CN216857438U

CN216857438U - Mechanical arm, clamping arm thereof and sample tube transfer device applying mechanical arm

Info

Publication number: CN216857438U
Application number: CN202123362933.XU
Authority: CN
Inventors: 杨辰; 许峰
Original assignee: Kingcon Intelligent Technology Co ltd
Current assignee: Kingcon Intelligent Technology Co ltd
Priority date: 2021-04-06
Filing date: 2021-12-28
Publication date: 2022-07-01
Anticipated expiration: 2031-12-28
Also published as: CN216679100U; CN115193730A; CN217141255U; CN217451040U; CN115193731A; CN216937133U; CN217451041U; CN217141254U

Abstract

The utility model discloses a mechanical arm, a clamping arm thereof and a sample tube transfer device applying the mechanical arm, wherein the clamping arm comprises a clamping plate extending transversely, a clamping jaw extending downwards from the clamping plate and a mounting element extending upwards from the clamping plate, when the two clamping arms are oppositely arranged, a tube frame space can be formed between the clamping plates of the two clamping arms, and a sample tube space can be formed between the clamping jaws of the two clamping arms, so that the mechanical arm can be used for clamping a sample tube and also can be used for clamping a tube frame.

Description

Mechanical arm, clamping arm thereof and sample tube transfer device applying mechanical arm

Technical Field

The utility model relates to a material transfer device, in particular to a mechanical arm, a clamping arm thereof and a sample tube transfer device using the mechanical arm.

Background

A sample tube is a container for holding a sample (such as, but not limited to, a blood sample, a urine sample, etc.) commonly used in medical institutions such as hospitals. Generally, the medical institution sets a sampling site and a detection site, and the sampling site and the detection site are located in different areas, for example, the sampling site and the detection site may be located on different floors of the same building, or the sampling site and the detection site may be located in different buildings, so that after the sample is sampled at the sampling site and sealed to the sample tube, the sample tube needs to be sent from the sampling site to the detection site by means of a pneumatic sending device. The existing method is that the sample tubes sent to the detection site by the pneumatic sending equipment are classified and sorted manually, so that the efficiency is low, each sample tube needs to be contacted manually, and once the surface of each sample tube is polluted by a sample, viruses possibly existing in the sample can cause a great infection risk to detection personnel.

SUMMERY OF THE UTILITY MODEL

An object of the present invention is to provide a robot arm, a grip arm thereof, and a sample tube transferring apparatus using the robot arm, wherein the sample tube transferring apparatus is capable of transferring a sample tube sent to a test site to a test device.

The utility model aims to provide a mechanical arm, a clamping arm thereof and a sample tube transfer device using the mechanical arm, wherein the sample tube transfer device can transfer sample tubes sent to a detection place to detection equipment in batches. For example, the sample tube transfer device firstly allows a plurality of sample tubes to be carried on a tube rack, and secondly transfers the sample tubes to the detection apparatus in batch by transferring the tube rack.

An object of the present invention is to provide a mechanical arm, a clamping arm thereof, and a sample tube transferring apparatus using the mechanical arm, wherein the sample tube transferring apparatus provides a mechanical arm, and the clamping arm of the mechanical arm is configured to be able to clamp both the sample tube and the tube rack, so that the sample tube transferring apparatus can transfer the sample tube to the tube rack by clamping the sample tube, and transfer the sample tubes to the detection device in batch by clamping the tube rack.

An object of the present invention is to provide a mechanical arm, a clamping arm thereof, and a sample tube transferring apparatus using the mechanical arm, wherein the clamping arm includes a clamping plate extending laterally and a clamping jaw extending downward from the clamping plate, the clamping plates of the two clamping arms correspond to each other so as to be capable of reliably clamping the tube rack, and the clamping jaws of the two clamping arms correspond to each other so as to be capable of clamping the sample tube in a narrow space.

An object of the present invention is to provide a robot arm, a grip arm thereof, and a sample tube transfer apparatus using the robot arm, wherein the sample tube transfer apparatus provides a tube rack transport unit, a longitudinal transport mechanism of which can transport a row of the tube racks from front to back, wherein the robot arm is held in suspension above the middle of the longitudinal transport mechanism to avoid the row of the tube racks being transported from front to back, so that the sample tube transfer apparatus can reasonably utilize a high space and have a compact structure.

An object of the present invention is to provide a robot arm, a clamping arm thereof, and a sample tube transferring apparatus using the robot arm, wherein the tube rack conveying unit provides a lateral conveying mechanism for laterally moving the tube rack, so that the clamping arm of the robot arm clamps the tube rack on opposite sides of the tube rack.

According to one aspect of the present invention, there is provided a clamping arm comprising a transversely extending clamping plate, a clamping jaw extending downwardly from said clamping plate and a mounting member extending upwardly from said clamping plate, wherein when two of said clamping arms are disposed in opposition, a tube rack space is defined between said clamping plates of both of said clamping arms and a sample tube space is defined between said clamping jaws of both of said clamping arms.

According to one embodiment of the utility model, the clamping jaws extend integrally downward from the middle of the clamping plate, and the mounting elements extend integrally upward from the middle of the clamping plate, so that the clamping arms are in a cross shape.

According to one embodiment of the utility model, the clamping arm comprises at least one stop, which is arranged at the bottom of the side wall of the clamping plate and is located in the pipe rack space.

According to one embodiment of the utility model, at least one of said stop blocks is provided at each of the opposite ends of said clamping plate.

According to an embodiment of the present invention, the clamping arm further comprises a pad disposed on a side wall of the clamping plate.

In another aspect of the present invention, there is further provided a robotic arm comprising an arm body and two gripper arms, and said robotic arm having a tube rack space and a sample tube space, wherein two of said gripper arms respectively comprise a transversely extending clamping plate, a clamping jaw extending downwardly from said clamping plate, and a mounting element extending upwardly from said clamping plate, wherein said mounting elements of two of said gripper arms are respectively mounted to said arm body, and wherein two of said gripper arms are opposed to form said tube rack space between said clamping plates of two of said gripper arms, and said sample tube space between said clamping jaws of two of said gripper arms.

According to another aspect of the present invention, the present invention further provides a sample tube transferring apparatus using a robot arm, comprising:

a supporting unit;

a pipe rack conveying unit, wherein the pipe rack conveying unit further comprises a longitudinal conveying mechanism, and the longitudinal conveying mechanism is arranged on the supporting unit; and

a robot arm, wherein said robot arm is held in suspension above the middle of said longitudinal transport mechanism, wherein said robot arm comprises an arm body and two gripper arms, and said robot arm has a tube rack space and a sample tube space, wherein two of said gripper arms respectively comprise a transversely extending clamping plate, a clamping jaw extending downwardly from said clamping plate, and a mounting element extending upwardly from said clamping plate, wherein said mounting elements of two of said gripper arms are respectively mounted to said arm body, and two of said gripper arms are opposed to form said tube rack space between said clamping plates of two of said gripper arms, and said sample tube space between said clamping jaws of two of said gripper arms.

Drawings

Fig. 1 shows a robot arm according to a preferred embodiment of the present invention in a three-dimensional state.

Fig. 2 is a partially enlarged view of fig. 1.

Figure 3 shows the robot arm of the above preferred embodiment of the utility model in an exploded condition.

Figure 4 shows a perspective view of one of the gripper arms of the robot arm according to the above preferred embodiment of the utility model.

Figure 5 illustrates another use of the robotic arm of the above preferred embodiment of the present invention, which depicts the robotic arm can be used to grip a sample tube.

Fig. 6 is a perspective view showing a sample tube transferring apparatus to which the robot arm according to the above preferred embodiment of the present invention is applied.

Fig. 7 shows a perspective view of a partial structure of the sample tube transfer device.

Fig. 8A shows a perspective view of a tube rack transport unit of the sample tube transfer device.

Fig. 8B is a partially enlarged view of fig. 8A.

Fig. 9A shows a perspective view from another perspective of the tube rack transport unit of the sample tube transfer device.

Fig. 9B is a partially enlarged view of fig. 9A.

Fig. 10 shows a perspective view from another perspective of the tube rack transport unit of the sample tube transfer device.

Fig. 11 shows an exploded view of the tube rack transport unit of the sample tube transfer device.

Fig. 12 shows the positional relationship of a receiving unit and a collecting unit of the sample tube transfer device.

Fig. 13 shows a perspective view of the receiving unit of the sample tube transfer device.

Fig. 14 shows an exploded view of the receiving unit of the sample tube transfer device.

Fig. 15 shows a perspective view of the collecting unit of the sample tube transfer device.

Fig. 16 shows the application state of the sample tube transfer device.

Fig. 17A is a perspective view of a sample tube sorting apparatus according to a first preferred embodiment of the present invention.

Fig. 17B is a perspective view of another perspective view of the sample tube sorting apparatus according to the above preferred embodiment of the present invention.

Fig. 18 is an exploded view of the sample tube sorting apparatus according to the above preferred embodiment of the present invention.

Fig. 19A is a perspective view of one of the using states of the sample tube sorting apparatus according to the above preferred embodiment of the present invention, which illustrates a state that a sample tube is received by a receiving portion of the sample tube sorting apparatus.

Fig. 19B is a perspective view of a second usage state of the tube sorter according to the above preferred embodiment of the utility model, which illustrates a state where a sorting portion of the tube sorter transfers the tubes to a transfer unit.

