Sample post-processing storage device and sample processing system

Abstract

The utility model discloses a sample post-processing storage device and a sample processing system, and the sample post-processing storage device comprises a refrigerating chamber, the side wall of which is provided with a tray inlet and outlet; the goods shelf assemblies are oppositely arranged on the two side walls and used for bearing trays; the mechanical arm assembly is arranged between the goods shelf assemblies on the two sides and used for taking out or putting back the trays from the goods shelf assemblies and sending the trays out of or into the refrigerating chamber through the tray inlet and outlet, and the moving direction of the trays on the goods shelf assemblies is parallel to the moving direction of the trays passing through the tray inlet and outlet. By adopting the device, samples can be fed into the refrigerating chamber for refrigeration through the tray inlet and outlet, and the problem that in the prior art, the samples need to be manually put back is solved. The mechanical arm assembly can be used for picking the trays where the samples are located and sending the trays out of the refrigerating chamber, the automation degree is improved, time is effectively saved, manpower is liberated, manual errors are reduced, non-contact taking, placing and storing are achieved, and the risk of biological pollution is isolated.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of in vitro diagnosis, and particularly relates to a sample post-processing storage device and a sample processing system. BACKGROUND

[0002] In the field of in vitro diagnosis, a storage chamber for storing samples is usually provided, and most of the storage chambers need manual storage, so that professional personnel need to wear special protective clothing to enter the inside of the storage chamber to manually access the target sample. When retesting is needed, the target sample needs to be found in a pile of disordered samples, and after retesting is completed, the sample needs to be manually returned. In this way, the workload of the operator is increased. In order to ensure the quality of the test results, the sample can be detected only after the quality control is performed by the staff in advance, and a large amount of tedious manual operation is required. In addition, the stored sample needs to be discarded after a period of storage, and the corresponding sample rack needs to be manually taken out from the storage chamber, and the corresponding sample needs to be found and sampled for discarding.

[0003] With the increase of the speed of automatic sample processing of the instrument and the increase of the sample amount, the manual operation time of the doctor needs to be increased, which is very wasteful of manpower, and the error rate is also increased, increasing the risk of contact between the operator and the sample. At present, the biochemical and immunological cascade pipeline at home and abroad can basically only complete the scheduling and distribution function after sample identification, and does not have sample post-processing capability. Therefore, there is an urgent need to provide a sample post-processing storage system for the pipeline. CONTENT OF THE INVENTION

[0004] The application discloses a sample post-processing storage device and a sample processing system to solve the problems of large workload and high error rate in manual operation in the prior art.

[0005] In a first aspect, the application provides a sample post-processing storage device, comprising:

[0006] A refrigeration chamber, a tray inlet and outlet are formed in the side wall;

[0007] A shelf assembly is arranged opposite to the positions of the two side walls and is used for carrying the tray;

[0008] A mechanical arm assembly is arranged between the two shelf assemblies and is used for taking out or returning the tray from the shelf assembly and sending out or sending into the refrigeration chamber through the tray inlet and outlet. The movement direction of the tray on the shelf assembly is parallel to the movement direction of the tray through the tray inlet and outlet.

[0009] Optionally, the shelf assembly comprises: a plurality of shelves, and a vertical plate is arranged on each shelf in an interval. The positions between adjacent vertical plates are used for carrying the tray.

[0010] Optionally, the robotic arm assembly includes: an X-axis motion assembly, an R-axis motion assembly, a Z-axis motion assembly, and a pallet handling assembly, wherein the R-axis motion assembly is disposed on the X-axis motion assembly, the Z-axis motion assembly is disposed on the R-axis motion assembly, and the pallet handling assembly is disposed on the Z-axis motion assembly;

[0011] The X-axis motion component is used to drive the R-axis motion component, Z-axis motion component, and pallet handling component to translate.

[0012] The R-axis motion component is used to drive the Z-axis motion component and the pallet handling component to rotate.

[0013] The Z-axis motion component is used to drive the pallet handling component to lift and lower.

[0014] The pallet handling assembly is used to remove or return pallets from the rack assembly.

[0015] Optionally, the pallet handling assembly includes: a first transmission assembly and a second transmission assembly;

[0016] The first transmission assembly includes: a first motor, a driving wheel, a driven wheel, a belt, a moving block, and a hook. The belt is sleeved on the outside of the driving wheel and the driven wheel. The moving block is fixed on the belt. The hook is fixed on the moving block. The first motor is used to drive the driving wheel to rotate so as to drive the hook to translate.

[0017] The second transmission assembly includes a base plate, a second motor, a gear, and a rack. The first transmission assembly and the second motor are fixed on the base plate. The output shaft of the second motor passes through the base plate and is fixed to the gear. The rack meshes with the gear. The second motor is used to drive the gear to rotate so as to drive the base plate to translate.

[0018] Optionally, a transition zone is provided at the inlet and outlet of the pallet, and the base plate and the first transmission assembly are moved to the transition zone under the drive of the second motor, so that the hook can send the pallet out or into the cold storage compartment under the drive of the first motor.

[0019] Optionally, the Z-axis motion assembly is provided with a Z-axis slide, and the pallet handling assembly is mounted on the Z-axis slide, which is used to move up and down with the Z-axis motion assembly.

