Container loading and unloading device and loading and unloading method

Abstract

A container loading and unloading device (100), comprising a placing platform (1), a pushing mechanism (3), a transferring mechanism (4), a loading mechanism (5), and a storage chamber (6). The placing platform (1) comprises placing positions (12), and the placing positions (12) are used for placing containers. The transferring mechanism (4) can move to the placing platform (1) or the loading mechanism (5); when the transferring mechanism (4) moves to the placing platform (1), the pushing mechanism (3) can push a container to move between a placing position (12) and the transferring mechanism (4); and when the transferring mechanism (4) moves to the loading mechanism (5), the loading mechanism (5) can drive a container to move between the transferring mechanism (4) and the storage chamber (6). The container loading and unloading device (100) can achieve online loading and unloading operations of containers, and can effectively avoid the risks such as an accidental pinching injury of an operator caused during online loading and unloading of the containers by the operator.

Description

Container loading and unloading device and loading and unloading method thereof

[0001] The present invention claims priority to Chinese patent application No. 2023115812186, filed with the Patent Office of China on November 23, 2023, entitled “CONTAINER LOADING AND UNLOADING DEVICE AND LOADING AND UNLOADING METHOD THEREOF,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present invention belongs to the technical field of in vitro diagnosis, and in particular relates to a container loading and unloading device and a loading and unloading method thereof. Background Art

[0003] In vitro diagnostic analyzers such as biochemical analyzers, chemiluminescence analyzers, and coagulation analyzers all need to be used with refrigerated reagents. Currently, most instruments on the market need to be shut down when replacing reagent containers, which means that the instrument cannot perform detection activities when the reagent container is replaced. Shutdown means that the detection speed of the equipment needs to be reduced, and manual operation is required to remove and load the reagent boat from the pot. Although the prior patents CN214669129U and CN106226544B can realize automatic loading and unloading of reagent containers, they still have the following shortcomings. When in use, the reagent container storage mechanism needs to be rotated to a specified position, and the position needs to be rotated out from somewhere on the instrument. When the operator manually places the reagent container into the reagent container storage mechanism, there is a risk of accidental pinching of the operator during operation.

[0004] Summary of the Invention

[0005] The object of the present invention is to provide a container loading and unloading device that can realize online loading and unloading of containers and can fix the loading or unloading position of the container to reduce the risk of operators being injured when loading or unloading the container.

[0006] The above-mentioned objectives are achieved by the following technical solutions.

[0007] A first aspect of the present invention provides a container loading and unloading device, comprising a placement tray, a pushing mechanism, a transfer mechanism, a loading mechanism, and a storage compartment;

[0008] The placement tray has a placement position for placing containers; the transfer mechanism can move to the placement tray or the loading mechanism, and when the transfer mechanism moves to the placement tray, the pushing mechanism can push the container to move between the placement position and the transfer mechanism; when the transfer mechanism moves to the loading mechanism, the loading mechanism can drive the container to move between the transfer mechanism and the storage compartment.

[0009] In some embodiments, the placement tray further has an inlet end connected to the placement position; the container loading and unloading device further includes a pushing mechanism, which is rotatably arranged on the placement tray with its own central axis as the rotation center, and when the pushing mechanism rotates, it can push the container to move between the inlet end and the placement position.

[0010] In some embodiments, the placement tray is provided with a plurality of placement positions, and the placement positions are arranged in rows;

[0011] The pushing mechanism includes a first driving device and a plurality of rotating wheels. The first driving device is connected to each of the rotating wheels and drives the rotating wheels to rotate. The rotating wheel sleeve is provided with an elastic sleeve.

[0012] In some embodiments, there are two rotating wheels corresponding to the placement position and they rotate in opposite directions. When two adjacent rotating wheels rotate toward each other, they can elastically push the container at the corresponding position to move between the inlet end and the placement position.

[0013] In some embodiments, the transfer mechanism includes a second drive device, a third drive device and a carrier frame, the output end of the second drive device is connected to the third drive device and drives the third drive device to move along the arrangement direction of the placement position, and the output end of the third drive device is connected to the carrier frame and drives the carrier frame to rotate to the placement position or the loading mechanism.

[0014] In some embodiments, the pushing mechanism includes a fourth drive device and a pushing member connected to the output end of the fourth drive device, the fourth drive device drives the pushing member to move along the placement position arrangement direction and the direction intersecting with the placement position arrangement direction, and the pushing member is used to push the container to move between the placement position and the transfer mechanism.