Fig. 19C is a perspective view of the third usage state of the sample tube sorting apparatus according to the above preferred embodiment of the present invention, which illustrates a state that the sorting part of the sample tube sorting apparatus transfers the sample tube to a sending unit.

Fig. 19D is a perspective view of the fourth usage state of the sample tube sorting apparatus according to the above preferred embodiment of the present invention, which illustrates a state that the sorting portion of the sample tube sorting apparatus transfers the sample tube to a buffer unit.

Fig. 19E is a perspective view of the fifth preferred embodiment of the present invention showing the state that the sorting part of the sample tube sorting apparatus is transferred to the sample tube storage unit.

FIG. 20 is a perspective view of a sample tube sorter in accordance with a second preferred embodiment of the present invention.

Fig. 21 is a perspective view of a sample tube sorting apparatus according to a third preferred embodiment of the present invention.

Fig. 22 is a perspective view of the sample tube sorting apparatus according to the fourth preferred embodiment of the present invention.

Fig. 23 is a perspective view of the sample tube sorting apparatus according to the fifth preferred embodiment of the present invention.

Fig. 24 is a perspective view of the sample tube sorting apparatus according to the sixth preferred embodiment of the utility model.

Detailed Description

Before any embodiments of the utility model are explained in detail, it is to be understood that the utility model is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The utility model is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct mountings and indirect mountings, connections, supports, and couplings. Further, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings.

Also, in the first aspect of the present disclosure, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, which are merely for convenience of describing the present disclosure and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus the above terms should not be construed as limiting the present disclosure; in a second aspect, the terms "a" and "an" should be interpreted as meaning "at least one" or "one or more," i.e., in one embodiment, the number of an element can be one, and in another embodiment, the number of the element can be more than one, and the terms "a" and "an" should not be interpreted as limiting the number.

Fig. 1-5 illustrate a robotic arm 10 of a preferred embodiment of the present invention, wherein the robotic arm 10 can be used to hold both a sample tube 100 and a tube rack 200. The tube rack 200 has a plurality of predetermined holes for receiving the sample tubes 100, for example, the bottom ends of the tube bodies of the sample tubes 100 are received by the tube rack 200 by being inserted into the predetermined holes of the tube rack 200.

Specifically, the robot arm 10 includes an arm body 11 and two gripper arms 12, and the robot arm 10 has a rack space 13 and a sample tube space 14, wherein each of the gripper arms 12 has a laterally extending clamping plate 121, a clamping jaw 122 extending downward from the clamping plate 121, and a mounting element 123 extending upward from the clamping plate 121, the mounting element 123 of each of the gripper arms 12 is mounted to the arm body 11, respectively, wherein the robot arm 10 forms the rack space 13 between the clamping plates 121 of the two gripper arms 12, the pipe rack 200 is clamped by the clamping plates 121 of the two gripper arms 12 in such a manner as to be located in the rack space 13, and at this time, the extending direction of the clamping plates 121 of the two gripper arms 12 and the extending direction of the pipe rack 200 coincide, so as to ensure the reliability of the robot arm 10 in clamping the pipe rack 200, wherein the robotic arm 10 forms the sample tube space 14 between the clamping jaws 122 of the two clamping arms 12, and a cap of the sample tube 100 is clamped by the clamping jaws 122 of the two clamping arms 12 in such a way as to be located in the sample tube space 14, so that the robotic arm 10 can clamp the sample tube 100 in a narrow space.

In other words, in the robot arm 10 of the present invention, the specific structure of the gripper arm 12 is such that: on one hand, the two clamping arms 12 of the mechanical arm 10 can reliably and stably clamp the pipe rack 200; on the other hand, the two gripper arms 12 of the robot 100 can grip the sample tube 100 in a narrow space.

Preferably, the clamping jaws 122 of the clamping arms 12 integrally extend downward from the middle of the clamping plate 121, and the mounting elements 123 integrally extend upward from the middle of the clamping plate 121, so that the flexibility of the robot arm 10 in gripping and transferring the sample tubes 100 and the tube racks 200 can be improved. In other words, in one specific example of the robot arm 10 of the present invention, the clamping arm 12 of the robot arm 10 is in a cross shape.

Further, the clamping arm 12 includes at least one blocking block 124, the blocking block 124 is disposed at the bottom of the sidewall of the clamping plate 121, and when two clamping arms 12 are respectively installed at the arm body 11 and the pipe rack space 13 is formed between the clamping plates 121 of the two clamping arms 12, the blocking block 124 of the clamping arm 12 is located in the pipe rack space 13, so that when the opposite sides of the pipe rack 200 are clamped by two clamping plates 121 of the clamping arm 12, the two blocking blocks 124 of the clamping arm 12 are used for supporting the pipe rack 200 in the gap in the middle of the pipe rack 200, so as to prevent the pipe rack 200 from falling off from the robot 10, thereby ensuring the reliability when the robot 10 clamps the pipe rack 200.

Preferably, each end of the clamping plate 121 is provided with at least one of the blocking blocks 124, respectively. For example, in this specific example of the robot arm 10 of the present invention shown in fig. 1 to 5, one end portion of the clamping plate 121 may be provided with one of the blocking pieces 124, and the other end portion may be provided with two of the blocking pieces 124, in such a manner that when the opposite sides of the pipe rack 200 are clamped by the clamping plates 121 of the two clamping arms 12, the blocking pieces 124 support the pipe rack 200 at the gaps of the opposite ends of the pipe rack 200 in the middle of the pipe rack 200, respectively, to prevent the pipe rack 200 from falling off from the robot arm 10, thereby ensuring reliability when the robot arm 10 clamps the pipe rack 200.

It should be noted that the shape of the stopper 124 of the clamping arm 12 is not limited in the robot arm 10 of the present invention, and the stopper 124 of the two clamping arms 12 may be the same or different, as long as it can hold the pipe rack 200.

Further, the clamping arm 12 includes a pad 125, and the pad 125 is disposed on a side wall of the clamping plate 121 to isolate the clamping plate 121 from the pipe rack 200, so as to protect the pipe rack 200. Preferably, the pad 125 has flexibility, so that when the two clamping arms 12 clamp the pipe rack 200, the pad 125 can play a role of buffering to protect the pipe rack 200. For example, the pad body 125 may be made of a rubber material or a silicone material, so that the pad body 125 has flexibility.

It should be noted that the way the pad 125 is disposed on the clamping plate 121 is not limited in the mechanical arm 10 of the present invention, for example, the pad 125 may be adhered to the side wall of the clamping plate 121 by glue.

Further, the clamping jaws 122 of the clamping arms 12 have recesses, and the shape and size of the recesses of the clamping jaws 122 match the shape and size of the caps of the sample tubes 100, such that the clamping jaws 122 of both of the clamping arms 12 can clamp the sample tubes 100.

Fig. 6 to 16 show a sample tube transfer device to which the robot 10 of the present invention is applied, wherein the sample tube transfer device can be used to transfer the sample tube 100. For example, the sample tube transfer apparatus can be applied to a testing site of a medical facility, and is used to transfer the sample tube 100 sent by a sending device to a testing device.

Specifically, the sample tube transfer apparatus further comprises a support unit 20 and a tube rack transport unit 30, the tube rack transport unit 30 comprising a longitudinal transport mechanism 31, wherein the longitudinal transport mechanism 31 is provided to the support unit 20 to support the longitudinal transport mechanism 31 at a proper height position by the support unit 20, wherein the longitudinal transport mechanism 31 is provided to transport a row of the tube racks 200 from front to back. The robot 10 is held suspended above the middle of the longitudinal transport mechanism 31, so that a row of the racks 200 is allowed to be transported from front to back by the longitudinal transport mechanism 31 of the rack transport unit 30 after passing through the space below the robot 10, and thus the sample tube transfer apparatus can be made compact by reasonably utilizing the height space, so that the sample tube transfer apparatus of the present invention is suitable for application to inspection sites of medical facilities and the like. In particular, the sample tube transfer device can have a small size in the length and width directions by disposing the robot arm 10 and the longitudinal transfer mechanism 31 of the rack transfer unit 30 one above the other, so that the sample tube transfer device of the present invention is suitable for application to an inspection site such as a medical facility.

The sample tube transfer apparatus further comprises a base 40, the base 40 having a base passage 41, wherein the base 40 is provided to the support unit 20 in such a manner that the base 40 corresponds to the middle of the longitudinal transport mechanism 31 of the rack transport unit 30, so that the middle of the longitudinal transport mechanism 31 of the rack transport unit 30 is held at the base passage 41 of the base 40, so that a column of the rack 200 transported by the longitudinal transport mechanism 31 of the rack transport unit 30 can be transported from the front to the rear after passing through the base passage 41 of the base 40. The arm main body 11 of the robot arm 10 is provided to the pedestal 40, so that the robot arm 10 is held in suspension above the middle of the longitudinal conveying mechanism 31 of the rack conveying unit 30.

Specifically, the base 40 includes a seat plate 42 and two extension arms 43, the two extension arms 43 respectively extend downward from two opposite ends of the seat plate 42 to form the base passage 41 between the two extension arms 43 and the seat plate 42, wherein bottom ends of the two extension arms 43 are respectively mounted to the support unit 20 and located at two opposite sides of the longitudinal conveying mechanism 31 of the rack conveying unit 30 to erect the seat plate 42 above a middle portion of the longitudinal conveying mechanism 31 of the rack conveying unit 30, so that the robot arm 10 which is lockingly mounted to the seat plate 42 of the base 40 can be suspended above the middle portion of the longitudinal conveying mechanism 31 of the rack conveying unit 30.

