CN110632334B - Automatic sample detection device - Google Patents
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- CN110632334B CN110632334B CN201910963498.4A CN201910963498A CN110632334B CN 110632334 B CN110632334 B CN 110632334B CN 201910963498 A CN201910963498 A CN 201910963498A CN 110632334 B CN110632334 B CN 110632334B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
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Abstract
The invention relates to an automatic sample detection device. This sample automatic checkout device is including waiting to detect the sample holding portion, the extrusion device, a scanning device, shoot device and information processing center, it is used for placing the sample collection and the detection container that hold the sample of waiting to detect the sample holding portion, the sample is collected and is provided with piston and test element with the detection container, the extrusion device is used for bulldozing the piston, when the sample is collected and is placed in waiting to detect the sample holding portion with the detection container, the extrusion device can bulldoze the piston, the scanning device is used for scanning to acquire the information of sample collection and detection container, the device of shooing is used for shooting the test element and detects the testing result that the sample that finishes after waiting to detect, and with information transmission to the information processing center of shooing, the information processing center can judge whether there is a problem in the sample according to the information of shooing. The automatic sample detection device can realize automatic detection of the sample, and has high detection efficiency.
Description
Technical Field
The invention relates to the technical field of sample detection, in particular to an automatic sample detection device.
Background
At present, the common people are easier to obtain prohibited drugs, and the use of the prohibited drugs is more and more. Accordingly, body fluid sample collection and testing devices (e.g., urine cups) are increasingly being used.
Patent document CN201310755002.7 discloses a sample collection and detection device, which has a collection chamber for collecting a fluid sample, a detection chamber, a sealing material and a piston, wherein a test element is placed in the detection chamber, the collection chamber and the detection chamber are isolated by the sealing material, and when the piston is pushed to puncture the sealing material, the fluid sample can flow into the detection chamber from the collection chamber and contact with the test element to be detected.
A sample collecting and detecting device with a similar structure is also disclosed in patent document CN 201020165385.4.
To above-mentioned sample collection and detection device, all manual operation bulldozes the piston usually, and the manual observation judges the testing result, and detection efficiency is lower relatively, and the human cost is high.
Disclosure of Invention
Based on the above-mentioned defects in the prior art, the present invention aims to provide an automatic sample detection device with high detection efficiency.
Therefore, the invention provides the following technical scheme.
The invention provides an automatic sample detection device, which comprises a sample accommodating part to be detected, an extrusion device, a scanning device, a photographing device and an information processing center,
the sample containing part to be detected is used for placing a sample collecting and detecting container containing a sample to be detected, the sample collecting and detecting container is provided with a piston and a testing element, when the piston is pushed, the sample to be detected can be contacted with the testing element to be detected,
the squeezing device is used for pushing the piston, and can push the piston when the sample collection and detection container is placed in the sample containing part to be detected,
the scanning device is used for scanning and acquiring the information of the sample collecting and detecting container,
the photographing device is used for photographing a detection result presented after the test element detects the sample to be detected, and sending photographing information to the information processing center,
the information processing center can judge whether the sample has problems according to the photographing information.
In at least one embodiment, the pressing device comprises a mechanical hand grip and a hand grip driving mechanism which are in transmission connection,
the mechanical hand can grasp and move the sample collection and detection container, and the hand driving mechanism can drive the mechanical hand to act so as to push and press the piston.
In at least one embodiment, the mechanical gripper includes a first gripper and a second gripper,
the gripper driving mechanism can drive the first gripper and the second gripper to move relatively, so that the first gripper abuts against the outer wall of the sample collecting and detecting container, and the second gripper abuts against and pushes the piston.
In at least one embodiment, the second hand grip includes a gripping arm and a pressure plate disposed at a gripping end of the gripping arm,
when the first gripper and the second gripper clamp the sample collecting and detecting container, the pressing plate abuts against the outer wall of the sample collecting and detecting container and the piston, and the height of the clamping end of the first gripper and the height of the upper end of the pressing plate are both larger than the height of the clamping end of the clamping arm.
In at least one embodiment, the plate surface of the pressure plate opposite the outer wall of the sample collection and testing container vertically abuts the outer wall of the sample collection and testing container when the first grip and the second grip the sample collection and testing container.
