CN115166275A - Anti-collision sample rack transportation method, computer-readable storage medium and analyzer - Google Patents
Anti-collision sample rack transportation method, computer-readable storage medium and analyzer Download PDFInfo
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- CN115166275A CN115166275A CN202210924448.7A CN202210924448A CN115166275A CN 115166275 A CN115166275 A CN 115166275A CN 202210924448 A CN202210924448 A CN 202210924448A CN 115166275 A CN115166275 A CN 115166275A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
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- 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
- G01N35/00584—Control arrangements for automatic analysers
- G01N35/0092—Scheduling
- G01N35/0095—Scheduling introducing urgent samples with priority, e.g. Short Turn Around Time Samples [STATS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- 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
- G01N35/02—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
- G01N2035/0491—Position sensing, encoding; closed-loop control
- G01N2035/0493—Locating samples; identifying different tube sizes
Abstract
The invention discloses an anti-collision sample rack transportation method, which is characterized in that before a rack transporting unit is driven to move along a rack transporting channel, whether a barrier exists in the rack transporting channel is judged: if yes, alarming is carried out, and the rack transporting unit keeps a stop state; if not, the rack transporting unit is driven to move to the specified position along the rack transporting channel. The invention also discloses a computer readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the anti-collision sample rack transportation method as described above. According to the anti-collision sample rack transportation method, whether an obstacle exists in the rack transportation channel is detected and judged before the rack transportation unit is driven to move along the rack transportation channel every time, and the rack transportation unit can be driven to move only when no obstacle exists in the rack transportation channel, so that collision between the rack transportation unit and other structures is avoided, and the operation safety performance is guaranteed.
Description
Technical Field
The invention belongs to the technical field of in-vitro diagnosis equipment, and particularly relates to an anti-collision sample rack transportation method, a computer readable storage medium and an analyzer.
Background
To meet the requirements of automated analysis, sample rack transport systems are widely used in biochemical analyzers, immunoassays, and laboratory pipeline analysis systems. The sample rack transporting system comprises a workbench, wherein a sample rack is stored in the workbench, and a sample to be detected is placed in the sample rack. In the detection process, the sample rack needs to be transferred to the detection equipment by the rack transporting unit so as to realize the detection of the sample, and after the detection is finished, the sample rack needs to be stored in the sample rack transportation system again by the rack transporting unit. Although the existing sample rack transportation system can meet the use requirements to a certain extent, in the process that the rack transporting unit moves in the rack transporting channel, the risk of collision between the sample carrying basket or the sample rack intruding into the rack transporting channel exists, the detection process is interrupted if the risk is low, and equipment is damaged if the risk is high.
Disclosure of Invention
In view of the above, the present invention provides an anti-collision sample rack transportation method, a computer readable storage medium and an analyzer, which can prevent a rack transportation unit from collision.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention firstly provides an anti-collision sample rack transportation method, which is applied to an anti-collision sample rack transportation system, wherein the anti-collision sample rack transportation system comprises:
a rack conveying channel;
a rack transport unit movable along the rack transport path to transfer the sample rack;
the detection unit is used for detecting whether barriers exist in the frame conveying channel or not;
the judging unit judges whether an obstacle exists in the rack transporting unit according to the detection data of the detecting unit;
the alarm unit is used for giving an alarm;
the anti-collision sample rack transportation method comprises the following steps: before the drive fortune frame unit removed along fortune frame passageway, whether judge fortune frame passageway has the barrier: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, the rack transporting unit is driven to move to the specified position along the rack transporting channel.
Further, the anti-collision sample rack transportation system further comprises a rack dividing unit, wherein the rack dividing unit is used for conveying the sample rack to be detected on the rack conveying unit to a sample analyzer through the interface unit, or transferring the detected sample rack input through the interface unit to the rack conveying unit; when will wait to detect sample frame and carry to sample analyzer, drive fortune frame unit judges whether to have the barrier in the fortune frame passageway before moving along fortune frame passageway: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, driving the rack transporting unit to move to a sample position where the sample rack to be detected is stored along the rack transporting channel, and transferring the sample rack to be detected placed on the sample position to the rack transporting unit by utilizing the rack transporting driving mechanism; in the transferring process, after a sample rack is detected on the rack transferring unit and a detection signal that the rack transferring driving mechanism reaches the first position is obtained, the sample rack transferring is indicated to be completed, otherwise, the sample rack is not transferred, and the rack transferring unit is kept in a stop state; after the sample frame is transferred, whether barriers exist in the conveying frame channel is judged: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, the rack conveying unit is driven to move to the sample rack transfer area along the rack conveying channel, and the sample racks on the rack conveying unit are transferred to the rack splitting unit; in the transferring process, after detecting that no sample rack exists on the rack transporting unit and obtaining a detection signal that the rack transporting driving mechanism reaches the second position, indicating that the sample rack is transferred, otherwise, indicating that the sample rack is not transferred, and keeping the rack transporting unit in a stop state; after the sample rack is transferred, the rack transporting unit resets or enters the next sample rack transporting work.
