Fully automatic test tube feeding system and method

Abstract

Embodiments of the present invention relate to the technical field of automation, and provide a fully automatic test tube feeding system and method, aiming at ameliorating the problem that the compatibility of clamping and uncapping of test tubes for sample testing is not enough. In the fully automatic test tube feeding system, a feeding module is configured to detect the specification of a test tube; an uncapping device is configured to clamp a cap of the test tube located at a preset tube opening position and uncap the test tube; and a controller is configured such that, on the basis of the specification of the test tube and a tube opening position signal that the test tube is located at the preset tube opening position, the controller controls the uncapping device to clamp the cap of the test tube located at the preset tube opening position, and controls the clamping size, clamping force and moving speed of the uncapping device for the cap of the test tube. The method is implemented using the controller in the system. The fully automatic test tube feeding system can be applicable to uncapping of test tubes of various specifications, and adaptive uncapping treatment can be carried out on caps of test tubes of different specifications, i.e., different diameters and lengths, regardless of whether the caps of the test tubes have threads or not, thereby improving the universality and flexibility of the system.

Description

Full-automatic test tube sample injection system and method TECHNICAL FIELD

[0001] The present application relates to the field of automation, in particular to a full-automatic test tube sample injection system and method. BACKGROUND

[0002] At present, most of the medical blood collection tubes are vacuum test tubes. When testing, the following steps are usually required: reading information on the bar code on the outer wall of the test tube; opening the test tube cover after information reading is completed to extract the sample; and covering the test tube cover after extraction to avoid sample contamination.

[0003] After collecting blood, there is still a certain negative pressure in the test tube, and a certain force is required to open the test tube cover. In the case where a large number of samples in the test tube need to be extracted, the test tube is scanned and the cover is opened and closed one by one through manual operation, which is not only low in efficiency and high in labor intensity, but also may cause the test tube to break or the sample to splash due to improper force control, thereby causing pollution and endangering the health of the operator.

[0004] In the prior art, the test tube bottom is clamped to open the cover by the elastic force of the elastic part in the test tube holder accommodating portion. This structure cannot be compatible with test tubes of multiple specifications, and the clamping force cannot be controlled, which may cause insufficient clamping force and slipping, thereby failing to ensure smooth opening and closing of the test tube cover.

[0005] SUMMARY

[0006] The present application includes, for example, providing a full-automatic test tube sample injection system which can improve the problem of insufficient compatibility of test tube clamping and cover opening for sample testing.

[0007] The present application also includes providing a full-automatic test tube sample injection method which can improve the problem of insufficient compatibility of test tube clamping and cover opening for sample testing.

[0008] Embodiments of the present application can be implemented as follows:

[0009] The embodiment of the present application provides a full-automatic test tube sampling system, which comprises a sampling module, an uncapping device and a controller, the sampling module and the uncapping device are in communication connection with the controller; the sampling module is located upstream of the uncapping device, and is used for conveying test tubes to a preset test tube taking position and detecting the specifications of the test tubes in the conveying process; a preset test tube placing position and a preset test tube opening position are arranged downstream of the preset test tube taking position in sequence; the uncapping device is located downstream of the preset test tube taking position, and comprises a clamping translation device capable of horizontal movement and a gripper device capable of vertical movement, the clamping translation device is used for clamping test tubes and can be transferred between the preset test tube placing position and the preset test tube opening position; the gripper device is arranged above the preset test tube opening position, and is used for clamping test tube caps located on the preset test tube opening position and uncapping the test tube caps;

[0010] The controller is used for acquiring a specification signal of the test tubes and a test tube opening position signal of the test tubes located on the preset test tube opening position, and controlling the uncapping device to uncaps the test tubes according to the clamping size, the clamping force and the moving speed corresponding to the specification signal.

[0011] In addition, the full-automatic test tube sampling system provided by the embodiment of the present application can also have the following additional technical features:

[0012] Optionally, the full-automatic test tube sampling system further comprises a height sensor, the height sensor is used for detecting the height of the test tubes; the height sensor is arranged on the preset test tube placing position, or the height sensor is arranged on the preset test tube opening position, or the height sensor is arranged between the preset test tube placing position and the preset test tube opening position; the height sensor is in communication connection with the controller; and the controller is used for controlling or alarming the clamping translation device or the gripper device according to the height of the test tubes.

[0013] Optionally, the gripper device comprises a lifting mechanism capable of vertical movement and a rotating gripper capable of clamping and rotating, the rotating gripper is fixed with the lifting mechanism; the lifting mechanism is used for driving the rotating gripper to ascend or descend; and the rotating gripper is used for clamping, rotating or loosening the test tube cap.