Referring to fig. 8A to 11, the longitudinal conveying mechanism 31 includes a longitudinal conveying frame 311, a longitudinal supporting plate 312, and two longitudinal pushing portions 313, wherein the longitudinal conveying frame 311 is provided to the supporting unit 20, and the longitudinal conveying frame 311 is provided to extend rearward from the front side of the supporting unit 20, wherein the longitudinal supporting plate 312 is provided to the longitudinal conveying frame 311 for holding a row of the pipe racks 200 placed on the longitudinal conveying mechanism 31, wherein the two longitudinal pushing portions 313 are slidably provided to opposite sides of the longitudinal conveying frame 311 in a mutually corresponding manner for pushing the row of the pipe racks 200 held by the longitudinal supporting plate 312 to slide forward and rearward, thereby allowing the longitudinal conveying mechanism 31 to convey the pipe racks 200 from forward and rearward. Preferably, two of the longitudinal pushing portions 313 are slidably disposed at opposite sides of the longitudinal carrier 311 in a relatively symmetrical manner.

The longitudinal conveying mechanism 31 further comprises a connecting frame 314 and a longitudinal driving portion 315, wherein two of the longitudinal pushing portions 313 are respectively mounted at opposite ends of the connecting frame 314, wherein the longitudinal driving portion 315 comprises a longitudinal driving motor 3151, a follower wheel 3152 and a track 3153, the longitudinal driving motor 3151 is disposed at one end portion of the longitudinal conveying frame 311, the follower wheel 3152 is disposed at the other end portion of the longitudinal conveying frame 311, the track 3153 is sleeved on the output wheel of the longitudinal driving motor 3151 and the follower wheel 3152, and the middle portion of the connecting frame 314 is mounted on the track 3153. When the longitudinal driving motor 3151 and the follower wheel 3152 cooperate with each other to drive the crawler 3153 to rotate, the crawler 3153 can drive the two longitudinal pushing portions 313 to slide forward or backward along the opposite sides of the longitudinal carrier 311 through the connecting frame 314, and when the two longitudinal pushing portions 313 are driven to slide forward or backward along the longitudinal carrier 311, the two longitudinal pushing portions 313 can push the row of the pipe racks 200 supported by the longitudinal support plate 312 to slide forward or backward, thereby allowing the longitudinal conveying mechanism 31 to convey the pipe racks 200 from forward to backward.

Specifically, the longitudinal carriage 311 further includes a motor seat 3111, a longitudinal wheel seat 3112, two longitudinal extension arms 3113 and two longitudinal rails 3114, and the longitudinal carriage 311 has a drawing space 3115. The motor base 3111 and the longitudinal wheel base 3112 are disposed opposite to each other, the two longitudinal extension arms 3113 are symmetrical to each other, one end portion of the two longitudinal extension arms 3113 is mounted on the motor base 3111, and the other end portion is mounted on the longitudinal wheel base 3112, so that the drawing space 3115 is formed between the two longitudinal extension arms 3113, and the two longitudinal rails 3114 are disposed outside the two longitudinal extension arms 3113, respectively. Alternatively, in some examples of the sample tube transfer device of the present invention, the longitudinal track 3114 and the longitudinally extending arm 3113 may be a unitary structure.

Opposite sides of the longitudinal support plate 312 are respectively installed at upper sides of the two longitudinal extension arms 3113. The two longitudinal pushing portions 313 are slidably mounted to the two longitudinal rails 3114, respectively. The link 314 is movably held on the underside of the two longitudinally extending arms 3113. The longitudinal driving motor 3151 of the longitudinal driving part 315 is mounted to the motor base 3111, the follower wheel 3152 is mounted to the longitudinal wheel base 3112, and the crawler belt 3153 is movably held in the drawing space 3115 of the longitudinal carrier 311.

The longitudinal carrier 311 further includes two longitudinal baffles 3116, wherein two longitudinal baffles 3116 are respectively installed outside the two longitudinal extension arms 3113, and the height position of two longitudinal baffles 3116 is higher than the bearing surface of the longitudinal support plate 312, so that the two longitudinal baffles 3116 can respectively limit the conveying direction of the pipe racks 200 at the two opposite ends of the row of pipe racks 200, thereby preventing the pipe racks 200 from falling off from the longitudinal support plate 312 when the row of pipe racks 200 is conveyed from front to back, and ensuring the reliability of the longitudinal conveying mechanism 31 in conveying the pipe racks 200. Optionally, in some examples of the sample tube transfer device of the present disclosure, the longitudinal baffle 3116 and the longitudinally extending arm 3113 may be a unitary structure.

The longitudinal pushing portion 313 includes a slider 3131 and a pushing arm 3132, wherein the slider 3131 is slidably mounted on the longitudinal rail 3114 of the longitudinal carriage 311 and is mounted on the end of the connecting frame 314, wherein the pushing arm 3132 is mounted on the slider 3131, and the pushing arm 3132 extends in a suspended manner above the longitudinal support plate 312. When one row of the pipe racks 200 is placed on the longitudinal support plate 312, the push arm 3132 can abut against the front side of the pipe rack 200 located on the front side in one row of the pipe racks 200, so that when the two longitudinal pushing portions 313 are driven to move from front to back, the two longitudinal pushing portions 313 can push one row of the pipe racks 200 moving from front to back to allow the longitudinal conveying mechanism 31 to convey from front to back.

Preferably, the pushing arm 3132 is rotatably mounted to the sliding block 3131, and the longitudinal pushing portion 313 further includes a first torsion spring 3133, the first torsion spring 3133 is sleeved on the mounting shafts of the pushing arm 3132 and the sliding block 3131, and one end of the first torsion spring 3133 abuts against the sliding block 3131 and the other end abuts against the pushing arm 3132, in such a way, the longitudinal conveying mechanism 31 can ensure that the pushing arm 3132 of the longitudinal pushing portion 313 always abuts against and abuts against the front side of the front-side rack 200 in the row of racks 200.

More preferably, the sliding block 3131 has a boss 31311, and the pushing arm 3132 has a hook 31321, wherein the hook 31321 of the pushing arm 3132 corresponds to the boss 31311 of the sliding block 3131, so as to allow the hook 31321 of the pushing arm 3132 and the boss 31311 of the sliding block 3131 to cooperate with each other to limit the rotation area of the pushing arm 3132, thereby ensuring that the pushing arm 3132 of the longitudinal pushing portion 313 always abuts against and abuts against the front side of the tube carrier 200 in a row of the tube carriers 200.

The rack conveying unit 30 includes a traverse conveying mechanism 32, wherein the traverse conveying mechanism 32 is provided to the support unit 20, wherein the traverse conveying mechanism 32 is used to laterally convey a rear one of the rack carriers 200 in a row of the rack carriers 200.

Specifically, the traverse conveying mechanism 32 includes a traverse carriage 321, a traverse supporting plate 322, a traverse driving portion 323, and a traverse pushing portion 324, wherein the traverse carriage 321 is disposed at the rear side of the longitudinal carriage 311 and the traverse carriage 321 extends in a direction perpendicular to the longitudinal carriage 311, wherein the traverse supporting plate 322 is disposed at the traverse carriage 321 for supporting one of the racks 200 conveyed to the traverse conveying mechanism 32 by the longitudinal conveying mechanism 31, wherein the traverse driving portion 323 is disposed adjacent to the traverse carriage 321, wherein the traverse pushing portion 324 includes a driven portion 3241 and a pushing portion 3242, the driven portion 3241 is drivably mounted to the traverse driving portion 323, the pushing portion 3242 is mounted to the driven portion 3241, and the push portion 3242 extends in a suspended manner above the lateral support plate 322. When one of the tube racks 200 is conveyed by the longitudinal conveying mechanism 31 to the lateral support plate 322 of the lateral conveying mechanism 32, the pushing portion 3242 of the lateral pushing portion 324 can abut against one end portion of the tube rack 200, so that the pushing portion 3242 of the lateral pushing portion 324 can drive the tube rack 200 to move laterally when the lateral driving portion 323 drives the lateral pushing portion 324.

Preferably, the pushing portion 3242 is rotatably mounted on the driven portion 3241, and the transverse pushing portion 324 further comprises a second torsion spring 3243, the second torsion spring 3243 is sleeved on the mounting shafts of the pushing portion 3242 and the driven portion 3241, and one end of the second torsion spring 3243 abuts against the driven portion 3241 and the other end abuts against the pushing portion 3242, in such a way, the transverse conveying mechanism 32 can ensure that the pushing portion 3242 of the transverse pushing portion 324 always abuts against and abuts against one end of the pipe rack 200 supported by the transverse supporting plate 322.

The lateral carrier 321 is provided with a lateral stopper 3211 on a side adjacent to the lateral driving portion 323, the lateral stopper 3211 can restrict the position of the rack 200 conveyed by the longitudinal conveying mechanism 31 to allow one rack 200 to be held by the lateral support plate 322, and the lateral stopper 3211 can prevent the rack 200 from slipping off the lateral support plate 322 when the rack 200 is moved laterally by the lateral conveying mechanism 32, thereby ensuring the reliability of the lateral conveying mechanism 32 in conveying the rack 200 laterally.