Further, the anti-collision sample rack transportation system further comprises a rack dividing unit, wherein the rack dividing unit is used for conveying the sample rack to be detected on the rack conveying unit to a sample analyzer through the interface unit, or conveying the detected sample rack input through the interface unit to the rack conveying unit; when retrieving the sample frame that has detected, drive fortune frame unit is along fortune frame passageway before removing, judges whether to have the barrier in the fortune frame passageway: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, driving the rack transporting unit to move to the sample transporting area along the rack transporting channel, and transferring the detected sample rack on the rack dividing unit to the rack transporting unit; in the transferring process, after a sample rack is detected on the rack transferring unit and a detection signal that the rack transferring driving mechanism reaches the first position is obtained, the sample rack transferring is indicated to be completed, otherwise, the sample rack is not transferred, and the rack transferring unit is kept in a stop state; after the sample frame is transferred, judging whether barriers exist in the frame conveying channel: if yes, alarming is carried out, and the rack transporting unit keeps a stop state; if not, driving the rack transporting unit to move to the initial sample position of the detected sample rack along the rack transporting channel, and then transferring the detected sample rack on the rack transporting unit to the initial sample position; in the transferring process, after detecting that no sample rack exists on the rack transporting unit and obtaining a detection signal that the rack transporting driving mechanism reaches the second position, the sample rack transferring is completed, otherwise, the sample rack is not transferred, and the rack transporting unit keeps a stop state; after the sample rack is transferred, the rack transporting unit resets or enters the next sample rack transporting work.
Further, in the sample rack transferring process, when a set time threshold is reached, if the sample rack is not transferred completely, an alarm is given.
Further, a second detection sensor for detecting whether a sample rack is stored in the sample position is arranged on the rack conveying unit; before the transport frame unit detects to the sample position to be detected, whether there is the barrier in the transport frame passageway is judged: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, the rack conveying unit is driven to move to the position of the sample position to be detected along the rack conveying channel, and whether the sample rack is placed in the sample position or not is detected by the second detection sensor.
Further, a first sample rack detection sensor for detecting whether a sample rack exists on the rack transporting unit is arranged on the rack transporting unit; when transferring the sample frame of placing on the sample position to fortune frame unit or when transferring the sample frame that divides on the frame unit to fortune frame unit, utilize first sample frame to detect whether there is the sample frame on the detection sensor fortune frame unit: if so, driving the rack transporting unit to move along the rack transporting channel; if not, alarming.
Further, the detection unit comprises an obstacle detection sensor for detecting whether obstacles exist on two sides of the frame carrying channel or not.
Further, when a detection instruction is received, the rack transporting unit is driven to sequentially transfer the to-be-detected sample racks stored in the conventional storage area according to a set sequence;
when an emergency detection instruction is received, the rack transporting unit is driven to transfer the sample racks to be detected stored in the emergency storage area, and then the sample racks to be detected stored in the conventional storage area are sequentially transferred according to the set sequence.
The invention also proposes a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for transporting a specimen rack against collision as described above.
The invention also provides an analyzer which comprises a sample rack transportation system, wherein a rack transportation channel and a rack transportation unit are arranged in the sample rack transportation system, and the rack transportation unit moves along the rack transportation channel according to the anti-collision sample rack transportation method.
The invention has the beneficial effects that:
according to the anti-collision sample rack transportation method, before the rack transportation unit is driven to move along the rack transportation channel each time, whether an obstacle exists in the rack transportation channel is detected and judged, and the rack transportation unit can be driven to move only when no obstacle exists in the rack transportation channel, so that collision between the rack transportation unit and other structures is avoided, and the operation safety performance is guaranteed.
Drawings
In order to make the purpose, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic diagram of a sample rack transport system according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the rack transport unit;
FIG. 3 is a schematic structural view of a basket locking mechanism;
fig. 4 is a schematic structural diagram of the rack transport unit and the rack transport driving mechanism.
Description of the reference numerals:
10-a workbench; 11-a sample rack; 12-sample position; 13-a rack transportation channel; 14-a rack carrying unit; 15-a racking unit; 16-direction detection element; 17-placing a sample rack; 18-a racking position; 19-a basket locking mechanism; 20-sample basket; 21-a sample holder detection element; 22-basket detection element; 23-detect indication button; 24-a card slot; 25-a locking block; 26-a rotating motor; 27-a motor support; 28-a detection optocoupler; 29-a light barrier; 30-emergency treatment storage area; 31-emergency sample position; 32-emergency sample basket; 33-a fourth detection sensor; 34-emergency indication button; 35-online channel area; 36-online sample basket; 37-on-line sample position; 38-online sample basket; 39-general button; 40-an obstacle detecting element; 41-a sub-frame detection element; 42-a pushing unit; 43-emergency sample channel; 44-a conventional sample channel; 45-a return channel; 46-first sample holder detection element; 48-a timing pulley; 49-a drive motor; 50-opto-coupler sensor; 51-opto-coupler sensor.
Detailed Description
The present invention is further described below in conjunction with the drawings and the embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.
As shown in fig. 1, the specimen rack transportation system of the present embodiment includes a work bench 10, and a specimen rack storage area, a specimen rack transfer area, and a rack transportation passage are provided on the work bench 10.