[0015] In some embodiments, the end of the pushing member is provided with a hook-shaped structure adapted to fit the container.

[0016] In some embodiments, a detection device is provided at the placement position, and the detection device is used to detect the state of the placement position.

[0017] In some embodiments, the pushing mechanism is disposed above the placement tray, and the pushing mechanism and the inlet end of the placement tray are disposed correspondingly in the height direction.

[0018] In some embodiments, the placement tray, the pushing mechanism, the pushing mechanism, the transfer mechanism, and the loading mechanism are all arranged above the storage compartment.

[0019] In some embodiments, the loading mechanism includes a lifting drive device and a grabbing member; the storage compartment has a storage position, and the grabbing member and the storage position are arranged correspondingly in the vertical direction, and the transfer mechanism can move to the bottom corresponding to the grabbing member or be staggered with the grabbing member in the vertical position; the output end of the lifting drive device is connected to the grabbing member and drives the grabbing member to move up and down.

[0020] A second aspect of the present invention provides a container loading and unloading method, which is based on the container loading and unloading device described above and can switch to a loading method or an unloading method:

[0021] The loading method comprises the following steps:

[0022] Place the container on the tray;

[0023] The transfer mechanism moves to the placement tray, and the pushing mechanism pushes the container at the placement position to move to the transfer mechanism;

[0024] Then the transfer mechanism moves to the loading mechanism, and the loading mechanism moves the container on the transfer mechanism to the storage compartment;

[0025] The uninstallation method comprises the following steps:

[0026] The transfer mechanism moves to the loading mechanism, and the loading mechanism moves the container in the storage compartment to the transfer mechanism;

[0027] Then the transfer mechanism moves to the placement tray, and the pushing mechanism pushes the container at the transfer mechanism to move to the placement position for unloading.

[0028] The technical solution provided by the present invention has the following advantages and effects:

[0029] The container loading and unloading device can perform online loading and unloading operations of containers through the cooperation of the placement tray, the pushing mechanism, the transfer mechanism, the loading mechanism and the storage compartment, wherein the container is placed on the placement position of the placement tray, the transfer mechanism moves to the placement tray, the pushing mechanism pushes the container at the placement position to the transfer mechanism, and then the transfer mechanism moves to the loading mechanism, and the loading mechanism moves the container on the transfer mechanism to the storage compartment to realize the loading operation of the container. When the container needs to be unloaded, the transfer mechanism moves to the loading mechanism, the loading mechanism moves the container in the storage compartment to the transfer mechanism, and then the transfer mechanism moves to the placement tray, and the pushing mechanism pushes the container at the transfer mechanism to the placement position to complete the unloading operation. Therefore, the container loading and unloading device can realize the online loading of the container from the placement position of the placement tray to the storage compartment and the online unloading operation of the container from the storage compartment to the placement position of the placement tray without affecting the normal operation of the instrument, thereby improving the degree of automation, and by fixing the placement position of the placement tray that interacts with the operator, it can effectively avoid the risk of accidental pinching of the operator when the operator loads and unloads the container online, thereby improving the convenience and safety of human-computer interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a schematic structural diagram of a container loading and unloading device according to an embodiment of the present invention;

[0031] FIG2 is a front view schematic structural diagram of the container loading and unloading device of FIG1 ;

[0032] FIG3 is a schematic diagram of a partial structure of the container loading and unloading device of FIG1 ;

[0033] FIG4 is a schematic structural diagram of the container loading and unloading device of FIG3 from another angle;

[0034] FIG5 is a schematic top view of the pushing mechanism of FIG1 .

[0035] Description of reference numerals:

[0036] 100. Container loading and unloading equipment;

[0037] 1. Placement tray; 11. Inlet end; 12. Placement position; 2. Pushing mechanism; 21. First drive device; 22. Rotating wheel; 23. Synchronous belt; 3. Pushing mechanism; 31. Fourth drive device; 32. Pushing member; 4. Transfer mechanism; 41. Second drive device; 42. Third drive device; 43. Carrying frame; 5. Loading mechanism; 52. Lifting drive device; 53. Grabbing member; 6. Storage compartment. DETAILED DESCRIPTION

[0038] To facilitate understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0039] Unless otherwise specified or defined, the "first, second..." used in this article is only used to distinguish names and does not represent a specific quantity or order.

