Sample scheduling system

Abstract

The utility model relates to a sample scheduling system. The sample scheduling system comprises a centrifugal scheduling platform which comprises a platform plate, a supporting plate, a centrifugal machine, a grabbing unit and a pushing unit; the supporting plate is arranged on the platform plate, a guide groove is formed in the supporting plate, the guide groove is used for placing a centrifugal cup, and the centrifugal cup is used for loading a to-be-tested sample tube; the centrifugal machine is arranged below the platform plate and used for centrifuging the to-be-detected sample tube, and a sample inlet of the centrifugal machine is formed in the platform plate; the grabbing unit is arranged above the platform plate, the grabbing unit comprises a centrifugal cup grabbing hand, and the centrifugal cup grabbing hand is used for grabbing a centrifugal cup; and the pushing unit is arranged on the platform plate and used for pushing the centrifugal cup in the guide groove to move. According to the method, the sample centrifugation process can be efficiently scheduled.

Description

Technical Field

[0001] This application relates to the field of instrument control technology, and in particular to a sample scheduling system. Background Technology

[0002] In the centrifugation process of a fully automated sample processing system, the sample tube needs to be gripped into a centrifuge cup, then the centrifuge cup needs to be gripped into the centrifuge, the sample tube needs to be centrifuged, and then the sample tube needs to be gripped out. In this process, the gripper needs to handle all tasks, including gripping the sample tube, gripping the centrifuge cup, centrifuging, and then gripping out the centrifuge cup and sample tube after centrifugation. It also needs to cyclically schedule the centrifuge cups, resulting in low efficiency in centrifuging the sample. Utility Model Content

[0003] Therefore, it is necessary to provide a sample scheduling system that can improve the scheduling efficiency of centrifuge cups to address the above-mentioned technical problems.

[0004] This application provides a sample scheduling system, including: a centrifuge scheduling platform, comprising a platform plate, a tray, a centrifuge, a gripping unit, and a pushing unit;

[0005] The tray is disposed on the platform plate, and the tray is provided with a guide groove for placing centrifuge cups, which are used to load sample tubes to be tested.

[0006] The centrifuge is located below the platform plate and is used to centrifuge the sample tube to be tested. The platform plate has a sample inlet for the centrifuge.

[0007] The gripping unit is disposed above the platform plate, and the gripping unit includes a centrifuge cup gripper, which is used to grip the centrifuge cup;

[0008] The pushing unit is disposed on the platform plate, and the pushing unit is used to push the centrifugal cup in the guide groove to move.

[0009] According to one embodiment of this application, the system further includes:

[0010] A balancing test tube rack is set on the tray and is used to load balancing sample tubes. The balancing sample tubes are used to balance the sample tubes to be tested when the sample tubes to be tested are centrifuged.

[0011] According to one embodiment of this application, the guide groove includes a first slide groove disposed on a first side of the centrifuge, a second slide groove disposed on a second side of the centrifuge, a third slide groove disposed on a third side of the centrifuge, and a fourth slide groove disposed on a fourth side of the centrifuge; the first slide groove includes at least one sub-slide groove.

[0012] According to one embodiment of this application, the pushing unit includes a first pusher, a second pusher, a third pusher, and a fourth pusher; the stroke range of the first pusher includes the coverage areas corresponding to the first slide, the third slide, and the fourth slide; the stroke range of the second pusher includes the coverage areas corresponding to the first slide, the second slide, and the fourth slide; the stroke range of the third pusher includes the coverage areas corresponding to the second slide, the third slide, and the fourth slide; and the stroke range of the fourth pusher includes the coverage areas corresponding to the first slide, the second slide, and the third slide.

[0013] According to one embodiment of this application, the system further includes: the centrifugal scheduling platform further includes:

[0014] According to one embodiment of this application, the system further includes: a first mechanical gripper, wherein the first gripping range of the first mechanical gripper includes the coverage area corresponding to the first chute and the balancing test tube rack;

[0015] The first mechanical gripper is used to grip the sample tube to be tested and place it in a centrifuge cup located in the first trough. It is also used to remove the balancing sample tube from the centrifuge cup located in the first trough and place it in the balancing test tube rack.

