CN116281799A - Automatic cover opening and closing sample adding equipment and sample adding method thereof - Google Patents
Automatic cover opening and closing sample adding equipment and sample adding method thereof Download PDFInfo
- Publication number
- CN116281799A CN116281799A CN202310259129.3A CN202310259129A CN116281799A CN 116281799 A CN116281799 A CN 116281799A CN 202310259129 A CN202310259129 A CN 202310259129A CN 116281799 A CN116281799 A CN 116281799A
- Authority
- CN
- China
- Prior art keywords
- sample
- tube
- sample tube
- clamping jaw
- manipulator
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005070 sampling Methods 0.000 claims abstract description 46
- 238000012546 transfer Methods 0.000 claims abstract description 39
- 239000010902 straw Substances 0.000 claims abstract description 23
- 239000007788 liquid Substances 0.000 claims description 33
- 238000011068 loading method Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 21
- 239000003153 chemical reaction reagent Substances 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 8
- 239000000969 carrier Substances 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 3
- 238000012840 feeding operation Methods 0.000 claims description 3
- NNJVILVZKWQKPM-UHFFFAOYSA-N Lidocaine Chemical compound CCN(CC)CC(=O)NC1=C(C)C=CC=C1C NNJVILVZKWQKPM-UHFFFAOYSA-N 0.000 claims 1
- 239000003292 glue Substances 0.000 claims 1
- 229940025586 lidopen Drugs 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 6
- 208000015181 infectious disease Diseases 0.000 abstract description 5
- 201000010099 disease Diseases 0.000 abstract description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 abstract description 3
- 238000000926 separation method Methods 0.000 description 8
- 238000012864 cross contamination Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 238000010790 dilution Methods 0.000 description 2
- 239000012895 dilution Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000002458 infectious effect Effects 0.000 description 1
- 238000009533 lab test Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
-
- 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
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/14—Hand- or power-operated devices for opening closed containers for removing tightly-fitting lids or covers, e.g. of shoe-polish tins, by gripping and rotating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The utility model relates to an automatic uncapping closes lid application of sample equipment and application of sample method thereof, equipment includes sealed housing and sets up workstation, rotary disk, sample pipe transfer manipulator, sample pipe transfer line, spiral cover device and the sampling manipulator in sealed housing, still includes sample pipe carrier, dividing board, straw rack and straw and breaks away from the frame, the rotary disk sets up on the workstation for place sample pipe carrier, and drive sample pipe carrier rotation, be equipped with a plurality of sample pipe holding tanks that are annular arrangement on the sample pipe carrier. The automatic cover opening device has the advantages that the automatic operation is adopted, automatic cover opening can be carried out on the sample tube, sample distribution is carried out automatically, and actions such as automatic cover closing and recovery are carried out, so that laboratory inspection efficiency is effectively improved, manual operation links of personnel are reduced, disease infection risk is reduced, and personnel safety is guaranteed.
Description
Technical Field
The application relates to the technical field of medical instrument inspection equipment, in particular to automatic cover opening and closing sample adding equipment and a sample adding method thereof.
Background
In the medical detection field, especially when facing the sample detection with infectious risk, in order to ensure the safety of detection personnel, the operation needs full-assistance and armed, the operation steps generally comprise manually unscrewing the tube cover of the sample tube, sucking the sample of the sample tube by a disposable suction tube, then distributing the sample to a sample distributing plate, distributing various detection reagents to the sample distributing plate, manually screwing the tube cover of the sample tube, and the operation steps need a lot of manual operation.
Disclosure of Invention
The invention provides automatic cover opening and closing sample adding equipment and a sample adding method thereof, which aim to solve the technical problems that the existing medical detection needs more links of manual operation, the labor intensity of detection personnel is high and the detection efficiency is low.
On the one hand, the automatic cover opening, closing and sample adding equipment provided by the application adopts the following technical scheme: the automatic cover opening and closing sample adding equipment comprises a sealed shell, a workbench, a rotating disc, a sample tube transferring manipulator, a sample tube conveying line, a cover screwing device, a sample tube carrier, a sample dividing plate, a suction tube carrier and a suction tube separating frame, wherein the workbench, the rotating disc, the sample tube transferring manipulator, the sample tube conveying line, the cover screwing device and the sample adding manipulator are arranged in the sealed shell; the sample tube transfer manipulator is used for transferring the sample tube from the sample tube carrier to the sample tube conveying line and transferring the sample tube from the sample tube conveying line back to the sample tube carrier; the sample tube conveying line is used for conveying the sample tube to the position of the spiral cover device and below the sampling manipulator; the screwing device is used for unscrewing or screwing the tube cover of the sample tube; the sampling manipulator is used for clamping the suction pipe on the suction pipe placing frame, the suction pipe is used for sucking liquid in the sample pipe and adding the sucked liquid into the sample plate, and the sampling manipulator is also used for moving the suction pipe to the suction pipe separating frame to separate the suction pipe from the sampling manipulator.
