An automated sample processing device

Abstract

This utility model relates to the field of biochemical testing equipment technology, specifically to an automated sample processing device. The sample processing device includes: a consumables storage unit; a loading and unloading conveying mechanism, mounted on a work platform and cooperating with the consumables storage unit's operating mechanism, receiving new material racks from the consumables storage unit or returning old material racks to the consumables storage unit; a sample processing unit, with multiple sample processing areas arranged sequentially along the extension direction of the conveying slide rail of the loading and unloading conveying mechanism; and an execution mechanism that picks up a material rack located at any position on the conveying slide rail and moves the material rack to the sample processing area. The loading and unloading conveying mechanism and the consumables storage unit work together to transport the material racks. The conveying slide rail then moves the material racks to positions on the work platform corresponding to different blood sample processing areas, and the execution mechanism moves the material racks to the corresponding blood sample processing area. This structural arrangement allows each blood sample processing area to work independently, effectively improving the working efficiency of the sample processing equipment.

Description

Technical Field

[0001] This utility model relates to the field of biochemical detection equipment, specifically to an automated sample processing device. Background Technology

[0002] Currently, many diseases in clinical practice rely on in vitro diagnostic equipment for diagnosis. In vitro testing plays a crucial role in the entire process of disease prevention, diagnosis, monitoring, and guiding treatment, and is an indispensable tool for doctors. For example, the extraction of PBMCs, plasma, and red blood cells from batches of blood samples involves multiple steps such as sample separation, storage, recording, and management. If blood samples are processed manually, when handling large batches of blood samples, there are problems such as slow efficiency, significant impact of operational errors on the consistency of results, high labor costs, inability to process large numbers of samples simultaneously, inability to accurately identify the state of blood samples, and inability to accurately extract stratified samples.

[0003] To address the aforementioned issues, prior art patent application WO2021212384A1 discloses a sample pretreatment system comprising: a sample loading / unloading module, a sample dispensing module, and a finished product storage module connected sequentially; and a sample transfer module for conveying centrifuged and stratified samples to the sample dispensing module, and a centrifugation module for performing sample centrifugation. The sample transfer module uses a robotic arm and a sliding rail to transport the samples. However, the sample processing system in the prior art requires samples to complete the previous process before proceeding to the next, making it impossible for multiple different sample processing modules to operate simultaneously. Furthermore, if a sample does not need to undergo a certain processing step in the prior art sample processing system, the sample must still travel along a fixed route through each sample processing station before being transported to the required station. This results in low efficiency of the existing automated sample processing equipment, failing to meet the demands of high-throughput sample preparation.

[0004] Therefore, those skilled in the art need a new automated sample processing device that can process samples at multiple workstations simultaneously, improve sample preparation efficiency, and meet the needs of high-throughput sample preparation. Utility Model Content

[0005] Therefore, the technical problem this invention aims to solve is how to address the issue that existing sample processing systems require samples to complete one process before moving to the next, making it impossible for multiple sample processing modules to operate simultaneously. Furthermore, samples must sequentially pass through each processing station along a fixed route before being transported to the desired station. This results in low efficiency of the sample processing equipment, failing to meet the demands of high-throughput sample preparation.

[0006] Therefore, this utility model provides an automated sample processing device, comprising:

[0007] The consumables warehouse includes: used material racks for storing used consumables and / or used blood samples, and / or new material racks for storing new consumables and / or new blood samples; the consumables warehouse also includes: a consumables warehouse operating mechanism for moving material racks on the material racks;

[0008] A loading and unloading conveying mechanism is set on the working platform and is configured in conjunction with the consumables warehouse operating mechanism; the loading and unloading conveying mechanism includes: a transfer slide rail and a loading and unloading fixing frame slidably set on the transfer slide rail; the loading and unloading conveying mechanism is used to receive new material racks conveyed by the consumables warehouse operating mechanism and transfer them to different areas of the working platform, or the loading and unloading conveying mechanism is used to transfer old material racks from different areas of the working platform to the consumables warehouse operating mechanism.

[0009] A sample processing device includes: at least two sample processing areas, wherein a plurality of the sample processing areas are arranged sequentially in the extension direction of the transfer slide rail;

[0010] An actuator, configured in conjunction with the loading and unloading conveying mechanism, is used to pick up a material rack located at any position on the transfer slide rail and transfer the material rack to the sample processing device.

[0011] Optionally, the sample processing device includes: a first blood sample processing area and a second blood sample processing area; the actuator is used to drive the blood sample processing tool, and includes: a plurality of X-axis moving components, Y-axis moving components, and Z-axis moving components corresponding to the first blood sample processing area and / or the second blood sample processing area respectively;

[0012] The sample processing device further includes: a top frame disposed above the working platform; the X-axis moving component, the Y-axis moving component, and the Z-axis moving component are slidably disposed on the top frame under drive.

[0013] Optionally, the X-axis moving assembly includes: an X-axis slide rail disposed on the top frame and arranged along the length direction of the transfer slide rail of the loading and unloading conveying mechanism, a transverse support member slidably disposed on the X-axis slide rail, and a driving part for driving the transverse support member to slide along the X-axis slide rail; the two X-axis slide rails are symmetrically arranged on both sides of the top frame in the width direction, and the two ends of the transverse support member in the length direction are slidably connected to the two X-axis slide rails.

[0014] The Y-axis moving assembly includes: a Y-axis slide rail disposed along the length of the transverse support member, a vertical support member slidably disposed on the Y-axis slide rail, and a driving part for driving the vertical support member to slide along the Y-axis slide rail;

[0015] The Z-axis moving assembly includes: a Z-axis slide rail disposed along the length of the vertical support member, a blood sample processing tool slidably disposed on the Z-axis slide rail, and a driving unit for driving the blood sample processing tool to slide along the Z-axis slide rail.

[0016] Optionally, the blood sample processing tool includes: parallel grippers and / or rotary grippers and / or sampling needles and / or pipettes and / or waste liquid guns for holding the material rack;

[0017] The parallel grippers are used to transfer the new material rack on the loading and unloading conveying mechanism to the blood sample processing area, and to transfer the old material rack in the blood sample processing area to the loading and unloading conveying mechanism.

[0018] The rotating gripper is used to hold the test tubes on the material rack;

[0019] The dispensing needle is used to add reagents to the sample in the test tube;

[0020] The pipette is used to aspirate, move, or add liquids;

[0021] The waste liquid gun is used to collect waste liquid.

[0022] Optionally, the automated sample processing equipment is a blood sample processing equipment;

[0023] The first blood sample processing area is used for the stratification of different components of the blood sample; the second blood sample processing area (12) is used for extracting, dispensing, and storing different components of the blood sample, such as plasma, PBMC, and red blood cells; the first blood sample processing area realizes the blood sample from the blood collection tube and transfers it to the centrifuge tube, obtains plasma stratification through the first round of centrifugation, and obtains PBMC and red blood cell stratification through the second round of centrifugation; wherein, the plasma stratification obtained by the first round of centrifugation includes: taking the supernatant plasma into a new centrifuge tube and returning it to the consumables library, adding PBS and ficoll to the remaining liquid for the second round of centrifugation; wherein, the PBMC and red blood cell stratification obtained by the second round of centrifugation includes: upper layer waste plasma, middle layer PBMC, lower layer waste ficoll, and bottom layer red blood cells;

[0024] The second blood sample processing area is used for: second-round centrifugation to obtain PBMCs and red blood cell separation, PBMC and red blood cell separation extraction, and third-round centrifugation to remove impurities and obtain PBMC precipitate; the PBMC precipitate obtained by the third-round centrifugation includes: upper layer PBS waste liquid and lower layer PBMC precipitate. After removing impurities, the obtained PBMC precipitate is added to cryopreservation solution, dispensed into cryovials, and returned to the consumables library. Plasma and red blood cells returned to the consumables bank can be transferred to the blood sample processing area for secondary plasma centrifugation, or aliquoted into cryopreservation tubes after adding cryopreservation solution, etc., as needed. Depending on the requirements of PBMCs, after the third round of centrifugation, the supernatant is removed, and PBS is added for one or more PBS washing and centrifugation cycles to reduce or remove red blood cells or other impurities from the PBMCs. The PBMC and red blood cell layer extraction includes: removing the upper layer of waste plasma using a waste pipette; transferring the middle layer of PBMCs to a new centrifuge tube using a pipette, adding PBS for the next round of centrifugation; removing the lower layer of waste ficoll using a waste pipette; and removing excess red blood cells from the bottom layer using a waste pipette, retaining only a specific volume of red blood cells, such as 1 ml, before returning the centrifuge tube to the consumables bank. The third round of centrifugation to remove impurities and obtain PBMC precipitate includes: removing the supernatant using a waste pipette, leaving only the PBMC precipitate. The PBMC precipitate cryopreservation and aliquoting includes: resuspending the PBMC precipitate in cryopreservation solution and aliquoting it into multiple cryopreservation tubes using a pipette.

[0025] The actuator includes a first-axis actuator and a second-axis actuator corresponding to the first blood sample processing area. The first-axis actuator includes parallel grippers, rotary grippers, a pipette, and a sampling needle, etc., for transferring blood collection tubes to centrifuge tubes. The second-axis actuator includes parallel grippers, rotary grippers, etc., for handling the pipetting and transferring of centrifuge tubes. The parallel grippers and rotary grippers of the first-axis and second-axis actuators have identical structures.

[0026] Optionally, the actuator further includes a third-axis actuator and a fourth-axis actuator corresponding to the second blood sample processing area; the third-axis actuator includes parallel grippers, a pipette, a waste liquid pipette, and a rotary gripper, etc., for handling the pipetting and transfer of centrifuge tubes; the fourth-axis actuator includes parallel grippers, a pipette, a pipette, and a rotary gripper, etc., for handling the aliquoting of finished PBMCs, plasma, and red blood cells into cryovials. The parallel grippers and rotary grippers of the first-axis actuator, second-axis actuator, third-axis actuator, and fourth-axis actuator have identical structures.

[0027] Optionally, the automated sample processing equipment further includes: a centrifuge unit disposed at the bottom of the working platform; the working platform is provided with a centrifuge tube inlet / outlet for placing test tubes into the centrifuge unit, and a disposal outlet for discarding centrifuge tubes into a centrifuge tube waste bin;

[0028] The centrifuge tubes are placed in a centrifuge tube basket, and the working platform is also provided with a centrifuge tube temporary storage position for placing the centrifuge tube basket; a centrifuge tube transfer assembly is provided between adjacent blood sample processing areas, and the basket gripper moves the centrifuge tube basket to the centrifuge tube transfer assembly to transfer the centrifuge tube basket between the first blood sample processing area and the second blood sample processing area.

[0029] Optionally, each of the blood sample processing areas is equipped with a centrifuge unit at its bottom, and the centrifuge tube transfer assembly transfers the centrifuge tube baskets between adjacent blood sample processing areas. Multiple centrifuge units can operate simultaneously to improve centrifugation efficiency; or,

[0030] The centrifuge unit is not installed at the bottom of any of the blood sample processing areas. The centrifuge tube transfer assembly transfers the centrifuge tube basket between adjacent blood sample processing areas so that different blood sample processing areas can share the same centrifuge unit.

[0031] Optionally, the centrifuge tube transfer assembly includes: a basket slide rail connecting adjacent blood sample processing areas, and a bracket slidably disposed on the basket slide rail;

[0032] The disposal port is located between adjacent blood sample processing areas, near the basket slide rail.

[0033] Optionally, reagent bottles for equipment cleaning agents and / or waste bottles for equipment cleaning agents and / or waste containers for pipette tips are provided at the bottom of the work platform.

[0034] Optionally, the loading and unloading mechanism has at least two transfer positions on its loading and unloading fixing frame for respectively accommodating the old material rack and / or the new material rack; and / or,

[0035] The side of the transfer slide rail closest to the consumables storage compartment is also equipped with a loading / unloading position sensor for detecting the movement position of the loading / unloading fixing frame; and / or,

[0036] The loading and unloading conveying mechanism further includes a loading and unloading conveying motor and a synchronous belt; the loading and unloading conveying motor is connected to the loading and unloading fixed frame through the synchronous belt to drive the loading and unloading fixed frame to slide back and forth on the transfer slide rail.

[0037] Optionally, the sample processing device includes: a blood collection tube barcode scanner, a centrifuge tube barcode scanner, and a cryopreservation tube barcode scanner for synchronizing sample information; the sample processing device sequentially processes blood samples, thereby achieving sample identification, tracking, and management from the start of processing to intermediate products to final packaging; and / or,

[0038] The automated sample processing equipment also includes: an electronic control panel; the electronic control panel is used to monitor and manage the consumables library, the blood sample processing area, and the blood sample processing status; and the electronic control panel is used to adjust the equipment program flow.

[0039] Optionally, the consumables storage rack includes:

[0040] The front shelf of the consumables warehouse has multiple cavities along its height to accommodate the material rack;

[0041] The consumables warehouse rear shelf has multiple cavities along its height to accommodate the material rack;

[0042] The operating mechanism of the consumables warehouse is located between the front shelf and the rear shelf of the consumables warehouse.

[0043] Optionally, the front shelf of the consumables warehouse and / or the rear shelf of the consumables warehouse are provided with a plurality of cavities in the X' and Z' axis directions for accommodating the material rack.

[0044] Optionally, the consumables storage operating mechanism includes:

[0045] The lifting support is installed along the height of the front shelf and the rear shelf of the consumables warehouse;

[0046] A transport platform is driven to be raised and lowered on the lifting bracket. The transport platform is used to accommodate the material rack so as to move the material rack into or out of the cavity.

[0047] Optionally, the consumables storage operating mechanism further includes: a first conveying structure for driving the conveying platform to move up and down on the lifting bracket; and / or,

[0048] The consumables storage operating mechanism further includes: a second conveying structure for driving the transport platform to move along the X' axis toward the consumables storage on the lifting support; the second conveying structure moves the material rack into or out of the consumables storage rack; and / or,

[0049] The consumables storage operating mechanism further includes: a third conveying structure for driving the transport platform to move along the Y' axis towards the front shelf or the rear shelf of the consumables storage on the lifting support; the third conveying structure moves the material rack into or out of the front shelf of the consumables storage, or moves the material rack into or out of the rear shelf of the consumables storage; and / or,

[0050] The consumables warehouse operating mechanism further includes: a rotating structure for driving the transport platform to rotate along the S-axis on the lifting support; the rotating structure is used to drive the transport platform to move toward the front shelf or the rear shelf of the consumables warehouse.

[0051] Optionally, the first transport structure includes: a lifting slide rail disposed on the lifting bracket, and a first drive source for driving the lifting action of the transport platform;

[0052] The second transport structure includes: an X-axis support arm and a second drive source; one end of the X-axis support arm is slidably connected to the lifting slide rail, and the other end is connected to the transport platform.

[0053] The third transport structure includes: a Y-axis support arm and a third drive source; the Y-axis support arm is slidably mounted on the X-axis support arm along the Y' axis direction under drive.

[0054] The rotating structure includes a drive shaft and a fourth drive source; a sliding member is slidably disposed in the extension direction of the X-axis support arm, and the fourth drive source is disposed on the sliding member. The drive shaft disposed on the fourth drive source drives the Y-axis support arm to rotate.

[0055] Optionally, the transport platform is a Y-axis support arm, which includes: an upper base and a lower base disposed on the sliding member;

[0056] The upper base is provided with a guide groove with a transmission rack, and the third drive source is disposed on the lower base and drives the upper base to slide relative to the lower base along the Y' axis through a gear and rack structure.

[0057] Optionally, the consumables library further includes:

[0058] A first position sensor is installed on the transport platform of the consumables warehouse operating mechanism to detect whether the material rack is placed on the consumables warehouse operating mechanism.

[0059] And / or, a plurality of second position sensors corresponding to the cavity, to detect the state inside the cavity, the state including an idle state and a used state, so that the consumables storage operating mechanism transports the material rack into the cavity in the idle state.

[0060] Optionally, the control panel of the electrical control area includes: a plurality of status display structures corresponding to the cavity, the status display structures being communicatively connected to the second position sensor, for displaying the status of the cavity and the type of the material rack;

[0061] The status display structure includes:

[0062] A first indicator light has a first illuminated state to indicate that the cavity is in the used state, and a second illuminated state to indicate that the cavity is in the idle state.

[0063] The second indicator light is a different color from the first indicator light. The second indicator light has a third state to indicate that the cavity is used to accommodate the new material rack. The second indicator light also has a fourth state to indicate that the cavity is used to accommodate the old material rack.

[0064] Optional, automated sample processing equipment also includes:

[0065] A centrifuge tube tilting assembly, comprising: a centrifuge tube fixing block for receiving centrifuge tubes and a driveable rotation angle; a rotating gripper on an actuator for placing centrifuge tubes into the receiving groove of the centrifuge tube fixing block;

[0066] The centrifuge tube holder has a liquid addition position and a reagent mixing position; in the liquid addition position, the centrifuge tube holder is driven to rotate and tilt the sample addition position so that the sampling needle and / or pipette can add or transfer reagents into the centrifuge tube; in the reagent mixing position, the centrifuge tube holder is driven to tilt and vibrate back and forth so as to mix the centrifuge tube in the centrifuge tube holder.