[0040] Unless stated otherwise or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0041] It should be noted that, in this document, “fixed to” or “connected to” may mean directly fixing or connecting to an element, or indirectly fixing or connecting to an element.

[0042] It should be noted that the container loading and unloading device 100 can be used for loading or unloading reagent containers in various biochemical experiments, without any particular limitation. Specifically in this embodiment, when the container loading and unloading device 100 is used in an in vitro diagnostic instrument, the container is generally a reagent boat.

[0043] The present invention provides a container loading and unloading device 100. As shown in Figures 1 to 4, the container loading and unloading device 100 includes a storage compartment 6, a placement tray 1, a pushing mechanism 3, a transfer mechanism 4, and a loading mechanism 5 disposed on the storage compartment 6. The placement tray 1 has a placement position 12. The placement position 12 is where an operator interacts with the container loading and unloading device 100, i.e., where the operator places a container when loading or unloading. The placement tray 1 is fixed, and the pushing mechanism 3, the transfer mechanism 4, and the loading mechanism 5 cooperate to transfer a container to be loaded from the placement position 12 of the placement tray 1 to the storage compartment 6, or to transfer a container in the storage compartment 6 to the placement position 12 for disposal.

[0044] The transfer mechanism 4 can be moved to the placement tray 1 or the loading mechanism 5. When the transfer mechanism 4 moves to the placement tray 1, the pushing mechanism 3 can push the container to move between the placement position 12 and the transfer mechanism 4. The transfer mechanism 4 and the pushing mechanism 3 cooperate as a conveying mechanism between the placement tray 1 and the loading mechanism 5. When the transfer mechanism 4 moves to the placement tray 1, the pushing mechanism 3 can push the container from the placement position 12 to the transfer mechanism 4, or push the container from the transfer mechanism 4 to the placement position 12.

[0045] When the transport mechanism 4 moves to the loading mechanism 5, the loading mechanism 5 can drive the container to move between the transport mechanism 4 and the storage compartment 6. The storage compartment 6 has a refrigeration capacity and can be used to store reagent containers.

[0046] It can be understood that the loading and unloading process of the container loading and unloading device 100 includes a loading process and an unloading process, which specifically include the following:

[0047] When it is necessary to load the container into the storage compartment 6, the loading method includes the following steps:

[0048] Place the container on the placement position 12 of the placement tray 1;

[0049] The transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the placement position 12 to move to the transfer mechanism 4;

[0050] The transfer mechanism 4 then moves to the loading mechanism 5 , which moves the container on the transfer mechanism 4 to the storage compartment 6 ;

[0051] The uninstallation method includes the following steps:

[0052] The transfer mechanism 4 moves to the loading mechanism 5 , and the loading mechanism 5 moves the container in the storage compartment 6 to the transfer mechanism 4 ;

[0053] Then the transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the transfer mechanism 4 to move to the placement position 12 for unloading operation.

[0054] In summary, the container loading and unloading device 100 can perform container loading and unloading operations by cooperating with the placement tray 1, the pushing mechanism 3, the transfer mechanism 4, the loading mechanism 5 and the storage compartment 6, wherein the container is placed on the placement position 12 of the placement tray 1, the transfer mechanism 4 moves to the placement tray 1, the pushing mechanism 3 pushes the container at the placement position 12 to move to the transfer mechanism 4, and then the transfer mechanism 4 moves to the loading mechanism 5, and the loading mechanism 5 moves the container on the transfer mechanism 4 to the storage compartment 6 to realize the loading operation of the container. When the container needs to be unloaded, it moves to the loading mechanism 5 through the transfer mechanism 4, and the loading mechanism 5 moves the container in the storage compartment 6 to the transfer mechanism 4. Mechanism 4, then the transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the transfer mechanism 4 to move to the placement position 12 to complete the unloading operation; therefore, the container loading and unloading device 100 can realize the online loading of the container from the placement position 12 of the placement tray 1 to the storage cabin 6 and the online unloading operation of the container from the storage cabin 6 to the placement position 12 of the placement tray 1, without affecting the normal operation of the instrument, improving the degree of automation, and by fixing the position of the placement position 12 of the placement tray 1 that interacts with the operator, it can effectively avoid the risk of accidental pinching of the operator caused by the operator when loading and unloading the container online, thereby improving the convenience and safety of human-computer interaction.

