which is disposed on the system rack 2000. The pull-out drive assembly 5000 drives the corresponding sample drawer 4000 to move along the pull-out direction, so that the user can pull the sample drawer 4000 out to the side of the system rack 2000 for easy placement into the sample holder 4200. See also Figure 6 As shown, the pull-out drive assembly 5000 includes a transmission mechanism 5100 and a drive component 5200. The transmission mechanism 5100 is drivenly connected to the sample drawer 4000, and the drive component 5200 is drivenly connected to the transmission mechanism 5100. The drive component 5200 is used to drive the sample drawer 4000 to move along the pull-out direction via the transmission mechanism 5100. The drive component 5200 can be a motor, etc., and the transmission mechanism 5100 can adopt various transmission methods such as belt drive, gear drive, and chain drive.

[0078] In one embodiment, the transmission mechanism 5100 includes a driving wheel 5110, a driven wheel 5120, and a transmission belt 5130. The output end of the driving device 5200 is connected to the driving wheel 5110, and the driving device 5200 drives the driving wheel 5110 to rotate. The driven wheel 5120 is rotatably mounted on the system frame 2000. The transmission belt 5130 is drivingly connected between the driving wheel 5110 and the driven wheel 5120, and the driving wheel 5110 drives the driven wheel 5120 to rotate through the transmission belt 5130. The transmission belt 5130 can be detachably connected to the sample drawer 4000, allowing the sample drawer 4000 to be driven and pulled out via the transmission mechanism 5100. Furthermore, when the transmission belt 5130 is detached from the sample drawer 4000, the sample drawer 4000 can also be manually driven and pulled out.

[0079] For example, see Figure 6 As shown, in one embodiment, a snap-fit ​​element 5131 is provided on the transmission belt 5130. At least a portion of the snap-fit ​​element 5131 has a flexible structure, which is used to snap-fit ​​with the sample drawer 4000. The snap-fit ​​element 5131 is used to maintain a snap-fit ​​state with the sample drawer 4000 within a predetermined force range, and the snap-fit ​​element 5131 is used to release the snap-fit ​​state from the sample drawer 4000 outside the predetermined force range.

[0080] Therefore, when the driving force of the driving device 5200 is small, that is, within the predetermined force range, the locking element 5131 can be kept locked to the sample drawer 4000. In this state, the driving device 5200 is used to electrically drive the sample drawer 4000. However, if a larger force is applied manually, and the applied force is outside the predetermined force range, the locking element 5131 can be released from the locking state with the sample drawer 4000. At this time, the pull-out drive assembly 5000 can be disengaged, thereby enabling manual pushing of the sample drawer 4000.

[0081] Continue reading Figure 4 and Figure 5As shown, the sample platform 2100 of the system rack 2000 has several sample drawers 4000 distributed within it. For example, the sample platform 2100 of the system rack 2000 has seven sample drawers 4000. In one embodiment, several unit placement areas 4100 are provided inside each sample drawer 4000. For example, the number of unit placement areas 4100 can be set to 1 to 4. The several unit placement areas 4100 are sequentially distributed inside the sample drawer 4000 along the pull-out direction. The unit placement areas 4100 are used to house sample holders 4200. The sample holders 4200 can be provided with multiple positioning holes for inserting sample tubes 6000, which are used to house several sample tubes 6000. Therefore, the several sample drawers 4000 can accommodate a large number of sample holders 4200 and sample tubes 6000, resulting in a large storage capacity.

[0082] In one embodiment, the sample platform 2100 of the system rack 2000 is further provided with a plurality of fixed sample areas 4300. The plurality of fixed sample areas 4300 are sequentially distributed on the sample platform 2100 of the system rack 2000 along a reference arrangement direction. The number of the plurality of fixed sample areas 4300 is the same as the number of sample drawers 4000. Each fixed sample area 4300 corresponds to a sample drawer 4000 in the pull-out direction.

