Tube holding device, cap opening device and sample processing apparatus

Abstract

The utility model provides a kind of pipe holding device, uncapping device and sample processing equipment, pipe holding device includes elastic force storage transmission member, and the rigidity characteristic of the elastic force storage transmission member is used to realize transmission, and the torsional characteristic of the elastic force storage transmission member is used to realize force storage, when the motor of pipe holding device appears reverse motion after the clamping assembly of pipe holding device clamps target pipe, elastic force storage transmission member can release stored force to offset the attenuation force caused by motor reverse motion, avoid the attenuation of the clamping force of clamping assembly, so that the clamping assembly can continuously and stably clamp target pipe;And the elastic force storage transmission member simple structure, low in cost and good universality.

Description

Technical Field

[0001] This utility model relates to the field of in vitro diagnostic products (IVD), and in particular to a tube holding device, a cap opening device, and a sample processing device. Background Technology

[0002] In the field of in vitro diagnostics, samples to be analyzed are typically carried in sample containers such as sample tubes. To prevent sample spillage or contamination, a cap is usually placed on the sample tube to seal it, facilitating sample transportation and management. Before sample analysis, the cap usually needs to be removed. Manually removing the cap is inefficient and poses a risk of biocontamination; therefore, automated capping mechanisms are currently commonly used to automatically remove the caps from the sample tubes.

[0003] Automatic cap-opening mechanisms typically include at least a cap-opening robotic arm and a tube-holding mechanism. The tube-holding mechanism holds the sample tube that needs to be opened, while the cap-opening robotic arm grips the cap on the sample tube and applies a force away from the sample tube, thereby separating the cap from the sample tube. In related technologies, the tube-holding mechanism uses a stepper motor as a power source to drive the gripper and control the opening and closing of the gripper. Due to the physical characteristics of stepper motors (each movement corresponds to a specific angle and cannot continuously exert force at any position), when the stepper motor drives the gripper to clamp the sample tube, the stepper motor stops rotating. At this time, the stepper motor's motion may be unbalanced, with a reverse movement of 0.5 steps (i.e., the stepper motor misses a step), resulting in a decrease in the clamping force of the gripper on the sample tube. In other words, the stepper motor's step loss can cause the clamping mechanism to loosen its grip on the sample tube. When the opening robot grips the cap on the sample tube and applies a force away from the sample tube, the sample tube and the cap may move together, causing the sample tube to move upwards during the opening process or even causing the opening to fail. Utility Model Content

[0004] In view of the problems of the related technologies described above, the main objective of this application is to provide a tube-holding device, a cap-opening device, and a sample processing equipment to solve the problem that the tube-holding mechanism in the related technologies cannot clamp the sample tube due to motor step loss.

[0005] On the one hand, a pipe clamping device is provided, including a mounting plate;

[0006] A mounting bracket fixed to the mounting plate, the mounting bracket having a first mounting cavity, a second mounting cavity and a partition plate separating the two, the partition plate constituting the top plate of the first mounting cavity and the bottom plate of the second mounting cavity, the mounting plate constituting the bottom plate of the first mounting cavity, and the second mounting cavity having a top plate corresponding to its bottom plate;

[0007] An elastic energy storage transmission component is located within the first mounting cavity;

[0008] The first transmission component has its lower end rotatably fixed to the mounting plate, and its upper end passes through the first mounting cavity and is fixedly connected to the lower end of the elastic energy storage transmission component.

[0009] The second transmission component has its lower end fixedly connected to the upper end of the elastic energy storage transmission component and rotatably fixedly connected to the isolation plate, and its upper end passes through the isolation plate into the second mounting cavity and is rotatably fixed to the top plate of the second mounting cavity.

[0010] The third transmission component is disposed in the second mounting cavity and is connected to the second transmission component in a transmission manner. Its upper end and lower end are respectively rotatably fixed to the top plate and bottom plate of the second mounting cavity.

[0011] A clamping assembly is mounted on a mounting frame and is connected in a driving manner to the third transmission assembly or to the second transmission assembly and the third transmission assembly;

[0012] The driving component is connected to the first transmission component and drives the first transmission component to rotate so that the rigidity of the elastic energy storage transmission component drives the second transmission component to rotate. The second transmission component drives the third transmission component to rotate so that the clamping component can open and close. During the process of the clamping component closing and clamping the target tube, the lower end of the elastic energy storage transmission component generates an angular displacement relative to the upper end.

[0013] Optionally, the first transmission assembly includes a first transmission shaft and a first transmission member fixed on the first transmission shaft. The lower end of the first transmission shaft is rotatably fixed on the mounting plate, and the upper end passes through the first mounting cavity and is fixedly connected to the lower end of the elastic energy storage transmission member. The first transmission member is connected to the output end of the drive assembly.

[0014] The second transmission assembly includes a second transmission shaft and a second transmission component fixed on the second transmission shaft. The lower end of the second transmission shaft is fixedly connected to the upper end of the elastic energy storage transmission component and is rotatably fixedly connected to the isolation plate. The upper end passes through the isolation plate and enters the second mounting cavity and is rotatably fixed on the top plate of the second mounting cavity.

[0015] The third transmission assembly includes a third transmission shaft and a third transmission component fixed on the third transmission shaft. The third transmission shaft is located in the second mounting cavity and on one side of the second transmission shaft. Its upper end and lower end are rotatably fixed on the top plate and bottom plate of the second mounting cavity, respectively, so that the second transmission component and the third transmission component are connected in a transmission manner.

[0016] The clamping assembly includes a fourth drive shaft and a clamping gear set. The fourth drive shaft is fixed to the mounting bracket. The clamping gear set includes an upper clamping gear and a lower clamping gear, which are rotatably fixed to the fourth drive shaft. One end of the upper clamping gear is an upper clamping part, and the opposite end is an upper gear part. One end of the lower clamping gear is a lower clamping part, and the opposite end is a lower gear part. The upper gear part and the lower gear part are connected to the third transmission member, or the upper gear part and the lower gear part are connected to the second transmission member and the third transmission member.

[0017] Optionally, it also includes a cap opening detection component, which includes a sample holder detection module, a sample tube detection module, a first height detection module, and a second height detection module arranged sequentially from bottom to top on the mounting frame;

[0018] The sample holder detection module detects whether a sample holder is present at the opening position, the sample tube detection module detects whether a target tube is present on the sample holder, the first height detection module detects whether there is an obstruction at the corresponding first height, and the second height detection module detects whether there is an obstruction at the corresponding second height.

[0019] Optionally, the system further includes a drive control detection component, which includes a turntable, a first stop position detection module, and a second stop position detection module. The upper end of the second drive shaft passes through the top plate of the second mounting cavity. The turntable is fixed to the upper end of the second drive shaft and rotates with the second drive shaft. Both the first stop position detection module and the second stop position detection module are located at target positions on the top plate of the second mounting cavity to detect the detection window on the turntable. When the first stop position detection module switches from detecting the detection window on the turntable to not detecting the detection window, and the second stop position detection module switches from not detecting the detection window on the turntable to detecting the detection window, it indicates that the gripper gear set has reached the open stop position. When the first stop position detection module switches from not detecting the detection window on the turntable to detecting the detection window, and the second stop position detection module switches from detecting the detection window on the turntable to not detecting the detection window, it indicates that the gripper gear set has reached the closed stop position.

[0020] On the other hand, a cap-opening device is also provided, including a cap-opening robot and a tube-holding device as described above. The tube-holding device is configured to hold a target portion of the target tube, which is located under the cap of the target tube. The cap-opening robot is configured to perform a cap-opening operation on the target tube held by the tube-holding device.

[0021] Another aspect provides a sample processing device, including a main body with a worktable, a sample injection component disposed on the worktable, a control module, and an opening device as described above located on the worktable;

[0022] The sample delivery assembly is configured to carry and deliver a sample container to the workbench;

[0023] The control module is configured to control the cap-opening robot to pick up at least one sample tube from the sample injection component to the cap-opening position, control the tube-holding device to clamp the target part of the sample tube at the cap-opening position, and control the cap-opening robot to perform a cap-opening operation on the sample tube clamped by the tube-holding device; the target part is located under the cap of the sample tube.