[0014] Optionally, a preset liquid suction position is arranged downstream of the preset test tube opening position, the clamping translation device is used for clamping the test tubes and transferring the test tubes between the preset test tube opening position and the preset liquid suction position; and the full-automatic test tube sampling system further comprises an automatic pipettor; the automatic pipettor is located downstream of the uncapping device, the automatic pipettor is in communication connection with the controller, and the automatic pipettor is used for sucking liquid of the test tubes which are uncapped and transferred to the preset liquid suction position.

[0015] Optionally, the preset liquid level coincides with the preset tube placing position.

[0016] Optionally, the full-automatic test tube sampling system further comprises a code scanner; the code scanner is arranged at the preset tube opening position, and is in communication connection with the controller; the code scanner is used for scanning the test tube; and the controller is used for controlling the code scanner to scan the test tube in the process that the gripper device rotates the test tube at the preset tube opening position.

[0017] Embodiments of the present application also provide a full-automatic test tube sampling method, which is executed by the controller in the full-automatic test tube sampling system, and comprises the following steps:

[0018] acquiring a specification signal of the test tube at the preset tube taking position;

[0019] acquiring a tube opening position signal of the test tube at the preset tube opening position;

[0020] controlling the gripper device to clamp the test tube cap at the preset tube opening position according to the specification signal and the tube opening position signal, and controlling the clamping size, clamping force and moving speed of the gripper device on the test tube cap.

[0021] Optionally, the full-automatic test tube sampling method further comprises, after the step of acquiring the tube opening position signal of the test tube at the preset tube opening position and before the step of controlling the gripper device to clamp the test tube cap at the preset tube opening position according to the specification signal and the tube opening position signal;

[0022] controlling the clamping translation device to release the test tube according to the tube opening position signal, and controlling the gripper device to clamp and / or rotate the test tube, and simultaneously controlling the code scanner to scan the test tube in the rotating process;

[0023] Optionally, the full-automatic test tube sampling system further comprises a code scanner in communication connection with the controller, and the code scanner is arranged at the preset tube opening position.

[0024] Optionally, the full-automatic test tube sampling method further comprises:

[0025] acquiring a first height of the test tube in the process that the test tube is moved from the preset tube taking position to the preset tube placing position and then moved from the preset tube placing position to the preset tube opening position;

[0026] if the first height is greater than a first preset height, controlling the gripper device to perform the cap opening operation on the test tube; and if the first height is less than the first preset height, alarming and stopping the cap opening operation;

[0027] A second height of the test tube during movement from the preset tube opening position to the preset tube placing position is acquired after the cover opening operation of the gripper device is completed.

[0028] If the second height is greater than a second preset height, an alarm is given and the liquid suction operation is stopped; if the second height is less than the second preset height, the automatic pipettor is controlled to perform liquid suction on the test tube.

[0029] The full-automatic test tube sampling system further comprises an automatic pipettor in communication connection with the controller, and the automatic pipettor is arranged at the preset tube placing position.

[0030] Optionally, the full-automatic test tube sampling method further comprises:

[0031] A liquid suction signal of the automatic pipettor after completing liquid suction is acquired.

[0032] A position signal of the test tube is acquired.

[0033] According to the liquid suction signal and the position signal, the clamping and translation device is controlled to move the test tube after liquid suction to the preset tube opening position, the gripper device is controlled to cover the clamped cap on the test tube, and then the clamping and translation device is controlled to move the sealed test tube to the preset tube placing position to wait for being removed.

[0034] The full-automatic test tube sampling system and method have the following advantages, for example:

[0035] The full-automatic test tube sampling system comprises a sampling module, a cover opening device and a controller, and the sampling module and the cover opening device are in communication connection with the controller; the sampling module is located upstream of the cover opening device, and is used to transport test tubes to a preset tube taking position and detect the specifications of the test tubes during transportation; a preset tube placing position and a preset tube opening position are arranged downstream of the preset tube taking position in sequence; the cover opening device is located downstream of the preset tube taking position, and comprises a clamping and translation device capable of horizontal movement and a gripper device capable of vertical movement; the clamping and translation device is used to clamp test tubes and can move the test tubes between the preset tube placing position and the preset tube opening position; the gripper device is arranged above the preset tube opening position, and is used to clamp the caps of the test tubes located on the preset tube opening position and remove the caps; the controller is used to acquire a specification signal of the test tubes and an opening position signal of the test tubes located on the preset tube opening position, and control the cover opening device to remove the caps of the test tubes according to the clamping size, clamping force and moving speed corresponding to the specification signal.

[0036] The full-automatic test tube sample feeding system can recognize different specifications of test tubes first, can detect the specifications of the test tubes transferred, select the most appropriate strategy for the test tube operation according to the detection condition, can adapt to test tubes of various specifications, can adapt to test tube caps with threads or without threads, or test tube caps of different diameters and lengths, and can be opened, thereby increasing the versatility and flexibility of the system, and completing the whole process automatically, improving the control precision, and prolonging the service life of the machine.