[0016] According to one embodiment of this application, the first mechanical gripper is used to grab the sample tube to be tested and place it into the centrifuge cup when the centrifuge cup enters the first gripping range of the first mechanical gripper during the process of the pushing unit pushing the centrifuge cup to move in the guide groove.

[0017] According to one embodiment of this application, the first mechanical gripper is further configured to grip a balancing sample tube from a balancing test tube rack and place the balancing sample tube inside the centrifuge cup when the centrifuge cup enters the first gripping range and the balancing conditions of the centrifuge are not met.

[0018] And / or, after centrifugation is complete and the centrifuge cup re-enters the first gripping range, the first mechanical gripper grips the balancing sample tube in the centrifuge cup to place the balancing sample tube back into the balancing test tube rack.

[0019] According to one embodiment of this application, the centrifugal scheduling platform further includes:

[0020] The second mechanical gripper has a second gripping range that includes the coverage area corresponding to the second chute; the second mechanical gripper is used to grip the sample tube to be tested from the centrifuge cup located in the second chute.

[0021] According to one embodiment of this application, the second mechanical gripper is used to grasp the sample tube to be tested in the centrifuge cup when the centrifuge cup enters the second grasping range of the second mechanical gripper.

[0022] According to one embodiment of this application, the third gripping range of the centrifuge cup gripper includes the coverage area corresponding to the sample inlet of the centrifuge and a preset range in the third chute adjacent to the sample inlet; the centrifuge cup gripper is used to grip the centrifuge cup to place the centrifuge cup at the sample inlet, so that the centrifuge centrifuges the sample tube to be tested in the centrifuge cup.

[0023] The aforementioned sample scheduling system allows centrifuge cups to move horizontally within a groove on a tray, using a pusher unit for both propulsion and positioning, enabling rapid cyclic scheduling of the centrifuge cups. It is simple to operate, highly stable, and the control method is simple and reliable. The centrifuge gripper is solely responsible for gripping the centrifuge cups, resulting in a single, simple operation and higher efficiency. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a top view of a sample scheduling system in one embodiment;

[0026] Figure 2 Here is another top view of the sample scheduling system in one embodiment;

[0027] Figure 3 This is a side view of the sample scheduling system in one embodiment;

[0028] Figure 4 This is a view of the sample scheduling system from another side in one embodiment;

[0029] Figure 5 This is a top view of each guide groove in one embodiment;

[0030] Figure 6 This is a schematic diagram illustrating the specific arrangement of each guide groove in one particular embodiment.

[0031] Figure 7 A 3D view of a sample scheduling system in one embodiment;

[0032] Figure 8 This is a schematic diagram of the sample scheduling process in a specific embodiment.

[0033] Explanation of reference numerals in the attached drawings: 100-Platform plate; 200-Pattern; 210-Guide groove; 211-First chute; 2111-First sub-chute; 2112-Second sub-chute; 212-Second chute; 213-Third chute; 214-Fourth chute; 215-Separator; 220-Balancing test tube rack; 300-First gripping unit; 310-Centrifuge cup gripper; 400-Pushing unit; 410-Pusher; 411-First pusher; 412-Second pusher; 413-Third pusher; 414-Fourth pusher; 500-Centrifuge cup; 600-Centrifuge; 700-First mechanical gripper; 800-Second mechanical gripper; X1-First gripping range; X2-Second gripping range; X3-Third gripping range. Detailed Implementation

[0034] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be more thorough and complete.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0036] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0037] Spatial relation terms such as “below,” “under,” “below,” “below,” “above,” “above,” etc., are used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, an element or feature described as “below,” “below,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0038] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0039] When used here, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “including / comprise” or “having” specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0040] Current centrifuge modules often have only one gripper arm, which is responsible for all tasks: gripping sample tubes, gripping centrifuge cups for centrifugation, gripping centrifuge cups after centrifugation, and gripping sample tubes after centrifugation. This often leads to the centrifuge waiting and not being able to fully utilize its capacity. In addition, the circulation scheduling of centrifuge cups relies on the gripper transferring them one by one using empty slots in the centrifuge cup tray, which is inefficient.