[0024] Beneficial effects

[0025] The tube-holding device, cap-opening device, and sample processing equipment provided in this application include an elastic force-storing transmission component. The rigidity of the elastic force-storing transmission component enables transmission, and the torque characteristics of the elastic force-storing transmission component enable force storage. When the clamping component of the tube-holding device clamps the target tube and the motor of the tube-holding device moves in the opposite direction, the elastic force-storing transmission component can release the stored force to counteract the attenuation force caused by the reverse movement of the motor, thus preventing the clamping force of the clamping component from attenuating. This allows the clamping component to continuously and stably clamp the target tube. Furthermore, the elastic force-storing transmission component has a simple structure, low cost, and good versatility. Attached Figure Description

[0026] Figure 1 Schematic diagram of the pipe-holding device provided in the embodiments of this utility model Figure 1 ;

[0027] Figure 2 for Figure 1 Cross-section of the tube clamping device Figure 1 ;

[0028] Figure 3 for Figure 1 Cross-section of the tube clamping device Figure 2 ;

[0029] Figure 4 Schematic diagram of the pipe-holding device provided in the embodiments of this utility model Figure 2 ;

[0030] Figure 5 A schematic diagram of the transmission connection structure of the pipe-holding device provided in this embodiment of the utility model;

[0031] Figure 6 This is a schematic diagram of the structure of the pipe-holding device for clamping the target pipe provided in an embodiment of the present invention;

[0032] Figure 7An exploded view of the mounting bracket for the pipe clamping device provided in this embodiment of the utility model;

[0033] Figure 8 A schematic diagram of the tube-holding device provided in an embodiment of this utility model being installed on a transmission track;

[0034] Figure 9 Schematic diagram of the sample processing device provided in the embodiments of this utility model Figure 1 ;

[0035] Figure 10 for Figure 9 Enlarged schematic diagram of the middle L section;

[0036] Figure 11 Schematic diagram of the sample processing device provided in the embodiments of this utility model Figure 2 ;

[0037] Figure 12 A top view of the workbench is provided for an embodiment of this utility model;

[0038] Figure 13 A schematic diagram of the robotic arm assembly provided in an embodiment of this utility model;

[0039] Figure 14 A schematic diagram of the robotic arm assembly holding a sample tube provided in an embodiment of this utility model;

[0040] Figure 15 A schematic diagram showing the orientation of the robotic arm assembly holding the sample tube according to an embodiment of this utility model. Detailed Implementation

[0041] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application.

[0042] The tube-holding device provided in this embodiment can be applied to, but is not limited to, cap-opening devices. This device can apply a continuous and stable clamping force to the target tube (including but not limited to sample tubes), preventing loosening of the clamping force and reducing the likelihood of the target tube shifting upwards or even failing to open the cap due to loosening of the clamping force during the cap-opening process. Furthermore, the tube-holding device provided in this embodiment can still use a stepper motor as the drive power source. Stepper motors have advantages such as simple control, low cost, and durability. That is, the tube-holding device in this embodiment does not require motor adjustment and does not need to use a more expensive and complex servo motor, further facilitating cost reduction and efficiency improvement.

[0043] The pipe-holding device provided in this embodiment includes an elastic force-storing transmission component. The rigidity of the elastic force-storing transmission component is used to achieve transmission, and the torsional characteristics of the elastic force-storing transmission component are used to achieve force storage (i.e., stored force). When the motor of the pipe-holding device moves in the opposite direction after the clamping component of the pipe-holding device clamps the target pipe, the elastic force-storing transmission component can release the stored force to offset the attenuation force caused by the reverse movement of the motor, thereby avoiding the attenuation of the clamping force of the clamping component and enabling the clamping component to continuously and stably clamp the target pipe. Moreover, the elastic force-storing transmission component has a simple structure, low cost, and good versatility.

[0044] To facilitate understanding, the tube-holding device provided in this embodiment will be described below with reference to the accompanying drawings. See also... Figures 1 to 8 As shown, the pipe-holding device includes a mounting plate 6, a mounting bracket 8, a drive assembly 7, an elastic energy-storing transmission component 805, a first transmission assembly 80, a second transmission assembly 81, a third transmission assembly 82, and a clamping assembly 83, wherein:

[0045] Both the mounting bracket 8 and the drive assembly 7 are mounted on the mounting plate 6 (in other examples, the drive assembly 7 may not be mounted on the mounting plate 6, but may be mounted in a location independent of the mounting plate 6). The mounting bracket 8 has a first mounting cavity 801, a second mounting cavity 802, and an isolation plate 803 that isolates the two. See details. Figures 2 to 3As shown, the isolation plate 803 constitutes the top plate of the first mounting cavity 801 and the bottom plate of the second mounting cavity 802. The mounting plate 6 constitutes the bottom plate of the first mounting cavity 801. The second mounting cavity 802 has a top plate 804 corresponding to its bottom plate. The elastic energy storage transmission component 805 is located inside the first mounting cavity 801. The lower end of the first transmission component 80 is rotatably fixed to the mounting plate 6. The upper end of the first transmission component 80 passes through the first mounting cavity 801 and is fixedly connected to the lower end 8052 of the elastic energy storage transmission component 805. The lower end of the second transmission component 81 is fixedly connected to the upper end 8051 of the elastic energy storage transmission component 805 and is rotatably fixedly connected to the isolation plate 803. The upper end of the second transmission component 81 passes through the isolation plate 803 and enters the second mounting cavity 802. The first transmission assembly 80 is rotatably fixed to the top plate 804 of the second mounting cavity 802; the third transmission assembly 82 is disposed in the second mounting cavity 802 and is connected to the second transmission assembly 81. The upper and lower ends of the third transmission assembly 82 are rotatably fixed to the top plate 804 and the bottom plate of the second mounting cavity 802, respectively; the clamping assembly 83 is mounted on the mounting frame 8 and is connected to the third transmission assembly 82 or to both the second and third transmission assemblies 81; the driving assembly 7 is connected to the first transmission assembly 80. The driving assembly 7 drives the first transmission assembly 80 to rotate so that the rigidity of the elastic energy storage transmission assembly 805 drives the second transmission assembly 81 to rotate. When the second transmission assembly 81 rotates, it drives the third transmission assembly 82 to rotate so that the clamping assembly 83 can open and close.When the clamping assembly 83 clamps the target tube during the closing process, the clamping assembly 83 will encounter resistance, and this resistance will be transmitted to the upper end 8051 of the elastic force storage transmission member 805. As the clamping assembly 83 gradually clamps the target tube, the drive assembly 7 continues to drive the first transmission assembly 80 to rotate, so as to drive the lower end 8052 of the elastic force storage transmission member 805 to continue to rotate. However, the upper end 8051 of the elastic force storage transmission member 805 is obstructed, causing the elastic force storage transmission assembly 805 to be obstructed during the process of the clamping assembly 83 closing and clamping the target tube. Its lower end 8052 generates an angular displacement relative to its upper end 8051 (i.e., to store torque). When the drive assembly 7 stops driving the first transmission assembly 80 to rotate, if the drive motor of the drive assembly 7 experiences reverse motion (i.e., step loss), the lower end 8052 of the elastic power storage transmission member 805 loses its constraint force and thus recovers the angular displacement (i.e., releases the stored torque, that is, it will restore its original shape and generate a restoring torque). At this time, since it is the lower end 8052 of the elastic power storage transmission member 805 that has undergone angular displacement, its upper end 8051... 051 has no angular displacement or only a very small angular displacement compared to the upper end 8051. Simultaneously, since the upper end 8051 of the elastic energy storage transmission component 805 is rotatably fixed to the isolation plate 803 via the second transmission assembly 81 (i.e., the upper end 8051 can be considered a fixed end), when the lower end 8052 of the elastic energy storage transmission component 805 recovers its angular displacement, the upper end 8051 of the elastic energy storage transmission component 805 will essentially not rotate in the opposite direction (that is, when the lower end 8052 of the elastic energy storage transmission component 805 recovers its angular displacement, the entire...). The effect is equivalent to the lower end 8052 of the elastic energy storage transmission component 805 rotating while the upper end 8051 remains essentially stationary. This ensures that both the second transmission component 81 and the third transmission component 82 remain essentially stationary, preventing the clamping force applied to the target tube by the clamping component 83 from diminishing. This ensures that the clamping component 83 continuously and stably clamps the target tube, minimizing the upward movement of the target tube from the clamping component 83 towards the opening robot during the cap-opening process due to the clamping component 83 failing to clamp it properly. Furthermore, this tube-holding device only requires the addition of an elastic energy storage transmission component 805 between the first transmission component 80 and the second rotation component 81, without requiring modifications to other structures or components of the tube-holding device. The structure is simple and low-cost. In particular, the drive component 7 of the tube-holding device provided in this embodiment can still use a stepper motor that is simple to control, low-cost, and robust. The problem of the stepper motor failing to clamp the target tube due to step loss is extremely rare, eliminating the need for a more expensive and complex servo motor. That is, in some examples of this embodiment, the driving component 7 may include a driving motor 701, and the driving motor 701 is preferably a stepper motor, but a servo motor may also be used.

[0046] It should be understood that, in this embodiment, the elastic power storage transmission component 805 has the following rigidity: on the one hand, it satisfies the requirement that the first transmission component 80 drives the transmission component 81 and the third transmission component 82 to rotate; on the other hand, it needs to satisfy the requirement that, during the closing process of the clamping component 83, when the clamping of the target tube is obstructed, the driving component 7 continues to drive the first transmission component 80 to rotate, so that the lower end 8052 of the elastic power storage transmission component 805 continues to rotate and generate angular displacement, while the upper end of the elastic power storage transmission component 805 basically remains stationary.

[0047] In one embodiment, the first transmission assembly 80 includes a first transmission shaft 806 and a first transmission member 807 fixed on the first transmission shaft 806. The lower end of the first transmission shaft 806 is rotatably fixed on the mounting plate 6 (for example, it can be fixed on the mounting plate 6 by means of, but not limited to, a rotary bearing). The upper end of the first transmission shaft 806 passes through the first mounting cavity 801 and is fixedly connected to the lower end 8052 of the elastic energy storage transmission member 805. The first transmission member 807 is drivenly connected to the output end of the drive assembly 7. In one example, the drive assembly 7 includes a drive motor 701 and a second gear disposed on the shaft of the drive motor 701. The first gear and the second gear are meshed, that is, the drive motor 701 and the first transmission member 807 can be drivenly connected by the transmission gear. In another example, the first transmission component 807 is a first belt drive pulley fixed on the first transmission shaft 806. The drive assembly 7 includes a drive motor 701, a second belt drive pulley 702 disposed on the shaft of the drive motor 701, and a transmission belt 703 straddling the first and second belt drive pulleys. The drive motor 701 drives the first transmission component 807 to rotate via the second belt drive pulley 702 and the transmission belt 703, which in turn drives the first transmission shaft 806 to rotate via the first transmission component 807. That is, in this embodiment, the drive motor 701 can drive the first transmission shaft 806 to rotate either via belt transmission or via a gear engagement.