Through adopting above-mentioned technical scheme, the rotary disk drives the sample pipe carrier and rotates, can automatic graduation operation, guarantee that the feed is timely, be equipped with a plurality of sample pipe holding tanks that are annular arrangement on the sample pipe carrier, rotate the sample pipe to sample pipe transfer manipulator through rotatory mode, sample pipe transfer manipulator only need have Y axle and Z epaxial ascending mobility just can, need not design X axle just can easily realize snatching of every sample pipe, practice thrift the cost, the design mode simple structure of rotary disk, the fault rate is low. The cap screwing device can automatically uncover and close the cap of the sample tube, the sampling manipulator can automatically clamp the suction tube, the suction tube sucks liquid in the sample tube and distributes the liquid to the sample separation plate, and then the suction tube is separated from the sampling manipulator by the suction tube separation frame, so that the phenomenon that the cross contamination of samples is caused by repeated use of the suction tube and the detection result is influenced is avoided. The automatic cover opening device has the advantages that the automatic operation is adopted, automatic cover opening can be carried out on the sample tube, sample distribution is carried out automatically, and actions such as automatic cover closing and recovery are carried out, so that laboratory inspection efficiency is effectively improved, manual operation links of personnel are reduced, disease infection risk is reduced, and personnel safety is guaranteed.
Preferably, the cap screwing device comprises a lifting module, a rotating module, a cap clamping jaw and a tube body clamping jaw, wherein the rotating module is arranged on the lifting module, the cap clamping jaw is arranged on the rotating module, the tube body clamping jaw is arranged on the workbench, the tube body clamping jaw is used for clamping a tube body, the cap clamping jaw is used for clamping a tube cap, the rotating module is used for driving the cap clamping jaw to rotate so as to unscrew or screw the tube cap, and the lifting module is used for driving the rotating module and the cap clamping jaw to lift.
Through adopting above-mentioned technical scheme, sample pipe transfer chain rotates sample pipe to spiral cover device department, and pipe shaft clamping jaw work presss from both sides tight pipe shaft, and lifting module drives rotary module and pipe cover clamping jaw decline, then pipe cover clamping jaw work presss from both sides tight pipe cover, and rotary module drives pipe cover clamping jaw and begins the rotatory uncapping, because at the in-process of spiral cover, the pipe cover can rise under the effect of screw thread, so lifting module need drive rotary module and pipe cover clamping jaw synchronous rising.
Preferably, the clamping jaw of the pipe body comprises a first clamping jaw, a second clamping jaw, a mounting seat, a reset torsion spring, a rotating motor, a first connecting rod, a second connecting rod and a rotating shaft which are opposite, wherein the first clamping jaw and the second clamping jaw are arranged on the mounting seat in a rotary opposite clamping mode, the reset torsion spring is used for enabling the first clamping jaw and the second clamping jaw to elastically open, one end of the first connecting rod is fixedly arranged on a motor shaft of the rotating motor, the other end of the first connecting rod is hinged to one end of the second connecting rod, the second connecting rod is L-shaped and is rotatably arranged on the rotating shaft, bearings are arranged at the other end of the second connecting rod and the middle bending part of the second connecting rod, the rotating motor is used for driving the first connecting rod to rotate, the first connecting rod drives the second connecting rod to rotate around the rotating shaft, and the bearings are used for pushing the lower ends of the first clamping jaw and the second clamping jaw to enable the first clamping jaw and the second clamping jaw to clamp the pipe body of a sample pipe.
By adopting the technical scheme, the structure is sensitive in response, particularly high in clamping force and easy to control. The second link may extend outwardly a distance and then mount the rotating electrical machine a little further away, making it easier to spatially arrange.
Preferably, two groups of opposite soft rubber are arranged on the first clamping jaw and the second clamping jaw and are used for clamping the tube bodies of two sample tubes at the same time.
By adopting the technical scheme, the tube bodies of the two sample tubes can be clamped simultaneously, so that the two sample tubes can be opened and closed simultaneously.
Preferably, a bar code scanner is further arranged below the cap screwing device and used for scanning bar codes on the sample tube, and the rotating module is further used for enabling the sample tube to rotate for one circle during bar code scanning.
By adopting the technical scheme, the bar code information on the sample tube can be acquired through the bar code scanner, and the information of the sample tube is automatically associated with the position of the sample. The rotating module can drive the sample tube to rotate for a circle during code scanning, so that no matter which angle the bar code on the sample tube is, the bar code can be read, no manual special placement is needed, any placement can be easily identified, and the efficiency of placing the sample tube to the sample tube carrier is improved.
Preferably, the workbench is further provided with a reagent tube bracket, and the sampling manipulator is further used for driving the suction tube to suck the liquid in the reagent tube and adding the sucked liquid into the sample plate.