[0020] Optionally, the Z-axis motion assembly includes: a Z-axis motor, a Z-axis drive pulley, a first Z-axis driven pulley, a first Z-axis belt, a Z-axis synchronous gear, a second Z-axis driven pulley, and a second Z-axis belt; the first Z-axis drive pulley is mounted on the motor shaft of the Z-axis motor and is connected to the first Z-axis driven pulley by the first Z-axis belt; the first Z-axis driven pulley is coaxially connected to the Z-axis synchronous gear, and one end of the second Z-axis belt is fitted onto the Z-axis synchronous gear, and the other end is fitted onto the second Z-axis driven pulley.

[0021] Optionally, the R-axis motion assembly includes: an R-axis motor, an R-axis drive pulley, an R-axis driven pulley, an R-axis belt, an R-axis mounting base plate, an R-axis rotating shaft, an R-axis bearing, and an R-axis bearing housing;

[0022] The motor shaft of the R-axis motor is fixedly connected to the R-axis drive wheel. The R-axis belt is sleeved between the R-axis drive wheel and the R-axis driven wheel. The R-axis mounting plate is fixedly connected to the R-axis driven wheel. The R-axis driven wheel is fixedly connected to the R-axis rotating shaft. The R-axis rotating shaft and the R-axis bearings sleeved at both ends are integrally embedded in the R-axis bearing seat. The R-axis mounting plate is used to install the Z-axis motion component.

[0023] Optionally, the X-axis motion assembly includes: an X-axis slide, an X-axis guide rail, an X-axis motor, an X-axis drive wheel, an X-axis first driven wheel, an X-axis first belt, an X-axis synchronous gear, an X-axis second driven wheel, and an X-axis second belt;

[0024] The X-axis drive wheel is mounted on the X-axis motor. The first driven wheel of the X-axis is connected to the drive wheel of the X-axis via the first belt of the X-axis. The first driven wheel of the X-axis is coaxially mounted with X-axis synchronous gears. The shaft of the X-axis synchronous gears is connected to the second driven wheel of the X-axis via the second belt of the X-axis.

[0025] The R-axis motion assembly is mounted on the X-axis slide, which is set on the X-axis guide rail. The X-axis slide is used to translate along the X-axis under the drive of the X-axis motor.

[0026] A second aspect of this application provides a cascaded sample processing system, including the sample post-processing storage device provided in the first aspect, and a sample pre-processing device, the sample pre-processing device comprising:

[0027] The load-bearing area corresponds to the location of the pallet inlet and outlet;

[0028] The recycling area is used to hold discarded samples;

[0029] A gripper is used to grab expired samples from a tray placed in the carrying area and discard them to the recycling area, as well as to grab samples from the tray for testing, and to grab samples that need to be refrigerated onto the tray.

[0030] The sample post-processing storage device provided in this application, when cascaded with a production line, allows samples to be sent into a cold storage room for refrigeration via a tray inlet / outlet, solving the problem of manual return required in existing technologies. When samples need to be retested, discarded, or require pre-quality control, the robotic arm component simply picks up the tray containing the sample and sends it out of the cold storage room, improving automation, effectively saving time, freeing up manpower, reducing human error, and providing contactless handling and storage, thus isolating the risk of biological contamination. Attached Figure Description

[0031] Figure 1 A schematic diagram of the casing structure of a sample post-processing storage device provided in this application;

[0032] Figure 2 A schematic diagram of the overall structure of a sample post-processing storage device provided in this application;

[0033] Figure 3 A front view structural diagram of a sample post-processing storage device provided in this application;

[0034] Figure 4 A top view structural diagram of a sample post-processing storage device provided in this application;

[0035] Figure 5 A schematic diagram of the structure of the robotic arm assembly provided in this application;

[0036] Figure 6 This is a schematic diagram of the structure of the pallet handling assembly provided in this application;

[0037] Figure 7 This is a schematic diagram of the Z-axis motion assembly provided in this application;

[0038] Figure 8 for Figure 7 A magnified view of a portion of the image;

[0039] Figure 9 This is a schematic diagram of the structure of the R-axis motion assembly provided in this application;

[0040] Figure 10 This is a schematic diagram of the structure of the X-axis motion assembly provided in this application;

[0041] Figure 11 This is a partial structural disassembly diagram of the X-axis motion assembly provided in this application;

[0042] Figure 12 Another partial structural disassembly diagram of the X-axis motion assembly provided in this application;

[0043] Figure 13 A schematic diagram of a cascaded sample processing system provided in this application;

[0044] Figure 14 This is a schematic diagram of the pallet structure provided in this application.