[0041] Based on the above reasons, this application provides a sample scheduling system, including: a centrifugation scheduling platform, including a platform plate 100, a tray 200, a first gripping unit 300, and a pushing unit 400; the tray 200 is disposed on the platform plate 100, and a guide groove 210 is provided on the tray 200 for placing centrifuge cups 500, and the centrifuge cups 500 are used to load sample tubes to be tested; the first gripping unit 300 is disposed above the platform plate 100, and the first gripping unit 300 includes a centrifuge cup gripper 310 for gripping centrifuge cups 500; the pushing unit 400 is disposed on the platform plate 100, and the pushing unit 400 is used to push the centrifuge cups 500 in the guide groove 210 to move, and to position the centrifuge cups 500 when the centrifuge cup gripper 310 needs to grip the centrifuge cups 500.

[0042] Please see Figure 1 and Figure 2 , Figure 1 A top view of the sample scheduling system provided in this application is shown. Figure 2 Another top view of the sample scheduling system provided in this application is shown.

[0043] The platform plate 100 supports the tray 200, the first gripping unit 300, and the pushing unit 400. The tray 200 has several guide grooves 210 for holding centrifuge cups 500, which can move along the guide grooves 210. The centrifuge cups 500 are used to load sample tubes. The first gripping unit 300 includes centrifuge cup grippers 310 for gripping centrifuge cups 500. The pushing unit 400 includes several pushers 410, each with a stroke range covering different guide grooves 210, capable of moving the centrifuge cups 500 in the corresponding guide grooves 210, and positioning the centrifuge cups 500 when gripping them is required. It should be noted that... Figure 1 The dashed boxes corresponding to the multiple guide grooves 210 are merely examples for ease of understanding and do not represent the actual range of the guide grooves 210. For example, sensors can be configured on the multiple pushers 410 of the pushing unit 400 to detect the movement position of the centrifuge cup 500, and then control different grippers to grasp the centrifuge cup 500 based on the positioning of the centrifuge cup 500. Alternatively, sensors can be configured on the side of the guide groove to detect the movement position of the centrifuge cup 500; the specific method is not limited in this application. In other embodiments, motors can be configured on the multiple pushers 410 of the pushing unit 400. By setting the origin position of the motor, the number of motor steps required for the pusher 410 to push the centrifuge cup 500 to the target position is calculated, thereby controlling the motor to rotate the corresponding number of steps so that the pusher 410 pushes the centrifuge cup 500 to the specified target position. Alternatively, when the pusher 410 pushes the centrifuge cup 500 to the target position, the number of motor steps can be determined based on the movement distance of the motor's origin position, thereby determining the current position of the centrifuge cup 500.

[0044] According to one embodiment of this application, the system further includes: a centrifuge 600 and a balancing test tube rack 220. The centrifuge 600 is disposed below the platform plate 100 and is used to centrifuge the test sample tubes. The balancing test tube rack 220 is disposed on the tray 200 and is used to load balancing sample tubes. The balancing sample tubes are used to balance the test sample tubes when the test sample tubes are centrifuged.

[0045] Please see Figures 2 to 4 , Figure 3 This is a side view of the sample scheduling system of this application. Figure 4 This is another side view of the sample scheduling system of this application. The centrifuge 600 is positioned below the platform plate 100. The platform plate 100 has a sample inlet for the centrifuge 600. Figure 2The area within the frame indicated by X3 is the gripping range of the first gripping unit 300. Specifically, the gripping range of the first gripping unit 300 includes the coverage area corresponding to the sample inlet and a portion of the guide groove 210 adjacent to the sample inlet. When centrifugation of the sample is required, the first gripping unit 300 grips the centrifuge cup 500 containing the sample to be tested, places it into the sample inlet of the centrifuge 600, and removes it after centrifugation. The specific procedure will be described in detail later when the sample scheduling method is described.