Specifically, a sample position 12 for storing the sample rack 11 is arranged in the sample rack storage area. As shown in fig. 1, a conventional storage area is disposed in the sample rack storage area of this embodiment, a basket station for placing a sample basket 20 is disposed in the conventional storage area, and a sample station 12 for placing a sample rack 11 is disposed in the sample basket 20. In this embodiment, 10 sample positions 12 are provided in each sample basket 20, and of course, the number of sample positions 12 in each sample basket 20 may be set according to actual requirements, which is not described in detail. The conventional storage area is internally provided with a third detection sensor 22 for detecting whether a sample basket 20 is placed in the basket lifting station, and the third detection sensor 22 is arranged in one-to-one correspondence with the basket lifting station. In the preferred scheme of this embodiment, still include in the conventional district of depositing and detect instruction button 23, detect instruction button 23 and hand-basket station one-to-one setting, after third detection sensor 22 detected to place the sample hand-basket on the hand-basket station that corresponds, press corresponding detection instruction button 23, can trigger the detection instruction to place sample rack 11 in this sample hand-basket 20 and detect, of course, the detection instruction also can be sent by the host computer, no longer describes in a cumber. In the preferred scheme of this embodiment, still include in the conventional storage area and detect the status indicator lamp, detect the status indicator lamp and carry the basket station one-to-one setting and be used for instructing the detection state that corresponds the sample frame in the basket station, the detection status indicator lamp of this embodiment is integrated with detection indicator button 23 and is set up together, detect the status indicator lamp and can show the detection state that corresponds the sample frame in the basket station through different colours or different scintillation frequency, the detection state includes not beginning the test, is taking a sample, waits for the result, has accomplished the test etc..
As shown in fig. 1, an emergency treatment storage area 30 is provided in the sample rack storage area of the present embodiment, and the sample position 11 provided in the emergency treatment storage area 30 is an emergency treatment sample position 31. In some embodiments, the emergency sample locations 31 may be located directly on a table in the emergency storage area 30, and in other embodiments, emergency basket stations for placing emergency sample baskets 32 may be located in the emergency storage area 30, with the emergency sample locations 31 being located in the emergency sample baskets 32. Specifically, an emergency treatment basket station for placing an emergency treatment sample basket 32 is arranged in the emergency treatment storage area 30 of the embodiment, and the emergency treatment sample station 31 is arranged in the emergency treatment sample basket 32. In a preferred embodiment of the present invention, a fourth detection sensor 33 for detecting whether the sample rack 11 is stored in the emergency sample position 31 is disposed in the emergency storage area 30, and the fourth detection sensors 33 are disposed in one-to-one correspondence with the emergency sample position 31. In a preferred embodiment of the present embodiment, the emergency treatment storage area 30 further includes emergency treatment indication buttons 34, the emergency treatment indication buttons 34 are disposed in one-to-one correspondence with the emergency treatment sample positions 31, and when the fourth detection sensor 33 detects that the sample rack 11 is placed on the emergency treatment sample position 31, the emergency treatment indication button 34 is pressed, so that an emergency treatment detection instruction can be triggered, and the sample rack 11 placed on the emergency treatment sample position 31 can be detected. In a preferred embodiment of the present invention, the emergency storage area 30 further includes emergency status indicator lamps, which are disposed in one-to-one correspondence with the emergency sample positions 31 and are used for indicating the detection statuses of the sample racks 11 in the corresponding emergency sample positions 31. In this embodiment, the emergency status indicator light is integrated with the emergency start button 34, and the emergency status indicator light can display the detection status of the sample rack 11 in the corresponding emergency basket lifting station by different colors or different flashing frequencies, wherein the detection status includes that the test is not started, the sample is being sampled, the result is waited, the test is completed, and the like. Of course, in other embodiments, a separate emergency storage area 30 may not be provided. At this time, a specific basket station in the conventional storage area can be set as an emergency treatment station, and the sample position 12 arranged in the sample basket 20 placed in the basket station can be used as an emergency treatment sample position 31, so that the same technical effect as that of the emergency treatment storage area 30 can be achieved. Of course, in use, if there are insufficient emergency sample locations 31 in the emergency storage area 30, a particular basket station in the conventional storage area may be set as the emergency station to increase the number of emergency sample locations 31.
As shown in fig. 1, the sample rack storage area of the present embodiment is provided with an online channel area 35, and the sample position 12 in the online channel area 35 is an online sample position 37. In some embodiments, the in-line sample station 37 may be located directly on the table 10 in the in-line tunnel section, and in other embodiments, an in-line basket station for placing the in-line sample basket 36 may be located in the in-line tunnel section 35, with the in-line sample station 37 located in the in-line sample basket 38. The online channel area 35 is used for connecting the pipeline, transferring the sample on the pipeline to the sample analyzer for testing, and returning the tested sample to the pipeline. The on-line channel zone 35 has two directions of movement: the sample rack stop lever rotates to move in the R direction and the stop lever moves in the left-right X direction. The stop lever rotating R direction movement controls the stop lever to rotate away from or block the channel, the stop lever is driven by the stepping motor, and the stepping control position is appointed through the zero position sensor and the stepping motor movement; the stop lever moves in the left-right X direction and is driven by a stepping motor, and the movement distance is controlled by a left-right in-place sensor. When the sample rack 11 on the assembly line is ready to enter, the stop lever R rotates to the motor to enable the stop lever to leave the online channel, then the sample rack is pushed to the online sample position by the hook claw of the assembly line, the stop lever R rotationally stops the stop lever on the left side and the right side of the sample rack to the motor, the stop lever X moves to the right side of the motor to drive the sample rack to move to the right side of the rack transporting unit to be hooked, and the stop lever R drives the stop lever to rotate to leave the channel to the motor so that the rack transporting unit can hook the sample rack. And (4) the tested assembly line sample rack moves reversely according to the steps, and then the sample rack can be conveyed back to the assembly line.