[0045] Reference numerals: 1-Cold storage compartment; 2-Shelf assembly; 3-Robotic arm assembly; 4-Transition area; 5-Loading area; 6-Recycling area; 7-Gripper; 11-Pallet inlet / outlet; 21-Multi-layer shelf; 22-Upright panel; 31-X-axis motion assembly; 32-R-axis motion assembly; 33-Z-axis motion assembly; 34-Pallet handling assembly; 311-X-axis slide; 312-X-axis guide rail; 313-X-axis motor; 314-X-axis drive pulley; 315-X-axis first driven pulley; 316-X-axis first belt; 317-X-axis synchronous gear; 318-X-axis second driven pulley; 319-X-axis second belt; 321-R-axis motor; 322-R-axis drive pulley; 323-R-axis driven pulley ; 324-R-axis belt; 325-R-axis mounting base plate; 326-R-axis rotating shaft; 327-R-axis bearing; 328-R-axis bearing housing; 331-Z-axis motor; 332-Z-axis drive pulley; 333-Z-axis first driven pulley; 334-Z-axis first belt; 335-Z-axis synchronous gear; 336-Z-axis second driven pulley; 337-Z-axis second belt; 341-First transmission assembly; 342-Second transmission assembly; 3411-First motor; 3412-Drive pulley; 3413-Driven pulley; 3414-Belt; 3415-Moving block; 3416-Hook; 3421-Base plate; 3422-Second motor; 3423-Gear; 3424-Rack. Detailed Implementation

[0046] The technical solutions in the embodiments of this application are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0047] Reference Figures 1-3 The schematic diagram shown illustrates that this application provides a sample post-processing storage device, comprising: a cold storage chamber 1 with a pallet inlet / outlet 11 on its side wall; a shelf assembly 2 disposed opposite to the two side walls for supporting pallets; and a robotic arm assembly 3 disposed between the two shelf assemblies 2 for removing or placing pallets from the shelf assembly 2 and for sending the pallets out of or into the cold storage chamber 1 through the pallet inlet / outlet 11, wherein the direction of movement of the pallets on the shelf assembly 2 is parallel to the direction of movement of the pallets through the pallet inlet / outlet 11.

[0048] In the prior art, biochemical and immunoassay cascade pipelines can basically only complete the scheduling and allocation function after sample identification. The post-processing storage device provided in this embodiment is cascaded with the pipeline as a post-processing storage device. Its main function is to refrigerate samples, quality control products and calibrators, that is, it mainly acts as a refrigerator. In addition, in order to achieve automation, a robotic arm component 3 is set inside it to retrieve samples, quality control products and calibrators inside the refrigerator. Samples, quality control products and calibrators interact with the outside through the tray inlet and outlet 11.

[0049] For ease of description, the term "sample" in this application embodiment may also refer to quality control samples or calibrators without distinction. For ease of management, samples are placed on trays. A single tray can hold several samples, for example, 60 samples. The number of shelf layers is rationally designed according to the size of the refrigerator to meet the needs of batch storage. The storage device provided in this embodiment can store 4500 samples simultaneously when fully loaded.

[0050] After being cascaded with the production line, samples can be sent to the cold storage room 1 for refrigeration through the tray inlet / outlet 11, solving the problem of manual return required in the prior art. When samples need to be retested, discarded, or require advance quality control, the robotic arm component 3 can simply pick up the tray containing the sample and send it out of the cold storage room, improving the degree of automation, effectively saving time, freeing up manpower, reducing human error, and providing contactless pick-up and storage, thus isolating the risk of biological contamination.

[0051] To ensure the temperature inside the cold storage compartment 1, the tray inlet / outlet 11 is equipped with a door assembly, which has an automatic opening and closing function.

[0052] Reference Figure 2 The schematic diagram shows that the sample post-processing storage device provided in this embodiment is equipped with a refrigeration unit. The refrigeration unit is located in the upper part of the cold storage chamber 1. The refrigeration unit can accurately control the internal temperature of the cold storage chamber 1 at 2-8℃. After a complete power outage and power-on, it reaches the target temperature within 2 hours and continues to cool normally during standby.

[0053] The sample post-processing storage device is equipped with a casing, and a touch screen is located on the front of the casing. The temperature and set temperature are displayed on the touch screen, enabling human-computer interaction. This embodiment also includes an audible and visual alarm device. When the internal temperature of the cold storage compartment 1 is abnormal, the system will issue an audible and visual alarm.

[0054] Reference Figure 2 and Figure 3 The structural diagram shown indicates that the shelf assembly 2 includes: multiple shelves 21, each shelf 21 having a spaced upright plate 22, and the space between adjacent upright plates 22 being used to support the pallet.

[0055] In this embodiment, the space between adjacent uprights 22 constitutes a storage unit, which stores one tray. Each tray is assigned a corresponding number, and the storage unit corresponds to the tray number. The width of the storage unit is slightly wider than the width of the tray to allow the tray to enter and exit the storage unit smoothly. The edges of the uprights 22 are chamfered, making the width of the entrance position of the storage unit greater than the width of its central position, thus guiding the tray as it enters the storage unit.

[0056] The multi-layer shelves 21 are supported by columns, with at least four columns positioned at the four corners of each storage unit. For added stability, an additional column is added to the center of each shelf 22, and two more columns are added to both sides, resulting in six columns supporting each storage unit. The columns between the multi-layer shelves 21 can be installed as a single unit or separately; separate installations are more convenient for maintenance.

[0057] In this embodiment, the shelf 21 adopts a hollow design to save materials and reduce the overall weight.