Preferably, the longitudinal support plate 312 of the longitudinal conveying mechanism 31 and the transverse support plate 322 of the transverse conveying mechanism 32 are an integral structure, for example, the longitudinal support plate 312 and the transverse support plate 322 may be made of the same plate material, so as to ensure that the longitudinal conveying mechanism 31 can smoothly convey the pipe rack 200 to the transverse conveying mechanism 32.

Referring to fig. 7 and 12, the syringe transferring apparatus further includes a buffer 50, and the buffer 50 is disposed on the supporting unit 20 for buffering the syringe 100. For example, if the type of the sample tube 100 gripped by the robot 10 is not the same as the type of the sample tube 100 transferred to the tube rack 200, the robot 10 may transfer the sample tube 100 to the buffer 50 without transferring the sample tube 100 to the tube rack 200, so that the sample tube transferring apparatus can sort and arrange the sample tubes 100 using the buffer 50.

Preferably, one end of the transverse conveying mechanism 32 is adjacent to the rear end of the longitudinal conveying mechanism 31, and the other end is adjacent to the buffer 50. That is, the lateral conveying mechanism 32 can laterally convey the tube rack 200 to a position adjacent to the buffer 50, so that the robot 10 can directly pick up the sample tube 100 from the buffer 50 and transfer the sample tube 100 to the tube rack 200, which facilitates the robot 10 to conveniently transfer the sample tube 100 from the buffer 50 to the tube rack 200, thereby making the operation path of the robot 10 shorter and the operation efficiency higher.

Specifically, the buffer memory 50 has a plurality of buffer memory holes 51, the buffer memory holes 51 are formed by punching a bottom plate forming the supporting unit 20, and each of the buffer memory holes 51 of the buffer memory 50 is allowed to be inserted with one of the sample tubes 100, so that the sample tube transferring apparatus is buffered by inserting the bottom end of the tube body of the sample tube 100 into the buffer memory hole 51 of the buffer memory 50. Preferably, the buffer area 50 includes a cylindrical buffer element 52, and the buffer element 52 is disposed in the buffer hole 51 for isolating the sample tube 100 inserted into the buffer hole 51 from an inner wall of the bottom plate for defining the buffer hole 51.

Referring to fig. 7, 12-14, and 16, the sample tube transfer apparatus further includes a receiving unit 60, the receiving unit 60 is disposed on the supporting unit 20, wherein the receiving unit 60 is configured to receive the sample tube 100 sent to the sample tube transfer apparatus, and the robot 10 is capable of gripping the sample tube 100 from the receiving unit 60 and transferring the sample tube 100 to the buffer 50 or the tube rack 200.

Preferably, the receiving unit 60 is adjacent to the buffer 50, so that the robot 10 can directly transfer the sample tubes 100 to the buffer 50 or the tube rack 200 after the sample tubes 100 are obtained from the receiving unit 60, so that the robot 10 has a shorter operation path and higher operation efficiency.

Preferably, the receiving unit 60 is arranged to convey the sample tubes 100 from the rear to the front, so that, on the one hand, the receiving unit 60 can continuously receive the sample tubes 100 to improve the operating efficiency of the sample tube transfer device, and, on the other hand, a sending pipe 300 for connecting the sample tube transfer device and a sending device can be located at the rear of the sample tube transfer device, so as to facilitate the application of the sample tube transfer device of the present invention to an inspection site such as a medical institution.

Specifically, the receiving unit 60 includes a receiving part 61 and a transmitting part 62, wherein the receiving part 61 is disposed at the rear side of the supporting unit 20, and the receiving part 61 corresponds to the transmitting pipeline 300 and can receive the transmitted sample tube 100 from the transmitting pipeline 300, wherein the transmitting part 62 is disposed to extend from the receiving part 61 to the front side of the supporting unit 20, and the transmitting part 62 is used for transmitting the sample tube 100 from the rear to the front.

More specifically, the conveying part 62 includes a conveying body 621, a conveying driving part 622, two conveying wheels 623 and two conveying belts 624, wherein the conveying body 621 is disposed on the supporting unit 20, wherein the conveying driving part 622 is disposed on one end of the conveying body 621, the two conveying wheels 623 are rotatably mounted on opposite ends of the conveying body 621 respectively, and one of the two conveying wheels 623 is drivingly connected to the conveying driving part 622, wherein the two conveying belts 624 are sleeved on the two conveying wheels 623 at intervals to form a conveying space 625 between the two conveying belts 624.

It is worth mentioning that the distance between the two conveyor belts 624 is adapted to the size of the syringe 100, so that the syringe 100 is conveyed by the conveying part 62 in such a manner that the cap of the syringe 100 is held by the two conveyor belts 624 and the body is held in the conveying space 625 by gravity.

Further, the transfer body 621 includes a first transfer seat 6211, a second transfer seat 6212 and two transfer arms 6213, the first transfer seat 6211 and the second transfer seat 6212 are disposed oppositely, the two transfer arms 6213 are symmetrical to each other, and one end of each of the two transfer arms 6213 is respectively mounted on two opposite sides of the first transfer seat 6211, and the other end is respectively mounted on two opposite sides of the second transfer seat 6212. The transfer drive 622 is mounted to the second transfer base 6212, and each transfer wheel 623 is rotatably mounted to the ends of two transfer arms 6213, respectively, such that the two transfer belts 624 are movably held between the two transfer arms 6213. The receiving part 61 forms a receiving space 611, and one end of the transferring space 625 of the transferring part 62 corresponds to the receiving space 611 of the receiving part 61, so that the sample tube 100, which is sent to the receiving space 611 of the receiving part 61 through the sending pipe 300, can automatically fall to the transferring space 625 of the transferring part 62 based on gravity.

Specifically, the receiving portion 61 includes a rear wall 612 and two side walls 613, and the two side walls 613 respectively extend to two opposite sides of the rear wall 612 in a symmetrical manner, so as to form the receiving space 611 between the rear wall 612 and the two side walls 613. And both the side walls 613 form a front opening 614 of the receiving part 61, and the front opening 614 communicates with the receiving space 611, in such a way that the receiving part 61 allows the sample tube 100 entering the receiving space 611 to automatically enter the transferring space 625 of the transferring part 62 based on gravity.

Further, the receiving part 61 comprises an inclined bottom wall 615, the inclined bottom wall 615 extends obliquely downward and forward from the rear wall 612, wherein the inclined bottom wall 615 is used for allowing the sample tube 100 sent to the receiving space 611 of the receiving part 61 to smoothly slide down to the conveying space 625 of the conveying part 62 based on gravity.

It is understood that the manner in which the transport unit 62 of the present invention transports the sample tubes 100 enables gravity-based screening of the sample tubes 100 to avoid the transfer of damaged sample tubes 100 during the delivery process. For example, there may be a problem that caps of the sample tubes 100 are removed during the process of being delivered, and once the caps of the sample tubes 100 are removed, the sample tubes 100 cannot be supported by the conveyor belt 624 when sliding down to the conveying space 625 of the conveyor 62 through the receiving space 611 of the receiving part 61, so that the conveyor 62 can automatically sort the sample tubes 100 based on gravity.

In addition, referring to fig. 8 to 10, the receiving unit 60 further includes a housing 63 for fixing the receiving portion 61 to the transmitting portion 62. Specifically, the housing 63 includes a housing main body 631 and two housing arms 632, the housing main body 631 has a housing space 6311 and a housing opening 6312 communicating with the housing space 6311, the two housing arms 632 extend to the housing main body 631 at intervals, and the housing opening 6312 corresponds to a space formed between the two housing arms 632, wherein the receiving portion 61 is disposed in the housing space 6311 of the housing main body 631, the front opening 614 corresponds to and communicates with the housing opening 6312, the housing main body 631 and the housing arms 632 are respectively mounted to the transmitting portion 62, so that the housing 63 fixes the receiving portion 61 to the transmitting portion 62.

Referring to fig. 7, 12, 15 and 16, the sample tube transfer device comprises a collection unit 70, the collection unit 70 comprising a funnel 71 and a collection portion 72, wherein the funnel 71 has a top opening 711 and a bottom opening 712 corresponding to the top opening 711, the funnel 71 is disposed below the conveyor belt 624 of the conveyor portion 62, and the top opening 711 of the funnel 71 corresponds to the conveying space 625 of the conveyor portion 62, and the bottom opening 712 of the funnel 71 corresponds to the collection portion 72. The sample tubes 100 screened by the conveyor section 62 can enter through the top end opening 711 of the funnel 71 and exit through the bottom end opening 712 to collect the sample tubes 100 to the collection section 72.

It should be noted that the type of the collecting part 72 of the collecting unit 70 is not limited in the sample tube transferring device of the present invention, for example, in the specific example of the sample tube transferring device shown in fig. 1 to 7, the collecting part 72 further includes a collecting driving part 721, a collecting slider 722 driveably mounted on the collecting driving part 721, and a plurality of collecting bins 723 provided on the collecting slider 722, wherein the collecting bins 723 are provided to correspond to the bottom end openings 712 of the funnel 71, so that the funnel 71 can collect the sample tubes 100 to the collecting bins 723 of the collecting part 72.

The sample tube transfer device comprises a sensor 80, wherein the sensor 80 is arranged at an end of the transport body 621 for detecting whether the sample tube 100 is transported to the end of the transport body 621 by the conveyor belt 624 and/or for detecting the type of the sample tube 100. The robotic arm 10 is associated with the sensor 80, wherein when the sensor 80 detects that the sample tube 100 is conveyed to the end of the conveying body 621 by the conveyor belt 624, the robotic arm 10 can grip the sample tube 100 from the receiving unit 60 to transfer the sample tube 100 to the buffer 50 or the tube rack 200.