[0055] In some embodiments, as shown in Figures 1 to 4, the placement tray 1 further comprises an inlet end 11 connected to a placement position 12; the container loading and unloading device 100 further comprises a pushing mechanism 2, which is rotatably disposed on the placement tray 1 with its own central axis as the rotation center. When the pushing mechanism 2 rotates, it can push the container to move between the inlet end 11 and the placement position 12. It can be understood that the pushing mechanism 2 serves as a conveying mechanism between the inlet end 11 and the placement position 12. By fixing the position of the inlet end 11 and pushing the container from the inlet end 11 to the placement position 12, or from the placement position 12 to the inlet end 11, the risk of accidental injury to the operator due to position changes of the pushing mechanism 2 when the operator is loading and unloading containers online can be effectively avoided. Furthermore, the placement position 12 of the placement tray 1 and components such as the pushing mechanism 3, the transfer mechanism 4, the loading mechanism 5 and the storage compartment 6 can all be covered in a protective cover, with only the inlet end 11 of the placement tray 1 exposed, thereby more effectively avoiding the risk of accidental pinching of operators when loading and unloading containers online.

[0056] It can be understood that the loading and unloading process of the container loading and unloading device 100 includes a loading process and an unloading process, which specifically include the following:

[0057] When it is necessary to load the container into the storage compartment 6, the loading method includes the following steps:

[0058] The container is placed at the inlet end 11 of the placement tray 1, and the pushing mechanism 2 rotates relative to the placement tray 1 to elastically push the container at the inlet end 11 to move it to the placement position 12;

[0059] The transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the placement position 12 to move to the transfer mechanism 4;

[0060] The transfer mechanism 4 then moves to the loading mechanism 5 , which moves the container on the transfer mechanism 4 to the storage compartment 6 ;

[0061] The uninstallation method includes the following steps:

[0062] The transfer mechanism 4 moves to the loading mechanism 5 , and the loading mechanism 5 moves the container in the storage compartment 6 to the transfer mechanism 4 ;

[0063] Then the transfer mechanism 4 moves to the placement tray 1, and the pushing mechanism 3 pushes the container at the transfer mechanism 4 to the placement position 12;

[0064] The pushing mechanism 2 rotates relative to the placement tray 1 to elastically push the container to move to the inlet end 11 for unloading operation.

[0065] In some embodiments, as shown in Figures 1 and 2, the placement tray 1 is provided with a plurality of placement positions 12, and each placement position 12 is arranged in a row. Specifically in this embodiment, the placement positions 12 can be arranged in a row along the left and right directions facing the operator. The pushing mechanism 2 includes a first driving device 21 and a plurality of rotating wheels 22. The first driving device 21 is connected to each rotating wheel 22 and drives the rotating wheel 22 to rotate. The rotating wheel 22 is provided with an elastic sleeve. It should be noted that in existing in vitro diagnostic instruments, the detection instrument usually needs to run at high speed. For example, when the machine detection speed is 400 tests / hour, the reagent storage cabin usually needs to have about 35 storage positions, the diameter of the reagent storage cabin is usually not less than 500mm, and the container placement tray is also a circular turntable structure. Therefore, the rotation radius of the container placement tray often exceeds 250mm. A large rotation radius and high-speed movement often place higher requirements on the motion control of the device. Therefore, in this embodiment, by arranging the various placement positions 12 of the placement tray 1 in rows, specifically in a straight line, the motion control requirements of the device can be reduced and the reliability of the structure can be improved. Specifically, in this embodiment, the placement tray 1 is provided with no less than three placement positions 12, preferably five. By optimizing the number of placement positions 12, the degree of automation of the instrument is improved, and a large number of containers can be replaced online at the same time. In addition, by providing multiple rotating wheels 22, the rotating wheels 22 rotate to drive the pushing container from the inlet end 11 to the placement position 12, or from the placement position 12 to the inlet end 11. The rotating wheels 22 form an elastic structure, which can effectively avoid damage to the container when the container is pushed between the inlet end 11 and the placement position 12. Preferably, the elastic sleeve on the rotating wheel 22 can be polyurethane or elastic rubber. In particular, the surface of the rotating wheel 22 can have a microstructure such as a pattern to increase friction.