[0058] Reference Figure 5 The schematic diagram shows that the robotic arm assembly 3 includes: an X-axis motion assembly 31, an R-axis motion assembly 32, a Z-axis motion assembly 33, and a pallet handling assembly 34. The R-axis motion assembly 32 is mounted on the X-axis motion assembly 31, the Z-axis motion assembly 33 is mounted on the R-axis motion assembly 32, and the pallet handling assembly 34 is mounted on the Z-axis motion assembly 33. The X-axis motion assembly 31 is used to drive the R-axis motion assembly 32, the Z-axis motion assembly 33, and the pallet handling assembly 34 to translate. The R-axis motion assembly 32 is used to drive the Z-axis motion assembly 33 and the pallet handling assembly 34 to rotate. The Z-axis motion assembly 33 is used to drive the pallet handling assembly 34 to lift and lower. The pallet handling assembly 34 is used to remove or place pallets from the shelf assembly 2.

[0059] In traditional technology, the Z-axis motion component is set on the X-axis motion component, and the R-axis motion component is set on the Z-axis motion component. That is to say, the Z-axis motion component does not rotate, but the R-axis motion component moves up and down with the Z-axis motion component. As a result, more components move up and down with the Z-axis motion component, the Z-axis is overloaded, and unstable operation is likely to occur.

[0060] In this application, the R-axis motion component is set on the X-axis motion component, so the R-axis motion component does not need to move up and down with the Z-axis, thus solving the problem of unstable operation in traditional technology.

[0061] Reference Figure 6 The schematic diagram shown indicates that the pallet handling assembly 34 includes: a first transmission assembly 341 and a second transmission assembly 342.

[0062] The first transmission assembly 341 includes: a first motor 3411, a drive wheel 3412, a driven wheel 3413, a belt 3414, a moving block 3415, and a hook 3416. The belt 3414 is sleeved on the outside of the drive wheel 3412 and the driven wheel 3413. The moving block 3415 is fixed on the belt 3414. The hook 3416 is fixed on the moving block 3415. The first motor 3411 is used to drive the drive wheel 3412 to rotate so as to drive the hook 3416 to translate.

[0063] The second transmission assembly 342 includes: a base plate 3421, a second motor 3422, a gear 3423, and a rack 3424. The first transmission assembly 341 and the second motor 3422 are fixed on the base plate 3421. The output shaft of the second motor 3422 passes through the base plate 3421 and is fixed to the gear 3423. The rack 3424 meshes with the gear 3423. The second motor 3422 is used to drive the gear 3423 to rotate so as to drive the base plate 3421 to translate.

[0064] In this embodiment, a first motor 3411 drives a hook 3416, which in turn drives a tray, forming the first stage of transmission to enable the tray to be loaded, unloaded, and placed. A second motor 3422 is connected to a base plate 3421. A gear 3423, with the same module as a rack 3424, is fixed to the output shaft of the second motor 3421 and meshes with it. The second motor 3422 drives the gear to rotate, causing it to roll on the rack, thereby moving the base plate back and forth, forming the second stage of transmission. When placing the tray into the shelf or hooking the tray from the shelf onto the robotic arm, only the first stage of transmission is needed. However, when receiving the tray from outside the instrument into the instrument, or sending it from inside the instrument into the instrument, two stages of transmission are required. The two-stage transmission enables two different strokes: sending the tray to the shelf and sending it out of the instrument.

[0065] In the IVD industry, traditional technology uses T-shaped lead screw and nut transmission, which suffers from low transmission efficiency, short applicable stroke, and low speed. Furthermore, the parallel arrangement of double lead screws and double guide posts results in low space utilization and is prone to structural jamming or even complete blockage. The two-stage transmission pallet handling assembly provided in this application offers high space utilization, high transmission efficiency, long applicable stroke, and high speed, solving the problems of traditional technology.

[0066] In this embodiment, refer to Figure 4The structural diagram shows that the cold storage compartment 1 has a door on the front, the shelf assembly 2 is set on the left and right sides of the cold storage compartment 1, the pallet inlet / outlet 11 is set on the left side, and a transition area 4 is set at the pallet inlet / outlet 11. The area of ​​the left shelf assembly corresponding to the pallet inlet / outlet 11 is used to set the transition area. The width of the transition area 4 is basically the same as the width of the bottom plate 3421 of the second transmission assembly. The bottom plate 3421 and the first transmission assembly are moved to the transition area 4 under the drive of the second motor, so that the hook can send the pallet out or into the cold storage compartment under the drive of the first motor.

[0067] The pallet handling assembly 34 is mounted on the Z-axis motion assembly 33, as shown in the reference. Figure 7 and Figure 8 The schematic diagram shows that the Z-axis motion assembly 33 includes: a Z-axis motor 331, a Z-axis drive pulley 332, a first Z-axis driven pulley 333, a first Z-axis belt 334, a Z-axis synchronous gear 335, a second Z-axis driven pulley 336, and a second Z-axis belt 337. The first Z-axis drive pulley 332 is mounted on the motor shaft of the Z-axis motor 331 and is connected to the first Z-axis driven pulley 333 by the first Z-axis belt 334. The first Z-axis driven pulley 333 is coaxially connected to the Z-axis synchronous gear 335. One end of the second Z-axis belt 337 is fitted onto the Z-axis synchronous gear 335, and the other end is fitted onto the second Z-axis driven pulley 336.

