Scheduling device and sample processing pipeline

Abstract

The utility model provides a kind of scheduling device and sample processing assembly line, scheduling device includes substance storage module, quality control article storage module, cleaning tube storage module, manipulator module, positioning transfer module and transfer transfer module, manipulator module can be transferred to positioning transfer module with sample test tube, cleaning test tube and quality control test tube;Transfer transfer module can send off scheduling device with test tube rack, positioning transfer module can be transferred to transfer transfer module with sample test tube, cleaning test tube and quality control test tube.The scheduling device of this embodiment can not only realize the scheduling of sample, but also realize the scheduling of quality control article and cleaning tube, the scheduling function of this scheduling device is more, can satisfy the scheduling demand of multiple articles of sample analysis assembly line.

Description

Technical Field

[0001] This utility model relates to the field of sample analysis equipment technology, and in particular to a scheduling device and a sample processing pipeline. Background Technology

[0002] In today's sample processing field, sample analysis pipelines are rapidly advancing towards higher efficiency and greater integration, with their complexity increasing daily. Existing sample scheduling devices can perform sample scheduling functions, maintaining the basic operation of the sample analysis process. However, sample analysis requires more than just the samples themselves; it also requires various supporting equipment. Existing sample scheduling devices focus solely on the samples themselves, failing to schedule other items related to sample analysis. Their scheduling function is limited, making it difficult to meet the urgent requirements of current and future sample analysis pipelines for comprehensive and integrated scheduling. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a scheduling device that can schedule not only samples, but also quality control materials and cleaning solutions, offering multiple scheduling functions.

[0004] This utility model also proposes a sample processing pipeline that includes the above-mentioned scheduling device.

[0005] A scheduling device according to a first aspect of the present invention includes: a material storage module for storing test tubes containing a substance for testing, wherein the substance for testing includes at least one of a sample, a quality control sample, and a cleaning solution; a robotic arm module including at least one robotic arm; a positioning and conveying module for carrying and conveying a test tube rack, wherein the robotic arm module is capable of transferring test tubes containing the substance for testing from the material storage module to the positioning and conveying module; and a transfer and conveying module for carrying and conveying the test tube rack, wherein the transfer and conveying module is capable of sending the test tube rack away from the scheduling device, and the robotic arm module is capable of transferring test tubes containing the substance for testing from the material storage module to the transfer and conveying module.

[0006] The scheduling device of this embodiment has at least the following advantages: It can not only schedule samples, but also quality control materials and cleaning tubes. This scheduling device has multiple functions, meeting the scheduling needs of sample analysis pipelines for various items. Furthermore, the scheduling of various test tubes shares the same positioning and transfer modules, eliminating the need for separate transfer modules for each type of test tube, which helps reduce the structural complexity of the system.

[0007] According to some embodiments of the present invention, the detection materials include samples, quality control materials, and cleaning solutions, and the scheduling device includes: a sample storage module for storing sample tubes containing samples; a quality control material storage module for storing quality control tubes containing quality control materials; and a cleaning tube storage module for storing cleaning tubes containing cleaning solutions.

[0008] According to some embodiments of the present invention, the scheduling device further includes: a ring conveyor module, comprising a ring conveyor belt and a plurality of support frames fixed on the ring conveyor belt, the support frames being used to carry test tubes; a cap removal module, adjacent to the ring conveyor belt, the cap removal module being used to remove the caps of the sample test tubes on the support frames; and a robotic arm module capable of transferring the sample test tube racks that need to be capped from the sample storage module to the support frames, and transferring the capped sample test tubes from the support frames to the positioning and conveying module.

[0009] According to some embodiments of the present invention, the scheduling device further includes a turntable, the turntable including multiple transition positions, and the robotic arm module including: a first robotic arm for transferring sample tubes from the sample storage module to the turntable, transferring quality control tubes from the quality control product storage module to the turntable, and transferring cleaning tubes from the cleaning tube storage module to the turntable; and a second robotic arm for transferring the sample tubes from the turntable to the positioning and conveying module, transferring the quality control tubes from the turntable to the positioning and conveying module, and transferring the cleaning tubes from the turntable to the positioning and conveying module; wherein the grasping range of the first robotic arm and the grasping range of the second robotic arm do not overlap, there is at least one transition position within the grasping range of the first robotic arm, and at least another transition position within the grasping range of the second robotic arm.

[0010] According to some embodiments of this utility model, the quality control product storage module is a refrigerator, the scheduling device further includes a scheduling temporary storage rack and a mixing module, the mixing module is used to mix the quality control product, and the robotic arm module is used to: transfer the quality control test tube located on the annular conveyor module or located on the turntable to the scheduling temporary storage rack, transfer the quality control test tube from the scheduling temporary storage rack to the mixing module, and transfer the quality control test tube from the mixing module to the positioning and conveying module.

[0011] According to some embodiments of the present invention, the positioning and conveying module includes multiple positioning and conveying platforms arranged side by side, and the transfer and conveying module is located at one end of the positioning and conveying platforms. The transfer and conveying module includes a first transfer and conveying platform, a second transfer and conveying platform, a first driving mechanism, and a second driving mechanism. The first driving mechanism is used to drive the first transfer and conveying platform to move so that the first transfer and conveying platform can dock with any of the positioning and conveying platforms. The second driving mechanism is used to drive the second transfer and conveying platform to move so that the second transfer and conveying platform can dock with any of the positioning and conveying platforms.

[0012] According to some embodiments of this utility model, the scheduling device further includes: a machine platform, wherein the material storage module, the quality control product storage module, the cleaning tube storage module, the robotic arm module, the positioning and conveying module, and the transfer and conveying module are all located above the machine platform; an empty test tube rack storage module, located below the machine platform, the empty test tube rack storage module including a storage rack and an inlet / outlet conveyor, the storage rack being used to store the test tube rack, and the inlet / outlet conveyor being located at one end of the storage rack; a lifting conveyor, capable of moving between a first position and a second position, the first position being located below the machine platform and docking with the inlet / outlet conveyor, and the second position being located above the machine platform; and a transition conveyor, one end of which docks with the second position, and the other end of which can dock with the transfer and conveying module, the transition conveyor being used to transfer the empty test tube rack between the lifting conveyor and the transfer and conveying module.