[0048] The second transmission assembly 81 includes a second transmission shaft 811 and a second transmission member 812 fixedly mounted on the second transmission shaft 811. The lower end of the second transmission shaft 811 is fixedly connected to the upper end of the elastic energy storage transmission member 805 and is rotatably fixedly connected to the isolation plate 803. The upper end passes through the isolation plate 803 and enters the second mounting cavity 802, and is rotatably fixedly mounted on the top plate of the second mounting cavity 802. The third transmission assembly 82 includes a third transmission shaft 821 and a third transmission member fixedly mounted on the third transmission shaft 821. The third transmission shaft 821 is located in the second mounting cavity 802 and is located on one side of the second transmission shaft 811. The upper end and lower end of the third transmission shaft 821 are rotatably fixedly mounted on the top plate 804 and the bottom plate of the second mounting cavity 802, respectively, so that the second transmission member 812 and the third transmission member are connected in a transmission manner.

[0049] The clamping assembly 83 includes a fourth drive shaft 83 and a clamping gear set. The fourth drive shaft 83 is fixed to the mounting bracket 8. The clamping gear set includes an upper clamping gear 831 and a lower clamping gear 832, which are rotatably fixed to the fourth drive shaft 83. One end of the upper clamping gear 831 is an upper clamping part 8311, and the opposite end is an upper gear part 8312. One end of the lower clamping gear 832 is a lower clamping part 8321, and the opposite end is a lower gear part 8322. The upper gear part 8312 and the lower gear part 8322 are connected to a third transmission member, or the upper gear part 8312 and the lower gear part 8322 are connected to a second transmission member 812 and a third transmission member. For example, the upper gear part 8312 and the lower gear part 8322 are connected to the second transmission member 812 and a third transmission member. See example. Figure 5 As shown: The second transmission component 812 can be a third gear. The third transmission component may include a fourth gear 822 and a fifth gear 823 arranged sequentially from bottom to top on the second transmission shaft 811. The lower part of the third gear meshes with the fifth gear 823, and the upper part of the third gear meshes with the lower gear portion 8322. The fourth gear 822 meshes with the upper gear portion 8312. In this example, the upper and lower parts of the third gear can simultaneously mesh with the lower gear portion 8322 and the fifth gear 823, respectively. The rotation of the lower gear portion 8322 and the fifth gear 823 can be achieved through a single third gear, simplifying the structure and reducing costs. In this example, the fifth gear 823 is a reversing gear. After the fifth gear 823 reverses direction, the rotation direction of the upper gear portion 8312 driven by the fourth gear 822 is opposite to the rotation direction of the lower gear portion 8322, thereby realizing the opening and closing control of the upper clamping portion 8311 and the lower clamping portion 8321. In other examples, at least one of the above meshing connections can be replaced by a belt drive, which will not be elaborated here.

[0050] The upper gear portion 8312 and the lower gear portion 8322 are connected to the third transmission member. Compared to the previous example, in this example, the third transmission member may be further provided with a gear set that meshes with the lower gear portion 8322 to replace the meshing connection between the upper part of the third gear and the lower gear portion 8322. Further details will not be provided here.

[0051] In one embodiment, to save longitudinal space, the drive assembly 7 and the mounting bracket 8 are fixed side-by-side on the mounting plate 6, and the drive motor 701 of the drive assembly 7 and the mounting bracket 8 are located on the same side of the mounting plate 6. See, for example... Figure 2As shown, the drive motor 701 and the mounting bracket 8 are both located on one side of the mounting plate 6 (considered the front, and the other side of the mounting plate 6 is considered the back). The output end of the drive motor 701 extends from the front of the mounting plate 6 to the back of the mounting plate 6. The lower end of the first drive shaft 806 is rotatably fixed to the back of the mounting plate 6 by an L-shaped fastener 800 (it can be fixed by, but is not limited to, a rotating bearing, thereby reducing rotational friction). The upper end of the first drive shaft 806 extends from the back of the mounting plate 6 to the front of the mounting plate 6 and rises into the first mounting cavity 801, where it is fixedly connected to the lower end 8052 of the elastic energy storage transmission component 805 within the first mounting cavity 801 (this fixed connection is non-rotatable). This arrangement allows the drive motor 701 and the mounting bracket 8, which occupy a relatively large space, to be located on the front of the mounting plate 6, thereby saving longitudinal space in the pipe clamping device.

[0052] In another embodiment, the drive assembly 7 and the mounting bracket 8 can be arranged parallel to each other along the longitudinal axis of the mounting bracket 8, thereby solving the problem of lateral space. See also: Figures 1 to 8 As shown, the elastic power storage transmission component 805 is cylindrical and has a through hole 8053 penetrating its upper end 8051 and lower end 8052. That is, the elastic power storage transmission component 805 has a hollow structure, which can reduce the weight of the elastic power storage transmission component 805 while ensuring the rigidity requirements of the elastic power storage transmission component 805. The upper end of the first transmission shaft 806 of the first transmission assembly 80 passes through the through hole at the lower end of the elastic power storage transmission component 805 and is fixedly connected to the elastic power storage transmission component 805. The lower end of the second transmission shaft 811 of the second transmission assembly 81 passes through the through hole at the upper end of the elastic power storage transmission component 805 and is fixedly connected to the elastic power storage transmission component 805. In one example, the elastic energy storage transmission component 805 can be made of hollow spring. Compared with solid springs of the same material and diameter, hollow springs can reduce weight by about 22% to 40%, which can significantly reduce material costs and weight. Moreover, under the same load and size requirements, the stiffness and maximum deflection of hollow springs are basically the same as those of solid springs, which can meet the performance requirements. Furthermore, due to the reduced mass, hollow springs have a higher natural frequency, which helps to avoid the resonance range. The "angular displacement" of a spring usually refers to the torsional angle generated by its lower end (or upper end) relative to the other end when it is subjected to force. The greater the stiffness of the spring, the smaller the angular displacement caused by a unit torque. For the specific relationship, please refer to the following formula (1):

[0053] kθ=T / θ=GJ / L................................................(1)

[0054] Where: kθ is the torsional stiffness (N·mm / rad), T is the torque, θ is the angular displacement (rad), G is the material shear modulus, J is the polar moment of inertia (calculated separately for circular tubes / rods), and L is the effective length. It can be seen that, under the same torque, the greater the torsional stiffness, the smaller the angular displacement, and vice versa. Therefore, a suitable elastic energy storage transmission component 805 can be selected based on the above correspondence and the requirements of the actual application scenario.

[0055] In one embodiment, the tube-holding device further includes a cap-opening detection component, which can identify whether a target tube to be opened is currently present, and whether the cap has been successfully opened and / or whether there is an abnormality in the cap opening. See example below. Figure 6 and Figure 8 As shown, the lid opening detection assembly includes, from bottom to top, a sample holder detection module 843, a sample tube detection module 844, a first height detection module 845, and a second height detection module 846, which are sequentially arranged on the mounting bracket 8, wherein:

[0056] The sample holder detection module 843 is used to detect whether there is a sample holder 90 at the opening position. The sample holder is used to carry the target tube 91 (such as a sample tube). The target tube 91 can be carried on the sample holder 90 for subsequent transmission.

[0057] The sample tube detection module 844 is used to detect whether there is a target tube 91 on the sample holder 90. Based on its detection result, it can be determined whether there is a target tube 91 on the sample holder 90. Then, it can be confirmed whether the target tube 91 needs to be opened based on whether the target tube 91 has been opened and / or whether it has been successfully opened.

[0058] The first height detection module 845 detects whether there is an obstruction at the corresponding first height. Based on the detection result of the first height detection module 845, it can be confirmed whether the first target tube of the first size specification (e.g., a height of 75mm) has been successfully opened. For example, if the target tube 91 on the current sample holder 90 is the first target tube and the opening robot has performed the opening operation, if the first height detection module 845 still detects an obstruction, it indicates that the current opening is abnormal. This abnormality may be that the opening failed, or that the opening was successful but the first target tube moved upward on the sample holder 90. In some examples, the abnormality can be further investigated by combining whether the opening robot successfully grips the tube cap. For example, if it is determined that the opening robot successfully grips the tube cap, it can be indicated that the current opening is successful, and the abnormality is that the first target tube moved upward on the sample holder 90. In this way, the monitoring of whether the opening of the first target tube is abnormal can be completed.