In at least one embodiment, the sample receiving portion to be tested comprises a plurality of receiving positions for receiving the sample collection and testing container.
In at least one embodiment, the automatic sample detection device further comprises a moving mechanism, the pressing device is connected with the moving mechanism,
the moving mechanism can drive the squeezing device to move among a plurality of containing positions, so that the squeezing device can push the piston of each sample collecting and detecting container.
In at least one embodiment, after the test element detects the sample to be detected, the gripper driving mechanism can drive the mechanical gripper to grip the sample collecting and detecting container, and
the moving mechanism can drive the extruding device to move to a preset position, so that the scanning device can scan and acquire the information of the sample collecting and detecting container, and the photographing device can photograph the detection result.
In at least one embodiment, the moving mechanism includes a lateral moving mechanism, a longitudinal moving mechanism, and a vertical moving mechanism,
the transverse moving mechanism is used for driving the extruding device to move along the transverse direction,
the longitudinal moving mechanism is used for driving the extrusion device to move along the longitudinal direction,
the vertical moving mechanism is used for driving the extrusion device to move along the vertical direction.
In at least one embodiment, the automated sample testing device further comprises a problem sample receptacle,
when the sample has a problem, the information processing center can send a control signal to the moving mechanism, so that the moving mechanism drives the squeezing device to move to the position of the problem sample containing part, and the squeezing device places the sample collecting and detecting container in the problem sample containing part.
By adopting the technical scheme, the automatic sample detection device provided by the invention can automatically push and press the piston of the sample collection and detection container to perform detection by arranging the extrusion device, can automatically scan and acquire the information of the sample collection and detection container by arranging the scanning device, can acquire a detection result and send the photographed information to the information processing center to automatically analyze and judge the detection result by arranging the photographing device, can realize automatic detection on a sample, and is high in detection efficiency.
Drawings
Fig. 1 shows a schematic structural view of an automatic sample detection apparatus according to the present invention.
Fig. 2 shows a schematic structural view of the pressing device and the vertical moving mechanism in fig. 1.
Fig. 3 shows a schematic view of the pressing means pressing the plunger in the sample collection and testing container.
Description of the reference numerals
1, mounting a frame; 11 a base plate; 12 upright posts; 13 an upper frame;
2, containing part of the sample to be detected; 21 drawer type sample rack; 211 a containing bit; 22 slide rails;
3, an extruding device; 31 a first gripper; 32 a second gripper; 321 a clamp arm; 322 pressing plate; 33 a gripper driving mechanism;
4, a moving mechanism; 41 a transverse moving mechanism; 42 a longitudinal moving mechanism; 43 a vertical moving mechanism;
5 a scanning device; 6 a photographing device; 7 problem sample receptacles;
8 sample collection and detection vessel; 81 piston.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the detailed description is only intended to teach one skilled in the art how to practice the invention, and is not intended to be exhaustive or to limit the scope of the invention.
An embodiment of the automatic sample detection device according to the present invention will be described in detail with reference to fig. 1 to 3.
In the present embodiment, as shown in fig. 1, the automatic sample testing device includes a mounting frame 1, a sample accommodating portion 2 to be tested, a squeezing device 3, a moving mechanism 4, a scanning device 5, a photographing device 6, a problem sample accommodating portion 7, and an information processing center (not shown).
Wherein, treat that sample holding portion 2, extrusion device 3, moving mechanism 4, scanning device 5, shoot device 6 and problem sample holding portion 7 all set up on mounting bracket 1. The sample accommodating part 2 to be detected is used for placing a sample collecting and detecting container (for example, the sample collecting and detecting device described in the background section) containing a sample to be detected, the extruding device 3 is used for pushing and pressing a piston of the sample collecting and detecting container, the moving mechanism 4 is used for driving the extruding device 3 to integrally move, the scanning device 5 is used for scanning and acquiring information (information of a person to be detected, product information of the container and the like) of the sample collecting and detecting container, the photographing device 6 is used for photographing a final detection result and sending the photographing information to the information processing center for processing, the information processing center judges whether the sample has a problem according to the photographing information, and if the sample has the problem, the sample collecting and detecting container containing the sample is placed in the problem sample accommodating part 7.