[0037] The full-automatic test tube sample feeding method is implemented by using the controller in the full-automatic test tube sample feeding system, and can improve the problem of insufficient compatibility of the sample detection test tube clamping and opening. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0039] Fig. 1 is a structural schematic diagram of the first perspective view of the full-automatic test tube sample feeding system provided by the present embodiment;

[0040] Fig. 2 is a structural schematic diagram of the second perspective view of the full-automatic test tube sample feeding system provided by the present embodiment;

[0041] Fig. 3 is a flow chart of the full-automatic test tube sample feeding method provided by the present embodiment.

[0042] Fig. 3 is a flow chart of the full-automatic test tube sample feeding method provided by the present embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] The following detailed description of embodiments of the application in the drawings provided is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the application without creative labor are within the scope of protection of the application.

[0045] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0046] In the description of the application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0047] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0048] It should be noted that the features in the embodiments of the application can be combined with each other without conflict.

[0049] The full-automatic test tube sampling system 10 provided by the embodiment will be described in detail below in conjunction with FIGS. 1 to 3.

[0050] Referring to FIG. 1, FIG. 2 and FIG. 3, the embodiment provides a full-automatic test tube sampling system 10, which comprises a sampling module, an uncapping device 300 and a controller, the sampling module and the uncapping device 300 are in communication connection with the controller; the sampling module is located upstream of the uncapping device 300, and is used for conveying the test tube 600 to a preset test tube taking position and detecting the specification of the test tube 600 in the conveying process; a preset test tube placing position and a preset test tube uncapping position 410 are arranged downstream of the preset test tube taking position in sequence; the uncapping device 300 is located downstream of the preset test tube taking position, and comprises a clamping translation device 200 capable of moving horizontally and a gripper device capable of moving vertically, the clamping translation device 200 is used for clamping the test tube 600 and can be conveyed between the preset test tube placing position and the preset test tube uncapping position 410; the gripper device is arranged above the preset test tube uncapping position 410, and is used for clamping the test tube cap located on the preset test tube uncapping position 410 and uncapping; the controller is used for acquiring the specification signal of the test tube 600 and the uncapping position signal of the test tube 600 located on the preset test tube uncapping position 410, and controlling the uncapping device 300 to uncaps the test tube 600 according to the clamping size, the clamping force and the moving speed corresponding to the specification signal.

[0051] The test tube 600 is placed in the sampling module after sampling; in the sampling module, the sampling module can detect the specification of the test tube 600 and send the specification signal of the test tube 600 to the controller, and the sampling module mainly adopts the mode of scanning and identifying the test tube 600 to identify the specification of the test tube 600; the controller controls the opening clamping size of the rotating gripper on the gripper device to adapt to the test tube 600 according to the detected specification of the test tube 600; at the same time, the clamping force is controlled to avoid clamping the test tube cap too hard or clamping the test tube cap too small to be stable; after clamping, the cap is separated by rotating or directly separating, and no matter the test tube cap is a threaded cap or a straight tube cap, the rotating mode can be adopted to open; after the test tube cap is rotated and opened, the moving speed of the cap is controlled, and the whole process can be clamped and rotated according to the cap of different specifications of the test tube 600.

[0052] The gripper device has wide adaptability and can adapt to test tubes 600 of various specifications, whether the cap has threads or not, whether the cap is a threaded cap or a straight tube cap, and whether the cap has various diameters and lengths, all of which can be adapted and uncapped, increasing the versatility and flexibility of the system. The whole process is automatically completed. The sampling module can identify test tubes 600 of different specifications, detect the specification of the placed test tube 600, the controller selects the most appropriate strategy to uncaps the test tube 600 according to the detection condition, improves the control precision and prolongs the service life of the machine.

[0053] Specifically, the sample injection module is provided with a plurality of sample injection channels, and a plurality of preset tube taking positions are also provided correspondingly, the plurality of sample injection channels correspond to the plurality of preset tube taking positions one by one, the plurality of sample injection channels simultaneously inject samples, the plurality of preset tube taking positions respectively place test tubes 600 of different specifications, and the controller controls the mechanical hand to select the test tube 600 of the corresponding specification on the preset tube taking position according to the requirement and move it to the preset tube opening position, and the gripper device opens the cap according to different specifications.

[0054] In the embodiment, the full-automatic test tube sample injection system further comprises a mechanical hand, which is in communication connection with the controller, and is used for clamping the test tube 600 to move between the preset tube taking position and the preset tube placing position. The mechanical hand is used for clamping the test tube 600 from the preset tube taking position to the preset tube placing position 400 and then releasing it. After the position sensor detects that the test tube 600 is located at the preset tube placing position 400, the controller controls the clamping translation device 200 to clamp the test tube 600 and translate it to the preset tube opening position 410. The structure is simple, and the operation is convenient.