[0013] According to some embodiments of the present invention, the scheduling device further includes a recycling rack with multiple recycling positions for accommodating sample tubes. The transfer and conveying module can also transfer sample tubes recycled from the outside to the positioning and conveying module, and the robotic arm module can transfer the sample tubes from the positioning and conveying module to the recycling rack.

[0014] According to a second aspect embodiment of the present invention, a sample processing pipeline includes a sample scheduling device as described in the first aspect embodiment. The scheduling device further includes a ring conveyor module, which includes a ring conveyor belt and multiple support frames fixed on the ring conveyor belt. The support frames are used to carry sample tubes. The sample processing pipeline also includes a centrifuge device adjacent to the scheduling device. The centrifuge device includes: a centrifuge cup for loading sample tubes and balancing tubes; a centrifuge for accommodating the centrifuge cup and centrifuging the samples; a balancing tube rack adjacent to the centrifuge cup, which carries multiple balancing tubes; and a third robotic arm, a portion of the ring conveyor module extending into the centrifuge device. The third robotic arm is used to: transfer the sample tubes from the ring conveyor module to the centrifuge cup, transfer the balancing tubes from the balancing tube rack to the centrifuge cup, and transfer the centrifuge cups into the centrifuge.

[0015] According to some embodiments of this utility model, the transfer and conveying module includes a first transfer and conveying platform and a second transfer and conveying platform. The movement of the first transfer and conveying platform and the movement of the second transfer and conveying platform are independent of each other. The first transfer and conveying platform can dock with any of the positioning conveying platforms, and the second transfer and conveying platform can dock with any of the positioning conveying platforms. The sample processing pipeline also includes a capping device, which includes: a capping conveying platform that can dock with the first transfer and conveying platform; a main conveying platform that can dock with the second transfer and conveying platform. Both the capping conveying platform and the main conveying platform can carry and convey test tube racks. A transfer and conveying module includes a transfer conveying platform and a transfer driving mechanism. The transfer conveying platform is used to carry and convey test tube racks, and the transfer driving mechanism is used to drive the transfer conveying platform to move so that the transfer conveying platform docks with the capping conveying platform or with the main conveying platform. A capping module is used to install tube caps onto the test tubes on the capping conveying platform.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0018] Figure 1 This is a top view of the upper structure of a scheduling device according to an embodiment of the present invention;

[0019] Figure 2 for Figure 1 A top view of the lower structure of the scheduling device shown;

[0020] Figure 3 for Figure 1 A top view of the ring conveyor module in the middle;

[0021] Figure 4 This is a schematic diagram of the positioning transmission station;

[0022] Figure 5 This is a top view of the sample processing pipeline of the first embodiment of the present invention;

[0023] Figure 6 This is a top view of the centrifuge device in the first embodiment;

[0024] Figure 7 This is a top view of the sample processing pipeline of the second embodiment of the present invention;

[0025] Figure 8 This is a top view of the sample processing pipeline of the third embodiment of the present invention;

[0026] Figure 9 This is a top view of the covering device according to the third embodiment;

[0027] Figure 10 This is a top view of the sample processing pipeline according to the fourth embodiment of the present invention;

[0028] Figure 11 This is a top view of the sample processing pipeline according to the fifth embodiment of the present invention.

[0029] Reference numerals: 101-Dispatching device, 102-Turntable, 103-Discard port, 104-Reheating zone, 105-Dispatching temporary storage rack, 106-Mixing module, 107-Lifting conveyor, 108-Transition conveyor, 109-First drive mechanism, 110-First transfer conveyor, 111-Positioning conveyor, 112-Second transfer conveyor, 113-Second drive mechanism, 114-Recovery rack, 115-Recovery test tube strip, 116-Sample inlet channel, 117-Second robotic arm, 118-Third test tube strip, 119-Second test tube strip, 120-First test tube strip, 121-Tilting sample inlet module, 122-Washing test tube rack, 123-First robotic arm, 124-Discard port, 125-Quality control material storage module, 126-Circular conveyor module, 127-Cap removal module, 128-Cap channel 129-In / Out Conveyor Platform, 130-Storage Rack, 131-Trash Can, 132-Machine Platform, 133-Bearing Frame, 134-Circular Conveyor Belt, 135-Pulley, 136-Belt, 137-Limiting Baffle, 138-Test Tube Rack, 201-Sample Processing Line, 202-Centrifuge Device, 203-Image Recognition Module, 204-Balancing Test Tube Rack, 205-Centrifuge, 206-Centrifuge Cup, 207-Third Robotic Arm, 208-Connecting Robotic Arm, 209-Capping Device, 210-Main Conveyor Platform, 211-Container, 212-Fourth Robotic Arm, 213-Capping Conveyor Platform, 214-Transfer Conveyor Platform, 215-Review Temporary Storage Rack, 216-Transfer Drive Mechanism, 217-Transfer Conveyor Platform, 218-First Transfer Position, 219-Second Transfer Position, 220-Third Transfer Position. Detailed Implementation

[0030] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0031] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationships based on the directional or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the module or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0033] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0034] Figure 1 The diagram shows a scheduling device 101 according to an embodiment of the present invention from a top-down view. The scheduling device 101 includes a machine base 132, and a material storage module, a robotic arm module, a positioning and conveying module, and a transfer and conveying module mounted on the machine base 132.