[0066] In some embodiments, two rotating wheels 22 are provided at the placement position 12, rotating in opposite directions. When the two adjacent rotating wheels 22 rotate toward each other, they can elastically push the container in the corresponding position to move between the inlet end 11 and the placement position 12. The coordinated rotation of the two adjacent rotating wheels 22 can move the container in the corresponding position between the inlet end 11 and the placement position 12, enabling large-scale container replacement without affecting online testing. When the container is pushed by the two adjacent rotating wheels 22 and just disengages the rotating wheels 22, the container stops moving.

[0067] In some embodiments, as shown in FIG5 , the first drive device 21 is sequentially connected to each rotating wheel 22 via a synchronous belt 23. It will be appreciated that the first drive device 21, such as a rotary motor, can be sequentially connected via the synchronous belt 23 to cause two adjacent rotating wheels 22 to move in opposite directions. This allows a single power source to propel containers in the same direction at multiple locations, simplifying the structure. Of course, in other embodiments, the first drive device 21 can also achieve rotation of each rotating wheel 22 via a multi-stage gear transmission, which is not particularly limited here.

[0068] In some embodiments, as shown in FIG1 , the transfer mechanism 4 includes a second drive unit 41, a third drive unit 42, and a carrier 43. The output end of the second drive unit 41 is connected to the third drive unit 42, driving the third drive unit 42 to move along the arrangement direction of the placement positions 12. The output end of the third drive unit 42 is connected to the carrier 43, driving the carrier 43 to rotate to the placement positions 12 or the loading mechanism 5. Specifically, in this embodiment, the placement positions 12 are arranged in a left-right direction facing the operator. Therefore, the second drive unit 41, such as a linear motor or a synchronous belt drive module, drives the third drive unit 42 to move left and right, while the third drive unit 42, such as a rotary motor, drives the carrier 43 to rotate. The cooperation between the second drive unit 41 and the third drive unit 42 enables the carrier 43 to rotate to any placement position 12 or the loading mechanism 5 for container loading or unloading operations. Specifically, the transfer mechanism 4 is arranged non-concentrically with the storage compartment 6, but intersects with the loading mechanism 5.

[0069] In some embodiments, each placement position 12 is provided with a detection device for detecting the status of the placement position 12. The detection device is used to detect whether a container has been placed in place. Specifically, when an operator inserts a new container at the inlet end 11 of the placement tray 1 and pushes it into the placement position 12 via the pushing mechanism 2, the detection device detects the entry of the container and controls the pushing mechanism 3, the transfer mechanism 4, and the loading mechanism 5 to move in coordination to load the container.

[0070] In some embodiments, as shown in Figures 3 and 4, the pushing mechanism 3 includes a fourth drive device 31 and a pushing member 32 connected to the output end of the fourth drive device 31. The fourth drive device 31 drives the pushing member 32 to move along the arrangement direction of the placement positions 12 and in a direction intersecting the arrangement direction of the placement positions 12. Specifically, the fourth drive device 31 drives the pushing member 32 to move along the arrangement direction of the placement positions 12 and in a direction perpendicular to the arrangement direction of the placement positions 12. The pushing member 32 is used to push the container to move between the placement positions 12 and the transfer mechanism 4. Specifically, in this embodiment, the placement positions 12 are arranged in a row along the left and right direction facing the operator, so the fourth drive device 31 may include two linear motors. The two linear motors cooperate to drive the pushing member 32 to move left and right and forward and backward, so as to control the pushing member 32 to push the container to move between any placement position 12 and the transfer mechanism 4.

[0071] In some embodiments, as shown in FIG4 , the distal end of the pusher 32 is provided with a hook-shaped structure adapted to fit the container. The fourth drive mechanism 31 engages the hook-shaped structure of the pusher 32 with a specific structure of the container, which hooks the container and allows it to follow the movement of the pusher 32, thereby pushing the container between the placement position 12 and the transfer mechanism 4 .