In the present embodiment, as shown in fig. 1, the mounting bracket 1 includes a base plate 11, a pillar 12, and an upper frame 13. The bottom plate 11 and the upper frame 13 are connected through upright posts 12, the bottom plate 11 and the upper frame 13 are both substantially rectangular in shape as a whole, the number of the upright posts 12 is four, and the four upright posts 12 are respectively arranged at four right angles of the bottom plate 11 and the upper frame 13.
In the present embodiment, as shown in fig. 1, the sample-receiving portion 2 to be tested includes a drawer-type sample rack 21 and a slide rail 22. The slide rail 22 is disposed on the bottom plate 11 in a longitudinally extending manner, and the drawer-type sample rack 21 is slidably connected to the slide rail 22.
As shown in fig. 1 and 3, the drawer-type sample rack 21 includes a receiving position 211, and the receiving position 211 is used for placing a sample collection and detection container 8 (e.g., a urine cup). The drawer-type sample rack 21 may be provided in plural, and the accommodating position 211 in each drawer-type sample rack 21 may also be provided in plural.
In this embodiment, the containing site 211 may be configured as a groove, and the size of the groove may match with the bottom of the sample collecting and detecting container 8, so as to facilitate the positioning of the sample collecting and detecting container 8. Of course, the receiving space 211 can be configured as a stepped receiving through hole (large top and small bottom), and the large hole portion matches with the bottom of the sample collection and detection container 8.
Similar to the sample collection and testing device described in the background section, the sample collection and testing container 8 in this embodiment has a collection chamber, a testing chamber, a sealing member, and a piston 81, with a test element (e.g., test strip) disposed in the testing chamber.
In this embodiment, as shown in fig. 1 and 2, the pressing device 3 includes a mechanical gripper and gripper drive mechanism 33 in driving connection. Wherein the mechanical hand grip comprises a first hand grip 31 and a second hand grip 32.
The first gripper 31 and the second gripper 32 are arranged opposite to each other, and the gripper driving mechanism 33 can drive the first gripper 31 and the second gripper 32 to open and close. Wherein the gripper driving mechanism 33 may be a driving mechanism including a motor.
The second gripper 32 includes a holding arm 321 and a pressing plate 322, and the pressing plate 322 is disposed at a holding end of the holding arm 321. Wherein the platen 322 is substantially rectangular in shape.
In the present embodiment, as shown in fig. 3, when the sample collection and detection container 8 is placed in the containing position 211, the moving mechanism 4 can drive the entire squeezing device 3 to move to the containing position 211, the gripper driving mechanism 33 can drive the first gripper 31 and the second gripper 32 to move relatively, the first gripper 31 will abut against the outer wall of the sample collection and detection container 8, and the second gripper 32 will abut against and push the piston 81 of the sample collection and detection container 8.
In the process of relative movement of the first gripper 31 and the second gripper 32, the portion of the pressing plate 322 connected to the clamping end of the second gripper 32 contacts the piston 81 first, and the other portion of the pressing plate 322 and the first gripper 31 do not contact the outer wall of the sample collection and detection container 8 (at this time, one side of the sample collection and detection container 8 is abutted by the groove wall or hole wall of the accommodating portion 211, and the piston 81 on the other side is pushed by the pressing plate 322); when the piston 81 is pressed into position, the other portion of the pressing plate 322 and the gripping end of the first gripper 31 abut against the outer wall of the sample collection and detection container 8, respectively. At this time, the height of the grip end of the first gripper 31 and the height of the upper end of the pressure plate 322 are both greater than the height of the grip end of the grip arm 321. In this way, on the one hand, the first gripper 31 can be prevented from blocking the test element in the sample collection and detection container 8 and preventing the photographing device 6 from obtaining the detection result; on the other hand, the pressing plate 322 is provided to balance the clamping force on the two sides of the sample collection and detection container 8 as much as possible, thereby improving the stability of clamping.
In this embodiment, the piston 81 may be completely pressed into the sample collection and testing container 8, and the plate surface of the pressing plate 322 facing the outer wall of the sample collection and testing container 8 vertically abuts against the outer wall of the sample collection and testing container 8. Like this, can be so that the effort between clamp plate 322 and the outer wall of sample collection and detection container 8 is more even stable, be favorable to improving the stability of centre gripping, also can prevent to damage sample collection and detection container 8.