[0083] The fixed sample area 4300 does not move with the sample drawer 4000. When the sample drawer 4000 is full, the fixed sample area 4300 can temporarily store sample tubes 6000, preventing the entire system and production line from stopping due to the sample drawer 4000 being full. The sample tubes 6000 placed in the fixed sample area 4300 can be scheduled according to the idle and priority status of the sample tubes 6000, the sample drawer 4000, and the scanning device 1330, without affecting the overall timing and ensuring throughput. At the same time, the fixed sample area 4300 can also provide temporary storage for abnormal sample tubes, ensuring that the sample dispensing robot 1000 can be efficiently scheduled at any time when it receives new instructions.

[0084] Each sample drawer 4000 contains several sample holders 4200, each capable of holding different types of sample tubes 6000. Each sample holder 4200 is equipped with a data chip 4110, and each unit placement area 4100 of the sample drawer 4000 is equipped with a reader for reading the data chip 4110. By configuring the data chip 4110, the sample holders 4200 can be pre-configured into sample holders 4200 with different functions, such as biochemical sample holders, immunological sample holders, and emergency sample holders. During sample dispensing, a sample dispensing robot 1000 can place different types of sample tubes 6000 into different sample holders 4200, achieving intelligent sample management.

[0085] In one embodiment, the system track 3000 is detachably connected to the system rack 2000, wherein the system rack 2000 defines several mounting reference positions, and the system track 3000 can be assembled relative to the system rack 2000 through any one of the mounting reference positions. Based on the detachable design of the system track 3000 and the system rack 2000, flexible matching of the system track 3000 and the system rack 2000 can be achieved during configuration.

[0086] The first linear track 1110 of the sample ejection robot 1000 is parallel to the track direction of the system track 3000. The system track 3000 is provided with a track inlet 3100 and a track outlet 3200. The sample ejection robot 1000 can move along the system track 3000 to the track inlet 3100 or the track outlet 3200. The gripping component 1300 of the sample ejection robot 1000 can move along the second linear track 1210 of the sample ejection robot 1000 through the track inlet 3100 to the sample platform 2100 of the system frame 2000. The gripping component 1300 of the sample ejection robot 1000 can also move along the second linear track 1210 of the sample ejection robot 1000 through the track outlet 3200 to leave the sample platform 2100 of the system frame 2000.

[0087] Therefore, when the sample ejection robot 1000 controls the sample tube to move along the system track 3000, the sample ejection robot 1000 can move through the track inlet 3100 to the sample platform 2100 of the system frame 2000 to pick up the sample tube 6000. Furthermore, the sample ejection robot 1000 can carry the sample tube 6000 away from the sample platform 2100 of the system frame 2000 through the track outlet 3200, and then leave with the sample tube 6000. Thus, the entry and exit of the sample ejection robot 1000 from the sample platform 2100 of the system frame 2000 are independent of each other, requiring no waiting time, which can effectively improve throughput and detection efficiency.

[0088] 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.

[0089] 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 sample dispensing robot for a production line sample dispensing system, characterized in that, The sampling robot includes: An assembly component, wherein the assembly component is provided with a first linear track; A moving component is movably assembled to the assembly component along the first linear track; the moving component is provided with a second linear track, and the second linear track is perpendicular to the first linear track; A clamping assembly includes a component frame and a clamping device and a scanning device mounted on the component frame. The component frame is movably mounted on the moving component along a second linear track. The component frame defines a motion reference line, and defines the plane containing the first linear track and the second linear track as a horizontal reference plane. The motion reference line is perpendicular to the horizontal reference plane. The clamping device is used to reciprocate relative to the component frame along the motion reference line, and the clamping device is used to rotate about the motion reference line as a central axis.

2. The sample-dispensing robot according to claim 1, characterized in that, The clamping assembly includes: A guide post is disposed on the component frame, wherein the guide post is a straight post and is parallel to the motion reference line; A lifting base is provided, wherein the lifting base has a guide hole, the guide hole of the lifting base is movably connected to the guide column, and the lifting base moves along the guide column; A rotating base is connected to the lifting base. The rotating base is used to rotate about the motion reference line as the central axis relative to the lifting base. The clamping device is connected to the rotating base.