By adopting the technical scheme, the corresponding reagent can be distributed to the sample plate, the reagent for detection or the reagent for dilution, and the like.
Preferably, the automatic cover opening and closing sample adding device further comprises a detection camera, wherein the detection camera is arranged below the sample adding mechanical hand and used for monitoring whether the cover of the sample tube is successful or not and monitoring whether the liquid amount sucked by the suction tube reaches the standard or not.
By adopting the technical scheme, the detection camera has a real-time monitoring function, effectively recognizes whether the cover of the sample tube is successful, and if not, makes the sample tube return to the cover rotating device to retry the cover opening until the cover can be correctly opened. The detection camera can also monitor the sampling condition of the sample in real time, and can continuously operate after marking the corresponding hole site for the sample which fails or is insufficient, so that abnormal continuous shutdown can be realized.
Preferably, a U-shaped groove is formed in the straw separating frame, the sampling manipulator drives the straw to enter the U-shaped groove and lift the straw, and the straw is pushed to fall off the sampling manipulator by using the side wall of the U-shaped groove.
Through adopting above-mentioned technical scheme, utilize the lateral wall in U type groove to push away from the sampling manipulator with the straw fall, can avoid the cross contamination of sample well.
Preferably, the automatic cover opening and closing sample adding device comprises two rotating discs for bearing two sample tube carriers; the two groups of sample tube transfer manipulators are respectively used for grabbing sample tubes on the two sample tube carriers; two groups of sample tube conveying lines, each sample tube conveying line simultaneously conveying two sample tubes; four sets of cap screwing devices are used for alternately opening the caps of the four sample tubes; and two groups of sampling manipulators, wherein each group of sampling manipulators simultaneously carries out feeding operation on two sample tubes.
Through adopting above-mentioned technical scheme, this application can realize two tub synchronous application of sample processing, and four tub work of uncapping in turn can improve uncapping and close lid and application of sample efficiency by a wide margin.
On the other hand, another technical scheme provided by the application is as follows: a sample loading method of the automatic cover opening and closing sample loading device, comprising the following steps:
placing a sample tube carrier containing a sample tube on a rotating disk;
grabbing a sample tube on a sample tube carrier by using a sample tube transfer manipulator, and transferring the sample tube to a sample tube conveying line;
the sample tube conveying line conveys the sample tube to the screw cap device;
the cap screwing device performs cap opening treatment on the sample tube;
the sample tube conveying line continues to convey the sample tube to the position below the sampling hand;
the sampling manipulator moves to the upper part of the suction pipe placing frame, grips the suction pipe, transfers the suction pipe to the sample pipe, sucks the liquid in the sample pipe, transfers the suction pipe to the upper part of the sample separating plate, and distributes the sucked liquid to the sample separating plate;
the suction pipe is transported to a suction pipe separating frame by the sampling manipulator, and separated from the sampling manipulator by the suction pipe separating frame;
the sample tube conveying line conveys the sample tube to the lower part of the cap screwing device;
the pipe cover is screwed on the pipe body of the sample pipe by the cover screwing device;
the sample tube conveying line moves the sample tube to an initial position;
the sample tube transfer robot transfers the sample tube onto the sample tube carrier.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the rotary disk drives the sample tube carrier to rotate, so that the automatic indexing operation can be realized, the timely feeding is ensured, the design mode of the rotary disk is simple in structure, and the failure rate is low;
2. the provided cap screwing device can automatically open and close the cap of the sample tube, the sampling manipulator can automatically clamp the suction tube, the suction tube sucks the liquid in the sample tube and distributes the liquid to the sample separation plate, and then the suction tube is separated from the sampling manipulator by the suction tube separation frame, so that the cross contamination of the sample caused by repeated use of the suction tube is avoided, and the detection result is influenced;
3. the automatic cover opening device has the advantages that the automatic operation is adopted, automatic cover opening can be carried out on the sample tube, sample distribution is carried out automatically, and actions such as automatic cover closing and recovery are carried out, so that laboratory inspection efficiency is effectively improved, manual operation links of personnel are reduced, disease infection risk is reduced, and personnel safety is guaranteed.