In a preferred embodiment of the present embodiment, a general button 39 is further disposed in the sample rack storage area to realize one-key operation, which is more convenient, as shown in fig. 1. Specifically, after the main button 39 is pressed, the third detection sensor 22 is used to detect whether the sample basket 20 is stored in the corresponding basket station, if so, a detection instruction for the basket station is triggered, otherwise, the detection instruction for the basket station is not triggered. When the detection instruction of the corresponding basket-lifting station is triggered, the detection state indicator lamp in the detection indicator button 23 starts to indicate the detection state of the basket-lifting station. Specifically, when the emergency treatment storage area is arranged in the sample rack storage area, after the total start button is pressed, the fourth detection sensor 33 is used to detect whether the sample rack 11 is stored in the corresponding emergency treatment sample position, and if yes, an emergency treatment detection instruction for the emergency treatment sample position 31 is triggered; if not, the emergency detection instruction for the emergency sample bit 31 is not triggered. When the emergency detection command of the corresponding emergency sample position 31 is triggered, the emergency status indicator lamp in the emergency indication button 34 starts to indicate the detection status of the emergency sample position 31.
As shown in fig. 1, a rack carrying unit 14 is disposed in the rack carrying passage 13 of the present embodiment, and the rack carrying unit 14 can move along the rack carrying passage 13 to transfer the sample rack. Specifically, the rack transport unit 14 is used for transporting the sample rack 11 to be detected stored in the sample rack storage area to the sample rack transfer area, or transporting the sample rack 11 detected by the sample analyzer from the sample rack transfer area to the corresponding sample position 12. In a preferred embodiment of this embodiment, the sample rack transportation system further includes a detection unit for detecting whether there is an obstacle in the rack transportation passage. The detection unit includes an obstacle detection sensor 40 disposed in the work table 10 for detecting whether obstacles exist on both sides of the transportation path 13. Of course, the specimen rack transportation system of this embodiment further includes an alarm unit for giving an alarm and a determination unit for determining whether there is an obstacle. The alarm unit can send out sound and light alarm signals. The judging unit of the embodiment judges whether an obstacle exists in the rack transporting unit according to the detection data of the detecting unit. As shown in fig. 1. Before the driving rack conveying unit moves along the rack conveying channel, whether a barrier exists in the rack conveying channel 13 is judged: if yes, alarming; if not, the rack transporting unit 14 is driven to move along the rack transporting channel 13, so that the operation safety of the rack transporting unit 14 can be ensured, and collision and interference between the rack transporting unit and other structures can be avoided.
As shown in fig. 1, the specimen rack transfer area of the present embodiment is used for transporting the specimen rack 11 to be tested to the specimen analyzer and receiving the specimen rack 11 that has been tested by the specimen analyzer. The sample rack transfer area of this embodiment includes an interface unit and a rack dividing unit 15; the rack dividing unit 15 is used for conveying the sample rack 11 to be detected on the rack transporting unit 14 to the sample analyzer through the interface unit, or transferring the detected sample rack 11 input through the interface unit to the rack transporting unit 14. The direction adjusting mechanism for adjusting the direction of the sample rack to be detected is arranged on the sub-rack unit 15 in this embodiment, and the direction adjusting mechanism is used for driving the sample rack 11 to rotate 180 degrees so as to achieve the purpose of changing the direction, so the direction adjusting mechanism can be realized in various existing manners, for example, the upper part of the sub-rack unit 15 can be installed on a vertical rotating shaft, and the vertical rotating shaft is driven to rotate by a motor so as to change the direction of the upper part of the sub-rack unit 15; the direction of the walking wheels at the bottom of the sub-frame unit 15 can also be controlled to drive the sub-frame unit 15 to change the direction in an arc walking mode, and the description is not repeated. Of course, in other embodiments, the direction adjustment mechanism may be disposed on the working platform 10, i.e. on the working platform 10 of the sample rack transfer area, and the direction adjustment mechanism may use a mechanism similar to a turntable to drive the sub-rack unit 15 to rotate 180 ° integrally.
In a preferred embodiment of the present embodiment, a fifth detection sensor 41 for detecting whether the rack splitting unit 15 reaches the set position is provided in the sample rack transfer area, as shown in fig. 1. The rack dividing unit 15 realizes the sample rack transfer interaction between the set position and the rack transporting unit or the interface unit, so as to ensure that the sample rack transfer is smoothly realized between the rack dividing unit 15 and the rack transporting unit 14 and between the rack dividing unit 15 and the interface unit. In a preferred embodiment of this embodiment, a pushing unit 42 is further disposed in the sample rack transferring area, and the pushing unit 42 is configured to push the sample rack 11 placed on the rack splitting unit 15 to the interface unit or the rack transporting unit, or push the sample rack input by the interface unit to the rack splitting unit, so that a power mechanism for driving the sample rack 11 to move may not be disposed on the rack splitting unit 15, and the structure of the rack splitting unit 15 may be simplified.