Furthermore, when the first and second grips 31 and 32 completely grip the sample collection and detection container 8, the gripping end of the gripping arm 321 faces the end of the piston 81 of the sample collection and detection container 8. Thus, the holding force of the second gripper 32 with respect to the piston 81 can be increased, and the reliability and stability of pressing the piston 81 can be improved.
In the present embodiment, as shown in fig. 1 and 2, the moving mechanism 4 includes a lateral moving mechanism 41, a longitudinal moving mechanism 42, and a vertical moving mechanism 43.
The transverse moving mechanism 41 is used for driving the whole extrusion device 3 to move transversely, the longitudinal moving mechanism 42 is used for driving the whole extrusion device 3 to move longitudinally, and the vertical moving mechanism 43 is used for driving the whole extrusion device 3 to move vertically. Here, the transverse moving mechanism 41 and the longitudinal moving mechanism 42 may be moving mechanisms including a motor, a timing belt, and the like, and the vertical moving mechanism 43 may be a moving mechanism including a motor, a ball screw, and the like.
The moving mechanism 4 can drive the squeezing device 3 to move freely in three degrees of freedom (lateral, longitudinal, and vertical), so that the squeezing device 3 can move freely to each of the containing positions 211, pushing the piston 81 of each of the specimen collection and detection containers 8.
In this embodiment, when the plunger 81 of the sample collection and testing container 8 is pressed, the sample to be tested in the sample collection and testing container 8 enters the testing chamber of the sample collection and testing container 8 and contacts the testing element in the sample collection and testing container 8 to be tested. After a certain time, the completion of the sample detection can be judged. The time of detection may be measured by a program, and the time of detection of each sample collection and detection container 8 may be unified, for example, may be unified to 5 minutes.
In the present embodiment, as shown in fig. 1, the scanner device 5 and the photographing device 6 are both provided on the bottom plate 11 through a mounting plate (or a mounting base).
The problem sample-accommodating portion 7 is provided on the bottom plate 11. The structure of the problematic sample accommodating portion 7 is similar to that of the sample accommodating portion 2 to be detected, and may also include a drawer type sample rack and a slide rail, which are slidably connected, where the drawer type sample rack may include a plurality of accommodating positions, and the slide rail is disposed on the bottom plate 11.
After the sample is detected, the squeezing device 3 can grab the sample collecting and detecting container 8, the moving mechanism 4 can move the squeezing device 3 to a preset position, at the preset position, the scanning device 5 can scan the sample collecting and detecting container 8 to obtain information of the sample collecting and detecting container 8, and send the scanned information to the information processing center, and the photographing device 6 can photograph a test result (for example, the color development condition of a detection line of the detection paper) presented by a test element in the sample collecting and detecting container 8 and send the photographed information to the information processing center. Wherein, at the predetermined position, the scanning and the photographing may be performed simultaneously.
The information processing center can judge whether the sample has a problem according to the photographing information, and if the sample has no problem, the information processing center sends a control signal to the moving mechanism 4 to put the sample collecting and detecting container 8 back to the original position; if there is a problem with the sample, the information processing center sends a control signal to the moving mechanism 4 to place the sample collection and detection container 8 at the receiving position of the problem sample receiving portion 7, and waits for further detailed examination.
The operation of the automatic specimen testing device according to the present invention will be described below.
First, a specimen collecting and testing container 8 containing a specimen to be tested is placed at each receiving position 211 in the drawer-type specimen rack 21.
Next, the plunger 81 of each sample collection and detection container 8 is pushed in turn using the squeezing means 3.
After the sample is detected, the squeezing device 3 grabs the sample collecting and detecting container 8, the moving mechanism 4 moves the squeezing device 3 with the sample collecting and detecting container 8 to a preset position, and the scanning device 5 and the photographing device 6 are used for scanning and photographing respectively. The scanning device 5 sends the scanning information to the information processing center, and the photographing device 6 sends the photographing information to the information processing center.