[0067] Optionally, the centrifuge tube swing angle assembly further includes:

[0068] A control motor is connected to the centrifuge tube fixing block via a drive shaft with a coupling, so as to drive the centrifuge tube fixing block to rotate around the drive shaft as the central axis;

[0069] A fixed frame is provided, and the centrifuge tube fixing block and / or the control motor are fixed on the fixed frame.

[0070] Optionally, the detection mechanism includes: a third position sensor and / or a fourth position sensor and / or a fifth position sensor; the third position sensor is used to detect whether the centrifuge tube fixing block is in a vertical state, the fourth position sensor is used to detect whether the centrifuge tube fixing block is in an inclined sample addition position; and the fifth position sensor is used to detect whether a centrifuge tube is placed in the receiving groove of the centrifuge tube fixing block.

[0071] A method of using an automated sample processing device includes the following steps:

[0072] The consumables warehouse works in conjunction with the loading and unloading handling mechanism to provide new material racks for the actuators;

[0073] The actuator performs sample processing tasks, including automated pipetting and reagent addition, and / or photographic identification of blood sample status, and / or automated dispensing of cryovials and / or moving baskets to centrifuge units for centrifugation; the photographic identification of blood sample status is used to identify hemolysis and stratification.

[0074] The loading and unloading mechanism works in conjunction with the consumables warehouse to transfer the old material racks brought in by the actuator to the consumables warehouse.

[0075] Optionally, the consumables warehouse works in conjunction with the loading and unloading mechanism to provide new material racks for the actuator; specifically, this includes the following steps:

[0076] The transport platform moves under drive, removing the new material rack from the consumables warehouse rack;

[0077] The transport platform is driven to move to the loading and unloading transport mechanism; the loading and unloading fixed frame of the loading and unloading transport mechanism receives the new material rack transported from the transport platform of the consumables warehouse; the loading and unloading fixed frame carries the new material rack along the transfer slide rail to the designated position on the work platform;

[0078] The actuator picks up a new material rack from the loading and unloading fixture and transports the new material rack to the sample processing area to perform sample processing.

[0079] Optionally, the loading and unloading mechanism works in conjunction with the consumables warehouse to transfer the used material racks transported by the actuator to the consumables warehouse; specifically, it includes the following steps:

[0080] The actuator picks up the used material rack from the sample processing area; the loading and unloading mechanism's loading and unloading fixed frame is driven to move the actuator to its position and receive the used material rack transported by the actuator.

[0081] The loading and unloading fixed frame, carrying the old material rack, slides along the transfer slide rail to the consumables warehouse, where the handling platform of the consumables warehouse receives the old material rack;

[0082] The transport platform is driven to move, moving the old material rack into the consumables warehouse rack.

[0083] Optionally, the transport platform removes the new material rack from the consumables warehouse rack, specifically including the following steps: the transport platform is driven to move on the lifting support to the designated height position of the new material rack; the transport platform is driven to move on the X-axis support arm towards the rack; the transport platform is driven by the rotating structure to rotate to the direction of the front rack or the rear rack of the consumables warehouse; the upper base of the transport platform is driven to move into the cavity of the consumables warehouse rack, and removes the new material rack from the cavity; and / or,

[0084] The transport platform moves the old material rack into the consumables warehouse rack, specifically including the following steps: the transport platform is driven to move on the lifting support to a height position to accommodate the old material rack; the transport platform is driven to move on the X-axis support arm towards the rack; the transport platform is driven by the rotating structure to rotate to the direction of the front rack or the rear rack of the consumables warehouse; the upper base of the transport platform is driven to move into the cavity of the consumables warehouse rack, and the old material rack is moved into the cavity.

[0085] Optional, automated pipetting and reagent addition processes include the following steps:

[0086] The process of transporting centrifuge tubes to the centrifuge tube swing angle assembly includes the following steps: the clamping and transporting assembly is moved above the centrifuge tube material rack via the X-axis moving assembly and the Y-axis moving assembly; the rotating jaws are driven to descend and clamp the centrifuge tubes on the centrifuge tube material rack, and transport them to the centrifuge tube fixing block of the centrifuge tube swing angle assembly.

[0087] The tilting and pipetting of centrifuge tubes specifically includes the following steps: the centrifuge tube tilting assembly is driven to tilt the centrifuge tube at an angle via the centrifuge tube fixing block; the centrifuge tube pipetting assembly moves to above the pipetting tip holder via the X-axis and Y-axis moving assemblies; the pipette descends to pick up the tip and moves to above the centrifuge tube holder; after the pipette descends to draw sample liquid from the centrifuge tube holder, the pipette rises and moves to above the centrifuge tube tilting assembly; the pipette descends and dispenses sample liquid, which flows through the inner wall of the tilted centrifuge tube to the bottom of the centrifuge tube;

[0088] Adding reagents to a centrifuge tube specifically includes the following steps: the centrifuge tube tilting assembly is driven to tilt the centrifuge tube at an angle via the centrifuge tube fixing block; the reagent adding assembly moves above the centrifuge tube tilting assembly via the X-axis moving assembly and the Y-axis moving assembly; the dispensing needle is driven to descend and draws the reagent from the reagent area through a peristaltic pump and flows out through the dispensing needle; the reagent flows through the inner wall of the tilted centrifuge tube to the bottom of the centrifuge tube.

[0089] The centrifuge tube is tilted and shaken back and forth to mix the liquid. Specifically, the centrifuge tube tilting component controls the centrifuge tube on the centrifuge tube fixing block to rotate left and right back and forth, so as to mix the liquid in the centrifuge tube on the centrifuge tube tilting component.

[0090] The technical solution of this utility model has the following advantages:

[0091] 1. The automated sample processing equipment provided by this utility model, by setting up a loading and unloading conveying mechanism on the working platform, receives new material racks transported from the consumables warehouse. Then, the material racks are moved to positions corresponding to different blood sample processing areas on the working platform via transfer rails on the loading and unloading conveying mechanism, and then the material racks are moved to the blood sample processing areas for processing by an execution mechanism. This structure effectively solves the problem of low work efficiency in existing sample processing systems where material racks cannot be moved to different sample processing modules, requiring the material racks to pass through each sample processing module sequentially before reaching the corresponding sample processing station.

[0092] Moreover, and more importantly, the cooperating loading and unloading mechanism and execution mechanism in this invention can transfer new material racks to different sample processing stations as needed, allowing multiple sample processing stations to work simultaneously. This eliminates the need for samples to wait for the previous station to finish processing before the next station can begin work, thus solving the problem of low efficiency in sample processing equipment caused by multiple stations not being able to work simultaneously.

[0093] 2. The automated sample processing equipment provided by this utility model divides the work platform into multiple different blood sample processing areas by dividing it into a first blood sample processing area, a second blood sample processing area, or three or more blood sample processing areas. Then, the aforementioned X-axis movement component, Y-axis movement component, and Z-axis movement component, which can move the blood sample processing tool along the X-axis, Y-axis, and Z-axis directions respectively, drive the blood sample processing tool to complete blood sample processing and test tube movement, achieving free multi-directional movement of the blood sample processing tool and greatly increasing its flexibility.

[0094] Furthermore, in this invention, the aforementioned moving components that enable movement in different directions are slidably mounted on the top frame located above the working platform, thereby allowing the moving components to face downwards towards each blood sample processing area, thus optimizing the spatial layout structure of the automated sample processing equipment and better realizing the blood sample processing work.

[0095] 3. The automated sample processing device provided by this utility model sets the Y-axis moving component on the X-axis slide rail of the X-axis moving component, and sets the Z-axis moving component on the Y-axis slide rail of the Y-axis moving component. This structure enables the X-axis moving component, Y-axis moving component, and Z-axis moving component to move synchronously without interfering with each other, thereby effectively improving the working efficiency of the automated sample processing device.

[0096] 4. The automated sample processing equipment provided by this utility model also includes a centrifuge unit for centrifuging test tubes at the bottom of the working platform. By placing the centrifuge unit at the bottom of the working platform, the spatial structure layout of the automated sample processing equipment can be optimized, achieving equipment miniaturization. Furthermore, this utility model also includes a centrifuge tube transfer assembly between adjacent blood sample processing areas, thereby enabling adjacent blood sample processing areas to share the centrifuge unit and improving the test tube centrifugation efficiency of the sample processing equipment.

[0097] 5. The automated sample processing equipment provided by this utility model has the disposal port of the centrifuge tube waste bin, used to hold waste centrifuge tubes, located between adjacent blood sample processing areas, near the basket slide rail. This location facilitates the actuator in disposing of waste centrifuge tubes.

[0098] 6. The automated sample processing equipment provided by this utility model places reagent bottles for equipment cleaning agents, waste bottles for equipment cleaning agents, and waste bins for pipette tips at the bottom of the working platform. This effectively optimizes the spatial layout of the sample processing equipment and reduces its size.

[0099] 7. The automated sample processing equipment provided by this utility model has multiple transfer positions on the loading and unloading mechanism's loading and unloading fixed frame. This structural arrangement allows the loading and unloading mechanism to move multiple material racks each time it moves, improving work efficiency. Simultaneously, it allows the loading and unloading mechanism to move both old and new material racks at the same time. Old material racks from a specific blood sample processing area are returned to the consumables warehouse, while new material racks are transferred to the designated blood sample processing area, thus simultaneously meeting the different needs of one or more blood sample processing areas.

[0100] 8. The automated sample processing equipment provided by this utility model has multiple cavities arranged along its height direction in the consumables library rack. Compared with the first platform and the second platform in related technologies, the consumables library can utilize the space in the height direction to increase the number of material racks without increasing the floor area. The above structure achieves the technical effect of increasing the consumables library's capacity without increasing the floor area, thus reducing the space limitations of in vitro testing.

[0101] 9. The automated sample processing equipment provided by this utility model, by setting up front and rear racks for the consumables storage, can adjust the size of the front and rear racks according to space requirements, improving their adaptability to space and thus achieving the technical effect of improving space utilization. Simultaneously, by placing the consumables storage operating mechanism between the front and rear racks, the mechanism can move material racks into or out of either rack. Specifically, it can move racks to the desired location or move racks from the front rack to the rear rack, eliminating the need for manual labor and improving the reliability of rack handling.

[0102] 10. The automated sample processing equipment provided by this utility model increases the number of cavities by adding setting points along the X' and Z' axes, thereby increasing the capacity of the front and rear material racks of the consumables storage. This increases the capacity of the front and rear material racks to accommodate the material racks while maintaining a fixed space occupied by the front and rear material racks, thus achieving the technical effect of saving the floor space occupied by the material racks.

[0103] 11. The automated sample processing equipment provided by this utility model, by setting up a lifting support and a transport platform, allows the lifting support to be fixed on the ground, thus supporting and fixing the transport platform and enabling the transport platform to be adjusted in position relative to the lifting support. Simultaneously, the transport platform accommodates material racks, allowing the material racks to be moved in or out along with the transport platform.

[0104] 12. In the automated sample processing equipment provided by this utility model, when the material rack is moved into or out of the cavity of the rear material rack of the consumables warehouse, the first conveying structure drives the transport platform to move along the Z' axis so that the position of the transport platform corresponds to the height of the cavity; the second motion structure drives the transport platform to move along the X' axis so that the position of the transport platform corresponds to the position of the cavity; and the third drive structure drives the transport platform to move along the Y' axis so as to move the material rack into or out of the cavity of the rear material rack of the consumables warehouse.

[0105] Furthermore, when the material rack needs to be adjusted from moving into or out of the cavity of the rear material rack of the consumables warehouse to moving into or out of the cavity of the front material rack of the consumables warehouse, the rotating structure drives the conveying platform to adjust from a state facing the rear material rack of the consumables warehouse to a state facing the front material rack of the consumables warehouse.

[0106] Meanwhile, the process of moving the material rack into or out of the cavity of the front rack of the consumables warehouse is the same as the process of moving the material rack into or out of the cavity of the rear rack of the consumables warehouse.

[0107] 13. The automated sample processing equipment provided by this utility model, when the material rack is moved into or out of the cavity of the rear material rack of the consumables warehouse, the first drive source drives the transport platform to move along the Z' axis on the lifting slide rail so that the position of the transport platform corresponds to the height of the cavity. The second drive source drives the transport platform to move along the X' axis by driving the X' axis support arm so that the position of the transport platform corresponds to the position of the cavity. The third drive source drives the Y' axis support arm to move along the Y' direction so as to move the material rack into or out of the cavity of the rear material rack of the consumables warehouse, so as to realize the automatic movement of the material rack into or out.

[0108] Furthermore, when the material rack needs to be adjusted from the cavity of the rear rack of the consumables warehouse to the cavity of the front rack of the consumables warehouse, the fourth drive source drives the transport platform through the drive shaft to adjust from the state facing the front rack of the consumables warehouse to the state facing the rear rack of the consumables warehouse.

[0109] Meanwhile, the process of moving the material rack into or out of the cavity of the front rack of the consumables warehouse is the same as the process of moving the material rack into or out of the cavity of the rear rack of the consumables warehouse.

[0110] 14. The automated sample processing equipment provided by this utility model drives the Y' axis support arm to move along the Y' direction through a third drive source, that is, the third drive source drives the rotation of the gear, and further drives the upper base to move linearly relative to the lower base along the Y' axis through the rack, so as to automatically drive the material rack to move into or out of the cavity of the material rack at the rear of the consumables warehouse.

[0111] 15. The automated sample processing equipment provided by this utility model can detect whether there is a material rack on the lower base through a first position sensor. When there is a material rack on the lower base, the material rack can be moved into the cavity. Alternatively, when there is no material rack on the lower base, the material rack in the cavity can be moved out, thereby improving the ease of use of the automated sample processing equipment. A second position sensor can detect the state of the cavity to determine whether it is in an idle or used state, further improving the ease of understanding the cavity's status. When the cavity is in an idle state, the consumables storage mechanism can drive the material rack to be moved into the cavity; when the cavity is in use, the consumables storage mechanism can move the material rack out of the cavity.

[0112] 16. The automated sample processing equipment provided by this utility model, when the second position sensor detects that the cavity is in use, the first indicator light is in a first state, that is, the first indicator light is on; when the second position sensor detects that the cavity is idle, the first indicator light is in a second state, that is, the first indicator light is off. When the cavity is used to accommodate a new material rack, the second indicator light is in a third state; when the cavity is used to accommodate an old material rack, the second indicator light is in a fourth state. The third and fourth states can be different colors of the second indicator light to enhance the technical effect of clearly distinguishing the state of the cavity and the types of materials.

[0113] 17. The automated sample processing equipment provided by this utility model includes a centrifuge tube tilting assembly that can control the tilt of the centrifuge tube fixing block at a preset angle, thereby allowing the centrifuge tube to be placed at an angle. This design effectively avoids direct impact on the original liquid inside the centrifuge tube during pipetting or reagent addition. The added liquid flows obliquely from the side wall of the centrifuge tube to the bottom, effectively reducing the impact force of the added liquid on the original liquid inside the centrifuge tube. Furthermore, the centrifuge tube tilting assembly can also drive the centrifuge tube to tilt and rotate left and right through the centrifuge tube fixing block, thereby achieving uniform mixing of the liquid inside the centrifuge tube.

[0114] 18. The automated sample processing equipment provided by this utility model includes a control motor on the centrifuge tube tilting assembly that drives the centrifuge tube fixing block to reciprocate around the drive shaft as the central axis via a drive shaft with a coupling. This structure has the advantages of being simple and reliable. Furthermore, this utility model also includes a third position sensor and a fourth position sensor. The third position sensor detects whether the centrifuge tube fixing block is in an inclined sample loading position, and the fourth position sensor detects whether the centrifuge tube fixing block is in a vertical state. The aforementioned mutually cooperating third and fourth position sensors can effectively detect the rotational position of the centrifuge tube fixing block, thereby achieving control and detection of the centrifuge tube tilt angle. Attached Figure Description

[0115] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0116] Figure 1 A three-dimensional schematic diagram of the automated sample processing equipment provided by this utility model;

[0117] Figure 2 A three-dimensional structural diagram of the actuator mounted on the top frame provided by this utility model;

[0118] Figure 3 This is a schematic diagram showing the orientation of the X-axis moving component, Y-axis moving component, and Z-axis moving component provided by this utility model.

[0119] Figure 4 A schematic diagram showing the location of the blood sample processing tool provided by this utility model;

[0120] Figure 5 A schematic diagram of the structure of the first blood sample processing area and the second blood sample processing area connected by a centrifuge tube transfer assembly on the working platform provided by this utility model;

[0121] Figure 6 A schematic diagram showing the location of the chamber at the bottom of the working platform provided by this utility model for accommodating the centrifuge unit and reagent bottles;

[0122] Figure 7 A schematic diagram showing the relative positions of the consumables warehouse operating mechanism on the consumables warehouse and the loading and unloading conveying mechanism on the work platform provided by this utility model.

