CN109552849B

CN109552849B - Sequencing method for medical consumable storage boxes

Info

Publication number: CN109552849B
Application number: CN201710892477.9A
Authority: CN
Inventors: 胡毅; 冯世明; 何国耀; 左继洲; 班定平; 吴锦洪
Original assignee: Shenzhen New Industries Biomedical Engineering Co Ltd
Current assignee: Shenzhen New Industries Biomedical Engineering Co Ltd
Priority date: 2017-09-27
Filing date: 2017-09-27
Publication date: 2020-06-26
Anticipated expiration: 2037-09-27
Also published as: CN109552849A

Abstract

The invention relates to a sorting method of medical consumable storage boxes, which is used for sorting the medical consumable storage boxes in storage box accommodating bins, wherein each storage box accommodating bin comprises a plurality of accommodating positions for storing the medical consumable storage boxes; the medical consumable storage box has a first state and a second state, wherein the first state is that the medical consumable storage box is loaded with medical consumables, and the second state is that the medical consumable storage box is not loaded with medical consumables; the method comprises the following steps: judging whether the storage box grabbing device is in an idle state at the current moment; the judgement result is when storage box grabbing device is in idle state at the present moment, and storage box grabbing device exchanges the medical consumptive material storage box position that is in the first state and is in the second state, and makes the medical consumptive material storage box that is in the first state be located the storage box and accomodate the storehouse and from the nearer one side of surge bin. In order to realize putting of medical consumptive material storage box to quick replacement medical consumptive material storage box in storage box accommodation storehouse improves medical consumptive material loading efficiency.

Description

Sequencing method for medical consumable storage boxes

Technical Field

The invention relates to the technical field of biomedical instruments, in particular to a method for sequencing medical consumable storage boxes.

Background

A chemiluminescence analyzer is a medical inspection instrument for performing immunoassay on a human body by detecting serum of a patient. Before a specific sample is analyzed, the analyzer needs to take a certain amount of sample out of the sample instrument and transfer the sample into a reaction container for reaction and chemical analysis, a large amount of medical consumables are needed, and the sample detection efficiency is often affected due to untimely supply of the medical consumables.

At present, in order to avoid medical consumptive material supply untimely, generally put medical consumptive material in the save box of analysis appearance or put box-packed medical consumptive material in the operation region of instrument through the manual work, its application of sample arm of analysis appearance rethread snatchs medical consumptive material in from medical consumptive material save box in order to be used for corresponding inspection step, however, when handling a large amount of samples, need dispose huge storage device and deposit medical consumptive material, and use up the back, need artifical tak away empty medical consumptive material save box and pack into the medical consumptive material save box that has medical consumptive material, it puts the order confusion and leads to medical consumptive material loading inefficiency to appear easily.

Disclosure of Invention

Based on this, it is necessary to provide a medical consumables storage box sequencing method to the problem that present manual loading medical consumables storage box order confusion and influence medical consumables loading efficiency.

A sorting method of medical consumable storage boxes is characterized in that a storage box grabbing device is used for sorting medical consumable storage boxes in storage box containing bins, and each storage box containing bin comprises a plurality of containing positions for storing the medical consumable storage boxes; the medical consumable storage box has a first state and a second state, wherein the first state is that the medical consumable storage box is loaded with medical consumables, and the second state is that the medical consumable storage box is not loaded with medical consumables; the method comprises the following steps:

step S10, judging whether the storage box grabbing device is in an idle state at the current moment;

step S20, when the storage box gripping device is in the idle state at the present moment, the storage box gripping device exchanges the positions of the medical consumable storage box in the first state and the second state, so that the medical consumable storage box in the first state is located at a side of the storage box accommodating bin closer to the buffer bin.

In one embodiment, the step S20 includes: step S21, placing the medical consumable storage box in the storage box storage compartment in a mutually continuous storage position.

In one embodiment, the step S21 includes: step S212, the medical consumable storage box which is farthest from the buffer bin is placed into the containing position which is nearest to the buffer bin and is not used for storing the medical consumable storage box.

In one embodiment, the step S212 includes, before: step S211, detecting whether a medical consumable storage box is stored in each storage position of the storage box storage bin so as to determine the storage position where the medical consumable storage box is located and the storage position where the medical consumable storage box is not stored.

In one embodiment, the step S20 further includes at least one of the following steps:

step S22, placing the medical consumable storage box which is closest to the buffer bin and is in the second state into the buffer bin, and freeing the receiving position to store the medical consumable storage box in the first state;

a step S23 of placing the medical consumable storage cassette farthest from the buffer bin and in the first state into the storage position vacated in the step S22, and vacating the storage position to store the medical consumable storage cassette in the second state;

step S24, the medical consumable storage cassette in the second state in the buffer bin is placed in the storage position vacated in the step S23.

In one embodiment, the step S22 is preceded by the steps of: whether medical consumables are loaded in the medical consumables storage box in the containing position of the medical consumables storage box is detected to determine the containing position of the medical consumables storage box in the first state and the containing position of the medical consumables storage box in the second state.

In one embodiment, the storage cassette grasping device comprises a storage cassette gripper and a storage cassette displacement device for moving the storage cassette gripper, which is used to grip or place the medical consumable storage cassette.

In one embodiment, the storage cartridge clamping device comprises:

the mounting plate is fixed on the storage box shifting device;

a double-threaded screw which is connected with the mounting plate and can rotate around the axis of the double-threaded screw, wherein the double-threaded screw is provided with a first threaded part and a second threaded part with opposite surface thread directions;

the guide piece is connected with the mounting plate in parallel with the double-end screw;

a first clamp member and a second clamp member, the first clamp member being screwed to the first threaded portion, the second clamp member being screwed to the second threaded portion;

a drive assembly for driving the double-threaded screw in forward or reverse rotation so that the double-threaded screw threadingly drives the first clamping member and the second clamping member to move inwardly or outwardly along the guide member.

In one embodiment, the first clamping member comprises a first clamping plate and a first connecting plate which are fixedly connected; the second clamping piece comprises a second clamping plate and a second connecting plate which are fixedly connected; the first connecting plate is screwed with the first threaded part and is in sliding connection with the guide piece; the second connecting plate is screwed with the second threaded part and is connected with the guide piece in a sliding mode.

In one embodiment, the first clamping member and/or the second clamping member is provided with a sensing device for detecting whether the medical consumable storage cartridge is loaded in each receiving position of the cartridge receiving chamber and/or whether the medical consumable storage cartridge is loaded in the medical consumable storage cartridge.

Above-mentioned medical consumptive material storage box sequencing method, make full use of storage box grabbing device idle time, carry out orderly the putting to medical consumptive material storage box for there is not medical consumptive material storage box one side that is close to the material loading, and the medical consumptive material storage box that the loading has medical consumptive material is in one side of feed, and then the convenience is in the medical consumptive material storage box of quick replacement in storage box accommodation bin, in order to improve medical consumptive material loading efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for a person skilled in the art to obtain drawings of other embodiments based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a medical consumable storage cartridge loading device according to an embodiment;

FIG. 2 is a perspective view of a cartridge receiving bay of the medical consumable cartridge loading device shown in FIG. 1;

FIG. 3 is a side view of the storage box-receiving bay shown in FIG. 2;

FIG. 4 is a view of a buffer magazine of the medical consumable storage magazine loader shown in FIG. 1;

FIG. 5 is a perspective view of a cartridge transport apparatus of the medical consumable cartridge loading apparatus shown in FIG. 1;

FIG. 6 is a front view of the cassette transport device shown in FIG. 5;

FIG. 7 is a side view of the storage cassette transport apparatus shown in FIG. 5;

FIG. 8 is a schematic structural view of the cartridge positioning mechanism shown in FIG. 5;

FIG. 9a is a partially exploded schematic view of a cartridge positioning mechanism in one embodiment;

FIG. 9b is a schematic view of an embodiment of the storage cassette positioning mechanism assembled with the mounting bracket;

FIG. 10 is a schematic structural view of the cartridge indexing device shown in FIG. 1;

FIG. 11 is an enlarged view of a portion of the structure of FIG. 10 in circled form;

fig. 12 is a structural view of a vertical shift driving means of the storage box shifting device shown in fig. 10;

FIG. 13 is a perspective view of the cassette clamping device shown in FIG. 1 (without a drive motor);

FIG. 14 is a perspective view of the cassette clamping device (with drive motor) shown in FIG. 13;

FIG. 15 is a schematic diagram of a sample tip carried by one embodiment of a medical consumable storage cassette.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inner", "outer", "left", "right" and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Referring to fig. 1, a medical consumable storage cartridge loading device includes a storage cartridge receiving compartment 200, a buffer compartment 300, a storage cartridge transfer device 400, and a storage cartridge gripper 500.