[0055] Referring to FIGS. 1, 2 and 3, in the embodiment, a preset liquid suction position is arranged downstream of the preset tube opening position, and the clamping translation device 200 is used for clamping the test tube 600 to move between the preset tube opening position and the preset liquid suction position. The full-automatic test tube sample injection system further comprises an automatic pipettor. The automatic pipettor is located downstream of the cap opening device 300, is in communication connection with the controller, and is used for sucking liquid from the test tube 600 that has been opened and moved to the preset liquid suction position. Specifically, the automatic pipettor comprises a liquid suction gun hand, which is used for sucking sample liquid into the test tube 600.

[0056] After the test tube 600 is opened at the preset tube opening position 410, the clamping translation device 200 translates the opened test tube 600 to the preset liquid suction position, and the automatic pipettor sucks the sample in the test tube 600 moved to the preset liquid suction position. After the automatic pipettor finishes sucking, the clamping translation device 200 translates the test tube 600 after the liquid suction back to the preset tube opening position 410, the gripper device caps the cap on the test tube 600, and after the cap of the test tube 600 is capped, the clamping translation device 200 translates the test tube 600 to the preset tube placing position 400.

[0057] With reference to FIG. 1, FIG. 2 and FIG. 3, in the embodiment, the preset liquid suction level coincides with the preset tube placing position 400. The clamping and translation device 200 moves the test tube 600 from the preset tube placing position 400 to the preset tube opening position 410, opens the cap at the preset tube opening position 410, then moves to the preset liquid suction position to suck liquid, then moves to the preset tube opening position 410 to seal the cap, and then moves to the preset tube placing position 400 to wait for removal. During the process of opening the cap, sucking liquid and sealing the cap, the clamping and translation device 200 clamps the test tube 600 to reciprocally translate at the preset tube placing position 400 and the preset tube opening position 410, which can reduce the overall device size, simplify the structure and improve the efficiency.

[0058] With reference to FIG. 1, FIG. 2 and FIG. 3, in the embodiment, the fully-automatic test tube sampling system further comprises a height sensor 500 for detecting the height of the test tube 600; the height sensor 500 is arranged at the preset tube placing position 400, or the height sensor 500 is arranged between the preset tube placing position 400 and the preset tube opening position 410; the height sensor 500 is in communication connection with the controller; the controller is used to control or alarm the clamping and translation device 200 or the gripper device according to the height of the test tube 600. Specifically, the height sensor 500 adopts a laser sensor.

[0059] The preset liquid suction level coincides with the preset tube placing position 400, which can simplify the structure and reduce the equipment space. The height sensor 500 arranged between the preset tube placing position 400 and the preset tube opening position 410 can monitor the cap of the test tube 600 throughout the process.

[0060] During the process of opening the cap from the preset tube placing position 400 to the preset tube opening position 410, the height sensor 500 is used to detect whether the cap of the test tube 600 is intact or not, and if not, an alarm is needed to stop the subsequent opening operation; during the process of moving from the preset tube opening position 410 to the preset liquid suction position, the height sensor 500 is used to detect whether the test tube 600 still has a cap or not, and if so, an alarm is needed to stop the subsequent liquid suction operation, which needs to ensure that the cap of the test tube 600 reaching the preset liquid suction position is opened. After the preset liquid suction position completes the liquid suction, the clamping and translation device 200 moves the test tube 600 to the preset tube opening position 410, during which the height sensor 500 can detect whether the cap of the test tube 600 exists or not; after the preset tube opening position 410 completes the cap sealing, the clamping and translation device 200 moves the test tube 600 from the preset tube opening position 410 to the preset tube placing position 400, during which the height sensor 500 can detect whether the cap of the test tube 600 is sealed or not, and finally the test tube 600 with the sample sucked and the cap sealed is removed at the preset tube placing position 400.

[0061] The detection device is provided with a cap of a test tube, which can detect whether the test tube 600 has a cap when placed, and whether the opening operation is successful, so as to avoid providing false information to the next operation and causing damage to the equipment.

[0062] Referring to FIGS. 1, 2 and 3, in the embodiment, the full-automatic test tube sampling system further comprises a code scanner (not shown in the figure); the code scanner is arranged at the preset tube opening position 410, and the code scanner is in communication connection with the controller; the code scanner is used for scanning the test tube 600, and the controller is used for controlling the code scanner to scan the test tube 600 in the process that the gripper device rotates the test tube 600 at the preset tube opening position 410.