[0123] Figure 8 A schematic diagram of the X', Y', and Z' axes of the front shelf and rear shelf of the consumables warehouse provided by this utility model;

[0124] Figure 9 A three-dimensional structural diagram of the consumables warehouse operating mechanism provided by this utility model;

[0125] Figure 10 A schematic diagram of the rotation direction of the transport platform of the consumables warehouse operating mechanism provided by this utility model;

[0126] Figure 11 An enlarged schematic diagram of the connection structure between the handling platform and the sliding component provided by this utility model;

[0127] Figure 12 A schematic diagram showing the location of the guide chute for the third conveying structure provided by this utility model;

[0128] Figure 13 A three-dimensional structural diagram of the loading and unloading conveying mechanism carrying a material rack provided by this utility model;

[0129] Figure 14 A three-dimensional structural diagram of the loading and unloading conveying mechanism provided by this utility model;

[0130] Figure 15 A schematic diagram of the outer shell structure of the automatic sample processing device provided by this utility model;

[0131] Figure 16 A schematic diagram of the working process of the blood sample processing equipment provided by this utility model;

[0132] Figure 17 A schematic diagram of the specific structure of the first blood sample processing area and the second blood sample processing area in Embodiment 2 provided by this utility model;

[0133] Figure 18 A schematic diagram of the specific structure of the first axis actuator in Embodiment 2 provided for this utility model;

[0134] Figure 19 A schematic diagram of the specific structure of the second axis actuator in Embodiment 2 provided for this utility model;

[0135] Figure 20 A schematic diagram of the specific structure of the second axis actuator in Embodiment 2 provided for this utility model;

[0136] Figure 21 A schematic diagram of the specific structure of the third axis actuator in Embodiment 2 provided for this utility model;

[0137] Figure 22 A schematic diagram of the specific structure of the fourth axis actuator in Embodiment 2 provided for this utility model;

[0138] Figure 23 The visual recognition component and exploded view provided by this utility model;

[0139] Figure 24 This utility model provides a schematic diagram illustrating the execution of scanning, opening, and pipetting of blood collection tubes by the actuator.

[0140] Figure 25 A schematic diagram showing the installation position of the centrifuge tube swing angle assembly provided by this utility model;

[0141] Figure 26 A schematic diagram illustrating the operation of the pipette provided by this utility model in performing a pipetting operation on a centrifuge tube that is tilted on a centrifuge tube swing angle assembly;

[0142] Figure 27 This utility model provides a schematic diagram of the liquid addition operation for centrifuge tubes that are tilted on the centrifuge tube swing angle assembly.

[0143] Figure 28 A three-dimensional structural diagram of the centrifuge tube swing angle assembly provided by this utility model;

[0144] Figure 29 Exploded view of the consumables warehouse provided for this utility model;

[0145] Figure 30 A three-dimensional structural diagram of the loading and unloading conveying mechanism provided by this utility model during its movement;

[0146] Figure 31A three-dimensional structural diagram of the front side of the loading and unloading fixing frame provided by this utility model;

[0147] Figure 32 A three-dimensional structural diagram of the rear side of the loading and unloading fixing frame provided by this utility model;

[0148] Figure 33 A three-dimensional structural diagram of the front side of the centrifuge tube transfer assembly provided by this utility model;

[0149] Figure 34 A three-dimensional structural diagram of the rear side of the centrifuge tube transfer assembly provided by this utility model;

[0150] Figure 35 This is a front view of the Y1 axis provided by this utility model;

[0151] Figure 36 The Y1 axis isometric drawing provided by this utility model;

[0152] Figure 37 This is a front view of the Y2 axis provided by this utility model;

[0153] Figure 38 The Y2 axis isometric drawing provided by this utility model;

[0154] Figure 39 This is a front view of the Y3 axis provided by this utility model;

[0155] Figure 40 This is a rear view of the Y3 axis provided by this utility model;

[0156] Figure 41 This is the Y3-axis orthographic axonometric drawing provided by this utility model;

[0157] Figure 42 The Y3-axis rearview axonometric drawing provided by this utility model;

[0158] Figure 43 This is a front view of the Y4 axis provided by this utility model;

[0159] Figure 44 This is a rear view of the Y4 axis provided by this utility model;

[0160] Figure 45 This is an isometric view of the Y4 axis provided by this utility model;

[0161] Figure 46 The Y4-axis rearview axonometric drawing provided by this utility model;

[0162] Figure 47 A schematic diagram showing the installation position of the second position sensor on the consumables warehouse rack provided by this utility model;

[0163] Figure 48A schematic diagram illustrating the working process of the waste liquid head disposal rack and waste liquid gun provided by this utility model, which allows for the pulling and discarding of the waste liquid head.

[0164] Figure 49 A three-dimensional structural diagram of the waste liquid head disposal rack provided by this utility model;

[0165] Figure 50 A three-dimensional structural diagram of the opening turntable provided by this utility model;

[0166] Figure 51 A schematic diagram illustrating the working state of the rotating gripper holding a centrifuge tube on the open-top turntable provided by this utility model;

[0167] Figure 52 A schematic diagram showing the position of the fixing protrusions on the pipe cap fixing block provided by this utility model for fixing the pipe cap;

[0168] Explanation of reference numerals in the attached figures:

[0169] 1. Consumables warehouse; 2. Consumables warehouse operating mechanism; 3. Loading and unloading conveying mechanism; 4. Working platform; 5. Transfer slide rail; 6. Loading and unloading fixing frame; 7. Actuating mechanism; 8. Used material rack; 9. New material rack; 10. Material rack; 11. First blood sample processing area; 12. Second blood sample processing area; 13. X-axis moving assembly; 14. Y-axis moving assembly; 15. Z-axis moving assembly; 16. Top frame; 17. Horizontal support; 18. Vertical support; 19. First position sensor; 20. Basket bracket drive motor; 21. Sampling needle; 22. Pipette; 23. Centrifuge unit; 24. Centrifuge tube inlet / outlet; 25. Centrifuge tube waste bin; 26. Disposal port; 27. Centrifuge tube basket; 28. Centrifuge tube temporary storage position; 2 9. Centrifuge tube transfer assembly; 30. Loading / unloading position sensor; 31. Loading / unloading conveyor motor; 32. Synchronous belt; 33. First axis actuator; 34. Second axis actuator; 35. Third axis actuator; 36. Fourth axis actuator; 37. Electrical control area control panel; 38. Front shelf of consumables warehouse; 39. Rear shelf of consumables warehouse; 40. Lifting bracket; 41. Handling platform; 42. First conveying structure; 43. Lifting slide rail; 44. First drive source; 45. Second conveying structure; 46. X-axis support arm; 47. Second drive source; 48. Third conveying structure; 49. Y-axis support arm; 50. Third drive source; 51. Rotating structure; 52. Drive shaft; 53. Fourth drive source; 54. Sliding component; 5 5. Upper base; 56. Lower base; 57. Guide chute; 58. Consumables rack; 59. Centrifuge tube swing angle assembly; 60. Centrifuge tube fixing block; 61. Control motor; 62. Coupling; 63. Fixing frame; 64. Third position sensor; 65. Detection plate; 66. Clamping and handling assembly; 67. Centrifuge tube pipetting assembly; 68. Reagent adding assembly; 69. Cavity; 70. X-axis slide rail; 71. X-axis drive unit; 72. Y-axis slide rail; 73. Seventh position sensor; 74. Receiving groove; 75. Fixing plate; 751. Limiting groove; 76. Loading / unloading fixing frame base; 77. Belt fixing clamp; 78. Guide rail slider; 79. Blood collection tube barcode scanner; 80. Centrifuge tube barcode scanner; 81. Cryopreservation tube barcode scanner 82, Limit photoelectric switch; 83, Slide rail assembly; 84, Basket limit bracket; 85, Y1 axis reagent bottle area; 86, Y1 axis drive motor; 87, Y1 axis peristaltic pump assembly; 88, Y21 axis drive motor; 89, Y22 axis drive motor; 90, Y2 axis barcode scanner; 91, Y32 axis drive motor; 92, Y31 axis drive motor; 93, Y31 axis peristaltic pump assembly; 94, Y3 axis barcode scanner; 95, Y3 axis reagent bottle area; 96, Y4 axis drive motor; Y1-Z1, 5ml pipette; Y1-Z2, parallel gripper; Y1-Z3, dual-channel sampling needle; Y1-Z4, rotary gripper; Y21-Z1, parallel gripper; Y21-Z2, reserved work position; Y21-Z3, rotary gripper;Y22-Z1, Basket gripper; 97, Y2 axis barcode scanner; 98, Y21 axis moving assembly; 99, Y22 axis moving assembly; 101, X2 axis moving assembly; 102, Y2 axis centrifuge tube barcode scanner; Y31-Z1, Parallel gripper; Y32-Z1, Basket gripper; Y31-Z4, Rotary gripper; Y31-Z2, Sampling needle; Y31-Z3, 1ml waste pipette; Y4-Z2, Rotary gripper; Y4-Z3, 1ml pipette; Y 4-Z4, 1ml pipette; Y4-Z1, parallel gripper; 103, test tube holder; 104, camera; 105, light source; 106, X4-axis moving assembly; 107, Y4-axis moving assembly; 108, waste liquid tip holder; 109, first centrifuge tube holder; 110, second centrifuge tube holder; 111, first vision recognition assembly; 112, second vision recognition assembly; 113, 1ml tip holder; 114, 1ml 115. Tip tip second rack; 116. Alcohol cleaning tank; 117. First capping turntable; 118. Second capping turntable; 119. Cryopreservation solution addition assembly; 120. Cryopreservation solution peristaltic pump; 121. 1ml cryopreservation tube rack; 122. 0.5ml cryopreservation tube rack; 123. Cryopreservation tube capping assembly; 124. Cryopreservation tube barcode scanner; 125. 1ml tip tip waste port; 126. Cell cryopreservation solution reagent bottle; 127. 1ml 127, Tip waste bin; 128, First centrifuge unit; 129, Second centrifuge unit; 130, First centrifuge tube basket temporary storage location; 131, First centrifuge tube basket temporary storage location; 132, Second centrifuge tube basket temporary storage location; 133, Centrifuge tube waste outlet; 134, Centrifuge tube waste bin; 135, Centrifuge tube basket transfer assembly; 137, Blood collection tube barcode scanner; 138, Blood collection tube rack; 139, Blood collection tube cap opening gripper; 140, 5ml tip rack; 141, 5ml 142, tip discard port; 143, second position sensor; 144, U-shaped opening; 145, fixing plate; 146, vertical plate; 147, rotating turntable; 148, centrifuge tube fixing bracket; 149, centrifuge tube cap; 150, cap fixing block; 151, rotary electric cylinder; 152, linear gripper; 153, fixing protrusion. Detailed Implementation

[0170] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0171] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0172] Example 1

[0173] See Figure 1 ,as well as Figure 7 and Figure 13 , Figure 1 A three-dimensional schematic diagram of the automated sample processing equipment provided in an embodiment of this utility model is shown. Figure 7 and Figure 13 This illustration shows a schematic diagram of the relative positions of the consumables storage operating mechanism on the consumables storage unit and the loading / unloading conveying mechanism on the work platform in an embodiment of this utility model. In this embodiment, the automated sample processing equipment includes:

[0174] The consumables warehouse 1 includes: an old material rack 8 for storing old consumables and old blood samples, and a new material rack 9 for storing new consumables and new blood samples; the consumables warehouse 1 also includes: a consumables warehouse operating mechanism 2, which is used to move the material rack 10 on the material rack.

[0175] In one specific embodiment, see Figure 13 The consumables warehouse 1 has both an old material rack 8 and a new material rack 9 installed in its rack cavity. The new material rack 9 is transported to the loading / unloading conveying mechanism 3 by the consumables warehouse operating mechanism 2, and the old material rack 8 delivered by the loading / unloading conveying mechanism 3 is transported by the consumables warehouse operating mechanism 2. Of course, in this embodiment, the rack of the consumables warehouse 1 can also accommodate only one of the old material rack 8 and the new material rack 9 as needed.

[0176] In a preferred embodiment, such as Figure 7 -8. Figure 29 As shown, the consumables warehouse 1 also includes a consumables warehouse rack 58, which includes a front rack 38 and a rear rack 39. Figure 29 , 47The diagram shows the relative positions of the front shelf 38, the rear shelf 39, and the operating mechanism 2 of the consumables storage unit. The front shelf 38 has multiple cavities 69 along its height to accommodate the material racks 10. Similarly, the rear shelf 39 also has multiple cavities 69 along its height to accommodate the material racks 10. The operating mechanism 2 is positioned between the front shelf 38 and the rear shelf 39. This arrangement facilitates the handling of the material racks 10 on both shelves.

[0177] The specific transfer process of the consumables storage operating mechanism 2, located between the front shelf 38 and the rear shelf 39 of the consumables storage, is as follows (see appendix). Figure 29 As shown: The consumables operating mechanism 2 is located between the front and rear shelves of the consumables storage unit, and all three are fixed to the base of the consumables storage unit. The consumables storage unit operating mechanism 2 realizes the movement of the transport platform 41 in the XYZ-R directions through the first conveying mechanism 42, the second motion mechanism 45, the third conveying mechanism 48, and the rotating mechanism 51, as shown. Figure 8 , Figure 9 :

[0178] 1. Remove the material rack 10 from the front material rack 38:

[0179] a. When the transport platform 41 transports and retrieves the material rack 10 from the front rack 38 of the consumables warehouse, the transport platform 41 moves in the X-axis direction to the center of the cavity 69 of the material rack 10 to be retrieved, the transport platform 41 moves in the Z-axis direction to a specific height below the material rack 10 to be retrieved, such as 10mm (to avoid collision), and the transport platform 41 moves in the Y-axis direction to the direct bottom of the material rack 10 to be retrieved.

[0180] The Z-axis transport platform 41 rises to a specific height, such as 20mm, causing the material rack 10 to disengage from the limiting slot of the cavity 69. The Y-axis transport platform 41 then moves to the middle of the front material rack 38 and the rear material rack 39, thereby removing the material rack 10. Figure 8 ;

[0181] 2. Move the material rack 10 from the front rack 38 to the rear rack 39:

[0182] The cR axis transport platform 41 rotates 180 degrees, rotating the material rack 10 to face the rear side material rack 39;

[0183] The dX-axis transport platform 41 moves to the center of the cavity 69 of the material rack 10 to be placed on the rear rack 39; the Z-axis transport platform 41 moves to a specific height, such as 10mm, above the limiting slot of the cavity 69 of the material rack 10 to be placed (to avoid collision); and the Y-axis transport platform 41 moves to the top of the limiting slot of the cavity 69 of the material rack 10 to be placed.

[0184] The Z-axis transport platform 41 descends to a specific height, such as 20mm, so that the material rack 10 is locked in the limiting slot of the cavity 69. The Y-axis transport platform 41 moves to the middle of the front material rack 38 and the rear material rack 39, thereby placing the material rack 10 to the rear material rack 39.

[0185] Material handling mechanism 3, such as Figure 7 The diagram shows the relative positions of the consumables storage operating mechanism on the consumables storage unit and the loading / unloading conveying mechanism on the work platform. The loading / unloading conveying mechanism 3 is mounted on the work platform 4 and is configured to cooperate with the consumables storage operating mechanism 2; as shown... Figures 13 to 14 As shown, the loading and unloading conveying mechanism 3 includes: a transfer slide rail 5 and a loading and unloading fixing frame 6 slidably mounted on the transfer slide rail 5; the loading and unloading conveying mechanism 3 is used to receive new material racks 9 conveyed by the consumables warehouse operating mechanism 2 and transfer them to different areas of the work platform 4, or the loading and unloading conveying mechanism 3 is used to transfer old material racks 8 from different areas of the work platform 4 to the consumables warehouse operating mechanism 2; combined with Figure 7 The transfer slide rail 5 is fixedly mounted on the work platform 4. The above-mentioned loading and unloading handling mechanism 3 has the advantages of centralized and simple design and high execution efficiency. The specific operation process is as follows:

[0186] All manual loading, unloading, and recycling of consumables and samples are handled through the consumables storage 1. The materials are then transferred via the loading / unloading conveying mechanism 3 to the working areas of the first-axis actuator 33, second-axis actuator 34, third-axis actuator 35, and fourth-axis actuator 36. Each working area of ​​the first-axis actuator 33 to the fourth-axis actuator 36 has independent parallel grippers for loading and unloading operations, ensuring that loading and unloading within these areas does not interfere with each other. This system features a centralized design, low cost, small footprint, convenient and quick manual loading and unloading of consumables, samples, and finished products through the consumables storage 1, and automatic loading and unloading of each functional module (working areas of the first-axis actuator 33 to the fourth-axis actuator 36) without interrupting the equipment's workflow.