[0068] Among them, the first driving wheel 332 of the Z-axis has 24 teeth, the first driven wheel 333 of the Z-axis has 48 teeth, the synchronous gear 335 of the Z-axis and the second driven wheel 336 of the Z-axis have 24 teeth, thus forming a gear reduction mechanism with a reduction ratio of 2:1.

[0069] The Z-axis motion assembly 33 is equipped with a Z-axis slide, and the pallet handling assembly 34 is mounted on the Z-axis slide. The Z-axis slide is used to move up and down with the Z-axis motion assembly. Specifically, the Z-axis slide is mounted on the Z-axis guide rail slider, and a belt pressure plate is provided on the Z-axis second belt 337. The belt pressure plate is fixedly connected to the pallet handling assembly 34 and the Z-axis guide rail slider. The Z-axis motor 331 rotates to drive the pallet handling assembly 34 to move up and down.

[0070] The Z-axis motion assembly 33 is mounted entirely on the R-axis motion assembly 32, refer to Figure 9The schematic diagram shown indicates that the R-axis motion assembly 32 includes: an R-axis motor 321, an R-axis drive wheel 322, an R-axis driven wheel 323, an R-axis belt 324, an R-axis mounting base plate 325, an R-axis rotating shaft 326, an R-axis bearing 327, and an R-axis bearing seat 328. The motor shaft of the R-axis motor is fixedly connected to the R-axis drive pulley. The R-axis belt is sleeved between the R-axis drive pulley and the R-axis driven pulley. The R-axis mounting base plate 325 is used to mount the Z-axis motion assembly 33. The R-axis mounting base plate 325 is fixedly connected to the R-axis driven pulley 323. The R-axis driven pulley 323 is fixedly connected to the R-axis rotating shaft 326. R-axis bearings 327 are sleeved at both ends of the R-axis rotating shaft 326. The R-axis rotating shaft 326 and the R-axis bearings 327 sleeved at both ends are integrally embedded in the R-axis bearing housing 328. There are spacers between the bearings. The bearings and the R-axis bearing housing 328 adopt a clearance fit (micro-clear gap). The R-axis bearings 327 and the R-axis rotating shaft 326 adopt a transition fit. A bearing retainer ring is provided at the bottom of the R-axis rotating shaft 326 to block the bearings.

[0071] R-axis driven wheel 323 is connected to R-axis driving wheel 322 via R-axis belt 324, with a transmission ratio of 10:1. R-axis driving wheel 322 is fastened to R-axis motor 321. The rotation of R-axis motor 321 drives R-axis driven wheel 323 to rotate. R-axis driven wheel 323 is fixedly connected to R-axis mounting base plate 325, thus driving R-axis mounting base plate 325 to rotate around R-axis rotation axis 326, thereby driving the entire Z-axis motion assembly to rotate. Since the pallet handling assembly is mounted on the Z-axis motion assembly, R-axis motor 321 drives Z-axis motion assembly and pallet handling assembly to rotate simultaneously.

[0072] The R-axis motion assembly 32 is mounted on the X-axis motion assembly 31, as shown in the figure. Figures 10-12The schematic diagram shows that the X-axis motion assembly 31 includes: an X-axis slide 311, an X-axis guide rail 312, an X-axis motor 313, an X-axis drive wheel 314, an X-axis first driven wheel 315, an X-axis first belt 316, an X-axis synchronous gear 317, an X-axis second driven wheel 318, and an X-axis second belt 319. The X-axis drive wheel 314 is mounted on the X-axis motor 313. The X-axis first driven wheel 315 is connected to the X-axis drive wheel 314 via the X-axis first belt 316. The X-axis synchronous gear 317 is coaxially mounted on the X-axis first driven wheel. The X-axis synchronous gear 317 is driven by the X-axis second belt 319 and connected to the X-axis second driven wheel 318. The X-axis drive wheel 314 has 24 teeth, the X-axis first driven wheel 315 has 48 teeth, and the X-axis synchronous gear 317 and the X-axis second driven wheel 318 each have 24 teeth, thus forming a reduction gear set with a reduction ratio of 2:1. An encoder is coaxially mounted on the second driven wheel 318 of the X-axis. This encoder is used to provide feedback on the number of steps taken to form a closed-loop control. The X-axis slide 311 is mounted on the X-axis guide rail 312. The second belt 319 of the X-axis is connected to the X-axis slide 311 by a belt pressure plate. The R-axis motion assembly 32 is mounted on the X-axis slide 311. The X-axis motor 313 rotates to drive the entire R-axis motion assembly 32 to translate along the X-axis.

[0073] In this device, the X-axis and Z-axis use two sets of reduction gears with a reduction ratio of 2:1, which can effectively improve the motor load capacity.

[0074] Reference Figure 13 The schematic diagram shown illustrates that this embodiment provides a cascaded sample processing system, including a post-processing storage device and a pre-processing device. The pre-processing device includes: a carrying area 5, corresponding to the position of the tray inlet and outlet; a recycling area 6, for carrying discarded samples; a gripper 7, for gripping expired samples from the tray placed in the carrying area 6 and discarding them into the recycling area 6; for gripping samples from the tray and transporting them to a sample analyzer for testing; and for gripping samples that need to be refrigerated onto the tray.