[0063] The code scanner can completely scan the information on the test tube 600 by clamping and rotating the test tube 600 by the gripper device, without considering the placement angle and position of the test tube 600, and without considering the setting position of the code scanner; after the test tube 600 is rotated, the code scanner can scan the information in full view, thereby reducing the error probability. The position of the code scanner is fixed, and the information scanning can be completed by rotating the test tube 600.

[0064] In the embodiment, the gripper device comprises a lifting mechanism capable of vertical movement and a rotating gripper capable of clamping and rotating, and the rotating gripper is fixed to the lifting mechanism; the lifting mechanism is used for driving the rotating gripper to ascend or descend; and the rotating gripper is used for clamping, rotating or loosening the cap of the test tube. The cap of the test tube is divided into threaded and non-threaded, the clamping and translating device 200 is responsible for clamping and translating the test tube, and the gripper device is responsible for clamping, rotating or loosening the cap of the test tube.

[0065] In the opening process, the rotating gripper clamps and rotates the cap of the test tube, and then moves vertically upward after the cap is opened; or the rotating gripper clamps and rotates the cap of the test tube in the process of vertical movement of the lifting mechanism, and moves vertically and rotates simultaneously, and rotates according to the thread parameters in the process of vertical upward movement; or the rotating gripper is used for pulling the cap of the test tube away from the test tube or pressing the cap of the test tube on the test tube in the process of vertical movement.

[0066] Before the cap is opened, the information of the test tube 600 needs to be scanned by the code scanner, at this time, the rotating gripper clamps the cap of the test tube and lifts the test tube 600 to a preset height, and then rotates, so as to facilitate the code scanner to scan the information on the outer wall of the test tube 600.

[0067] The specific process is as follows: the clamping translation device 200 is arranged below the gripper device, the clamping translation device 200 clamps the test tube 600 at the preset tube placing position 400 and moves to the preset tube opening position 410, the lifting mechanism drives the gripper device to move downward, clamps the test tube 600, the clamping translation device 200 releases the test tube 600, the lifting mechanism drives the gripper device to lift the test tube 600 by a preset height and then rotates the test tube 600, and the code scanner scans the test tube 600.

[0068] Referring to FIGS. 1, 2 and 3, in the embodiment, the full-automatic test tube sample feeding system 10 further comprises a plurality of position detectors which can detect the position of the test tube 600 and determine whether the test tube 600 is accurately positioned at the preset tube placing position 400, the preset tube opening position 410 and the preset liquid suction position. The specific position can be determined whether the test tube 600 is placed successfully, and the test tube 600 is processed according to the detection condition. If the test tube 600 is correctly positioned, the next process is performed, and if the test tube 600 is incorrectly positioned, an alarm is given.

[0069] In the embodiment, the sample feeding module and the gripper device can be independently arranged, and the translation of the test tube 600 between the sample feeding module and the gripper device is realized by the mechanical hand. The clamping translation device 200 and the gripper device are arranged together, and the structure is simple, the volume is small, and the cost is low, so that the full-automatic test tube sample feeding system 10 can be used as an automatic platform.

[0070] According to the full-automatic test tube sample feeding system 10 provided in the embodiment, the working principle of the full-automatic test tube sample feeding system 10 is as follows: mainly the test tube 600 for sample feeding is scanned and recognized, the cap is opened, the sample is taken on the platform, and then the cap of the test tube 600 is closed, including the following steps:

[0071] The sample feeding module is composed of a sample rack and a sample platform. The test tube 600 containing a sample is placed on the sample rack and sent to the sample platform. The sample rack is provided with a sliding track. The sample rack is provided with a sensing element. The number of sensing elements arranged on the sample rack represents the specification of the test tube 600. When the sample rack slides from one end of the sliding track to the other end of the sliding track, the first detection element arranged at the other end of the sliding track on the sample platform sends a corresponding number of sensing signals according to the number of sensing elements sensed. Thus, the specification of the test tube 600 can be determined according to the number of sensing signals, the classification and recognition of test tubes 600 of different specifications are realized, the software function is simple, and the control and processing requirements are low. In an optional embodiment, the medical test tube recognition device further comprises a code scanner which is arranged on the sliding track and can operate according to the sensing signal to read the bar code on the test tube 600.

[0072] The first position sensor is arranged at the preset tube taking position. After the first position sensor detects that the test tube 600 reaches the preset tube taking position, the sample feeding module transmits the specification and in-place information of the test tube 600 to the controller, the controller controls the manipulator to move the test tube 600 to the preset tube placing position 400, and sends the cover opening instruction of the test tube 600 of the corresponding specification to the clamping translation device 200 and the gripper device.

[0073] The second position sensor is arranged at the preset tube placing position. The second position sensor judges whether the preset tube placing position 400 has the test tube 600, and then the controller starts the power part of the clamping translation device 200, the two arms of the clamping gripper of the clamping translation device 200 approach and clamp the test tube 600, the clamping gripper translates the test tube 600, and the height sensor 500 detects whether the test tube 600 has a cap.