[0187] In a preferred embodiment, such as Figure 8 As shown, the front shelf 38 and the rear shelf 39 of the consumables warehouse are provided with a plurality of cavities 69 for accommodating the material rack 10 in the X' and Z' axis directions.

[0188] In a preferred embodiment, see Figures 13 to 14 The diagram shows a three-dimensional structural representation of a material handling mechanism 3 carrying material racks. The material handling mechanism 3 further includes a material handling motor 31 and a synchronous belt 32. The material handling motor 31 is connected to the material handling fixed frame 6 via the synchronous belt 32, thereby driving the material handling fixed frame 6 to reciprocate on the transfer slide rail 5. The material handling fixed frame 6 is a fixed structure with a grooved contour limiting feature, capable of fixing two material racks 10 at intervals.

[0189] In an optional embodiment, see Figure 30 , Figure 31 , Figure 32 As shown, the loading / unloading fixing frame 6 further includes: a loading / unloading fixing frame base 76, a belt fixing clamp 77 and a guide rail slider 78 disposed on the back plate of the loading / unloading fixing frame base 76, and a fixing plate 75 fixed on the loading / unloading fixing frame base 76. The fixing plate 75 is provided with limiting grooves 751. Each loading / unloading fixing frame base 76 may be provided with at least two limiting grooves 751, with two adjacent limiting grooves 751 arranged opposite each other to engage the protruding end of the bottom of the material rack 10 in the limiting groove 751, thereby fixing the material rack 10 and realizing transfer. As an example, there may be more than two fixing plates 75, thereby realizing the simultaneous transfer of multiple material racks. Similarly, the transfer principle of the loading / unloading fixing frame 6 for the old material rack 8 and the new material rack 9 is the same as the transfer principle of the loading / unloading fixing frame 6 for the material rack 10, which will not be repeated here. The belt fixing clamp 77 is fixedly connected to the synchronous belt 32, and the guide rail slider 78 is slidably engaged on the transfer slide rail 5. The limiting groove 751 serves the following purpose: Figure 30 The limiting groove 751 is used to fix the old material rack 8 and the new material rack 9, so as to prevent the old material rack 8 and the new material rack 9 from shifting due to the vibration of the loading and unloading fixing frame 6 when it moves back and forth on the transfer slide rail, thus causing the material rack replacement to fail.

[0190] In an optional embodiment, the loading and unloading fixing frame 6 can also be slidably mounted on the transfer slide rail 5 by the drive wheel on the loading and unloading fixing frame 6.

[0191] In a preferred embodiment, see Figure 14The diagram shows a three-dimensional structure of the loading and unloading conveying mechanism. The side of the transfer slide rail 5 closest to the consumables storage 1 is also equipped with a loading / unloading position sensor 30 for detecting the movement position of the loading / unloading fixed frame 6. This ensures that the consumables storage operating mechanism 2 can accurately identify the position of the material rack 10, move the material rack 10 onto the loading / unloading fixed frame 6, or remove the material rack 10 from the loading / unloading fixed frame 6. Specifically, the loading / unloading position sensor 30 is a laser sensor, which is located at the end of the slide rail of the loading / unloading conveying mechanism 3. When the loading / unloading fixed frame 6 moves to a position that blocks the laser beam of the laser sensor, it indicates that the consumables storage operating mechanism 2 has reached a preset position where it can accurately identify the material rack 10. The consumables storage operating mechanism 2 can then move along a preset distance to grab the material rack 10 on the loading / unloading fixed frame 6.

[0192] In one alternative embodiment, such as Figure 14 As shown, the loading / unloading fixing frame 6 is also equipped with a seventh position sensor 73 for detecting whether a material rack 10 is placed on the loading / unloading fixing frame 6. In a preferred embodiment, a seventh position sensor 73 is respectively installed at the workstations on the loading / unloading fixing frame 6 for accommodating the old material rack 8 and the new material rack 9, as shown. Figure 31 The seventh position sensor 73 is fixed on the loading / unloading fixing base 76. Preferably, the seventh position sensor 73 is a photoelectric position sensor.

[0193] In a specific preferred embodiment, such as Figure 11 , Figure 9 and Figure 47 As shown, the consumables storage 1 further includes a first position sensor 19 and a second position sensor 142. The first position sensor 19 is disposed on the transport platform 41 of the consumables storage operating mechanism 2 to detect whether the material rack 10 is placed on the consumables storage operating mechanism 2. A plurality of second position sensors 142, corresponding to the cavity 69, are used to detect the state inside the cavity 69, including an idle state and a used state, so that the consumables storage operating mechanism 2 can transport the material rack 10 into the idle cavity 69.

[0194] Sample processing apparatus, see Figure 5 and Figure 7 The diagram shows a structural schematic of a first blood sample processing area and a second blood sample processing area connected by a centrifuge tube transfer assembly on a work platform. The sample processing device includes two sample processing areas, such as... Figure 5The dashed line shown separates the first blood sample processing area and the second blood sample processing area on the work platform, with the first blood sample processing area to the left of the dashed line and the second blood sample processing area to the right of the dashed line. The first blood sample processing area and the second blood sample processing area are arranged sequentially along the extension direction of the transfer slide rail 5. Of course, in this embodiment, the number of sample processing areas is not specifically limited, and three or more sample processing areas can be set on the work platform 4 as needed.

[0195] In one specific embodiment, the sample processing device includes: a blood collection tube barcode scanner 79, a centrifuge tube barcode scanner 80, and a cryopreservation tube barcode scanner 81 for synchronizing sample information; the sample processing device sequentially processes blood samples, thereby achieving sample identification, tracking, and management from the start of processing to intermediate products to final packaging. As an example, the blood collection tube barcode scanner, centrifuge tube barcode scanner, and cryopreservation tube barcode scanner are respectively as follows: Figure 18 The blood collection tube scanner 79 shown, and Figure 20 The Y2 axis centrifuge tube scanner 102 shown Figure 21 The Y3 axis centrifuge tube scanner 80 shown Figure 22 The cryopreservation tube barcode scanner 81 is shown.

[0196] In a preferred embodiment, see [reference] Figure 5 The diagram shows a schematic of the structure of the first and second blood sample processing areas connected by a centrifuge tube transfer assembly on the work platform shown. Figure 6 The diagram shows the location of the compartment at the bottom of the work platform used to house the centrifuge unit and reagent bottles. (Reference) Figure 17 As shown, a second centrifuge unit 128 is also installed at the bottom of the working platform 4. (Reference) Figure 5 As shown in Figure 6, the working platform 4 is provided with a centrifuge tube inlet / outlet 24 for placing test tubes into the second centrifuge unit 128, and a disposal port 26 for discarding centrifuge tubes into the centrifuge tube waste box 25.

[0197] Specifically, refer to Figure 5 , Figure 17 , Figure 34 As shown, centrifuge tubes are placed in centrifuge tube baskets 27, and the working platform 4 is also provided with centrifuge tube temporary storage positions 28 for placing the centrifuge tube baskets 27; centrifuge tube transfer assemblies 29 are provided between adjacent blood sample processing areas (see reference). Figure 5The centrifuge tube basket 27 is transferred to the centrifuge tube transfer assembly 29 by the basket gripper, thereby transferring the centrifuge tube basket 27 between the first blood sample processing area 11 and the second blood sample processing area 12. In this embodiment, the centrifuge tube transfer assembly 29 is provided between adjacent blood sample processing areas, thereby enabling adjacent blood sample processing areas to share the second centrifuge unit 128, improving the test tube centrifugation efficiency of the sample processing equipment.

[0198] In a preferred embodiment, such as Figure 33 and Figure 34 As shown, the centrifuge tube transfer assembly 29 includes: a slide rail assembly 83, a basket support drive motor 20, and a basket limiting bracket 84 slidably mounted on the slide rail assembly 83. Driven by the drive motor 20, the basket limiting bracket 84 moves on the slide rail (the driving method is existing technology, such as screw drive, as long as it can achieve the movement of the basket limiting bracket). The centrifuge tube basket 27 is mounted on the basket limiting bracket 84, thereby achieving the positional movement of the centrifuge tube basket 27. Furthermore, a limit photoelectric switch 82 is respectively provided at both ends of the slide rail assembly 83 to detect whether the basket limiting bracket 84 has moved into position.

[0199] Specifically, in one of the preferred embodiments described above, such as... Figure 5 As shown, a centrifuge unit is provided at the bottom of each blood sample processing area. The centrifuge tube transfer assembly 29 transfers the centrifuge tube basket 27 between adjacent blood sample processing areas. Multiple centrifuge units work simultaneously to improve centrifugation efficiency.

[0200] Specifically, in another variant of the preferred embodiment described above, only one of the blood sample processing areas is provided with the centrifuge unit 23 at its bottom, and the centrifuge tube transfer assembly 29 transfers the centrifuge tube basket 27 between adjacent blood sample processing areas, so that different blood sample processing areas can share the same centrifuge unit 23.

[0201] In a variant embodiment, the centrifuge tubes can also be transferred between different blood sample processing areas via the actuator 7.

[0202] Implementing agency 7, see Figure 2 and Figure 3 As shown, Figure 2 A three-dimensional structural diagram of the actuator mounted on the top frame is shown. Figure 3 The diagram shows the orientation of several X-axis, Y-axis, and Z-axis moving components on the top frame. The actuator 7 is configured to cooperate with the loading and unloading conveying mechanism 3 to pick up the material rack 10 located at any position on the transfer slide rail 5 and transfer the material rack 10 to the sample processing device.

[0203] Specifically, the actuator 7 is used to drive the blood sample processing tool, and includes: an X-axis moving component 13, a Y-axis moving component 14, and a Z-axis moving component 15 corresponding to the first blood sample processing area 11 and the second blood sample processing area 12, respectively; the sample processing device also includes: a top frame 16 disposed on the upper side of the working platform 4; the X-axis moving component 13, the Y-axis moving component 14, and the Z-axis moving component 15 are slidably disposed on the top frame 16 under drive.

[0204] In a preferred embodiment, see [reference] Figures 2 to 3 The diagram shows the orientation of the X-axis moving assembly, Y-axis moving assembly, and Z-axis moving assembly on the top frame. The X-axis moving assembly 13 includes: an X-axis slide rail 70 disposed on the top frame 16 and along the length of the transfer slide rail 5 of the loading / unloading conveying mechanism 3; a horizontal support member 17 slidably disposed on the X-axis slide rail 70; and an X-axis drive unit 71 for driving the horizontal support member 17 to slide along the X-axis slide rail 70. Two X-axis slide rails 70 are symmetrically disposed on both sides of the width direction of the top frame 16, and the two ends of the horizontal support member 17 in the length direction are slidably connected to the two X-axis slide rails 70. The Y-axis moving assembly 14 includes: a Y-axis slide rail 72 disposed along the length direction of the horizontal support member 17; a vertical support member 18 slidably disposed on the Y-axis slide rail 72; and a Y-axis drive unit 73 for driving the vertical support member 18 to slide along the Y-axis slide rail 72. The Z-axis moving assembly 15 includes: a Z-axis slide rail disposed along the length of the vertical support 18, a blood sample processing tool slidably disposed on the Z-axis slide rail, and a driving part for driving the blood sample processing tool to slide along the Z-axis slide rail.

[0205] Specifically, see Figure 3 and Figure 4 The diagram shows the location of the blood sample processing tools. In this embodiment, the blood sample processing tools include: a parallel gripper, a rotating gripper, a sampling needle 21, and a pipette 22 for holding the material rack 10. The parallel gripper is used to transfer a new material rack 9 from the loading / unloading conveying mechanism 3 to the blood sample processing area, and to transfer an old material rack 8 from the blood sample processing area to the loading / unloading conveying mechanism 3; the rotating gripper is used to hold test tubes on the material rack 10; the sampling needle 21 is used to add reagents to the sample in the test tube; the pipette 22 is used to aspirate, move, or add liquid; see reference... Figure 21 The waste liquid gun shown is used to collect waste liquid. For the specific structure and operation of the parallel gripper and rotary gripper, please refer to Example 2.

[0206] In a preferred embodiment, such as Figure 6As shown, the reagent bottle for the equipment cleaning agent, the waste bottle for the equipment cleaning agent, and the waste container for the pipette tip of the pipette 22 are located at the bottom of the work platform 4.

[0207] The aforementioned automated sample processing equipment also includes: an electronically controlled control panel 37. (See also...) Figure 15 The diagram shows the outer casing structure of the automated sample processing equipment. The electrical control panel 37 is used to monitor and manage the consumables storage 1, the blood sample processing area, and the blood sample processing status; furthermore, the electrical control panel 37 is used to adjust the equipment program flow.

[0208] In a preferred embodiment, the electronic control area control panel 37 includes: a plurality of status display structures corresponding to the cavity 69, the status display structures being communicatively connected to the second position sensor, for displaying the status of the cavity 69 and the type of the material rack 10. The status display structures include: a first indicator light having a first illuminated state to represent that the cavity 69 is in the usage state, and a second illuminated state to represent that the cavity 69 is in the idle state; a second indicator light, different in color from the first indicator light, having a third illuminated state to represent that the cavity 69 is used to accommodate the new material rack 9, and a fourth illuminated state to represent that the cavity 69 is used to accommodate the old material rack 8.

[0209] In this embodiment, refer to Figure 8 The diagram shows the X', Y', and Z' axis directions of the front and rear shelves of the consumables storage area. And, Figure 9 The diagram shows a three-dimensional structural representation of the consumables storage operating mechanism. The consumables storage operating mechanism 2 includes:

[0210] Lifting bracket 40, such as Figure 29 As shown, the lifting support 40 is set along the height of the front shelf 38 and the rear shelf 39 of the consumables warehouse;

[0211] The transport platform 41 is driven to be raised and lowered on the lifting bracket 40. The transport platform 41 is used to accommodate the material rack 10 so as to move the material rack 10 into or out of the cavity 69.

[0212] In a preferred embodiment, such as Figure 9 and Figure 10As shown, the consumables storage operating mechanism 2 further includes: a first conveying structure 42 for driving the transport platform 41 to move up and down on the lifting bracket 40. The consumables storage operating mechanism 2 also includes: a second conveying structure 45 for driving the transport platform 41 to move along the X' axis towards the consumables storage 1 on the lifting bracket 40; the second conveying structure 45 moves the material rack 10 into or out of the material rack of the consumables storage 1. The consumables storage operating mechanism 2 further includes: a mechanism for driving the transport platform 41 to move along the Y' axis towards the material rack 1 on the lifting bracket 40. Figure 11 The third conveying structure 48 that moves in the direction of the front shelf 38 or the rear shelf 39 of the consumables warehouse shown; as Figure 11 The third conveying structure 48 shown moves the material rack 10 into or out of the front rack 38 of the consumables warehouse, or moves the material rack 10 into or out of the rear rack 39 of the consumables warehouse. The consumables warehouse operating mechanism 2 further includes: a mechanism for driving the transport platform 41 along the lifting bracket 40. Figure 10 The rotating structure 51 shown rotates in the S-axis direction; the rotating structure 51 is used to drive the transport platform 41 to move toward the front shelf 38 of the consumables warehouse or the rear shelf 39 of the consumables warehouse.

[0213] In an optional embodiment, the front shelf 38 and the rear shelf 39 of the consumables storage are each equipped with a consumables storage operating mechanism 2 adapted to their respective configurations. This consumables storage operating mechanism 2 only includes a first conveying structure 42, a second conveying structure 45, and a third conveying structure 48; a rotating structure 51 is not required.

[0214] In a specific preferred embodiment, see [reference] Figure 9 The diagram shows a three-dimensional structural representation of the consumables storage operating mechanism. The first transport structure 42 includes a lifting slide rail 43 mounted on the lifting bracket 40, and a first drive source 44 that drives the transport platform 41 to lift. The second transport structure 45 includes an X-axis support arm 46 and a second drive source 47; one end of the X-axis support arm 46 is slidably connected to the lifting slide rail 43, and the other end is connected to the transport platform 41. (Continue referring to...) Figure 12 The third transport structure 48 includes a Y-axis support arm 49 and a third drive source 50; the Y-axis support arm 49 is slidably disposed on the X-axis support arm 46 along the Y' axis direction. The rotation structure 51 includes a drive shaft 52 and a fourth drive source 53; a slider 54 is slidably disposed in the extending direction of the X-axis support arm 46, and the fourth drive source 53 is disposed on the slider 54; and the drive shaft 52 disposed on the fourth drive source 53 drives the Y-axis support arm 49 to rotate.

[0215] Specifically, see Figure 11 An enlarged schematic diagram of the connection structure between the transport platform and the sliding component is shown. And, Figure 12 The diagram shows the location of the guide groove of the third transport structure. The transport platform 41 is a Y-axis support arm, which includes an upper base 55 and a lower base 56 disposed on the sliding member 54; the upper base 55 is provided with a guide groove 57 with a transmission rack, and the third drive source 50 is disposed on the lower base 56 and drives the upper base 55 to slide relative to the lower base 56 along the Y' axis through a gear and rack structure.