Referring also to fig. 1 and 2, cartridge receiving bay 200 includes a plurality of receiving locations for receiving medical consumable cartridges, and cartridge receiving bay 200 is pivotable (in the direction of the arrows in fig. 2) between a first position and a second position. Wherein, medical consumptive material storage box is used for acceping a plurality of medical consumptive materials, including the first state that is equipped with medical consumptive material and the second state that medical consumptive material is vacant. By withdrawing the cartridge receiving magazine 200 in the direction of arrow o to the first position, the medical consumable cartridge in the second state can be taken out from the receiving position of the cartridge receiving magazine 200, that is, an empty cartridge taking-out operation is performed. When the cartridge receiving compartment 200 is located at the first position, the medical consumable cartridge in the first state may be placed into the empty receiving space of the cartridge receiving compartment 200 and advanced in the c direction, i.e., the medical consumable cartridge loading operation is performed. The cartridge 200 is drawn in the first and second positions by the storage cartridge to facilitate removal of the empty cartridge and loading of the medical consumables. It is understood that the number of receiving positions can be set according to the storage requirement of the medical consumables in practice, for example, the storage box receiving bin 200 is provided with 4 receiving positions, which is not limited herein.

Referring to fig. 4, the buffer bin 300 includes a first buffer bit 310 and a second buffer bit 311. The first buffer position 310 is used for buffering the medical consumable storage box in the first state, and the second buffer position 311 is used for buffering the medical consumable storage box in the second state. A storage box detection optocoupler 312 can be arranged at one side of the first buffer position 310 for detecting whether the medical consumable storage box is placed in the first buffer position 310. It should be noted that, in the present embodiment, there is only one first buffer position 310 and only one second buffer position 311, and the first buffer position 310 is disposed adjacent to the second buffer position 311, so that the structure is compact, and when the medical consumable storage box is transferred, the storage box gripping device 500 moves less, thereby improving the efficiency.

Referring to fig. 1 and 5 together, the cartridge transfer device 400 includes a cartridge access position d and a medical consumable loading position s, and the cartridge transfer device 400 is configured to transfer the medical consumable cartridge between the cartridge access position d and the medical consumable loading position s; specifically, the cartridge transfer device 400 transfers the medical consumable cartridge in the first state from the cartridge access position d to the medical consumable loading position s. As can be understood, when the medical consumables in the medical consumables storage box located at the medical consumables loading position s are used up, that is, in the second state, the storage box transfer device 400 transfers the medical consumables storage box in the second state back to the storage box entrance/exit position d from the medical consumables loading position s. The medical consumable storage box in the first state and the medical consumable storage box in the second state are directionally conveyed to the medical consumable loading position s and the storage box inlet and outlet position d respectively.

Referring to fig. 1, in some embodiments, a cassette handler 500 is used to transfer medical consumable cassettes between the cassette receiving bay 200, the buffer bay 300, and the cassette access location d of the cassette transfer device 400.

Specifically, the storage box grabbing device 500 transfers the medical consumable storage box in the first state in the storage box containing bin 200 to the storage box entrance/exit position d of the storage box conveying device 400, and under the action of the storage box conveying device 400, the medical consumable storage box is finally conveyed to the medical consumable material loading position s, so that the material taking manipulator takes the medical consumable material out of the medical consumable material storage box; accordingly, the cassette gripper 500 may also transfer the medical consumable cassette in the second state at the cassette entrance/exit position d of the cassette transfer device 400 into the cassette receiving compartment 200 through the second buffer position 311. Thereby realize retrieving the medical consumptive material storage box that is in the second state with medical consumptive material loading position s department in storage box containing bin 200, and the medical consumptive material storage box that vacates loading position s can continue to load and be in the first state. The drawing of cooperation storage box containing bin 200 between primary importance and second place can in time take out the medical consumptive material storage box that is in the second state to put into the medical consumptive material of medical consumptive material storage box that is in the first state in order to realize the purpose of loading medical consumptive material in succession.

Referring to fig. 1, in another embodiment, the direction of the drawing of the storage cassette receiving compartment 200 between the first position and the second position forms an angle α with the direction of the movement of the storage cassette transport device 400 for transporting the storage cassette, which prevents the path of the medical consumable storage cassette loading device for loading the medical consumable storage cassette from extending too long in one dimension, which is not conducive to the integration and utilization of the space of the devices, and the storage cassette receiving compartment 200 and the storage cassette transport device 400 are disposed at an angle α, which improves the utilization of the space of the devices.

Preferably, the storage box accommodating bin 200 and the storage box conveying device 400 respectively move the medical consumable storage box in the same horizontal plane or in parallel planes along the drawing direction and the moving direction, and specifically, the drawing direction of the storage box accommodating bin 200 is located at a first horizontal plane, the moving direction of the storage box conveying device 400 conveying the medical consumable storage box is located at a second horizontal plane, and the first horizontal plane and the second horizontal plane are the same horizontal plane or parallel to each other, so that the storage state of the medical consumable storage box in the storage box accommodating bin 200 and the storage box conveying device 400 is always kept horizontal, the medical consumable storage box is prevented from being placed obliquely and inconvenient to take and place, and the efficiency of taking and placing the medical consumable storage box is improved.

Referring to fig. 1, in some embodiments, the magazine access positions d of the buffer magazine 300 and the magazine transfer device 400 are respectively located on an extension of the magazine accommodating magazine 200 toward the second position advancing direction c. Specifically, the buffer magazine 300 is located between the magazine accommodating magazine 200 and the magazine access position d of the magazine transfer device 400. The first buffer position 310 is located between the second buffer position 311 and the cartridge access position d of the cartridge transfer device 400, and the second buffer position 311 is located between the first buffer position 310 and the cartridge receiving bay 200. The first buffer position 310 and the second buffer position 311 are compactly arranged with the cartridge receiving magazine 200 and the cartridge transfer device 400, and a path along which the medical consumable cartridge is transferred therebetween is shortened. Like this, storage box grabbing device 500 only need be on a horizontal direction and be on a parallel with advancing direction c motion and the ascending action of drawing in vertical direction just can the quick accurate medical consumptive material storage box that shifts, and then improves automation efficiency.

Referring to fig. 1, in some embodiments, a storage cassette receiving bay 200, a buffer bay 300, a storage cassette transfer device 400, and a storage cassette grasping device 500 are disposed on a base 100.

Specifically, as shown in fig. 2 and 5, the base 100 includes a bottom plate 110, a first supporting frame 120 and a second supporting frame 130, and bottoms of the first supporting frame 120 and the second supporting frame 130 are fixed on the bottom plate 110. The cartridge receiving magazine 200 and the cartridge transport device 400 are mounted on the first support frame 120 and the second support frame 130, respectively, it being understood that the first support frame 120 and the second support frame 130 may be integrally connected to enhance structural stability, and the buffer magazine 300 may be mounted on the first support frame 120 and/or the second support frame 130; the first support frame 120 and the second support frame 130 may be formed in a cross-section of a "T" shape or an "i" shape.

Referring also to fig. 1-3, in some embodiments, a storage cartridge receiving bay 200 includes a drawer frame 210 carrying a medical consumable storage cartridge, a first rail 220; the drawer frame 210 is slidably disposed on a first rail 220, the first rail 220 is fixed to the first support frame 120, and the storage box receiving compartment is drawable along the first rail 220 to move between a first position and a second position. It is understood that the first position and the second position refer to positions of the drawer frame 210 in a drawn state and a pushed state along the first guide rail 220, respectively.

In some embodiments, referring to fig. 2, the process of drawing out the drawer frame 210 along the first guide rail 220 to the first position in the direction of arrow o or pushing in the direction of arrow c to the second position may be performed manually by a person, or may be performed by using the driving mechanism 230, so as to improve the efficiency of automation and reduce the human involvement.

In some embodiments, the driving mechanism 230 may be a belt-type driving mechanism or a screw-type driving mechanism, and may also be a gear engagement transmission mechanism as shown in fig. 3.

Referring to fig. 3, the driving mechanism 230 includes a rotation motor 231, a rack 232, and a gear 233, and an output shaft of the rotation motor 231 is engaged with the rack 232 through the gear 233. The rack 232 is fixed to the drawer frame 210 in parallel to the first guide rail 220; the rotation motor 231 is installed at one side of the first support frame 120. When the rotation motor 231 rotates forward or backward, the gear 233 engages the driving rack 232, thereby moving the drawer frame 210 along the first guide rail 220.

Referring also to fig. 5-7, in some embodiments, the cartridge transport device 400 includes a carriage frame 410, a transport rail 420, and a cartridge transport drive mechanism for driving the carriage frame 410 along the transport rail 420. In the present embodiment, the magazine conveyance drive mechanism may employ a gear engagement transmission structure or a screw drive, and may also employ a belt-type drive structure as shown in fig. 6.