Specifically, as shown in fig. 1, the sample rack storage area of the present embodiment is provided with a conventional storage area and an emergency storage area 30, and the interface unit is provided with an emergency sample channel 43, a conventional sample channel 44 and a return channel 45. The sample rack 11 in the emergency storage area 30 is output to external detection equipment through an emergency sample channel 43 and then recovered through a return channel 45; the sample rack 11 in the regular storage area is output to an external test device through a regular sample passage 44 and then recovered through a return passage 45.
As shown in fig. 2, the rack transport unit 14 of the present embodiment is provided with a direction detection mechanism for identifying the direction of the specimen rack 11 to be inspected. Specifically, the direction detection mechanism of the present embodiment includes a first detection sensor 16 for detecting the direction of the sample rack 11, and the first detection sensor 16 is used for identifying the direction indicator provided on the sample rack 11. In this embodiment, a barcode for indicating the direction of the sample rack 11 is respectively disposed on the sidewall of each sample rack 11, and the barcode is scanned by the first detection sensor 16 using a barcode scanner. The bar codes can be arranged on only one side of the sample rack 11, or can be arranged on two sides of the sample rack 11 respectively, and when the bar codes are arranged on the two sides of the sample rack 11 respectively, the bar codes on the two sides are different; the direction of the sample holder 11 can be obtained by scanning the code results of the two respective scanners. The rack transporting unit 14 of this embodiment is provided with a first sample rack placing position 17 for placing a sample rack, and the first detection sensors 16 are respectively arranged on two sides of the first sample rack placing position 17. Of course, in some other embodiments, the direction detection mechanism may be disposed on the rack splitting unit 15, and the rack splitting unit 15 is provided with a second sample rack placing position 18 for placing the sample rack, in which case, the first detection sensors 16 may also be disposed on two sides of the second sample rack placing position 18, respectively.
In a preferred embodiment of the present embodiment, the rack transporting unit 14 is provided with a first sample rack detecting sensor 46 for detecting whether the sample rack 11 is located on the first sample rack placing position 17, as shown in fig. 2. In the process of transferring the sample rack 11 on the sample position 12 to the rack transporting unit 14, the rack transporting unit 14 stops at the position corresponding to the sample position 12, and when the first sample rack detecting sensor detects that the sample rack 11 is in the first sample rack placing position 17, the rack transporting unit 14 is controlled to perform the next operation, so as to ensure that the sample rack 11 is transferred to the rack transporting unit 14. Similarly, in the process of transferring the sample rack 11 from the rack splitting unit 15 to the rack transporting unit 14, the rack transporting unit 14 stops at the set position, and when the first sample rack detecting sensor 16 detects that the sample rack 11 is in the first sample rack placing position 17, the rack transporting unit 14 can be controlled to perform the next action. Similarly, in a preferred embodiment of the present embodiment, a second sample rack detection sensor (not shown in the figure) for detecting whether the sample rack 11 in the second sample rack placement position 18 reaches the set position may be further provided on the rack splitting unit 15. In the process of transferring the sample rack 11 from the rack transporting unit 14 to the rack dividing unit 15 or transferring the sample rack 11 from the interface unit to the rack dividing unit 15, the rack dividing unit 15 can be controlled to perform the next action only after the second sample rack detecting sensor detects that the sample rack 11 is in the second sample rack placing position 18, so as to ensure that the sample rack 11 is transferred to the rack dividing unit 15.
In the preferred scheme of this embodiment, be equipped with on the fortune frame unit 14 and be used for detecting whether deposit the second detection sensor 21 of sample frame 11 on the sample position 12 in the sample basket 20, after receiving the detection instruction, fortune frame unit 14 moves to corresponding sample basket 20 position department, utilizes second detection sensor 21 to detect whether sample frame 11 has been placed on each sample position 12 in the sample basket 20 to the host computer is uploaded to the detection structure. After receiving the emergency detection instruction, the rack transporting unit 14 moves to the corresponding emergency sample position 31, detects whether the sample rack 11 is stored in the emergency sample position 31, and uploads the detection structure to the upper computer.
As shown in fig. 3, a basket locking mechanism 19 for locking the sample basket 20 at the basket position is provided in the sample rack storage area. The basket locking mechanism of the present embodiment comprises a catch 24 provided on the sample basket 20, a locking block 25 cooperating with the catch 24 and a basket locking control mechanism for driving the locking block 25 into the catch 24 to lock the sample basket 20 or out of the catch 24 to release the sample basket 20. The basket locking control mechanism may be implemented in various manners, in some embodiments, the basket locking control mechanism may include a rotational driving mechanism for driving the locking block 25 to rotate to enter or exit the slot 24, in other embodiments, the basket locking driving mechanism may include a linear driving mechanism for driving the locking block 25 to move linearly to enter or exit the slot 24, and the linear driving mechanism may also be implemented in various manners without being repeated. The basket locking control mechanism of the present embodiment employs a rotation drive mechanism, which may employ a rotation motor 26 and a motor bracket 27 for mounting the rotation motor 26. Preferably, the basket locking mechanism of the present embodiment further comprises a zero position detection sensor, wherein the zero position detection sensor comprises a detection optocoupler 28 and a light barrier 29 arranged on the locking block 25 and matched with the detection optocoupler 28, so as to accurately control the rotation position of the locking block 25.