[0216] In an alternative embodiment, the upper base 55 can also be driven to slide relative to the lower base 56 along the Y' axis by a motor push rod.

[0217] In a preferred embodiment, see [reference] Figure 25 The diagram shows the installation position of the centrifuge tube tilting assembly. The aforementioned automated sample processing equipment also includes:

[0218] The centrifuge tube tilting assembly 59 has a liquid dispensing position and a reagent mixing position. In the liquid dispensing position, the centrifuge tube on the tilting assembly 59 is driven to rotate and tilt to a sample dispensing position, which is a 45° left-hand or 45° right-hand rotation, so that the sampling needle 21 or pipette 22 can add or transfer reagents into the centrifuge tube. In the reagent mixing position, the centrifuge tube on the tilting assembly 59 is driven to reciprocate and tilt, specifically switching between a 45° left-hand and a 45° right-hand rotation, to mix the centrifuge tube in the centrifuge tube fixing block 60. Of course, this embodiment does not specifically limit the tilt angle of the centrifuge tube on the tilting assembly 59. In other embodiments, the tilting sample dispensing position can also be a 30°, 60°, or other angle. Similarly, the swing range of the reciprocating tilting oscillation can also be a repeated switch between a 30° left-hand and a 30° right-hand rotation, or repeated swinging at any other angle.

[0219] Specifically, see Figure 28 The diagram shows a three-dimensional structure of the centrifuge tube tilting assembly. The centrifuge tube tilting assembly 59 includes:

[0220] Centrifuge tube fixing block 60, which is used to accommodate centrifuge tubes and can be driven to rotate by an angle; the rotating jaw on the actuator 7 is used to place the centrifuge tubes in the receiving groove 74 of the centrifuge tube fixing block 60;

[0221] A control motor 61 is connected to the centrifuge tube fixing block 60 via a drive shaft with a coupling 62, so as to drive the centrifuge tube fixing block 60 to rotate around the drive shaft as the central axis;

[0222] The centrifuge tube fixing block 60 and the control motor 61 are fixed on the fixed frame 63;

[0223] Testing institutions, see below Figure 28 The diagram shows a three-dimensional structure of the centrifuge tube tilting assembly. The detection mechanism includes a third position sensor 64, a fourth position sensor, and a fifth position sensor. The third position sensor 64 detects whether the centrifuge tube fixing block 60 is in a vertical position. The fourth position sensor is a detection plate 65, used to detect whether the centrifuge tube fixing block 60 is in an inclined sample loading position. The fifth position sensor detects whether a centrifuge tube is placed in the receiving groove of the centrifuge tube fixing block 60. Of course, this embodiment does not specifically limit the number of sensors in the detection mechanism. In other embodiments, the detection mechanism only includes the third position sensor 64 for detecting whether the centrifuge tube fixing block 60 is in a vertical position.

[0224] A method of using an automated sample processing device includes the following steps:

[0225] The consumables warehouse 1 works in conjunction with the loading and unloading mechanism 3 to provide a new material rack 9 for the actuator 7; specifically, this includes the following steps:

[0226] The transport platform 41 is driven to move on the lifting bracket 40 to the height position of the designated new material rack 9; the transport platform 41 is driven to move on the X-axis support arm 46 towards the material rack; the transport platform 41 is driven by the rotating structure 51 to rotate to the direction of the front material rack 38 or the rear material rack 39 of the consumables warehouse; the upper base 55 of the transport platform 41 is driven to move into the cavity 69 of the material rack and move the new material rack 9 out of the cavity 69;

[0227] The transport platform 41 is driven to move to the loading and unloading transport mechanism 3; the loading and unloading fixed frame 6 of the loading and unloading transport mechanism 3 receives the new material rack 9 transported by the transport platform 41 of the consumables warehouse 1; the loading and unloading fixed frame 6 carries the new material rack 9 along the transfer slide rail 5 to the designated position on the work platform 4.

[0228] The actuator 7 picks up the new material rack 9 from the loading and unloading fixing frame 6 and transports the new material rack 9 to the sample processing area to perform sample processing work;

[0229] The loading and unloading conveying mechanism 3 works in conjunction with the consumables warehouse 1 to transfer the used material rack 8 transported by the actuator 7 to the consumables warehouse 1; specifically, it includes the following steps:

[0230] The actuator 7 picks up the used material rack 8 from the sample processing area; the loading and unloading fixing frame 6 of the loading and unloading conveying mechanism 3 is driven to move the position of the actuator 7 and receive the used material rack 8 transported by the actuator 7.

[0231] The loading and unloading fixed frame 6, along with the old material rack 8, slides along the transfer slide rail 5 to the consumables warehouse 1, where the handling platform 41 of the consumables warehouse 1 receives the old material rack 8.

[0232] The transport platform 41 is driven to move on the lifting bracket 40 to the height position to accommodate the old material rack 8; the transport platform 41 is driven to move on the X-axis support arm 46 towards the material rack; the transport platform 41 is driven by the rotating structure 51 to rotate to the direction of the material rack 38 in front of the consumables warehouse or the direction of the material rack 39 in the consumables warehouse; the upper base 55 of the transport platform 41 is driven to move into the cavity 69 of the material rack and move the old material rack 8 into the cavity 69.

[0233] In a preferred embodiment, see [reference] Figure 26 The diagram shows a pipette performing a pipetting operation on a centrifuge tube tilted at an angle on a centrifuge tube tilting assembly. And, Figure 27 The diagram illustrates the liquid addition operation for centrifuge tubes tilted on the centrifuge tube tilting assembly. The sample processing operation specifically includes the following steps: automated pipetting and reagent addition, specifically including the following steps:

[0234] The process of transporting centrifuge tubes to centrifuge tube swing angle assembly 59 includes the following steps: the clamping and transporting assembly 66 moves to the top of the centrifuge tube material rack via the X-axis moving assembly 13 and the Y-axis moving assembly 14, the rotating jaws are driven to descend and clamp the centrifuge tubes on the centrifuge tube material rack, and transport them to the centrifuge tube fixing block 60 of the centrifuge tube swing angle assembly 59.

[0235] The centrifuge tube tilting and pipetting process specifically includes the following steps: the centrifuge tube tilting assembly 59 is driven by the centrifuge tube fixing block 60 to tilt the centrifuge tube at an angle; the centrifuge tube pipetting assembly 67 moves to above the pipetting tip holder via the X-axis moving assembly 13 and the Y-axis moving assembly 14; the pipette 22 descends to pick up the tip and moves to above the centrifuge tube holder; after the pipette 22 descends to draw the sample liquid from the centrifuge tube holder, the pipette 22 rises and moves to above the centrifuge tube tilting assembly 59; the pipette 22 descends and dispenses the sample liquid, which flows through the inner wall of the tilted centrifuge tube to the bottom of the centrifuge tube;

[0236] Adding reagents to a centrifuge tube specifically includes the following steps: the centrifuge tube tilting assembly 59 is driven to tilt the centrifuge tube at an angle via the centrifuge tube fixing block 60; the reagent adding assembly 68 is moved above the centrifuge tube tilting assembly 59 via the X-axis moving assembly 13 and the Y-axis moving assembly 14; the dispensing needle 21 is driven to descend and draws reagents from the reagent area through a peristaltic pump and flows out through the dispensing needle 21; the reagents flow through the inner wall of the tilted centrifuge tube to the bottom of the centrifuge tube.

[0237] The centrifuge tube is tilted and shaken back and forth to mix the liquid. Specifically, the centrifuge tube tilting component 59 controls the centrifuge tube on the centrifuge tube fixing block 60 to rotate left and right back and forth, so as to mix the liquid in the centrifuge tube on the centrifuge tube tilting component 59.

[0238] Example 2

[0239] In one specific embodiment, the automated sample processing equipment is a blood sample processing equipment. See also... Figure 1 The diagram shows a three-dimensional representation of the automated sample processing equipment. Figure 2 and Figure 3 The diagram shows the placement of the X-axis, Y-axis, and Z-axis movement components. And, Figure 17 The diagram shows the specific structure of the first and second blood sample processing areas. Specifically, the blood sample processing area of ​​the blood sample processing device includes:

[0240] First blood sample processing area 11, see reference. Figure 16 The diagram shows the workflow of the blood sample processing equipment. The first blood sample processing area 11 is located on the work platform 4, near the consumables storage 1. The first blood sample processing area 11 is used to obtain different components of plasma, PBMCs, and red blood cells in layers; specifically, it includes collecting blood samples from blood collection tubes and transferring them to centrifuge tubes, obtaining plasma layers through a first round of centrifugation, and obtaining PBMCs and red blood cell layers through a second round of centrifugation.

[0241] The first round of centrifugation to obtain plasma stratification includes: taking the supernatant plasma into a new centrifuge tube and returning it to the consumables library; adding PBS and Ficoll to the remaining liquid for a second round of centrifugation; the second round of centrifugation to obtain PBMC and red blood cell stratification includes: upper layer waste plasma, middle layer PBMC, lower layer waste Ficoll, and bottom layer red blood cells;

[0242] Specifically, in this embodiment, refer to Figure 3 and Figure 4The diagram shows a three-dimensional structure of the actuator. Actuator 7 includes a first-axis actuator 33 and a second-axis actuator 34 corresponding to the first blood sample processing area 11. The first-axis actuator 33 includes parallel grippers, rotary grippers, a pipette 22, and a sampling needle 21, used to transfer blood collection tubes to centrifuge tubes. The second-axis actuator 34 includes parallel grippers, rotary grippers, and a centrifuge tube scanner, used to process the pipetting and transfer of centrifuge tubes.

[0243] Second blood sample processing area 12, see reference Figure 16 The diagram shows the workflow of the blood sample processing equipment. The second blood sample processing area 12 is located on the working platform 4, away from the consumables storage area 1. The second blood sample processing area 12 is used for: extracting and dispensing different components of plasma, PBMCs, and red blood cells; specifically, it includes a second round of centrifugation to obtain PBMCs and red blood cell stratification, PBMC and red blood cell stratification extraction, and a third round of centrifugation to remove impurities and obtain PBMC precipitate; wherein the third round of centrifugation to obtain PBMC precipitate includes: an upper layer of PBS waste liquid and a lower layer of PBMC precipitate. After removing impurities and obtaining the PBMC precipitate, cryopreservation solution is added, dispensed into cryovials, and returned to the consumables storage area 1. Plasma and red blood cells returned to the consumables bank can be transferred to the blood sample processing area for secondary plasma centrifugation, or aliquoted into cryopreservation tubes after adding cryopreservation solution, etc., as needed. Depending on the requirements of PBMCs, after the third round of centrifugation, the supernatant is removed, PBS is added, and PBS washing and centrifugation are performed once or multiple times to reduce or remove red blood cells or other impurities in the PBMCs. The PBMC and red blood cell layer extraction includes: removing the upper waste plasma with a waste pipette, transferring the middle layer of PBMCs to a new centrifuge tube with PBS added for the next round of centrifugation, removing the lower waste ficoll with a waste pipette, and removing the excess portion of the bottom red blood cells with a waste pipette, retaining only a specific volume of red blood cells, such as 1 ml, and returning the centrifuge tube to the consumables bank.

[0244] The third round of centrifugation to remove impurities and obtain PBMC precipitate includes: aspirating the supernatant with a waste pipette, leaving only PBMC precipitate; the PBMC precipitate cryopreservation and dispensing includes: resuspending the PBMC precipitate in cryopreservation solution and dispensing it into multiple cryopreservation tubes using a pipette.

[0245] In one specific embodiment, such as Figure 23 As shown, the blood sample processing device also includes a second visual recognition component disposed on the platform 4. The second visual recognition component includes: a test tube fixing bracket 103 for fixing the test tube, a camera 104, and a light source 105 for illuminating the test tube.

[0246] In one specific embodiment, such as Figure 17 The diagram shows the specific structure of the first blood sample processing area and the second blood sample processing area. Figure 17 It includes the following components:

[0247] Waste liquid tip holder 108 is installed on the work platform 4, located between the first and second blood sample processing areas. It is used for pulling out and discarding waste liquid tips, such as 1ml tips. Figure 48 As shown in Figure -49, the waste liquid head discard rack 108 is used to pull out and discard 1ml tip waste liquid heads. The waste liquid head discard rack 108 has two vertical plates 145, and a fixing plate 144 is fixed to the top of the two vertical plates 145. A U-shaped opening 143 is provided on the fixing plate, wherein the inner diameter of the U-shaped opening 143 is smaller than the outer diameter of the tip opening. The Y31-Z3 waste liquid gun with the 1ml tip inserted moves the tip head horizontally (along the...). Figure 49 Move in the direction indicated by arrow F1 to U-shaped opening 143 (refer to...) Figure 48 The Y31-Z3 waste liquid gun moves upwards again. Figure 48 (As indicated by the middle arrow F2), the tip can be detached from the waste liquid gun and then the 1ml tip can be discarded. The first centrifuge tube rack 109 is located in the first blood sample processing area. It receives plasma centrifuge tubes held by the Y21-Z3 rotating grippers and holds the plasma centrifuge tubes after the caps are closed, or holds brand new centrifuge tubes loaded from the consumables library.

[0248] The second centrifuge tube rack 110 is located in the second blood sample processing area. It receives red blood cell centrifuge tubes held by the Y31-Z4 rotating grippers and holds the red blood cell centrifuge tubes after the caps are closed, or holds brand new centrifuge tubes loaded from the consumables warehouse.

[0249] The first visual recognition component 111 is located in the first blood sample processing area. It is used to detect the centrifuge tubes being transferred by the Y21-Z3 rotating gripper, and to take pictures and record information such as the plasma stratification height and blood sample status. The structure of the first visual recognition component 111 is the same as that of the second visual recognition component. The structure of the second visual recognition component has been described in detail above and will not be repeated here.

[0250] The second visual recognition component 112 is located in the second blood sample processing area. It is used to detect the centrifuge tubes being transferred by the Y21-Z3 rotating gripper, and to take pictures and record information such as the PBMC layer height and blood sample status.

[0251] The first tip holder 113, located in the second blood sample processing area, is used to hold the tip for Y31-Z3 waste liquid pipette tips to pick up; the tip can be a 1ml tip; the waste liquid pipette tip can be a 1ml waste liquid pipette tip.

[0252] The second tip holder 114 is located in the second blood sample processing area and is used to hold the tip for Y4-Z3 or Y4-Z4 pipettes to pick up the sample; the tip can be a 1ml tip.

[0253] Alcohol cleaning tank 115, located in the second blood sample processing area, is used to provide alcohol. After the waste liquid gun draws up the waste liquid, the waste liquid gun draws up the alcohol to clean the tip head and tubing. The tip head can be a 1ml tip head.

[0254] The first rotating disc 116, located in the first blood sample processing area, is used for... Figure 19 -20 The centrifuge tube held by the Y21-Z3 rotating gripper is opened; the structure of the rotating gripper is not particularly required, and any existing technology that can achieve the gripping function is acceptable.

[0255] The second rotating lid 117, located in the second blood sample processing area, is used for... Figure 21 The Y31-Z4 rotating gripper shown in the diagram grips the centrifuge tube for opening the cap; the structure of the rotating gripper is not particularly required, and any existing technology that can achieve the gripping function is acceptable. In this embodiment, the second cap-opening turntable 117 and the rotating gripper are described in detail below. Figure 50 and Figure 51 As shown, the centrifuge tube opening turntable includes: a rotating turntable 146, a centrifuge tube fixing bracket 147 disposed on the rotating turntable 146 for accommodating centrifuge tubes, a tube cap fixing block 149 disposed on the rotating turntable 146 for placing and fixing centrifuge tube caps 148, a rotary electric cylinder 150 for driving the opening turntable to rotate, and a linear gripper 151 for clamping and fixing the centrifuge tube body. Specifically, the rotary electric cylinder 150 drives the rotating turntable 146 to rotate. The centrifuge tubes are placed and fixed on the centrifuge tube fixing bracket 147 through the opening on the rotating turntable 146; the tube cap fixing block 149 is used to place and fix the centrifuge tube caps 148; the linear gripper 151 is used to clamp and fix the centrifuge tube body; and the rotary gripper is used to clamp and transport the centrifuge tubes or caps. Wherein, as... Figure 52 As shown, the structure of the pipe cap fixing block 149 fixing the pipe cap 148 is a fixing protrusion 152. The top of the fixing protrusion 152 supports the pipe cap 149, and the outer circumference of the fixing protrusion 152 limits the positional displacement of the pipe cap 149.