[0074] The third position sensor is arranged at the preset tube opening position 410. The clamping translation device 200 clamps the test tube 600 to move to the preset tube opening position 410 directly below the gripper device. The controller receives the signal of the third position sensor monitoring that the test tube 600 reaches the preset tube opening position 410, controls the clamping translation device 200 to stop, and controls the lifting mechanism to start, so that the lifting mechanism drives the rotating gripper of the gripper device to descend.

[0075] The fourth position sensor is used to monitor whether the rotating gripper is clamped in place. When the rotating gripper is clamped in place, the controller controls the clamping translation device 200 to loosen, controls the gripper device to clamp the test tube 600 to move upward and rotate, the code scanner scans the information of the test tube 600 on the outer wall of the test tube 600, after the scanning is completed, the controller controls the gripper device to clamp the test tube 600 to move downward, the clamping translation device 200 clamps the test tube 600 again, and then the controller controls the gripper device to rotate and move upward to open the cap, thereby achieving the opening of the cap.

[0076] After the cap is opened, the clamping translation device 200 clamps the test tube 600 to move to the preset liquid suction position, that is, the preset tube placing position 400. The preset liquid suction position and the preset tube placing position coincide. When the controller receives the signal of the second position sensor monitoring that the clamping translation device 200 reaches the preset tube placing position, the controller controls the clamping translation device 200 to stop and controls the automatic pipettor to complete the pipetting operation. In the process of moving the test tube 600 from the preset tube opening position 410 to the preset liquid suction position, the height sensor 500 detects whether the test tube 600 has a cap.

[0077] After the liquid absorption is completed, the controller controls the clamping translation device 200 to operate. When the controller receives a signal that the third position sensor monitors that the clamping translation device 200 reaches the preset tube opening position 410, the controller controls the clamping translation device 200 to stop, and controls the lifting mechanism to start, and the lifting mechanism drives the gripper device to rotate and descend. When the controller receives a signal that the fourth position sensor monitors that the rotating gripper is in place, the controller controls the lifting mechanism or the rotating gripper to cap the test tube cap on the test tube 600, and then starts the lifting mechanism to drive the rotating gripper to ascend, thereby completing the capping.

[0078] After the capping is completed, the controller controls the clamping translation device 200 to clamp the test tube 600 at the preset tube opening position 410 to move to the preset tube placement position 400. When the controller receives a signal that the second position sensor monitors that the clamping translation device 200 reaches the preset tube placement position 400, the controller controls the clamping translation device 200 to release the test tube 600, and the controller controls the transfer device to complete the removal of the test tube 600. During the movement from the preset tube opening position 410 to the preset tube placement position 400, the height sensor 500 detects whether the test tube 600 has a cap.

[0079] Referring to FIG. 3, the embodiment further provides a full-automatic test tube sampling method, which is executed by the controller in the full-automatic test tube sampling system 10, and includes the following steps: obtaining a specification signal of a test tube 600 located at a preset tube placement position; obtaining a tube opening position signal of the test tube 600 located at a preset tube opening position 410; and controlling a gripper device to clamp a test tube cap located at the preset tube opening position 410 according to the specification signal and the tube opening position signal, and controlling the clamping size, clamping force, and moving speed of the gripper device.

[0080] The sampling module has a function of identifying the specification of the test tube 600. After the controller receives the specification signal, the controller can adopt a matching strategy to open the cap according to different types and specifications of the test tube 600, thereby realizing automatic opening and capping of test tubes 600 of multiple specifications and types.

[0081] In the embodiment, the full-automatic test tube sampling method further includes, after the step of obtaining the tube opening position signal of the test tube 600 located at the preset tube opening position 410 and before the step of controlling the gripper device to clamp the test tube cap located at the preset tube opening position 410 according to the specification signal and the tube opening position signal; controlling the clamping translation device 200 to release the test tube 600 according to the tube opening position signal, and controlling the gripper device to clamp and / or rotate the test tube 600, and simultaneously controlling a code scanner to scan the test tube 600 in the rotating process; wherein the full-automatic test tube sampling system further includes the code scanner in communication connection with the controller, and the code scanner is arranged at the preset tube opening position 410.

[0082] The “clamping and / or rotating” means that the clamping and / or rotating can be performed alone, or can be performed together, and the clamping and / or rotating is controlled according to different specifications of the test tube cap.

[0083] The full-automatic test tube sampling method further comprises the following steps in the embodiment:

[0084] The first height of the test tube 600 during the process of moving from the preset tube taking position to the preset tube placing position is obtained, and if the first height is greater than the first preset height, the test tube 600 is controlled to be opened by the gripper device; if the first height is less than the first preset height, an alarm is given and the opening operation is stopped.