[0075] In vitro diagnostic automated testing lines are used to complete automated testing and typically include at least one sample analyzer. To improve the level of automation, the sample pretreatment device provided in this embodiment has sample loading, centrifugation, and cap opening functions, as well as a reconstitution area for reconstitution of calibrators or quality control samples. After the sample cap is opened, it is transported to the sample analyzer for testing. After testing, the sample is returned to the sample pretreatment device for capping. If the tested sample needs to be retested, it is transferred to the sample post-processing storage device; otherwise, it is discarded directly to the recycling area.

[0076] In the cascaded sample processing system provided in this embodiment, the sample preprocessing device and the sample postprocessing storage device are placed side by side. The sample is placed on a tray, and the tray enters and exits the sample postprocessing storage device through the tray inlet and outlet. In the standby state, the sample postprocessing storage device detects whether the host computer has issued a new task. This embodiment mainly has five task types, and the sample flow of each task type is shown in Table 1.

[0077] Table 1 Task Types and Sample Flow

[0078] Task type Sample flow direction Take out Sample pre-processing device -> sample post-processing storage device Detect Sample post-processing storage device -> sample pre-processing device Discard Sample post-processing storage device -> sample pre-processing device Quality control Sample post-processing storage device -> sample pre-processing device Calibration Sample post-processing storage device -> sample pre-processing device

[0079] In Table 1, the task types are as follows: "Retrieve" means retrieving the sample from the sample pretreatment device to the sample posttreatment storage device; "Detect" means sending the sample from the sample posttreatment storage device to the sample pretreatment device, which then transports the sample to the sample analyzer for detection; "Discard" means sending the sample from the sample posttreatment storage device to the sample pretreatment device for disposal; and "Quality Control" or "Calibration" means sending the quality control or calibrator from the sample posttreatment storage device to the sample pretreatment device, where it is reconstituted before being transported to the sample analyzer for quality control or calibration.

[0080] The aforementioned cascaded sample processing system provides a venue for executing the tasks in Table 1. To control this cascaded system, this embodiment includes a host computer, which is a computer capable of directly issuing control commands. The host computer runs a task scheduling system. The sample preprocessing device and the sample postprocessing storage device are each equipped with a controller. The controller of the postprocessing storage device receives instructions from the task scheduling system to control the movement of the robotic arm components. Based on this, this application also provides a control method for the sample postprocessing device, executed by the controller. This control method includes the following steps:

[0081] Step 101: Obtain task information, which includes task type and target tray number.

[0082] In this embodiment, an RFID tag is provided along the edge of the tray. By identifying the tag information, the tray number can be obtained. The task information also includes the target sample. When the task type is detection, disposal, quality control, or calibration, the target sample is stored in the target tray. By locating the target sample, the target tray number and its location can be obtained. When the task type is retrieval, the target tray needs to be sent to the sample pretreatment device. The target sample located in the sample pretreatment device is placed on the target tray and then returned to the cold storage room.

[0083] Step 102: Control the robotic arm assembly to move to the position corresponding to the target pallet number and pick up the target pallet.

[0084] Reference Figure 14 The schematic diagram shows that the pallet surface has pre-drilled slots, through which the robotic arm assembly performs push / pull actions on the pallet. This step specifically includes:

[0085] Step 1021: Control the robotic arm assembly to move to the first height corresponding to the target tray. At the first height, the free end of the hook is at least higher than the upper edge of the reserved slot.

[0086] Step 1022: Control the first motor to start, so as to drive the hook to move towards the target pallet until it is close to the target pallet;

[0087] Step 1023: Control the pallet handling assembly to descend to the second height. At the second height, the bottom plate of the pallet handling assembly is flush with the shelf of the target pallet. From the first height to the second height, the free end of the hook is inserted into the reserved slot of the target pallet.

[0088] Step 1024: Control the first motor to start, so as to drive the hook to carry the target pallet toward the robotic arm assembly and pick up the target pallet onto the base plate.

[0089] In step 1021 above, the movement of the robotic arm assembly requires the combined action of the X-axis motion assembly, the R-axis motion assembly, and the Z-axis motion assembly. The robotic arm assembly moves from its initial position to the location of the target pallet, which can be performed as follows: First, control the X-axis motion assembly to move to the X-axis position of the target pallet. Second, control the R-axis motion assembly to rotate to the same side as the target pallet. If the target pallet's location is on the same side as the initial position of the pallet handling assembly, this step can be skipped. Finally, control the Z-axis motion assembly to move to the location of the target pallet. Before performing step 1022, control the Z-axis motion assembly to move to the first height, at which the free end of the hook is at least above the upper edge of the reserved slot.

[0090] In step 1023 above, since the pallet handling assembly is mounted on the Z-axis motion assembly, the pallet handling assembly is controlled to descend to the second height, that is, the Z-axis motor is controlled to start so as to move the pallet handling assembly.

[0091] Step 103: Control the robotic arm assembly to move the target tray to the transition area, and transport the target tray to the carrying area of ​​the sample pretreatment device through the tray inlet and outlet, so that the sample pretreatment device can perform the operation corresponding to the task type.