[0072] In some embodiments, as shown in FIG1 , the loading mechanism 5 includes a lifting drive 52 and a gripping member 53 . The storage compartment 6 has a storage position, and the gripping member 53 is vertically aligned with the storage position. The transfer mechanism 4 can move below the gripping member 53 or vertically offset from the gripping member 53 . The output end of the lifting drive 52 is connected to the gripping member 53 and drives the gripping member 53 up and down. The gripping member 53 is a conventional gripping claw structure and will not be described in detail here. It can be understood that the position below the grabbing member 53 is the loading position, and the position vertically offset from the grabbing member 53 is the waiting position. When a container is to be unloaded from the storage position in the storage compartment 6, the grabbing member 53 grabs the container to be unloaded from the storage position. At this time, the transfer mechanism 4 is on standby at the waiting position. The lifting drive device 52, such as the lifting electric cylinder, first takes the container to be unloaded from the storage position and raises it to a certain height. The transfer mechanism 4 rotates from the waiting position to the loading position, and then the lifting drive device 52 drives the grabbing member 53 to descend to perform the container unloading operation. When a container needs to be loaded into the storage position in the storage compartment 6, after the container is transferred to the transfer mechanism 4, the transfer mechanism 4 is rotated to the loading position. The lifting drive device 52 drives the grabbing member 53 to take the container from the transfer mechanism 4 and raise it to a certain height. The transfer mechanism 4 rotates from the loading position to the waiting position, and the lifting drive device 52 drives the grabbing member 53 to descend to the storage position to place the container.

[0073] In some embodiments, as shown in Figure 1, the placement tray 1, pushing mechanism 2, pushing mechanism 3, transfer mechanism 4 and loading mechanism 5 are all arranged above the storage cabin 6. Specifically, the placement tray 1, pushing mechanism 2, pushing mechanism 3, transfer mechanism 4 are all fixed above the storage cabin 6 through a fixing plate, and the loading mechanism 5 is arranged at the edge of the storage cabin 6 so that the surface space of the storage cabin 6 can be fully utilized. At the same time, the modular design of the structure can also make the overall structure have better maintainability.

[0074] In some embodiments, as shown in Figure 3, the pushing mechanism 2 is positioned above the placement tray 1, and is positioned at a height corresponding to the inlet end 11 of the placement tray 1. This allows for full utilization of the structural space while preventing structural interference. Specifically, a gantry is provided on the fixed plate corresponding to the inlet end 11 of the placement tray 1, and the gantry is secured to the pushing mechanism 2. Furthermore, the pushing mechanism 3 is also spatially positioned above the placement tray 1 and mounted on the gantry.

[0075] The following briefly describes a container loading method of the container loading and unloading device 100 in one embodiment, including the following steps:

[0076] When the operator inserts the container into the inlet end 11 of the placement tray 1, the first drive device 21 drives the rotating wheels 22 to rotate through the synchronous belt 23, and the two adjacent rotating wheels 22 turn in opposite directions to push the reagent container to the placement position 12 of the placement tray 1. The detection device receives a signal to identify that the container is in place, and the pushing mechanism 3 and the transfer mechanism 4 are activated. The transfer mechanism 4 moves to the placement tray 1, and the fourth drive device 31 is clamped into the specific structure of the container through the pushing member 32 so that the container is hooked and can move back and forth with the pushing member 32. At this time, the reagent container can be pushed into the transfer mechanism 4, and then the transfer mechanism 4 moves to the loading position. The lifting drive device 52 drives the grabbing member 53 to take out the container on the transfer mechanism 4 and raise it to a certain height. The transfer mechanism 4 rotates from the loading position to the waiting position, and the lifting drive device 52 drives the grabbing member 53 to descend to the storage position to place the container.

[0077] When it is necessary to unload the container from the storage location, the unloading method includes the following steps:

[0078] When a container is to be unloaded from the storage position in the storage compartment 6, the grabbing member 53 grabs the container to be unloaded from the storage position. At this time, the transfer mechanism 4 is on standby at the waiting position. The lifting drive device 52 first takes the container to be unloaded from the storage position and raises it to a certain height. The transfer mechanism 4 rotates from the waiting position to the loading position, and then the lifting drive device 52 drives the grabbing member 53 to descend and place the container on the transfer mechanism 4.

[0079] Then, the transport mechanism 4 moves to the placement tray 1 , and the fourth driving device 31 engages the specific structure of the container through the pushing member 32 , so that the container is hooked and the reagent container is pushed to the placement position 12 of the placement tray 1 ;

[0080] The first driving device 21 drives each rotating wheel 22 to rotate through the synchronous belt 23. The two adjacent rotating wheels 22 turn in opposite directions to discharge the reagent container. The container is pushed by the rotating wheel 22 until the container just leaves the rotating wheel and stops moving. At this time, the container moves to the inlet end 11 for unloading operation.