[0046] Please see Figure 5 and Figure 6 , Figure 5 This is a top view of each guide groove in this application. Figure 6 This is a schematic diagram illustrating the specific arrangement of each guide groove in this application. According to one embodiment of this application, the guide groove 210 includes a first slide groove 211 disposed on a first side of the centrifuge 600, a second slide groove 212 disposed on a second side of the centrifuge 600, a third slide groove 213 disposed on a third side of the centrifuge 600, and a fourth slide groove 214 disposed on a fourth side of the centrifuge 600, wherein the first slide groove 211 includes at least one sub-slide groove.

[0047] For example, the first chute 211 includes a first sub-chute 2111 and a second sub-chute 2112, which are separated by a separator 215. The second chute 212 is arranged opposite to the first chute 211 and is located on both sides of the centrifuge 600. The third chute 213 and the fourth chute 214 are arranged opposite to each other and are located on the other two sides of the centrifuge 600.

[0048] For example, the pushing unit 400 has the same pushing direction in the first sub-slide 2111 and the second sub-slide 2112, the pushing direction of the pushing unit 400 is opposite in the second slide 212 and the first slide 211, and the pushing direction of the pushing unit 400 is opposite in the third slide 213 and the fourth slide 214. By setting the pushing unit 400 to have different pushing directions in different slides, the centrifuge cup 500 can be accurately moved and positioned on a specific path to meet the process requirements of centrifugation operation. For example, the same pushing direction in the first sub-slide 2111 and the second sub-slide 2112 allows the centrifuge cup 500 to move in a consistent manner in these two adjacent slides, facilitating continuous operation or adjustment; while the opposite pushing directions in the second slide 212 and the first slide 211, and the third slide 213 and the fourth slide 214 enable the centrifuge cup 500 to be flexibly transferred and positioned between different areas, adapting to complex centrifugation processes and different experimental needs, thus improving the overall efficiency of experimental or production operations. In addition, the two rows of first chute 211 are mainly for placing and pushing two centrifuge cups 500 simultaneously during centrifugation. Since centrifugation requires maintaining a balance of centrifugal force, placing the two centrifuge cups 500 in the relative positions of the centrifugation balance can effectively avoid equipment vibration, wear, or even damage caused by uneven weight distribution, while also improving centrifugation efficiency and the accuracy of experimental results.

[0049] Please see Figure 7 , Figure 7 This is a 3D view of the sample scheduling system in this application. According to one embodiment of this application, the pushing unit 400 includes a first pusher 411, a second pusher 412, a third pusher 413, and a fourth pusher 414. The travel range of the first pusher 411 includes the coverage areas corresponding to the first slide 211, the third slide 213, and the fourth slide 214. The travel range of the second pusher 412 includes the coverage areas corresponding to the first slide 211, the second slide 213, and the fourth slide 214. The travel range of the third pusher 413 includes the coverage areas corresponding to the second slide 212, the third slide 213, and the fourth slide 214. The travel range of the fourth pusher 440 includes the coverage areas corresponding to the first slide 211, the second slide 212, and the third slide 213.

[0050] Please see Figure 5 and Figure 6In one embodiment, the pusher arm of the first pusher 411 can move the centrifuge cup 500 within the first slide 211, the second left slide 212, the third slide 213, and the fourth slide 214, and stops moving when the centrifuge cup 500 needs to be grasped, thereby achieving positioning of the centrifuge cup 500. The pusher arm of the second pusher 412 can move the centrifuge cup within the first slide 211, the second slide 212, and the fourth slide 214, and stops moving when the centrifuge cup 500 needs to be grasped. The pusher arm of the third pusher 413 can move the centrifuge cup 500 within the second slide 212, the third slide 213, and the fourth slide 214, and stops moving when the centrifuge cup 500 needs to be grasped. The pusher arm of the fourth pusher 414 can move the centrifuge cup 500 in the first slide 211, the second slide 212, and the third slide 213, and stops moving when the centrifuge cup 500 needs to be grasped. The stroke ranges of each pusher overlap because when the centrifuge cup 500 moves in a preset direction, when one pusher drags the centrifuge cup 500 into the stroke range of the next pusher, the next pusher can take over, which can realize the transition between adjacent pushers, thereby improving the scheduling efficiency of the centrifuge cup 500.

