CN114460319A - Sample sorting, transferring and storing device and sample assembly line analysis system - Google Patents

Sample sorting, transferring and storing device and sample assembly line analysis system Download PDF

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Publication number
CN114460319A
CN114460319A CN202210242956.7A CN202210242956A CN114460319A CN 114460319 A CN114460319 A CN 114460319A CN 202210242956 A CN202210242956 A CN 202210242956A CN 114460319 A CN114460319 A CN 114460319A
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CN
China
Prior art keywords
sample
lifting
assembly
advancing
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210242956.7A
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Chinese (zh)
Inventor
赵鹏
徐灿
葛少华
戎卫
牛文明
陈文超
武保军
朱志光
侯剑平
王超
刘聪
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Autobio Labtec Instruments Zhengzhou Co Ltd
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Autobio Labtec Instruments Zhengzhou Co Ltd
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Application filed by Autobio Labtec Instruments Zhengzhou Co Ltd filed Critical Autobio Labtec Instruments Zhengzhou Co Ltd
Priority to CN202210242956.7A priority Critical patent/CN114460319A/en
Publication of CN114460319A publication Critical patent/CN114460319A/en
Pending legal-status Critical Current

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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
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • 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
    • G01N35/04—Details of the conveyor system
    • 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
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • 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
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1065—Multiple transfer devices
    • 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
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1081—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane
    • 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
    • G01N2035/00178—Special arrangements of analysers
    • 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
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • 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
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N2035/1027—General features of the devices

Abstract

The invention discloses a sample sorting, transferring and storing device and a sample assembly line analysis system. The sample sorting, transferring and storing device comprises a storing mechanism, wherein a sample storing assembly is arranged inside the storing mechanism, and the sample storing assembly comprises a mounting plate and a sample rack capable of placing sample tubes with at least two specifications; a sample transfer track; the interaction mechanism comprises a sample bracket, and the sample bracket is provided with at least two sample storage hole sites with different specifications; a first manipulator disposed outside the storage mechanism; the second manipulator is arranged in the storage mechanism; a central control system. Because the sample rack can be used for placing sample tubes with at least two specifications, and the sample bracket of the interaction mechanism is provided with sample tube storage hole sites with at least two specifications, the storage mechanism can be used for placing sample tubes with at least two specifications, and the interaction mechanism can interact with the sample tubes with at least two specifications, so that the compatibility of the sample tubes with different specifications is improved, and the universality of the sample assembly line analysis system is improved.

Description

Sample sorting, transferring and storing device and sample assembly line analysis system
Technical Field
The invention relates to the technical field of sample transfer and storage, in particular to a sample sorting, transferring and storing device and a sample assembly line analysis system.
Background
At present, in precision instruments such as biochemical analyzers, blood analyzers, urine analyzers, and the like, and sample pipeline analysis systems in laboratories, a sample sorting, transferring, and storing device is often used to transfer a sample tube located on a sample transfer track to a cold storage device or transfer a sample tube in a cold storage device to a sample transfer track, so as to meet the demand of sample automated analysis.
The existing sample sorting, transferring and storing device can only meet the transferring and storing requirements of sample tubes with single specification, when the specifications of the sample tubes on the sample transmission track are more, the sample sorting, transferring and storing device can not transfer and store all the sample tubes, namely, the sample sorting, transferring and storing device has poor compatibility with the sample tubes with different specifications, so that the application range of the sample sorting, transferring and storing device is limited by various specifications of the sample tubes, the sample sorting, transferring and storing device has limitation, and the universality of a sample assembly line analysis system is reduced.
Therefore, how to improve the versatility of the sample pipeline analysis system is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a sample sorting, transferring and storing device to improve the versatility of a sample pipeline analysis system.
In order to achieve the purpose, the invention provides the following technical scheme:
a sample sorting, transfer and storage device comprising:
the storage mechanism is provided with an inlet and an outlet at one side, the inlet and the outlet are used for enabling the sample tubes to interact with each other inside and outside the storage mechanism, a sample storage assembly used for storing the sample tubes is arranged inside the storage mechanism, the sample storage assembly comprises a mounting plate, a sample rack and a sample rack scanner, the sample rack is positioned on the mounting plate through pins, the sample rack scanner is arranged on the sample rack, and the sample rack can be used for placing at least two specifications of sample tubes;
the sample conveying track is arranged on one side of the inlet and the outlet of the storage mechanism;
the interaction mechanism is arranged in alignment with the inlet and the outlet and comprises at least one sample bracket, the sample bracket is provided with sample tube storage hole sites with at least two specifications, and the interaction mechanism can enable the sample bracket to make reciprocating linear motion towards the inlet and the outlet;
a first robot provided outside the storage mechanism, the first robot being capable of transferring a sample tube on the sample transport rail to the sample rack or transferring a sample tube on the sample rack to the sample transport rail;
a second manipulator disposed inside the storage mechanism, the second manipulator being capable of transferring a sample tube on the sample rack to the sample rack or transferring a sample tube on the sample rack to the sample rack;
a central control system electrically connected to the interaction mechanism, the first manipulator, the second manipulator, and the sample rack scanner.
Preferably, in the above sample sorting, transferring and storing device, the device further comprises a support frame, a first guide rail and a second guide rail;
the support frame comprises a first base plate, a second base plate and a vertical plate, wherein the second base plate is arranged in parallel with the first base plate, the vertical plate is used for connecting the first base plate with the second base plate, the first guide rail is arranged on the first base plate, the second guide rail is arranged on the second base plate, and the length directions of the first guide rail and the second guide rail are arranged in parallel with a first direction.
Preferably, in the above sample sorting, transferring and storing apparatus, the second robot comprises a first traverse assembly, a first advance assembly, a first lifting assembly and a grasping assembly;
the first forward moving assembly is arranged on the first traverse moving assembly and can drive the first forward moving assembly to slide along the first guide rail, the first lifting assembly is connected with the first forward moving assembly and can drive the first lifting assembly to do reciprocating linear motion along the second direction, the grabbing assembly is arranged on the first lifting assembly and can drive the grabbing assembly to do reciprocating linear motion along the third direction, the grabbing assembly comprises grabbing fingers capable of grabbing the sample tube, and included angles between the first direction and the second direction, between the second direction and the third direction and between the third direction and the first direction are all larger than 0 degree and not more than 90 degrees.
Preferably, in the sample sorting, transferring and storing device, the first traverse assembly includes a first traverse motor disposed on the support frame, a first traverse driving wheel connected to an output shaft of the first traverse motor, a first traverse driven wheel disposed on the support frame, a first traverse synchronous belt connecting the first traverse driving wheel and the first traverse driven wheel, and a first traverse position sensor, the first advancing assembly is connected to the first traverse synchronous belt and slidably connected to the first guide rail, and a transmission direction of the first traverse synchronous belt is parallel to a length direction of the first guide rail.
Preferably, in the above sample sorting, transferring and storing device, the first advancing assembly includes a first advancing motor, a first advancing mounting plate for mounting the first advancing motor, a first advancing driving wheel provided at an output shaft of the first advancing motor, a first advancing driven wheel matched with the first advancing driving wheel, a first advancing synchronous belt connecting the first advancing driving wheel with the first advancing driven wheel, a first advancing guide rail, and a first advancing position sensor, the first lifting assembly is connected with the first advancing synchronous belt and slidably connected to the first advancing guide rail, and a transmission direction of the first advancing synchronous belt and a length direction of the first advancing guide rail are arranged along a second direction.
Preferably, in above-mentioned sample letter sorting, shift and storage device, first lifting unit includes first elevator motor, is used for the installation first elevator motor's first lift mounting panel, set up in the first lift action wheel of first elevator motor's output shaft, with first lift action wheel complex first lift from the driving wheel, connect first lift action wheel with first lift from the driving wheel first lift hold-in range, first lift guide rail and the first lift sensor that targets in place, the subassembly of grabbing with first lift hold-in range is connected and sliding connection in first lift guide rail, the transmission direction of first lift hold-in range with the length direction of first lift guide rail sets up along the third direction.
Preferably, in the above sample sorting, transferring and storing device, the grasping assembly further includes a grasping mounting plate, a grasping motor disposed on the grasping mounting plate, a grasping cam connected to an output shaft of the grasping motor, a grasping finger mounting plate disposed on the grasping mounting plate, a first guide shaft disposed on the grasping finger mounting plate, and a compression spring disposed between the grasping finger and the grasping finger mounting plate, wherein the grasping finger is disposed on both sides of the grasping cam and slidably disposed on the first guide shaft, and the grasping mounting plate is connected to the lifting assembly.