Specifically, as shown in connection with fig. 6, the cartridge conveying drive mechanism includes a driving pulley 432, a driven pulley 433, a timing belt 434, and a carrying drive motor 431. The driving wheel 432, the driven wheel 433 and the carrying driving motor 431 are installed on the second supporting frame 130, the driving wheel 432 and the driven wheel 433 are respectively located at two ends of the conveying guide rail 420, and the synchronous belt 434 is sleeved on the driving wheel 432 and the driven wheel 433. The timing belt 434 is connected to the carriage frame 410 by a connecting transmission 435, and is parallel to the conveying rail 420 at a side close to the conveying rail 420. It can be understood that, when the output shaft of the carrying driving motor 431 rotates forwards or backwards, the driving wheel 432 drives the synchronous belt 434, and then the synchronous belt 434 drives the carrying frame 410 to reciprocate along the conveying guide 420, so as to convey the medical consumable storage box between the storage box entrance/exit position d and the medical consumable loading position s.

It should be noted that in some embodiments, an optical coupler is provided at the corresponding position of the buffer magazine 300 or the magazine transporter 400 to detect whether the carrier frame 410 moves to one side of the first buffer position 310, so that the magazine gripper 500 can transfer the medical consumable magazine between the buffer magazine 300 and the carrier frame 410. Specifically, the setting position of the optical coupler is not limited, and the optical coupler may be disposed at a side edge of the first buffer position, may also be disposed on the conveying guide rail 420, or may be disposed at one end of the first support frame 120 close to the buffer bin 300.

Referring also to fig. 5-7, in other embodiments, the cartridge transport device 400 further includes a cartridge positioning mechanism 440. The magazine positioning mechanism 440 is disposed on a trajectory along which the carriage frame 410 travels along the transfer rail 420. Specifically, the magazine positioning mechanism 440 may be installed at the medical consumable loading position s of the magazine transporter 400, i.e., a work area where the fetching robot fetches the medical consumables from within the carrying frame 410 of the magazine transporter 400. As can be understood, when carrying frame 410 moves to medical consumables loading position s along transfer rail 420, storage box positioning mechanism 440 supports medical consumables storage box at medical consumables loading position s against on carrying frame 410, and then can fix a position medical consumables storage box in carrying frame 410, makes the position of medical consumables storage box stable to the material taking manipulator is accurate from grabbing medical consumables storage box and is supplied with material.

In the above embodiment, since the medical consumable storage cartridge in the carrying frame 410 can be positioned by the cartridge positioning mechanism 440, the position of the medical consumable storage cartridge in the carrying frame 410 is not limited in accuracy until the medical consumable storage cartridge does not reach the medical consumable loading position s. On this basis, the size of the carriage frame 410 may be designed to be as large as possible so as to load the medical consumable storage box into the carriage frame 410; specifically, the carrying frame 410 at least has an inner cavity capable of loading the medical consumable storage box from the top, and the medical consumable storage box is carried on the bottom of the inner cavity; and the inner cavity is in clearance fit with the outer wall of the medical consumable storage box. As can be understood, storage box positioning mechanism 440 makes medical consumptive material storage box support and lean on the medial surface at carrying frame 410, can eliminate the position unstable factor that space between inner chamber and the medical consumptive material storage box outer wall leads to medical consumptive material storage box in carrying frame 410, and then the guarantee gets the coordinate relatively stable of material manipulator when taking medical consumptive material away, solves and gets the material manipulator and grab partial problem, has improved the efficiency of taking medical consumptive material.

Referring to fig. 8 and 9a, in some embodiments, the magazine positioning mechanism 440 includes a guide wheel base 442, a guide wheel 443, and a guide rod 444, wherein the guide wheel 443 has two end surfaces, and the guide wheel 443 is axially provided with a through hole 4431 penetrating through the two end surfaces. The guide rod 444 is inserted into the through hole 4431, and two ends of the guide rod 444 respectively extend out of two end surfaces of the guide wheel 443. When the through hole 4431 is opened at the center of the guide wheel 443, the guide rod 444 is coaxially disposed with the guide wheel 443. In this embodiment, the guide wheel seat 442 is provided with a wheel groove 4421 and a guide sliding groove 4422, wherein the guide wheel 443 is movable in the wheel groove 4421 and partially extends out of the guide wheel seat 442 from the notch of the wheel groove 4421, so that the guide wheel 443 can push the medical consumable storage box to one side when the carrying frame 410 moves to one side of the guide wheel seat 442 along with the medical consumable storage box. The guide rod 444 is slidably disposed in the guide sliding groove 4422, and it can be understood that when the guide rod 444 reciprocates along the guide sliding groove 4422, the portion of the guide wheel 443 extending out of the guide wheel seat 442 moves telescopically relative to the guide wheel seat 442.

In some embodiments, the magazine positioning mechanism 440 further includes a resilient element to pre-compress on the guide rod 444 such that the guide wheel 443 partially protrudes out of the wheel slot 4421; furthermore, the guide wheel 443 can be kept partially extending out of the wheel groove 4421 by the elastic element, and when the carrier frame 410 transfers the medical consumable storage box to the guide wheel 443, the guide wheel 443 can always support the medical consumable storage box on the inner side surface of the carrier frame 410 under the action of the elastic element, thereby achieving a good positioning effect.

It will be appreciated that the resilient element may be a compression spring 445, the compression spring 445 being arranged to store or release energy as the following process occurs: the guide wheel 443 is extruded into the wheel groove 4421 by external force, the guide rod 444 moves along the guide sliding groove 4422 to enable the pressure spring 445 to deform and store energy, the external force is unloaded, the pressure spring 445 releases the stored energy to enable the guide rod 444 to move along the guide sliding groove 4422 to a state before the external force interference is recovered, and the guide rod 444 drives the guide wheel 443 to move towards the outer side of the wheel groove 4421.

Specifically, the guide wheel seat 442 is provided with a mounting groove 446, and the mounting groove 446 is located on the opposite side of the guide wheel 443 extending out of one side of the guide wheel seat 446; the compression spring 445 is installed in the installation groove 446, and the compression spring 445 is pressed on the guide rod 444 through the jackscrew 447, so that the guide rod drives the guide wheel 443 to partially extend out of the guide wheel seat 446.

As shown in fig. 9b, in some embodiments, the magazine positioning mechanism 440 will be mounted to one side of the transport track 420 via a mounting frame 441, and the side of the guide roller base 442 provided with the guide roller 443 faces the transport track 420. The guide wheel seat 442 is provided: when the carrying frame 410 of the storage box conveying device 400 slides through the guide wheel seat 442 along the conveying guide rail 420, the guide wheel 443 continuously presses the medical consumable storage box in the carrying frame 410 under the action of the pressure spring 445 until the medical consumable storage box is clamped and limited between the guide wheel 443 and the inner side surface of the carrying frame 410, that is, the guide wheel 443 abuts the medical consumable storage box against the inner side surface of the carrying frame 410, so as to position the medical consumable storage box.

Referring to fig. 9b, in some embodiments, a plurality of storage box positioning mechanisms 440 are disposed on the mounting frame 441 along the moving direction of the medical consumable storage box, so as to press a plurality of positions on the outer sidewall of the medical consumable storage box, so that the medical consumable storage box tightly abuts against the inner side surface of the carrying frame 410, thereby preventing the medical consumable storage box from abutting against the inner side surface of the carrying frame 410 only partially and failing to achieve a good positioning effect. It is to be understood that, in this embodiment, in order to facilitate rapid installation of the plurality of magazine positioning mechanisms 440 as a whole, the guide roller seats 442 of the plurality of magazine positioning mechanisms 440 may be integrated or the guide roller seats 442 may be longer along the length direction of the conveying guide 420, so that the plurality of magazine positioning mechanisms 440 share one guide roller seat 442.

Referring to fig. 1, in some embodiments, the cartridge gripper 500 includes a cartridge transferring device 510 and a cartridge gripper 520, and when the cartridge transferring device 510 moves the cartridge gripper 520 to a predetermined position, the cartridge gripper 520 grips or places the medical consumable cartridge at a cartridge access position d of the cartridge receiving bay 200 or the buffer bay 300 or the cartridge transfer device 400. It should be noted that the preset position refers to a position where the storage box clamping device 520 clamps or places the medical consumable storage box, specifically, in the present embodiment, the storage box shifting device 510 is configured to move the storage box clamping device 520 to a position d of the storage box access point of the storage box receiving bin 200, the buffer bin 300, and the storage box conveying device 400, respectively, so as to clamp or place the medical consumable storage box at the positions by the storage box clamping device 520, and then, to transfer the medical consumable storage box between the positions.