[0051] Please see Figure 2 , Figure 3 and Figure 5 According to one embodiment of this application, the centrifugation scheduling platform further includes: a first mechanical gripper 700 and a second mechanical gripper 800; the first gripping range of the first mechanical gripper 700 includes the coverage area corresponding to the first chute 211 and the balancing test tube rack 220; the first mechanical gripper 700 is used to grip the sample tube to be tested, to place the sample tube to be tested into the centrifuge cup 500 located in the first chute 211, and is also used to remove the balancing sample tube from the centrifuge cup located in the first chute 211, to place the balancing sample tube into the balancing test tube rack 220. The second gripping range of the second mechanical gripper 800 includes the coverage area corresponding to the second chute 212; the second mechanical gripper 800 is used to grip the sample tube to be tested from the centrifuge cup 500 located in the second chute 212.

[0052] Please see Figure 2 According to one embodiment of this application, the third gripping range of the centrifuge cup gripper 310 includes the coverage area corresponding to the sample inlet of the centrifuge 600 and the preset range in the third chute 213 adjacent to the sample inlet; the centrifuge cup gripper 310 is used to grip the centrifuge cup 500 to place the centrifuge cup 500 at the sample inlet, so that the centrifuge 600 centrifuges the sample tube to be tested in the centrifuge cup 500.

[0053] Please see Figure 2 Exemplary Figure 2In the diagram, X1 points to the first gripping range of the first mechanical gripper 700, X2 points to the second gripping range of the second mechanical gripper 800, and X3 points to the third gripping range of the centrifuge cup gripper 310. It can be seen that the gripping ranges of the centrifuge cup gripper 310, the first mechanical gripper 700, and the second mechanical gripper 800 do not overlap. This is because during the movement of the centrifuge cup 500 in a fixed direction, when the centrifuge cup 500 moves into the gripping range of a gripper, the current gripper only performs its pre-set task. In other words, each gripper in this application works independently, each responsible for a specific area. For example, the first mechanical gripper 700 is configured to grip the sample tube to be tested or the balancing sample tube and insert it into the centrifuge cup 500, or to remove the balancing sample tube from the centrifuge cup 500 and place it back into the balancing test tube rack 220. The second mechanical gripper 800 is configured to grip and transfer a sample from the centrifuge cup 500. Centrifuge cup gripper 310 is configured to grip and transfer centrifuge cup 500.

[0054] In the aforementioned sample scheduling system, by rationally setting multiple grippers and their travel ranges and corresponding tasks, each gripper performs its specific function: gripping the sample tube before centrifugation, gripping the centrifuge cup before centrifugation, gripping the centrifuge cup after centrifugation, and gripping the sample tube after centrifugation, each uses its own gripper. This eliminates the need for centrifugation to wait for the grippers, enabling efficient completion of sample centrifugation and scheduling. Furthermore, this application utilizes a guide groove on the tray, along with a positioning method assisted by a pusher, to create a collaborative scheduling mode between the grippers and the pusher for centrifuge cups and samples, further improving system scheduling efficiency.

[0055] In one embodiment, the scheduling method of a sample scheduling system according to this application includes:

[0056] During the process of controlling the pushing unit to move the centrifuge cup in the guide groove, when the centrifuge cup enters the first grasping range of the first mechanical gripper, the first mechanical gripper is controlled to grasp the sample tube to be tested and put it into the centrifuge cup according to the centrifuge cup positioning.

[0057] When the centrifuge cup enters the third gripping range of the centrifuge cup gripper, the centrifuge cup gripper is controlled to grip the centrifuge cup and place it at the inlet of the centrifuge, so that the centrifuge can centrifuge the sample tube to be tested in the centrifuge cup.

[0058] Once centrifugation is complete, control the centrifuge cup gripper to grab the centrifuge cup from the inlet and place the centrifuge cup in the guide groove;

[0059] When the centrifuge cup enters the second gripping range of the second mechanical gripper, the second mechanical gripper is controlled to grip the sample tube to be tested in the centrifuge cup.

[0060] In one embodiment, the method further includes: when the centrifuge cup enters the first gripping range and the centrifuge balancing conditions are not met, controlling the first mechanical gripper to grip the balancing sample tube from the balancing test tube rack and place the balancing sample tube into the centrifuge cup; when centrifugation is completed and the centrifuge cup re-enters the first gripping range, controlling the first mechanical gripper to grip the balancing sample tube in the centrifuge cup and return the balancing sample tube to the balancing test tube rack.