[0059] The second height detection module 846 detects whether there is an obstruction at the corresponding second height. Based on the detection result of the second height detection module 846, it can be confirmed whether the second target tube of the second size specification (higher than the first target tube, such as 100mm in height) has been successfully opened. For example, if the target tube 91 on the current sample holder 90 is the second target tube and has been opened by the opening robot, if the second height detection module 846 still detects an obstruction, it indicates that the current opening is abnormal. This abnormality may be that the opening failed or that the opening was successful but the second target tube moved upward on the sample holder 90. In some examples, it is also possible to combine whether the opening robot successfully grips the tube cap to further investigate the abnormality, or to further detect whether the target tube has moved upward to determine whether the abnormality is an opening failure.

[0060] It should be understood that at least one of the above-mentioned sample holder detection module 843, sample tube detection module 844, first height detection module 845, and second height detection module 846 may be, but is not limited to, sensors such as through-beam optical couplers, reflective optical couplers, and cameras. Preferably, through-beam optical couplers or reflective optical couplers, which are lower in cost and simpler to analyze and control, may be used.

[0061] In one embodiment, the tube-holding device further includes a drive control and detection component, see [link to relevant documentation]. Figure 1As shown, the drive control detection assembly includes a turntable 840, a first stop position detection module 841, and a second stop position detection module 842. The upper end of the second drive shaft 811 passes through the top plate of the second mounting cavity 802. The turntable 840 is fixed to the upper end of the second drive shaft 811 and rotates with the second drive shaft 811. The first stop position detection module 841 and the second stop position detection module 842 are both set at the target position on the top plate of the second mounting cavity 802 to detect the detection window q on the turntable. When the first stop position detection module 841 changes from detecting the detection window q on the turntable to not detecting the detection window q, the second stop position detection module 842... When the stop detection module 842 changes from not detecting the detection window q on the turntable to detecting the detection window q, it indicates that the gripper gear set 83 has reached the open stop position (i.e., the gripper has opened to the correct position). At this time, the drive assembly 7 can be controlled to stop the opening drive. When the first stop detection module 841 changes from not detecting the detection window q on the turntable to detecting the detection window q, and the second stop detection module 842 changes from detecting the detection window q on the turntable to not detecting the detection window q, it indicates that the gripper gear set 83 has reached the closed stop position (i.e., the gripper has closed and clamped the target tube). At this time, the drive assembly 7 can be controlled to stop the closing drive. Thus, the turntable 840 rotates synchronously with the second transmission shaft 811, and the rotational displacement is detected by the cooperation of the first stop detection module 841 and the second stop detection module 842 with the detection window q on the turntable 840. The drive assembly 7 is then controlled based on the detection results, resulting in a simple and compact structure. In some examples, at least one of the first stop detection module 841 and the second stop detection module 842 may be, but is not limited to, a through-beam optical coupler sensor or a reflective optical coupler sensor.

[0062] To facilitate understanding, the following will be combined with Figures 1 to 8 The working process of the exemplified tube-holding device is described. Figure 8 This is a schematic diagram of the tube holding device on the transport track. The sample seat detection module 843 can detect whether there is a sample seat 90 at the corresponding position (opening position) on the transport track, and the sample tube detection module 844 can detect whether there is a target tube 91 on the sample seat 90. If there is no target tube, it means that the sample seat 90 is currently empty. The target tube 91 that needs to be opened (for example, the target tube 91 after serum quality identification can be transferred to the sample seat 90 by, but not limited to, the opening robot) can be transferred to the sample seat 90. Then the clamping component 83 of the tube holding device clamps the target tube 91, and the opening robot performs the opening operation on the clamped target tube 91.

[0063] The process of the clamping assembly 83 of the pipe-holding device clamping the target pipe 91 (i.e., the change from open to clamped state) can be described as follows: the drive motor 701 rotates in the forward direction, driving the second belt drive pulley 702 (i.e., the motor drive pulley) to rotate. The rotation of the second belt drive pulley 702 drives the first transmission component 807 (first belt drive pulley) to rotate through the transmission belt 703. The first transmission component 807 is connected to the elastic energy storage transmission component 805 (i.e., energy storage mechanism) through the first transmission component 807 (rigid shaft). Therefore, the elastic energy storage transmission component 805 rotates. Because the elastic energy storage transmission component 805 has a certain rigidity, the clamping jaws of the clamping assembly 83 initially change from the open to the clamped state. Since the upper clamping portion 8311 and lower clamping portion 8321 of component 83 have virtually no resistance, the elastic energy storage transmission component 805 can be considered rigid and will not produce angular displacement as it rotates with the drive motor. Therefore, the rotation of the second transmission component 812 (i.e., the driving wheel) on the second transmission shaft 811 drives the fifth gear 823 (driven gear) and the lower gear portion 8322 to rotate. The rotation of the fifth gear 823 drives the upper fourth gear 822 to rotate, and the rotation of the fourth gear 822 drives the upper gear portion 8312 to rotate. The rotation of the upper gear portion 8312 and the lower gear portion 8322 causes the upper clamping portion 8311 and the lower clamping portion 8321 to continuously move closer to the outer wall of the target tube. At this time, the drive motor 701 continues to rotate. Due to the high rigidity of the outer wall of the target tube, the upper gear 8312 and the lower gear 8322 continue to rotate. All the kinetic energy of the drive motor 701 is absorbed by the energy storage mechanism of the elastic energy storage transmission component 805 (that is, the lower end 8052 of the elastic energy storage transmission component 805 gradually generates angular displacement relative to the upper end 8051). When the movement reaches a certain number of steps, and the clamping force between the upper clamping part 8311 and the lower clamping part 8321 and the outer wall of the target tube meets the requirements, the first stop position detection module 841 changes from not detecting the detection window q on the turntable to detecting the detection window q (that is, switching from no signal to signal state). The second stop position detection module 842 changes from detecting the detection window q on the turntable to not detecting the detection window q (i.e., from a signal state to a no-signal state), indicating that the upper clamping part 8311 and the lower clamping part 8321 are closed in place, and the drive motor 701 stops rotating. Since the drive motor 701 is a stepper motor, there may be a retraction phenomenon when it stops. At this time, the energy absorbed by the elastic energy storage transmission component 805 is released (i.e., the lower end 8052 recovers its angular displacement, while the upper end 8051 remains basically unchanged during this process), so that the upper clamping part 8311 and the lower clamping part 8321 continue to clamp the outer wall of the target tube, avoiding the rapid attenuation of clamping force caused by the motor retraction. This can minimize the upward movement of the target tube 91 on the sample holder 90 during the opening process. It should be noted that if the target tube 91 moves upward on the sample holder 90, the clamping of the target tube 91 by the sample holder 90 may become loose or even fail to clamp the target tube 91 effectively. During the subsequent transfer of the target tube 91 through the sample holder 90, the target tube 91 may easily tip over and / or the sample in the target tube 91 may easily spill out, causing biological contamination.The tube-holding device provided in this embodiment can minimize the possibility of the target tube 91 moving upwards due to loose clamping, thereby greatly avoiding the situation of the target tube 91 tipping over and / or the sample spilling during the transfer of the target tube 91 through the sample holder 90.

[0064] When the tube clamping device changes from the clamping to the open state, the drive motor 701 rotates in the reverse direction, transmitting power to the elastic energy storage transmission component 805 via the second belt drive pulley 702. If the elastic energy storage transmission component 805 still has stored energy, it releases it first. Before the energy storage mechanism is completely released, the upper clamping part 8311 and the lower clamping part 8321 remain in contact with the outer wall of the target tube 91, but the clamping force gradually decreases. After the energy stored in the elastic energy storage transmission component 805 is completely released, the drive motor 701 continues to rotate. At this time, the elastic energy storage transmission component 805 drives the second transmission component 812 (i.e., the main transmission component 805). The rotating wheel rotates in the opposite direction, thereby driving the upper gear 8312 and the lower gear 8322 to rotate, thus completing the opening process of the upper clamping part 8311 and the lower clamping part 8321. When the first stop position detection module 841 changes from detecting the detection window q on the turntable to not detecting the detection window q (i.e., switching from no signal to signal state), and the second stop position detection module 842 changes from not detecting the detection window q on the turntable to detecting the detection window q (i.e., changing from signal state to no signal state), it indicates that the upper clamping part 8311 and the lower clamping part 8321 are opened to the correct position, and the drive motor 701 stops rotating.

[0065] In one application example, the second transmission member 812 can be a gear, and its diameter is smaller than the diameters of the upper gear portion 8312 and the lower gear portion 8322, so that the mechanism can increase the clamping force of the upper clamping portion 8311 and the lower clamping portion 8321 on the test tube. The diameters of the second transmission member 812 and the fifth gear 823 can be the same, and the diameters of the upper gear portion 8312 and the lower gear portion 8322 can also be the same. The upper end diameter of the second transmission shaft 811 is smaller than the lower end diameter to facilitate... Figure 7 The installation path shown by the dashed line b is used to install it onto the mounting bracket 8. The upper diameter of the third drive shaft 821 is larger than the lower diameter to facilitate installation from... Figure 7 The installation path shown by dashed line a is used to install the device onto mounting bracket 8. Furthermore, the upper and lower circular holes along dashed lines a and b can be directly penetrated by the machine, ensuring better dimensional coaxiality and thus smoother mechanism operation.