[0085] The second height of the test tube 600 during the process of moving from the preset tube opening position to the preset tube placing position is obtained after the opening operation of the gripper device is completed, and if the second height is greater than the second preset height, an alarm is given and the liquid sucking operation is stopped; if the second height is less than the second preset height, the test tube 600 is controlled to be sucked by the automatic pipettor.

[0086] The full-automatic test tube sampling system further comprises an automatic pipettor in communication connection with the controller, and the automatic pipettor is arranged at the preset tube placing position.

[0087] The first preset height and the second preset height are both a value in the range of the difference between the height of the test tube 600 with the cap and the height of the test tube 600 without the cap, which represents that the test tube has the cap. The first preset height is used for the first judgment, which is used for the judgment of the cap of the test tube during the process of moving the test tube 600 from the preset tube placing position to the preset tube opening position, and the second preset height is used for the second judgment, which is used for the judgment of the cap of the test tube during the process of moving the test tube 600 from the preset tube opening position to the preset tube placing position. Of course, the second preset height can be set as the same value as the first preset height.

[0088] Greater than the first preset height or the second preset height indicates that the test tube 600 has the cap; less than the first preset height or the second preset height indicates that the test tube 600 does not have the cap. The test tube 600 can be detected whether it has the cap throughout the process, and then the operation is performed respectively; the test tube 600 can also be used as an alarm detection device to detect whether the opening and closing function is normally operated to avoid misoperation.

[0089] The full-automatic test tube sampling method further comprises the following steps in the embodiment: a liquid sucking signal is obtained after the automatic pipettor completes the liquid sucking; a position signal of the test tube 600 is obtained; according to the liquid sucking signal and the position signal, the test tube 600 after the liquid sucking is controlled to be moved to the preset tube opening position by the clamping and translating device 200, the cap clamped is controlled to be closed on the test tube 600 by the gripper device, and then the sealed test tube 600 is controlled to be moved to the preset tube placing position 400 to wait to be moved away by the clamping and translating device 200.

[0090] The full-automatic test tube sample feeding system further comprises a transfer device, and the test tube 600 is removed by the transfer device after the cover is completed and transferred to the preset test tube placing position 400.

[0091] The full-automatic test tube sample feeding system 10 and the method provided by the embodiment have at least the following advantages:

[0092] Different specifications of test tubes 600 can be recognized, and various specifications of test tubes 600 can be adapted. The cover opening operation can be performed regardless of whether the test tube cover has a thread. The cover opening operation is performed on the test tube 600 according to the most suitable cover opening strategy adapted to the different specifications of the test tube 600, the control precision is improved, the service life of the machine is prolonged, and the adaptability is wide.

[0093] A plurality of height sensors are arranged to detect whether the test tube cap is present or not, so as to detect whether the cover opening operation is successfully completed, and to avoid providing false information to the next operation and causing damage to the equipment.

[0094] A plurality of position detectors are arranged to realize the presence or absence of the test tube 600. The presence or absence of the test tube 600 can be judged, the placement can be detected, and the placement is processed according to the detection condition. If the placement is correct, the next process is performed, and if the placement is incorrect, an alarm is given.

[0095] Full-automatic operation can be performed on a full-automatic platform to complete full-automatic code scanning, cover opening, detection, sampling, cover closing and other operations, so as to reduce manual intervention, improve efficiency and accuracy, and avoid pollution and harm to the health of the operator caused by manual cover opening of the test tube 600.

[0096] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A fully automatic test tube sampling system, characterized in that: It comprises a sample injection module, a cover opening device (300) and a controller, wherein the sample injection module and the cover opening device (300) are both communicatively connected to the controller; The sample introduction module is located upstream of the cover opening device (300), and is used to transport the test tube (600) to a preset tube removal position and detect the specifications of the test tube (600) during the transportation process; A preset tube placement position and a preset tube opening position (410) are sequentially arranged downstream of the preset tube removal position; the capping device (300) is located downstream of the preset tube removal position, and the capping device (300) comprises a horizontally movable clamping and translational device (200) and a vertically movable gripping device, the clamping and translational device (200) being used to clamp the test tube (600) and to transfer it between the preset tube placement position and the preset tube opening position (410); the gripping device is arranged above the preset tube opening position (410), and is used to clamp the test tube cap located at the preset tube opening position (410) and to remove the cap; The controller is used to obtain a specification signal of the test tube (600) and an opening position signal indicating that the test tube (600) is located at the preset opening position (410), and to control the opening device (300) to remove the cap of the test tube (600) according to the specification signal and the opening position signal, according to the clamping size, clamping force, and moving speed corresponding to the specification signal.

2. The fully automatic test tube sampling system according to claim 1, characterized in that: The fully automatic test tube sampling system further comprises a height sensor (500), and the height sensor (500) is used to detect the height of the test tube (600); the height sensor (500) is arranged at the preset tube placement position (400), or the height sensor (500) is arranged at the preset tube opening position (410), or the height sensor (500) is arranged between the preset tube placement position (400) and the preset tube opening position (410). The preset tube opening position (410) is located between the test tubes; the height sensor (500) is in communication with the controller; and the controller is configured to control or alarm the clamping and translation device (200) or the gripping device according to the height of the test tube (600).

3. The fully automatic test tube sampling system according to claim 2, characterized in that: The gripper device includes a lifting mechanism capable of vertical movement and a rotating gripper capable of clamping and rotating, wherein the rotating gripper is fixed to the lifting mechanism; the lifting mechanism is used to drive the rotating gripper to rise or fall; the rotating gripper is used to clamp, rotate or release the test tube cap.

4. The fully automatic test tube sampling system according to any one of claims 1 to 3, characterized in that: A preset liquid aspiration position is set downstream of the preset tube opening position, and the clamping and translation device (200) is used to clamp the test tube (600) and transfer it between the preset tube opening position and the preset liquid aspiration position; The fully automatic test tube sampling system further comprises an automatic pipette; the automatic pipette is located downstream of the lid opening device (300), the automatic pipette is in communication with the controller, and the automatic pipette is used to aspirate the test tube (600) that has been opened and moved to the preset aspiration position.

5. The fully automatic test tube sampling system according to claim 4, characterized in that: The preset liquid aspiration position coincides with the preset tube placement position (400).

6. The fully automatic test tube sampling system according to any one of claims 1 to 3, characterized in that: The fully automatic test tube sampling system further comprises a code scanner; the code scanner is arranged at the preset tube opening position (410), the code scanner is in communication with the controller, the code scanner is used to scan the test tube (600), and the controller is used to control the code scanner to scan the test tube (600) during the process of the gripper device rotating the test tube (600) on the preset tube opening position (410). Scan.

7. A fully automatic test tube sampling method, executed by the controller in the fully automatic test tube sampling system according to any one of claims 1 to 6, characterized in that: Fully automated tube injection methods include: Obtaining a specification signal of a test tube (600) located at the preset tube removal position; Acquiring an open tube position signal indicating that the test tube (600) is located at the preset open tube position (410); The gripping device is controlled to clamp the test tube cap located at the preset tube opening position (410) according to the specification signal and the tube opening position signal, and the gripping size, clamping force and moving speed of the test tube cap by the gripping device are controlled.

8. The fully automatic test tube sampling method according to claim 7, characterized in that: The fully automatic test tube sampling method further comprises, after the step of obtaining the tube opening position signal indicating that the test tube (600) is located at the preset tube opening position (410), and before the step of controlling the gripper device to clamp the test tube cap located at the preset tube opening position (410) according to the specification signal and the tube opening position signal; According to the tube opening position signal, the clamping translation device (200) is controlled to release the test tube (600), and the gripping device is controlled to clamp and / or rotate the test tube (600), and the code scanner is controlled to scan the test tube (600) during the rotation process; The fully automatic test tube sampling system further comprises a barcode scanner connected to the controller for communication, and the barcode scanner is set at a preset tube opening position (410).

9. The fully automatic test tube sampling method according to claim 7, characterized in that: The fully automatic test tube sampling method also includes: Get the test tube (600) that is transferred from the preset tube taking position to the preset tube placing position, a first height during the process of the preset pipe placing position (400) being translated to the preset pipe opening position (410); If the first height is greater than a first preset height, the gripping device is controlled to perform an opening operation on the test tube (600); if the first height is less than the first preset height, an alarm is issued and the opening operation is stopped; Obtaining a second height of the test tube (600) during translation from the preset tube opening position (410) to the preset tube placing position (400) after the gripper device completes the opening operation; If the second height is greater than a second preset height, an alarm is issued and the liquid aspiration operation is stopped; if the second height is less than the second preset height, the automatic pipette is controlled to aspirate the test tube (600); The fully automatic test tube sampling system further comprises an automatic pipette connected to the controller for communication, and the automatic pipette is arranged at the preset tube placement position (400).

10. The fully automatic test tube sampling method according to claim 9, characterized in that: The fully automatic test tube sampling method also includes: Acquiring a liquid aspiration signal after the automatic pipette completes aspiration; Acquiring a position signal of the test tube (600); According to the liquid aspiration signal and the position signal, the clamping and translating device (200) is controlled to translate the test tube (600) after the liquid aspiration is completed to the preset tube opening position (410), the gripping device puts the clamped cap back on the test tube (600), and then the clamping and translating device (200) is controlled to move the sealed test tube (600) to the preset tube placement position (400) to wait for being removed.

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