Specifically, the sensor 80 includes a transmitting portion 81 and a receiving portion 82, the transmitting portion 81 and the receiving portion 82 are respectively provided at the ends of the two transfer arms 6213 of the transfer body 621, and the transmitting portion 81 and the receiving portion 82 correspond to allow the receiving portion 82 to receive the signal transmitted from the transmitting portion 81. For example, the emitting portion 81 is configured to emit light, the receiving portion 82 is configured to receive light, and when the sample tube 100 is conveyed between the emitting portion 81 and the receiving portion 82 by the conveyor 624, the sample tube 100 can block the light emitted from the emitting portion 81 to the receiving portion 82, and at this time, the light emitted from the emitting portion 81 cannot be received by the receiving portion 82.

The application environment of the sample tube transfer device of the utility model can be as follows: the sample tube transfer device is arranged at a testing location, the testing apparatus is arranged in the vicinity of the support unit 20 of the sample tube transfer device, one end of the sending conduit 300 is connected to the sending apparatus arranged at a sampling location, the other end is connected to the receiving part 61 of the receiving unit 60.

The working process of the sample tube transfer device can be as follows:

the row of the pipe racks 200 is placed on the longitudinal support plate 312 of the longitudinal conveyor 31, and at this time, the push arms 3132 of the two longitudinal pushing portions 313 abut against the front side of the pipe rack 200 located on the front side in the row of the pipe racks 200 at the opposite ends of the pipe racks 200, respectively; when the longitudinal driving motor 3151 and the follower wheel 3152 cooperate with each other to drive the crawler 3153 to rotate, the crawler 3153 can drive the two longitudinal pushing portions 313 to slide forward or backward along the two opposite sides of the longitudinal carrier 311 through the connecting frame 314, and when the two longitudinal pushing portions 313 are driven to slide forward or backward along the longitudinal carrier 311, the two longitudinal pushing portions 313 can push the row of the pipe racks 200 supported by the longitudinal support plate 312 to slide forward or backward, thereby allowing the longitudinal conveying mechanism 31 to convey the pipe racks 200 from forward to backward;

the pushing portion 3242 of the lateral pushing portion 324 of the lateral conveying mechanism 32 can abut against an end portion of one of the tube racks 200 on the rear side of a row of the tube racks 200, and the pushing portion 3242 of the lateral pushing portion 324 can drive the tube rack 200 to move laterally when the lateral driving portion 323 drives the lateral pushing portion 324;

when the sample tube 100 is sent to the receiving part 61 of the receiving unit 60 through the sending pipe 300 and enters the receiving space 611 of the receiving part 61, if the sample tube 100 is intact (i.e. the cap of the sample tube 100 is mounted on the tube body), the cap of the sample tube 100 can be automatically supported by the two conveyor belts 624 of the conveying part 62 and conveyed from back to front by the two conveyor belts 624, and if the sample tube 100 is damaged (i.e. no cap is mounted on the tube body of the sample tube 100), the sample tube 100 is automatically collected to the collecting part 72 through the funnel 71 of the collecting unit 70 based on gravity;

when the sample tube 100 is transferred to the position corresponding to the sensor 80 by the transfer part 62, the sensor 80 can detect the position of the sample tube 100, at this time, the clamping jaws 122 of the two clamping arms 12 of the robot 10 can clamp the sample tube 100 from the transfer part 62 of the receiving unit 60, and subsequently, the robot 10 can transfer the sample tube 100 to the buffer 50 or the tube rack 200. For example, in a specific example of the sample tube transfer apparatus of the present invention, the sensor 80 can detect the type of the sample tube 100 transferred to the end of the transfer body 621, if the type of the sample tube 100 is the same as the type of the sample tube 100 transferred to the tube rack 200, the robot 10 can directly transfer the sample tube 100 to the tube rack 200 after gripping the sample tube 100 from the transfer part 62 of the receiving unit 60, and if the type of the sample tube 100 is different from the type of the sample tube 100 transferred to the tube rack 200, the robot 10 can transfer the sample tube 100 to the buffer 50 after gripping the sample tube 100 from the transfer part 62 of the receiving unit 60;

when the sample tubes 100 are loaded in the preset holes of the tube rack 200, the clamping plates 121 of the two clamping arms 12 of the mechanical arm 10 can clamp the tube rack 200 and transfer the tube rack 200 to the detection equipment.

Referring to fig. 17A to 19E of the drawings accompanying the present specification, a sample tube sorting apparatus according to a preferred embodiment of the present invention will be disclosed and explained in the following description, wherein the sample tube sorting apparatus sorts the sample tubes 100 according to the attributes of the sample tubes 100 to process the sample tubes 100 in a suitable manner for subsequent selection.

Specifically, the sample tube sorting apparatus includes a sorting part 10 and at least two processing parts 20, each processing part 20 processes the sample tube 100 in a different manner, wherein the sorting part 10 selectively transfers the sample tube 100 to the different processing parts 20 according to the property of the sample tube 100 to process the sample tube 100, thereby improving the processing efficiency of the sample tube 100.

More specifically, in the specific example of the sample tube sorting apparatus shown in fig. 17A to 19E, the processing unit 20 may have four types, which are a sending unit 201, a conveying unit 202, a storing unit 203 and a temporary storing unit 204, respectively, wherein after the sorting unit 10 transfers the sample tubes 100 to the sending unit 201, the sending unit 201 may send the sample tubes 100, for example, the sending unit 201 may send the sample tubes 100 to the detection site, wherein after the sorting unit 10 transfers the sample tubes 100 to the conveying unit 202, the conveying unit 202 may convey the sample tubes 100, for example, the conveying unit 202 may convey the sample tubes 100 to a detection device, wherein after the sorting unit 10 transfers the sample tubes 100 to the storing unit 203, the storing unit 203 may store the sample tubes 100, for collectively transferring a plurality of the stored sample tubes 100 in a subsequent step, wherein after the sorting unit 10 transfers the sample tubes 100 to the temporary storage unit 204, the temporary storage unit 204 can temporarily store the sample tubes 100, and the temporarily stored sample tubes 100 can be sent to the inspection site via the sending unit 201 or sent to the inspection equipment via the conveying unit 202 in the subsequent step.

It should be noted that in some other examples of the sample tube sorting apparatus of the present invention, the processing unit 20 may select at least two of the sending unit 201, the conveying unit 202, the storing unit 203, and the buffer unit 204. For example, in a specific example of the sample tube sorting apparatus of the present invention, the processing unit 20 has two types, which are the sending unit 201 and the transporting unit 202, respectively, or the sending unit 201 and the storing unit 203, respectively, or the sending unit 201 and the temporary storage unit 204, respectively, or the transporting unit 202 and the storing unit 203, respectively, or the transporting unit 202 and the temporary storage unit 204, respectively, or the storing unit 203 and the temporary storage unit 204, respectively. In another specific example of the sample tube sorting apparatus of the present invention, the processing unit 20 has three types, which are the sending unit 201, the conveying unit 202, and the storing unit 203, or the sending unit 201, the conveying unit 202, and the buffer unit 204, or the sending unit 201, the storing unit 203, and the buffer unit 204, or the conveying unit 202, the storing unit 203, and the buffer unit 204, respectively.

Although the processing portions 20 of the sample tube sorting apparatus of the present invention can be combined in different ways, for convenience of describing and understanding the sample tube sorting apparatus of the present invention, the present invention will be further disclosed and explained with reference to the embodiments of the sample tube sorting apparatus disclosed in fig. 17A to 19E in the following description.

With continued reference to fig. 17A-19E, the sample tube sorting apparatus includes a processing platform 30, wherein the processing platform 30 has a first end 31, a second end 32, a platform inner side 33, and a platform outer side 34, the first end 31 and the second end 32 of the processing platform 30 correspond to each other to define a length direction of the processing platform 30, and the platform inner side 33 and the platform outer side 34 correspond to each other to define a width direction of the processing platform 30. The delivery unit 201 is disposed at a lower portion of the processing platform 30, wherein the transfer unit 202 is disposed at the platform inner side 33 of the processing platform 30, and the transfer unit 202 extends along a length direction of the processing platform 30, wherein the storage unit 203 is detachably disposed at a lower portion of the processing platform 30, wherein the buffer unit 204 is disposed at an upper portion of the processing platform 30.

In particular, the sending unit 201 is disposed at a lower portion of the processing platform 30 in a manner that the sending unit 201 is held at the second end 32 of the processing platform 30, such that the sending unit 201 can be hidden by the processing platform 30 to ensure the integrity of the appearance of the sample tube sorting apparatus. Preferably, the processing unit 30 has a sending punch-out 35, the sending punch-out 35 corresponding to the sending unit 201, such that the sorting part 10 can transfer the sample tube 100 to the sending unit 201 via the sending punch-out 35 of the processing platform 30 according to the property of the sample tube 100 at the upper part of the processing platform 30, to allow the sending unit 201 to send the sample tube 100 to the detection site. It should be noted that the type of the sending unit 201 is not limited in the sample tube sorting apparatus of the present invention as long as it can send the sample tube 100, and for example, the sending unit 201 may be a pneumatic sending unit.