Preferably, in the sample sorting, transferring and storing device, a top hand mechanism is further included, which is located below the sample storage assembly, and the top hand mechanism includes a second traverse assembly, a second forward assembly, a second lifting assembly and a top hand;
the second forward moving assembly is arranged on the second traverse moving assembly and can drive the second forward moving assembly to slide along the second guide rail, the second lifting assembly is connected with the second forward moving assembly and can drive the second lifting assembly to do reciprocating linear motion along a second direction, the jack is arranged on the second lifting assembly and can drive the jack to do reciprocating linear motion along a third direction, and included angles between the first direction and the second direction, between the second direction and the third direction and between the third direction and the first direction are all larger than 0 degree and not more than 90 degrees.
Preferably, in the sample sorting, transferring and storing device, the second traverse assembly includes a second traverse motor, a second traverse driving wheel disposed on an output shaft of the second traverse motor, a second traverse driven wheel, a second traverse synchronous belt connecting the second traverse driving wheel and the second traverse driven wheel, and a second traverse in-place sensor, the second advancing assembly is connected with the second traverse synchronous belt and is slidably connected to the second guide rail, and a transmission direction of the second traverse synchronous belt is parallel to a length direction of the second guide rail.
Preferably, in the above sample sorting, transferring and storing device, the second forward moving assembly includes a second forward moving motor, a second forward moving driving wheel provided at an output shaft of the second forward moving motor, a second forward moving driven wheel, a second forward moving synchronous belt connecting the second forward moving driving wheel with the second forward moving driven wheel, a second forward moving guide rail, and a second forward moving position sensor, the second lifting assembly is connected with the second forward moving synchronous belt and slidably connected to the second forward moving guide rail, and a transmission direction of the second forward moving synchronous belt and a length direction of the second forward moving guide rail are arranged along a second direction.
Preferably, in the above sample sorting, transferring and storing device, the second lifting assembly includes a second lifting motor, a second lifting driving wheel provided at an output shaft of the second lifting motor, a second lifting driven wheel, a second lifting synchronous belt connecting the second lifting driving wheel and the second lifting driven wheel, a second lifting guide rail, and a second lifting in-place sensor, the jack is connected with the second lifting synchronous belt and slidably connected to the second lifting guide rail, and a transmission direction of the second lifting synchronous belt and a length direction of the second lifting guide rail are provided along a third direction.
Preferably, in the above sample sorting, transferring and storing apparatus, the sample storage assembly is disposed on the first substrate and between the second manipulator and the top-moving mechanism, and the interaction mechanism is disposed on the sample storage assembly.
Preferably, in the above sample sorting, transferring and storing device, the sample transfer track includes a sample introduction track for receiving and transferring a sample holder in which a sample tube is placed, an empty holder buffer track for buffering the empty sample holder, a code reader for reading sample information, and a sample discarding module for collecting a discarded sample, a sample label for displaying the sample information is provided on the sample tube, a sample holder label for displaying the sample holder information is provided on the sample holder, and the code reader can read and bind the sample label and the sample holder label.
Preferably, in the sample sorting, transferring and storing device, the first manipulator includes a gripper assembly for gripping the sample tube, a third lifting assembly for driving the gripper assembly to perform lifting motion, and a rotating assembly for driving the gripper assembly to perform rotating motion.
Preferably, in the above sample sorting, transferring and storing device, the gripper assembly includes a gripper motor, a gripper cam, a gripper mounting plate, a guide and an elastic element, the gripper motor is disposed on the gripper mounting plate, the gripper cam is disposed on an output shaft of the gripper motor, the gripper includes a first clamping jaw and a second clamping jaw slidably disposed on the guide, the gripper cam is located between the first clamping jaw and the second clamping jaw and in contact with the first clamping jaw and the second clamping jaw, and the elastic element is disposed between an outer wall of the first clamping jaw and the gripper mounting plate and between an outer wall of the second clamping jaw and the gripper mounting plate.
Preferably, in the above sample sorting, transferring and storing device, the third lifting assembly includes a third lifting mounting plate, a third lifting motor disposed on the third lifting mounting plate, a third lifting driving wheel connected to an output shaft of the third lifting motor, a third lifting driven wheel disposed on the third lifting mounting plate, a third lifting synchronous belt and a third lifting guide rail connecting the third lifting driving wheel and the third lifting driven wheel, the third lifting synchronous belt is connected to the gripper assembly, the gripper assembly is slidably connected to the third lifting guide rail, and the third lifting guide rail is disposed on the rotating assembly.
Preferably, in the above sample sorting, transferring and storing device, the rotating assembly includes a motor fixing seat disposed outside the storing mechanism, a rotating motor disposed on the motor fixing seat, and a rotating connecting shaft connected to an output shaft of the rotating motor, and the third lifting assembly is connected to the rotating connecting shaft.
Preferably, in the above sample sorting, transferring and storing device, the device further comprises a lifting and carrying mechanism, the lifting and carrying mechanism comprises a base, a first driving assembly arranged on one side of the base, a second driving assembly arranged on the other side of the base, and a third lifting and in-place sensor, and the first driving assembly and the second driving assembly have the same structure;
the first driving assembly comprises a first lead screw motor arranged on the base, a second guide shaft penetrating through the first substrate and the second substrate, a second guide shaft support used for mounting the second guide shaft and a linear bearing sleeved on the second guide shaft, the linear bearing is positioned between the first substrate and the second guide shaft and between the second substrate and the second guide shaft, the second substrate is arranged on a nut of the first lead screw motor in a floating mode, and a third lifting in-place sensor is used for detecting the moving position of the second substrate along an output lead screw of the first lead screw motor.
Preferably, in the above sample sorting, transferring and storing apparatus, the number of the sample racks is two, and the two sample racks are a first sample rack and a second sample rack, the first sample rack and the second sample rack are disposed on both sides of the mounting plate by being positioned by a pin, and the sample storage assembly further includes a first sample rack scanner disposed on the first sample rack and a second sample rack scanner disposed on the second sample rack.
Preferably, in the sample sorting, transferring and storing device, the interaction mechanism further comprises an interaction driving motor, an interaction driving wheel, an interaction driven wheel, an interaction belt, an interaction guide rail, an interaction sliding block, an interaction mounting plate and an interaction in-place sensor;
the interactive driving wheel is arranged on an output shaft of the interactive driving motor, the interactive belt is connected with the interactive driving wheel and the interactive driven wheel, the interactive mounting plate is connected with the interactive belt and the interactive sliding block, the interactive sliding block is connected with the interactive guide rail in a sliding mode, and the sample bracket is mounted at one end of the interactive mounting plate.
Preferably, in the sample sorting, transferring and storing device, the device further comprises an automatic door mechanism arranged at the inlet and the outlet, wherein the automatic door mechanism comprises a second lead screw motor, a guide plate, a driving slide rail, a driven slide rail, a sealing door body and a rotating part;
the driven slide rail is arranged on a nut of the second screw motor, the driven slide rail is connected to the driving slide rail in a sliding mode through a driving slide block, and the length direction of the driving slide rail and the length direction of a screw of the screw motor are arranged along a fourth direction; the driven sliding rail is provided with a driven sliding block in a sliding mode, the sealing door body is arranged on one side of the driven sliding block, the length direction of the driven sliding rail is arranged along a fifth direction, and an included angle between the fourth direction and the fifth direction is larger than 0 degree and not larger than 90 degrees; the guide plate is provided with a guide groove consistent with the switch track of the sealing door body, the rotating piece is arranged on one side, away from the sealing door body, of the driven sliding block, and the rotating piece can slide along the guide groove.
A sample pipeline analysis system comprising a sample sorting, transferring and storing device as described above.