[0035] The material storage module is used to store test tubes containing substances for testing, including at least one of samples, quality controls, and cleaning solutions. Specifically, if the substances for testing include samples, quality controls, and cleaning solutions, the material storage module may include a sample storage module, a quality control storage module 125, and a cleaning tube storage module. The sample storage module is used to store sample test tubes containing samples. For example, the sample storage module may include multiple sample tube strips, each strip having multiple wells for receiving sample test tubes. Figure 1 The system contains three test tube strips: the first strip 120, the second strip 119, and the third strip 118. The quality control sample storage module 125 stores quality control test tubes containing quality control samples. Quality control samples are substances used to monitor and evaluate the performance of analytical methods. By regularly analyzing quality control samples during routine analysis, the stability, repeatability, and accuracy of the analytical methods can be verified, ensuring the reliability of sample analysis results. The quality control sample storage module 125 can be configured as a refrigerator capable of holding the quality control test tubes, thereby preventing the quality control samples from deteriorating. The cleaning tube storage module stores cleaning test tubes containing cleaning solution. The cleaning solution can be used to clean the injection needle of the sample analyzer (e.g., a syringe). The cleaning tube storage module may include one or more cleaning test tube racks 122.

[0036] Both the positioning and transfer modules are used to carry and transport the test tube rack 138, which can hold sample tubes, quality control tubes, and cleaning tubes. The transfer module can move the test tube rack 138 away from the scheduling device 101, and the positioning module can transport the test tube rack 138 containing sample tubes to the transfer module. In this embodiment, the positioning module includes multiple side-by-side positioning transfer stations 111. The transfer module includes a first transfer station 110 and a second transfer station 112.

[0037] The robotic arm module includes at least one robotic arm, capable of transferring quality control tubes from the quality control storage module 125 to the tube rack 138 on the positioning and conveying module. The robotic arm module is also capable of transferring cleaning tubes from the cleaning tube storage module to the tube rack 138 on the positioning and conveying module. For example, the robotic arm module includes two robotic arms, namely a first robotic arm 123 and a second robotic arm 117.

[0038] The scheduling device 101 in this embodiment can not only schedule samples, but also schedule quality control products and cleaning tubes. The scheduling device 101 has multiple scheduling functions and can meet the scheduling needs of sample analysis pipelines for various items.

[0039] The specific structure of the scheduling device 101 will be described below.

[0040] like Figure 1 As shown, the scheduling device 101 also includes a tilting sample injection module 121 and a sample injection channel 116, both of which are adjacent to the test tube strips. A batch of sample test tubes can be loaded into the tilting sample injection module 121, which transfers the samples to the sample injection channel 116, where multiple sample test tubes are arranged in a row.

[0041] In addition to loading sample tubes through the tilting sample loading module 121, sample tubes can also be loaded into the scheduling device 101 manually. For example, the test tube strip can slide relative to the machine 132. The user can first pull the test tube strip out of the machine 132, then load the sample tube into the test tube strip, and then push the test tube strip back.

[0042] like Figure 1 and Figure 3 As shown, the scheduling device 101 also includes a ring conveyor module 126, which includes a ring conveyor belt 134, pulleys 135 for supporting the ring conveyor belt 134, and multiple support frames 133 fixed on the ring conveyor belt 134. The support frames 133 are used to carry test tubes (including sample test tubes, quality control test tubes, and cleaning test tubes). For example, the support frames 133 have holes or slots that can accommodate test tubes.

[0043] like Figure 1 As shown, the scheduling device 101 also includes a cap removal module 127, which is adjacent to the annular conveyor belt 134. The cap removal module 127 is used to remove the caps from the sample tubes on the support frame 133. The scheduling device 101 sends the capped sample tubes to the downstream sample analyzer, which can then directly use the sample tubes. Specifically, the cap removal module 127 may include a pair of cap removal grippers. After gripping the cap, the grippers can move upward to remove the cap from the sample tube. Subsequently, the cap removal grippers can drop the removed cap into the cap disposal port 103 of the machine 132. Figure 2 As shown, the pipe cap entering through the disposal port 103 will fall along the pipe cap channel 128 and land in the trash can 131 located below the machine 132. Figure 1 As shown, the machine 132 is also equipped with a waste pipe outlet 124, through which discarded cleaning pipes can enter and eventually fall into the trash can 131. Users can periodically remove the trash can 131 to empty the waste inside.

[0044] like Figure 1 As shown, the scheduling device 101 also includes a scheduling storage rack 105 and a mixing module 106. The scheduling storage rack 105 also has multiple slots for accommodating quality control test tubes. The mixing module 106 is used to mix the quality control samples. After the quality control test tubes are taken out of the quality control sample storage module 125 by the robotic arm module, the quality control test tubes can be transferred to the scheduling storage rack 105 by the robotic arm module. In the scheduling storage rack 105, the temperature of the quality control samples in the quality control test tubes gradually returns to room temperature for subsequent use. After the temperature of the quality control samples returns to room temperature, the robotic arm module transfers the quality control test tubes from the scheduling storage rack 105 to the mixing module 106, where the mixing module 106 mixes the quality control samples for subsequent use. The mixed quality control samples are then transferred by the robotic arm module to the positioning and conveying module.

[0045] like Figure 1As shown, the robotic arm module includes two robotic arms: a first robotic arm 123 and a second robotic arm 117. The movements of the first robotic arm 123 and the second robotic arm 117 are independent, and the grasping ranges of the first robotic arm 123 and the second robotic arm 117 do not overlap. The grasping range of a robotic arm refers to the area within which it can grasp objects, and the area outside this range cannot. The grasping range of the first robotic arm 123 can be rectangular, and the grasping range of the second robotic arm 117 can also be rectangular. The first robotic arm 123 can have five degrees of freedom: X, Y, Z, R, and G, meaning it can move along the X-axis, move along the Y-axis, move along the Z-axis, rotate, open, and close. The second robotic arm 117 is similar to the first robotic arm 123, also possessing five degrees of freedom.

[0046] The robotic arm module also includes scanning heads (not shown). A scanning head is mounted on the end of the first robotic arm 123, and a scanning head is also mounted on the end of the second robotic arm 117. After the first robotic arm 123 grasps a test tube, the scanning head on the first robotic arm 123 can read the barcode or QR code information on the surface of the test tube. The scheduling device 101 can determine whether the first robotic arm 123 has correctly grasped the required test tube based on the aforementioned information. Similarly, after the second robotic arm 117 grasps a test tube, the scanning head on the second robotic arm 117 can also read the barcode or QR code information on the surface of the test tube.

[0047] like Figure 1 As shown, the scheduling device 101 also includes a turntable 102, which is mounted above the machine base 132 and is driven by a motor, allowing it to rotate relative to the machine base 132. The turntable 102 includes multiple transition positions, which may be holes or slots for receiving test tubes. At least one transition position is within the grasping range of the first robotic arm 123, and at least another transition position is within the grasping range of the second robotic arm 117. For example, the leftmost transition position of the turntable 102 is within the grasping range of the first robotic arm 123, and the rightmost transition position of the turntable 102 is within the grasping range of the second robotic arm 117.

[0048] The first robotic arm 123 can transfer sample tubes from the sample storage module to the turntable 102, transfer quality control tubes from the quality control product storage module 125 to the turntable 102, and transfer cleaning tubes from the cleaning tube storage module to the turntable 102. The second robotic arm 117 can transfer sample tubes from the turntable 102 to the positioning and conveying module, transfer quality control tubes from the turntable 102 to the positioning and conveying module, and transfer cleaning tubes from the turntable 102 to the positioning and conveying module. The coordinated operation of the turntable 102, the circular conveyor module 126, and the two robotic arms enables a streamlined scheduling process, thereby improving scheduling efficiency.

[0049] like Figure 1 As shown, the scheduling device 101 also includes a collection rack 114, which has multiple collection positions for accommodating sample tubes. Each collection position can be a hole or slot capable of accommodating a tube. A transfer module can transfer sample tubes collected from the outside to a positioning transfer module, and a robotic arm module can transfer sample tubes from the positioning transfer module to the collection rack 114. The collected sample tubes can be retrieved from a sample analyzer, and the samples in the retrieved sample tubes have already been used.

[0050] like Figure 1 As shown, the positioning and transmission module includes multiple positioning and transmission stations 111 arranged side by side. The structure of the positioning and transmission station 111 is as follows: Figure 4 As shown. The positioning conveyor 111 includes a belt 136, limiting baffles 137 located on both sides of the belt 136, and a drive mechanism for driving the belt 136. The belt 136 is used to carry and transport the test tube rack 138, and the limiting baffles 137 are used to limit the test tube rack 138 to prevent it from tilting or falling off the side of the belt 136. In addition, the two ends of the limiting baffles 137 are inclined, and the openings at both ends of the space defined by the limiting baffles 137 on both sides of the belt 136 are outwardly flared. This can guide the test tube rack 138, facilitating its entry and exit from the positioning conveyor 111. The structures of the other conveyors mentioned below can be the same as those of the positioning conveyor 111, and will not be described again below.

[0051] like Figure 1As shown, the transfer module is located at one end of the positioning transfer platform 111. The transfer module includes a first transfer platform 110, a second transfer platform 112, a first drive mechanism 109, and a second drive mechanism 113. The movements of the two transfer platforms are independent of each other. The first drive mechanism 109 drives the first transfer platform 110 to move, enabling it to dock with any positioning transfer platform 111. The second drive mechanism 113 drives the second transfer platform 112 to move, enabling it to dock with any positioning transfer platform 111. Both the first drive mechanism 109 and the second drive mechanism 113 can be configured as belt modules, lead screw modules, rack and pinion modules, or other modules used to drive objects to perform linear motion.

[0052] like Figure 2 As shown, the scheduling device 101 also includes an empty test tube rack storage module, a lifting conveyor 107, and a transition conveyor 108. The empty test tube rack storage module is located below the machine base 132, and the empty test tube rack has a storage position for storing test tube racks 138. The empty test tube rack storage module is slidably connected to the machine base 132, and can be pulled out and pushed back by the user like a drawer, so that the user can load or remove empty test tube racks 138. The lifting conveyor 107 can be driven to move between a first position and a second position, the first position being below the machine base 132 and adjacent to the storage position, and the second position being above the machine base 132. The module driving the lifting conveyor 107 can be a belt module 136, a lead screw module, etc. The empty test tube rack storage module also includes an inlet / outlet conveyor 129, which can dock with the lifting conveyor 107 at the first position, thereby allowing the empty test tube rack 138 to be transferred between the inlet / outlet conveyor 129 and the lifting conveyor 107.

[0053] A transition conveyor 108 is fixed to the machine base 132. One end of the transition conveyor 108 is connected to the second position, and the other end is connected to the transfer conveyor module. More specifically, the transition conveyor 108 is used to connect with the first transfer conveyor 110. The transition conveyor 108 allows empty test tube racks 138 to be transferred between the lifting conveyor 107 and the transfer conveyor module. In the second position, the lifting conveyor 107 can receive test tube racks 138 from the empty test tube rack 138 storage module, or transfer the test tube racks 138 it carries to the empty test tube rack storage module. In the first position, the lifting conveyor 107 can transfer the test tube racks 138 it carries to the transition conveyor 108, or receive test tube racks 138 from the transition conveyor 108.

[0054] The scheduling modes of the scheduling device 101 are described below.

[0055] (1) Scheduling of ordinary samples

[0056] Sample tubes first enter through the tilting injection module 121 and are then arranged in the injection channel 116. Subsequently, the first robotic arm 123 grasps the sample tubes in the injection channel 116 and transfers them to the circular conveyor module 126 or the turntable 102. For sample tubes requiring cap removal, the first robotic arm 123 transfers them to the circular conveyor module 126, which then transports them to the cap removal module 127, which removes the caps. The cap-removed sample tubes are then transported by the circular conveyor module 126 to the grasping range of the second robotic arm 117, which then removes the capped sample tubes. For sample tubes that do not require cap removal, the first robotic arm 123 transfers them to the turntable 102. The turntable 102 then rotates and transports the sample tubes to the grasping range of the second robotic arm 117, which removes the sample tubes.

[0057] After the second robotic arm 117 removes the sample tubes from the annular transfer module 126 or the turntable 102, it transfers the sample tubes to the positioning transfer module and inserts them into the tube rack 138 on the positioning transfer platform 111. Once a sufficient number of sample tubes have been inserted into the tube rack 138, the second transfer platform 112 docks with the positioning transfer platform 111, and the positioning transfer platform 111 transfers the tube rack 138 and the sample tubes on it to the second transfer platform 112. Subsequently, the second transfer platform 112 moves to... Figure 1 As shown in the “input / output position”, the second transfer conveyor 112 sends the test tube rack 138 and sample test tubes away from the scheduling device 101.

[0058] (2) Recovery of ordinary samples

[0059] First, the second transfer platform 112 moves to the position shown in the image. Figure 1 As shown in the input / output positions, the second transfer conveyor 112 receives a test tube rack 138 containing sample tubes from outside the scheduling device 101. Then, the second transfer conveyor 112 moves forward and docks with one of the positioning conveyors 111 that is not carrying any test tube racks 138. After docking, the second transfer conveyor 112 transfers the test tube rack 138 containing sample tubes onto the positioning conveyor 111. Subsequently, the second robotic arm 117 transfers the sample tubes from the positioning conveyor 111 one by one into the collection rack 114. Finally, the user can remove the collection rack 114 from the scheduling device 101 to retrieve the sample tubes.

[0060] (3) Recovery of samples that need to be re-examined

[0061] The first half of the retrieval path for the sample tubes that need to be re-examined is the same as the first half of the retrieval path for ordinary samples. That is, the test tube rack 138 containing the sample tubes that need to be re-examined is first transferred from outside the scheduling device 101 to the second transfer conveyor 112, and then transferred from the second transfer conveyor 112 to one of the positioning conveyors 111.

[0062] After the sample tubes requiring re-examination and their respective racks 138 are transferred to the positioning conveyor 111, the second robotic arm 117 transfers the sample tubes to be re-examined to the temporary storage rack 105. Once all the sample tubes requiring re-examination have been transferred to the temporary storage rack 105, the second robotic arm 117 transfers the sample tubes from the temporary storage rack 105 to an empty rack 138 on another positioning conveyor 111. Then, the positioning conveyor 111 docks with the second transfer conveyor 112, which transfers the sample tubes and racks 138 to the second transfer conveyor 112. Finally, the second transfer conveyor 112 moves again to... Figure 1 The input and output positions are shown, and the sample tubes that need to be reviewed are sent away from the scheduling device 101.

[0063] If the sample tube passes the re-inspection, it can be returned to the recycling rack 114 following the "Recycling of Ordinary Samples" path described above.

[0064] (4) Dispatch of emergency samples

[0065] Emergency samples are also placed in sample tubes. The sample tubes containing emergency samples are manually injected by the user. After injection, the sample tubes containing emergency samples are initially located on a tube strip. After the first robotic arm 123 picks up the sample tube containing the emergency sample from the tube strip, the subsequent transfer path of the sample tube is the same as the scheduling path for ordinary samples described above, and will not be repeated here. However, it should be noted that emergency samples have priority in scheduling compared to ordinary samples. For example, if both emergency samples and ordinary samples are present in the scheduling device 101, the scheduling device 101 will prioritize scheduling emergency samples, and will only schedule ordinary samples after the emergency samples have been scheduled. This allows emergency samples to be processed preferentially to meet the needs of the hospital's emergency department to quickly obtain the patient's physical condition.

[0066] (5) Scheduling of abnormal samples

[0067] During the sample tube scheduling process, any abnormal sample tubes will eventually be placed into the tube strip. For example, an abnormality could be that the information read from the sample tube does not match the scheduling requirements.

[0068] Since the test tube strip is within the grasping range of the first robotic arm 123, if an abnormality occurs and the sample test tube is still within the grasping range of the first robotic arm 123, the sample test tube will be placed back onto the test tube strip by the first robotic arm 123. If an abnormality occurs and the sample test tube is within the grasping range of the second robotic arm 117, the sample test tube will first be transferred by the second robotic arm 117 to the circular conveyor module 126 or the turntable 102, and then the circular conveyor module 126 or the turntable 102 will convey the sample test tube to the grasping range of the first robotic arm 123, after which the first robotic arm 123 will place the sample test tube back onto the test tube strip.

[0069] (6) Scheduling of quality control materials

[0070] The quality control test tube containing the quality control sample is manually injected by the user. After injection, the quality control test tube is initially located on the test tube strip. Subsequently, the first robotic arm 123 transfers the quality control sample from the test tube strip to the quality control sample storage module 125.

[0071] When the sample analyzer needs to use quality control samples, the first robotic arm 123 retrieves the quality control test tubes from the quality control storage module 125 and transfers them to the circular conveyor module 126 or the turntable 102, where they are temporarily stored. After the quality control test tubes are conveyed by the circular conveyor module 126 or the turntable 102 to the grasping range of the second robotic arm 117, the second robotic arm 117 transfers them to the scheduling temporary storage rack 105. After the quality control samples return to room temperature on the scheduling temporary storage rack 105, the second robotic arm 117 transfers them to the mixing module 106. After the quality control samples are mixed, the second robotic arm 117 transfers them from the mixing module 106 to the test tube rack 138 of the positioning conveyor 111. Subsequently, the second transfer conveyor 112 docks with the positioning conveyor 111 carrying the quality control test tubes, and the positioning conveyor 111 transfers the test tube rack 138 containing the quality control test tubes to the second transfer conveyor 112. Then, the second transfer conveyor 112 moves to the input / output position and sends the quality control test tubes and the test tube rack 138 containing the quality control test tubes away from the scheduling device 101 together.

[0072] (7) Recycling of quality control products

[0073] If the quality control samples in the quality control tubes have been used up, the empty quality control tubes will eventually be transferred to the recycling tube strip 115. Specifically, the tube rack 138 containing the empty quality control tubes is conveyed from outside the dispatching device 101 to the second transfer conveyor 112, and then the second transfer conveyor 112 transfers the tube rack 138 containing the empty quality control tubes to an empty positioning conveyor 111. Next, the second robotic arm 117 transfers the empty quality control tubes from the positioning conveyor 111 to the recycling tube strip 115. The user can then remove the recycling tube strip 115 from the dispatching device 101 to recycle the quality control tubes.

[0074] If the quality control samples in the quality control tubes are not used up, the tubes with remaining samples will be transferred back to the quality control sample refrigeration module, and the remaining samples can be kept for future use. Specifically, the tube rack 138 containing the quality control tubes is transferred from outside the scheduling device 101 to the second transfer conveyor 112, which then transfers the tube rack 138 to an empty positioning conveyor 111. Next, the second robotic arm 117 transfers the quality control tubes from the positioning conveyor 111 to the circular conveyor module 126 or the turntable 102. After the circular conveyor module 126 or the turntable 102 transfers the quality control tubes into the grasping range of the first robotic arm 123, the first robotic arm 123 places the quality control tubes back into the quality control sample storage module 125.

[0075] (8) Scheduling of cleaning pipes

[0076] Users can load clean test tubes into the scheduling device 101 in two ways. One is by pouring a batch of clean test tubes into the tilting sample injection module 121, and the other is by placing the clean test tubes into the first test tube strip 120. Clean test tubes entering from the tilting sample injection module 121 are then arranged in the injection channel 116. Subsequently, the first robotic arm 123 transfers the clean test tubes from the injection channel 116 and the first test tube strip 120 to the clean test tube rack 122 to prevent clean test tubes remaining in the injection channel 116 and the first test tube strip 120 from obstructing the loading of sample test tubes.

[0077] When the sample analyzer requires cleaning fluid, the first robotic arm 123 first transfers the cleaning tubes from the cleaning tube rack 122 to the circular conveyor module 126 or the turntable 102. After the cleaning tubes are conveyed by the circular conveyor module 126 or the turntable 102 to the grasping range of the second robotic arm 117, the second robotic arm 117 transfers the cleaning tubes from the circular conveyor module 126 or the turntable 102 to the tube rack 138 of the positioning conveyor 111. Subsequently, the second transfer conveyor 112 docks with the positioning conveyor 111 containing the cleaning tubes, and the positioning conveyor 111 conveys the tube rack 138 containing the cleaning tubes to the second transfer conveyor 112. Then, the second transfer conveyor 112 sends the tube rack 138 containing the cleaning tubes away from the dispatching device 101.

[0078] (9) Recycling of cleaning pipes

[0079] If the cleaning fluid in the cleaning tube is used up, the empty cleaning tube will be recycled into the dispatching device 101 and thrown into the trash can 131 below the machine 132.

[0080] Specifically, the test tube rack 138 containing empty cleaning test tubes is first transferred from outside the dispatching device 101 to the second transfer conveyor 112. Then, the second transfer conveyor 112 docks with an empty positioning conveyor 111 and transfers the test tube rack 138 containing empty cleaning test tubes to the positioning conveyor 111. Next, the second robotic arm 117 transfers the empty cleaning test tubes from the positioning conveyor 111 to the circular conveyor module 126 or turntable 102. After the circular conveyor module 126 or turntable 102 transfers the empty cleaning test tubes into the grasping range of the first robotic arm 123, the first robotic arm 123 removes the cleaning test tubes from the circular conveyor module 126 or turntable 102 and discards them into the waste tube outlet 124. The cleaning test tubes entering from the waste tube outlet 124 eventually fall into the trash can 131 below the machine 132.

[0081] (10) Scheduling of empty test tube racks

[0082] The scheduling of empty test tube racks 138 mainly includes: the transfer of empty test tube racks 138 between the bottom and top of machine platform 132, and the transfer of empty test tube racks 138 between different positioning conveyor platforms 111.

[0083] The following describes how an empty test tube rack 138 is transferred from below to above the machine platform 132. First, the lifting conveyor 107 descends to its first position and docks with the inlet / outlet conveyor 129. Then, the inlet / outlet conveyor 129 transfers a test tube rack 138 onto the lifting conveyor 107. Next, the lifting conveyor 107 rises to its second position, docking with the transition conveyor 108. With the transition conveyor 108 docked at both ends with the lifting conveyor 107 and the first transfer conveyor 110 respectively, the test tube rack 138 is subsequently transferred sequentially to the transition conveyor 108 and the first transfer conveyor 110. Then, the first transfer conveyor 110 moves until it docks with a positioning conveyor 111. After docking, the first transfer conveyor 110 transfers the test tube rack 138 it carries onto the positioning conveyor 111. The empty test tube rack 138 transferred to the positioning conveyor 111 can subsequently be used to hold sample tubes, quality control tubes or cleaning tubes.

[0084] When the positioning and conveying module is full of test tube racks 138, the excess test tube racks 138 need to be transferred to the empty test tube rack storage module. The process of transferring empty test tube racks 138 from above the machine 132 to below the machine 132 is the reverse of the above process and will not be described in detail here.

[0085] The following example illustrates how an empty test tube rack 138 is transferred between different positioning conveyors 111. First, the first transfer conveyor 110 docks with the first positioning conveyor 111, and the first positioning conveyor 111 transfers its test tube rack 138 onto the first transfer conveyor 110. Then, the first transfer conveyor 110 docks with the second positioning conveyor 111, and the first transfer conveyor 110 transfers its test tube rack 138 to the second positioning conveyor 111.

[0086] The scheduling device 101 of any of the above embodiments can be applied in the sample processing pipeline 201. For example, Figure 5 A sample processing pipeline 201 is shown in one embodiment. The sample processing pipeline 201 also includes a centrifuge device 202, which is adjacent to the scheduling device 101. The centrifuge device 202 is used to centrifuge samples in sample tubes. By combining the scheduling device 101 and the centrifuge device 202, a sample processing pipeline 201 capable of centrifuging samples can be constructed.

[0087] Specifically, such as Figure 6As shown, the centrifuge apparatus 202 includes a centrifuge cup 206, a centrifuge 205, a balancing test tube rack 204, a third robotic arm 207, and an image recognition module 203. The centrifuge cup 206 is used to load sample tubes and balancing test tubes, and the centrifuge 205 is used to house the centrifuge cup 206 and centrifuge the samples. The balancing test tube rack 204138 is adjacent to the centrifuge cup 206 and carries multiple balancing test tubes. A portion of the circular conveyor module 126 extends into the centrifuge apparatus 202. When centrifugation of samples is required, the third robotic arm 207 first transfers the sample tubes from the circular conveyor module 126 to the centrifuge cup 206, then transfers the balancing test tubes from the balancing test tube rack 204 to the centrifuge cup 206, and then transfers the centrifuge cup 206 into the centrifuge 205. Subsequently, the centrifuge 205 centrifuges the samples.

[0088] After centrifugation, the third robotic arm 207 removes the centrifuge cup 206 containing the balancing test tube and sample test tube from the centrifuge 205. The third robotic arm 207 then removes the sample test tube from the centrifuge cup 206 and transfers it to the image recognition module 203. The image recognition module 203 acquires an image of the sample in the sample test tube and determines whether the quality of the centrifuged sample is up to standard based on the image. If it is up to standard, the third robotic arm 207 transfers the sample test tube to the circular conveyor module 126, which returns the centrifuged sample test tube to the machine platform 132 of the scheduling device 101 so that the second robotic arm 117 can subsequently schedule the sample test tube.

[0089] If a large number of samples need to be centrifuged, the sample processing line 201 can include multiple centrifuge units 202 to improve centrifugation efficiency. For example, Figure 7 As shown, multiple centrifuge units 202 are arranged in a straight line and located on the same side of the scheduling device 101. Correspondingly, the circular conveyor module 126 includes multiple circular conveyor belts 134, and the sample processing pipeline 201 also includes a connecting conveyor device, which includes a connecting robot 208 for transferring sample tubes from one circular conveyor belt 134 to another circular conveyor belt 134, so that sample tubes can be conveyed to any centrifuge unit 202. Of course, in some embodiments not shown, the circular conveyor module 126 may also include only one circular conveyor belt 134, which may be set to be relatively long, spanning all centrifuge units 202.

[0090] As mentioned above, some sample tubes need to have their caps removed before being used by the sample analyzer. After the sample analyzer has completed the experiment on the sample, some sample tubes need to have their caps reattached before being returned to the dispatching device 101.

[0091] Accordingly, such as Figure 8and Figure 9 As shown, in some embodiments, the sample processing pipeline 201 may further include a capping device 209, which includes a capping conveyor 213, a main conveyor 210, a transfer module, and a capping module. The capping conveyor 213 can dock with the first transfer conveyor 110, and the main conveyor 210 can dock with the second transfer conveyor 112. Both the capping conveyor 213 and the main conveyor 210 can carry test tube racks 138 and support test tube racks 138. The transfer module includes a transfer conveyor 217 and a transfer drive mechanism 216. The transfer conveyor 217 is used to carry and transfer test tube racks 138, and the transfer drive mechanism 216 is used to drive the transfer conveyor 217 to move so that the transfer conveyor 217 docks with the capping conveyor 213 or with the main conveyor 210. The capping device 209 may include a container 211 storing tube caps and a fourth robotic arm 212 capable of grasping tube caps.

[0092] When the transfer station 217 is in the first transfer position 218, one end of the transfer station 217 is connected to the main transfer station 210, and the other end of the transfer station 217 is connected to the main track of the production line. At this time, the test tube rack 138 containing sample tubes that has left the sample analyzer is transported to the transfer station 217 along the main track of the production line.

[0093] If the sample tubes transferred to the transfer station 217 do not need to be capped, the transfer station 217 directly transfers the test tube rack 138 containing the sample tubes to the second transfer station 112, thereby sending the sample tubes back to the scheduling device 101.

[0094] If the sample tubes transferred to transfer station 217 need to be capped, transfer station 217 first moves to the second transfer position 219, thereby docking with capping transfer station 213. Then, transfer station 217 transfers the test tube rack 138 containing the sample tubes to capping transfer station 213. Next, the fourth robotic arm 212 grasps the caps from container 211 and installs them onto the sample tubes on capping transfer station 213. Specifically, the fourth robotic arm 212 can press the caps into the top of the sample tubes. After the sample tubes are capped, capping transfer station 213 then transfers the test tube rack 138 containing the sample tubes back to transfer station 217, which then moves back to the first transfer position 218. Subsequently, the transfer station 217 and the main transfer station 210 transfer the test tube rack 138 containing the sample test tubes, so that the test tube rack 138 containing the sample test tubes returns to the second transfer station 112 of the scheduling device 101.

[0095] The capping device 209 can both install caps on sample tubes that need to be capped and return capped and uncapped sample tubes to the dispatching device 101.

[0096] The capping device 209 may also include a transfer conveyor 214, a review storage rack 215, and a fifth robotic arm. The transfer conveyor 214 is arranged side-by-side with the capping conveyor 213, the review storage rack 215 is adjacent to the transfer conveyor 214, and the fifth robotic arm is not shown in the accompanying drawings. The grasping range of the fifth robotic arm is as follows... Figure 9 As shown in the dashed box K. The transfer station 217 can move to the third transfer position 220, thereby docking with the intermediate transfer station 214. For sample tubes that need to be re-examined, they can first be transferred from the transfer station 217 to the intermediate transfer station 214, and then transferred by the fifth robotic arm to the re-examination storage rack 215. When re-examination is required, the fifth robotic arm will then remove the sample tubes from the re-examination storage rack 215 and transfer them to the test tube rack 138 on the intermediate transfer station 214. Then, the sample tubes, along with the test tube rack 138, are conveyed to the transfer station 217, the main track of the production line, and the downstream sample analyzer.

[0097] It should be noted that in some other embodiments, such as Figure 10 and Figure 11 As shown, the centrifugation device 202 and the capping device 209 can also be used in conjunction with the scheduling device 101 to create a more versatile sample processing pipeline 201.

[0098] In some other embodiments not shown, the sample processing pipeline 201 also includes a sample analyzer, which can be connected to the capping device 209 via the main track of the pipeline. After the sample tubes leave the dispatching device 101, they can first pass through the capping device 209 (without capping) and then flow to the sample analyzer.

[0099] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A scheduling device, characterized in that, include: A material storage module is used to store test tubes containing substances for testing, wherein the substances for testing include at least one of samples, quality control materials, and cleaning solutions; Robotic arm module, including at least one robotic arm; A positioning and conveying module is used to carry and convey test tube racks. The robotic arm module can transfer test tubes containing testing substances from the substance storage module to the positioning and conveying module. A transfer module is used to carry and transport test tube racks. The transfer module can send the test tube racks away from the scheduling device. The robotic arm module can transfer test tubes containing testing substances from the substance storage module to the transfer module.

2. The scheduling device according to claim 1, characterized in that, The detection materials include samples, quality control materials, and cleaning solution; the scheduling device includes: The sample storage module is used to store sample tubes containing samples; The quality control material storage module is used to store quality control test tubes containing quality control materials; The cleaning tube storage module is used to store cleaning test tubes containing cleaning solution.

3. The scheduling device according to claim 2, characterized in that, The scheduling device further includes: A circular conveyor module includes a circular conveyor belt and multiple support frames fixed on the circular conveyor belt, the support frames being used to carry test tubes; The cap removal module, adjacent to the annular conveyor belt, is used to remove the caps from the sample tubes on the support frame. The robotic arm module is capable of transferring the sample tube rack that needs to be capped from the sample storage module to the support frame, and transferring the capped sample tubes from the support frame to the positioning and conveying module.

4. The scheduling device according to claim 3, characterized in that, The scheduling device further includes a turntable, the turntable having multiple transition positions, and the robotic arm module includes: A first robotic arm is used to transfer sample tubes from the sample storage module to the turntable, transfer quality control tubes from the quality control product storage module to the turntable, and transfer cleaning tubes from the cleaning tube storage module to the turntable; The second robotic arm is used to transfer the sample tubes from the turntable to the positioning and conveying module, transfer the quality control tubes from the turntable to the positioning and conveying module, and transfer the cleaning tubes from the turntable to the positioning and conveying module. Wherein, the grasping range of the first robotic arm and the grasping range of the second robotic arm do not overlap, there is at least one transition position within the grasping range of the first robotic arm, and at least one other transition position within the grasping range of the second robotic arm.

5. The scheduling device according to claim 4, characterized in that, The quality control sample storage module is a refrigerator, and the scheduling device further includes a scheduling temporary storage rack and a mixing module. The mixing module is used to mix the quality control sample. The robotic arm module is used to: transfer the quality control test tube located on the ring conveyor module or on the turntable to the scheduling temporary storage rack, transfer the quality control test tube from the scheduling temporary storage rack to the mixing module, and transfer the quality control test tube from the mixing module to the positioning conveyor module.

6. The scheduling device according to claim 1, characterized in that, The positioning and conveying module includes multiple positioning and conveying stations arranged side by side. The transfer and conveying module is located at one end of the positioning and conveying stations. The transfer and conveying module includes a first transfer and conveying station, a second transfer and conveying station, a first driving mechanism, and a second driving mechanism. The first driving mechanism is used to drive the first transfer and conveying station to move so that the first transfer and conveying station can dock with any of the positioning and conveying stations. The second driving mechanism is used to drive the second transfer and conveying station to move so that the second transfer and conveying station can dock with any of the positioning and conveying stations.

7. The scheduling device according to claim 1, characterized in that, The scheduling device further includes: The material storage module, the robotic arm module, the positioning and conveying module, and the transfer and conveying module are all located above the machine platform; An empty test tube rack storage module is located below the machine. The empty test tube rack storage module includes a storage rack and an inlet / outlet conveyor. The storage rack is used to store test tube racks, and the inlet / outlet conveyor is located at one end of the storage rack. The lifting conveyor is capable of moving between a first position and a second position, wherein the first position is located below the machine and docks with the inlet / outlet conveyor, and the second position is located above the machine. A transition conveyor, one end of which is connected to the second position and the other end of which can be connected to the transfer conveyor module, is used to transfer the empty test tube rack between the lifting conveyor and the transfer conveyor module.

8. The scheduling device according to claim 1, characterized in that, The scheduling device also includes a recycling rack with multiple recycling positions for accommodating sample tubes. The transfer module can also transfer sample tubes recycled from the outside to the positioning module, and the robotic arm module can transfer the sample tubes from the positioning module to the recycling rack.

9. A sample processing pipeline, characterized in that, The scheduling device as described in any one of claims 1 to 8 further includes a ring conveyor module, so the ring conveyor module includes a ring conveyor belt and a plurality of support frames fixed on the ring conveyor belt, the support frames being used to carry sample tubes; The sample processing pipeline further includes a centrifuge device, which is adjacent to the scheduling device. The centrifuge device includes: Centrifuge cups are used to load sample tubes and balance test tubes; A centrifuge is used to hold centrifuge cups and centrifuge samples. A balancing test tube rack is adjacent to the centrifuge cup, and the balancing test tube rack carries multiple balancing test tubes; A third robotic arm, a portion of the annular transfer module extending into the centrifuge device, is used to: transfer the sample tube from the annular transfer module to the centrifuge cup, transfer the balancing tube from the balancing tube rack to the centrifuge cup, and transfer the centrifuge cup into the centrifuge.

10. The sample processing pipeline according to claim 9, characterized in that, The transfer module includes a first transfer platform and a second transfer platform. The movement of the first transfer platform and the movement of the second transfer platform are independent of each other. The first transfer platform can dock with any of the positioning transfer platforms, and the second transfer platform can dock with any of the positioning transfer platforms. The sample processing pipeline also includes a capping device, the capping device comprising: The added conveyor platform can dock with the first transfer conveyor platform; The main conveyor can dock with the second transfer conveyor. Both the covered conveyor and the main conveyor can carry test tube racks and transfer test tube racks. The transfer module includes a transfer platform and a transfer drive mechanism. The transfer platform is used to carry and transfer test tube racks, and the transfer drive mechanism is used to drive the transfer platform to move so that the transfer platform docks with the capped transfer platform or with the main transfer platform. A capping module is used to install tube caps onto test tubes on the capping conveyor.

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