As shown in fig. 4, the rack transport unit 14 is provided with a rack transport driving mechanism for driving the sample rack 11 into or out of the sample rack placing position 17. The rack transport driving mechanism of the embodiment includes a synchronous pulley 48, a synchronous belt (not shown) disposed on the synchronous pulley 48, and a driving motor 49 in transmission connection with one of the synchronous pulleys, and the driving motor 49 is used to drive the synchronous pulley 48 to rotate, so as to drive the synchronous belt to move, thereby driving the sample rack 11 to move relative to the rack transport unit 14, and driving the sample rack 47 to enter or leave the rack transport unit 14. It is specific, in order to realize the accurate positioning, be equipped with at least a set of opto-coupler sensor group who is used for fixing a position the hold-in range shift position in the fortune frame platform of this embodiment, opto-coupler sensor group includes two opto-coupler sensor, one of them opto-coupler sensor 50 is used for the location and is colluding the position of getting the hold-in range when getting the sample frame, another opto-coupler sensor 51 is used for fixing a position sample frame 11 and gets into the position of hold-in range when sample frame puts position 17, two opto-coupler sensor that belong to same a set of promptly are located fortune frame unit 14's both ends respectively, be equipped with on the hold-in range with opto-coupler sensor complex barn door. The opto-coupler sensor group of this embodiment, among two sets of opto-coupler sensors, is used for two opto-coupler sensors 50 of the position of location hold-in range when colluding the sample frame to be located respectively and transports the both ends of a unit 14, and like the same, is used for two opto-coupler sensors 51 of the position of hold-in range when sample frame 11 gets into sample frame and places position 17 also to be located respectively and transports the both ends of a unit 14. Of course, in other embodiments, only one set of opto-coupler sensors may be provided, such as when only one of the sides of the rack unit 14 is provided with a sample site.
A specific embodiment of the anti-collision sample rack transport method according to the present invention will be described in detail below with reference to the sample rack transport system.
In the rack transportation channel 13 of this embodiment, an obstacle detection sensor 40 is provided for detecting whether obstacles exist on both sides of the rack transportation channel. In the anti-collision sample rack transportation method of the embodiment, before the rack transporting unit 14 is driven to move along the rack transporting channel 13, the obstacle detection sensor 40 is used to determine whether an obstacle exists in the rack transporting channel 13: if yes, alarming is carried out, and the rack transporting unit 14 keeps a stop state; if not, the rack transport unit 14 is driven to move to a specified position along the rack transport passage. The anti-collision sample rack transportation method of the embodiment is characterized in that before the rack transportation unit is driven each time along the rack transportation channel, whether barriers exist in the rack transportation channel is detected and judged, and the rack transportation unit can be driven to move only when no barriers exist in the rack transportation channel, so that the rack transportation unit is prevented from colliding with other structures, and the operation safety performance is guaranteed.
Specifically, when the sample rack 11 to be detected is conveyed to the sample analyzer, before the rack conveying unit 14 is driven to move along the rack conveying channel 13, whether a barrier exists in the rack conveying channel 13 is judged: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, the rack transporting unit 14 is driven to move to the sample position 12 where the sample rack to be detected is stored along the rack transporting channel 13, and the sample rack to be detected placed on the sample position is transferred to the rack transporting unit by utilizing the rack transporting driving mechanism. In the transferring process, the first sample rack detecting sensor 46 indicates that the sample rack 11 is transferred after detecting that the rack transporting unit has a sample rack and obtaining a detection signal sent by the opto-coupler sensor 50 when the rack transporting driving mechanism reaches the first position, otherwise, the sample rack 11 is not transferred, the rack transporting unit 14 keeps a stop state, and when a set time threshold is reached, if the sample rack is not transferred, an alarm is given. After the sample frame is transferred, whether barriers exist in the frame conveying channel 13 is judged: if yes, alarming is carried out, and the rack transporting unit 14 keeps a stop state; if not, the rack carrying unit 14 is driven to move to the sample rack transfer area along the rack carrying channel 13, and the sample rack on the rack carrying unit 14 is transferred to the rack dividing unit 15. In the transferring process, the first sample rack detecting sensor 46 indicates that the sample rack is transferred after detecting that no sample rack 11 exists on the rack transporting unit 14 and obtaining a detection signal sent by the optical coupling sensor 51 when the rack transporting driving mechanism reaches the second position, otherwise, the sample rack is not transferred, the rack transporting unit keeps a stop state, and when a set time threshold is reached, if the sample rack is not transferred, an alarm is given. After the sample rack is transferred, the rack transporting unit resets or enters the next sample rack transporting work.
When the detected sample rack is recovered, before the rack conveying unit 14 is driven to move along the rack conveying channel 13, whether an obstacle exists in the rack conveying channel 13 is judged: if yes, alarming is carried out, and the rack transporting unit 14 keeps a stop state; if not, the rack conveying unit 14 is driven to move to the sample transfer area along the rack conveying channel 13, and the detected sample rack on the rack dividing unit 15 is transferred to the rack conveying unit 14. In the transferring process, the first sample rack detecting sensor 46 indicates that the sample rack 11 is transferred after detecting that the sample rack 11 is on the rack transporting unit 14 and obtaining a detection signal sent by the opto-coupler sensor 50 when the rack transporting driving mechanism reaches the first position, otherwise, the sample rack is not transferred, and the rack transporting unit keeps a stop state, and gives an alarm if the sample rack is not transferred yet after reaching a set time threshold. After the sample rack 11 is transferred, whether an obstacle exists in the rack conveying channel 13 is judged: if so, alarming, keeping the rack transporting unit 14 in a stop state, if not, driving the rack transporting unit 14 to move to the initial sample position of the detected sample rack 11 along the rack transporting channel 13, and then transferring the detected sample rack on the rack transporting unit 14 to the initial sample position; the initial sample position is the sample position stored when the sample rack is not detected. In the transferring process, the first sample rack detecting sensor 46 indicates that the sample rack 11 is transferred after detecting that no sample rack exists on the rack transferring unit 14 and obtaining a detection signal sent by the opto-coupler sensor 51 when the rack transferring driving mechanism reaches the second position, otherwise, the sample rack 11 is not transferred, the rack transferring unit keeps a stop state, and when a set time threshold is reached, if the sample rack is not transferred, an alarm is given. After the sample rack is transferred, the rack transporting unit resets or enters the next sample rack transporting work.
Specifically, the rack transporting unit is provided with a second detection sensor 21 for detecting whether a sample rack is stored in the sample position. When the third detection sensor 22 detects that the sample basket 20 is placed in the basket lifting station and receives a detection instruction, the basket locking mechanism locks the sample basket 20 in the basket lifting station; meanwhile, whether an obstacle exists in the carrying passage 13 is detected by using an obstacle detection sensor 40, and if so, an alarm is given; if not, driving the rack conveying unit 14 to move along the rack conveying channel 13; the rack transporting unit 14 moves to the basket lifting station along the rack transporting channel, the second detection sensor 21 is used for detecting whether the sample rack 11 is stored on the sample position in the sample basket or not, the positions of the sample position 12 where the sample rack is stored and the position where the sample rack is not stored are recorded, and the detection result is sent to the upper computer, so that the storage condition of the sample rack 11 of each sample position can be accurately recorded.
Further, when receiving the detection instruction, the rack transporting unit 14 is driven to sequentially transport the sample racks to be detected stored in the conventional storage area to the sample analyzer according to the set sequence. When receiving the emergency detection instruction, the rack transporting unit 14 is driven to transport the sample racks to be detected stored in the emergency storage area to the sample analyzer, and then transport the sample racks to be detected stored in the conventional storage area to the sample analyzer in sequence according to the set sequence.
The present embodiment also proposes a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the collision-proof sample rack transportation method as described above.
The present embodiment further provides an analyzer, which includes a sample rack transportation system, wherein a rack transportation channel 13 and a rack transportation unit 14 are disposed in the sample rack transportation system, and the rack transportation unit 14 moves along the rack transportation channel 13 according to the above-mentioned anti-collision sample rack transportation method of the present embodiment.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. An anti-collision sample rack transportation method is characterized in that: the anti-collision sample rack transportation method is applied to an anti-collision sample rack transportation system, and the anti-collision sample rack transportation system comprises:
a rack carrying channel;
a rack transport unit movable along the rack transport path to transfer the sample rack;
the detection unit is used for detecting whether an obstacle exists in the rack conveying channel;
the judging unit judges whether an obstacle exists in the rack transporting unit according to the detection data of the detecting unit;
the alarm unit is used for giving an alarm;
the anti-collision sample rack transportation method comprises the following steps: before the drive fortune frame unit removed along fortune frame passageway, whether judge fortune frame passageway has the barrier: if yes, alarming is carried out, and the rack transporting unit keeps a stop state; if not, the rack transporting unit is driven to move to the specified position along the rack transporting channel.
2. The crash-proof sample rack transport method according to claim 1, characterized in that: the anti-collision sample rack transportation system further comprises a rack dividing unit, wherein the rack dividing unit is used for conveying the sample rack to be detected on the rack conveying unit to a sample analyzer through the interface unit, or transferring the detected sample rack input through the interface unit to the rack conveying unit;
when will wait to detect sample frame and carry to sample analyzer, drive fortune frame unit along fortune before the removal of a passageway, judge whether have the barrier in the fortune frame passageway: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, driving the rack transporting unit to move to a sample position where a sample rack to be detected is stored along the rack transporting channel, and transferring the sample rack to be detected placed on the sample position to the rack transporting unit by utilizing the rack transporting driving mechanism; in the transferring process, after a sample rack is detected on the rack transporting unit and a detection signal that the rack transporting driving mechanism reaches a first position is obtained, the sample rack is indicated to be transferred, otherwise, the sample rack is not transferred, and the rack transporting unit is kept in a stop state; after the sample frame is transferred, whether barriers exist in the conveying frame channel is judged: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, driving the rack transporting unit to move to the sample rack transferring area along the rack transporting channel, and transferring the sample rack on the rack transporting unit to the rack dividing unit; in the transferring process, after detecting that no sample rack exists on the rack transporting unit and obtaining a detection signal that the rack transporting driving mechanism reaches the second position, indicating that the sample rack is transferred, otherwise, indicating that the sample rack is not transferred, and keeping the rack transporting unit in a stop state; after the sample rack is transferred, the rack transporting unit resets or enters the next sample rack transporting work.