In the embodiment of the sample tube sorting apparatus shown in fig. 17A-19E, the transfer unit 202 extends from the middle of the processing platform 30 to the second end 32 of the processing platform 30 on the platform inner side 33 of the processing platform 30, such that when the inspection device is mounted at the second end 32 of the sample tube sorting apparatus, the transfer unit 202 can directly interface with the inspection device, allowing the transfer unit 202 to directly transfer the sample tube 100 to the inspection device. Alternatively, in another specific example of the sample tube sorting apparatus of the present invention, the conveying unit 202 extends from the first end 31 to the second end 32 of the processing platform 30 at the platform inner side 33 of the processing platform 30. It should be noted that the type of the conveying unit 202 is not limited in the sample tube sorting apparatus of the present invention as long as it can convey the sample tube 100, and for example, the conveying unit 202 may be a crawler-type conveying unit.

The storage unit 203 is detachably disposed at the lower portion of the processing platform 30 on the platform outer side 34 of the processing platform 30, so that on one hand, the storage unit 203 can be hidden by the processing platform 30 to ensure the appearance integrity of the sample tube sorting apparatus, and on the other hand, an operator can mount the storage unit 203 at the lower portion of the processing platform 30 on the platform outer side 34 of the processing platform 30 or detach the storage unit 203 from the lower portion of the processing platform 30 so as to be operated. Preferably, the processing unit 30 has a storage aperture 36, and the storage aperture 36 corresponds to the storage unit 203, so that the sorting part 10 can transfer the sample tubes 100 to the storage unit 203 via the storage aperture 36 of the processing platform 30 according to the properties of the sample tubes 100 at the upper part of the processing unit 30, so as to allow the concentrated transfer of a plurality of the sample tubes 100 stored in the subsequent pair. It should be noted that the type of the storage unit 203 is not limited in the sample tube sorting apparatus of the present invention, as long as the storage unit can store the sample tubes 100, and for example, the storage unit 203 may be a drawer type storage unit.

The buffer unit 204 is formed on the upper portion of the processing platform 30, for example, the processing platform 30 is provided with a blind hole or a through hole to form the buffer unit 204, and the sample tube 100 is buffered in such a way that a part of the sample tube 100 is held in the buffer unit 204.

With continued reference to fig. 17A to 19E, the sample tube sorting apparatus includes a support 40, the processing platform 30 is disposed on the support 40 to support the processing platform 30 at a proper height position by the support 40, so that the sample tube sorting apparatus can form a mounting space 200 at a lower portion of the processing platform 30 and a sorting space 300 at an upper portion of the processing platform 30, and the sending through hole 35 and the storing through hole 36 of the processing platform 30 are communicated with the mounting space 200 and the sorting space 300. The delivery unit 201 and the storage unit 203 are concealed in the assembly space 200 of the sample tube sorting device, the transport unit 202 and the buffer unit 204 are disposed in the sorting space 300, wherein the sorting unit 10 is configured to transfer the sample tubes 100 from the sorting space 300 of the sample tube sorting device to the delivery unit 201, the transport unit 202, the storage unit 203 or the buffer unit 204.

It is worth mentioning that the space types of the assembling space 200 and the sorting space 300 formed by the supporting part 40 and the processing platform 30 are not limited in the sample tube sorting apparatus of the present invention, for example, the assembling space 200 may be a closed space, and the sorting space 300 may be an open space.

With continued reference to fig. 17A to 19E, the sample tube sorting apparatus includes a fitting top 50, wherein the fitting top 50 is held at an upper portion of the processing platform 30 in such a manner that the fitting top 50 is disposed at the supporting portion 40, wherein the sorting part 10 is a robot arm which is held at the sorting space 300 in such a manner as to be mounted at the fitting top 50, so that the sorting part 10 can selectively transfer the sample tubes 100 to the sending unit 201, the transferring unit 202, the storing unit 203, and the buffer unit 204 at the sorting space 300.

With continued reference to fig. 17A-19E, the sample tube sorter includes a receiving portion 60, wherein the receiving portion 60 is disposed on the processing platform 30, and the receiving portion 60 extends from the first end 31 of the processing platform 30 toward the second end 32, such that the sample tubes 100 received by the receiving portion 60 can be transported from the first end 31 of the processing platform 30 toward the second end 32. Preferably, the receiving portion 60 is provided to the stage inner side 33 of the processing stage 30 and an upper portion of the processing stage 30. It should be noted that the type of the receiving portion 60 is not limited in the sample tube sorting apparatus of the present invention as long as it can transport the sample tube 100, and for example, the receiving portion 60 may be a crawler-type receiving portion.

In addition, with continued reference to fig. 17A to 19E, the sample tube sorting apparatus further includes a receiving pipeline 400 and a sending pipeline 500, wherein a receiving end of the receiving pipeline 400 corresponds to an end of the receiving part 60 to allow the receiving part 60 to receive the sample tube 100 from the receiving pipeline 400, and wherein the sending pipeline 500 is configured to correspond to the sending unit 201 and the detection site to allow the sample tube 100 sent by the sending unit 201 to be sent to the detection site through the sending pipeline 500.

Fig. 19A to 19E show the usage of the sample tube sorting apparatus.

Fig. 19A shows a state in which the receiving portion 60 of the sample tube sorting apparatus receives the sample tube 100. In particular, the sample tube 100 can be transported along the receiving channel 400 to an end of the receiving end 60 corresponding to the first end 31 of the processing platform 30, and the receiving end 60 can move the sample tube 100 from the first end 31 of the processing platform 30 to the second end 32.

Referring to fig. 19B, the sorter 10 transfers the sample tube 100 to the transport unit 202 according to the property of the sample tube 100, so as to allow the transport unit 202 to continue moving toward the second end 32 of the processing platform 30, and finally to be transported to the inspection device. Specifically, the sorting unit 10 transfers the sample tube 100 from the receiving unit 60 to the transfer unit 202 in a manner of clamping the sample tube 100.

It should be noted that in the specific example of the sample tube sorting apparatus shown in fig. 17A to 19E, when the sample tube 100 is transported along the receiving channel 400 to the receiving portion 60, the data related to the property of the sample tube 100 is obtained by the sorting portion 10, so that when the sample tube 100 is transported along the receiving portion 60, the sorting portion 10 can transfer the sample tube 100 to the conveying unit 202 according to the property of the sample tube 100.

Referring to fig. 19C, the sorting unit 10 transfers the sample tube 100 to the sending unit 201 according to the property of the sample tube 100, so as to allow the sending unit 201 to send the sample tube 100 to the detection location. It is understood that the sample tubes 100 sent by the sending unit 201 are sent along the sending pipe 500. Specifically, the sorting unit 10 transfers the sample tube 100 to the sending unit 201 through the sending through hole 35 of the processing platform 30 in a manner of clamping the sample tube 100, so as to subsequently allow the sending unit 201 to send the sample tube 100.

It should be noted that in the specific example of the sample tube sorting apparatus shown in fig. 17A to 19E, when the sample tube 100 is transported along the receiving channel 400 to the receiving portion 60, the data related to the property of the sample tube 100 is obtained by the sorting portion 10, so that when the sample tube 100 is transported along the receiving portion 60, the sorting portion 10 can transfer the sample tube 100 to the sending unit 201 according to the property of the sample tube 100.

Referring to fig. 19D, the sorting unit 10 transfers the sample tube 100 to the buffer unit 204 according to the property of the sample tube 100, so as to allow the buffer unit 204 to temporarily store the sample tube 100 in the sample tube sorting apparatus. Specifically, the sorting unit 10 transfers the sample tube 100 to the temporary storage unit 204 in a manner of clamping the sample tube 100, and an end (e.g., bottom end) of the temporarily stored sample tube 100 is held at the temporary storage unit 204.

It should be noted that in the specific example of the sample tube sorting apparatus shown in fig. 17A to 19E, when the sample tube 100 is transported along the receiving channel 400 to the receiving portion 60, the data related to the property of the sample tube 100 is obtained by the sorting portion 10, so that when the sample tube 100 is transported along the receiving portion 60, the sorting portion 10 can transfer the sample tube 100 to the buffer unit 204 according to the property of the sample tube 100.

Referring to fig. 19E, the sorting unit 10 transfers the sample tubes 100 to the storage unit 203 according to the attributes of the sample tubes 100, so as to collectively process a plurality of sample tubes 100 stored in the storage unit 203 in the following. Specifically, the sorting unit 10 stores the sample tube 100 to the storage unit 203 through the storage through hole 36 of the processing platform 30 in a manner of clamping the sample tube 100.

It should be noted that in the specific example of the sample tube sorting apparatus shown in fig. 17A to 19E, when the sample tube 100 is transported along the receiving channel 400 to the receiving portion 60, the data related to the property of the sample tube 100 is obtained by the sorting portion 10, so that when the sample tube 100 is transported along the receiving portion 60, the sorting portion 10 can transfer the sample tube 100 to the storage unit 203 according to the property of the sample tube 100.

Fig. 20 shows the sample tube sorting apparatus according to the second preferred embodiment of the present invention, and unlike the sample tube sorting apparatus shown in fig. 17A to 19E, in the specific example of the sample tube sorting apparatus shown in fig. 20, the sorting part 10 is disposed on the processing platform 30.

Fig. 21 shows the sample tube sorting apparatus according to the third preferred embodiment of the present invention, which is different from the sample tube sorting apparatus shown in fig. 17A to 19E, in the specific example of the sample tube sorting apparatus shown in fig. 21, the sample tube sorting apparatus further includes an identification part 70, wherein the identification part 70 is configured to acquire the relevant data of the sample tube 100 to identify the attribute of the sample tube 100, and the sorting part 10 is connected to the identification part 70 to sort the sample tubes 100 according to the identification result of the identification part 70.