[0092] This step specifically includes:

[0093] Step 1031: Control the robotic arm assembly to move to the third height corresponding to the transition zone, at the third height, the bottom plate of the pallet handling assembly is flush with the height of the transition zone;

[0094] Step 1032: Control the second motor to start, so as to drive the base plate and the first transmission assembly to move to the transition area;

[0095] Step 1033: Control the pallet handling assembly to rise to the fourth height, at which the free end of the hook is at least above the upper edge of the reserved slot of the target pallet;

[0096] Step 1034: Control the first motor to start, so as to drive the hook to move towards the target pallet until it is close to the target pallet;

[0097] Step 1035: Control the pallet handling assembly to descend to the fifth height. At the fifth height, the bottom plate of the pallet handling assembly is flush with the height of the transition zone. From the fourth height to the fifth height, the free end of the hook is inserted into the reserved slot of the target pallet located in the bearing area.

[0098] Step 1036: Control the first motor to start, so as to drive the hook to carry the target tray toward the robotic arm assembly and retract the target tray to the base plate;

[0099] Step 1037: Control the second motor to start, so as to drive the base plate and the first transmission assembly to return to their original positions;

[0100] Step 1038: Based on the target pallet number, control the robotic arm assembly to place the target pallet back into the corresponding position on the shelf assembly.

[0101] In step 1038 above, the pallets correspond one-to-one with the storage units in the cold storage compartment. Based on the target pallet number, the target storage unit corresponding to the target pallet can be determined. Then, the robotic arm assembly is controlled to move the target pallet from the transition area to the location of its target storage unit. This operation requires the combined action of the X-axis motion assembly, R-axis motion assembly, and Z-axis motion assembly, which will not be elaborated here. When the pallet handling assembly is aligned with the target storage unit, the first motor is started to push the hook towards the target storage unit. After it moves into place, the Z-axis motion assembly is controlled to rise slightly, so that the hook disengages from the reserved slot of the target pallet, and the hook is retracted.

[0102] The above steps employ a two-stage transmission system for transferring the target pallet, which increases the stroke of the pallet handling assembly. The two-stage transmission method provided in this embodiment has a simple and reliable structure and high space utilization.

[0103] Step 104: After detecting that the sample pretreatment device has completed its task, control the robotic arm assembly to move to the position corresponding to the transition zone and retrieve the target tray.

[0104] In this step, the task scheduling system continuously retrieves tasks from the target tray and checks their completion status. If a task in the target tray is not completed, it continues to retrieve and send tasks to the target tray. When the task in the current tray is completed, the task scheduling system sends a request to the sample preprocessing device to retrieve the target tray. After waiting for the sample preprocessing device to respond to the request, the task scheduling system sends an instruction to the controller of the sample postprocessing storage device to retrieve the target tray. The controller of the sample postprocessing storage device retrieves the target tray according to the instruction.

[0105] As can be seen from the above technical solutions, the control method provided in this application embodiment can automatically complete the task of scheduling samples and can meet the usage requirements in multiple scenarios.

[0106] Furthermore, the procedure before performing step 102 also includes:

[0107] Step 105: Determine whether to execute the task information based on the task type. If the task type is discard, the task information can be executed if the recycling area of ​​the pretreatment device is not full. If the task type is quality control or calibration, the task information can be executed if there are enough pores in the remelting area of ​​the pretreatment device. If the above conditions are not met, return to the step of obtaining task information.

[0108] Step 106: If the task information can be executed, determine whether there is a tray in the carrying area of ​​the sample preprocessing device at the current moment;

[0109] Step 107: If there is no pallet in the carrying area, proceed with picking the target pallet. If a pallet is present in the carrying area, the task information is executed after the pallet is returned.

[0110] In this embodiment, there may be more than one task in the task list. Normally, they are processed in chronological order. However, due to limitations in the processing space or number of tasks in each part of the instrument, and considering the need to maximize efficiency, if the current task cannot be processed immediately, the next task will be processed first, thereby improving the instrument's processing efficiency.

[0111] In summary, the beneficial effects of this application are as follows: the device has a compact and simple structure, high space utilization, low cost, and is easy to install and maintain; it effectively saves time, frees up manpower, reduces human error, and provides contactless pick-up and storage, thus isolating the risk of biological contamination; it has a high degree of automation integration, complete functions, and can meet the usage requirements in multiple scenarios.

[0112] The above are merely embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application shall be included within the scope of the claims of this application pending approval.