[0061] For example, please see Figure 5 Assume that the initial position of the centrifuge cup 500 is located in the first chute 211.

[0062] The first gripping range of the first mechanical gripper 700 can cover the first slide 211 and the balancing test tube rack 220, the second gripping range of the second mechanical gripper 800 can cover the second slide 212, and the third gripping range of the centrifuge cup gripper 310 can cover the sample inlet of the centrifuge 600 and the area adjacent to the sample inlet in the third slide 213.

[0063] The actuating unit 400 pushes the centrifuge cup 500 to move in a preset direction. For an example, please refer to [link to example]. Figure 6 The default direction is counterclockwise.

[0064] The first pusher 411 can push the centrifuge cup 500 to move in the first slide 211, the third slide 213 and the fourth slide 214; the second pusher 412 can push the centrifuge cup 500 to move in the first slide 211, the second slide 212 and the fourth slide 214; the third pusher 430 can push the centrifuge cup 500 to move in the second slide 212, the third slide 213 and the fourth slide 214; the fourth pusher 414 can push the centrifuge cup 500 to move in the first slide 211, the second slide 212 and the third slide 213.

[0065] Specifically, the centrifuge cup 500 is pushed and positioned along the slide of the tray 200 in a preset direction by the first pusher 411, the second pusher 412, the third pusher 413, and the fourth pusher 414. The first mechanical gripper 700 is responsible for grabbing the sample tube into the centrifuge cup 500 and grabbing the balancing tube out of the centrifuge cup 500. The centrifuge cup gripper 310 is responsible for grabbing the centrifuge cup 500 to the sample inlet of the centrifuge 600 and grabbing it out of the centrifuge 600. The second mechanical gripper 800 is mainly responsible for grabbing the centrifuged sample out of the centrifuge cup 500.

[0066] The first pusher 411 is used to push the centrifuge cup from the fourth slide groove 214 of the tray into the first slide groove 211, and push it out from the first slide groove 211 into the third slide groove 213.

[0067] The second pusher 412 is used to push the centrifuge cup 500 from the second slide 212 into the fourth slide 214, and from the fourth slide 214 into the first slide 211.

[0068] The third pusher 413 is used to push the centrifuge cup from the third slide groove 213 of the tray into the second slide groove 212, and from the second slide groove 212 into the fourth slide groove 214.

[0069] The fourth pusher 414 is used to push the centrifuge cup from the first slide 211 into the third slide 213, and from the third slide 213 into the second slide 212.

[0070] Please see Figure 8 , Figure 8 A schematic diagram of the scheduling process in one specific embodiment is shown, in which centrifugation is performed in groups of two centrifuge cups, and the scheduling process is explained.

[0071] The first pusher 411 pushes the centrifuge cup 500 located in the first slide 211 forward along the first slide 211, and then stops so that the centrifuge cup 500 is positioned (but does not exceed the first gripping range of the first mechanical gripper 700).

[0072] The first mechanical gripper 700 grabs the test tubes and places them into the first two centrifuge cups 500. When the number of test tubes in the two centrifuge cups 500 is unbalanced, it grabs the balancing tube from the balancing test tube rack 220 to balance the test tubes.

[0073] The first pusher 411 pushes the centrifuge cups in the first chute 211 forward, pushing the first two centrifuge cups 500 away from the first chute 211 and into the third chute 213. Then the first pusher 411 moves backward away from the fourth chute 214.

[0074] In addition, the second pusher 412 pushes the centrifuge cups 500 in the fourth slide 214 and the second slide 212 forward, pushing the two centrifuge cups 500 into the first slide 211. Then the first pusher 411 pushes the two centrifuge cups 500 that have been pushed in along the first slide 211 to fill the gap in the left slide.