3. The crash-proof sample rack transport method according to claim 1, characterized in that: the anti-collision sample rack transportation system further comprises a rack dividing unit, wherein the rack dividing unit is used for conveying the sample rack to be detected on the rack conveying unit to a sample analyzer through the interface unit or transferring the detected sample rack input through the interface unit to the rack conveying unit;
when retrieving the sample frame that has detected, drive fortune frame unit is along fortune before the removal of a passageway, judges whether have the barrier in the fortune frame passageway: if yes, alarming is carried out, and the rack transporting unit keeps a stop state; if not, driving the rack transporting unit to move to the sample transporting area along the rack transporting channel, and transferring the detected sample rack on the rack dividing unit to the rack transporting unit; in the transferring process, after a sample rack is detected on the rack transferring unit and a detection signal that the rack transferring driving mechanism reaches the first position is obtained, the sample rack transferring is indicated to be completed, otherwise, the sample rack is not transferred, and the rack transferring unit is kept in a stop state; after the sample frame is transferred, whether barriers exist in the conveying frame channel is judged: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, driving the rack transporting unit to move to the initial sample position of the detected sample rack along the rack transporting channel, and then transferring the detected sample rack on the rack transporting unit to the initial sample position; in the transferring process, after detecting that no sample rack exists on the rack transporting unit and obtaining a detection signal that the rack transporting driving mechanism reaches the second position, the sample rack transferring is completed, otherwise, the sample rack is not transferred, and the rack transporting unit keeps a stop state; after the sample rack is transferred, the rack transporting unit resets or enters the next sample rack transporting work.
4. The crash-proof sample rack transport method according to any one of claims 1-3, characterized in that: in the sample frame transferring process, when a set time threshold is reached, if the sample frame is not transferred completely, an alarm is given.
5. The crash-proof sample rack transport method according to any one of claims 1-3, characterized in that: the rack conveying unit is provided with a second detection sensor for detecting whether a sample rack is stored in the sample position or not; before the transport frame unit detects to the sample position to be detected, whether there is the barrier in the transport frame passageway is judged: if yes, alarming, and keeping the rack transporting unit in a stop state; if not, the rack conveying unit is driven to move to the sample position to be detected along the rack conveying channel, and whether the sample rack is placed in the sample position or not is detected by the second detection sensor.
6. The crash-proof sample rack transport method according to any one of claims 1-3, characterized in that: a first sample rack detection sensor for detecting whether a sample rack exists on the rack conveying unit is arranged on the rack conveying unit; when transferring the sample frame of placing on the sample position to fortune frame unit or when transferring the sample frame that divides on the frame unit to fortune frame unit, utilize first sample frame to detect whether there is the sample frame on the detection sensor fortune frame unit: if so, driving the rack transporting unit to move along the rack transporting channel; if not, alarming.
7. The crash-proof sample rack transport method according to any one of claims 1-3, characterized in that: the detection unit comprises an obstacle detection sensor for detecting whether obstacles exist on two sides of the transportation frame channel or not.
8. The crash-proof sample rack transport method according to any one of claims 1-3, characterized in that: when a detection instruction is received, the rack transporting unit is driven to sequentially transfer the sample racks to be detected stored in the conventional storage area according to the set sequence; when an emergency detection instruction is received, the rack transporting unit is driven to transfer the sample racks to be detected stored in the emergency storage area, and then the sample racks to be detected stored in the conventional storage area are sequentially transferred according to the set sequence.
9. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the collision-protected sample rack transport method according to any one of claims 1 to 8.
10. An analyzer, characterized by: comprising a sample rack transport system, wherein a rack transport path and a rack transport unit are arranged in the sample rack transport system, and the rack transport unit moves along the rack transport path according to the anti-collision sample rack transport method of any one of claims 1-8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210924448.7A CN115166275A (en) | 2022-08-01 | 2022-08-01 | Anti-collision sample rack transportation method, computer-readable storage medium and analyzer |
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| CN202210924448.7A CN115166275A (en) | 2022-08-01 | 2022-08-01 | Anti-collision sample rack transportation method, computer-readable storage medium and analyzer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117074708A (en) * | 2023-10-12 | 2023-11-17 | 深圳市帝迈生物技术有限公司 | Sample detection device and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117074708A (en) * | 2023-10-12 | 2023-11-17 | 深圳市帝迈生物技术有限公司 | Sample detection device and control method thereof |
| CN117074708B (en) * | 2023-10-12 | 2024-03-22 | 深圳市帝迈生物技术有限公司 | Sample detection device and control method thereof |
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