Claims

1. A sample post-processing storage device, characterized by, The application relates to a refrigeration cabinet, which comprises: a refrigeration chamber, a tray inlet and outlet being arranged on a side wall; a shelf assembly arranged oppositely on the two side walls and used for carrying the tray; a mechanical arm assembly arranged between the two shelf assemblies and used for taking out or returning the tray from the shelf assembly and sending the tray out of or into the refrigeration chamber through the tray inlet and outlet, the moving direction of the tray on the shelf assembly being parallel to the moving direction of the tray through the tray inlet and outlet; the mechanical arm assembly comprises an X-axis movement assembly, an R-axis movement assembly, a Z-axis movement assembly and a tray carrying assembly, the R-axis movement assembly is arranged on the X-axis movement assembly, the Z-axis movement assembly is arranged on the R-axis movement assembly, and the tray carrying assembly is arranged on the Z-axis movement assembly; the X-axis movement assembly is used for driving the R-axis movement assembly, the Z-axis movement assembly and the tray carrying assembly to translate; the R-axis movement assembly is used for driving the Z-axis movement assembly and the tray carrying assembly to rotate; the Z-axis movement assembly is used for driving the tray carrying assembly to lift and lower; the tray carrying assembly is used for taking out or returning the tray from the shelf assembly; the tray carrying assembly comprises a first transmission assembly and a second transmission assembly; the first transmission assembly comprises a first motor, a driving wheel, a driven wheel, a belt, a moving block and a pull hook, the belt is sleeved outside the driving wheel and the driven wheel, the moving block is fixed on the belt, the pull hook is fixed on the moving block, and the first motor is used for driving the driving wheel to rotate so as to drive the pull hook to translate; the second transmission assembly comprises a bottom plate, a second motor, a gear and a rack, the first transmission assembly and the second motor are fixed on the bottom plate, the output shaft of the second motor penetrates through the bottom plate and is fixed with the gear, the rack is engaged with the gear, and the second motor is used for driving the gear to rotate so as to drive the bottom plate to translate.

2. A sample post-processing storage device according to claim 1, wherein, the shelf assembly comprises a plurality of layers of shelves, and a vertical plate is arranged at intervals on each layer of shelves, and the positions between adjacent vertical plates are used for carrying the tray.

3. The sample post-processing storage device of claim 1, wherein, a transition area is arranged at the tray inlet and outlet, the bottom plate and the first transmission assembly are driven by the second motor to translate to the transition area, and the pull hook is driven by the first motor to send the tray out of or into the refrigeration chamber.

4. The sample post-processing storage device of claim 1, wherein, a Z-axis sliding table is arranged on the Z-axis movement assembly, the tray carrying assembly is installed on the Z-axis sliding table, and the Z-axis sliding table is used for running up and down along with the Z-axis movement assembly.

5. The sample post-processing storage device of claim 1, wherein, the Z-axis movement assembly comprises a Z-axis motor, a Z-axis driving wheel, a Z-axis first driven wheel, a Z-axis first belt, a Z-axis synchronous gear, a Z-axis second driven wheel and a Z-axis second belt, the Z-axis first driving wheel is installed on the motor shaft of the Z-axis motor, the Z-axis first belt is connected with the Z-axis first driven wheel, the Z-axis first driven wheel is coaxially connected with the Z-axis synchronous gear, one end of the Z-axis second belt is sleeved on the Z-axis synchronous gear, and the other end of the Z-axis second belt is sleeved on the Z-axis second driven wheel.

6. The sample post-processing storage device of claim 1, wherein, the R-axis movement assembly comprises an R-axis motor, an R-axis driving wheel, an R-axis driven wheel, an R-axis belt, an R-axis mounting base plate, an R-axis rotating shaft, an R-axis bearing and an R-axis bearing seat. The motor shaft of the R-axis motor is fixedly connected with the R-axis driving wheel, the R-axis belt is arranged between the R-axis driving wheel and the R-axis driven wheel, the R-axis mounting base is fixedly connected with the R-axis driven wheel, the R-axis driven wheel is fixedly connected with the R-axis rotating shaft, the R-axis rotating shaft and the R-axis bearings sleeved on both ends of the R-axis rotating shaft are embedded in the R-axis bearing seat as a whole, and the R-axis mounting base is used for mounting the Z-axis movement assembly.

7. The sample post-processing storage device of claim 1, wherein, The X-axis movement assembly comprises an X-axis sliding table, an X-axis guide rail, an X-axis motor, an X-axis driving wheel, an X-axis first driven wheel, an X-axis first belt, X-axis synchronous teeth, an X-axis second driven wheel and an X-axis second belt. The X-axis driving wheel is mounted on the X-axis motor, the X-axis first driven wheel is connected with the X-axis driving wheel through the X-axis first belt, the X-axis first driven wheel is coaxially provided with the X-axis synchronous teeth, and the X-axis synchronous teeth shaft is in transmission connection with the X-axis second driven wheel through the X-axis second belt. The R-axis movement assembly is mounted on the X-axis sliding table, the X-axis sliding table is arranged on the X-axis guide rail, and the X-axis sliding table is used for translating along the X-axis under the driving of the X-axis motor.

8. A sample processing system, characterized by, The sample post-processing storage device comprises a sample pre-processing device, a carrying area corresponding to the position of the tray inlet and outlet, a recovery area for carrying the discarded samples, a gripper for grabbing the expired samples from the tray placed in the carrying area and discarding the expired samples into the recovery area, grabbing the samples from the tray for testing, and grabbing the samples needing refrigeration to the tray. The sample post-processing storage device comprises a sample pre-processing device, a carrying area corresponding to the position of the tray inlet and outlet, a recovery area for carrying the discarded samples, a gripper for grabbing the expired samples from the tray placed in the carrying area and discarding the expired samples into the recovery area, grabbing the samples from the tray for testing, and grabbing the samples needing refrigeration to the tray. ​ ​

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