[0075] The fourth pusher 414 pushes the first two centrifuge cups 500 sequentially to the position of the centrifuge cup gripper 310, which then grabs the centrifuge cups 500 sequentially into the centrifuge 600 for centrifugation. After centrifugation, the centrifuge cup gripper 310 removes the centrifuge cups 500 from the centrifuge 600 and places them in the third chute 213. Subsequently, the fourth pusher 414 pushes the centrifuge cups 500 towards the second chute 212.

[0076] At this point, since there are two centrifuge cups 500, it is necessary to push the two centrifuge cups 500 into the second slide groove 212 one by one. For example, the centrifuge cups 500 can be pushed into the second slide groove 212 according to the following steps:

[0077] The fourth pusher 414 first pushes a centrifuge cup 500 into the overlap of the second slide 212 and the third slide 213. The third pusher 413 pushes the first centrifuge cup 500 into the second slide 212 and positions it, leaving space for the second centrifuge cup 500 to enter. Then, the second mechanical gripper 800 grabs the sample out of the centrifuge cup 500. For the second centrifuge cup 500, the above steps are repeated, pushing it into the second slide 212 and grabbing the sample out of the centrifuge cup 500.

[0078] At this point, there are no sample tubes in either centrifuge cup 500. Return the centrifuge cup 500 to the first chute according to the following steps:

[0079] The third pusher 413 first pushes a centrifuge cup 500 to the overlap of the second slide 212 and the fourth slide 214. The second pusher 412 then pushes the centrifuge cup 500 into the fourth slide 214 and positions it, leaving space for the second centrifuge cup 500 to enter. The second centrifuge cup 500 is then pushed into the fourth slide 214 using the same steps. Finally, the second pusher 412 pushes both centrifuge cups 500 together into the first slide 211. It should be noted that when multiple pushers work together to push the centrifuge cups 500 into the first slide 211, the two centrifuge cups 500 can be pushed into the first sub-slide 2111 and the second sub-slide 2122 respectively, improving the scheduling efficiency of the centrifuge cups 500.

[0080] At this time, both centrifuge cups 500 enter the grasping range of the first mechanical gripper 700. If there is a balancing test tube in the centrifuge cup 500, the first mechanical gripper 700 will take out the balancing test tube and put it back into the balancing test tube rack 220.

[0081] For scheduling multiple pairs of centrifuge cups, the same method as described above is used. Based on actual measurements, for example, assuming each centrifuge involves four centrifuge cups, with each centrifugation taking 5 minutes. Before the cups enter the centrifuge, it takes 5 minutes to fill the four cups with sample tubes, 1 minute to load the four cups into the centrifuge, 5 minutes of centrifugation, and 1 minute to remove them, totaling 7 minutes of centrifuge time. Removing the sample tubes from the centrifuge cups also takes 5 minutes. Therefore, the centrifuge's operating time is greater than the time spent loading the sample tubes into the cups. In other words, once the centrifuge starts operating, there is no need to wait for the sample tubes to be loaded or unloaded; centrifugation can proceed batch after batch, maximizing centrifugation efficiency.

[0082] The sample system provided in this application has the following beneficial effects:

[0083] The first mechanical gripper and the first pusher work together to handle the sample tubes before centrifugation and the balancing tubes after centrifugation; the second mechanical gripper and the third pusher work together to handle the sample tubes after centrifugation; and the centrifuge cup gripper and the fourth pusher work together to handle the centrifuge cups before and after centrifugation. This allows for the reasonable allocation of time for gripping in before centrifugation, gripping out after centrifugation, and centrifugation, thereby maximizing the efficiency of the centrifugation module.

[0084] The first, second, third, and fourth pushers each have a travel range that allows the centrifuge cup to reach the three guide slot areas of the tray, achieving a transition between adjacent pushers. This allows the centrifuge cup to move along the tray's slide grooves to the working range of the first mechanical gripper, the second mechanical gripper, and the centrifuge cup gripper, thus realizing automatic centrifuge cup scheduling and automatic sample tube loading and unloading.

[0085] In summary, the first mechanical gripper, the second mechanical gripper, and the centrifuge cup gripper each manage a specific area, working independently with a single task, simple operation, and higher efficiency. Secondly, the centrifuge cup moves horizontally in the groove of the pallet, using a pusher to move and position it, enabling rapid cyclic scheduling of the centrifuge cup. This method is simple to operate, highly stable, and the control method is simple and reliable.