The information processing center judges whether the sample has a problem according to the received photographing information, and if the sample has no problem, the sample collecting and detecting container 8 is put back to the original position; if the sample is problematic, the sample collection and testing container 8 is placed in the problematic sample receptacle 7.
After each sample collecting and detecting container 8 is completely detected (the number of the accommodating positions 211 is fixed, and the number of the detected sample collecting and detecting containers 8 can be counted by a program), an alarm can be sent to prompt that a new sample collecting and detecting container 8 containing a sample to be detected is put in.
When the problem sample accommodating part 7 is full (the number of the accommodating positions is fixed, and the number of the sample collecting and detecting containers 8 which are already put in can be counted through a program), an alarm can be sent out to prompt that the sample collecting and detecting containers 8 which are used for accommodating the problem samples are taken out.
By adopting the technical scheme, the automatic sample detection device at least has the following advantages:
(1) In the automatic sample detection device, the piston of the sample collection and detection container can be automatically pressed for detection by arranging the extrusion device, the information of the sample collection and detection container can be automatically scanned and obtained by arranging the scanning device, the detection result can be obtained by arranging the photographing device, the photographing information can be sent to the information processing center for automatically analyzing and judging the detection result, the automatic sample detection device can realize automatic detection on the sample, and the detection efficiency is high.
(2) In the automatic sample detection device, the problematic sample accommodating part is arranged to accommodate the problematic sample, so that the problematic sample can be further conveniently detected.
(3) In the automatic sample detection device, the clamping force applied to the two sides of the sample collection and detection container can be balanced as much as possible by arranging the pressing plate, so that the clamping stability is improved.
The above embodiments have described the technical solutions of the present invention in detail, but it should be added that:
(1) Although the above embodiment describes that the number of the accommodation bits is plural, the present invention is not limited to this, and one accommodation bit may be provided.
(2) Although it is described in the above embodiments that the mechanical hand includes the first hand and the second hand, the present invention is not limited thereto, and the mechanical hand may include only one hand (a positioning mechanism may be additionally provided to fix the sample collection and detection container), or may include three or more hands. Further, the pressing device may not include a mechanical gripper, and may be configured as a mechanism capable of linear reciprocating movement such as a telescopic cylinder (air cylinder, hydraulic cylinder, etc.) (in this case, the pressing device cannot grip and move the specimen collecting and detecting container, and when a specimen mounted in the specimen collecting and detecting container has a problem, the specimen collecting and detecting container with the sample in question mounted therein may be taken out by manual judgment).
(3) Although in the above-described embodiment, it is described that the pressing means is moved by the driving of the moving mechanism, the present invention is not limited thereto, and the pressing means may be stationary, and a plurality of pressing means may be provided in one-to-one correspondence with a plurality of specimen collecting and detecting containers.
(4) Although it is described in the above embodiments that the pressing device grips the sample collection and detection container and moves to the predetermined position for scanning and photographing after the detection is completed, the present invention is not limited thereto, the sample collection and detection container may not move, the scanning device and the photographing device may be directly disposed near the containing position for directly scanning and photographing, and the number of the scanning device and the photographing device may be set to be plural according to the actual requirement. In addition, the scanning device and the photographing device can also be arranged integrally, and the scanning and photographing can be respectively carried out by moving and changing the positions of the sample collection and detection container.
(5) Although it is described in the above-described embodiment that the grip end of the grip arm is opposed to the end of the plunger of the specimen collection and detection container when the first grip and the second grip completely grip the specimen collection and detection container, the present invention is not limited thereto, and the grip end of the grip arm and the end of the plunger of the specimen collection and detection container may be offset.
Claims (9)
1. An automatic sample detection device is characterized by comprising a sample accommodating part (2) to be detected, an extrusion device (3), a scanning device (5), a photographing device (6) and an information processing center,
the sample containing part (2) is used for placing a sample collecting and detecting container (8) containing a sample to be detected, the sample collecting and detecting container (8) is provided with a piston (81) and a testing element, when the piston (81) is pushed, the sample to be detected can be contacted with the testing element to be detected,
the pressing device (3) is used for pressing the piston (81), when the sample collection and detection container (8) is placed in the sample containing part (2) to be detected, the pressing device (3) can press the piston (81),
the scanning device (5) is used for scanning and acquiring the information of the sample collecting and detecting container (8),
the photographing device (6) is used for photographing a detection result presented after the test element detects the sample to be detected, and sending photographing information to the information processing center,
the information processing center can judge whether the sample has problems according to the photographing information,
the extrusion device (3) comprises a mechanical gripper and a gripper driving mechanism (33) which are connected in a transmission way,
the mechanical hand can grip and move the sample collection and detection container (8), and the hand driving mechanism (33) can drive the mechanical hand to act to push the piston (81).