Drawings
Fig. 1 is a perspective view of an automatic lid opening and closing sample loading apparatus according to an embodiment of the present application;
FIG. 2 is a perspective view of an embodiment of an automatic lid opening and closing sample loading apparatus according to the present disclosure;
FIG. 3 is a schematic diagram showing the internal structure of an automatic lid opening/closing sample loading apparatus according to an embodiment of the present application;
FIG. 4 is a schematic view of an internal part of the automatic lid opening and closing sample loading apparatus according to another embodiment of the present application;
FIG. 5 is a schematic diagram showing the matching state of the sample tube carrier and the rotating disk according to the embodiment of the present application;
FIG. 6 is a schematic diagram showing an exploded view of a sample tube carrier and a rotating disk according to an embodiment of the present application;
FIG. 7 is a front view of a sample tube transfer robot according to an embodiment of the present application;
FIG. 8 is a perspective view of a sample tube transfer robot according to an embodiment of the present application;
FIG. 9 is a perspective view of a sample tube transfer line according to an embodiment of the present application;
FIG. 10 is a perspective view of a capping device according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram illustrating the mating relationship of the lifting module, the rotating module and the pipe cover clamping jaw according to an embodiment of the present disclosure;
FIG. 12 is a schematic view showing the fitting relationship of the lifting module, the rotating module and the pipe cover clamping jaw at another angle according to the embodiment of the present application;
FIG. 13 is a top view of a pipe clamping jaw according to an embodiment of the present application;
FIG. 14 illustrates a front view of a pipe clamping jaw according to an embodiment of the present application;
FIG. 15 is a perspective view of a pipe clamping jaw according to an embodiment of the present application;
FIG. 16 is a perspective view of a pipe clamping jaw according to an embodiment of the present application at another angle;
FIG. 17 is a perspective view of a sample manipulator according to an embodiment of the present application;
FIG. 18 is a perspective view of another angle of a sample manipulator according to an embodiment of the present application;
figure 19 illustrates a perspective view of a pipette tip rack according to an embodiment of the present application.
Reference numerals illustrate: 1. a work table; 2. a rotating disc; 3. a sample tube transfer manipulator; 4. a sample tube transfer line; 5. a cap screwing device; 51. a lifting module; 52. a rotation module; 53. tube cap clamping jaw; 54. a pipe body clamping jaw; 541. a first jaw; 542. a second jaw; 543. a mounting base; 544. a rotating electric machine; 545. a first link; 546. a second link; 547. a rotation shaft; 548. a bearing; 549. sandwiching a soft rubber; 6. sampling a mechanical hand; 7. a sample tube carrier; 71. a sample tube accommodation groove; 8. a sample plate; 9. a straw placing rack; 10. the suction pipe is separated from the rack; 101. a U-shaped groove; 11. a bar code scanner; 12. a reagent tube holder; 13. detecting a camera; 200. a sample tube; 201. a tube cover; 202. a pipe body; 210. a suction pipe.
Detailed Description
The present application is described in further detail below in conjunction with fig. 1-19.
Referring to fig. 1 to 4, the embodiment of the application discloses an automatic cover opening and closing sample loading device, which comprises a sealed shell (not shown in the figure), a workbench 1, a rotating disc 2, a sample tube transferring manipulator 3, a sample tube conveying line 4, a cover screwing device 5 and a sample tube adding manipulator 6 which are arranged in the sealed shell, and further comprises a sample tube carrier 7, a sample plate 8, a straw carrier 9 and a straw separating frame 10, wherein the rotating disc 2 is arranged on the workbench 1 and is used for placing the sample tube carrier 7 and driving the sample tube carrier 7 to rotate, and a plurality of sample tube accommodating grooves 71 which are annularly arranged are formed in the sample tube carrier 7; the sample tube transfer manipulator 3 is used for transferring a sample tube from the sample tube carrier 7 to the sample tube conveying line 4 and transferring the sample tube from the sample tube conveying line 4 back to the sample tube carrier 7; the sample tube conveying line 4 is used for conveying the sample tube to the position of the cap screwing device 5 and below the sampling manipulator 6; the cap screwing device 5 is used for unscrewing or screwing a cap 201 of the sample tube 200; the sampling manipulator 6 is used for clamping the pipette 210 on the pipette rack 9, the pipette 210 is used for sucking the liquid in the sample tube 200 and adding the sucked liquid into the sample plate 8, and the sampling manipulator 6 is also used for moving the pipette 210 to the pipette separation rack 10 so as to separate the pipette from the sampling manipulator 6.
Referring to fig. 10 to 16, the cap screwing device 5 includes a lifting module 51, a rotating module 52, a cap clamping jaw 53 and a tube body clamping jaw 54, the rotating module 52 is disposed on the lifting module 51, the cap clamping jaw 53 is disposed on the rotating module 52, the tube body clamping jaw 54 is disposed on the workbench 1, the tube body clamping jaw 54 is used for clamping a tube body 202, the cap clamping jaw 53 is used for clamping a tube cap 201, the rotating module 52 is used for driving the cap clamping jaw 53 to rotate so as to unscrew or screw the tube cap 201, and the lifting module 51 is used for driving the rotating module 52 and the cap clamping jaw 53 to lift.