[0066] In one example, an anti-detachment layer 8310 can be provided on the inner side of the upper gear portion 8312 and the lower gear portion 8322, for example, a silicone pad with a rough surface. The rough surface of the anti-detachment layer 8310 increases the friction between the anti-detachment layer and the outer wall of the target tube, further preventing the target tube from moving upwards during the opening process. The upper and lower ends of the fourth drive shaft 83 of the clamping assembly 83 can be locked in the fixing shaft grooves 851 of the fixing plate 804 and the isolation plate 803 respectively by fixing pieces 852, thereby fixing the fourth drive shaft 83. The fixing structure is simple and practical.

[0067] After the robotic arm performs the cap-opening operation on the clamped target tube 91, if the target tube 91 is a first target tube with a height of 75mm, and the sample holder detection module 843 detects the presence of a sample holder on the cap, the sample tube detection module 844 detects the presence of the target tube 91 on the sample holder, the first height detection module 845 does not detect any obstruction at the corresponding first height, and the second height detection module 846 does not detect any obstruction at the corresponding second height, then the cap opening is successful. If the sample holder detection module 843 detects the presence of a sample holder on the cap, the sample tube detection module 844 detects the presence of the target tube 91 on the sample holder, and the first height detection module 845 detects an obstruction at the corresponding first height, then the cap opening is abnormal. In this case, if the robotic arm successfully clamps the cap, it indicates that the target tube 91 has moved upwards during the cap opening process, and an abnormal upward movement alarm can be triggered. If the robotic arm fails to clamp the cap, it indicates that the cap opening of the target tube 91 has failed, and a cap opening failure alarm can be triggered.

[0068] After the robotic arm performs the cap-opening operation on the clamped target tube 91, if the target tube 91 is a first target tube with a height of 100mm, the sample holder detection module 843 currently detects the presence of a sample holder on the cap, the sample tube detection module 844 currently detects the presence of the target tube 91 on the sample holder, the first height detection module 845 currently detects an obstruction at the corresponding first height, and the second height detection module 846 currently does not detect an obstruction at the corresponding second height, then it can be indicated that the cap opening is successful; if the sample holder detection module 843 currently detects that the cap opening is not successful, the target tube 91 is not present on the sample holder. At the sample holder, if the sample tube detection module 844 detects the presence of the target tube 91 on the sample holder, the first height detection module 845 detects an obstruction at the corresponding first height, and the second height detection module 846 detects an obstruction at the corresponding second height, it indicates an abnormality in the current cap opening process. If the cap opening robot successfully grips the tube cap, it indicates that the target tube 91 has moved upwards during the cap opening process, and an abnormal upward movement alarm can be triggered. If the cap opening robot fails to grip the tube cap, it indicates that the cap opening of the target tube 91 has failed, and a cap opening failure alarm can be triggered.

[0069] As can be seen, the tube-holding device provided in this embodiment can also monitor whether the target tube has been successfully opened, and has the advantages of multifunctionality and high integration.

[0070] This embodiment also provides a cap-opening device, including a cap-opening robot and a tube-holding device as shown in the examples above. The tube-holding device is configured to hold a target part of the target tube, which is located under the cap of the target tube. The cap-opening robot is configured to perform a cap-opening operation on the target tube held by the tube-holding device.

[0071] This embodiment also provides a sample processing device, including a main body with a worktable, a sample injection component disposed on the worktable, a control module, and a cap opening device as shown above located on the worktable; the sample injection component is configured to carry and transport a sample container to the worktable; the control module is configured to control a cap opening robot to grab at least one sample tube from the sample injection component to the cap opening position, control a tube holding device to clamp the target part of the sample tube at the cap opening position, and control the cap opening robot to perform a cap opening operation on the sample tube clamped by the tube holding device, wherein the target part is located under the cap of the sample tube.

[0072] The sample processing device provided in this embodiment also includes an information acquisition component for collecting sample information and a quality identification component for identifying sample quality. The first supplementary lighting module of the information acquisition component can move between the sample information shooting position and the identification position for serum quality identification, so as to be reused as the upper supplementary lighting module of the quality identification component. Therefore, the quality identification component does not need to be set up separately as an upper supplementary lighting module on the worktable of the sample processing device, which can simplify the structure of the sample processing device, reduce costs and improve its resource utilization, and is more conducive to the miniaturization of the sample processing device. At the same time, the first supplementary lighting module can move flexibly within the space of the sample processing device, making it more flexible in use. The sample processing equipment provided in this embodiment can be applied to a biological sample detection system. This system may include at least one sample analyzer, such as, but not limited to, a biochemical analyzer for biochemical testing, an immunoassay analyzer for immunological testing, a hematology analyzer for hematological analysis, a coagulation analyzer for coagulation analysis, a molecular analyzer for molecular analysis, and at least one of a urine analyzer or mass spectrometer. It should be understood that the number of sample processing devices included in this biological sample detection system can be one or more, and the specific number can be flexibly set according to requirements. The biological samples supported by the biological sample detection system in this embodiment may include, but are not limited to, at least one of serum, plasma, whole blood, urine, bone marrow, cerebrospinal fluid, pleural effusion, ascites, pericardial fluid, synovial fluid, hydrocele, bile, tissue, feces, saliva, semen, vaginal secretions, and breast milk. It should be understood that the specific number of sample processing devices, the number and type of sample analyzers included in the biological sample detection system in this embodiment, and the biological samples supported can be flexibly set according to specific application scenarios and requirements, and are not limited or elaborated upon here. To facilitate understanding, the sample processing device provided in this embodiment will be described below with reference to the accompanying drawings.

[0073] See Figures 8 to 15 As shown, the sample processing device includes a main body 1 with a worktable 11, a sample injection component 12 mounted on the worktable 11, and a component located on the worktable 11 that can move along the X, Y, and Z axes (see [reference]). Figure 13 The moving robotic arm assembly 13 also includes a control module (not shown in the figure), a quality identification component 14 disposed on the worktable 11, and an information acquisition component 15 disposed on the robotic arm assembly 13 and moving with the robotic arm assembly 13.

[0074] The sample delivery assembly 12 is configured to carry and deliver a sample container to the workbench 11. In this embodiment, the sample container can be various sample tubes, which are used to hold samples (for ease of understanding, the following description uses blood samples held in a sample tube as an example).

[0075] The information acquisition component 15 includes a first image acquisition module 151 and a first supplementary lighting module 152 mounted on the robotic arm component 13. At least one shooting position is provided on the worktable 11. The first image acquisition module 151 can move to the shooting position, and the first supplementary lighting module 152 can illuminate the target area corresponding to that shooting position. The first image acquisition module 151 captures an image of the target area at that shooting position to obtain a corresponding area image. The obtained area image can be analyzed and identified to obtain corresponding sample information. The sample information may include, but is not limited to, tray information for the sample tray used to carry the sample tubes, information about the sample tubes carried on the tray, whether the sample tubes have caps, sample tube type, sample tube size, and cap color, among at least one of these. In this embodiment, the first image acquisition module 151 may be, but is not limited to, a camera. The first image acquisition module 151 can obtain an area image by taking a picture of the target area or by capturing a video of the target area and extracting the corresponding image from the video. In this embodiment, the area image can be identified and analyzed using a corresponding algorithm by a control module, or by other modules using the same algorithm; no limitations are imposed here. For example, the control module can identify the identity information of the sample tray through regional images, as well as identify which holes on the sample tray have sample tubes, which sample tubes have caps, which do not have caps, and identify the color of the caps. Based on the cap color, it can identify whether the sample is a regular sample, an urgent sample, a quality control sample, or a calibration sample. The sample information identified above can be used as the basis for subsequent sample scheduling.

[0076] The quality identification component 14 includes a second image acquisition module 141 and a second supplementary lighting module 142. The control module is configured to control the robotic arm component 13 to move to one of the shooting positions on the worktable 11, control the first supplementary lighting module 152 to provide supplementary lighting to the target area on the sample injection component 12 corresponding to the shooting position, and control the first image acquisition module 151 to capture an image of the target area. The control module is also configured to control the robotic arm component 13 to pick up at least one sample container from the sample injection component 12 and move it to the identification position S on the worktable 11 based on the area image. At this time, the first supplementary lighting module 152 is located above the identification position S, and the second supplementary lighting module 142 is located below the identification position S. The control module controls the first supplementary lighting module 152 and the second supplementary lighting module 142 to simultaneously provide supplementary lighting to the identification position S, and controls the second image acquisition module 141 to capture an image of the sample in the sample container at the identification position S. The sample image is used to identify the sample quality in the sample container. In this embodiment, the sample quality identification result can be obtained by the control module using a corresponding algorithm to identify and analyze the sample image, or it can be achieved by other modules, which are not limited here. For example, the control module can identify at least one of the sample volume in the sample tube and the interfering substances in the blood sample through the sample image, wherein the interfering substances may include, but are not limited to, at least one of jaundice, blood lipids, blood clots, and fibrils.