It should be noted that the type of the identification part 70 is not limited in the sample tube sorting apparatus of the present invention, for example, the identification part 70 may be an image capturing device which obtains the relevant data of the sample tube 100 by capturing an image (e.g. video or image) of the sample tube 100 to identify the property of the sample tube 100, or the identification part 70 may be a color sensor which obtains the relevant data of the sample tube 100 by obtaining the color of the sample tube 100 to identify the property of the sample tube 100.

With continued reference to fig. 21, in this embodiment of the sample tube sorting apparatus of the present invention, the identification part 70 is disposed on the sorting part 10, such that when the sorting part 10 is moved to the upper portion of the receiving part 60, the identification part 70 can obtain the relevant data of the sample tube 100 to identify the property of the sample tube 100, or when the sorting part 10 obtains the sample tube 100 from the receiving part 60, the identification part 70 can obtain the relevant data of the sample tube 100 to identify the property of the sample tube 100.

Fig. 22 shows the sample tube sorting apparatus according to the fourth preferred embodiment of the present invention, which is different from the sample tube sorting apparatus shown in fig. 21, in the specific example of the sample tube sorting apparatus shown in fig. 22, the identification part 70 is disposed at the receiving part 60, so that when the sample tube 100 is transmitted to the receiving part 60 along the receiving pipeline 400, the identification part 70 can obtain the relevant data of the sample tube 100 to identify the property of the sample tube 100.

Fig. 23 shows the sample tube sorting apparatus according to the fifth preferred embodiment of the present invention, different from the sample tube sorting apparatus shown in fig. 21, in the specific example of the sample tube sorting apparatus shown in fig. 23, the identification part 70 is disposed on the supporting part 40, and the identification part 70 forms a detection region 701 at the upper part of the processing platform 30, after the sorting part 10 obtains the sample tube 100 from the receiving part 60 and transfers the sample tube 100 to the detection region 701 formed by the identification part 70, the identification part 70 can obtain the relevant data of the sample tube 100 to identify the property of the sample tube 100.

Fig. 24 shows the sample tube sorting apparatus according to the fifth preferred embodiment of the present invention, which is different from the sample tube sorting apparatus shown in fig. 23, in the specific example of the sample tube sorting apparatus shown in fig. 24, the sample tube sorting apparatus includes a holding portion 80 for holding the sample tubes 100 that are not sorted, wherein the sorting portion 10 is configured to take the sample tubes 100 from the holding portion 80. Specifically, in the sample tube sorting apparatus shown in fig. 24, a plurality of unsorted sample tubes 100 are held by the holding unit 80, the sorting unit 10 may move to a position corresponding to the holding unit 80 and acquire the sample tubes 100 from the holding unit 80, then the sorting unit 10 transfers the sample tubes 100 to the detection regions 701 formed by the identification unit 70 to allow the identification unit 70 to acquire the relevant data of the sample tubes 100 to identify the attributes of the sample tubes 100, and then the sorting unit 10 selectively transfers the sample tubes 100 to the sending unit 201, the conveying unit 202, the storage unit 203 or the buffer unit 204 according to the attributes of the sample tubes 100.

Alternatively, the holding portion 80 may be detachably attached to the processing platform 30, or the holding portion 80 may be detachably attached to the supporting body 40.

According to another aspect of the present invention, the present invention further provides a sample tube sorting method, wherein the sample tube sorting method comprises the following steps:

(a) obtaining attributes of the sample tube 100; and

(b) selectively transferring the sample tube 100 to a different processing section 20 depending on the properties of the sample tube 100.

Preferably, in the step (b), the sample tube 100 is selectively transferred to a different processing part 20 by the sorting part 10 according to the property of the sample tube 100.

It should be noted that, in the step (a), the manner of obtaining the attributes of the sample tube 100 is not limited, and for example, the attributes of the sample tube 100 may be obtained by taking an image of the sample tube 100, or the attributes of the sample tube 100 may be obtained by identifying the color of the sample tube 100.

It should also be noted that in the step (a), the timing for acquiring the sample tubes 100 is not limited, for example, before the sample tubes 100 are sorted, the attributes of the sample tubes 100 are acquired, or during the process of sorting the sample tubes 100, the attributes of the sample tubes 100 are acquired.

It will be appreciated by persons skilled in the art that the embodiments of the utility model described above and shown in the drawings are given by way of example only and are not limiting of the utility model. The objects of the utility model have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments, and any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

Claims

1. An arm lock, its characterized in that includes a transversely extending splint, certainly a splint clamping jaw that splint downwardly extending and certainly a mounting element that splint upwards extended, wherein when two when the arm lock is set up relatively, two the arm lock can form a pipe support space between the splint, and two the arm lock can form a sample pipe space between the clamping jaw.

2. The clamp arm of claim 1, wherein the clamp jaw extends integrally downwardly from a central portion of the clamp plate, and the mounting element extends integrally upwardly from the central portion of the clamp plate to present the clamp arm with a cross-shape.

3. The clamp arm of claim 1 wherein the clamp arm includes at least one stop, the stop being disposed at a bottom of a side wall of the clamp plate, and the stop being located in the tube rack space.

4. The clamp arm according to claim 3, wherein the clamp plate is provided at opposite ends thereof with at least one of the stop blocks, respectively.

5. The clamp arm according to any one of claims 1 to 4, wherein the clamp arm further includes a pad disposed on a side wall of the clamp plate.

6. A mechanical arm, its characterized in that, including an arm main part and two arm lock, and the mechanical arm has a pipe support space and a sample pipe space, wherein two the arm lock includes a horizontal extension splint respectively, from a clamping jaw that splint downwardly extending and from a mounting element that splint upwardly extended, wherein two the arm lock the mounting element is installed respectively in the arm main part, and two the arm lock is relative, in order to two form between the splint of arm lock the pipe support space, and two form between the clamping jaw of arm lock the sample pipe space.

7. A robot arm as claimed in claim 6, wherein the gripping jaws extend integrally downwardly from a central portion of the clamp plate and the mounting elements extend integrally upwardly from a central portion of the clamp plate to present the clamping arms in a cross-shape.

8. The robotic arm of claim 6, wherein the clamp arm includes at least one stop, the stop being disposed at a bottom of a sidewall of the clamp plate, and the stop being located in the tube rack space.

9. A robot arm as claimed in claim 8, wherein the opposing ends of the clamp plate are provided with at least one said stop respectively.

10. A robot arm as claimed in any one of claims 6 to 9, wherein the clamp arm further comprises a pad disposed on a side wall of the clamp plate.

11. An application has sample cell transfer device of arm, its characterized in that includes:

a supporting unit;

a robotic arm as claimed in any one of claims 6 to 10, wherein the robotic arm is held suspended above a mid-portion of the longitudinal transport mechanism.

12. Sample tube transfer apparatus according to claim 11, wherein the apparatus further comprises a base comprising a seat plate and two extension arms extending downwardly from opposite ends of the seat plate to form the base channel between the two extension arms and the seat plate, wherein the bottom ends of the two extension arms are mounted to the support unit and on opposite sides of the longitudinal transport mechanism of the rack transport unit to mount the base over the middle of the longitudinal transport mechanism of the rack transport unit, such that the robotic arm lockingly mounted to the seat plate of the base can be held suspended over the middle of the longitudinal transport mechanism of the rack transport unit;

wherein the longitudinal conveying mechanism includes a longitudinal carriage, a longitudinal support plate, and two longitudinal pushing portions, the longitudinal carriage is disposed on the support unit, and the longitudinal carriage is disposed to extend rearward from a front side of the support unit, the longitudinal support plate is disposed on the longitudinal carriage for supporting a row of the pipe racks placed on the longitudinal conveying mechanism, the two longitudinal pushing portions are slidably disposed on opposite sides of the longitudinal carriage in a mutually corresponding manner for pushing the row of the pipe racks supported by the longitudinal support plate to slide forward and rearward, thereby allowing the longitudinal conveying mechanism to convey the pipe racks from forward and rearward;

the longitudinal transport mechanism further includes a connecting frame and a longitudinal driving portion, the two longitudinal pushing portions are respectively mounted at opposite ends of the connecting frame, the longitudinal driving portion includes a longitudinal driving motor, a follower wheel and a track, the longitudinal driving motor is disposed at one end portion of the longitudinal transport frame, the follower wheel is disposed at the other end portion of the longitudinal transport frame, the track is sleeved on an output wheel of the longitudinal driving motor and the follower wheel, a middle portion of the connecting frame is mounted to the track, the track can drive the two longitudinal pushing portions to slide forward or backward along opposite sides of the longitudinal transport frame through the connecting member when the longitudinal driving motor and the follower wheel cooperate with each other to drive the track to rotate, and when the two longitudinal pushing portions are driven to slide forward or backward along the longitudinal transport frame, the two longitudinal pushing portions can push the row of the pipe racks supported by the longitudinal supporting plate to slide from front to back, thereby allowing the longitudinal conveying mechanism to convey the pipe racks from front to back;