When the sample sorting, transferring and storing device provided by the invention is used, the central control system is electrically connected with the interaction mechanism, the first mechanical arm, the second mechanical arm and the sample rack scanner, so that the central control system can control the interaction mechanism, the first mechanical arm and the second mechanical arm, when the central control system receives a sample loading instruction and the interaction mechanism moves the sample rack to a first preset position on the outer side of the storage mechanism, the central control system can control the first mechanical arm to transfer a sample tube on the sample transmission rail to the sample rack, after the interaction mechanism enables the sample rack to pass through the inlet and the outlet of the storage device and move to a second preset position in the storage mechanism, the central control system can control the second mechanical arm to transfer the sample tube on the sample rack to the sample rack positioned on the mounting plate through the pin, so as to realize the loading function of the sample tube, meanwhile, the information of the sample rack is identified by the sample rack scanner and transmitted to the central control system, so that the information of the sample rack is recorded conveniently; when the central control system receives a sample carrying-out instruction and the interaction mechanism enables the sample bracket to drive the inlet and the outlet of the storage mechanism and move to the second preset position inside the storage mechanism, the central control system can control the second mechanical arm to transfer a sample tube on the sample rack to the sample bracket, and after the interaction mechanism enables the sample bracket to move to the first preset position outside the storage mechanism, the central control system can control the first mechanical arm to transfer the sample tube on the sample bracket to the sample transmission rail, so that the carrying-out function of the sample tube is realized. The sample rack of the sample sorting, transferring and storing device provided by the invention can be used for placing one or more sample tubes with at least two specifications, the interaction mechanism comprises at least one sample bracket, and the sample bracket is provided with sample storage hole sites with at least two specifications, so that the storage mechanism can be used for placing the sample tubes with at least two specifications, and the interaction mechanism can enable the sample tubes with at least two specifications to interact in the inner side and the outer side of the storage mechanism, thereby improving the compatibility of the sample sorting, transferring and storing device to the sample tubes with different specifications, reducing the limitation of the sample sorting, transferring and storing device, widening the application range of the sample sorting, transferring and storing device, and further improving the universality of the sample pipeline analysis system.
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 for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic external structural diagram of a sample sorting, transferring and storing device according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an internal structure of a sample sorting, transferring and storing apparatus according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating an assembly structure of a first manipulator according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an interaction mechanism and an automatic door mechanism provided in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a second robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a hand jacking mechanism according to an embodiment of the present invention.
Wherein 100 is a storage mechanism, 101 is a sample storage assembly, 1011 is a mounting plate, 1012 is a sample holder, 1012-a is a first sample holder, 1012-b is a second sample holder, 200 is a sample transmission track, 201 is a sample introduction track, 202 is an empty tray buffer track, 203 is a code reader, 204 is a sample discarding assembly, 300 is an interaction mechanism, 301 is an interaction driving motor, 302 is an interaction driving wheel, 303 is an interaction driven wheel, 304 is an interaction belt, 305 is an interaction guide rail, 306 is an interaction sliding block, 307 is an interaction mounting plate, 308 is a sample bracket, 400 is a first manipulator, 401 is a gripper assembly, 4011 is a gripper motor, 4012 is a gripper cam, 4013 is a gripper, 4014 is a gripper mounting plate, 4015 is a guide, 4016 is an elastic element, 402 is a third lifting assembly, 4021 is a third lifting motor, 4022 is a third lifting synchronous belt, 403 is a rotating assembly, 4031 is a rotating motor, 4032 is a rotary connecting shaft, 500 is a second manipulator, 501 is a first traverse assembly, 5011 is a first traverse motor, 5012 is a first traverse driven wheel, 5013 is a first traverse synchronous belt, 5014 is a first traverse in-place sensor, 502 is a first advance assembly, 5021 is a first advance motor, 5022 is a first advance mounting plate, 5023 is a first advance driving wheel, 5024 is a first advance driven wheel, 5025 is a first advance synchronous belt, 5026 is a first advance guide rail, 5027 is a first advance in-place sensor, 503 is a first lifting assembly, 504 is a grasping assembly, 600 is a support frame, 601 is a first base plate, 6011 is a first guide rail, 602 is a second base plate, 6021 is a second guide rail, 603 is a vertical plate, 700 is a top hand mechanism, 701 is a second traverse assembly, 702 is a second advance assembly, 7021 is a second advance motor, 7022 is a second advance driving wheel, 7023 is a second advance driven wheel, 7024 is a second advance synchronous belt, 7025 is a second forward moving guide rail, 7026 is a second forward moving position sensor, 703 is a second lifting assembly, 7031 is a second lifting motor, 7032 is a second lifting driving wheel, 7033 is a second lifting driven wheel, 7034 is a second lifting synchronous belt, 704 is a jack, 800 is a lifting bearing mechanism, 801 is a base, 802 is a first driving assembly, 8021 is a first lead screw motor, 8022 is a second guide shaft, 8023 is a second guide shaft holder, 8024 is a linear bearing, 803 is a second driving assembly, 804 is a third lifting position sensor, 900 is an automatic door mechanism, 901 is a second lead screw motor, 902 is a guide plate, 903 is a driving slide rail, 904 is a driven slide rail, 905 is a sealing door body, X is a first direction, Y is a second direction, Z is a third direction, α is a fourth direction, and β is a fifth direction.
Detailed Description
In view of the above, the core of the present invention is to provide a sample sorting, transferring and storing device to improve the versatility of the sample pipeline analysis system.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, an embodiment of the present invention discloses a sample sorting, transferring and storing apparatus, which includes a storing mechanism 100, a sample transfer rail 200, an interaction mechanism 300, a first manipulator 400, a second manipulator 500 and a central control system.
Wherein, one side of the storage mechanism 100 is provided with an inlet and an outlet for enabling the sample tubes to be interacted between the inside and the outside of the storage mechanism 100, the inside of the storage mechanism 100 is provided with a sample storage assembly 101 for storing the sample tubes, the sample storage assembly 101 comprises a mounting plate 1011 and a sample rack 1012 arranged on the mounting plate 1011, and the sample rack 1012 can be used for placing sample tubes with at least two specifications; the sample transfer rail 200 is disposed at an inlet/outlet side of the storage mechanism 100.
The interaction mechanism 300 is aligned with the inlet and outlet, the interaction mechanism 300 comprises at least one sample bracket 308, sample tube storage hole sites with at least two specifications are arranged on the sample bracket 308, and the interaction mechanism 300 can enable the sample bracket 308 to do reciprocating linear motion towards the inlet and outlet.
The first robot 400 is disposed outside the storage mechanism 100, and the first robot 400 can transfer a sample tube on the sample transfer rail 200 to the sample rack 308 or transfer a sample tube on the sample rack 308 to the sample transfer rail 200; the second robot 500 is disposed inside the storage mechanism 100, and the second robot 500 can transfer a sample tube on the sample rack 1012 to the sample rack 308 or transfer a sample tube on the sample rack 308 to the sample rack 1012.
The central control system is electrically connected with the interaction mechanism 300, the first manipulator 400, the second manipulator 500 and the sample rack scanner so as to perform data transmission with the interaction mechanism 300, the first manipulator 400, the second manipulator 500 and the sample rack scanner, and the central control system can receive and store a sample loading instruction and a sample unloading instruction; after the central control system receives the sample loading command and the interaction mechanism 300 moves the sample rack 308 to the first preset position outside the storage mechanism 100, the central control system can control the first manipulator 400 to transfer the sample tubes on the sample transfer rails 200 to the sample rack 308, and after the interaction mechanism 300 moves the sample rack 308 to the second preset position inside the storage mechanism 100, the central control system can control the second manipulator 500 to transfer the sample tubes on the sample rack 308 to the sample rack 1012; the central control system receives the sample unloading command, and after the interaction mechanism 300 moves the sample rack 308 to the second preset position inside the storage mechanism 100, the central control system can control the second robot 500 to transfer the sample tubes on the sample racks 1012 to the sample rack 308, and after the interaction mechanism 300 moves the sample rack 308 to the first preset position outside the storage mechanism 100, the central control system can control the first robot 400 to transfer the sample tubes on the sample rack 308 to the sample transfer rail 200.
When the sample sorting, transferring and storing device provided by the invention is used, when the central control system receives the sample loading instruction, and the interaction mechanism 300 moves the sample carrier 308 to the first preset position outside the storage mechanism 100, the central control system can control the first robot 400 to transfer the sample tube on the sample transfer rail 200 to the sample rack 308, and after the interaction mechanism 300 makes the sample rack 308 pass through the entrance/exit of the storage device and move to the second preset position inside the storage mechanism 100, the central control system can control the second robot 500 to transfer the sample tubes on the sample carrier 308 to the sample racks 1012 positioned on the mounting plate 1011 by pins, perform a loading function for the sample tubes, meanwhile, the information of the sample rack 1012 is identified by the sample rack scanner and transmitted to the central control system, so as to record the information of the sample rack 1012; when the central control system receives a sample unloading command, and the interaction mechanism 300 causes the sample carrier 308 to transfer the sample tubes on the sample rack 1012 to the sample carrier 308 after transferring the sample carriers to the inlet/outlet of the storage mechanism 100 and moving the sample carriers to the second preset position inside the storage mechanism 100, the central control system can control the second manipulator 500 to transfer the sample tubes on the sample rack 1012 to the sample carrier 308, and the interaction mechanism 300 causes the sample carrier 308 to move to the first preset position outside the storage mechanism 100, and then the central control system can control the first manipulator 400 to transfer the sample tubes on the sample carrier 308 to the sample transfer track 200, thereby realizing the unloading function of the sample tubes. Because the sample rack 1012 of the sample sorting, transferring and storing device provided by the invention can be used for placing at least two specifications of sample tubes, the interaction mechanism 300 comprises at least one sample bracket 308, and the sample bracket 308 is provided with at least two specifications of sample storage hole sites, the storage mechanism 100 can be used for placing at least two specifications of sample tubes, and the interaction mechanism 300 can enable the at least two specifications of sample tubes to be interacted inside and outside the storage mechanism 100, thereby improving the compatibility of the sample sorting, transferring and storing device to sample tubes with different specifications, reducing the limitations of the sample sorting, transferring and storing device, widening the application range of the sample sorting, transferring and storing device, and further improving the universality of a sample pipeline analysis system.
It should be noted that the above description of the working process of the central control system only reflects the control function of the central control system on the sample sorting, transferring and storing device, and the present invention does not relate to the improvement of the program and the control method, and the control function of the central control system on the sample sorting, transferring and storing device belongs to the prior art.
In addition, the number of the inlet and outlet provided by the embodiment of the invention is one, namely, a single-channel loading and unloading mode is adopted, in practical application, a plurality of inlet and outlet can be arranged to realize a double-channel or multi-channel sample loading and unloading mode, and the arrangement mode which can meet the use requirement belongs to the protection scope of the invention.
Further, the sample sorting, transferring and storing apparatus further includes a support frame 600, a first guide rail 6011 and a second guide rail 6021 so as to support the second robot 500, the top mobile mechanism 700, the sample storage assembly 101 and the interaction mechanism 300, which are described below, by the support frame 600.
The supporting frame 600 includes a first substrate 601, a second substrate 602 disposed parallel to the first substrate 601, and a vertical plate 603 connecting the first substrate 601 and the second substrate 602, wherein a first guide rail 6011 is disposed on the first substrate 601, so that the second robot 500 can slide along the first guide rail 6011; the second guide rail 6021 is disposed on the second substrate 602 so that the mobile phone jack 700 can slide along the second guide rail 6021; and the length directions of the first rail 6011 and the second rail 6021 are arranged parallel to the first direction X so as to enable both the second robot arm 500 and the top hand mechanism 700 to move in the first direction X.
The first manipulator 400 and the second manipulator 500 provided by the invention may have the same or different structures, and any structure that can meet the use requirements is within the protection scope of the invention; preferably, the first robot 400 and the second robot 500 provided by the embodiment of the present invention have different structures to meet different gripping requirements inside and outside the storage mechanism 100.
Specifically, as shown in fig. 2 and 3, the second robot 500 includes a first traverse assembly 501, a first advance assembly 502, a first lift assembly 503, and a grasping assembly 504.
The first moving forward assembly 502 is disposed on the first traverse assembly 501, and the first traverse assembly 501 can drive the first moving forward assembly 502 to slide along the first guide rail 6011, so that the first moving forward assembly 502 can move along the first direction X; the first lifting assembly 503 is connected to the first advancing assembly 502 so as to move the first lifting assembly 503 along the first direction X with the first advancing assembly 502; the first advancing assembly 502 can drive the first lifting assembly 503 to make reciprocating linear motion along the second direction Y, and the grabbing assembly 504 is arranged on the first lifting assembly 503 so as to enable the grabbing assembly 504 to move along the first direction X and the second direction Y; the first lifting assembly 503 can drive the grabbing assembly 504 to make a reciprocating linear motion along the third direction Z, and the grabbing assembly 504 comprises grabbing fingers capable of grabbing the sample tube, so that the grabbing fingers of the grabbing assembly 504 can move in the first direction X, the second direction Y and the third direction Z; and the included angles between the first direction X and the second direction Y, between the second direction Y and the third direction Z, and between the third direction Z and the first direction X are all greater than 0 ° and not more than 90 °, so that the first direction X, the second direction Y, and the third direction Z form a three-dimensional space, and the grasping finger of the grasping assembly 504 can move to any position of the three-dimensional space, thereby grasping and transferring any sample tube located on the sample holder 308 of the interaction mechanism 300 or any sample tube located on the sample rack 1012 of the sample storage assembly 101.
It should be noted that, the included angles between the first direction X and the second direction Y, between the second direction Y and the third direction Z, and between the third direction Z and the first direction X provided by the present invention may be angles such as 30 °, 60 °, or 90 °, and all included angles that can form a three-dimensional space are within the protection scope of the present invention; preferably, the included angles between the first direction X and the second direction Y, between the second direction Y and the third direction Z, and between the third direction Z and the first direction X, provided by the embodiment of the present invention, are all 90 °, which is convenient for arrangement.
The first traverse assembly 501 comprises a first traverse motor 5011, a first traverse driving wheel, a first traverse driven wheel 5012, a first traverse synchronous belt 5013 and a first traverse in-place sensor 5014 which are arranged on the support frame 600; the first transverse moving driving wheel is connected with an output shaft of a first transverse moving motor 5011 so as to drive the first transverse moving driving wheel to rotate through the first transverse moving motor 5011; a first traverse driven wheel 5012 is provided on the support frame 600, and a first traverse synchronous belt 5013 connects the first traverse driving wheel and the first traverse driven wheel 5012 so as to perform closed-loop rotation between the first traverse driving wheel and the first traverse driven wheel 5012 by making the first traverse synchronous belt 5013; the first forward moving assembly 502 is connected with a first transverse synchronous belt 5013 and is slidably connected to the first guide rail 6011, so that the first transverse synchronous belt 5013 drives the first forward moving assembly 502 to slide along the first guide rail 6011; the driving direction of the first traverse timing belt 5013 is parallel to the length direction of the first guide rail 6011 so as to move the first advancing assembly 502 along the length direction of the first guide rail 6011, i.e., along the first direction X; the first traverse-to-position sensor 5014 is used to detect whether the first advancing assembly 502 is moved to the position on the first rail 6011, thereby determining whether the gripper assembly 504 is moved to the position in the first direction X.
Further, the first advancing assembly 502 includes a first advancing motor 5021, a first advancing mounting plate 50221011, a first advancing drive pulley 5023, a first advancing driven pulley 5024, a first advancing timing belt 5025, a first advancing guide rail 5026, and a first advancing position sensor 5027; the first forward mounting plate 50221011 is used for mounting a first forward motor 5021, and the first forward driving wheel 5023 is disposed on an output shaft of the first forward motor 5021, so that the first forward motor 5021 drives the first forward driving wheel 5023 to rotate; a first advancing driven wheel 5024 is engaged with a first advancing drive wheel 5023, and a first advancing timing belt 5025 connects the first advancing drive wheel 5023 with the first advancing driven wheel 5024, so that the first advancing timing belt 5025 performs closed-loop rotation between the first advancing drive wheel 5023 and the first advancing driven wheel 5024; the first lifting assembly 503 is connected to a first forward synchronous belt 5025 and slidably connected to a first forward guide rail 5026, so that the first lifting assembly 503 is driven by the first forward synchronous belt 5025 to slide along the first forward guide rail 5026; the transmission direction of the first forward synchronous belt 5025 and the length direction of the first forward guide rail 5026 are arranged along the second direction Y, so that the first forward synchronous belt 5025 drives the first lifting assembly 503 to move along the second direction Y, and the first lifting assembly 503 drives the grabbing assembly 504 to move along the second direction Y; the first forward-to-position sensor 5027 is used for detecting whether the first lifting assembly 503 is moved to the position in the second direction Y, so as to determine whether the grabbing assembly 504 is moved to the position in the second direction Y.
The first lifting assembly 503 comprises a first lifting motor, a first lifting mounting plate 1011, a first lifting driving wheel, a first lifting driven wheel, a first lifting synchronous belt, a first lifting guide rail and a first lifting in-place sensor; the first lifting mounting plate 1011 is used for mounting a first lifting motor, and the first lifting driving wheel is arranged on an output shaft of the first lifting motor so as to enable the first lifting motor to drive the first lifting driving wheel to rotate; the first lifting driven wheel is matched with the first lifting driving wheel, and the first lifting synchronous belt is connected with the first lifting driving wheel and the first lifting driven wheel so as to enable the first lifting synchronous belt to perform closed-loop rotation between the first lifting driving wheel and the first lifting driven wheel; the grabbing component 504 is connected with the first lifting synchronous belt and is slidably connected to the first lifting guide rail, the transmission direction of the first lifting synchronous belt and the length direction of the first lifting guide rail are along the third direction Z, so that the first lifting synchronous belt drives the grabbing component 504 to move along the third direction Z, the grabbing component 504 can move in a three-dimensional space formed by the first direction X, the second direction Y and the third direction Z, and grabbing fingers of the grabbing component 504 can grab sample tubes at any position in the storage mechanism 100; the first lifting in-place sensor is used for detecting whether the grabbing mechanism is lifted in place in the third direction Z or not, so that whether the grabbing fingers are lifted in place or not is judged.
Further, the grabbing assembly 504 further comprises a grabbing mounting plate 1011, a grabbing motor, a grabbing cam, a grabbing finger mounting plate 1011, a first guide shaft and a compression spring; the grabbing motor is arranged on the grabbing mounting plate 1011, and the grabbing cam is connected with an output shaft of the grabbing motor so as to drive the grabbing cam to rotate by the grabbing motor; the first guide shaft is arranged on the grabbing finger mounting plate 1011, the grabbing fingers are positioned on two sides of the grabbing cam and are arranged on the first guide shaft in a sliding manner, so that the grabbing cam overcomes the compression force of the compression spring to push the grabbing fingers to move along the first guide shaft along with the rotation of the grabbing cam, the opening action of the grabbing fingers is realized, and meanwhile, the opening size of the grabbing fingers can be adjusted through the grabbing cam, so that the grabbing component 504 can grab sample tubes with different diameters and specifications, and the compatibility of the sample tubes and the specification is improved; the compression spring is arranged between the grabbing fingers and the grabbing finger mounting plate 1011, so that the compression spring pushes the grabbing fingers to move towards the center of the grabbing cam, and the clamping action of the grabbing fingers is realized; the grabbing mounting plate 1011 is connected with the lifting assembly so that the lifting assembly drives the grabbing mounting plate 1011 to move up and down along the third direction Z, and the grabbing assembly 504 is driven to move up and down along the third direction Z.
As shown in fig. 1, 2 and 4, the sample sorting, transferring and storing apparatus further comprises a top hand mechanism 700 located below the sample storage assembly 101, the top hand mechanism 700 comprising a second traverse assembly 701, a second advance assembly 702, a second lift assembly 703 and a top hand 704.
The second moving forward assembly 702 is disposed on the second traverse assembly 701, and the second traverse assembly 701 can drive the second moving forward assembly 702 to slide along the second guide rail 6021, so that the second moving forward assembly 702 can move along the first direction X; the second lifting assembly 703 is connected to the second advancing assembly 702 so that the second lifting assembly 703 can move along the first direction X with the second advancing assembly 702; the second advancing assembly 702 can drive the second lifting assembly 703 to perform a reciprocating linear motion along the second direction Y, so that the second lifting assembly 703 can move along the second direction Y; the top hand 704 is disposed on the second lifting assembly 703 so as to enable the top hand 704 to move along the first direction X and the second direction Y with the second lifting assembly 703; the second lifting assembly 703 can drive the top hand 704 to perform a reciprocating linear motion along the third direction Z, so that the top hand 704 can move in the first direction X, the second direction Y and the third direction Z; and the included angles between the first direction X and the second direction Y, between the second direction Y and the third direction Z, and between the third direction Z and the first direction X are all greater than 0 ° and not more than 90 °, so that the first direction X, the second direction Y, and the third direction Z can form a three-dimensional space, and the jack 704 can move to any position of the storage mechanism 100, thereby jacking up the sample tube at the corresponding position.
Specifically, the second traverse assembly 701 comprises a second traverse motor, a second traverse driving wheel, a second traverse driven wheel, a second traverse synchronous belt and a second traverse in-place sensor; the second transverse moving driving wheel is arranged on an output shaft of the second transverse moving motor so as to drive the second transverse moving driving wheel to rotate through the second transverse moving motor; the second transverse moving synchronous belt is connected with the second transverse moving driving wheel and the second transverse moving driven wheel so as to enable the second transverse moving synchronous belt to perform closed-loop rotation between the second transverse moving driving wheel and the second transverse moving driven wheel; the second advancing assembly 702 is connected with the second traverse synchronous belt and is slidably connected to the second guide rail 6021, so that the second advancing assembly 702 is driven by the second traverse synchronous belt to slide along the second guide rail 6021; the transmission direction of the second traverse synchronous belt is arranged in parallel to the length direction of the second guide rail 6021, so that the second advancing assembly 702 can move along the first direction X, and the second lifting assembly 703 drives the top hand 704 to move along the first direction X; the second traverse-to-position sensor is used to detect whether the second advancing assembly 702 is moved in position in the first direction X, thereby determining whether the top hand 704 is moved in position in the first direction X.
As shown in fig. 2 and 4, the second advancing assembly 702 includes a second advancing motor 7021, a second advancing drive wheel 7022, a second advancing driven wheel 7023, a second advancing synchronous belt 7024, a second advancing guide rail 7025, and a second advancing position sensor 7026, the second advancing drive wheel 7022 is disposed on an output shaft of the second advancing motor 7021 so as to drive the second advancing drive wheel 7022 to rotate by the second advancing motor 7021; a second advancing timing belt 7024 is connected to the second advancing drive pulley 7022 and the second advancing driven pulley 7023, so that the second advancing timing belt 7024 performs a closed-loop rotational motion between the second advancing drive pulley 7022 and the second advancing driven pulley 7023; a second forward guide rail 7025 and a second forward-to-position sensor 7026, wherein the second lifting assembly 703 is connected to a second forward-moving synchronous belt 7024 and slidably connected to the second forward-moving guide rail 7025, so that the second lifting assembly 703 is driven by the second forward-moving synchronous belt 7024 to slide along the second forward-moving guide rail 7025; the driving direction of the second advancing timing belt 7024 and the length direction of the second advancing guide rail 7025 are arranged in the second direction Y so as to enable the second lifting assembly 703 to move in the second direction Y, thereby enabling the jack 704 to move in the second direction Y with the second lifting assembly 703.
Further, the second lifting assembly 703 comprises a second lifting motor 7031, a second lifting driving wheel 7032, a second lifting driven wheel 7033, a second lifting synchronous belt 7034, a second lifting guide rail and a second lifting in-place sensor; the second lifting driving wheel 7032 is disposed on an output shaft of the second lifting motor 7031, so that the second lifting motor 7031 drives the second lifting driving wheel 7032 to rotate; a second lifting synchronous belt 7034 is connected to the second lifting driving wheel 7032 and the second lifting driven wheel 7033, so that the second lifting synchronous belt 7034 rotates in a closed loop between the second lifting driving wheel 7032 and the second lifting driven wheel 7033; the top hand 704 is connected with the second lifting synchronous belt 7034 and is slidably connected to the second lifting guide rail, so that the top hand 704 can move along the second lifting guide rail along with the second lifting synchronous belt 7034; the transmission direction of the second lifting synchronous belt 7034 and the length direction of the second lifting guide rail are arranged in the third direction Z so as to enable the top hand 704 to move in the third direction Z; the second lift-to-position sensor is used to detect whether the top hand 704 is lifted in place in the third direction Z.
As shown in fig. 2, the sample storage assembly 101 is disposed on the first substrate 601 and between the second robot 500 and the top moving mechanism 700, so as to jack up a sample tube to be transferred by the top moving mechanism 700, and transfer the sample tube to be jacked to the interaction mechanism 300 by the second robot 500, so that the sample sorting, transferring and storing device can meet the storage requirement of sample tubes with various heights, and the compatibility of the sample sorting, transferring and storing device to the specification of the sample tube is improved; the interaction mechanism 300 is disposed on the sample storage assembly 101 so as to load the sample on the sample storage assembly 101 or load the sample outside the storage device onto the sample storage assembly 101 through the interaction mechanism 300.
As shown in fig. 1, the sample transfer track 200 includes a sample injection track 201, an empty buffer track 202, a code reader 203, and a sample discarding component 204; the sample injection rail 201 is arranged parallel to the side wall of the storage mechanism 100 and is used for receiving and transmitting a sample holder with a sample tube, so that the sample holder is conveyed to the taking and placing position of the sample transmission rail 200; the empty tray buffer track 202 is used for receiving and buffering empty sample trays, which are taken away from the sample tubes, on the sample inlet track 201, so that the sample tubes needing to be carried out can be used conveniently; the code reader 203 is used for reading sample information, a sample label used for displaying the sample information is arranged on the sample tube, a sample support label used for displaying the sample support information is arranged on the sample support, and the code reader 203 can read and bind the sample label and the sample support label so as to transmit the read sample information and the sample support information to a central control system and determine information such as the destination of a sample, the specification of the sample tube and the like; the sample discard assembly 204 is used to collect discard samples.
It should be noted that the sample discarding module 204 may comprise a single discarding position, two discarding positions, or a plurality of discarding positions, and any structure that facilitates the collection of the discarded sample is within the scope of the present invention.
Further, the first robot 400 includes a gripper assembly 401 for gripping a sample tube, a third lifting assembly 402 for driving the gripper assembly 401 to move up and down, and a rotating assembly 403 for driving the gripper assembly 401 to move rotationally, so that the third lifting assembly 402 drives the gripper assembly 401 to move up and down, and the rotating assembly 403 drives the gripper assembly 401 to move rotationally, so that the gripper assembly 401 moves to the sample tube to be gripped and transfers the sample tube to be gripped.
Specifically, the gripper assembly 401 comprises a gripper motor 4011, a gripper cam 4012, a gripper 4013, a gripper mounting plate 4014, a guide 4015 and an elastic element 4016, wherein the gripper motor 4011 is arranged on the gripper mounting plate 4014, and the gripper cam 4012 is arranged on an output shaft of the gripper motor 4011, so that the gripper motor 4011 can drive the gripper cam 4012 to rotate; the hand grip 4013 comprises a first clamping jaw and a second clamping jaw which are arranged on the guide part 4015 in a sliding mode, the hand grip cam 4012 is located between the first clamping jaw and the second clamping jaw and is in contact with the first clamping jaw and the second clamping jaw, so that the diameter of the contact position of the hand grip cam 4012 is increased along with the rotation of the hand grip cam 4012, the hand grip cam 4012 can push the first clamping jaw and the second clamping jaw to be far away, the hand grip 4013 is opened, and meanwhile, the opening size of the hand grip 4013 is adjusted through the hand grip cam 4012, so that the hand grip assembly 401 can grip sample tubes with different diameters, and the compatibility of the sample tube specifications is improved; the elastic elements 4016 are arranged between the outer wall of the first clamping jaw and the gripper installation plate 4014 and between the outer wall of the second clamping jaw and the gripper installation plate 4014, so that the elastic elements 4016 push the first clamping jaw and the second clamping jaw to approach to each other along with the rotation of the gripper cams 4012 and the reduction of the pole diameters of the contact positions of the gripper cams 4012, and the grippers 4013 perform clamping action.
The elastic element 4016 can be a compression spring, a colloid air bag or a rubber block, and the like, and the elastic element is only capable of enabling the gripper 4013 to clamp the sample tube; preferably, embodiments of the present invention employ compression springs.
In addition, the third lifting assembly 402 includes a third lifting mounting plate 1011, a third lifting motor 4021 arranged on the third lifting mounting plate 1011, a third lifting driving wheel connected to an output shaft of the third lifting motor 4021, a third lifting driven wheel arranged on the third lifting mounting plate 1011, a third lifting synchronous belt 4022 connecting the third lifting driving wheel and the third lifting driven wheel, and a third lifting guide rail, so that the third lifting driving wheel is driven by the third lifting motor 4021 to rotate; with the rotation of the third lifting driving wheel, the third lifting synchronous belt 4022 performs closed-loop rotation between the third lifting driving wheel and the third lifting driven wheel; the third lifting synchronous belt 4022 is connected with the gripper assembly 401, and the gripper assembly 401 is slidably connected with the third lifting guide rail, so that the gripper assembly 401 moves along the third lifting guide rail along with the third lifting synchronous belt 4022; the third lifting guide rail is disposed on the rotating assembly 403, so that the rotating assembly 403 drives the third lifting assembly 402 to rotate through the third lifting guide rail, and the gripper assembly 401 connected to the third lifting assembly 402 can also rotate.
The rotating assembly 403 comprises a motor fixing seat arranged outside the storage mechanism 100, a rotating motor 4031 arranged on the motor fixing seat, and a rotating connecting shaft 4032 connected with an output shaft of the rotating motor 4031, so that the rotating connecting shaft 4032 is driven to rotate by the rotating motor 4031; the third lifting assembly 402 is connected to the rotation connecting shaft 4032, so that the third lifting assembly 402 can rotate along with the rotation connecting shaft 4032, and the gripper assembly 401 can rotate, and the sample tube can be transferred through a series of actions such as lifting, rotating, descending, gripping, lifting, rotating and descending of the gripper assembly 401.
Further, the sample sorting, transferring and storing device further comprises a lifting and carrying mechanism 800, the lifting and carrying mechanism 800 comprises a base 801, a first driving assembly 802 arranged on one side of the base 801, a second driving assembly 803 arranged on the other side of the base 801 and a third lifting and in-place sensor 804, and the first driving assembly 802 and the second driving assembly 803 have the same structure;
the first driving assembly 802 includes a first lead screw motor 8021 disposed on the base 801, a second guide shaft 8022 penetrating through the first substrate 601 and the second substrate 602, a second guide shaft support 8023 for mounting the second guide shaft 8022, and a linear bearing 8024 sleeved on the second guide shaft 8022, the second substrate 602 is disposed on a nut of the first lead screw motor 8021 in a floating manner, so that the nut of the first lead screw motor 8021 drives the second substrate 602 to move linearly along a lead screw of the first lead screw motor 8021, and the support frame 600 can move linearly along the lead screw, so that the sample storage assembly 101, the interaction mechanism 300, the second manipulator 500, and the top manipulator 1012 mechanism 700 disposed on the support frame 600 can move up and down along the lead screw as a whole, and transfer and storage requirements of the sample frame are met; the linear bearings 8024 are located between the first substrate 601 and the second guide shaft 8022 and between the second substrate 602 and the second guide shaft 8022, so as to enable the first substrate 601 and the second substrate 602 to move linearly along the second guide shaft 8022, and enable the support frame 600 to move linearly along the second guide shaft 8022; the third lifting-to-position sensor 804 is configured to detect a moving position of the second substrate 602 along the output lead screw of the first lead screw motor 8021, so as to determine moving positions of the support frame 600, and the sample storage assembly 101, the interaction mechanism 300, the second robot 500, and the top mobile mechanism 700 on the support frame 600.
It should be noted that, the number of the sample holders 1012 is not specifically limited, and any number that can satisfy the use requirement is within the scope of the present invention; preferably, the number of the sample racks 1012 provided by the embodiment of the present invention is two, namely, a first sample rack 1012-a and a second sample rack 1012-b, and the first sample rack 1012-a and the second sample rack 1012-b are disposed at both sides of the mounting plate 1011 by pin positioning, so that the sample sorting, transferring and storing device can simultaneously or separately load and unload the samples through the first sample rack 1012-a and the second sample rack 1012-b; the sample storage assembly 101 also includes a first sample rack scanner disposed on the first sample rack 1012-a and a second sample rack scanner disposed on the second sample rack 1012-b to facilitate identification and recording of information for the first sample rack 1012-a by the first sample rack scanner and identification and recording of information for the second sample rack 1012-b by the second sample rack scanner.
As shown in fig. 6, the interaction mechanism 300 further comprises an interaction driving motor 301, an interaction driving wheel 302, an interaction driven wheel 303, an interaction belt 304, an interaction guide rail 305, an interaction sliding block 306, an interaction mounting plate 307 and an interaction position sensor.
Wherein, interactive driving wheel 302 is disposed on the output shaft of interactive driving motor 301, so as to make interactive driving motor 301 drive interactive driving wheel 302 to rotate; interactive belt 304 couples interactive drive pulley 302 and interactive driven pulley 303 to facilitate closed loop rotation of interactive belt 304 between interactive drive pulley 302 and interactive driven pulley 303; interaction mounting plate 307 connects interaction belt 304 and interaction slider 306 so that interaction mounting plate 307 can move with interaction belt 304; the interactive slider 306 is slidably connected to the interactive guide rail 305, and generally guides the movement of the interactive mounting plate 307 through the interactive guide rail 305, so that the movement track precision of the interactive mounting plate 307 is improved; the sample holder 308 is mounted to one end of the interactive mounting plate 307 so as to reciprocate with the interactive mounting plate 307, thereby carrying in and out a sample.
It should be noted that, in the present invention, the number and the specification of the sample holders 308 are not specifically limited, as long as the number requirements and the specification requirements of the sample tubes can be satisfied, and the parameters such as the number, the specification, and the like of the sample storage holes provided in the sample holders 308 are not specifically limited, as long as the storage requirements of the sample tubes can be satisfied; preferably, the sample rack 308 provided by the embodiment of the present invention is provided with sample tube storage holes with the specifications of phi 16 × 75mm, phi 16 × 100mm, phi 13 × 75mm, and phi 13 × 100mm, so as to meet the requirements of sample tubes with different specifications and improve the compatibility of the sample sorting, transferring, and storing device with the specification of the sample tubes.
Further, the sample sorting, transferring and storing device further comprises an automatic door mechanism 900 arranged at the inlet and the outlet, so that the storage mechanism 100 is sealed, and the refrigeration and preservation effects of the storage mechanism 100 are improved; the automatic door mechanism 900 includes a second lead screw motor 901, a guide plate 902, a driving slide 903, a driven slide 904, a sealing door body 905, and a rotating member.
Specifically, as shown in fig. 6, the driven slide rail 904 is disposed on the nut of the second lead screw motor 901, so that the driven slide rail 904 can make a reciprocating linear motion with the nut of the second lead screw motor 901; the driven slide rail 904 is connected to the driving slide rail 903 in a sliding manner through the driving slide block, so that the driving slide rail 903 guides the driven slide rail 904, and the motion track precision of the driven slide rail 904 is improved; the length direction of the driving slide rail 903 and the length direction of the lead screw motor are arranged along a fourth direction α so as to move the driven slide rail 904 along the fourth direction α; a driven slide block is arranged on the driven slide rail 904 in a sliding manner, and a sealing door body 905 is arranged on one side of the driven slide block, so that the sealing door body 905 can move along the driven slide rail 904 along the fourth direction alpha; the length direction of the driven sliding rail 904 is arranged along a fifth direction beta, so that the sealing door body 905 can move along the fifth direction beta, and an included angle between the fourth direction alpha and the fifth direction beta is more than 0 degree and not more than 90 degrees, so that the sealing door body 905 can move in a two-dimensional plane formed by the fourth direction alpha and the fifth direction beta; the guide plate 902 is provided with a guide groove consistent with the switch track of the sealing door 905, the rotating piece is arranged on one side of the driven slide block away from the sealing door 905, and the rotating piece can slide along the guide groove, so that the rotating piece drives the sealing door 905 to slide along the guide groove, and the automatic switch of the sealing door 905 is realized.
In the present invention, the included angle between the fourth direction α and the fifth direction β is not particularly limited, and any included angle that can form a two-dimensional plane is within the protection scope of the present invention; preferably, the angle between the fourth direction α and the fifth direction β provided by the embodiment of the present invention is 90 °, which is convenient for setting.
In addition, the invention also discloses a sample assembly line analysis system, which comprises the sample sorting, transferring and storing device, so that the system has all the technical effects of the sample sorting, transferring and storing device, and the details are not repeated herein.
The terms "first" and "second," and the like in the description and claims of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not set forth for a listed step or element but may include steps or elements not listed.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (21)

1. A sample sorting, transferring and storage device, comprising:
the storage mechanism is provided with an inlet and an outlet for enabling the sample tubes to interact with the inside and the outside of the storage mechanism on one side, a sample storage assembly for storing the sample tubes is arranged inside the storage mechanism, the sample storage assembly comprises a mounting plate, a sample rack and a sample rack scanner, the sample rack is positioned on the mounting plate through pins, the sample rack scanner is arranged on the sample rack, and the sample rack can be used for placing at least two specifications of sample tubes;
the sample conveying track is arranged on one side of the inlet and the outlet of the storage mechanism;
the interaction mechanism is arranged in alignment with the inlet and the outlet and comprises at least one sample bracket, the sample bracket is provided with sample tube storage hole sites with at least two specifications, and the interaction mechanism can enable the sample bracket to make reciprocating linear motion towards the inlet and the outlet;
a first robot provided outside the storage mechanism, the first robot being capable of transferring a sample tube on the sample transport rail to the sample rack or transferring a sample tube on the sample rack to the sample transport rail;
a second manipulator disposed inside the storage mechanism, the second manipulator being capable of transferring a sample tube on the sample rack to the sample rack or transferring a sample tube on the sample rack to the sample rack;
a central control system electrically connected to the interaction mechanism, the first manipulator, the second manipulator, and the sample rack scanner.
2. The sample sorting, transferring and storing device of claim 1, further comprising a support frame, a first guide, and a second guide;
the support frame comprises a first base plate, a second base plate and a vertical plate, wherein the second base plate is arranged in parallel with the first base plate, the vertical plate is used for connecting the first base plate with the second base plate, the first guide rail is arranged on the first base plate, the second guide rail is arranged on the second base plate, and the length directions of the first guide rail and the second guide rail are arranged in parallel with a first direction.
3. The sample sorting, transfer and storage device of claim 2, wherein the second robot comprises a first traverse assembly, a first advance assembly, a first lift assembly, and a grasping assembly;
the first forward moving assembly is arranged on the first traverse moving assembly and can drive the first forward moving assembly to slide along the first guide rail, the first lifting assembly is connected with the first forward moving assembly and can drive the first lifting assembly to do reciprocating linear motion along the second direction, the grabbing assembly is arranged on the first lifting assembly and can drive the grabbing assembly to do reciprocating linear motion along the third direction, the grabbing assembly comprises grabbing fingers capable of grabbing the sample tube, and included angles between the first direction and the second direction, between the second direction and the third direction and between the third direction and the first direction are all larger than 0 degree and not more than 90 degrees.
4. The sample sorting, transferring and storing device according to claim 3, wherein the first traverse assembly comprises a first traverse motor disposed on the support frame, a first traverse driving wheel connected to an output shaft of the first traverse motor, a first traverse driven wheel disposed on the support frame, a first traverse synchronous belt connecting the first traverse driving wheel and the first traverse driven wheel, and a first traverse position sensor, the first traverse assembly is connected to the first traverse synchronous belt and is slidably connected to the first guide rail, and a transmission direction of the first traverse synchronous belt is parallel to a length direction of the first guide rail.
5. The sample sorting, transferring and storing device according to claim 3, wherein the first advancing assembly comprises a first advancing motor, a first advancing mounting plate for mounting the first advancing motor, a first advancing driving wheel disposed on an output shaft of the first advancing motor, a first advancing driven wheel engaged with the first advancing driving wheel, a first advancing synchronous belt connecting the first advancing driving wheel and the first advancing driven wheel, a first advancing guide rail, and a first advancing position sensor, the first elevating assembly is connected with the first advancing synchronous belt and slidably connected to the first advancing guide rail, and a transmission direction of the first advancing synchronous belt and a length direction of the first advancing guide rail are disposed along a second direction.
6. The sample sorting, transferring and storing device according to claim 3, wherein the first lifting assembly comprises a first lifting motor, a first lifting mounting plate for mounting the first lifting motor, a first lifting driving wheel disposed on an output shaft of the first lifting motor, a first lifting driven wheel engaged with the first lifting driving wheel, a first lifting synchronous belt connecting the first lifting driving wheel and the first lifting driven wheel, a first lifting guide rail, and a first lifting in-place sensor, the grabbing assembly is connected with the first lifting synchronous belt and slidably connected to the first lifting guide rail, and a transmission direction of the first lifting synchronous belt and a length direction of the first lifting guide rail are disposed along a third direction.
7. The sample sorting, transferring and storing device according to claim 3, wherein the grabbing component further comprises a grabbing mounting plate, a grabbing motor arranged on the grabbing mounting plate, a grabbing cam connected with an output shaft of the grabbing motor, a grabbing finger mounting plate arranged on the grabbing mounting plate, a first guide shaft arranged on the grabbing finger mounting plate and a compression spring arranged between the grabbing finger and the grabbing finger mounting plate, the grabbing finger is arranged on two sides of the grabbing cam and is slidably arranged on the first guide shaft, and the grabbing mounting plate is connected with the lifting component.
8. The specimen sorting, transfer and storage device of claim 2, further comprising a top hand mechanism located below the specimen storage assembly, the top hand mechanism including a second traverse assembly, a second advance assembly, a second lift assembly, and a top hand;
the second forward moving assembly is arranged on the second traverse moving assembly and can drive the second forward moving assembly to slide along the second guide rail, the second lifting assembly is connected with the second forward moving assembly and can drive the second lifting assembly to do reciprocating linear motion along the second direction, the jacking hand is arranged on the second lifting assembly and can drive the jacking hand to do reciprocating linear motion along the third direction, and included angles between the first direction and the second direction, between the second direction and the third direction and between the third direction and the first direction are all larger than 0 degree and not more than 90 degrees.
9. The sample sorting, transferring and storing device according to claim 8, wherein the second traverse assembly comprises a second traverse motor, a second traverse driving wheel disposed at an output shaft of the second traverse motor, a second traverse driven wheel, a second traverse synchronous belt connecting the second traverse driving wheel and the second traverse driven wheel, and a second traverse position sensor, the second traverse assembly is connected with the second traverse synchronous belt and is slidably connected with the second guide rail, and a transmission direction of the second traverse synchronous belt is disposed parallel to a length direction of the second guide rail.
10. The apparatus for sorting, transferring and storing samples according to claim 8, wherein the second advancing assembly comprises a second advancing motor, a second advancing driving wheel disposed on an output shaft of the second advancing motor, a second advancing driven wheel, a second advancing synchronous belt connecting the second advancing driving wheel and the second advancing driven wheel, a second advancing guide rail, and a second advancing position sensor, the second lifting assembly is connected with the second advancing synchronous belt and slidably connected to the second advancing guide rail, and a transmission direction of the second advancing synchronous belt and a length direction of the second advancing guide rail are disposed along a second direction.
11. The apparatus for sorting, transferring and storing samples according to claim 8, wherein the second lifting assembly comprises a second lifting motor, a second lifting driving wheel disposed on an output shaft of the second lifting motor, a second lifting driven wheel, a second lifting synchronous belt connecting the second lifting driving wheel and the second lifting driven wheel, a second lifting guide rail, and a second lifting in-place sensor, the jack is connected with the second lifting synchronous belt and slidably connected to the second lifting guide rail, and a transmission direction of the second lifting synchronous belt and a length direction of the second lifting guide rail are disposed along a third direction.
12. The specimen sorting, transfer and storage device of claim 8, wherein the specimen storage assembly is disposed on the first substrate between the second robot and the ceiling mechanism, and the interaction mechanism is disposed on the specimen storage assembly.
13. The sample sorting, transferring and storing device according to claim 1, wherein the sample conveying track comprises a sample feeding track for receiving and conveying a sample holder with a sample tube, an empty holder buffer track for buffering the empty sample holder, a code reader for reading sample information, and a sample discarding component for collecting discarded samples, the sample tube is provided with a sample tag for displaying the sample information, the sample holder is provided with a sample holder tag for displaying the sample holder information, and the code reader can read and bind the sample tag and the sample holder tag.
14. The sample sorting, transferring and storing device according to claim 1, wherein the first manipulator comprises a gripper assembly for gripping the sample tube, a third lifting assembly for driving the gripper assembly to perform lifting motion, and a rotating assembly for driving the gripper assembly to perform rotating motion.
15. The sample sorting, transferring and storing device according to claim 14, wherein the gripper assembly comprises a gripper motor, a gripper cam, a gripper mounting plate, a guide, and a resilient member, the gripper motor is disposed on the gripper mounting plate, the gripper cam is disposed on an output shaft of the gripper motor, the gripper comprises a first jaw and a second jaw slidably disposed on the guide, the gripper cam is disposed between and in contact with the first jaw and the second jaw, and the resilient member is disposed between an outer wall of the first jaw and the gripper mounting plate and between an outer wall of the second jaw and the gripper mounting plate.
16. The sample sorting, transferring and storing device according to claim 14, wherein the third lifting assembly comprises a third lifting mounting plate, a third lifting motor disposed on the third lifting mounting plate, a third lifting driving wheel connected to an output shaft of the third lifting motor, a third lifting driven wheel disposed on the third lifting mounting plate, a third lifting timing belt and a third lifting guide rail connecting the third lifting driving wheel and the third lifting driven wheel, the third lifting timing belt is connected to the gripper assembly, and the gripper assembly is slidably connected to the third lifting guide rail, and the third lifting guide rail is disposed on the rotating assembly.
17. The apparatus for sorting, transferring and storing samples according to claim 14, wherein the rotating assembly comprises a motor fixing seat disposed outside the storing mechanism, a rotating motor disposed on the motor fixing seat, and a rotating connecting shaft connected to an output shaft of the rotating motor, and the third lifting assembly is connected to the rotating connecting shaft.
18. The apparatus for sorting, transferring and storing samples according to claim 2, further comprising a lifting and carrying mechanism, wherein the lifting and carrying mechanism comprises a base, a first driving assembly disposed on one side of the base, a second driving assembly disposed on the other side of the base, and a third lifting and carrying sensor, and the first driving assembly and the second driving assembly have the same structure;
the first driving assembly comprises a first lead screw motor arranged on the base, a second guide shaft penetrating through the first substrate and the second substrate, a second guide shaft support used for mounting the second guide shaft and a linear bearing sleeved on the second guide shaft, the linear bearing is positioned between the first substrate and the second guide shaft and between the second substrate and the second guide shaft, the second substrate is arranged on a nut of the first lead screw motor in a floating mode, and a third lifting in-place sensor is used for detecting the moving position of the second substrate along an output lead screw of the first lead screw motor.
19. The sample sorting, transferring and storing device of claim 1, wherein the interaction mechanism further comprises an interaction drive motor, an interaction drive wheel, an interaction driven wheel, an interaction belt, an interaction guide rail, an interaction slide block, an interaction mounting plate and an interaction in-place sensor;
the interactive driving wheel is arranged on an output shaft of the interactive driving motor, the interactive belt is connected with the interactive driving wheel and the interactive driven wheel, the interactive mounting plate is connected with the interactive belt and the interactive sliding block, the interactive sliding block is connected with the interactive guide rail in a sliding mode, and the sample bracket is mounted at one end of the interactive mounting plate.
20. The sample sorting, transferring and storing device according to claim 1, further comprising an automatic door mechanism disposed at the inlet and outlet, wherein the automatic door mechanism comprises a second lead screw motor, a guide plate, a driving slide rail, a driven slide rail, a sealing door body and a rotating member;
the driven slide rail is arranged on a nut of the second screw motor, the driven slide rail is connected to the driving slide rail in a sliding mode through a driving slide block, and the length direction of the driving slide rail and the length direction of a screw of the screw motor are arranged along a fourth direction; the driven sliding rail is provided with a driven sliding block in a sliding mode, the sealing door body is arranged on one side of the driven sliding block, the length direction of the driven sliding rail is arranged along a fifth direction, and an included angle between the fourth direction and the fifth direction is larger than 0 degree and not larger than 90 degrees; the guide plate is provided with a guide groove consistent with the switch track of the sealing door body, the rotating piece is arranged on one side, away from the sealing door body, of the driven sliding block, and the rotating piece can slide along the guide groove.
21. A sample pipeline analysis system comprising a sample sorting, transfer and storage apparatus as claimed in claims 1 to 20.
CN202210242956.7A 2022-03-11 2022-03-11 Sample sorting, transferring and storing device and sample assembly line analysis system Pending CN114460319A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210242956.7A CN114460319A (en) 2022-03-11 2022-03-11 Sample sorting, transferring and storing device and sample assembly line analysis system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210242956.7A CN114460319A (en) 2022-03-11 2022-03-11 Sample sorting, transferring and storing device and sample assembly line analysis system

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CN114460319A true CN114460319A (en) 2022-05-10

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114778867A (en) * 2022-06-13 2022-07-22 深圳市帝迈生物技术有限公司 Sample detection device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114778867A (en) * 2022-06-13 2022-07-22 深圳市帝迈生物技术有限公司 Sample detection device

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