When uncapping, sample pipe transfer chain 4 rotates sample pipe 200 to spiral cover device 5 department, and pipe shaft clamping jaw 54 work presss from both sides tight pipe shaft 202, and lifting module 51 drives rotary module 52 and pipe cover clamping jaw 53 and descends, then pipe cover clamping jaw 53 work presss from both sides tight pipe cover 201, and rotary module 52 drives pipe cover clamping jaw 53 and begins to rotate the uncapping, because in the in-process of spiral cover, pipe cover 201 can rise under the effect of screw thread, so lifting module 51 needs to drive rotary module 52 and pipe cover clamping jaw 53 synchronous rising.
Referring to fig. 13 to 16, the pipe body clamping jaw 54 includes a first clamping jaw 541 and a second clamping jaw 542 which are opposite, a mounting seat 543, a reset torsion spring (not shown in the drawings), a rotating motor 544, a first connecting rod 545, a second connecting rod 546 and a rotating shaft 547, wherein the first clamping jaw 541 and the second clamping jaw 542 are all arranged on the mounting seat 543 in a rotationally opposite manner, the reset torsion spring is used for elastically expanding the first clamping jaw 541 and the second clamping jaw 542, one end of the first connecting rod 545 is fixedly arranged on a motor shaft of the rotating motor 544, the other end of the first connecting rod 545 is hinged with one end of the second connecting rod 546, the second connecting rod 546 is L-shaped and is rotationally arranged on the rotating shaft 547, bearings 548 are respectively arranged at the other end of the second connecting rod 546 and the middle bending part, the rotating motor 544 is used for driving the first connecting rod 545 to rotate around the rotating shaft 547, and the bearings 548 are used for pushing the lower ends of the first clamping jaw 541 and the second clamping jaw 542 to enable the first clamping jaw 541 and the second clamping jaw 542 to clamp the pipe body 202.
Similar to the cam mechanism, the rotating motor 544 drives the second connecting rod 546 to rotate through the first connecting rod 545, the bearing 548 on the second connecting rod 546 presses the lower ends of the first clamping jaw 541 and the second clamping jaw 542, so that the first clamping jaw 541 and the second clamping jaw 542 are clamped, when the rotating motor 544 moves reversely, the bearing 548 on the second connecting rod 546 releases the lower ends of the first clamping jaw 541 and the second clamping jaw 542, and under the action of the reset torsion spring, the first clamping jaw 541 and the second clamping jaw 542 are restored to be original, and the pipe cover 201 is loosened. This structure is sensitive, particularly with high clamping force, and is easy to control. The second link 546 has an L-shape, which is a bend, but is not limited to a right angle bend, and the second link 546 may extend outward a distance, and then the rotating motor 544 may be installed at a slightly remote place, so that it is easier to spatially arrange the same. In addition, the first clamping jaw 541 and the second clamping jaw 542 are widened in the width direction, so that two groups of opposite soft adhesives 549 are arranged on the first clamping jaw 541 and the second clamping jaw 542, and the tube bodies 202 of the two sample tubes 200 can be clamped at the same time, so that two-tube simultaneous opening and closing can be realized.
Referring to fig. 1, a barcode scanner 11 is further disposed below the cap screwing device 5, and is used for scanning barcodes on the sample tube 200, and the rotation module 52 is further used for rotating the sample tube 200 for one turn during barcode scanning. The bar code scanner 11 can acquire bar code information on the sample tube 200, and automatically correlate the information of the sample tube 200 with the sample position. Because the rotating module 52 can drive the sample tube 200 to rotate for a circle during code scanning, no matter at which angle the bar code on the sample tube 200 is, the bar code can be read, no manual special placement is needed, any placement can be easily identified, and the efficiency of placing the sample tube 200 to the sample tube carrier 7 is improved.
Referring to fig. 17 and 18, the workbench 1 is further provided with a reagent tube support 12, and the sampling manipulator 6 is further configured to drive the pipette 210 to aspirate the liquid in the reagent tube, and to add the aspirated liquid to the sample plate 8. Typically, pipette 210 is used to aspirate the liquid in the reagent vessel first, because pipette 210 is new so that it does not contaminate the liquid in the reagent vessel, and pipette 210 is used to aspirate the liquid in the sample vessel and place it in the same test well of sample separation plate 8. The liquid in the reagent tube may be a reagent for detection or a reagent for dilution.
Referring to fig. 19, in order to avoid cross contamination of the samples, each pipette 210 can only aspirate one sample in the sample tube 200, and after aspiration and dispensing are completed, it is necessary to replace the pipette 210 with a new one, and thus, it is necessary to provide a device for automatically detaching the pipette 210. The utility model discloses a be equipped with U type groove 101 on the straw breaking away from frame 10, the sampling manipulator 6 drives straw 210 and gets into U type groove 101 to promote, utilize the lateral wall in U type groove 101 to push away from the straw 210 and break away from sampling manipulator 6, can avoid the cross contamination of sample well.
