A test tube lifting and rotating mechanism

Abstract

This utility model belongs to the field of laboratory testing automation technology, and relates to a test tube lifting and rotating mechanism, including a lifting drive component and a lifting spin module. The lifting drive component can drive the lifting spin module to lift and lower. The lifting spin module includes a motion main board, a tube gripping shaft, and a rotation trigger component. One or more tube gripping shafts are rotatably mounted on the motion main board. When the motion main board reaches its upper limit position, it can trigger the rotation trigger component to drive the tube gripping shaft to rotate. The motion main board of this utility model is equipped with one or more tube gripping shafts. During the lifting and lowering process of the motion main board, the tube gripping shafts can lift the test tubes. When the motion main board rises to a preset height, the rotation trigger component can drive the tube gripping shaft to rotate. The information collector can synchronously collect test tube information, realizing row rotation and synchronous information collection, thus improving efficiency.

Description

Technical Field

[0001] This utility model relates to a test tube lifting and rotating mechanism, belonging to the field of laboratory testing automation technology. Background Technology

[0002] In the field of laboratory testing automation, with the exponential growth in the number of test samples, laboratories have increasingly stringent requirements for the efficiency, safety, and closed-loop process of test tube sample processing. Currently, test tubes containing blood samples need to be scanned or photographed to obtain key information (such as patient ID, test items, sample quality, etc.) before being transferred by automated equipment to refrigeration modules or analytical instruments for preservation / processing. However, the existing technical architecture and process design of test tube scanning or photographic processing equipment have shortcomings: First, existing equipment lacks a multi-tube scanning solution, generally employing a single-tube sequential scanning approach. Typically, this involves a robotic arm or linear module detaching a single test tube from the rack, adjusting it to a specific height, and then rotating it to complete the scanning. For single-row test tube racks, which often have notches, this approach sometimes eliminates the need to remove the tubes, allowing for direct rotation and scanning on the rack. While single-tube sequential scanning maintains basic efficiency for low-density samples (e.g., single tubes or single-row racks), high-density matrix test tube boxes (e.g., 50-well racks) suffer from significant throughput and speed issues due to spatial interference between adjacent tubes. The system must first calculate an unobstructed rotation path using complex algorithms before controlling each tube to complete the scan in a lift-rotate-reset sequence. Even without complex obstacle avoidance algorithms, scanning tube by tube still results in very low efficiency.

[0003] Secondly, current equipment generally adopts a three-motor independent drive architecture to achieve the three basic actions of test tube grasping, rotation, and detachment. The lifting motor controls the Z-axis displacement, the rotation motor drives the test tube to rotate, and the detachment motor performs test tube separation. The three motors need to work together through a complex linkage mechanism, which has problems such as large mechanical synchronization error, high energy consumption, and rising costs. Each piece of equipment needs to be calibrated individually during maintenance.

[0004] Third, existing equipment only has a forward sample transfer mechanism, i.e., the transfer process from collection to processing to storage, but lacks a reverse process, such as empty rack retrieval and sample retesting. Specifically, empty test tube racks need to be manually moved to the cleaning area; when positive samples need to be retrieved for retesting, the system cannot directly locate the refrigerator where the sample is located, and manual transfer is required through a transfer station, resulting in low sample traceability efficiency. Utility Model Content

[0005] The purpose of this utility model is to provide a test tube lifting and rotating mechanism and processing method to improve or solve the technical problems existing in the prior art as described above.

[0006] The technical solution provided by this utility model is as follows: a test tube lifting and rotating mechanism, including a lifting drive component and a lifting spin module. The lifting drive component can drive the lifting spin module to lift and lower. The lifting spin module includes a motion main board, a tube gripping shaft and a rotation trigger component. One or more tube gripping shafts are rotatably mounted on the motion main board. When the motion main board reaches the upper limit position, it can trigger the rotation trigger component to drive the tube gripping shaft to rotate.

[0007] Compared with the prior art, the technical solution provided by this utility model has the following beneficial effects: The motion main board of this utility model is provided with one or more tube-grabbing shafts. The tube-grabbing shafts can lift the test tubes during the process of the motion main board rising and falling. When the motion main board rises to a preset height, the rotation trigger component can drive the tube-grabbing shafts to rotate, and the information collector can synchronously collect the test tube information, realizing row rotation and synchronous information collection, thus improving efficiency.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, the rotation triggering assembly includes a first positioning seat, a lifting seat, a gear, a rack, and a push plate; the lifting seat and the push plate are connected together, and the lifting drive assembly can drive the lifting seat and the push plate to lift synchronously; the first positioning seat is fixed on the motion main board; a first spring is provided between the lifting seat and the first positioning seat; the rack is mounted on the motion main board in a manner that allows it to slide along a direction perpendicular to the gripping shaft; a guide wheel is provided on the rack, and a groove is provided on the push plate, with the guide wheel disposed in the groove; a gear is provided on the gripping shaft, and the gear meshes with the rack, so that when the rack slides along a direction perpendicular to the gripping shaft, it can drive the meshing gear to rotate.

[0010] Furthermore, it also includes a limit stop, which is used to limit the upward limit of the motion motherboard.

[0011] The beneficial effect of adopting the above-described further solution is that when the slider drives the lifting seat to rise, it can lift the entire spinning module upward without compressing the first spring. After the motion main board moves upward to contact the limit block and stops, the lifting seat continues to move upward with the slider and begins to compress the first spring, while the push plate also moves upward synchronously. At this time, the inclined groove of the push plate forces the guide wheel to push the rack to move horizontally in a direction perpendicular to the tube-gripping shaft, thereby driving the gear to rotate and causing the tube-gripping shaft to rotate synchronously. The total compressive elastic force of the first spring is greater than or equal to the sum of the weight of the spinning module and the weight of the gripped test tube.

[0012] During the ascent, the lifting seat first lifts the entire rotating module upward via the first spring. Upon encountering the limit block, the lifting seat continues to rise and further compresses the first spring, causing the guide block to continue moving upward as well. The cooperation between the guide block and the guide wheel drives the gripping shaft to rotate. This invention requires no additional drive device; the rotation trigger component, through a purely mechanical transmission design, achieves a combined action of synchronous lifting and rotation of the gripping shaft under a single motor drive.

[0013] This invention requires only one motor to perform the functions of two motors in the traditional solution, reducing costs and energy consumption. At the same time, it avoids timing errors caused by multi-motor collaborative control, significantly improving the reliability of the system.

[0014] Furthermore, one or more of the first springs are respectively sleeved on their respective gripping shafts, and the two ends of the first springs can be connected to the lifting seat and the first positioning seat respectively.

[0015] The beneficial effect of adopting the above-mentioned further solution is that the first spring is sleeved on the gripping shaft, which not only ensures the stability and guidance of the first spring, but also helps the first spring to be uniformly compressed during the lifting process of the lifting seat, thereby ensuring the smoothness and accuracy of the rotation of the gripping shaft.

[0016] Furthermore, the first positioning seat and the lifting seat are respectively provided with a first shaft hole and a second shaft hole corresponding to each other, for installing the gripping shaft.

[0017] Furthermore, the motion main board is also provided with a second positioning seat, the second positioning seat is provided with at least one third shaft hole, and a bearing is provided in the third shaft hole to support the gripping shaft.

[0018] The beneficial effects of adopting the above-described further solution are that the first positioning seat, the lifting seat, and the second positioning seat are arranged sequentially from top to bottom along the axial direction of the gripping shaft. The first and second shaft holes allow the gripping shaft to be securely mounted on the lifting seat, ensuring the stability and accuracy of the gripping shaft during rotation and lifting. The second positioning seat and the third shaft hole further enhance the stability and support force of the gripping shaft during rotation, reducing friction and wear caused by rotation and extending the service life of the gripping shaft. Simultaneously, the use of bearings also makes the rotation of the gripping shaft smoother.

[0019] Furthermore, it also includes a tube removal assembly, which includes a tube removal plate and a tube removal drive assembly. The tube removal plate is provided with a fourth axial hole for the tube gripping shaft to pass through. The tube removal drive assembly can drive the tube removal plate to move along the axial direction of the tube gripping shaft to push the test tube away from the tube gripping shaft.

[0020] The beneficial effect of adopting the above-mentioned further solution is that the tube holder plate is located below the second positioning seat, the fourth shaft hole on the tube removal plate ensures that the tube gripping shaft can pass through smoothly, and at the same time, the tube removal drive assembly can drive the tube removal plate to move along the axial direction of the tube gripping shaft. The tube removal plate presses the top of the test tube cap, overcomes the friction between the tube gripping shaft and the cap, so that the test tube can be smoothly separated from the tube gripping shaft after processing.

[0021] Furthermore, the tube removal drive assembly includes a U-shaped frame and a telescopic cylinder. A first tube removal connecting plate and a second tube removal connecting plate are respectively provided on both sides of the tube removal plate. The first tube removal connecting plate and the second tube removal connecting plate are slidably installed on both sides of the motion main board. The two sides of the U-shaped frame are hinged to the motion main board, and the two sides of the U-shaped frame are connected to the first tube removal connecting plate and the second tube removal connecting plate through tension springs. When the output shaft of the telescopic cylinder extends, it can drive the U-shaped frame to rotate around the hinge point and push the tube removal plate to move along the axial direction of the tube gripping shaft.

[0022] The beneficial effect of adopting the above-mentioned further solution is that the telescopic cylinder drives the U-shaped frame to rotate around the hinge point, thereby pushing the first tube removal connecting plate and the second tube removal connecting plate to move, so that the tube removal plate moves along the axial direction of the tube gripping shaft, and the tube removal plate and the tube gripping shaft form a relative displacement, thereby effectively pushing the test tube away from the tube gripping shaft plug.

[0023] Furthermore, the lifting drive assembly includes a first motor, a lead screw, and a nut seat. The first motor is connected to the lead screw via a coupling, and the slider is connected to the nut seat.

[0024] The beneficial effect of adopting the above-mentioned further solution is that the present invention realizes the lifting function through the cooperation of the lead screw and the nut seat, and can also realize the rotation function of the gripping shaft. The synchronous lifting and rotation compound action of the gripping shaft can be completed by only one first motor.

[0025] Furthermore, the end of the tube gripping shaft is provided with a plug, which is used to insert into the groove of the test tube cap.

[0026] The beneficial effect of adopting the above-described further solution is that the plug allows the gripping shaft to insert into the groove of the test tube cap, thereby stably removing the test tube from the test tube rack. The material and shape of the plug are optimized to ensure that it can firmly grip the test tube without damaging it. In addition, the friction between the surface of the plug and the groove of the test tube cap ensures the stability of removing the test tube. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 This invention presents a three-dimensional structural diagram of the test tube processing system. Figure 2 A three-dimensional structural schematic diagram of the test tube lifting and rotating mechanism of this utility model is shown; Figure 3 A three-dimensional structural diagram of the test tube lifting and rotating mechanism of this utility model is shown from the rear view. Figure 4 A three-dimensional structural schematic diagram of the mounting frame for the test tube lifting and rotating mechanism of this utility model is shown; Figure 5 This invention presents a three-dimensional structural diagram of the test tube lifting and rotating mechanism after the installation frame has been removed. Figure 6 This utility model is demonstrated Figure 5 The diagram shown is a three-dimensional representation of the structure from a rear view. Figure 7 This utility model is demonstrated Figure 5 A three-dimensional sectional view of the structure; Figure 8 This invention presents a front view of the test tube lifting and rotating mechanism when gripping a test tube. Figure 9 This shows a front view of the motion motherboard of this utility model when it is moved to the upper limit position; Figure 10 This invention presents a front view showing the lifting seat compressing the first spring as it continues to move upward. Figure 11 This utility model is demonstrated Figure 8 Rear view; Figure 12 This utility model is demonstrated Figure 9 Rear view; Figure 13 This utility model is demonstrated Figure 10 Rear view; Figure 14 This invention presents a three-dimensional structural diagram of the test tube processing system after the rack has been removed. Figure 15 This diagram presents a three-dimensional structural view of the test tube processing system of this invention after the rack has been removed.

[0029] Figure 16This diagram shows a three-dimensional view of the test tube processing system after the rack has been removed, representing the bottom of the present invention.

[0030] In the diagram, 100 represents the rack. 200. Test tube lifting and rotating mechanism; 201. Mounting bracket; 202. First motor; 203. Lead screw; 204. Nut seat; 205. Slider; 206. Motion main board; 207. Tube gripping shaft; 2071. Plug; 208. First positioning seat; 209. Lifting seat; 210. Gear; 211. Rack; 212. Push plate; 213. Inclined groove; 214. Guide wheel; 215. U-shaped frame; 216. Telescopic cylinder; 217. Tube removal plate; 218. First tube removal connecting plate; 219. Second tube removal connecting plate; 220. Limiting block; 221. First spring; 222. Second positioning seat; 300. Information collector; 400. Conveying module; 401. Lateral shifting claw; 402. Transfer pallet; 403. Second spring; 404. Feeding pallet; 405. Pipe gripping pallet; 406. First moving drive mechanism; 407. Second moving drive mechanism; 408. Lateral shifting drive mechanism; 500. Handover module; 501. Docking channel; 502. Transfer slide; 503. Push frame mechanism; 600, test tube; 700. Test tube rack. Detailed Implementation

[0031] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the objects described and do not imply any priority in order or any specific technical meaning. Furthermore, the concepts of "connection" and "linkage" mentioned in this application, unless otherwise specified, are considered to include both direct connection (linkage) and indirect connection (linkage).

[0032] When interpreting the description of this application, it should be clarified that terms such as "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating directions or positional relationships, are based on the perspective and layout shown in the accompanying drawings. They are intended to facilitate explanation and simplify the description process, and are not absolute limitations on the actual location, construction method, or operating mode of the described device or element. Therefore, these terms should not be construed as restrictive interpretations of the content of this application.

[0033] The principles and features of this utility model are described below with reference to examples. The examples are only used to explain this utility model and are not intended to limit the scope of this utility model.

[0034] In this embodiment, the test tube lifting and rotating mechanism of this utility model is applied to a fully automatic test tube processing system to illustrate its working method and function.

[0035] like Figures 1 to 13 As shown, a fully automated test tube processing system includes a frame 100, at least one set of test tube lifting and rotating mechanisms 200, an information collector 300, a conveying module 400, and a transfer module 500. The test tube lifting and rotating mechanism 200 includes a mounting frame 201, a lifting drive assembly, and a lifting spin module. The mounting frame 201 is fixed to the frame 100, and the lifting drive assembly is mounted on the mounting frame 201. The lifting drive assembly drives the lifting spin module to lift and lower via a slider 205. The lifting spin module includes a motion main board 206, a tube gripping shaft 207, and a rotating... A rotation trigger assembly includes one or more tube-gripping shafts 207 arranged side-by-side on the motion main board 206 in a rotatable manner. The motion main board 206 can move with the slider 205. When the motion main board 206 rises to a preset height, the rotation trigger assembly can drive the tube-gripping shafts 207 to rotate. The information collector 300 is used to read identification information when the test tube 600 rotates. The conveying module 400 is used to realize the multi-station flow of the test tube rack 700 within the system. The handover module 500 is used to dock with external equipment to transfer the test tube rack 700.

[0036] The test tube lifting and rotating mechanism 200 can be configured with one or more sets, such as... Figure 1 As shown, the structure of two sets of test tube lifting and rotating mechanisms 200 on the frame 100 is illustrated. Each set of test tube lifting and rotating mechanisms 200 operates independently to improve the processing efficiency of test tubes 600. When multiple sets of test tube lifting and rotating mechanisms 200 operate simultaneously, they can process different test tubes 600 respectively, achieving parallel processing and thus significantly shortening the overall processing time.

[0037] In this embodiment, as Figure 4 As shown, the lifting drive assembly includes a first motor 202, a lead screw 203, a nut seat 204, and a slider 205. The lead screw 203 is mounted on the mounting bracket 201 via bearings. The first motor 202 is connected to the lead screw 203 via a coupling. The slider 205 is connected to the nut seat 204.

[0038] like Figures 5-7As shown, the rotation trigger assembly includes a first positioning seat 208, a lifting seat 209, a gear 210, a rack 211, and a push plate 212; the slider 205 is fixed to the back of the push plate 212, and the slider 205, the lifting seat 209, and the push plate 212 are connected together to move up and down synchronously; the first positioning seat 208 is fixed on the motion main board 206, and the motion main board 206 is also provided with a second positioning seat 222. The first positioning seat 208, the lifting seat 209, and the second positioning seat 222 are arranged sequentially from top to bottom. The first positioning seat 208 is provided with a plurality of first shaft holes, the lifting seat 209 is provided with a plurality of second shaft holes, and the second positioning seat 222 is provided with a plurality of third shaft holes. The number of the first shaft holes, the second shaft holes, and the third shaft holes are matched. The gripping shaft 207 is installed on the front side of the motion main board 206 by passing through the first shaft holes, the second shaft holes, and the third shaft holes in sequence. A bearing is provided in the third shaft hole to support the gripping shaft 207. A first spring 221 is provided between the lifting seat 209 and the first positioning seat 208. More specifically, the first spring 221 is sleeved on the gripping shaft 207, and the two ends of the first spring 221 can respectively abut against the lifting seat 209 and the first positioning seat 208; the rack 211 is slidably mounted on the top of the motion main board 206 via a slide rail, and the rack 211 can move along a direction perpendicular to the gripping shaft 207 (see reference). Figure 2 The main body 206 slides on the motion main body 206 in the X-axis direction; the back of the rack 211 is provided with a guide wheel 214, the push plate 212 is provided with a groove 213, and the guide wheel 214 is disposed in the groove 213; the gripping shaft 207 is provided with a gear 210, which meshes with the rack 211; the frame 100 is provided with a limit stop 220 to limit the upward limit of the motion main body 206.

[0039] In this embodiment, the number of the first springs 221 is not specifically limited. The first springs 221 can be fitted on each of the gripping shafts 207, or only on some of the gripping shafts 207, as long as the total compressive elastic force of the first springs 221 is greater than or equal to the sum of the weight of the lifting spin module and the weight of the gripped test tube 600. The reason is that when the slider 205 rises, the lifting seat 209 rises synchronously. The lifting seat 209 can cause the motion main board 206 and the gripping shafts 207 to rise synchronously without compressing the first springs 221. When the motion main board 206 contacts the limiting block 220, the motion main board 206 stops rising, while the lifting seat 209 can compress the first springs 221 and continue to rise. As the lifting seat 209 continues to rise, the push plate 212 also continues to rise relative to the main moving plate 206, forcing the guide wheel 214 to move within the inclined groove 213. This converts the vertical movement of the push plate 212 into the horizontal movement of the rack 211, driving the rack 211 to move along the X-axis. The gear 210 meshes with the rack 211, and the movement of the rack 211 causes the gear 210 to rotate, which in turn drives the gripping shaft 207 to rotate. By adjusting the inclination angle and length of the inclined groove 213, the gripping shaft 207 can rotate at any angle.

[0040] like Figure 5 As shown, the end of the tube gripping shaft 207 is provided with a plug 2071, which is used to insert into the groove of the test tube cap and pull the test tube 600 from the test tube rack 700.

[0041] The test tube processing system also includes a tube removal assembly, which comprises a tube removal plate 217 and a tube removal drive assembly. The tube removal plate 217 is located below the support seat 209. The tube removal plate 217 has a fourth shaft hole for the tube gripping shaft 207 to pass through. The tube removal drive assembly includes a U-shaped frame 215 and a telescopic cylinder 216. The tube removal plate 217 has a first tube removal connecting plate 218 and a second tube removal connecting plate 219 on both sides respectively. The first tube removal connecting plate 218 and the second tube removal connecting plate 219 are slidably mounted on both sides of the motion main board 206 via slide rails. The two sides of the U-shaped frame 215 are hinged to the motion main board 206, and the two ends of the U-shaped frame 215 are connected to the first tube removal connecting plate 218 and the second tube removal connecting plate 219 via tension springs. When the output shaft of the telescopic cylinder 216 extends, it can drive the U-shaped frame 215 to rotate around the hinge point.

[0042] When a test tube 600 is attached to the plug 2071 of the tube-grabbing shaft 207 and needs to be removed, the output shaft of the telescopic cylinder 216 extends, pushing the U-shaped frame 215 to rotate around the hinge point. The two ends of the U-shaped frame 215 contact the first tube-removal connecting plate 218 and the second tube-removal connecting plate 219 respectively, pushing these two connecting plates downwards along the slide rail. This, in turn, pushes the tube-removal plate 217 downwards along the axis, pressing against the top of the test tube 600 cap, overcoming the friction between the tube-grabbing shaft 207 and the cap, causing the test tube 600 to detach from the plug 2071 of the tube-grabbing shaft 207. When the output shaft of the telescopic cylinder 216 retracts, the U-shaped frame 215 rotates in the opposite direction around the hinge point under gravity, and the tension spring drives the tube-removal plate 217 to move upwards and reset.

[0043] like Figures 14-16 As shown, the conveying module 400 includes a workbench, on which a transverse pawl 401, a transfer channel, a loading station, a tube gripping station, and a docking channel 501 are provided. A machine cover is provided on the outside of the workbench, with an operation window at one end and a handover window at the other end. The loading station is located near the operation window, and the test tube rack 700 is placed on the loading station from the operation window. A transverse drive mechanism 408 is provided on the workbench, which can drive the transverse pawl 401 to reciprocate along the Y-axis. When moving, the transverse pawl 401 can move the test tube rack 700 along the transfer channel. The present invention does not limit the structure of the transverse drive mechanism 408. It can adopt a ball screw mechanism 203, a synchronous belt pulley mechanism, a cylinder, or other drive methods, as long as it can realize the reciprocating movement of the transverse pawl 401 along the Y-axis. The loading station is equipped with a loading tray 404 and a first moving drive mechanism 406. The first moving drive mechanism 406 can drive the loading tray 404 to move towards or away from the transfer channel. Multiple loading trays 404 can be moved sequentially to the loading station. The tube gripping station is equipped with a tube gripping tray 405 and a second moving drive mechanism 407. The second moving drive mechanism 407 can drive the tube gripping tray 405 to move towards or away from the test tube lifting and rotating mechanism 200. The transfer channel is equipped with a transfer tray 402. The transfer tray 402 is mounted on the workbench by a second spring 403. The tube gripping tray 405 can push the transfer tray 402 to move. When the tube gripping tray 405 moves away from the transfer tray 402, the second spring 403 can push the transfer tray 402 to reset. The docking channel 501 is located at one end of the workbench and is correspondingly set with the handover window. It is used to dock with external equipment such as refrigerators, centrifuges, analyzers, etc., to realize the transfer of test tube rack 700.

[0044] The test tube processing system also includes a handover module 500, which includes a transfer slide 502 and a pusher mechanism 503. The pusher mechanism 503 is located on one side of the transfer slide 502 and is used to push an empty test tube rack 700 onto the transfer slide 502. When the test tube rack 700 returns to the transfer channel via the docking channel 501, the transverse pawl 401 moves it onto the tube gripping plate 405. The second moving drive mechanism 407 drives the tube gripping plate 405 to move to the entrance of the transfer slide 502, and the pusher mechanism 503 pushes the empty test tube rack 700 onto the transfer slide 502, completing the entire test tube processing procedure.

[0045] A test tube processing method, utilizing the fully automated test tube processing system, includes the following steps: S1. The test tube rack 700 carrying test tubes 600 is transported to the tube gripping station via the conveying module 400; S2. Control the tube gripping shaft 207 to descend and insert it into the capping groove of any column of test tubes 600; Specifically, such as Figure 8 and Figure 10 As shown, the slider 205 is lowered by the lifting drive assembly. The slider 205 is fixedly connected to the push plate 212. When the slider 205 lowers, the push plate 212 moves down accordingly. The guide wheel 214 is fixed on the rack 211 and located at the top of the inclined groove 213 of the push plate 212. During the downward movement of the push plate 212, the guide wheel 214 pulls the main moving plate 206 down synchronously, and the tube gripping shaft 207 also moves down accordingly. Finally, the plug 2071 at the end of the tube gripping shaft 207 is gradually inserted into the groove of any row of test tube caps in the test tube rack 700 from top to bottom.

[0046] S3. Raise the tube gripping shaft (207) to pull up the test tube (600) to the preset height; Specifically, such as Figure 9 and Figure 12 As shown, the lifting drive assembly drives the slider 205 to rise, which in turn drives the support seat 209 to rise synchronously. The support seat 209 pushes the motion main board 206 upward through the first spring 221. At this time, the first spring 221 is not compressed. The tube gripping shaft 207 rises with the motion main board 206, pulling the test tube 600 out of the test tube rack 700 until the motion main board 206 contacts the limit block 220 on the frame 100. The motion main board 206 reaches the upper limit position and stops moving upward. S4. The rotation trigger component can drive the tube gripping shaft (207) to rotate, synchronously drive the test tube (600) to rotate, and read the identification information of the test tube (600) through the information collector (300) during the rotation process; Specifically, such as Figure 10 and Figure 13As shown, when the motion main board 206 reaches the upper limit position, the lifting drive assembly drives the slider 205 to continue to rise, simultaneously driving the support seat 209 to compress the first spring 221 and continue to rise. This process pushes the plate 212 to move upward continuously, pressing the guide wheel 214 to slide from the top to the bottom along the inclined groove 213. The downward movement of the guide wheel 214 drives the rack 211 to slide along the X-axis, thereby driving the gear 210 to rotate. The gear 210 is fixed at the end of the gripping shaft 207. Its rotation drives the gripping shaft 207 to rotate and drives the test tube 600 to rotate. During the rotation of the test tube 600, the information collector 300 reads its identification information in real time.

[0047] This invention can control the rotation angle through the rack stroke to ensure that the marking is fully exposed; the inclined groove and guide wheel work together to convert the vertical movement of the push plate into the horizontal movement of the rack, and the horizontal movement of the rack drives the gear to rotate. The rotation and lifting actions are triggered in conjunction, eliminating the need for an additional drive source and reducing control complexity.

[0048] S5. The lowering tube gripping shaft 207 inserts the test tube 600 back into the test tube rack 700; Specifically, the lifting drive assembly is used again to drive the slider 205 downward, which in turn pushes the plate 212 downward. At this time, the guide wheel 214 slides from the bottom to the top along the inclined groove 213, pushing the rack 211 to reset. During the reset of the rack 211, the tube gripping shaft 207 rotates in the opposite direction until it returns to its initial angle. After the guide wheel 214 returns to the top of the inclined groove, it pulls the motion main plate 206 downward, and finally the tube gripping shaft 207 reinserts the test tube 600 into the test tube rack 700.

[0049] Step S5 also includes: S5a, Drive the tube-removing plate 217 to move axially along the tube-grabbing shaft 207, pushing the test tube 600 to detach from the tube-grabbing shaft 207; Specifically, the output shaft of the telescopic cylinder 216 extends to push the U-shaped frame 215 to rotate around the hinge point. The U-shaped frame 215 pulls the first tube-detaching connecting plate 218 and the second tube-detaching connecting plate 219 through a tension spring. The tube-detaching connecting plate drives the tube-detaching plate 217 to move axially downward along the tube-grabbing shaft 207. The tube-detaching plate 217 presses against the top of the cap of the test tube 600, overcoming the friction between the tube-grabbing shaft 207 and the cap, thus separating the test tube 600 from the tube-grabbing shaft 207. The linear axial movement of the tube-detaching plate 217 can prevent the test tube 600 from tipping over due to lateral thrust.

[0050] S5b, control the lifting and resetting of the pipe gripping shaft 207; S6. Drive the tube gripping plate 405 to move the test tube rack 700 by one test tube 600 column spacing. S7. Repeat steps S2-S6 until all columns of test tubes 600 in the current test tube rack 700 have been processed; S8. Remove the processed test tube rack 700 from the system; Specifically, the processed test tube rack 700 is transferred to the handover module 500 via a transfer channel, and then handed over to external equipment via a docking channel 501. After processing, the test tube rack 700 can be automatically transferred from the docking channel 501 to external equipment, such as a refrigerator, for subsequent storage or testing. This process achieves automated flow of the test tube rack 700 between the processing system and external equipment.

[0051] The process also includes step S9, where the test tube rack 700, which returns from the external equipment via the docking channel 501, is moved onto the tube gripping plate 405 by the transverse pawl 401. Subsequently, the second moving drive mechanism drives the tube gripping plate 405 to move to the entrance of the transfer slide 502, and the pusher mechanism 503 pushes the discarded test tube rack 700 onto the transfer slide 502.

[0052] By adding step S9, the test tube rack 700 can also return to the transfer channel through the docking channel 501, be moved to the tube gripping plate 405 by the transverse pawl 401, and then moved to the entrance of the transfer slide 502 by the tube gripping plate 405, and finally pushed into the transfer slide 502 by the pusher mechanism 503.

[0053] Next, this embodiment will use the example of setting up three loading trays 404 and two sets of test tube lifting and rotating mechanisms 200 at the loading station to illustrate the working process of the conveying module 400. Each loading tray 404 can hold a test tube rack 700. The number of loading trays 404 can be flexibly adjusted according to actual needs to adapt to the specific requirements of different scales and processing capacities. The difference between the two sets of test tube lifting and rotating mechanisms 200 lies in the different dimensions of the plug 2071 at the end of the tube gripping shaft 207, which is used to grip test tubes 600 of different diameters, thereby realizing the parallel processing of test tubes 600 of multiple specifications.

[0054] The test tube rack 700 is equipped with multiple rows of wells, and test tubes 600 containing samples are vertically inserted into these wells.

[0055] After the system is started, the operator first places the test tube rack 700, carrying test tubes 600, onto the loading station through the operating window on the outer cover of the workbench. At this time, the identification module integrated into the loading station is immediately activated, automatically identifying the specifications of the test tubes 600 on the test tube rack 700 through optical or mechanical sensing methods. The identification criteria include, but are not limited to, the diameter of the test tubes 600 or specific color markings on the tube body. Based on the identification results, the intelligent scheduling system of the conveying module 400 selects the matching tube gripping plate 405 and pre-positions it in the standby position in the transfer channel. Subsequently, the transverse pawl 401 moves along the Y-axis under the action of the transverse drive mechanism 408, pushing the test tube rack 700 located on the loading plate 404 in the transfer channel onto the corresponding tube gripping plate 405. After this action is completed, the transverse pawl 401 automatically resets to the initial position of the operation window. At the same time, the first moving drive mechanism 406 starts, driving the next unprocessed loading pallet 404 into the transfer channel working area. The transverse pawl 401 then performs the same moving action, realizing the continuous transfer of the test tube rack 700 to the tube gripping pallet 405.

[0056] Once the test tube rack 700 is stably positioned on the target tube-grabbing support plate 405, the second moving drive mechanism 407 immediately responds, driving the tube-grabbing support plate 405, which carries the test tube rack 700, to move along a predetermined trajectory toward the test tube lifting and rotating mechanism 200 until the test tube rack 700 reaches the preset tube-grabbing position. At this time, the test tube lifting and rotating mechanism 200 operates: the first motor 202 rotates in the forward direction, driving the lead screw 203 to rotate, which in turn drives the slider 205 and the push plate 212 fixed thereto to descend synchronously through the nut seat 204. During this stage, the guide wheel 214 is at the top of the inclined groove 213 of the push plate 212. Through the linkage between the guide wheel 214 and the main motion plate 206, the push plate 212 pulls the main motion plate 206 to move downward as a whole, so that the plug 2071 at the end of the tube-grabbing shaft 207 is inserted into the groove of the first row of test tube caps on the test tube rack 700.

[0057] Immediately afterwards, the first motor 202 rotates in the opposite direction, driving the slider 205 and the lifting seat 209 to rise synchronously. The lifting seat 209, through the first spring 221, lifts the motion main board 206 and the tube gripping shaft 207 upwards, vertically lifting the entire row of test tubes 600 from the test tube rack 700. When the motion main board 206 rises to contact the upper limit stop 220 of the frame 100, the test tubes 600 reach the predetermined lifting height. This height is calculated to ensure that the marking area of ​​the test tube 600 is completely exposed within the effective field of view of the information collector 300. At this point, the main moving plate 206 stops moving upwards, but the slider 205 continues to drive the support seat 209, causing the support seat 209 to compress the first spring 221. During this process, the push plate 212 moves upwards simultaneously, forcing the guide wheel 214 to slide from the highest end to the lowest end along the inclined groove 213 of the push plate 212. Through the cooperation between the inclined groove 213 and the guide wheel 214, the vertical displacement of the push plate 212 is converted into the horizontal movement of the rack 211 along the X-axis. The linear movement of the rack 211 drives the gear 210 meshing with it to rotate, ultimately driving the tube gripping shaft 207 and the test tube 600 to achieve circumferential rotation. The information collector 300 starts synchronously during this rotation process, performing omnidirectional scanning and recognition of the barcode or QR code on the surface of the test tube 600.

[0058] After the first row of test tubes 600 is scanned, the first motor 202 drives the slider 205 to move downwards again. The lifting seat 209 and the push plate 212 first move downwards with the slider 205, and the guide wheel 214 moves upwards from bottom to top in the inclined groove 213, driving the rack 211 to move in the opposite direction to reset. At the same time, the tube gripping shaft 207 drives the test tubes 600 to rotate in the opposite direction to return to their original positions, while the compressed first spring 221 gradually releases its elasticity. When the guide wheel 214 retracts to the top of the inclined groove 213, the push plate 212 continues to move downwards, pulling the main moving plate 206 down as a whole, and the tube gripping shaft 207 then inserts the test tubes 600 back into their original positions in the test tube rack 700.

[0059] Subsequently, the tube removal assembly is activated: the output shaft of the telescopic cylinder 216 extends, pushing the U-shaped frame 215 to rotate around its hinge point. The two ends of the U-shaped frame 215 press down on the first tube removal connecting plate 218 and the second tube removal connecting plate 219, forcing them to move downwards along the slide rails on both sides of the main moving plate 206, thereby driving the tube removal plate 217 downwards as a whole. The tube removal plate 217 forms a relative displacement with the tube gripping shaft 207, pushing the test tube 600 away from the plug 2071 of the tube gripping shaft 207. After the tube removal action is completed, the telescopic cylinder 216 retracts its output shaft, and the U-shaped frame 215 rotates in the opposite direction under gravity, and the tube removal plate 217 is reset to its initial height by the traction of the tension spring.

[0060] After the tube removal operation is completed, the first motor 202 reverses to drive the slider 205 to rise, and the lifting seat 209, via the first spring 221, lifts the motion main board 206 and the tube-grabbing shaft 207 back to the ready position. At this time, the second moving drive mechanism 407 drives the tube-grabbing support plate 405 to move one column spacing of test tubes 600, so that the second row of test tubes 600 reaches the grabbing position. The test tube lifting and rotating mechanism 200 repeats the aforementioned grabbing, lifting, rotating scanning, resetting and inserting, and tube removal process, and so on until all test tubes 600 on the test tube rack 700 are processed.

[0061] Once the last row of test tubes 600 has been processed, the second moving drive mechanism 407 drives the tube-grabbing tray 405, carrying the processed test tube rack 700, back to the transfer channel. The lateral shift claw 401 immediately moves, pushing the test tube rack 700 along the transfer channel to the handover window at the end of the machine cover. The transfer of the test tube rack 700 is completed through the handover module 500 and the docking mechanism with external equipment (such as an automated refrigerator). Simultaneously, the lateral shift claw 401 automatically returns to the starting position of the operation window, and the first moving drive mechanism 406 sends the next unprocessed loading tray 404 into the transfer channel, forming a continuous closed-loop operation. It should be noted that when the external equipment returns the empty test tube rack 700 to the transfer channel via the handover window, the lateral shift claw 401 will move it to the tube-grabbing tray 405, and the second moving drive mechanism 407 will transport the empty test tube rack 700 to the entrance of the transfer chute 502, where the pusher mechanism 503 pushes it into the transfer chute 502 to complete the waste disposal process. The entire system achieves uninterrupted operation of the test tube processing flow through the cyclical use of three feeding trays 404 and the parallel operation of two sets of test tube lifting and rotating mechanisms 200, significantly improving the processing efficiency per unit time. The number of test tube lifting and rotating mechanisms 200 or the number of feeding trays 404 can be expanded according to actual needs, providing solutions for application scenarios with different throughputs.

[0062] The test tube lifting and rotating mechanism of this utility model has a core operation completed by two motors working together: the first motor 202 synchronously drives the displacement of the test tube 600 in the vertical direction (Z axis) and the rotation around the central axis, while the telescopic cylinder 216 is responsible for performing the tube removal action after scanning the code, and precisely controlling the timing of tube removal and the lifting position relationship.

[0063] The test tube lifting height is adaptively adjusted, ensuring it is greater than or equal to the height of the test tubes in the front row. This guarantees that the information codes of test tubes 600 in a high-density matrix (such as a 50-well test tube rack) are fully exposed. The insertion of the tube gripping shaft 207 plug 2071 into the groove of the test tube cap avoids the label area, preventing barcode obstruction. By designing the length of the inclined groove 213 and the rising height of the slider 205, the rotation angle of the test tube 600 can be controlled within 360°, supporting both forward and reverse rotation. The rotation speed of the test tube 600 is linked to its lifting speed. This invention employs a rotation design that detaches from the test tube rack 700, fundamentally avoiding label wear caused by friction against the inner wall of the rack. Of course, rotation within the test tube rack 700 is also foreseeable.

[0064] This invention can also solve the problem of occlusion between adjacent test tubes 600 by using a lifting and rotating method for single-tube, single-row, and multi-row test tube 600 matrices.

[0065] The barcode scanning module prioritizes image recognition technology to replace the traditional infrared laser barcode scanner, enabling simultaneous scanning of multiple test tubes 600. When reading barcodes / QR codes, the recognition module also performs the following four functions: (1) classification and recognition of sample cap color and diameter; (2) dynamic monitoring of sample volume; (3) analysis of hemolysis / lipemia status; and (4) electronic image archiving and real-time uploading to the database. The information collector 300 supports scanning in both rotating and stationary states of the test tubes 600.

[0066] The test tube lifting and rotating mechanism 200 operates in a fixed position. The components of the conveying module 400, such as the transverse shift claw 401, the feeding tray 404, the tube gripping tray 405, and the transfer tray 402, work together to drive the test tube rack 700 to move along the X and Y axes. This enables the test tube rack 700 to move quickly and accurately within the system, ensuring a stable and smooth scanning process. The reader is located above and to the side of the transverse shift claw 401, so that the conveying action of the test tube rack 700 does not affect its working position. The system can be equipped with multiple reading devices.

[0067] The system supports bidirectional flow: the forward flow transports samples to external equipment for processing after barcode scanning; the reverse flow includes empty rack retrieval and sample return. The test tube rack 700 is exchanged with external equipment via a handover window, allowing operators to complete sample transfers without entering the laboratory, thus preventing cross-contamination. The information collector 300 integrates image recognition functionality, enabling real-time detection of abnormal test tubes 600 such as damaged barcodes or liquid leaks, triggering the transport module 400 to transfer them to an isolation area, preventing process interruptions.

[0068] In the process of this utility model system, whether it is a forward or reverse process, there is no need to transfer test tubes throughout the entire process. The basic carrier for transportation is the test tube rack 700 when it is placed.

[0069] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A test tube lifting and rotating mechanism characterized by comprising: The device includes a lifting drive assembly and a lifting spin module. The lifting drive assembly can drive the lifting spin module to lift and lower. The lifting spin module includes a motion main board (206), a gripping shaft (207), and a rotation trigger assembly. One or more gripping shafts (207) are rotatably mounted on the motion main board (206). When the motion main board (206) reaches its upper limit position, it can trigger the rotation trigger assembly to drive the gripping shaft (207) to rotate.

2. The test tube elevator-rotary mechanism according to claim 1, characterized by The rotation trigger assembly includes a first positioning seat (208), a lifting seat (209), a gear (210), a rack (211), and a push plate (212); the lifting seat (209) and the push plate (212) are connected together, and the lifting drive assembly can drive the lifting seat (209) and the push plate (212) to rise and fall synchronously; the first positioning seat (208) is fixed on the motion main board (206); the lifting seat (209) and the first positioning seat (208) are connected together. A first spring (221) is provided; the rack (211) is mounted on the motion main board (206) in a manner that allows it to slide in a direction perpendicular to the gripping shaft (207); the rack (211) is provided with a guide wheel (214), the push plate (212) is provided with a groove (213), and the guide wheel (214) is disposed in the groove (213); the gripping shaft (207) is provided with a gear (210), and the gear (210) meshes with the rack (211).

3. The test tube elevator and rotary mechanism of claim 2 wherein, It also includes a limit stop (220) for limiting the upper limit position of the motion motherboard (206).

4. The test tube elevator and rotary mechanism of claim 2 wherein, One or more of the first springs (221) are respectively sleeved on their respective gripping shafts (207).

5. The test tube elevator-rotary mechanism according to any one of claims 2 to 4, characterized in that, The first positioning seat (208) and the lifting seat (209) are respectively provided with a first shaft hole and a second shaft hole corresponding to each other, for installing the gripping shaft (207).

6. The test tube elevator and rotary mechanism of claim 5 wherein, The motion main board (206) is also provided with a second positioning seat (222), and the second positioning seat (222) is provided with at least one third shaft hole, and a bearing is provided in the third shaft hole to support the gripping shaft (207).

7. The test tube elevator and rotary mechanism of claim 4 wherein, It also includes a tube removal assembly, which includes a tube removal plate (217) and a tube removal drive assembly. The tube removal plate (217) is provided with a fourth shaft hole for the tube gripping shaft (207) to pass through. The tube removal drive assembly can drive the tube removal plate (217) to move axially along the tube gripping shaft (207) to push the test tube (600) away from the tube gripping shaft (207).

8. The test tube elevator and rotary mechanism of claim 7 wherein, The tube removing driving assembly comprises a U-shaped frame (215) and a telescopic cylinder (216), two sides of the tube removing plate (217) are respectively provided with a first tube removing connecting plate (218) and a second tube removing connecting plate (219), the first tube removing connecting plate (218) and the second tube removing connecting plate (219) are slidingly installed on two sides of the motion main plate (206), two sides of the U-shaped frame (215) are hingedly connected with the motion main plate (206), and two sides of the U-shaped frame (215) are connected with the first tube removing connecting plate (218) and the second tube removing connecting plate (219) through a tension spring, when an output shaft of the telescopic cylinder (216) is extended, the U-shaped frame (215) can be driven to rotate around a hinged point, and the tube removing plate (217) is pushed to move along an axial direction of the tube grabbing shaft (207).

9. The test tube lift-and-rotate mechanism of claim 2, wherein, The lifting driving assembly comprises a first motor (202), a lead screw (203), a nut seat (204) and a sliding block (205), the first motor (202) is connected with the lead screw (203) through a shaft coupling, the sliding block (205) is fixed on the pushing plate (212) and connected with the nut seat (204).

10. The test tube lift-and-rotate mechanism of claim 1, wherein, An end of the tube grabbing shaft (207) is provided with a plug (2071), the plug (2071) is used for being inserted into a groove of a test tube cover plug.

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