[0086] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0087] 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.

[0088] 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 utility model patent. 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 scheduling system, characterized in that, include: The centrifuge scheduling platform includes a platform plate, a tray, a centrifuge, a gripping unit, and a pushing unit; The tray is disposed on the platform plate, and the tray is provided with a guide groove for placing centrifuge cups, which are used to load sample tubes to be tested. The centrifuge is located below the platform plate and is used to centrifuge the sample tube to be tested. The platform plate has a sample inlet for the centrifuge. The gripping unit is disposed above the platform plate, and the gripping unit includes a centrifuge cup gripper, which is used to grip the centrifuge cup; The pushing unit is disposed on the platform plate, and the pushing unit is used to push the centrifugal cup in the guide groove to move.

2. The sample scheduling system according to claim 1, characterized in that, The system also includes: A balancing test tube rack is set on the tray and is used to load balancing sample tubes. The balancing sample tubes are used to balance the sample tubes to be tested when the sample tubes to be tested are centrifuged.

3. The sample scheduling system according to claim 2, characterized in that, The guide groove includes a first slide groove disposed on a first side of the centrifuge, a second slide groove disposed on a second side of the centrifuge, a third slide groove disposed on a third side of the centrifuge, and a fourth slide groove disposed on a fourth side of the centrifuge; the first slide groove includes at least one sub-slide groove.

4. The sample scheduling system according to claim 3, characterized in that, The pushing unit includes a first pusher, a second pusher, a third pusher, and a fourth pusher; the stroke range of the first pusher includes the coverage areas corresponding to the first slide, the third slide, and the fourth slide; the stroke range of the second pusher includes the coverage areas corresponding to the first slide, the second slide, and the fourth slide; the stroke range of the third pusher includes the coverage areas corresponding to the second slide, the third slide, and the fourth slide; and the stroke range of the fourth pusher includes the coverage areas corresponding to the first slide, the second slide, and the third slide.

5. The sample scheduling system according to claim 3, characterized in that, The centrifugal scheduling platform also includes: The first mechanical gripper has a first gripping range that includes the coverage area corresponding to the first chute and the balancing test tube rack. The first mechanical gripper is used to grip the sample tube to be tested and place it in a centrifuge cup located in the first trough. It is also used to remove the balancing sample tube from the centrifuge cup located in the first trough and place it in the balancing test tube rack.

6. The sample scheduling system according to claim 5, characterized in that, The first mechanical gripper is used to grab the sample tube to be tested and place it into the centrifuge cup when the centrifuge cup enters the first gripping range of the first mechanical gripper during the process of the pushing unit pushing the centrifuge cup to move in the guide groove.

7. The sample scheduling system according to claim 5, characterized in that, The first mechanical gripper is also used to grab a balancing sample tube from the balancing test tube rack and place the balancing sample tube into the centrifuge cup when the centrifuge cup enters the first gripping range and the balancing conditions of the centrifuge are not met. And / or, after centrifugation is complete and the centrifuge cup re-enters the first gripping range, the first mechanical gripper grips the balancing sample tube in the centrifuge cup to place the balancing sample tube back into the balancing test tube rack.

8. The sample scheduling system according to claim 3, characterized in that, The centrifugal scheduling platform also includes: The second mechanical gripper has a second gripping range that includes the coverage area corresponding to the second chute; the second mechanical gripper is used to grip the sample tube to be tested from the centrifuge cup located in the second chute.

9. The sample scheduling system according to claim 8, characterized in that, The second mechanical gripper is used to grab the sample tube to be tested in the centrifuge cup when the centrifuge cup enters the second gripping range of the second mechanical gripper.

10. The sample scheduling system according to claim 3, characterized in that, The third gripping range of the centrifuge cup gripper includes the coverage area corresponding to the sample inlet of the centrifuge and the preset range in the third chute adjacent to the sample inlet; the centrifuge cup gripper is used to grip the centrifuge cup to place the centrifuge cup at the sample inlet, so that the centrifuge can centrifuge the sample tube to be tested in the centrifuge cup.

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