[0256] The specific operating procedure is as follows:

[0257] When opening the cap: the linear gripper 151 is released, and the rotary electric cylinder 150 drives the rotary turntable 146 to rotate, so that the capped centrifuge tube on the rotary turntable 146 rotates to the position of the linear gripper 151; the linear gripper 151 clamps the centrifuge tube body, and the rotary gripper clamps the centrifuge tube cap 148 and moves upward in a spiral motion, thereby opening the centrifuge tube cap; after the cap is opened, the linear gripper 151 is released, and the rotary electric cylinder 150 drives the rotary turntable 146 to rotate, so that the tube cap fixing block 149 on the rotary turntable 146 rotates to the position of the linear gripper 151, and the rotary gripper holds the tube cap and fixes it on the tube cap fixing block 149.

[0258] When closing the cap: The opening action is the reverse of the closing action, as follows: The linear gripper 151 is released, and the rotary electric cylinder 150 drives the rotary turntable 146 to rotate, causing the cap fixing block 149 on the rotary turntable 146 to rotate to the position of the linear gripper 151. The rotary gripper clamps the cap on the cap fixing block 149. The rotary electric cylinder 150 drives the rotary turntable 146 to rotate, causing the capless centrifuge tube on the rotary turntable 146 to rotate to the position of the linear gripper 151. The linear gripper 151 clamps the centrifuge tube body, and the rotary gripper clamps the centrifuge tube cap 148 and spirals downward, thereby closing the centrifuge tube cap.

[0259] In some embodiments, the automated sample processing device further includes at least one of the following structures:

[0260] The cryopreservation solution addition component 118, located in the second blood sample processing area, is used to add PBMC cryopreservation solution to the PBMC centrifuge tube; or, the cryopreservation solution addition component 118 is used to add red blood cell cryopreservation solution to the red blood cell centrifuge tube.

[0261] The cryopreservation fluid peristaltic pump 119, located in the second blood sample processing area, serves as the power source for pumping cryopreservation fluid to the cryopreservation fluid addition component 118.

[0262] The 1ml cryopreservation tube rack 120 is located in the second blood sample processing area and is used to store plasma cryopreservation tubes, PBMC cryopreservation tubes, or red blood cell cryopreservation tubes to be returned to the consumables warehouse. The structure of the 1ml cryopreservation tube rack 120 is similar to that of the material rack 10, and will not be described in detail here.

[0263] The 0.5ml cryopreservation tube rack 121 is located in the second blood sample processing area and is used to store plasma cryopreservation tubes, PBMC cryopreservation tubes, or red blood cell cryopreservation tubes to be returned to the consumables warehouse. The structure of the 0.5ml cryopreservation tube rack 121 is similar to that of the material rack 10, and will not be described in detail here.

[0264] The cryopreservation tube opening assembly 122, located in the second blood sample processing area, is used to clamp the cryopreservation tube to achieve the opening action. As an example, the structure of the cryopreservation tube opening assembly 122 is referenced to patent CN119822301A, which is incorporated herein by reference in its entirety. Of course, those skilled in the art will understand that other opening assemblies can also be used, as long as they can achieve the opening of the cryopreservation tube.

[0265] Cryopreservation tube barcode scanner 123, located in the second blood sample processing area, is used for... Figure 22 The Y4-Z2 rotating gripper shown is used to scan and input information into the cryopreservation tube.

[0266] Tip disposal port 124 is located in the second blood sample processing area and is used for a 1ml pipette to discard a 1ml tip through this disposal port. For example, the tip can be a 1ml tip and the pipette can be a 1ml pipette.

[0267] Cell cryopreservation solution reagent bottle 125, located in the second blood sample processing area, is used to store cryopreservation solution reagents;

[0268] Tip waste bin 126, located in the second blood sample processing area, is used to hold discarded pipette tips;

[0269] The first centrifuge unit 127, located in the first blood sample processing area, is positioned at the bottom of the working platform 4 and is used for processing blood samples. Figure 19 -20 The first temporary storage position 131 held by the Y22-Z1 basket gripper and the centrifuge tube basket on the first centrifuge tube basket processing temporary storage position are used for the first round of centrifugation and the second round of centrifugation. It should be noted that the first temporary storage position 131 can hold multiple baskets, such as 4 baskets. In this case, the first temporary storage position 131 can be marked as the first temporary storage position 131.

[0270] The second centrifuge unit 128 is located in the second blood sample processing area and is set at the bottom of the working platform 4 for the third round of centrifugation;

[0271] The first centrifuge tube basket processing temporary storage position 129, located in the first blood sample processing area, is used to receive... Figure 19 -20 The Y22-Z1 basket gripper, as shown, holds a fully loaded centrifuge tube basket;

[0272] The second centrifuge tube basket processing temporary storage position 130, located in the second blood sample processing area, is used to receive... Figure 21 The Y32-Z1 basket clamps shown are holding a fully loaded centrifuge tube basket.

[0273] The first temporary storage location 131, located in the first blood sample processing area, is used to receive... Figure 19 -20 shows a Y22-Z1 basket clamped by a fully loaded centrifuge tube basket;

[0274] The second temporary storage location 132, located in the second blood sample processing area, is used to receive... Figure 19 The Y32-Z1 basket clamp shown in Figure 20 holds a fully loaded centrifuge tube basket. It should be noted that the second temporary storage position can hold multiple baskets, such as 4 baskets. In this case, the second temporary storage position can be marked as 4X second temporary storage position.

[0275] Centrifuge tube waste outlet 133 is located between the first blood sample processing area and the second blood sample processing area, and is used to receive waste centrifuge tubes and guide them to centrifuge tube waste box 134.

[0276] Centrifuge tube waste bin 134 is located between the first blood sample processing area and the second blood sample processing area and is used to receive discarded centrifuge tubes;

[0277] Centrifuge basket transfer assembly 135 is located between the first blood sample processing area and the second blood sample processing area, and is used to transfer the centrifuge basket between the first blood sample processing area and the second blood sample processing area.

[0278] Centrifuge tube tilting assembly 59 is located in the first blood sample processing area. Centrifuge tube tilting assembly 59 can adjust the vertical or tilted state of the centrifuge tube and / or receive new centrifuge tubes containing ficoll.

[0279] Blood collection tube scanner 137, located in the first blood sample processing area, is used for scanning... Figure 18 The Y1-Z4 rotating grippers shown are used to scan the blood collection tubes for barcode / QR code input into the blood collection tube system.

[0280] Blood collection tube rack 138, located in the first blood sample processing area, is used to hold blood collection tubes;

[0281] Refer to Figure 24 for a schematic diagram of the scanning, cap opening, and liquid transfer actions of the blood collection tube. The blood collection tube cap opening gripper 139 is located in the first blood sample processing area and is used to hold the blood collection tube, facilitating the opening of the cap by the Y1-Z4 rotating grippers.

[0282] A 5ml tip holder 140 is located in the first blood sample processing area and is used to hold 5ml tips for Y1-Z1 5ml pipettes to pick up. For example, the tip can be a 5ml tip and the pipette can be a 5ml pipette.

[0283] Tip tip disposal port 141 is located in the first blood sample processing area and is used to receive discarded tip tips and guide them to the tip tip disposal box. For example, the tip tip can be a 5ml tip tip.

[0284] The blood sample processing device in this embodiment is named according to the following rule: Yml-Zn, and the specific serial number marking logic is as follows:

[0285] Yml: m represents the axis number, for example, Y1 represents the first axis actuator 33, and Y2 represents the second axis actuator 34. l represents... Figures 18 to 22 In the diagram, the nth execution unit is counted from the inside to the outside.

[0286] Zn: n represents the number of the executing mechanism ( Figures 18 to 22 The number of actuators is counted from the inside to the outside of the diagram.

[0287] For example:

[0288] 1. Y1-Z4: Located on the first axis, the fourth actuator counting from the inside out is named Y1-Z4. The actuator is a rotary gripper, hence it is called Y1-Z4 rotary gripper.

[0289] 2. Y21-Z3 Rotary Gripper: Located on the inner shaft of the second axis, it is the third actuator from the inside out. The actuator is a rotary gripper, hence the name Y21-Z3 rotary gripper.

[0290] 3. Y22-Z1 basket gripper: Located on the outer shaft of the second axis, hence named Y22-Z1; Located on the first axis and with only one actuator, hence named Y22-Z1 basket gripper.

[0291] See the implementing agency for details. Figures 18 to 22 Specifically, it includes:

[0292] The first axis actuator 33 includes: a 5ml pipette Y1-Z1, parallel grippers Y1-Z2, a dual-channel sampling needle Y1-Z3, a rotary gripper Y1-Z4, a blood collection tube barcode scanner 79, and a Y1 axis peristaltic pump assembly 87.

[0293] The second axis actuator 34 includes: parallel gripper Y21-Z1, rotary gripper Y21-Z3, reserved work station Y21-Z2, basket gripper Y22-Z1, as well as Y2 axis barcode scanner 97 and Y22 axis moving assembly 99.

[0294] The third axis actuator 35 includes: parallel gripper Y31-Z1, basket gripper Y32-Z1, rotary gripper Y31-Z4, sampling needle Y31-Z2, 1ml waste liquid gun Y31-Z3, and centrifuge tube scanner 80.

[0295] The fourth axis actuator 36 includes: a rotary gripper Y4-Z2, a 1ml pipette Y4-Z3, a 1ml pipette Y4-Z4, a parallel gripper Y4-Z1, a cryopreservation tube scanner 81, and a Y4 axis moving assembly 107.

[0296] a. Blood sample transfer: Transfer the blood sample from the blood collection tube to the centrifuge tube. (See also...) Figure 17 The diagram shows the specific structure of the first blood sample processing area and the second blood sample processing area in Embodiment 2 of this utility model. And, Figure 18 The diagram shown is a schematic representation of the specific structure of the first axis actuator in Embodiment 2 of this utility model. Figure 19 and Figure 20 The diagram shown is a schematic representation of the specific structure of the second-axis actuator in Embodiment 2 of this utility model. (See attached diagram.) Figure 24 The diagram illustrates the actuator performing blood collection tube scanning, cap opening, and fluid transfer. The blood sample transfer process includes the following steps:

[0297] a1. Blood collection tube barcode scanning and entry system, centrifuge tube barcode scanning and entry system.

[0298] A1 Implementation Details:

[0299] The Y1-Z4 rotating gripper holds the blood collection tube near the blood collection tube scanner and scans the barcode / QR code on the blood collection tube to enter it into the system.

[0300] The Y21-Z3 rotary gripper holds the centrifuge tube to the first capping turntable. The barcode / QR code scanner on the moving component moves above the centrifuge tube and enters the barcode / QR code on the centrifuge tube cap into the system.

[0301] a2. Open the cap of the blood collection tube and the centrifuge tube, transfer the blood sample from the blood collection tube into the centrifuge tube, and close the cap of the centrifuge tube.

[0302] a2 Implementation Details:

[0303] Y1-Z4 rotating gripper opens the blood collection tube cap;

[0304] Y21-Z3 rotary gripper clamps centrifuge tubes to open the cap;

[0305] Y1-Z1 5ml pipette transfers blood samples from the blood collection tube to a centrifuge tube;

[0306] The Y21-Z3 rotary gripper holds the centrifuge tubes and closes the cap; the bottom cap-opening gripper at the cap-opening turntable releases the centrifuge tubes.

[0307] a3. The centrifuge tubes are transferred along with the centrifuge tube basket to the first centrifuge tube basket temporary storage position;

[0308] a3 Implementation Details:

[0309] Y21-Z3 rotating grippers hold centrifuge tubes and place them into the centrifuge tube basket in the first centrifuge tube basket processing temporary storage position until the basket is full of centrifuge tubes.

[0310] The Y22-Z1 basket gripper holds a fully loaded centrifuge tube basket and transfers it to the first centrifuge tube basket temporary storage position, and moves an empty centrifuge tube basket from the first centrifuge tube basket temporary storage position to the first centrifuge tube basket processing temporary storage position.

[0311] a4. Repeat steps a1-a3 until centrifuge basket 4 is full of centrifuge tubes containing blood samples.

[0312] b. First round of centrifugation and plasma separation: The first round of centrifugation yields plasma stratification. (See also...) Figures 18 to 20 The schematic diagram of the specific structure of the first and second axis actuators in Embodiment 2 shown below. Specifically, it includes the following steps:

[0313] b1. The centrifuge tube basket is transported to the centrifuge for the first round of centrifugation. After centrifugation is completed, the centrifuge tube basket is removed.

[0314] B1 Implementation Details:

[0315] Y22-Z1 basket grippers hold 4x temporary storage positions 1 and the first centrifuge tube basket, and transport the centrifuge tube basket on the temporary storage position into the first centrifuge unit 127 in the centrifugation area 5 for the first round of centrifugation.

[0316] After centrifugation is complete, the Y22-Z1 basket gripper clamps and removes the centrifuge tube basket from the first centrifuge unit 127, and transports it to the first centrifuge tube basket temporary storage position and the first centrifuge tube basket processing temporary storage position;

[0317] b2. Take a photo to identify the state of the plasma and blood sample, and return the plasma to the consumables warehouse for temporary storage;

[0318] b2. Implementation details:

[0319] The Y21-Z3 rotary gripper holds the centrifuge tubes and transports them to... Figure 23 At the second visual recognition component shown, information such as plasma stratification height and blood sample status is captured and recorded.

[0320] The Y21-Z3 rotary gripper holds the centrifuge tube to the first opening turntable to open the cap; the bottom opening gripper at the opening turntable releases the centrifuge tube, and the opening turntable rotates a certain angle, such as 90° to 270°, to make room for a new opening position.

[0321] The Y21-Z3 rotary gripper holds the new centrifuge tube to the first open-cap turntable, scans the barcode of the centrifuge tube into the system, and then opens the cap.

[0322] Y1-Z1 5ml pipette is used to transfer the plasma sample from the centrifuge tube after the first round of centrifugation into a new centrifuge tube, which is called a plasma centrifuge tube.

[0323] The Y21-Z3 rotary gripper clamps the plasma centrifuge tubes, closes the caps, and moves them to the original first centrifuge tube rack.

[0324] Repeat the operation until all the new centrifuge tubes on the first centrifuge tube rack are used up. At this point, the old material rack and the plasma centrifuge tubes on it are returned to the consumables warehouse through the Y21-Z1 parallel gripper, the consumables warehouse loading and unloading mechanism 2-4 and the consumables warehouse transfer mechanism, and a new material rack and the new centrifuge tubes on it are replaced and sent to the blood sample processing area 1.

[0325] b3. Resuspend the remaining blood sample in PBS, transfer it to a new centrifuge tube containing Ficoll, and close the cap.

[0326] b3. Implementation details:

[0327] The Y21-Z3 rotary gripper holds the new centrifuge tube to the first open turntable, the centrifuge tube is scanned and entered into the system, the cap is opened, and Ficoll is added using the Y1-Z3 dual-channel sample needle;

[0328] Add PBS to the centrifuge tube after the first round of centrifugation following plasma extraction using the Y1-Z3 dual-channel sampling needle. Use a Y1-Z15ml pipette to resuspend the mixture and transfer it to the surface of a new centrifuge tube containing Ficoll.

[0329] The mixture can be added vertically or tilted downwards onto the surface of a new centrifuge tube containing ficoll. When tilting downwards, the new centrifuge tube containing ficoll is placed on the centrifuge tube tilting assembly, which can be adjusted to either a vertical or tilted state.

[0330] The Y21-Z3 rotary gripper holds the centrifuge tubes and closes the cap; the bottom cap-opening gripper on the cap-opening turntable releases the centrifuge tubes.

[0331] b4. The centrifuge tubes are transferred along with the centrifuge tube basket to the first centrifuge tube basket temporary storage position;

[0332] b4. The implementation details are the same as those in a3.

[0333] b5. Repeat steps b2-b4 until the centrifuge basket is full of centrifuge tubes containing blood samples.

[0334] c. Second round of centrifugation: The second round of centrifugation yields PBMCs and erythrocytes separated into layers. (See also...) Figure 19 and

[0335] Figure 20 The diagram shown is a schematic representation of the specific structure of the second axis actuator in Embodiment 2 of this utility model.

[0336] Figure 21 The diagram shown is a schematic representation of the specific structure of the third-axis actuator in Embodiment 2 of this utility model. It specifically includes the following steps:

[0337] c1. The centrifuge tube basket is transported to the centrifuge for a second round of centrifugation. After centrifugation is completed, the centrifuge tube basket is removed.

[0338] c1 Implementation Details:

[0339] Y22-Z1 basket grippers hold 4x temporary storage positions 1 and the first centrifuge tube basket, and transport the centrifuge tube baskets on the temporary storage positions into the first centrifuge unit 127 in the centrifugation area 5 for the second round of centrifugation.

[0340] Y32-Z1 basket grippers hold the centrifuge tube basket in the second centrifuge tube basket temporary storage position on the right side, and transfer it to the left side via the centrifuge tube transfer assembly; Y22-Z1 basket grippers hold the centrifuge tube basket to the first centrifuge tube basket temporary storage position on the left side.