the longitudinal carriage includes a motor base, a longitudinal wheel base, two longitudinal extension arms, and two longitudinal rails, and the longitudinal carriage has a drawing space, the motor base and the longitudinal wheel base are oppositely disposed, the two longitudinal extension arms are symmetrical to each other, and one end of the two longitudinal extension arms is mounted to the motor base and the other end is mounted to the longitudinal wheel base, so that the drawing space is formed between the two longitudinal extension arms, the two longitudinal rails are respectively disposed at the outer sides of the two longitudinal extension arms, the two opposite sides of the longitudinal support plate are respectively mounted at the upper sides of the two longitudinal extension arms, the two longitudinal pushing portions are respectively slidably mounted to the two longitudinal runners, and the connecting member is movably held at the lower sides of the two longitudinal extension arms, the longitudinal driving motor of the longitudinal driving part is mounted to the motor base, the follower wheels are mounted to the longitudinal wheel base, and the crawler is movably held at the drawing space of the longitudinal carrier;

the longitudinal conveying frame further comprises two longitudinal baffle plates, wherein the two longitudinal baffle plates are respectively arranged at the outer sides of the two longitudinal extension arms, the height positions of the two longitudinal baffle plates are higher than the bearing surface of the longitudinal bearing plate, so that the two longitudinal baffle plates can respectively limit the conveying direction of the pipe frames at the two opposite ends of a row of the pipe frames, and the pipe frames can be prevented from falling off from the longitudinal bearing plate when the row of the pipe frames are conveyed from front to back;

the longitudinal pushing portion includes a slider and a pushing arm, wherein the slider is slidably mounted to the longitudinal rail of the longitudinal carrier and is mounted to an end of the link frame, wherein the pushing arm is mounted to the slider, and the pushing arm extends in a suspended manner above the longitudinal support plate, and when a row of the pipe racks is placed on the support portion, the pushing arm can abut against a front side of the pipe rack on the front side in the row, so that when both the longitudinal pushing portions are driven to move from forward to backward, both the longitudinal pushing portions can push the row of the pipe racks to move from forward to backward to allow the longitudinal conveying mechanism to convey from forward to backward;

the pushing arm is rotatably arranged on the sliding block, the longitudinal pushing part further comprises a first torsion spring, the first torsion spring is sleeved on the pushing arm and the mounting shaft of the sliding block, one end part of the first torsion spring is abutted against the sliding block, the other end part of the first torsion spring is abutted against the pushing arm, and in this way, the longitudinal conveying mechanism can ensure that the pushing arm of the longitudinal pushing part is always abutted against and abutted against the front side of the pipe frame positioned at the front side in a row of pipe frames;

the sliding block is provided with a boss, the push arm is provided with a hook part, the hook part of the push arm corresponds to the boss of the sliding block so as to allow the hook part of the push arm and the boss of the sliding block to be matched with each other to limit the maximum rotation angle of the push arm, and thus the push arm of the longitudinal push part is ensured to be always abutted against and tightly attached to the front side of the pipe frame positioned at the front side in a row of the pipe frames;

wherein the rack transport unit includes a traverse transport mechanism including a traverse carriage, a traverse support plate, a traverse driving portion, and a traverse pushing portion, the traverse carriage being provided on the support unit and on a rear side of the longitudinal carriage, and an extending direction of the traverse carriage being perpendicular to an extending direction of the longitudinal carriage, the traverse support plate being provided on the traverse carriage for supporting one of the racks transported to the traverse transport mechanism by the longitudinal transport mechanism, the traverse driving portion being provided adjacently to the traverse carriage, the traverse pushing portion including a driven portion and a pushing portion, the driven portion being drivably mounted to the traverse driving portion, the pushing portion being mounted to the driven portion, and the pushing portion extending in a suspended manner above the traverse support plate, when one of the pipe racks is conveyed by the longitudinal conveying mechanism to the transverse support plate of the transverse conveying mechanism, the pushing part of the transverse pushing part can abut against one end of the pipe rack, so that when the transverse driving part drives the transverse pushing part, the pushing part of the transverse pushing part can drive the pipe rack to move transversely;

the pushing part is rotatably arranged on the driven part, the transverse pushing part further comprises a second torsion spring, the second torsion spring is sleeved on the mounting shafts of the pushing part and the driven part, one end part of the second torsion spring is abutted against the driven part, and the other end part of the second torsion spring is abutted against the pushing part, and in this way, the transverse conveying mechanism can ensure that the pushing part of the transverse pushing part is always abutted against and abutted against one end part of the pipe frame supported by the transverse supporting part;

the transverse conveying frame is provided with a transverse baffle plate at one side adjacent to the transverse driving part, the transverse baffle plate can limit the position of the pipe frame conveyed by the longitudinal conveying mechanism so as to allow the pipe frame to be supported by the transverse supporting plate, and the transverse baffle plate can prevent the pipe frame from slipping off the transverse supporting plate when the pipe frame is transversely moved by the transverse conveying mechanism;

wherein the sample tube transfer device further comprises a buffer, which is arranged at the support unit, one end part of the transverse conveying mechanism is adjacent to the rear end of the longitudinal conveying mechanism, the other end part of the transverse conveying mechanism is adjacent to the buffer area, the buffer area is provided with a plurality of buffer holes, these buffer apertures are formed by means of bottom plate perforations forming the support unit, and each buffer aperture of the buffer zone is allowed to be inserted with one of the sample tubes, whereby said sample tube transfer device is buffered by inserting the bottom end of the body of said sample tube into said buffer memory well of said buffer memory area, the buffer area comprises a cylindrical buffer element which is arranged in the buffer hole, an inner wall defining the buffer well for isolating the sample tube inserted into the buffer well from a bottom plate;

wherein the sample tube transfer device further comprises a receiving unit, which is arranged at the support unit, wherein the receiving unit is adapted to receive the sample tubes sent to the sample tube transfer device, wherein the robotic arm is capable of gripping the sample tubes from the receiving unit and transferring the sample tubes to the buffer or the tube rack, the receiving unit is adjacent to the buffer area, the receiving unit comprises a receiving part and a transmitting part, wherein the receiving part is provided at a rear side of the supporting unit, and the receiving part is capable of receiving the transmitted sample tube from the transmitting tube corresponding to the transmitting tube, wherein the transport section is provided to extend from the receiving section to a front side of the support unit, and the transport section is used to transport the sample tube from back to front;

the conveying part comprises a conveying main body, a conveying driving part, two conveying wheels and two conveying belts, wherein the conveying main body is arranged on the supporting unit, the conveying driving part is arranged at one end part of the conveying main body, the two conveying wheels are respectively and rotatably arranged at two opposite ends of the conveying main body, one conveying wheel of the two conveying wheels is connected with the conveying driving part in a driving mode, and the two conveying belts are sleeved on the two conveying wheels at intervals so as to form a conveying space between the two conveying belts;

the transfer main body includes a first transfer base, a second transfer base, and two transfer arms, the first transfer base and the second transfer base being disposed opposite to each other, the two transfer arms being symmetrical to each other, and one end portions of the two transfer arms being respectively mounted to opposite sides of the first transfer base, the other end portions being respectively mounted to opposite sides of the second transfer base, the transfer driving part being mounted to the second transfer base, each of the transfer wheels being rotatably mounted to end portions of the two transfer arms, such that the two transfer belts are movably held between the two transfer arms, the receiving part forming a receiving space, one end portion of the transfer space of the transfer part corresponding to the receiving space of the receiving part to be transmitted to the sample tubes of the receiving space of the receiving part through the transmission duct, the conveying space capable of automatically dropping to the conveying part based on gravity;

the receiving part comprises a rear wall and two side walls, two side walls respectively extend on two opposite sides of the rear wall in a symmetrical mode to form the receiving space between the rear wall and the two side walls, and the two side walls form a front opening of the receiving part, the front opening is communicated with the receiving space, and in this way, the receiving part allows the sample tubes entering the receiving space to automatically enter the conveying space of the conveying part based on gravity; the receiving part comprises an inclined bottom wall extending obliquely downward and forward from the rear wall, wherein the inclined bottom wall is used for allowing the sample tubes sent to the receiving space of the receiving part to smoothly slide down to the conveying space of the conveying part based on gravity;

wherein the sample tube transfer device comprises a collection unit comprising a funnel and a collection portion, wherein the funnel has a top end opening and a bottom end opening corresponding to the top end opening, the funnel is arranged below the conveyor belt of the conveyor portion, and the top end opening of the funnel corresponds to the conveying space of the conveyor portion, the bottom end opening of the funnel corresponds to the collection portion, and the sample tubes screened by the conveyor portion can enter through the top end opening of the funnel and be discharged through the bottom end opening to collect the sample tubes to the collection portion; the collecting part further comprises a collecting driving part, a collecting slide block which is installed on the collecting driving part in a driving way, and a plurality of collecting chambers which are arranged on the collecting slide block, wherein the collecting chambers are arranged to correspond to the bottom end openings of the funnels, so that the funnels can collect the sample tubes to the collecting chambers of the collecting part;

wherein the sample tube transfer apparatus comprises a sensor, wherein the sensor is arranged at an end of the transport body for detecting whether the sample tube is transported by the conveyor belt to the end of the transport body and/or for detecting the type of the sample tube, wherein the robotic arm is associated with the sensor, wherein the robotic arm is capable of gripping the sample tube from the receiving unit to transfer the sample tube to the buffer or the tube rack when the sensor detects that the sample tube is transported by the conveyor belt to the end of the transport body;

the sensor includes a transmitting portion and a receiving portion which are respectively provided at ends of the two transfer arms of the transfer body and correspond to allow the receiving portion to receive a signal transmitted from the transmitting portion.