Referring to fig. 18, the automatic cap opening and closing sample loading device further includes a detection camera 13, where the detection camera 13 is disposed below the sample loading hand 6, and is used for monitoring whether the sample tube 200 is successfully opened and for monitoring whether the amount of the liquid sucked by the suction tube 210 reaches the standard. The detecting camera 13 has a real-time monitoring function, effectively recognizes whether the cover of the sample tube is successful, and if not, returns the sample tube 200 to the position of the cover screwing device 5 to retry the cover opening until the cover can be correctly opened. The detection camera 13 can also monitor the sampling condition of the sample in real time, and can continuously operate after marking the corresponding hole site for the sample which fails or is insufficient in sampling, so that abnormal continuous shutdown can be realized.
Referring to fig. 1 to 4, the automatic lid opening and closing sample loading device comprises two rotating disks 2 for carrying two sample tube carriers 7; two groups of sample tube transfer manipulators 3 respectively used for grabbing sample tubes 200 on two sample tube carriers 7; two groups of sample tube transfer lines 4, each sample tube transfer line 4 simultaneously transferring two sample tubes 200; four sets of cap screwing devices 5 for alternately opening the caps of the four sample tubes; two groups of sampling manipulators 6, each group of sampling manipulators 6 simultaneously perform a feeding operation on two sample tubes 200. The application can realize synchronous sample adding of two pipes and process, and four pipes work of uncapping in turn, can improve uncapping and closing lid and sample adding efficiency by a wide margin.
The application discloses a sample adding method of automatic cover opening and closing sample adding equipment, which comprises the following steps:
placing a sample tube carrier 7 containing a sample tube on the rotating disc 2;
the sample tube 200 on the sample tube carrier 7 is grabbed by the sample tube transfer manipulator 3 and transferred to the sample tube conveying line 4;
the sample tube conveying line 4 conveys the sample tube to the position of the cap screwing device 5;
scanning the bar code on the sample tube 200 with the bar code scanner 11;
the cap screwing device 5 performs cap opening treatment on the sample tube 200;
the sample tube conveying line 4 continues to convey the sample tube 200 to the position below the sampling hand 6;
the sampling manipulator 6 moves to the upper part of the suction pipe placing frame 9, grips the suction pipe 210, moves to the position of the reagent pipe bracket 12, sucks liquid in the reagent pipe, transfers the suction pipe to the upper part of the sample dividing plate 8, and distributes the sucked liquid to the sample dividing plate 8;
the sampling manipulator 6 transfers the suction tube 210 to the sample tube, the suction tube 210 sucks the liquid in the sample tube, then transfers the suction tube to the upper part of the sample dividing plate 8, and the suction tube 210 distributes the sucked liquid to the sample dividing plate 8;
the sampling manipulator 6 transfers the suction pipe to the suction pipe separating frame 10, and the suction pipe separating frame 10 is utilized to separate the suction pipe from the sampling manipulator 6;
the sample tube conveying line 4 conveys the sample tube to the lower part of the spiral cover device 5;
the cap screwing device 5 screws the cap onto the tube body 202 of the sample tube 200;
sample tube transfer line 4 moves sample tube 200 to the initial position;
the sample tube transfer robot 3 transfers the sample tube 200 onto the sample tube carrier 7.
The implementation principle of the application is as follows: the rotary disk 2 drives the sample tube carrier 7 to rotate, can automatically index and run, and guarantee that the feeding is timely, be equipped with a plurality of sample tube holding grooves 71 that are annular arrangement on the sample tube carrier 7, rotate the sample tube to sample tube transfer manipulator 3 through rotatory mode, sample tube transfer manipulator 3 only need have Y axle and Z epaxial two ascending travelling capacity just can, need not design X axle just can easily realize snatching of every sample tube, practice thrift the cost, rotary disk 2's design simple structure, the fault rate is low. The provided cap screwing device 5 can automatically open and close the cap of the sample tube 200, the sampling manipulator 6 can automatically clamp the suction tube, the suction tube sucks the liquid in the sample tube and then distributes the liquid on the sample separation plate 8, and then the suction tube separation frame 10 is utilized to separate the suction tube from the sampling manipulator 6, so that the phenomenon that the cross contamination of the sample is caused by repeated use of the suction tube is avoided, and the detection result is influenced.