[0077] As can be seen, in this embodiment, the first image acquisition module 151 and the first supplementary light module 152 of the information acquisition component 15 can be set on the robotic arm component 13 and can move with the robotic arm component 13. When the first image acquisition module 151 acquires the area image, the first supplementary light module 152 provides supplementary light to the corresponding target area. When the second image acquisition module 141 acquires the sample image of the sample tube on the recognition position S, the first supplementary light module 152 can move with the robotic arm component 13 to the corresponding position to provide supplementary light to the recognition position S together with the second supplementary light module 142. It is evident that the quality identification component 14 used for sample quality identification does not require an additional upper supplement light. The first supplement light module 152 of the information acquisition component 15 located above the identification position S can be directly reused as the upper supplement light. On the one hand, a supplement light module can be omitted, reducing the cost of the sample processing equipment and simplifying its structure, while improving the space utilization and resource utilization of the sample processing equipment. On the other hand, the first supplement light module can be flexibly moved between the spatial positions corresponding to each shooting position and the spatial position corresponding to the identification position S. The control method is flexible and convenient. In particular, the spatial position of the first supplement light module can be flexibly adjusted as needed to adjust the supplement light effect. The usage method is more flexible and more conducive to obtaining higher quality images.

[0078] In one embodiment, see Figure 10As shown, the identification position S is a suspended position located above the workbench 11. Setting the identification position S as a suspended position can minimize the obstruction of the sample tube on the identification position S by other modules on the workbench 11, thereby ensuring that there are no or minimal interference objects in the obtained sample image. On the other hand, the area of ​​the workbench 11 below the suspended position can also be set as other workstations as needed, thereby improving the utilization rate of the area / space of the workbench 11. In this embodiment, the second image acquisition module 141 is fixedly set on the workbench 11 and its shooting range covers the suspended position. The second supplementary lighting module 142 is set on the workbench 11 below the suspended position and obliquely upward to provide supplementary lighting for the suspended position. The first supplementary lighting module 152 obliquely downward to provide supplementary lighting for the suspended position when the robot arm assembly 13 stops at the identification position. In this embodiment, the first supplementary lighting module 152 and the second supplementary lighting module 142 provide supplementary lighting from above and below the identification position S, respectively. This achieves complementary light sources in both directions, eliminating dark areas at the top and highlights at the bottom of the sample tube, resulting in a more uniform image brightness distribution and more accurate color reproduction. If supplementary lighting is only provided from above or below the identification position S, the top or bottom of the sample tube may appear dark due to insufficient illumination, affecting the determination of hemolysis / jaundice. Furthermore, the upper light source can capture differences in the intensity of scattered light, better distinguishing the degree of turbidity and identifying "mild lipemia" and "severe lipemia." The upper light source can also penetrate the transparent tube cap, reducing label shadow interference and supporting "cap-free" photography, thus improving automation. Therefore, this embodiment, by using the first supplementary lighting module 152 and the second supplementary lighting module 142 to provide supplementary lighting from above and below the identification position S, has advantages such as eliminating shadows, enhancing color, and suppressing reflections, significantly improving the quality of blood sample images and the accuracy of interference identification. Of course, in another embodiment, the identification position S can also be a non-suspended position set on the workbench 11, as long as there are no interfering objects around the non-suspended position or the interference objects are minimized so as not to affect the acquisition and identification of the sample image.

[0079] See an example. Figure 9 and Figure 10The angle between the second supplementary lighting module 142 and the horizontal plane (hereinafter referred to as the first angle) can be set to 55° to 75°; the value of the first angle can be 55° to 60°, 60° to 65°, 65° to 70°, 70° to 75°, 55° to 65° or 60° to 70°, for example, it can be 56°, 59°, 62°, 64°, 66°, 68°, 71°, 72°, 73°, 74° or 75°. When the robotic arm assembly 13 stops at the recognition position S, the angle between the first supplementary lighting module 152 and the horizontal plane (hereinafter referred to as the second angle) is 35° to 50°. The value of the second angle can be 35° to 40°, 40° to 45°, 45° to 50°, 35° to 45°, 35° to 42°, or 40° to 50°. For example, it can be 35°, 38°, 41°, 42°, 43°, 45°, 46°, 47°, 48°, 49°, or 50°. In this example, the horizontal plane is the plane formed by the X-axis and the Y-axis. The above-mentioned angle setting of the second supplementary lighting module 142 and the first supplementary lighting module 152 can further improve the effect of mutual supplementary lighting between the upper and lower sides, so that the captured sample tube image has no or minimizes local bright spots, the color difference between the image and the reality is small, which facilitates the analysis of subsequent algorithms and greatly improves the accuracy and stability of the results. In some applications, the second supplementary lighting module 142 can be fixed to the worktable 11, with the first included angle fixed. In other applications, the second supplementary lighting module 142 can be fixed to the worktable 11, but the first included angle is adjustable, thus meeting the needs of more applications. In some applications, the first supplementary lighting module 152 can be fixed to the robotic arm assembly 13, with the second included angle fixed. In other applications, the first supplementary lighting module 152 can be fixed to the robotic arm assembly 13, with the second included angle adjustable, thus meeting the needs of more applications.

[0080] See an example. Figure 9 and Figure 10As shown, the quality identification component 14 also includes a background plate 143 disposed on the worktable 11. The identification position S is located between the first supplementary lighting module 152 and the background plate 143, and / or the identification position S is located between the second supplementary lighting module 142 and the background plate 143. The surface of the background plate 143 opposite to the first supplementary lighting module 152 and / or the second supplementary lighting module 142 has reflective properties. For example, the surface of the background plate 143 opposite to the first supplementary lighting module 152 and / or the second supplementary lighting module 142 is made of diffuse reflective fluorescent material, so that when the light from the first supplementary lighting module 152 and / or the second supplementary lighting module 142 reaches the background plate 143, the entire background becomes a white light panel, and the diffusely reflected white light can improve the image quality of the test tube captured by the camera. Preferably, the identification position S can be disposed in the middle position between the second supplementary lighting module 142 and the background plate 143. The size of the background plate 143 can cover the background of the imaging sample tube of the second image acquisition module 141. The second image acquisition module 141, the sample tube, and the background plate 143 can all be set vertically relative to the horizontal plane. Preferably, when the robotic arm assembly 13 stops at the recognition position S, the first supplementary light module 152 and the second supplementary light module 142 are located on the same side of the recognition position S. Further, the first supplementary light module 152, the second supplementary light module 142, and the second image acquisition module 141 can be set to be located on the same side of the recognition position S when the robotic arm assembly 13 stops at the recognition position S.

[0081] In one example, the distance between the second supplementary lighting module 142 and the recognition position S is smaller than the distance between the second image acquisition module 141 and the recognition position S. That is, the second supplementary lighting module 142 is closer to the recognition position S than the second image acquisition module 141, which can better reduce interference factors such as shadows.

[0082] In one example, the distance between the second image acquisition module 141 and the recognition position S is 150mm to 200mm, where the distance can be the distance between the lens surface of the second image acquisition module 141 and the center point of the recognition position S. This distance setting can cover the field of view of the sample tube on the recognition position S, while avoiding an excessively large distance that would result in low space utilization, thus facilitating miniaturization.

[0083] In one example, the second supplementary lighting module 142 is a surface light source, with its light-emitting surface being a uniformly emitting surface to uniformly supplement the identification position S. In another example, the second supplementary lighting module 142 can also be a point light source to achieve directional illumination of the identification position S. Preferably, the second supplementary lighting module 142 can be an LED light source.

[0084] In one example, the first supplementary lighting module 152 is a surface light source to provide uniform illumination to the target area corresponding to the shooting position and the recognition position S. In other application scenarios, the first supplementary lighting module 152 is a surface light source, but when the first supplementary lighting module 152 provides illumination to the target area, it activates a surface emission mode (in this mode, the light-emitting surface of the first supplementary lighting module 152 is a whole uniform light-emitting surface), and when the first supplementary lighting module 152 provides illumination to the recognition position S, it activates a point emission mode (in this mode, the light-emitting surface of the first supplementary lighting module 152 is switched from a whole uniform light-emitting surface to a locally illuminated point light source to achieve directional illumination of the recognition position S). By switching between surface emission and point emission modes of the first supplementary lighting module 152 to suit different application scenarios, the versatility of the first supplementary lighting module 152 can be further improved.

[0085] In one embodiment, the workbench 11 is provided with a sample buffer area. The control module is further configured to control the robotic arm component 13 to grab at least one sample container from the sample buffer area, move it, and stop it at the identification position S on the workbench 11 so that the second image acquisition module 141 can take a picture of the sample in the sample container at the identification position S to obtain a sample image. In this embodiment, the sample buffer area can be a part of the sample injection component 12, or it can be a region independent of the sample injection component 12, or a part of the sample injection component 12 and a part of the sample injection component 12. In this embodiment, the sample tubes buffered in the sample buffer area can include, but are not limited to, sample tubes manually placed in the area by the user (including, but not limited to, at least one of ordinary samples, urgent samples, quality control samples, and calibration samples), sample tubes that have completed testing and are waiting to confirm whether they need to be retested, abnormal sample tubes, and erroneous sample tubes. In some examples, when the control module controls the robotic arm assembly 13 to grasp at least one sample container from the sample buffer area and move it to the worktable 11, it can also first control the first image acquisition module 151 to move to the corresponding shooting position to capture the corresponding area image of the sample buffer area. Based on the area image, the current sample information on the sample buffer area is identified, and then the robotic arm assembly 13 is controlled to grasp at least one sample container from the corresponding sample buffer area and move it to the identification position S on the worktable 11 based on the sample information. In other examples, the control module can also identify the target sample tube to be transferred according to the user's instructions or the historical scheduling information of the sample tubes scheduled to the sample buffer area, and transfer the target sample tube to the identification position S on the worktable 11.