Referring to fig. 10 and 12 concurrently, the cartridge indexing device 510 includes a horizontal indexing drive 511 and a vertical indexing drive 512. The horizontal and vertical

shift driving devices

511 and 512 drive the cartridge chucking device 520 to move horizontally and vertically, respectively.

Referring to fig. 10, in some embodiments, the horizontal displacement driving device 511 includes a horizontal mounting plate 5113, a horizontal sliding rail 5111, a horizontal sliding block 5112, and a horizontal driving mechanism. The horizontal sliding rail 5111 is disposed on the horizontal mounting plate 5113 and is parallel to the first guiding rail 220; the horizontal sliding block 5112 is slidably disposed on the horizontal sliding rail 5111, and slides along the horizontal sliding rail 5111 under the action of the horizontal driving mechanism. Specifically, the horizontal driving mechanism includes a horizontal driving motor 5114, a timing wheel 5115, and a timing belt 5116. The synchronous wheels 5115 are arranged at two ends of the horizontal mounting plate 5113, and the synchronous wheel belt 5116 is parallel to the horizontal sliding rail 5111 and sleeved on the synchronous wheels 5115; the synchronous belt 5116 is connected with the horizontal sliding block 5112 through a connecting plate 5117, an output shaft of the horizontal driving motor 5114 is connected with the synchronous wheel 5115 at one end of the horizontal mounting plate 5113, and the horizontal driving motor 5114 rotates forwards or backwards to drive the synchronous belt 5116 to drive the horizontal sliding block 5112 to slide along the horizontal sliding rail 5111 through the synchronous wheel 5115.

Referring to fig. 10 and 11 together, in some embodiments, the horizontal drive mechanism further includes an adjustment structure for adjusting the tightness of the timing belt 5116. Specifically, the adjusting structure adjusts the distance between the timing wheels 5115 at both ends of the horizontal installation plate 5113 to tighten or loosen the timing belt 5116. In this embodiment, the adjustment structure includes a slide 5119 and a pulley mount 51161. The sliding seat 5119 is fixed on the horizontal mounting plate 5113, and a sliding groove for sliding the pulley mounting seat 51161 is formed in the direction along the horizontal sliding rail 5111, at this time, one of the synchronizing wheels 5115 is mounted on the pulley mounting seat 51161, so that the distance between the synchronizing wheels 5115 at two ends of the horizontal mounting plate 5113 can be conveniently adjusted, and because the synchronizing wheel 5115 at one end of the horizontal mounting plate 5113 is connected with the output shaft of the horizontal driving motor 5114, in order to avoid an excessive load during adjustment, in the present embodiment, the adjusting structure adjusts the synchronizing wheel 5115 at the other end of the horizontal mounting plate 5113.

In the above embodiments, the pulley mount 51161 can slide relative to the slide seat 5119 along the sliding groove in various ways, for example, a through hole 5118 is formed in the slide seat 5119 along the sliding groove, the bolt 5120 can pass through the through hole 5118 and be in threaded connection with a screw hole of the pulley mount 51161, and the depth of the fit between the bolt 5120 and the screw hole is adjusted to drive the pulley mount 51161 to move along the sliding groove, so that the synchronizing wheel 5115 connected to the pulley mount 51161 can tighten or loosen the synchronizing belt 5116, thereby achieving the purpose of adjusting the tightness of the synchronizing belt 5116.

Referring to fig. 10 and 12, in some embodiments, the vertical displacement driving device 512 is fixed on the horizontal sliding block 5112 and can reciprocate along the horizontal sliding rail 5111. Specifically, the vertical displacement driving device 512 includes a vertical slide rail 5121, a vertical slider 5122, and a vertical driving mechanism. The vertical driving mechanism is used for driving the vertical sliding block 5122 to slide along the vertical sliding rail 5121, the mounting plate 521 of the storage box clamping device 520 is fixed on the vertical sliding block 5122 and can reciprocate along the vertical sliding rail 5121, so that the lifting or lowering action of the storage box clamping device 520 is realized, and the storage box clamping device 520 is matched to complete clamping or placing of the medical consumable storage box.

Referring to fig. 10, in some embodiments, the vertical displacement drive 512 is coupled to the horizontal slider 5112 via a vertical mounting plate 5123, and the vertical slide rail 5121 is vertically disposed on the vertical mounting plate 5123. Referring to fig. 12, the vertical driving mechanism includes a vertical driving motor 5124, a fixing plate 5125, and a driving socket 5126 connected to the vertical sliding block 5122. The driving motor 5124 and the fixing plate 5125 are respectively disposed at two ends of the vertical mounting plate 5123, and an output shaft 5127 of the driving motor 5124 is parallel to the vertical sliding rail 5121 and is inserted into a bearing 5128 of the fixing plate 5125. The driving seat 5126 is sleeved on an output shaft 5127 of the driving motor 5124 through a lead screw nut 5129, and an external thread matched with the lead screw nut 5129 is axially arranged on the outer surface of the output shaft 5127. When the vertical driving motor 5124 rotates forwards or backwards, the output shaft 5127 rotates the transmission screw nut 5129 to enable the driving seat 5126 to move up and down; and the vertical slider 5122 connected with the driving seat 5126 slides upwards or downwards along the vertical sliding rail 5121. In the present embodiment, it is understood that the vertical driving motor 5129 may be fixed to the vertical mounting plate 5123 by a motor mounting plate. The feed screw nut 5129 is disposed in the drive seat 5126. The cartridge clamping device 520 is coupled to the vertical slider 5122 through the driving socket 5126.

In another embodiment, the output shaft 5127 of the driving motor 5124 is linked with a screw to drive the lead screw nut 5129 to move along the vertical sliding rail 5121 through the screw.

Referring to fig. 13 and 14 together, in some embodiments, the cartridge clamping device 520 includes a mounting plate 521, a bearing block 522, a double-ended screw 524, a guide, a first clamp, a second clamp, and a drive assembly. The bearing block 522 is fixed on the mounting plate 521, and the guide piece is connected with the mounting plate 521 in parallel with the double-headed screw 524; the double-ended screw 524 is inserted into and fixed to a bearing in the bearing block 522. The double-threaded screw 524 has a first threaded portion 5241 and a second threaded portion 5242 with their surface threads turned in opposite directions. The first clamping member is threaded with the first threaded portion 5241 and the second clamping member is threaded with the second threaded portion 5242, and the drive assembly is configured to drive the threaded stud 524 in either a forward or reverse direction such that the threaded stud drives the first and second clamping members inwardly or outwardly along the guide. Thereby realizing clamping or loosening.

In some embodiments, the first clamp member includes a first clamp plate 527 and a first connection plate 5261 fixedly connected; the second clamping member includes a second clamping plate 528 and a second connecting plate 5262 fixedly coupled thereto; the first connection plate 5261 is screwed to the first screw portion 5241, and is slidably connected to the guide; the second connection plate 5262 is screwed to the second screw portion 5242, and is slidably connected to the guide. It will be appreciated that the guide member may be the balance rail 525, and in this embodiment, as the drive assembly drives the double-threaded screw 524 to rotate, the first threaded portion 5241 and the second threaded portion 5242 respectively threadingly drive the first connecting plate 5261 and the second connecting plate 5262 to slide in opposite directions along the balance rail 525 due to the opposite thread directions of the first threaded portion 5241 and the second threaded portion 5242. Further, the first and

second clamping plates

527 and 528 fixedly connected to the first and

second connection plates

5261 and 5262, respectively, are moved inwardly to clamp or move outwardly to release, thereby clamping or placing the medical consumable storage cartridge.

Referring to fig. 14, in some embodiments, the drive assembly includes a drive motor 523, a synchronizing wheel 5231, and a belt 530. The driving motor 523 may be disposed in a manner that an output shaft of the motor is coaxial with the double-threaded screw 524, or may drive the double-threaded screw 524 through a transmission structure. Specifically, in the present embodiment, the drive motor 523 is provided with a motor output shaft parallel to the double-headed screw 524. Synchronizing wheel 5231 is set up at the end of double-end screw 524, and belt 530 cover is established on motor output shaft and synchronizing wheel 5231. The driving motor 523 drives the belt 530 through the motor output shaft, and the belt 530 drives the synchronizing wheel 5231 to rotate, so that the double-threaded screw 524 rotates. In this arrangement, the driving motor 523 effectively utilizes the space on the radial side of the double-headed screw 524; make the structure more compact, moreover, compare in the mode that motor output shaft and double-end screw 524 set up coaxially, this kind of mode of utilizing belt 530 transmission has reduced the requirement to motor output shaft and double-end screw 524 assembly precision, effectively strengthens the stability of drive assembly operation. In the present embodiment, the driving motor 523 may be fixed to the mounting plate 521 by a motor mount.