This application adopts automatic operation, can carry out bar code automatic identification to sample tube 200, automatic uncapping, automatic sample distribution, reagent distribution to and automatic closing actions such as retrieving, handle and processing around carrying out sample analysis, effectively promote laboratory test efficiency, reduce personnel's manual operation link, automatic uncapping closes lid application of sample equipment and includes sealed housing, and all actions are all accomplished in sealed housing, and sample tube 200 realizes closing lid and advances to close and cover out, reduces disease infection risk, ensures personnel's safety.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (10)
1. The automatic cover opening and closing sample adding equipment is characterized by comprising a sealed shell, a workbench (1), a rotating disc (2), a sample tube transferring manipulator (3), a sample tube conveying line (4), a cover screwing device (5) and a sample adding manipulator (6) which are arranged in the sealed shell, and further comprises a sample tube carrier (7), a sample dividing plate (8), a straw placing rack (9) and a straw separating rack (10), wherein the rotating disc (2) is arranged on the workbench (1) and is used for placing the sample tube carrier (7) and driving the sample tube carrier (7) to rotate, and a plurality of sample tube containing grooves (71) which are annularly arranged are formed in the sample tube carrier (7); the sample tube transfer manipulator (3) is used for transferring a sample tube from the sample tube carrier (7) to the sample tube conveying line (4) and transferring the sample tube from the sample tube conveying line (4) back to the sample tube carrier (7); the sample tube conveying line (4) is used for conveying the sample tube to the screw cap device (5) and below the sampling manipulator (6); the cap screwing device (5) is used for unscrewing or screwing a tube cap of the sample tube; the sampling manipulator (6) is used for clamping the suction pipe on the suction pipe placing frame (9), the suction pipe is used for sucking liquid in the sample pipe and adding the sucked liquid into the sample plate (8), and the sampling manipulator (6) is also used for moving the suction pipe to the position of the suction pipe separating frame (10) so as to separate the suction pipe from the sampling manipulator (6).
2. The automatic lid opening and closing sample loading device according to claim 1, wherein the lid screwing device (5) comprises a lifting module (51), a rotating module (52), a tube lid clamping jaw (53) and a tube lid clamping jaw (54), the rotating module (52) is arranged on the lifting module (51), the tube lid clamping jaw (53) is arranged on the rotating module (52), the tube lid clamping jaw (54) is arranged on the workbench (1), the tube lid clamping jaw (54) is used for clamping a tube body, the tube lid clamping jaw (53) is used for clamping a tube lid, the rotating module (52) is used for driving the tube lid clamping jaw (53) to rotate so as to unscrew or screw the tube lid, and the lifting module (51) is used for driving the rotating module (52) and the tube lid clamping jaw (53) to lift.
3. An automatic lid opening and closing sample loading device according to claim 2, wherein the tube body clamping jaw (54) comprises a first clamping jaw (541) and a second clamping jaw (542) which are opposite, a mounting seat (543), a reset torsion spring, a rotating motor (544), a first connecting rod (545), a second connecting rod (546) and a rotating shaft (547), the first clamping jaw (541) and the second clamping jaw (542) are arranged on the mounting seat (543) in a rotary butt clamping manner, the reset torsion spring is used for enabling the first clamping jaw (541) and the second clamping jaw (542) to be elastically opened, one end of the first connecting rod (545) is fixedly arranged on a motor shaft of the rotating motor (544), the other end of the first connecting rod (545) is hinged with one end of the second connecting rod (546), the second connecting rod (546) is in an L shape, the other end of the second connecting rod (546) and the middle bending portion are respectively provided with a bearing (548), the rotating motor (545) is used for driving the first connecting rod (545) to rotate, the first connecting rod (545) drives the second connecting rod (546) to rotate around the rotating shaft (548) and the bearing (548) is used for clamping the first clamping jaw (541) and the second clamping jaw (542).
4. An automatic lid opening and closing sample loading apparatus according to claim 3, wherein two sets of soft opposing glue (549) are provided on the first clamping jaw (541) and the second clamping jaw (542) for simultaneously clamping the tube bodies of two sample tubes.
5. The automatic cover opening and closing sample loading device according to claim 2, wherein a bar code scanner (11) is further arranged below the cover rotating device (5) and is used for scanning bar codes on the sample tube, and the rotating module (52) is further used for rotating the sample tube for one circle during code scanning.
6. The automatic cover opening and closing sample adding device according to claim 1, wherein the workbench (1) is further provided with a reagent tube support (12), and the sample adding manipulator (6) is further used for driving the suction tube to suck the liquid in the reagent tube and adding the sucked liquid into the sample dividing plate (8).
7. The automatic cover opening and closing sample loading device according to claim 1, further comprising a detection camera (13), wherein the detection camera (13) is arranged below the sample loading manipulator (6) and is used for monitoring whether the cover of the sample tube is successful or not and monitoring whether the liquid amount sucked by the suction tube reaches the standard or not.
8. The automatic cover opening and closing sample loading device according to claim 1, wherein the straw separating frame (10) is provided with a U-shaped groove (101), the sample loading manipulator (6) drives the straw to enter the U-shaped groove (101) and lift the straw, and the straw is pushed off the sample loading manipulator (6) by using the side wall of the U-shaped groove (101).