[0086] In one embodiment, the robotic arm assembly 13 has grippers 130 for holding a sample container. The control module controls the grippers 130 to rotate at the identification position S so that the second image acquisition module 141 can capture images of the sample inside the sample container at the identification position S. The capturing method may be, but is not limited to, at least one of the following:

[0087] Method 1: The control module controls the gripper 130 to rotate N (N is equal to 2) times at a preset rotation angle (e.g., the angle can be, but is not limited to, 5° to 40°) to capture N+1 sample images or N sample images, thereby selecting the sample tube at the recognition position S from these N sample images or N+1 sample images that meets the set state (e.g., Figure 15 Sample quality analysis is performed on at least one target sample image (as shown in state b).

[0088] Method 2: The control module controls the gripper 130 to rotate randomly, taking a picture once for each rotation, until the target sample image is captured;

[0089] Method 3: The control module first controls the second image acquisition module 141 to capture a sample image, and then analyzes the sample image to confirm that the sample tube at the recognition position S has a current state and rotates to the set state (e.g., ...). Figure 15 b) The target angle and target direction to be rotated are determined, and then the gripper 130 is controlled to rotate according to the target direction and target angle before taking a picture to obtain the target sample image.

[0090] In one embodiment, the sample introduction assembly 12 includes at least one sample introduction drawer 121 and at least two sample trays 122 that can be held in the sample introduction drawer 121. The sample trays 122 are configured to hold multiple sample containers. In one example, one or more imaging positions can be set on the worktable 11 for each sample tray 122; in other examples, two or more sample trays can share one imaging position. The specific configuration can be flexibly set according to the requirements, and there is no limitation on it here.

[0091] In one embodiment, when the control module controls the robotic arm assembly 13 to grasp at least one sample container from the sample injection assembly 12 and move it to the identification position S on the worktable 11 based on the area image, the sample tube on the sample injection assembly 12 can be directly transferred from the sample injection assembly 12 to the identification position S. In another embodiment, when the control module controls the robotic arm assembly 13 to grasp at least one sample container from the sample injection assembly 12 and move it to the identification position S on the worktable 11 based on the area image, the sample container can also be transferred to at least one other processing station for processing before being transferred to the identification position S. This processing station can include, but is not limited to, at least one of a centrifugation station and a capping station. In one example, the sample processing device also includes a centrifugation assembly disposed on the main body 1 of the device, see [reference needed]. Figure 12 As shown, the centrifugation assembly includes a centrifuge (not shown in the figure), and the workbench 11 is provided with an operation window 16 communicating with the centrifuge; in this example, the control module controls the robotic arm assembly 13 to grasp at least one sample container from the sample injection assembly 12 and move it to the identification position S on the workbench 11 based on the area image, including:

[0092] The control module controls the robotic arm assembly 13 to grasp at least one sample container from the sample injection assembly 12 and place it into the centrifuge for centrifugation based on the area image. The control module then controls the robotic arm assembly 13 to transfer the centrifuged sample container to the identification position S on the worktable 11. For example, in one embodiment, the control module controls the robotic arm assembly 13 to grasp at least one sample container from the sample injection assembly 12 and place it into the centrifuge adapter 161 based on the area image. The adapter 161 is then transferred into the centrifuge through the operation window 16 for centrifugation. After centrifugation, the centrifuged sample tube is transferred out of the centrifuge through the adapter 161, and then transferred from the centrifuged adapter to the identification position S. See also... Figure 12 As shown, the workbench 11 is provided with a first adapter carrying area 162 and a second adapter storage area 163. The sample tubes to be centrifuged are placed on the adapters 161 in the first adapter storage area 162. The adapters that have been centrifuged and transferred from the centrifuge are carried on the second adapter storage area 163. After the sample tubes on the adapters 161 in the second adapter storage area 163 have been transferred, the adapters 161 can be transferred to the first adapter carrying area 162, or remain in the second adapter carrying area 163 to carry the sample tubes to be centrifuged.

[0093] In one embodiment, the sample processing device further includes a transfer track 3 and a tube-holding assembly 2 disposed on the workbench 11. The transfer track 3 is located below the identification position S, and the area of ​​the transfer track 3 opposite to the identification position S is the opening position K. The opening position K is used to carry the sample holder 90. The tube-holding assembly 2 is disposed on one side of the opening position K. The control module is also configured to control the robotic arm assembly 13 to transfer the gripped sample container (sample tube 91 in the figure) from the identification position S to the sample holder 90 on the opening position K, control the tube-holding assembly 2 to clamp the sample container located on the opening position K, and control the robotic arm assembly 13 to remove the tube cap from the clamped sample container. Therefore, the identification position S and the capping position K are coaxially arranged in the Z-axis direction, and can be considered to be located at the same position in the X and Y directions. After the robotic arm assembly 13 transfers the sample tube to the identification position S to complete the quality identification and imaging, it inserts the sample tube into the sample holder 90 along the Z-axis to open the cap, basically without needing to move in the X or Y axis direction. In other words, in this embodiment, the serum identification environment is built based on the tube holding assembly 2, which can be regarded as placing the capping position K and the identification position S at one station to complete the sample quality identification and capping operation, which can greatly improve efficiency, simplify the equipment structure, and increase the throughput of the equipment. In this embodiment, the identification position S and the capping position K may not overlap in the Z-axis direction, or they may partially overlap. It is preferred to set them to partially overlap to minimize the travel distance in the Z-axis direction from the identification position S to the capping position K, thereby improving the transfer efficiency.

[0094] In one embodiment, the transfer track 3 of the sample processing device is connected to an external track outside the sample processing device. The cap opening position K is also configured as a sample loading position. The control module is further configured to control the transfer track 3 to transfer the sample holder 90 carrying the sample container to the external track after the robotic arm assembly 13 removes the cap from the sample container. The sample is then transferred to the corresponding sample analysis device for analysis. In this embodiment, the identification position S, the cap opening position K, and the sample loading position can be considered as a single unit, which can further improve efficiency and simplify the structure.

[0095] In related technologies, sample tubes used in the IVD field generally include those with a height of 75mm and those with a height of 100mm. Both sizes are commonly used in hospitals and laboratories. However, current sample analysis systems do not support the mixing of these two sizes. This is mainly because the systems cannot automatically identify the size of the sample tubes and cannot automatically apply different processing methods to different sizes based on the identification results. For more information on these issues, please refer to [link to relevant documentation]. Figure 14 a to Figure 15As shown in Figure a, the robotic arm assembly 13 in this embodiment also has a height detection sensor 131 and a status detection sensor 132 disposed on the side of the gripper 130. The second effective detection area of ​​the height detection sensor 131 is located inside the gripper 130, and the first effective detection area of ​​the status detection sensor 132 is located below the second effective detection area. If the sample tube 91 currently held by the gripper 130 is at the first height (i.e., a first target tube with a height of 75mm), and the upper end of its first tube cap 911 is below and outside the second effective detection area, then only the detection signal of the status detection sensor 132 is triggered (which can be considered as 1), and the detection signal of the height detection sensor 131 is not triggered (which can be considered as 0). If the sample tube 91 currently held by the gripper 130 is at the second height (i.e., a second target tube with a height of 100mm), and the upper end of its second tube cap 912 is within the second effective detection area, then both the detection signal of the status detection sensor 132 and the detection signal of the height detection sensor 131 are triggered (which can be considered as 1). If the gripper 130 is not currently holding a sample tube, then neither the detection signal of the status detection sensor 132 nor the detection signal of the height detection sensor 131 are triggered (which can be considered as 0). Accordingly, in this embodiment, the control module is further configured to control the state detection sensor 132 to detect whether the gripper 130 is holding a sample container to obtain a first detection signal, and to control the height detection sensor 131 to detect whether the upper end of the sample container exists in the gripper 130 to obtain a second detection signal; the control module is further configured to determine the height of the sample container currently held by the gripper 130 as a first height when the first detection signal indicates that the gripper 130 is holding a sample container and the second detection signal indicates that the upper end of the sample container has not been detected; and to determine the height of the sample container currently held by the gripper 130 as a second height when the first detection signal indicates that the gripper 130 is holding a sample container and the second detection signal indicates that the upper end of the sample container has been detected, wherein the second height is greater than the first height; and to determine that the gripper 130 is currently empty when the first detection signal indicates that the gripper 130 is not holding a sample container and the second detection signal indicates that the upper end of the sample container has been detected. Thus, the sample processing device in this embodiment can be compatible with at least two different heights of sample tubes, enabling the sample analysis system to support the mixed use of two specifications of sample tubes, improving the versatility of the sample tubes.