[0341] After centrifugation, the Y22-Z1 basket gripper picks up the centrifuge tube basket from the first centrifuge unit 127 and transfers it to the right side via the centrifuge tube transfer assembly. The Y32-Z1 basket gripper then moves the centrifuge tube basket to the second centrifuge tube basket temporary storage position and the centrifuge tube basket processing temporary storage position 2.

[0342] d. PBMC and Red Blood Cell Separation: PBMCs and red blood cells are extracted in layers. (See also...) Figure 21 and Figure 22 The diagram shown in Embodiment 2 of this utility model illustrates the specific structure of the third actuator and the four-axis actuator. The specific steps include:

[0343] d1. Remove the centrifuge tube, take photos to identify PBMC stratification and blood sample status, and extract PBMCs and red blood cells;

[0344] d1. Implementation details;

[0345] The Y31-Z4 rotary gripper holds the centrifuge tubes and transports them to... Figure 23 The visual recognition components shown at the two locations capture and record information such as the PBMC layer height and blood sample status. Generally, there are four layers, from bottom to top: red blood cell layer, ficoll mixed layer, PBMC layer, and plasma mixed layer.

[0346] The Y31-Z4 rotary gripper holds the centrifuge tube to the second opening turntable to open the cap; the bottom opening gripper of the opening turntable releases the centrifuge tube, and the opening turntable rotates a certain angle, such as 90° to 270°, to make room for a new opening position.

[0347] The Y31-Z4 rotary gripper holds the new centrifuge tube to the second opening turntable, scans the barcode of the centrifuge tube into the system, and then opens the cap.

[0348] Y31-Z3 1ml waste liquid gun to aspirate waste liquid from the PBMC layer.

[0349] Using a Y4-Z3 or Y4-Z4 1ml pipette, transfer the sample from the PBMC layer (a certain height above and below the layer) into a new centrifuge tube. This centrifuge tube is called a PBMC centrifuge tube.

[0350] Y31-Z3 1ml waste liquid gun aspirates the waste liquid above the red blood cell layer until a specific volume of red blood cells remains. This centrifuge tube is called a red blood cell centrifuge tube.

[0351] The Y31-Z4 rotating gripper clamps the red blood cell centrifuge tubes, closes the caps, and moves them to the original second centrifuge tube rack.

[0352] Add PBS to the PBMC centrifuge tube using the Y31-Z2 sampling needle, and resuspend the PBMC centrifuge tube by pipetting with a 1ml pipette using the Y4-Z3 or Y4-Z4.

[0353] The Y31-Z4 rotary gripper clamps the PBMC centrifuge tubes, closes the caps, and transports them to the centrifuge tube basket at the temporary storage location 2.

[0354] Repeat the operation until all the new centrifuge tubes on the second centrifuge tube rack are used up. At this point, the old material rack and the red blood cell centrifuge tubes on it are returned to the consumables warehouse through the Y31-Z1 parallel gripper, the consumables warehouse loading and unloading mechanism 2-4 and the consumables warehouse transfer mechanism, and a new material rack and the new centrifuge tubes on it are placed on it.

[0355] d2. The centrifuge tubes are transferred along with the centrifuge tube basket to the temporary storage location of the second centrifuge tube basket;

[0356] d2. Implementation details;

[0357] Y31-Z4 rotating grippers hold PBMC centrifuge tubes and place them into the centrifuge tube basket at temporary storage position 2 of the centrifuge tube basket until the basket is full of PBMC centrifuge tubes.

[0358] Y32-Z1 basket grippers hold a fully loaded centrifuge tube basket and transfer it to the second centrifuge tube basket temporary storage position, and then move an empty centrifuge tube basket from the second centrifuge tube basket temporary storage position to the centrifuge tube basket processing temporary storage position 2.

[0359] d3. Repeat steps d1-d2 until the 4-centrifuge basket is full of centrifuge tubes containing blood samples.

[0360] e. Third round of centrifugation: The third round of centrifugation removes impurities to obtain PBMC precipitate. (See also...) Figure 21 The diagram shown is a schematic representation of the specific structure of the third-axis actuator in Embodiment 2 of this utility model. It specifically includes the following steps:

[0361] e1. The centrifuge tube basket is transported to the centrifuge for the third round of centrifugation. After centrifugation is completed, the centrifuge tube basket is removed.

[0362] e1. Implementation Details:

[0363] Y32-Z1 basket grippers hold 4x temporary storage positions 2 and centrifuge tube baskets on temporary storage positions 2 and transport them into the second centrifuge unit in centrifugation zone 5 for the third round of centrifugation.

[0364] After centrifugation is complete, the Y32-Z1 basket gripper removes the centrifuge tube basket from the second centrifuge unit and transports it to the second centrifuge tube basket temporary storage position and the centrifuge tube basket processing temporary storage position 2.

[0365] f. PBMC aliquoting and freezing: The PBMC precipitate is frozen and aliquoted. See Appendix. Figure 21 and Figure 22 The diagram shown is a schematic representation of the specific structure of the third-axis actuator and the fourth-axis actuator in Embodiment 2 of this utility model. The specific steps include:

[0366] f1. Remove the centrifuge tube, discard the supernatant, and resuspend it in cryopreservation solution;

[0367] f1. Implementation details;

[0368] The Y31-Z4 rotary gripper holds the centrifuge tubes to the second opening turntable to open the cap.

[0369] Y31-Z3 1ml waste liquid gun to aspirate the waste liquid on the PBMC precipitate.

[0370] The second opening turntable rotates to the rear cryopreservation liquid station;

[0371] Add PBMC cryopreservation solution to the PBMC centrifuge tube using the cryopreservation solution addition kit, and resuspend the PBMC centrifuge tube by pipetting with a Y4-Z3 or Y4-Z4 1ml pipette.

[0372] f2. Scan the barcode on the cryovial and open the cap. Transfer the resuspended cell solution into the cryovial.

[0373] f2. Implementation details;

[0374] The Y4-Z2 rotary gripper holds the cryopreservation tube above the cryopreservation tube barcode scanner for scanning and inputting into the system, then clamps the cryopreservation tube and opens the cap.

[0375] Use a Y4-Z3 or Y4-Z4 1ml pipette to transfer the mixture from the PBMC centrifuge tube into one or more cryovials.

[0376] f3. Close the cap on the cryopreservation tube and store it temporarily;

[0377] f3. Implementation details: The Y4-Z2 rotating gripper holds the cap of the cryogenic tube and returns it to the cryogenic tube rack.

[0378] f4. Repeat steps f1-f3 until the PBMCs of the blood samples in the 4-centrifuge basket are aliquoted and frozen.

[0379] f5. PBMC cryopreservation tubing returned to the consumables warehouse;

[0380] f5. Implementation Details:

[0381] The Y41-Z1 parallel gripper, the consumables warehouse loading and unloading handling mechanism 2-4, and the consumables warehouse transfer mechanism return the 1ml or 0.5ml cryopreservation tube rack and the PBMC cryopreservation tubes on it to the consumables warehouse, and then place a new cryopreservation tube rack and the new cryopreservation tubes on it.

[0382] In another optional embodiment, a plasma post-processing procedure is added after the above steps. The plasma post-processing procedure is optional and performs secondary centrifugation and aliquoting / freezing of the plasma. See also... Figure 21 and Figure 22 The schematic diagram of the third-axis actuator and the fourth-axis actuator in Embodiment 2 shown below illustrates the specific structure. The specific steps include:

[0383] g. Secondary centrifugation of plasma;

[0384] g1. Remove the centrifuge tube, transfer it to the centrifuge tube basket, and centrifuge the plasma a second time. After centrifugation, remove the centrifuge tube basket.

[0385] g1. Implementation details;

[0386] The secondary centrifugation of plasma can be performed in the first centrifuge unit 127 or the second centrifuge unit, as shown in the example below, which is performed in the second centrifuge unit on the right.

[0387] (1) The plasma centrifuge tube rack and the plasma centrifuge tubes on it are transported to the second centrifuge tube rack station by means of Y31-Z1 parallel gripper, consumables warehouse loading and unloading and handling mechanism 2-4 and consumables transfer mechanism.

[0388] (2) Y31-Z4 rotating gripper clamps the centrifuge tubes and place them into the centrifuge tube basket on the temporary storage position 2 of the centrifuge tube basket until the basket is full of centrifuge tubes.

[0389] (3) Y32-Z1 basket gripper clamps the fully loaded centrifuge tube basket and transfers it to the second centrifuge tube basket temporary storage position, and moves the empty centrifuge tube basket from the second centrifuge tube basket temporary storage position to the centrifuge tube basket processing temporary storage position 2.

[0390] (4) After all the plasma centrifuge tubes on the plasma centrifuge tube rack are transferred to the centrifuge tube basket, repeat operation 1 to reload the plasma centrifuge tube rack and the plasma centrifuge tubes on it.

[0391] (5) Repeat steps 1-4 until the 4 centrifuge basket is full of plasma centrifuge tubes.

[0392] (6) Y32-Z1 basket clamps hold 4x temporary storage position 2 and centrifuge tube baskets on temporary storage position 2 and transports the centrifuge tube baskets on temporary storage position 2 into the second centrifuge unit in centrifugation area 5 for secondary centrifugation of plasma.

[0393] (7) After centrifugation is completed, the Y32-Z1 basket clamps take out the centrifuge tube basket from the second centrifuge unit and transport it to the second centrifuge tube basket temporary storage position and the centrifuge tube basket processing temporary storage position 2.

[0394] Further, the process of plasma aliquoting and cryopreservation is carried out:

[0395] h1. Remove the centrifuge tube and transfer the upper layer of plasma;

[0396] h1. Implementation details;

[0397] The Y31-Z4 rotary gripper holds the plasma centrifuge tube to the second opening turntable to open the cap.

[0398] Use a Y4-Z3 or Y4-Z4 1ml pipette to aspirate the upper layer of plasma from the plasma centrifuge tube.

[0399] h2. Scan the barcode on the cryopreservation tube and open the cap. Transfer the upper layer of plasma from the centrifuge tube into the cryopreservation tube.

[0400] h2. Implementation details;

[0401] The Y4-Z2 rotary gripper holds the cryopreservation tube above the cryopreservation tube barcode scanner for scanning and inputting into the system, then clamps the cryopreservation tube and opens the cap.

[0402] Use a Y4-Z3 or Y4-Z4 1ml pipette to transfer the upper plasma layer from the plasma centrifuge tube into one or more cryopreservation tubes.

[0403] h3. Close the cap on the cryopreservation tube and store it temporarily;

[0404] h3. Implementation details: The Y4-Z2 rotating gripper clamps the cap of the cryogenic tube and returns it to the cryogenic tube rack.

[0405] h4. Repeat steps h1-h3 until the plasma centrifuge tubes in the 4 centrifuge tube basket are dispensed and frozen.

[0406] h5. The plasma cryopreservation tubes are returned to the consumables warehouse;

[0407] h5. Implementation details: The 1ml or 0.5ml cryopreservation tube rack and the plasma cryopreservation tubes on it are returned to the consumables warehouse through the Y41-Z1 parallel gripper, the consumables warehouse loading and unloading handling mechanism 2-4 and the consumables warehouse transfer mechanism, and a new cryopreservation tube rack and new cryopreservation tubes on it are placed on it.

[0408] In another optional embodiment, a red blood cell post-processing procedure is performed after the above steps. The red blood cell post-processing procedure is optional and enables the cryopreservation and aliquoting of red blood cells. See also... Figure 21 and Figure 22 The schematic diagram of the specific structure of the third axis actuator and the fourth axis actuator in Embodiment 2 is shown.

[0409] For example, the cryopreservation and aliquoting of red blood cells specifically includes the following steps:

[0410] i. Red blood cell aliquoting and cryopreservation;

[0411] i1. Remove the centrifuge tube, open the cap, and add cryopreservation solution to resuspend it;

[0412] i1. Implementation details;

[0413] There are two ways to add red blood cell cryopreservation solution to red blood cell centrifuge tubes:

[0414] Method 1: Add via cryopreservation solution additive component, as detailed below:

[0415] The plasma centrifuge tube rack and the plasma centrifuge tubes on it are transported to the second centrifuge tube rack station by the Y31-Z1 parallel gripper, the consumables warehouse loading and unloading and handling mechanism 2-4 and the consumables warehouse XYZ-R transfer mechanism 2-2.

[0416] The Y31-Z4 rotating gripper holds the red blood cell centrifuge tube to the second opening turntable to open the cap.

[0417] The second turntable rotates to the rear cryopreservation station.

[0418] Add red blood cell cryopreservation solution to the red blood cell centrifuge tube using the cryopreservation solution addition kit, and resuspend the red blood cells in the centrifuge tube by pipetting with a Y4-Z3 or Y4-Z4 1ml pipette.

[0419] Method 2: Add directly using a 1ml pipette, as detailed below:

[0420] The plasma centrifuge tube rack and the plasma centrifuge tubes on it are transported to the second centrifuge tube rack station by the Y31-Z1 parallel gripper, the consumables warehouse loading and unloading and handling mechanism 2-4 and the consumables warehouse XYZ-R transfer mechanism 2-2.

[0421] The Y31-Z4 rotating gripper holds the red blood cell centrifuge tube to the second opening turntable to open the cap.

[0422] Use a Y4-Z3 or Y4-Z4 1ml pipette to draw up the red blood cell cryopreservation solution and add it to the red blood cell centrifuge tube.

[0423] Use a Y4-Z3 or Y4-Z4 1ml pipette to resuspend the red blood cells in the centrifuge tube.

[0424] i2. Scan the barcode on the cryovial and open the cap. Transfer the resuspended red blood cell solution into the cryovial:

[0425] i2. Implementation details are as follows: The Y4-Z2 rotating gripper holds the cryopreservation tube above the cryopreservation tube barcode scanner for barcode scanning and input into the system, and then the cryopreservation tube is clamped and the cap is opened.

[0426] Use a Y4-Z3 or Y4-Z4 1ml pipette to transfer the mixture from the red blood cell centrifuge tube into one or more cryovials.

[0427] i3. Close the cap of the cryopreservation tube for temporary storage.

[0428] i3. Implementation details: The Y4-Z2 rotating jaws hold the cap of the cryogenic tube and return it to the cryogenic tube rack.

[0429] i4. Repeat steps i1-i3 until the red blood cells in the red blood cell centrifuge tubes are completely aliquoted and frozen.

[0430] i5. Red blood cell cryopreservation tubes are returned to the consumables warehouse;

[0431] i5. Implementation Details:

[0432] The 1ml or 0.5ml cryopreservation tube rack and the red blood cell cryopreservation tubes on it are returned to the consumables warehouse via the Y41-Z1 parallel gripper, the consumables warehouse loading and unloading handling mechanism 2-4 and the consumables warehouse XYZ-R transfer mechanism 2-2, and a new cryopreservation tube rack and new cryopreservation tubes on it are placed on it.

[0433] In another optional embodiment, after the above steps are completed, a multiple PBMC washing process is added. The multiple PBMC washing process is optional, adding one or more PBS washing and centrifugation processes or centrifugation processes using other reagents. See also Figure 21 and Figure 22 The schematic diagram of the specific structure of the third axis actuator and the fourth axis actuator in Embodiment 2 is shown.

[0434] In this example, the PBS washing and centrifugation steps for Example 1 are as follows:

[0435] j. One PBS washing and centrifugation step;

[0436] j1. Remove the centrifuge tube, discard the supernatant, and resuspend in PBS;

[0437] j1. Implementation details;

[0438] The Y31-Z4 rotary gripper holds the centrifuge tubes to the second opening turntable to open the cap.

[0439] Y31-Z3 1ml waste liquid gun to aspirate the waste liquid on the PBMC precipitate.

[0440] Add PBS to the PBMC centrifuge tube using the Y31-Z2 sampling needle, and resuspend the PBMC centrifuge tube by pipetting with a 1ml pipette using the Y4-Z3 or Y4-Z4.

[0441] The Y31-Z4 rotary gripper clamps the PBMC centrifuge tubes, closes the caps, and transports them to the centrifuge tube basket at the temporary storage location 2.

[0442] Repeat steps 1-4 until all the supernatant in the PBMC centrifuge tubes on the centrifuge tube basket is removed and resuspended in PBS.

[0443] j2. The centrifuge tubes are transferred along with the centrifuge tube basket to the temporary storage location of the second centrifuge tube basket;

[0444] j2. Implementation details:

[0445] Y32-Z1 basket grippers hold the PBMC centrifuge tube basket that has been resuspended with PBS and transfer it to the second centrifuge tube basket temporary storage position. Then, they move the PBMC centrifuge tube basket that has not been resuspended with PBS from the second centrifuge tube basket temporary storage position to the centrifuge tube basket processing temporary storage position 2.

[0446] j3. Repeat steps j1-j2 until centrifuge basket 4 is full of centrifuge tubes containing blood samples;

[0447] j4. Transfer the centrifuge tube basket to the centrifuge and perform PBS centrifugation. After centrifugation, remove the centrifuge tube basket.

[0448] j4. Implementation Details:

[0449] Y32-Z1 basket grippers hold the 4x temporary storage position 2 and the centrifuge tube basket on the temporary storage position 2 of the centrifuge tubes, and transport them into the second centrifuge unit in the centrifugation area 5 for PBS centrifugation;

[0450] After centrifugation is complete, the Y32-Z1 basket gripper removes the centrifuge tube basket from the second centrifuge unit and transports it to the second centrifuge tube basket temporary storage position and the centrifuge tube basket processing temporary storage position 2.

[0451] In this embodiment, the blood sample processing equipment can process multiple batches of blood samples through the cooperating loading and unloading conveying mechanism 3 and the actuator 7 described in Embodiment 1. The first axis actuator 33, the second axis actuator 34, the third axis actuator 35 and the fourth axis actuator 36 are used to functionally divide the first blood sample processing area 11 and the second blood sample processing area 12, which can achieve the effect of processing multiple batches of blood samples simultaneously.

[0452] When processing a single batch of blood samples, the first blood sample processing area 11, located on the side of the work platform 4 near the consumables storage 1, is processed by the first axis actuator 33 and the second axis actuator 34 above the first blood sample processing area 11. After processing the blood sample transfer to the second centrifugation stage, the sample is transferred to the second blood sample processing area 12. The third axis actuator 35 and the fourth axis actuator 36 above the second blood sample processing area 12 process the PBMCs and red blood cells of this batch, and then proceed to the PBMC aliquoting and cryopreservation stage.

[0453] When processing multiple batches of blood samples simultaneously, such as processing the first batch N1 and the second batch N2, the first blood sample processing area 11, located on the side of the work platform 4 near the consumables storage 1, has a first-axis actuator 33 and a second-axis actuator 34 above it. After processing the N1 batch of blood samples in the transfer stage to the second centrifugation stage, the samples are transferred to the second blood sample processing area 12. When the third-axis actuator 35 and the fourth-axis actuator 36 above the second blood sample processing area 12 process the N1 batch of PBMCs and red blood cells from the PBMC aliquoting and freezing stage, the first-axis actuator 33 and the second-axis actuator 34 of the first blood sample processing area 11 can begin processing the N2 batch of blood samples in the transfer stage to the second centrifugation stage. This achieves the effect of simultaneously processing the N1 and N2 batches of blood samples.

[0454] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. An automated sample processing apparatus, characterized by, include: The consumables warehouse (1) includes: an old material rack (8) for storing old consumables and / or old blood samples, and / or a new material rack (9) for storing new consumables and / or new blood samples; the consumables warehouse (1) further includes: a consumables warehouse operating mechanism (2) for moving material racks (10) on the consumables warehouse material rack (58); A loading and unloading conveying mechanism (3) is set on the working platform (4) and is configured in conjunction with the consumables warehouse operation mechanism (2); the loading and unloading conveying mechanism (3) includes: a transfer slide rail (5) and a loading and unloading fixing frame (6) slidably set on the transfer slide rail (5); the loading and unloading conveying mechanism (3) is used to receive new material racks (9) conveyed by the consumables warehouse operation mechanism (2) and transfer them to different areas of the working platform (4), or the loading and unloading conveying mechanism (3) is used to transfer old material racks (8) from different areas of the working platform (4) to the consumables warehouse operation mechanism (2); The sample processing device includes: at least two sample processing areas, wherein a plurality of the sample processing areas are arranged sequentially in the extension direction of the transfer slide rail (5); The actuator (7) is configured in conjunction with the loading and unloading conveying mechanism (3) to pick up the material rack (10) located at any position on the transfer slide rail (5) and transfer the material rack (10) to the sample processing device.

2. The automated sample processing apparatus of claim 1, wherein, The sample processing device includes a first blood sample processing area (11) and a second blood sample processing area (12); the actuator (7) is used to drive the blood sample processing tool, and includes a plurality of X-axis moving components (13), Y-axis moving components (14), and Z-axis moving components (15) corresponding to the first blood sample processing area (11) and / or the second blood sample processing area (12), respectively. The sample processing device further includes: a top frame (16) located on the upper side of the working platform (4); the X-axis moving component (13), the Y-axis moving component (14) and the Z-axis moving component (15) are slidably disposed on the top frame (16) under drive.

3. The automated sample processing apparatus of claim 2, wherein, The X-axis moving assembly (13) includes: an X-axis slide rail (70) disposed on the top frame (16) and along the length of the transfer slide rail (5) of the loading and unloading conveying mechanism (3); a horizontal support member (17) slidably disposed on the X-axis slide rail (70); and an X-axis driving part (71) for driving the horizontal support member (17) to slide along the X-axis slide rail (70); the two X-axis slide rails (70) are symmetrically disposed on both sides of the width direction of the top frame (16), and the two ends of the horizontal support member (17) in the length direction are slidably connected to the two X-axis slide rails (70); The Y-axis moving assembly (14) includes: a Y-axis slide rail (72) disposed in the length direction of the horizontal support (17), a vertical support (18) slidably disposed on the Y-axis slide rail (72), and a Y-axis driving part (73) for driving the vertical support (18) to slide along the Y-axis slide rail (72); The Z-axis moving assembly (15) includes: a Z-axis slide rail disposed along the length of the vertical support (18), a blood sample processing tool slidably disposed on the Z-axis slide rail, and a driving part for driving the blood sample processing tool to slide along the Z-axis slide rail.

4. The automated sample processing apparatus of claim 2, wherein, The blood sample processing tool includes: parallel grippers and / or rotary grippers and / or sampling needles (21) and / or pipettes (22) and / or waste pipettes for holding the material rack (10); The parallel grippers are used to transfer the new material rack (9) on the loading and unloading conveying mechanism (3) to the blood sample processing area, and to transfer the old material rack (8) in the blood sample processing area to the loading and unloading conveying mechanism (3); The rotating gripper is used to hold the test tubes on the material rack (10); The sample dispensing needle (21) is used to add reagents to the sample in the test tube; The pipette (22) is used to aspirate, move or add liquid; The waste liquid gun is used to collect waste liquid.

5. The automated sample processing apparatus of claim 2, wherein, The automated sample processing equipment is a blood sample processing equipment; The first blood sample processing area (11) is used to process the stratification of different components of the blood sample; The second blood sample processing area (12) is used to extract and separate different components of the harvested blood sample for cryopreservation; The actuator (7) includes a first-axis actuator (33) and a second-axis actuator (34) corresponding to the first blood sample processing area (11); the first-axis actuator (33) includes a parallel gripper, a rotary gripper, a pipette (22) and a sampling needle (21) for transferring blood collection tubes to centrifuge tubes; the second-axis actuator (34) includes a parallel gripper and a rotary gripper for handling the pipetting and transferring of centrifuge tubes.

6. The automated sample processing apparatus of claim 5, wherein, The actuator (7) further includes a third-axis actuator (35) and a fourth-axis actuator (36) corresponding to the second blood sample processing area (12); the third-axis actuator (35) includes a sampling needle (21), a waste liquid gun, a parallel gripper, and a rotary gripper, used for handling the pipetting and transfer of centrifuge tubes; the fourth-axis actuator (36) includes a pipette (22), a sampling needle (21), a parallel gripper, and a rotary gripper, used for handling the dispensing of different components of blood samples into cryovials.

7. The automated sample processing apparatus of claim 2, wherein, Also includes: Centrifuge unit (23) is set at the bottom of the working platform (4); the working platform (4) is provided with centrifuge tube inlet / outlet (24) for putting test tubes into the centrifuge unit (23) and a disposal port (26) for discarding centrifuge tubes into the centrifuge tube waste box (25); The centrifuge tubes are placed in a centrifuge tube basket (27), and the working platform (4) is also provided with a centrifuge tube temporary storage position (28) for placing the centrifuge tube basket (27); a centrifuge tube transfer assembly (29) is provided between adjacent blood sample processing areas, and the basket gripper moves the centrifuge tube basket (27) to the centrifuge tube transfer assembly (29) to transfer the centrifuge tube basket (27) between the first blood sample processing area (11) and the second blood sample processing area (12).

8. The automated sample processing apparatus of claim 7, wherein, Each of the blood sample processing areas is equipped with a centrifuge unit (23) at the bottom. The centrifuge tube transfer assembly (29) transfers the centrifuge tube basket (27) between adjacent blood sample processing areas. Multiple centrifuge units (23) work simultaneously to improve centrifugation efficiency. or, The centrifuge unit (23) is not provided at the bottom of any of the blood sample processing areas. The centrifuge tube transfer assembly (29) transfers the centrifuge tube basket (27) between adjacent blood sample processing areas so that different blood sample processing areas can share the same centrifuge unit (23).

9. The automated sample processing apparatus of claim 7, wherein, The centrifuge tube transfer assembly (29) includes: a basket slide rail connecting adjacent blood sample processing areas, and a bracket slidably mounted on the basket slide rail; The disposal port (26) is located between adjacent blood sample processing areas, near the basket slide rail.

10. The automated sample processing apparatus of claim 7, wherein, The reagent bottles for equipment cleaning agents and / or the waste bottles for equipment cleaning agents and / or the waste bins for pipette tips of pipettes (22) are located at the bottom of the work platform (4).

11. The automated sample processing apparatus of claim 1, wherein, The loading and unloading conveying mechanism (3) has at least two transfer positions on its loading and unloading fixing frame (6) for respectively accommodating the old material rack (8) and / or the new material rack (9); and / or, The side of the transfer slide rail (5) near the consumables storage (1) is also equipped with a loading / unloading position sensor (30) for detecting the movement position of the loading / unloading fixing frame (6); and / or, The loading and unloading conveying mechanism (3) further includes a loading and unloading conveying motor (31) and a synchronous belt (32); the loading and unloading conveying motor (31) is connected to the loading and unloading fixed frame (6) through the synchronous belt (32) to drive the loading and unloading fixed frame (6) to slide back and forth on the transfer slide rail (5).

12. The automated sample processing apparatus of claim 1, wherein, The sample processing device includes: a blood collection tube barcode scanner, a centrifuge tube barcode scanner, and a cryopreservation tube barcode scanner for synchronizing sample information; the sample processing device sequentially processes blood samples, thereby achieving sample identification, tracking, and management from the start of processing to intermediate products to final packaging; and / or, The automated sample processing equipment also includes: an electronic control panel (37); the electronic control panel (37) is used to monitor and manage the consumables library (1), the blood sample processing area and the blood sample processing status; and the electronic control panel (37) is used to adjust the equipment program flow.

13. The automated sample processing device according to claim 1, characterized in that, The consumables storage rack (58) includes: The consumables warehouse front shelf (38) has multiple cavities (69) along its height direction for accommodating the material rack (10); The consumables warehouse rear rack (39) has multiple cavities (69) along its height direction for accommodating the material rack (10); The operating mechanism (2) of the consumables warehouse is located between the front shelf (38) and the rear shelf (39) of the consumables warehouse.

14. The automated sample processing apparatus of claim 13, wherein, The front shelf (38) and / or the rear shelf (39) of the consumables warehouse are provided with a plurality of cavities (69) for accommodating the material rack (10) in the X' and Z' directions.

15. The automated sample processing apparatus of claim 14, wherein, The consumables warehouse operating mechanism (2) includes: The lifting support (40) is set at the height of the front shelf (38) and the rear shelf (39) of the consumables warehouse; A transport platform (41) is driven to be raised and lowered on the lifting bracket (40). The transport platform (41) is used to accommodate the material rack (10) so as to move the material rack (10) into or out of the cavity (69).

16. The automated sample processing device according to claim 15, characterized in that, The consumables warehouse operating mechanism (2) further includes: a first transport structure (42) for driving the transport platform (41) to move up and down on the lifting bracket (40); and / or, The consumables storage operating mechanism (2) further includes: a second conveying structure (45) for driving the conveying platform (41) to move along the X' axis toward the consumables storage (1) on the lifting bracket (40); the second conveying structure (45) moves the material rack (10) into or out of the consumables storage (1); and / or, The consumables storage operating mechanism (2) further includes: a third conveying structure (48) for driving the transport platform (41) to move along the Y' axis towards the front shelf (38) or the rear shelf (39) of the consumables storage on the lifting bracket (40); the third conveying structure (48) moves the material rack (10) into or out of the front shelf (38) of the consumables storage, or the third conveying structure (48) moves the material rack (10) into or out of the rear shelf (39) of the consumables storage; and / or, The consumables warehouse operating mechanism (2) further includes: a rotating structure (51) for driving the transport platform (41) to rotate along the S-axis on the lifting bracket (40); the rotating structure (51) is used to drive the transport platform (41) to move toward the front shelf (38) or the rear shelf (39) of the consumables warehouse.

17. The automated sample processing apparatus of claim 16, wherein, The first transport structure (42) includes: a lifting slide rail (43) disposed on the lifting bracket (40), and a first drive source (44) for driving the lifting action of the transport platform (41); The second transport structure (45) includes: an X-axis support arm (46) and a second drive source (47); one end of the X-axis support arm (46) is slidably connected to the lifting slide rail (43) and the other end is connected to the transport platform (41); The third transport structure (48) includes: a Y-axis support arm (49) and a third drive source (50); the Y-axis support arm (49) is slidably disposed on the X-axis support arm (46) along the Y' axis direction under drive; The rotating structure (51) includes a drive shaft (52) and a fourth drive source (53); a slider (54) is slidably disposed in the extension direction of the X-axis support arm (46), and the fourth drive source (53) is disposed on the slider (54); and the drive shaft (52) disposed on the fourth drive source (53) drives the Y-axis support arm (49) to rotate.

18. The automated sample processing apparatus of claim 17, wherein, The transport platform (41) is a Y-axis support arm (49), which includes an upper base (55) and a lower base (56) disposed on the sliding member (54); The upper base (55) is provided with a guide groove (57) with a transmission rack, and the third drive source (50) is disposed on the lower base (56) and drives the upper base (55) to slide relative to the lower base (56) along the Y' axis through a gear rack structure.

19. The automated sample processing apparatus of claim 12, wherein, The consumables warehouse (1) also includes: A first position sensor (19) is installed on the transport platform (41) of the consumables warehouse operating mechanism (2) to detect whether the material rack (10) is placed on the consumables warehouse operating mechanism (2). And / or, a plurality of second position sensors are provided corresponding to the cavities (69) of the material rack (10) to detect the state inside the cavities (69), the state including an idle state and a used state, so that the consumables storage operating mechanism (2) transports the material rack (10) into the vacant cavity (69).

20. The automated sample processing apparatus of claim 19, wherein, The control panel (37) of the electrical control area includes: a plurality of status display structures corresponding to the cavity (69), the status display structures being communicatively connected to the second position sensor, for displaying the status of the cavity (69) and the type of the material rack (10); The status display structure includes: A first indicator light has a first illuminated state to indicate that the cavity (69) is in the used state, and a second illuminated state to indicate that the cavity (69) is in the idle state. The second indicator light is a different color from the first indicator light. The second indicator light has a third state to indicate that the cavity (69) is used to accommodate the new material rack (9). The second indicator light also has a fourth state to indicate that the cavity (69) is used to accommodate the old material rack (8).

21. The automated sample processing apparatus of claim 1, wherein, Also includes: Centrifuge tube swing angle assembly (59), the centrifuge tube swing angle assembly (59) includes: a centrifuge tube fixing block (60) for accommodating centrifuge tubes and a driven rotation angle; the rotating gripper on the actuator (7) is used to place the centrifuge tubes in the accommodating groove of the centrifuge tube fixing block (60); The centrifuge tube holder (60) has a liquid addition position and a reagent mixing position; in the liquid addition position, the centrifuge tube holder (60) is driven to rotate and tilt the sample addition position so that the sample needle (21) and / or pipette (22) add or transfer reagents into the centrifuge tube; in the reagent mixing position, the centrifuge tube holder (60) is driven to reciprocate and tilt to achieve the mixing of the centrifuge tube in the centrifuge tube holder (60).

22. The automated sample processing apparatus of claim 21, wherein, The centrifuge tube swing angle assembly (59) also includes: A control motor (61) is connected to the centrifuge tube fixing block (60) via a drive shaft with a coupling (62) to drive the centrifuge tube fixing block (60) to rotate around the drive shaft as the central axis. A fixed frame (63) is provided, on which the centrifuge tube fixing block (60) and / or the control motor (61) are fixed.

23. The automated sample processing device according to claim 22, characterized in that, The detection mechanism includes: a third position sensor (64) and / or a fourth position sensor and / or a fifth position sensor; the third position sensor (64) is used to detect whether the centrifuge tube fixing block (60) is in a vertical state, the fourth position sensor is used to detect whether the centrifuge tube fixing block (60) is in an inclined sample addition position; the fifth position sensor is used to detect whether a centrifuge tube is placed in the receiving groove of the centrifuge tube fixing block (60).

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