In the above embodiment, the first connection plate 5261 is connected to the first clamp plate 527 through the first connection arm 541; the second coupling plate 5262 is coupled to the second clamping plate 528 via a second coupling arm 542. The shapes of the first connection arm 541 and the second connection arm 542 can be designed into a bending member as shown in fig. 13 according to actual needs to meet the requirement of the clamping width between the first clamping plate 527 and the second clamping plate 528. It should be noted that the first connecting plate 5261 and the first clamping plate 527 can be integrally formed with the first connecting arm 541, and correspondingly, the second connecting plate 5262 and the first clamping plate 528 can be integrally formed with the second connecting arm 542. In the above embodiment, in order to avoid the storage box clamping device 520 from damaging the medical consumable storage box, the soft rubber pad 550 is disposed on the clamping inner side surface of the first clamping plate 527 and the second clamping plate 528, so that the noise generated by the first clamping plate 527 and the second clamping plate 528 colliding with the medical consumable storage box during the clamping process is also reduced. Accordingly, as shown in fig. 14 and 15, the first clamping plate 527 and the second clamping plate 528 are provided with the clamping members 560 protruding out of the soft rubber pad, so as to be stably embedded with the clamping positions 601 on the medical consumable storage box 600, so as to increase the clamping stability.

It is understood that in some specific applications, in some embodiments, the carrying sites 602 of the medical consumable storage cassette 600 can carry various types of medical consumables, as shown in fig. 15, the sample suction head 700 is accommodated at the carrying sites 602, and of course, the medical consumables such as test tubes or sample tubes can be used.

Referring to fig. 13, in some embodiments, the medical consumable loading device further includes a scan detection device including a sensing device disposed on the first clamping plate 527 and/or the second clamping plate 528 of the storage box clamping device 520, and the sensing device is used for detecting whether the storage box receiving chamber 200 is loaded with the medical consumable storage box and whether the medical consumable storage box is loaded with the medical consumable. It is understood that the installation position of the sensing device is not limited, and the sensing device may be disposed at any position for the purpose of detection as long as the first clamping plate 527 and the second clamping plate 528 of the cartridge clamping device 520 are not hindered. Such as the clamping surface (the surface indicated by arrow I) provided on the first clamping plate 527 and/or the second clamping plate 528 for clamping the medical consumable storage cassette, or may be provided on the bottom of the first clamping plate 527 and/or the second clamping plate 528, for example. Of course, depending on the type of the sensing means, it may be provided on one side of the first clamping plate 527 or the second clamping plate 528, and it is also possible to provide the components constituting the sensing means on the first clamping plate 527 and the second clamping plate 528, respectively.

Referring to fig. 13, in some embodiments, the sensing device includes only one sensor 529. Specifically, the sensor 529 moves along with the cartridge clamping device 520 to detect whether the medical consumables cartridge is loaded in each receiving position of the first detection height detection cartridge receiving compartment 200 and whether the medical consumables cartridge is loaded in the second detection height detection medical consumables cartridge; it can be understood, because medical consumables load in medical consumables storage box, and want to let sensor 529 detect, the second detects the height and can detect a height scope from the medical consumables storage box medical consumables that exposes, as long as do not influence and detect the precision, the second detects the height and can adjust at this height within range, it is corresponding, first detect the height also indicates to expose the height scope that can realize that sensor 529 detects medical consumables storage box at medical consumables storage box and hold storehouse 200 in the height scope, therefore, sensor 529 can be implemented in certain extent along with the removal of storage box clamping device 520 in vertical direction, so that sensor 529 detects the condition that highly detects medical consumables storage box and medical consumables respectively at first detection height and second.

Specifically, the sensor 529 may be one of a correlation type photosensor, a retro-reflection type photosensor, and a diffuse reflection type photosensor; it will be appreciated that depending on the type of sensor 529, the manner in which the sensor 529 is disposed may be adjusted accordingly. For example, when the sensor 529 is a correlation type photoelectric sensor, an emitting end of the sensor 529 is disposed on one of the first clamp plate 527 and the second clamp plate 528, and a receiving end of the sensor 529 is disposed on the other of the first clamp plate 527 and the second clamp plate 528; the correlation type photoelectric sensor changes the state of a signal by the change of light received by the receiving end from the transmitting end, so that the purpose of sensing is achieved, that is, when an object is arranged between the first clamping plate 527 and the second clamping plate 528 to block or change the light signal received by the receiving end from the transmitting end, the state of the sensor 529 is correspondingly changed, and the detection effect is achieved. For another example, when the sensor 529 is a retro-reflective photoelectric sensor, the emitting end and the receiving end of the sensor 529 are both provided on one of the first clamp plate 527 and the second clamp plate 528, and the retro-reflective plate of the sensor 529 is provided on the other of the first clamp plate 527 and the second clamp plate 528. Of course, when the sensor 529 may be a diffuse reflection type photoelectric sensor, the emitting end and the receiving end of the sensor 529 are provided together on the first clip 527 or the second clip 528. Accordingly, the type of the sensor 529 is different, the mode of receiving light feedback is different, and accordingly, the arrangement mode of the action part of the sensor 529 is adjusted, so that a good detection function can be realized.

Referring to fig. 14, in other embodiments, the sensing device includes a first sensor 530 and a second sensor 531 vertically spaced by a distance Δ h. Of course, the first sensor 530 and the second sensor 531 may also be of the type of the sensor 529, wherein the first sensor 530 is used for detecting whether the medical consumables storage box is loaded in each receiving position of the storage box receiving bin 200, and the second sensor 531 is used for detecting whether the medical consumables storage box is loaded in the medical consumables storage box. It should be noted that, the vertical distance Δ h between the first sensor 530 and the second sensor 531 means that there is a certain distance between the installation positions of the first sensor 530 and the second sensor 531 in the vertical direction, so that when the first sensor 530 detects the medical consumable storage box at the first detection height, the second sensor 531 can synchronously detect the medical consumables at the second detection height; that is to say, this vertical interval Δ h as long as can satisfy each sensor and snatch along with the storage box and load 500 and remove and whether load medical consumptive material storage box and whether load medical consumptive material in the medical consumptive material storage box with the storage box containing chamber 200 simultaneously, the vertical interval Δ h value between the sensor can not influence scanning detection device's normal work. In fact, the value of Δ h may be defined according to the recognition error of the sensor between two points, and if Δ h is too small, i.e. the distance between the sensors in the vertical direction is too close, the detection objects at the first detection position and the second detection position may be confused by the error of the sensor, and the detection result may be distorted. Each of Δ h in the present embodiment is a numerical range constituted by vertical intervals between a series of sensors set to satisfy the sensor identification capability.

In the above embodiment, when the first sensor 530 and/or the second sensor 531 are the opposite-type photoelectric sensors, the emitting end of the first sensor 530 and/or the second sensor 531 is disposed on one of the first splint 527 and the second splint 528, and the receiving end of the first sensor 530 and/or the second sensor 531 is disposed on the other of the first splint 527 and the second splint 528; when the first sensor 530 and/or the second sensor 531 are retro-reflective photoelectric sensors, the emitting end and the receiving end of the first sensor 530 and/or the second sensor 531 are both disposed on one of the first clamp plate 527 and the second clamp plate 528, and the retro-reflective plate of the first sensor 530 and/or the second sensor 531 is disposed on the other of the first clamp plate 527 and the second clamp plate 528. When the first sensor 530 and/or the second sensor 531 are diffuse reflection type photoelectric sensors, the emitting end and the receiving end of the first sensor 530 and/or the second sensor 531 are disposed together on the first chucking plate 527 or the second chucking plate 528. The first sensor 530 and the second sensor 531 may be disposed on the first clamping plate 527 or the second clamping plate 528, or may be disposed on the first clamping plate 527 and the second clamping plate 528, respectively. That is to say, as long as there is the position of interval Δ h with first sensor 530 and second sensor 531 setting in vertical direction, because the detection height of medical consumptive material and the detection height of medical consumptive material storage box are different, therefore first sensor 530 and second sensor 531 snatch along with the storage box and load when 500 remove, just can detect simultaneously whether load has medical consumptive material storage box and whether load has medical consumptive material in the medical consumptive material storage box in storage box containing bin 200, and select the concrete model of first sensor 530 and second sensor 531 and can not influence scanning detection device's normal work. It should be noted that, in order to realize the simultaneous scanning detection of the first sensor 530 and the second sensor 531, the storage box shifting device 510 moves the storage box clamping device 520 to the detection height, that is, under the detection height, the first sensor 530 can sense whether the storage box accommodating compartment 200 is loaded with the medical consumable storage box, and meanwhile, the second sensor 531 can sense whether the medical consumable storage box is loaded with the medical consumable.

In some embodiments, a chemical analyzer including the medical consumable storage cassette loading device described above includes a material pick robot that picks medical consumables from a medical consumable material loading location s of the cassette carousel 400. Of course, it can be understood that the above-mentioned medical consumable storage box loading device may be a component of the chemiluminescence analyzer, or may be independently assembled in a position of the chemiluminescence analyzer where the medical consumable is taken.

In some embodiments, a scan detection method of the scan detection apparatus includes: the cartridge-displacing device 510 moves the cartridge-clamping device 520 to a preset position;

the preset positions comprise a first detection position and a second detection position;

the induction device detects whether the storage box containing bin 200 is loaded with the medical consumable storage box at the first detection position;

the sensing device detects whether the medical consumable storage box is loaded with the medical consumables at the second detection position.

Specifically, the first detection position includes a first detection height and a receiving position p at which the sensing device is located in the cartridge receiving compartment 200 at the time of detection.

The second detection position includes a second detection height and a receiving position p at which the cartridge receiving bay 200 is at the time of detection by the sensing means.

Where p is the number or coordinate of the location of each receiving location within the storage cartridge receiving bay.

In some embodiments, referring to fig. 13, the sensing device has only one sensor 529, and when the one sensor 529 is used for scanning detection, the method includes the following steps:

the cartridge-displacing device 510 drives the cartridge-gripping device 520 to move to the first detection height and to translate along the length direction of the cartridge-receiving bay 200;

the sensor 529 detects whether the medical consumable storage box is loaded in each containing position of the storage box containing bin 200 at the first detection height;

the cartridge-displacing device 510 drives the cartridge-gripping device 520 to move to the second detection height and to translate along the length direction of the cartridge-receiving bay 200;

the sensor 529 detects whether or not the medical supplies are loaded in the medical supply storage cassettes in the respective storage positions of the cassette storage chamber 200 at the second detection height.

Preferably, the sensor 529 records the receiving position p of the medical consumable storage box which is not loaded in the storage box receiving bin 200 when detecting each receiving position in the translation process of the first detection height; when the sensor 529 is translated across the receiving position p along the length direction of the magazine receiving bay 200 at the second detection height, the magazine shifting device 510 accelerates the translation speed to quickly pass through the receiving position p of the non-loaded medical consumable magazine; where p is the number or coordinate of where each receiving location is located within the cartridge receiving bay 200. In this manner, the translation detection is performed on the first detection height and the second detection height by one sensor 529, and the receiving position p of the medical consumable storage box, which is not loaded in the storage box receiving bin 200, is recorded, so that the medical consumable can quickly pass through the receiving position p when the medical consumable is detected at the second detection height, and the detection efficiency is improved.

In some embodiments, the scan detection method comprises the steps of: the cartridge-displacing device 510 drives the cartridge-gripping device 520 to move to the second detection height and to translate along the length direction of the cartridge-receiving bay 200;

the sensor 529 detects whether medical consumables are loaded in the medical consumables storage box in each receiving position of the storage box receiving bin 200 at the second detection height;

the sensor 529 detects whether or not the medical consumable cartridge is loaded in each receiving space of the cartridge receiving magazine 200 at the first detection height.

It can be understood, among the above detection mode, the detection starting point does not necessarily load medical consumptive material storage box from first detection height to storage box containing bin 200 and begins, also can be directly by the second detection height to storage box containing bin 200 respectively accept position p department whether have medical consumptive material to begin to detect, all can improve detection efficiency, make the reciprocal action trend rationalization of mechanism simultaneously, carry out the detection of medical consumptive material storage box and medical consumptive material with as few actions as possible, of course, based on the above-mentioned method, also can adopt and detect respectively whether loading has medical consumptive material storage box and whether loading has medical consumptive material in the medical consumptive material storage box in each containing position of storage box containing bin 200 carries out the mode of alternately detecting one by one at first detection height and second detection height.

Specifically, the cartridge-displacing device 510 drives the cartridge-clamping device 520 to move to the first detection height;

the sensor 529 detects, at a first detection height, bit by bit whether or not the medical consumable cartridge is loaded in each receiving location of the cartridge receiving magazine 200.

When the sensor 529 detects that the medical consumable storage cartridge is loaded in the storage position p of the cartridge receiving chamber 200 at the first detection height, the cartridge moving device 510 drives the cartridge clamping device 520 to move to the medical consumable storage cartridge in the storage position p of the second detection height detection cartridge receiving chamber 200 to detect whether the medical consumable storage cartridge is loaded; otherwise, the cartridge changer 510 drives the cartridge gripper 520 to translate along the length of the cartridge receiving bay 200 so that the sensor 529 detects the next receiving bay. That is to say, sensor 529 carries out the bitwise detection to each position of acceping, only when the position p department of acceping of storage box accommodation chamber 200 detects medical consumables storage box, just will move to the second and detect highly this medical consumables storage box to confirm whether load medical consumables in this medical consumables storage box.

In other embodiments, a scanning detection method using the first sensor 530 and the second sensor 531 for synchronous detection respectively includes the steps of:

the cartridge-displacing device 510 moves the cartridge-gripping device 520 to the detection height and translates along the length direction of the cartridge-receiving bay 200;

the first sensor 530 and the second sensor 531 synchronously detect whether each receiving position in the cartridge receiving magazine 200 is loaded with a medical consumable cartridge and whether each receiving position is loaded with a medical consumable.

In this embodiment, in order to realize that the first sensor 530 and the second sensor 531 scan and detect simultaneously, the storage box shifting device 510 can move the storage box clamping device 520 to the detection height, that is, under the detection height, the first sensor 530 can sense whether the storage box accommodating compartment 200 is loaded with the medical consumable storage box, and meanwhile, the second sensor 531 can sense whether the medical consumable storage box is loaded with the medical consumable.

In some embodiments, a medical consumable storage cartridge loading method comprises:

withdrawing the cartridge receiving bay 200 to the first position to retrieve the medical consumable cartridge in the second state, or advancing to the second position to load the medical consumable cartridge in the first state; the medical consumable storage box is used for containing a plurality of medical consumables and comprises a first state of containing the medical consumables and a second state of empty medical consumables;

the cartridge gripper 500 transfers the medical consumable storage cartridge in the first state in the cartridge receiving magazine 200 to the carrying frame 410 of the medical consumable storage cartridge transfer device 400 at the cartridge access position d, either directly or via the first buffer position 310 of the buffer magazine 300;

the carriage frame 410 transports the medical consumable storage cassette in the first state from the cassette access position d to the medical consumable loading position s, and transports the medical consumable storage cassette in the second state from the medical consumable loading position s back to the cassette access position d;

the cartridge gripper 500 transfers the medical consumable cartridge in the second state at the cartridge access position d to the cartridge receiving compartment 200 through the second buffer position 311 of the buffer compartment 300.

Above-mentioned loaded in-process of medical consumables storage box, medical consumables storage box that will be in the first state shifts to medical consumables loading position s, the medical consumables storage box of medical consumables is used up to medical consumables loading position s simultaneously, the medical consumables storage box that is in the second state passes back to storage box holding bin 200 through second buffer position 311 promptly, and then, can satisfy the incessant medical consumables of takeing away from medical consumables loading position s of material taking manipulator, take out storage box holding bin 200 to the first position, take out the medical consumables storage box that is in the second state and put into the medical consumables storage box that is in the first state, in order to realize carrying out loading medical consumables in succession under the medical consumables are taken to the manipulator of not stopping to get, the supply efficiency of medical consumables is improved, in order to improve analysis appearance detection efficiency.

Specifically, the cassette handler 500 transfers the medical consumable storage cassette in the first state in the cassette receiving compartment 200 to the carriage frame 410 of the cassette transfer device 400 at the cassette entrance/exit position d directly or via the first buffer position 310 of the buffer compartment 300, including:

when the carriage frame 410 at the cartridge access position d is empty of the medical consumable storage cartridge, the cartridge gripper 500 picks up the medical consumable storage cartridge in the first state from the cartridge receiving compartment 200 and places the medical consumable storage cartridge in the carriage frame 410; if not, then,

the storage cassette grasping device 500 grasps the medical consumable storage cassette in the first state from the storage cassette receiving compartment 200 and places the medical consumable storage cassette in the first buffer position 310 of the buffer compartment 300, and the medical consumable storage cassette is not loaded in the carrying frame 410 at the cassette entrance/exit position d, and the storage cassette grasping device 500 transfers the medical consumable storage cassette in the first buffer position 310 of the buffer compartment 300 to the cassette entrance/exit position d of the storage cassette transfer device 400;

in this embodiment, when the carrying frame 410 is still located at the medical consumable loading position s, the storage box gripping device 500 is in the idle state, the medical consumable storage box in the first state can be placed in the first buffer position 310, and then the distance that the medical consumable storage box in the first state is placed in the carrying frame 410 at the storage box exit position d can be shortened, so that the urgency of placing the medical consumable storage box in the carrying frame 410 is relieved, and the efficiency of transferring the medical consumable storage box in the first state between the storage box accommodating bin 200 and the carrying frame 410 at the storage box exit position d is effectively improved.

In some embodiments, the cartridge gripper 500 transfers the medical consumable cartridge in the second state at the cartridge access position d to the cartridge receiving bay 200 via the second buffer position 311 of the buffer bay 300, specifically:

when the storage box accommodating chamber 200 does not have a vacant position capable of accommodating the medical consumable storage box, the storage box gripping device 500 grips the medical consumable storage box in the second state from the storage box inlet/outlet position d of the storage box conveying device 400 and places the medical consumable storage box in the second buffer position 311 of the buffer chamber 300, and when the storage box accommodating chamber 200 has a vacant position capable of accommodating the storage box, the storage box gripping device 500 transfers the medical consumable storage box in the second buffer position 311 of the buffer chamber 300 to the vacant position of the storage box accommodating chamber. In some embodiments, specifically, the loading method includes the steps of:

(a) the cartridge gripper 500 picks up the medical consumable cartridge in the first state from one of the storage locations of the cartridge receiving magazine 200 and places the medical consumable cartridge in the carriage frame 410 at the cartridge access position d;

(b) the carriage 410 sends the medical consumable storage cassette in the first state from the cassette access position d to the medical consumable loading position s;

(c) when the medical consumable storage cassette at the medical consumable loading position s is in the second state, the carrying frame 410 returns the medical consumable storage cassette in the second state from the medical consumable loading position s to the cassette access position d;

(d) the cassette grasping device 500 grasps the medical consumable storage cassette in the second state from the carrying frame 410 at the cassette access position d and places the medical consumable storage cassette in the second buffer position 311 of the buffer cassette 300;

after step (a), and before step (d), the cartridge gripper 500 picks up the medical consumable cartridge in the first state from another one of the cartridge receiving bays 200 and places the medical consumable cartridge in the first buffer bay 310 of the buffer bay 300.

Further, the loading method further includes, after the step (d), the steps of:

(e) the cartridge gripper 500 picks up the medical consumable cartridge in the first state from the first buffer position 310 of the buffer cartridge 300 and places the medical consumable cartridge in the carriage frame 410 at the cartridge access position d;

returning to step (b), and transferring the medical consumable storage cartridge in the second state placed at the second buffer position 311 of the buffer bin 300 in step (d) to the receiving position of the cartridge receiving bay 200 where the medical consumable storage cartridge is not loaded.

In some embodiments, the loading method further includes, after the step (d), the steps of:

(f) the cartridge gripper 500 picks up the medical consumable cartridge in the first state from the first buffer position 310 of the buffer cartridge 300 and places the medical consumable cartridge in the carriage frame 410 at the cartridge access position d;

(g) the carriage 410 sends the medical consumable storage cassette in the first state from the cassette access position d to the medical consumable loading position s;

(h) when the medical consumable storage cassette at the medical consumable loading position s is in the second state, the carrying frame 410 returns the medical consumable storage cassette in the second state from the medical consumable loading position s to the cassette access position d;

(i) the cassette grasping device 500 grasps the medical consumable storage cassette in the second state from the carrying frame 410 at the cassette access position d and places the medical consumable storage cassette in the second buffer position 311 of the buffer cassette 300;

further, the above loading method, after step (f) and before step (i), the cartridge gripper 500 transfers the medical consumable storage cartridge placed at the second buffer position 311 of the buffer magazine 300 to the receiving position of the cartridge receiving magazine 200 where the medical consumable storage cartridge is not loaded.

The method realizes the bidirectional transfer of the medical consumable storage box, namely the medical consumable storage box loaded with the medical consumables, namely in the first state, is transferred into the carrying frame 410 at the storage box inlet and outlet position d and is transferred to the medical consumable loading position s through the storage box conveying device 400 so as to be taken away by a material taking manipulator; utilize first buffer position 310 and second buffer position 311 to buffer the medical consumptive material storage box that is in first state and second state respectively simultaneously, the medical consumptive material storage box that is in the second state that will use up medical consumptive material loading position s department shifts to storage box containing bin 200 through second buffer position 311, and then can idle out medical consumptive material loading position s, in order to shift the medical consumptive material that is in the first state in first buffer position 310 to medical consumptive material loading position s, the realization is carried out loading medical consumptive material in succession.

Specifically, since the first buffer position 310 and the second buffer position 311 can buffer the medical consumable storage cartridge in the first state and the second state, respectively, even if the cartridge accommodating section 200 is drawn out to the first position to take out the medical consumable storage cartridge in the second state and load the medical consumable storage cartridge in the first state; the first state medical consumable storage box cached in the first buffer position 310 can still be conveyed to the medical consumable loading position s, that is, when the storage box accommodating bin 200 loads the medical consumable storage box, the medical consumable storage box in the first state in the first buffer position 310 can continuously supply the material taking manipulator without waiting for material; meanwhile, the medical consumable storage box is in the second state and can be returned to the storage box containing bin 200 through the second buffer position 311. Furthermore, the loading method can realize the cyclic loading of the medical consumable storage box in the first state and simultaneously quit the medical consumable storage box in the second state so as to realize the continuous loading of the medical consumables.

In some embodiments, a method of sorting medical consumable storage cassettes uses a cassette grasping device to sort medical consumable storage cassettes within a cassette receiving bay. It should be noted that, can utilize storage box grabbing device 500 to be in the time of idle to rank medical consumptive material storage box according to medical consumptive material storage box state in this method, and then can put medical consumptive material storage box according to the order that needs. Specifically, in the present embodiment, since the medical consumable storage box in the first state has the medical consumable loaded therein, the medical consumable storage box in the second state has no medical consumable therein. Therefore, it is exact that the method places the medical consumable storage box in the first state on the side where the medical consumables are supplied, that is, the side where the storage box accommodating chamber is closer to the buffer chamber 300, and correspondingly, places the medical consumable storage box in the second state on the other side, so as to take out the medical consumable storage box without the medical consumables from the storage box accommodating chamber. Specifically, because the medical consumptive material storage box after the sequencing is put in order, will not have the medical consumptive material storage box of medical consumptive material and transfer to the position of conveniently taking out. Like this, when carrying out the medical consumptive material of loading to storage box accommodating chamber, just can take out the medical consumptive material storage box that is in the second state fast and put into the medical consumptive material storage box that is in the first state, avoided putting the order confusion and leading to getting the box and putting the problem that box operating efficiency is low in the storage box accommodating chamber because of medical consumptive material storage box.

Specifically, in the above embodiment, the method for sorting medical consumables includes:

step S10, determining whether the storage box grasping device 500 is in an idle state at the present time;

in step S20, when the storage box gripping device 500 is in the idle state at the present moment, the storage box gripping device 500 exchanges the positions of the medical consumable storage box in the first state and the second state, so that the medical consumable storage box in the first state is located at a side of the storage box accommodating compartment closer to the buffer compartment 300.

In the above embodiment, the sorting of the medical consumable storage cassettes is performed when the cassette grasping device 500 is idle, so as to fully utilize the utilization rate of the storage grasping device. Under the condition that does not influence other process courses, optimize the order of putting of medical consumptive material storage box. It is understood that the idle status of the cassette grabber 500 may be monitored by the upper computer. That is, when the magazine grabber 500 performs the sorting of the medical consumable magazine without any other task process under the control of the host computer. That is to say, when carrying out the sequencing task, the storage box gripping device 500 can interrupt the sequencing task at any time according to the schedule arrangement of the upper computer and carry out the task with higher priority, and only when finishing the task with higher priority and being in the idle state, the sequencing instruction of the medical consumable storage box issued by the upper computer is continuously carried out according to the sequencing schedule. For example, when a new task occurs in the upper computer when the storage cassette grasping device 500 puts the medical consumable storage cassette in the first state into the carrying frame 410 as required while the storage cassette grasping device 500 is performing the sorting process, the storage cassette grasping device 500 interrupts the sorting process, and resumes the interrupted sorting process after putting the medical consumable storage cassette in the first state into the carrying frame 410. Thus, the medical consumable storage box in the first state and the medical consumable storage box in the second state are replaced.

In some embodiments, the step S20 includes:

step S21, the medical consumable storage box is placed in the storage box storage compartments in a mutually consecutive storage position. That is to say, there is not the empty position of accomodating between the medical consumptive material storage box, and then when taking out the medical consumptive material storage box that is in the second state from storage box accommodating chamber, can find the position of accomodating of the medical consumptive material storage box that is in the second state that treats to take out in storage box accommodating chamber fast, and can not be disturbed by empty position of accomodating to improve the operating efficiency.

Specifically, there are various ways to eliminate the vacant storage space between the medical consumable storage cartridges in the storage cartridge storage compartment, and as in this embodiment, the step S21 includes:

step S212, the medical consumable storage box farthest from the buffer bin 300 is placed in the receiving position closest to the buffer bin 300 and not storing the medical consumable storage box. For example, there are 4 storage positions in the storage box storage bin, the storage position closest to the buffer bin 300 is the first storage position, and the second, third and fourth storage positions are arranged in sequence along the direction away from the buffer bin 300, when only the second storage position does not store a medical consumable storage box, then the medical consumable storage box farthest from the buffer bin 300 is located at the fourth storage position, and the storage position closest to the buffer bin 300 and not storing a medical consumable storage box is the second storage position, at this time, the medical consumable storage box in the fourth storage position is placed in the second storage position, so that the medical consumable storage box is placed in the continuous storage positions to eliminate the empty storage position between the medical consumable storage boxes, that is, in this embodiment, a bidirectional judgment method is adopted, that is, the medical consumable storage box farthest from the buffer bin 300 is determined, and the storage position closest to the buffer bin 300 and not storing a medical consumable storage box is determined at the same time, like this, put into the medical consumptive material storage box farthest from surge bin 300 and after in the position of acceping that is nearest and not depositing medical consumptive material storage box from surge bin 300, the manifold cycles just can confirm every position of acceping, makes and does not have the vacant position of holding between the medical consumptive material storage box after putting, realizes that medical consumptive material storage box puts in continuous position of holding promptly.

It will be appreciated that the cartridge gripper 500 does not respond to the above-described operation of eliminating the empty receiving space between medical consumable storage cartridges when there is no empty receiving space between medical consumable storage cartridges. In the present embodiment, step S212 includes, before:

step S211, detecting whether a medical consumable storage box is stored in each storage location of the storage box storage bin 300, so as to determine the storage location where the medical consumable storage box is located and the storage location where the medical consumable storage box is not stored. Furthermore, when the vacant accommodating positions exist between the medical consumable storage boxes, the operation of eliminating the vacant accommodating positions is carried out, and the details are not repeated.

In some embodiments, the step S20 further includes:

step S22, placing the medical consumable storage cassette closest to the buffer bin 300 and in the second state into the buffer bin 300, and freeing the receiving space for storing the medical consumable storage cassette in the first state;

step S23, placing the medical consumable storage box farthest from the buffer bin 300 and in the first state into the vacated receiving position of the medical consumable storage box in the second state in the step S22, and then vacating the receiving position to store the medical consumable storage box in the second state;

step S24, the medical consumable storage box in the second state in the buffer bin 300 is placed in the containing position vacated after the medical consumable in the first state is removed in the step S22.

In the above embodiment, since the medical consumable storage cassettes are placed in the consecutive receiving positions, the medical consumable storage cassette in the second state stored in the receiving position close to the buffer bin 300 needs to be removed, and the medical consumable storage cassette in the first state in the receiving position far from the buffer bin 300 needs to be placed in the medical consumable storage cassette in the second state and removed to leave the receiving position.

Specifically, in the present embodiment, the medical consumable material storage cassette in the second state is moved to the buffer bin 300 to be freed from the storage space, and the medical consumable material storage cassette in the first state is placed. For example, there are 4 storage positions in the storage box storage bin, the storage position which is preset to be closest to the buffer bin 300 is the first storage position, and the second storage position, the third storage position and the fourth storage position are sequentially arranged along the direction away from the buffer bin 300, when the medical consumable storage box in the first storage position and the second storage position is in the second state, and the medical consumable storage box in the third storage position and the fourth storage position is in the first state, then the medical consumable storage box which is closest to the buffer bin 300 and is in the second state is the medical consumable storage box in the first storage position, and the medical consumable storage box which is farthest from the buffer bin 300 and is in the first state is the medical consumable storage box in the fourth storage position. At this time, the medical consumable storage box in the first receiving position is transferred to the buffer bin 300, and the first receiving position is vacated to store the medical consumable storage box in the first state; the medical consumable storage box in the fourth containing position can be placed into the medical consumable storage box in the second state, the first containing position is moved away, at the moment, the fourth containing position is in an empty position state due to the fact that the medical consumable storage box in the first state is moved to the first containing position, namely, the medical consumable storage box is not stored in the fourth containing position, the medical consumable storage box in the second state which is transferred into the buffer bin 300 before is moved into the fourth containing position, and the medical consumable storage box in the first state and the medical consumable storage box in the second state are exchanged. Specifically, with the first medical consumptive material storage box who accepts in the position in the second state transfer to the fourth and hold the position, with the fourth accept in the position in the first state medical consumptive material storage box transfer to the first position of accepting, that is to say, through the medical consumptive material storage box after the sequencing, the medical consumptive material storage box that is in the second state is close from the position of taking out, more conveniently takes out.

It can be understood that, in the above embodiment, when the medical consumable storage box is placed at the receiving position closer to and consecutive to the side of the buffer bin 300, and the medical consumable storage box in the first state is located at the receiving position closer to the side of the buffer bin 300, the storage box gripping device 500 does not execute the work process of exchanging the medical consumable storage box in the first state and the medical consumable storage box in the second state.

Specifically, in this embodiment, before the step S22, it is detected whether the medical consumables storage box in the receiving space of the medical consumables storage box is loaded with the medical consumables, so as to determine the receiving space of the medical consumables storage box in the first state and the receiving space of the medical consumables storage box in the second state. It can be understood that, detecting the containing position in the storage box containing bin to determine whether the medical consumable storage box is loaded and determining the state of the medical consumable storage box can be completed by the detection device and/or the detection method, and feeding back the detection result to the control device such as the upper computer, so as to schedule the execution task of the storage box gripping device 500.

The features of the above embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be construed as being within the scope of the present specification as long as there is no contradiction between the combinations of the features.

The above embodiments only express a few embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A sorting method of medical consumable storage boxes is characterized in that a storage box accommodating bin comprises a plurality of accommodating positions for storing the medical consumable storage boxes; the medical consumable storage box has a first state and a second state, wherein the first state is that the medical consumable storage box is loaded with medical consumables, and the second state is that the medical consumable storage box is not loaded with medical consumables; the method comprises the following steps:

2. The medical consumable storage cartridge sorting method of claim 1, wherein the step S20 includes: step S21, placing the medical consumable storage box in the storage box storage compartment in a mutually continuous storage position.

3. The medical consumable storage cartridge sorting method of claim 2, wherein the step S21 includes: step S212, the medical consumable storage box which is farthest from the buffer bin is placed into the containing position which is nearest to the buffer bin and is not used for storing the medical consumable storage box.

4. The medical consumable storage cartridge sorting method of claim 3, wherein step S212 is preceded by: step S211, detecting whether a medical consumable storage box is stored in each storage position of the storage box storage bin so as to determine the storage position where the medical consumable storage box is located and the storage position where the medical consumable storage box is not stored.

5. The medical consumable storage cartridge sorting method of claim 4, wherein the step S20 further comprises at least one of:

6. The medical consumable storage cartridge sorting method of claim 5, wherein the step S22 is preceded by the steps of: whether medical consumables are loaded in the medical consumables storage box in the containing position of the medical consumables storage box is detected to determine the containing position of the medical consumables storage box in the first state and the containing position of the medical consumables storage box in the second state.

7. The medical consumable storage cartridge ordering method according to any one of claims 1 to 6, wherein the storage cartridge gripper comprises a storage cartridge gripper and a storage cartridge indexing device, the storage cartridge indexing device being adapted to move the storage cartridge gripper, the storage cartridge gripper being adapted to grip or place a medical consumable storage cartridge.

8. The medical consumable storage cartridge ordering method according to claim 7, wherein the cartridge clamping device comprises:

the mounting plate is fixed on the storage box shifting device;

9. The medical consumable storage cartridge sorting method of claim 8, wherein the first clamp comprises a first clamping plate and a first connecting plate that are fixedly connected; the second clamping piece comprises a second clamping plate and a second connecting plate which are fixedly connected; the first connecting plate is screwed with the first threaded part and is in sliding connection with the guide piece; the second connecting plate is screwed with the second threaded part and is connected with the guide piece in a sliding mode.

10. The method of sequencing medical consumable storage cartridges of claim 8, wherein the first clamping member and/or the second clamping member is provided with a sensing device for detecting whether a medical consumable storage cartridge is loaded in each receiving location of the cartridge receiving bay and/or whether a medical consumable is loaded in a medical consumable storage cartridge.