[0081] The above embodiments are not exhaustive and may include many other embodiments not listed above. Any replacements and improvements made without violating the concept of the present invention are within the scope of protection of the present invention.

Claims

1. A container handling device, characterized in that: The container loading and unloading device includes a placement tray, a pushing mechanism, a transfer mechanism, a loading mechanism and a storage cabin; The placement tray has a placement position, which is used to place the container; the transfer mechanism can move to the placement tray or the loading mechanism, and when the transfer mechanism moves to the placement tray, the pushing mechanism can push the container to move between the placement position and the transfer mechanism; when the transfer mechanism moves to the loading mechanism, the loading mechanism can drive the container to move between the transfer mechanism and the storage compartment.

2. The container handling device according to claim 1, characterized in that: The placement plate also has an inlet end connected to the placement position; the container loading and unloading device also includes a pushing mechanism, which is rotatably arranged on the placement plate with its own central axis as the rotation center. When the pushing mechanism rotates, it can push the container to move between the inlet end and the placement position.

3. The container handling device according to claim 2, characterized in that: The placement tray is provided with a plurality of placement positions, and the placement positions are arranged in rows; The pushing mechanism comprises a first driving device and a plurality of rotating wheels. The first driving device is connected to each of the rotating wheels and drives the rotating wheels to rotate. The rotating wheel sleeve is provided with an elastic sleeve.

4. The container handling device according to claim 3, characterized in that: There are two rotating wheels corresponding to the placement position and they rotate in opposite directions to each other. When two adjacent rotating wheels rotate towards each other, they can elastically push the container at the corresponding position to move between the inlet end and the placement position.

5. The container handling device according to any one of claims 1 to 4, characterized in that: The transfer mechanism includes a second drive device, a third drive device and a carrier frame. The output end of the second drive device is connected to the third drive device and drives the third drive device to move along the arrangement direction of the placement position. The output end of the third drive device is connected to the carrier frame and drives the carrier frame to rotate to the placement position or the loading mechanism.

6. The container handling device according to any one of claims 1 to 4, characterized in that: The pushing mechanism includes a fourth driving device and a pushing member connected to the output end of the fourth driving device. The fourth driving device drives the pushing member to move along the placement position arrangement direction and the direction intersecting with the placement position arrangement direction. The pushing member is used to push the container to move between the placement position and the transfer mechanism.

7. The container handling device according to claim 6, characterized in that: The end of the pushing member is provided with a hook-shaped structure matched with the container.

8. The container handling device according to any one of claims 1 to 4, characterized in that: A detection device is provided at the placement position, and the detection device is used to detect the state of the placement position.

9. The container handling device according to any one of claims 2 to 4, characterized in that: The pushing mechanism is arranged above the placing tray, and the pushing mechanism and the inlet end of the placing tray are arranged correspondingly in the height direction.

10. The container handling device according to claim 9, characterized in that: The placement tray, the pushing mechanism, the pushing mechanism, the transfer mechanism, and the loading mechanism are all arranged above the storage cabin.

11. The container handling device according to any one of claims 1 to 4, characterized in that: The loading mechanism includes a lifting drive device and a grabbing member; the storage compartment has a storage position, and the grabbing member and the storage position are arranged correspondingly in the vertical direction, and the transfer mechanism can move to the bottom corresponding to the grabbing member or be staggered with the grabbing member in the vertical position; the output end of the lifting drive device is connected to the grabbing member and drives the grabbing member to move up and down.

12. A container loading and unloading method, characterized in that: Based on the container handling device according to any one of claims 1 to 11, it is possible to switch to a loading method or an unloading method: The loading method comprises the following steps: Place the container in the placement position of the placement tray; The transfer mechanism moves to the placement plate, and the pushing mechanism pushes the container at the placement position to move to the transfer mechanism; Then the transfer mechanism moves to the loading mechanism, and the loading mechanism moves the container on the transfer mechanism to the storage compartment; The uninstallation method comprises the following steps: The transfer mechanism moves to the loading mechanism, and the loading mechanism moves the container in the storage compartment to the transfer mechanism; Then the transfer mechanism moves to the placement plate, and the pushing mechanism pushes the container at the transfer mechanism to move to the placement position for unloading.

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