2. The automatic sample detection device according to claim 1, wherein the mechanical gripper comprises a first gripper (31) and a second gripper (32),
the gripper driving mechanism (33) can drive the first gripper (31) and the second gripper (32) to move relatively, so that the first gripper (31) abuts against the outer wall of the sample collecting and detecting container (8), and the second gripper (32) abuts against and pushes the piston (81).
3. The automatic sample detection device according to claim 2, wherein the second gripper (32) comprises a holding arm (321) and a pressure plate (322), the pressure plate (322) is disposed at a holding end of the holding arm (321),
when the first gripper (31) and the second gripper (32) grip the sample collection and detection container (8), the pressure plate (322) abuts against the outer wall of the sample collection and detection container (8) and the piston (81), and the height of the gripping end of the first gripper (31) and the height of the upper end of the pressure plate (322) are both greater than the height of the gripping end of the gripping arm (321).
4. The apparatus for automatically testing specimens according to claim 3, characterized in that the plate surface of said pressing plate (322) opposite to the outer wall of said specimen collection and testing container (8) is vertically abutted against the outer wall of said specimen collection and testing container (8) when said first grip (31) and said second grip (32) grip said specimen collection and testing container (8).
5. The device for the automated testing of samples according to claim 1, characterized in that the sample receiving portions (2) to be tested comprise a plurality of receiving locations (211), and the receiving locations (211) are used for receiving the sample collection and testing containers (8).
6. The automatic sample detection device according to claim 5, further comprising a moving mechanism (4), wherein the pressing device (3) is connected to the moving mechanism (4),
the moving mechanism (4) can drive the pressing device (3) to move among a plurality of the containing positions (211), so that the pressing device (3) can push the piston (81) of each sample collecting and detecting container (8).
7. The apparatus according to claim 6, wherein the gripper driving mechanism (33) is capable of driving the mechanical gripper to grip the sample collection and detection container (8) after the test element has detected the sample to be detected, and the mechanical gripper is capable of gripping the sample collection and detection container (8)
The moving mechanism (4) can drive the squeezing device (3) to move to a preset position, so that the scanning device (5) can scan and acquire the information of the sample collecting and detecting container (8), and the photographing device (6) can photograph the detection result.
8. The automatic sample detection device according to claim 6, wherein the moving mechanism (4) comprises a lateral moving mechanism (41), a longitudinal moving mechanism (42), and a vertical moving mechanism (43),
the transverse moving mechanism (41) is used for driving the extruding device (3) to move along the transverse direction,
the longitudinal moving mechanism (42) is used for driving the extrusion device (3) to move along the longitudinal direction,
the vertical moving mechanism (43) is used for driving the extrusion device (3) to move along the vertical direction.
9. The automatic sample detection device according to claim 6, further comprising a problem sample receptacle (7),
when the sample has a problem, the information processing center can send a control signal to the moving mechanism (4), so that the moving mechanism (4) drives the squeezing device (3) to move to the position of the problem sample containing part (7), and the squeezing device (3) places the sample collecting and detecting container (8) in the problem sample containing part (7).
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| CN201910963498.4A CN110632334B (en) | 2019-10-11 | 2019-10-11 | Automatic sample detection device |
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| CN201910963498.4A CN110632334B (en) | 2019-10-11 | 2019-10-11 | Automatic sample detection device |
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| CN110632334B true CN110632334B (en) | 2023-04-18 |
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| CN112147352A (en) * | 2020-10-22 | 2020-12-29 | 万华普曼生物工程有限公司 | Urine cup detector |
| CN116660566B (en) * | 2023-07-26 | 2023-10-17 | 四川徕伯益自动化技术有限公司 | Position identification method, system, terminal and medium for sample liquid |
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