3. The sample-dispensing robot according to claim 1, characterized in that, The first linear track is a first raised track disposed at the bottom of the assembly component, and the top of the moving component is provided with a first fitting groove, which is movably fitted with the first raised track. And / or, The second linear track is a second raised track located at the bottom of the moving component, and a second fitting groove is provided at the top of the component frame, the second fitting groove being movably fitted and assembled with the second raised track; And / or, The first linear track is oriented along the X-axis, the second linear track is oriented along the Y-axis, and the motion reference line is oriented along the Z-axis; and / or, The scanning device is configured to scan the data code of the sample tube, and the information of the data code is configured to be compared with information in the system to generate a classification instruction for the sample tube.

4. A sample output system for a production line, characterized in that, The automated sample output system includes: A system rack, wherein the system rack has a sample platform; The system track is connected to the system rack and is located on the side of the system rack; The sample drawers are provided in a plurality of order, and the plurality of sample drawers are sequentially distributed on the sample platform of the system frame along a reference arrangement direction, wherein the reference arrangement direction is parallel to the track direction of the system track, and each sample drawer can move relative to the system frame along a pull-out direction, wherein the pull-out direction is perpendicular to the reference arrangement direction. The sample delivery robot as described in any one of claims 1-3, wherein the sample delivery robot is movably mounted on the system frame.

5. The automated sample output system according to claim 4, characterized in that, Each sample drawer is equipped with a pull-out drive assembly, which is mounted on the system rack and drives the corresponding sample drawer to move along the pull-out direction; wherein, the pull-out drive assembly includes: A transmission mechanism, which is connected to the sample drawer drive; A driving device is connected to the transmission mechanism and is used to drive the sample drawer to move along the pull-out direction via the transmission mechanism.

6. The automated sample output system according to claim 5, characterized in that, The transmission mechanism includes: A drive wheel is provided, and the output end of the driving device is connected to the drive wheel. The driving device is used to drive the drive wheel to rotate. Driven wheel, the driven wheel being rotatably mounted on the system frame; A drive belt is connected between the driving pulley and the driven pulley. The driving pulley drives the driven pulley to rotate via the drive belt. The drive belt is detachably connected to the sample drawer.

7. The automated sample output system according to claim 6, characterized in that, The transmission belt is provided with a snap-fit ​​element, at least a portion of which is a flexible structure, and the flexible structure of the snap-fit ​​element is used to snap-fit ​​with the sample drawer. The locking element is used to maintain a locking state with the sample drawer within a predetermined force range, and the locking element is used to release the locking state from the sample drawer outside the predetermined force range.

8. The automated sample output system according to claim 4, characterized in that, The sample drawer is provided with several unit placement areas inside, and the several unit placement areas are distributed sequentially inside the sample drawer along the pull-out direction. The unit placement areas are used to set up sample holders, and the interior of the sample holders is used to set up several sample tubes.

9. The automated sample output system according to claim 8, characterized in that, The sample platform of the system rack is further provided with several fixed sample areas, which are sequentially distributed along a reference arrangement direction on the sample platform of the system rack. The number of fixed sample areas is the same as the number of sample drawers, and each fixed sample area corresponds to one of the sample drawers in the pull-out direction; and / or, Each of the sample holders is equipped with a data chip, and each unit placement area of ​​the sample drawer is equipped with a reading device for reading the data chip; and / or, Each of the sample drawers contains several sample holders that can be used to hold different types of sample tubes.

10. The automated sample output system according to claim 4, characterized in that, The system track is detachably connected to the system frame, wherein the system frame defines a plurality of mounting reference positions, and the system track can be assembled relative to the system frame through any one of the mounting reference positions; and / or, The first linear track of the sample ejection manipulator is parallel to the track direction of the system track. The system track is provided with a track inlet and a track outlet. The sample ejection manipulator can move along the system track to the track inlet or the track outlet. The gripping component of the sample ejection manipulator can move along the second linear track of the sample ejection manipulator through the track inlet to the sample platform of the system frame. The gripping component of the sample ejection manipulator can also move along the second linear track of the sample ejection manipulator through the track outlet to leave the sample platform of the system frame.

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