[0096] In one example of this embodiment, when the control module controls the gripper 130 to grasp a sample tube, such as when grasping a sample tube 91 from the sample injection assembly 12, the gripper 130 can be controlled to move up and down the same height along the Z-axis for samples of different heights. For example, the downward movement can correspond to 1mm to 2mm below the first cap of the first target tube. When the gripper 130 has grasped the sample tube 91 and the grasped sample tube 91 is identified as the second target tube in the above manner, the grasped sample tube 91 can be placed back on the sample injection assembly 12, the buffer area, the cap opening position, or other positions, and then the gripper 130 can be controlled to grasp it again. The sample tube is held but re-clamped at a position closer to the upper end of the sample tube 91 than the previous clamping position, for example, closer to the second cap of the sample tube 91. Preferably, the clamping position is located 1mm to 2mm below the second cap of the second target tube. This facilitates avoiding interference from the gripper 130 when performing quality identification at the identification position S. On the other hand, when the gripper 130 opens the cap by pulling it out (i.e., the cap and sample tube are inserted), it is easier for the gripper to move directly towards the cap and pull the cap away from the sample tube when opening the cap, thereby improving the opening efficiency and simplifying the opening control. In another example, the cap and sample tube can be connected by a threaded screw-on connection. The cap can be opened by gripping the cap with the jaws 130 and rotating it. In this example, the jaws can be controlled to directly grip the cap of the sample tube. Specifically, the sample tube to be gripped can be assumed to be the first target tube. After gripping, if the second target tube is identified using the above method, adjustments are made as described above to ensure the jaws 130 grip the cap of the second target tube. That is, in this real-time mode, the control module is also configured to adjust the gripping position of the sample container closer to the top of the sample container when the height of the sample container currently gripped by the jaws 130 is the second height. This allows the jaws 130 to adjust the specific gripping position according to sample tubes of different heights, better accommodating sample tubes of different heights.

[0097] In one embodiment, the robotic arm assembly 13 further includes a barcode scanner 133 located on the side of the gripper 130. The barcode scanner 133 can scan the barcode on the sample tube 91 held by the gripper 130 to obtain the corresponding sample information, which can be used as a basis for subsequent scheduling of the sample tube. This allows for the integration of the barcode scanner 133, the height detection sensor 131, and the status detection sensor 132 onto the robotic arm assembly 13, improving the integration and control integration of the robotic arm assembly 13.

[0098] This embodiment also provides a computer program that can be called by a controller or processor to execute the method steps performed by the control module described above.

[0099] This embodiment also provides a computer storage medium that stores the above-mentioned computer program, and the computer program can be called and executed by the control module.

[0100] Those skilled in the art will understand that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware embodiments, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components. Computer-readable media can include computer storage media (or non-transitory media) and communication media (or temporary media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and can include any information delivery medium.

[0101] The embodiments described above are merely preferred embodiments for the purpose of fully illustrating this application, and the scope of protection of this application is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on this application are all within the scope of protection of this application. The scope of protection of this application is determined by the claims.

Claims

1. A tube-holding device, characterized in that, Including mounting plate; A mounting bracket fixed to the mounting plate, the mounting bracket having a first mounting cavity, a second mounting cavity and a partition plate separating the two, the partition plate constituting the top plate of the first mounting cavity and the bottom plate of the second mounting cavity, the mounting plate constituting the bottom plate of the first mounting cavity, and the second mounting cavity having a top plate corresponding to its bottom plate; An elastic energy storage transmission component is located within the first mounting cavity; The first transmission component has its lower end rotatably fixed to the mounting plate, and its upper end passes through the first mounting cavity and is fixedly connected to the lower end of the elastic energy storage transmission component. The second transmission component has its lower end fixedly connected to the upper end of the elastic energy storage transmission component and rotatably fixedly connected to the isolation plate, and its upper end passes through the isolation plate into the second mounting cavity and is rotatably fixed to the top plate of the second mounting cavity. The third transmission component is disposed in the second mounting cavity and is connected to the second transmission component in a transmission manner. Its upper end and lower end are respectively rotatably fixed to the top plate and bottom plate of the second mounting cavity. A clamping assembly is mounted on a mounting frame and is connected in a driving manner to the third transmission assembly or to the second transmission assembly and the third transmission assembly; The driving component is connected to the first transmission component and drives the first transmission component to rotate so that the rigidity of the elastic energy storage transmission component drives the second transmission component to rotate. The second transmission component drives the third transmission component to rotate so that the clamping component can open and close. During the process of the clamping component closing and clamping the target tube, the lower end of the elastic energy storage transmission component generates an angular displacement relative to the upper end.

2. The tube-holding device as described in claim 1, characterized in that, The first transmission assembly includes a first transmission shaft and a first transmission member fixed on the first transmission shaft. The lower end of the first transmission shaft is rotatably fixed on the mounting plate, and the upper end passes through the first mounting cavity and is fixedly connected to the lower end of the elastic energy storage transmission member. The first transmission member is connected to the output end of the drive assembly. The second transmission assembly includes a second transmission shaft and a second transmission component fixed on the second transmission shaft. The lower end of the second transmission shaft is fixedly connected to the upper end of the elastic energy storage transmission component and is rotatably fixedly connected to the isolation plate. The upper end passes through the isolation plate and enters the second mounting cavity and is rotatably fixed on the top plate of the second mounting cavity. The third transmission assembly includes a third transmission shaft and a third transmission component fixed on the third transmission shaft. The third transmission shaft is located in the second mounting cavity and on one side of the second transmission shaft. Its upper end and lower end are rotatably fixed on the top plate and bottom plate of the second mounting cavity, respectively, so that the second transmission component and the third transmission component are connected in a transmission manner. The clamping assembly includes a fourth drive shaft and a clamping gear set. The fourth drive shaft is fixed to the mounting bracket. The clamping gear set includes an upper clamping gear and a lower clamping gear, which are rotatably fixed to the fourth drive shaft. One end of the upper clamping gear is an upper clamping part, and the opposite end is an upper gear part. One end of the lower clamping gear is a lower clamping part, and the opposite end is a lower gear part. The upper gear part and the lower gear part are connected to the third transmission member, or the upper gear part and the lower gear part are connected to the second transmission member and the third transmission member.

3. The tube-holding device as described in claim 2, characterized in that, The first transmission component is a first gear fixed on the first transmission shaft, and the drive assembly includes a drive motor and a second gear disposed on the drive motor shaft, wherein the first gear and the second gear are meshed together. Alternatively, the first transmission component is a first belt drive pulley fixed on the first transmission shaft, and the drive assembly includes a drive motor, a second belt drive pulley disposed on the drive motor shaft, and a transmission belt straddling the first belt drive pulley and the second belt drive pulley. Alternatively, the drive assembly may include a drive motor, which is a stepper motor.

4. The tube-holding device as described in claim 2, characterized in that, The second transmission component is a third gear, which includes a fourth gear and a fifth gear arranged sequentially from bottom to top on the second transmission shaft. The lower part of the third gear meshes with the fifth gear, and the upper part meshes with the lower gear. The fourth gear meshes with the upper gear.

5. The tube-holding device as described in any one of claims 1-4, characterized in that, The drive assembly and the mounting bracket are fixed side by side on the mounting plate, and the drive motor of the drive assembly and the mounting bracket are located on the same side of the mounting plate.

6. The tube-holding device according to any one of claims 2-4, characterized in that, The elastic power storage transmission component is columnar and has through holes at its upper and lower ends. The upper end of the first transmission shaft passes through the through hole at the lower end of the elastic power storage transmission component and is fixedly connected to the elastic power storage transmission component. The lower end of the second transmission shaft passes through the through hole at the upper end of the elastic power storage transmission component and is fixedly connected to the elastic power storage transmission component.

7. The tube-holding device according to any one of claims 1-4, characterized in that, It also includes a cap opening detection component, which includes a sample holder detection module, a sample tube detection module, a first height detection module, and a second height detection module arranged sequentially from bottom to top on the mounting frame; The sample holder detection module detects whether a sample holder is present at the opening position, the sample tube detection module detects whether a target tube is present on the sample holder, the first height detection module detects whether there is an obstruction at the corresponding first height, and the second height detection module detects whether there is an obstruction at the corresponding second height.

8. The tube-holding device according to any one of claims 2-4, characterized in that, It also includes a drive control detection component, which includes a turntable, a first stop position detection module, and a second stop position detection module. The upper end of the second drive shaft passes through the top plate of the second mounting cavity. The turntable is fixed to the upper end of the second drive shaft and rotates with the second drive shaft. The first stop position detection module and the second stop position detection module are both set at target positions on the top plate of the second mounting cavity to detect the detection window on the turntable. When the first stop position detection module switches from detecting the detection window on the turntable to not detecting the detection window, and the second stop position detection module switches from not detecting the detection window on the turntable to detecting the detection window, it indicates that the gripper gear set has reached the open stop position. When the first stop position detection module switches from not detecting the detection window on the turntable to detecting the detection window, and the second stop position detection module switches from detecting the detection window on the turntable to not detecting the detection window, it indicates that the gripper gear set has reached the closed stop position.

9. A lid-opening device, characterized in that, The device includes a cap-opening robot and a tube-holding device as described in any one of claims 1-8, wherein the tube-holding device is configured to hold a target portion of a target tube located below the cap of the target tube, and the cap-opening robot is configured to perform a cap-opening operation on the target tube held by the tube-holding device.

10. A sample processing device, characterized in that, It includes a main body of equipment with a worktable, a sample injection component disposed on the worktable, a control module, and a cap opening device as described in claim 9 located on the worktable; The sample delivery assembly is configured to carry and deliver a sample container to the workbench; The control module is configured to control the cap-opening robot to pick up at least one sample tube from the sample injection component to the cap-opening position, control the tube-holding device to clamp the target part of the sample tube at the cap-opening position, and control the cap-opening robot to perform a cap-opening operation on the sample tube clamped by the tube-holding device; the target part is located under the cap of the sample tube.

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