9. The automatic lid-opening and lid-closing sample loading device according to claim 1, characterized in that it comprises two rotating discs (2) for carrying two sample tube carriers (7); two groups of sample tube transfer manipulators (3) are respectively used for grabbing sample tubes on two sample tube carriers (7); two groups of sample tube conveying lines (4), wherein each sample tube conveying line (4) simultaneously conveys two sample tubes; four sets of cap screwing devices (5) for alternately opening the caps of the four sample tubes; and two groups of sample adding manipulators (6), wherein each group of sample adding manipulators (6) simultaneously carries out feeding operation on two sample tubes.
10. A method of loading an automated lid-open loading apparatus according to any one of claims 1 to 9, comprising the steps of:
placing a sample tube carrier (7) containing sample tubes on a rotating disc (2);
the sample tube transfer manipulator (3) is used for grabbing a sample tube on the sample tube carrier (7) and transferring the sample tube to the sample tube conveying line (4);
the sample tube conveying line (4) conveys the sample tube to the position of the spiral cover device (5);
the cap screwing device (5) performs cap opening treatment on the sample tube;
the sample tube conveying line (4) continuously conveys the sample tube to the lower part of the sample adding manipulator (6);
the sampling manipulator (6) moves to the upper part of the straw placing rack (9), grips the straw, transfers the straw to the sample tube, sucks the liquid in the sample tube, transfers the straw to the upper part of the sample dividing plate (8), and distributes the sucked liquid to the sample dividing plate (8);
the suction pipe is transported to a suction pipe separating frame (10) by a sampling manipulator (6), and the suction pipe is separated from the sampling manipulator (6) by the suction pipe separating frame (10);
the sample tube conveying line (4) conveys the sample tube to the lower part of the spiral cover device (5);
the pipe cover is screwed on the pipe body of the sample pipe by the screwing cover device (5);
the sample tube conveying line (4) moves the sample tube to an initial position;
the sample tube transfer robot (3) transfers the sample tube to the sample tube carrier (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310259129.3A CN116281799A (en) | 2023-03-09 | 2023-03-09 | Automatic cover opening and closing sample adding equipment and sample adding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310259129.3A CN116281799A (en) | 2023-03-09 | 2023-03-09 | Automatic cover opening and closing sample adding equipment and sample adding method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116281799A true CN116281799A (en) | 2023-06-23 |
Family
ID=86800939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310259129.3A Pending CN116281799A (en) | 2023-03-09 | 2023-03-09 | Automatic cover opening and closing sample adding equipment and sample adding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116281799A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116496882A (en) * | 2023-06-29 | 2023-07-28 | 深圳市美德瑞生物科技有限公司 | Automatic cover opening and closing sample adding nucleic acid extraction equipment and extraction method thereof |
-
2023
- 2023-03-09 CN CN202310259129.3A patent/CN116281799A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116496882A (en) * | 2023-06-29 | 2023-07-28 | 深圳市美德瑞生物科技有限公司 | Automatic cover opening and closing sample adding nucleic acid extraction equipment and extraction method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2017220028B2 (en) | Automated sample preparation system for diagnostic testing of same | |
| FI119662B (en) | Automated system for testing samples | |
| JP5766800B2 (en) | Automatic analysis system | |
| US9505507B2 (en) | Cap opening and closing mechanism and automatic analyzer including the same | |
| CN110631878B (en) | Sample transfer mechanism of liquid-based cell automatic sheet-making medical equipment | |
| CA3111560A1 (en) | Robotic sample preparation system for diagnostic testing with automated position learning | |
| CN116281799A (en) | Automatic cover opening and closing sample adding equipment and sample adding method thereof | |
| US20230288441A1 (en) | Sample pre-treatment system | |
| CN110631879A (en) | Medical equipment for automatic liquid-based cell flaking and dyeing | |
| US6253807B1 (en) | Apparatus and process for liquid sample aliquotting | |
| CN116496882A (en) | Automatic cover opening and closing sample adding nucleic acid extraction equipment and extraction method thereof | |
| CN116622494A (en) | Automated molecular diagnostic test apparatus and method | |
| CN110631877B (en) | Tripping and separating mechanism for liquid-based cell film production | |
| CN116396850A (en) | Full-automatic nucleic acid sample processing system | |
| CN213293935U (en) | Outpatient service body fluid sample receiving equipment | |
| US8235281B1 (en) | Laboratory sampling machine and methods for maintaining chain of custody for samples | |
| CN114965304B (en) | Automatic total phosphorus analytical equipment of quality of water | |
| CN218579966U (en) | Modularization fine hair washing machine | |
| CN216584999U (en) | Automatic nucleic acid extraction apparatus | |
| CN216082592U (en) | Pretreatment device for microbial mass spectrometry detection | |
| CN115400821A (en) | Test tube clamping manipulator and closed brucella detector | |
| CN112229988A (en) | Outpatient clinic body fluid sample receiving equipment and control method | |
| CN220305333U (en) | Sample tube scanning device and in-vitro diagnosis detector | |
| CN218240063U (en) | Cup separating processing system and device | |
| CN216910369U (en) | Consumable transferring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |