WO2019056231A1 - 反应杯拾取机构、自动装载装置、样本分析仪及装载方法 - Google Patents

反应杯拾取机构、自动装载装置、样本分析仪及装载方法 Download PDF

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Publication number
WO2019056231A1
WO2019056231A1 PCT/CN2017/102532 CN2017102532W WO2019056231A1 WO 2019056231 A1 WO2019056231 A1 WO 2019056231A1 CN 2017102532 W CN2017102532 W CN 2017102532W WO 2019056231 A1 WO2019056231 A1 WO 2019056231A1
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WO
WIPO (PCT)
Prior art keywords
cuvette
picking
block
transfer
reaction cup
Prior art date
Application number
PCT/CN2017/102532
Other languages
English (en)
French (fr)
Inventor
汪正国
翁彦雯
张志�
王长安
王俊
Original Assignee
深圳迈瑞生物医疗电子股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳迈瑞生物医疗电子股份有限公司 filed Critical 深圳迈瑞生物医疗电子股份有限公司
Priority to PCT/CN2017/102532 priority Critical patent/WO2019056231A1/zh
Priority to CN201780094005.7A priority patent/CN111033264B/zh
Publication of WO2019056231A1 publication Critical patent/WO2019056231A1/zh
Priority to US16/824,586 priority patent/US11440751B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/005—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
    • B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
    • B65G47/1442—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of the bottom or a part of the wall of the container
    • B65G47/1471—Movement in one direction, substantially outwards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0406—Individual bottles or tubes

Definitions

  • the present application relates to a sample analyzer, in particular a cuvette loading device of a sample analyzer.
  • a one-time reaction cup is used for testing.
  • the automatic reaction device of the cuvette is mainly used to automatically arrange the bulk reaction cups added to the device by the user. And transport the arranged cuvettes to the designated location for use by the test system.
  • the cuvette automatic loading device first picks up a cuvette scattered in a designated container of the instrument by some means, and then transports the picked cuvette to the transport mechanism, and the cuvette in the transport mechanism is robot or other The device is taken for the next related operation.
  • the cuvette In a typical cuvette automatic loading device, the cuvette is dropped from the pick-up mechanism by its own weight, but when the cuvette is attached to the process of the factory or after the preservation, the cuvette will not easily fall off the pick-up mechanism. , causing the reaction cup to be brought inside the instrument, which may cause abnormalities in other parts of the instrument, resulting in instrument failure.
  • the present application provides a novel cuvette picking mechanism, automatic loading device, sample analyzer and loading method to help the reaction cup fall from the picking mechanism.
  • an embodiment of the present invention provides a cuvette picking mechanism comprising:
  • the picking blocks are spaced apart on the driving structure, the driving structure drives the picking block to move, the picking block has a bearing surface for supporting the reaction cup, and at least one side opening of the bearing surface is formed Reaction cup outlet;
  • control unit wherein the control unit is coupled to the driving structure signal, and the control unit sends a control signal for enabling the driving structure to drive the picking block to pause and/or shake after moving for a first set time or a set distance, The cuvette was dropped from the cuvette outlet.
  • the bearing surface is inclined and disposed
  • the reaction cup outlet is located on the lower side of the inclined load bearing surface.
  • the pick-up block is periodically moved, wherein the pick-up block first moves for a first set time or set distance and then pauses and/or shakes during a motion cycle. Second set the time.
  • the shaking comprises moving the picking block back and forth respectively at least once in a second set time, moving the picking block backward by a distance within a second set time, and The picking block moves at least one of three ways of intermittently moving forward or backward intermittently for at least two distances during the second set time.
  • the set distance is a positive integer multiple of the distance between two adjacent pick-up blocks; the first set time is a time during which the pick-up block can be moved by the set distance.
  • the drive structure includes a motor and a timing belt or a conveyor chain driven by a motor, the pickup block being fixedly mounted on a timing belt or a conveyor chain, the conveying mechanism being inclinedly disposed so that The load-bearing surface of the pick-up block can pass through the silo for storing the cuvette obliquely upward from the bottom direction in order to pick up the cuvette.
  • an embodiment of the present invention provides a cuvette automatic loading device comprising:
  • the picking mechanism according to any one of the preceding embodiments, wherein the picking mechanism cooperates with the silo for picking up the reaction cup in the silo;
  • a control unit for controlling the action of the picking mechanism
  • a transport mechanism having at least one reaction cup for storing the cuvette for placing the cuvette.
  • a further improvement of the cuvette automatic loading device further includes a reversing mechanism for receiving and conveying a cuvette falling from the picking block, the transfer mechanism being coupled to the cuvette of the reversing mechanism exit.
  • the reversing mechanism has a transfer groove disposed obliquely downward from a side of the pick-up mechanism, the transfer groove having a sliding area adjacent to the pick-up mechanism and a buffer for buffering the cuvette
  • the buffer area is connected behind the sliding area, so that the cuvette can enter the buffer area from the sliding area for queuing buffer.
  • the buffer area is provided with a storage state detecting unit for detecting whether the cuvette in the buffer area is arranged to a set position or whether When the set number is reached, the storage state detecting unit is connected to the control unit for causing the control unit to stop the action of the driving structure after receiving the full signal from the storage state detecting unit.
  • the sliding zone is provided with a cuvette detecting unit, and the cuvette detecting unit is connected with the control unit for detecting whether a cuvette is moved from the sliding zone to the buffer zone.
  • the storage state detecting unit and/or the cuvette detecting unit employs a photosensor.
  • the transfer groove has a size that allows a portion below the suspension portion of the cuvette to extend, and the width of the transfer groove is smaller than a width of a hanging portion on the cuvette, the transfer groove One end of the pick-up mechanism has a first groove bottom wall, and the distance from the bottom wall of the first groove to the upper edge of the transfer groove is smaller than the distance from the bottom of the reaction cup to the hanging portion, so as to prevent the reaction cup from being overturned on the transfer groove. angle.
  • the bottom of the transfer groove is provided with a recess portion and/or a second groove bottom wall behind the first groove bottom wall, and the second groove bottom wall to the transfer groove
  • the distance of the upper edge is greater than the distance from the bottom of the reaction cup to the suspension portion, and the second groove bottom wall and the recess allow the lower portion of the cuvette to naturally hang down in the transfer groove.
  • the reversing mechanism has a substantially V-shaped guide groove, and the bottom of the guide groove communicates with the transfer groove and extends in the same direction as the transfer groove.
  • the transfer mechanism comprises a mount, a rotating disc and a transfer motor, the rotary disc having at least one reaction cup position, the reaction cup opening on one side forming an inner cup opening
  • the rotating disk is mounted on a transfer motor, and the control unit is coupled to the transfer motor for controlling rotation of the transfer motor;
  • the rotary disk is rotatably disposed in the mount, and the one side of the mount is formed outside a cup opening, the outer cup opening is docked with the reaction cup outlet of the reversing mechanism, and the inner cup opening is disposed on a side of the rotating disc close to the mounting seat, so that the inner cup opening can be forwarded during the rotating process
  • the cups are aligned to allow the reaction cup to enter the reaction cup.
  • the control unit drives the transfer motor to reversely rotate the set distance and then rotates in the forward direction, and at the same time during the forward rotation of the transfer motor
  • the control unit controls the transfer motor to turn on the change; when the control unit receives the signal to find the zero position, the transfer motor is normally rotated; After receiving the signal of the failure of the change, the control unit stops the operation of the transfer motor and issues a prompt message.
  • the picking block further includes a baffle disposed opposite the bearing surface and a connecting body connecting the bearing surface and the baffle, the bearing surface, the connecting body and the baffle are formed for Accommodating the accommodating groove of the reaction cup, the accommodating groove is disposed obliquely, and the driving structure controls the picking block, so that the bearing surface of the picking block can pass through the silo obliquely upward from the bottom direction for picking up the reaction cup .
  • an embodiment of the present invention provides a sample analyzer comprising the cuvette automatic loading device according to any of the above embodiments and a transfer mechanism for automatically rotating the cuvette The cuvette provided by the loading device is moved to another location.
  • an embodiment provides a loading method of a cuvette automatic loading device, the cuvette automatic loading device adopting the cuvette automatic loading device according to any of the above embodiments;
  • the loading method includes:
  • Picking step placing the cuvette on a picking block
  • Transfer step the pick-up block carrying cuvette moves according to the set path and causes the pick-up block to pause and/or shake after moving the set distance or the first set time to drop the cuvette on the pick-up block.
  • the method further includes:
  • Cache step Align the cuvettes dropped from the pickup block in order for caching.
  • the method further includes:
  • the first detecting step is: detecting whether the cuvette in the buffer area is arranged to the designated position or whether the set number is reached, and when the detection result is YES, prompting or alerting the user, and/or stopping the picking step and the transmitting step.
  • the method further includes:
  • Transmitting step receiving the cuvette dropped in the transferring step, sliding the cuvette downward on the rail inclined obliquely downward, and the cuvette is first deflected on the rail with the bottom of the cuvette in the direction of the starting point of the orbit
  • the non-natural drooping state slides to the buffer area, or the cuvette slides the set distance in the unnatural drooping state, and then returns to the natural drooping state and slides to the buffer area.
  • the method further includes:
  • the second detecting step detecting whether a reaction cup enters the buffer area within the set time, when detecting If the result is no and the pickup step and the transfer step are not stopped, the user is given a prompt or alarm message lacking the cuvette, and/or the pickup step and the transfer step are stopped.
  • the picking block is periodically moved, wherein the picking block first moves the first set time or set distance after one motion period Then pause and / or shake the second set time.
  • the shaking comprises moving the picking block back and forth respectively at least once in the second set time, causing the picking block to backward in the second set time Moving a distance and at least one of three ways of intermittently moving the picking block forward and/or backward by at least two distances during the second set time.
  • the set distance is a positive integer multiple of the interval between adjacent two picking blocks; the first set time is such that the picking block can move the set The time of the distance.
  • the reaction cup is caused to cause the pickup block to pause and/or shake after moving for the first set time or set distance, thereby causing the reaction cup It is easier to drop from the pickup block.
  • FIG. 1 is an exploded perspective view of an embodiment of a cuvette picking mechanism of the present application
  • FIG. 2 is a schematic structural view of an embodiment of a transport chain and a pick-up block of the present application
  • Figure 3 is a partial enlarged view of Figure 2;
  • FIG. 4 is a schematic structural view of an embodiment of a picking block of the present application.
  • Figure 5 is a schematic diagram of the movement period of the pickup block
  • FIG. 6 is a schematic structural diagram of another embodiment of a transmission chain and a pickup block of the present application.
  • Figure 7 is a schematic structural view of another embodiment of the picking block of the present application.
  • FIG. 8 is a schematic structural view of an embodiment of a timing belt and a pickup block according to the present application.
  • 9-10 are schematic structural diagrams of another embodiment of a transmission chain and a pickup block of the present application.
  • Figure 11 is a schematic structural view of an embodiment of a reaction cup automatic loading device of the present application.
  • Figure 12 is an exploded view of the embodiment of Figure 1;
  • Figure 13 is a top plan view of an embodiment of a cuvette automatic loading device of the present application.
  • Figure 14 is a schematic view of an embodiment of a cuvette of the present application.
  • Figure 15 is a schematic view of an embodiment of a transfer slot of the present application
  • 16 is a flowchart of a method for self-recovery of a transport mechanism in an embodiment of the present application
  • 17 is a flow chart of an embodiment of a loading method of the present application.
  • the first embodiment provides a cuvette picking mechanism 102 for picking up the cuvette and discharging the cuvette to a set position for discharging.
  • the cuvette picking mechanism 102 includes a driving structure 1022, a plurality of picking blocks 1021, and a control unit (not shown in the drawings, but does not affect the understanding of those skilled in the art). .
  • the picking block 1021 is spaced apart from the driving structure 1022.
  • the driving structure 1022 drives the picking block 1021 to have a bearing surface 1021A for supporting the reaction cup. At least one side opening of the bearing surface 1021A forms a reaction cup. Exit 1021H.
  • the control unit is in signal connection with the driving structure 1022, and the control unit sends out that the driving structure 1022 can drive the picking block 1021 to pause after moving for a first set time or a set distance and/or Or a dithering control signal to cause the cuvette to fall from the cuvette outlet 1021H.
  • the cuvette can be shown as reference numeral 200 in Figure 14, but such a cuvette 200 is merely an example, and the picking mechanism 102 is also applicable to other forms of cuvettes.
  • the set distance referred to herein refers to the distance that the pickup block 1021 needs to move when the pickup block 1021 is moved to the reaction cup discharge position.
  • the plurality of pick-up blocks 1021 are spaced apart and are moved diagonally upwardly in the direction indicated by the arrows in Figure 2 during transport of the cuvette.
  • the distance between the next picking block 1021 and the discharging position is equal to the distance between the adjacent two picking blocks 1021, so the set distance can usually be set to two adjacent Pick up block 1021 spacing.
  • the movement of the picking block 1021 in the first set time may be various motions such as a linear motion, a rotational motion, a curved motion, and the like, which is not limited in this embodiment.
  • the set distance may not be fixed, but according to the position of each picking block 1021 to the unloading position.
  • Distance to set The first set time referred to here is the time at which the pickup block 1021 can be moved by the set distance.
  • the picking block 1021 is caused to pause and/or shake after moving for the first set time or set distance in order to be able to unload the cuvette at a specified position so as not to fall at other positions to cause malfunction of the machine.
  • the picking block 1021 pauses and/or shakes the second set time after moving the first set distance or the first set time.
  • the pause means that the picking block 1021 remains stopped for the second set time after moving the set distance or the first set time, thereby causing the reaction cup to be under the action of the inertia of the movement and the pick-up by the sudden pause of the picking block 1021.
  • Block 1021 produces a relative movement to facilitate drop of the cuvette from pick block 1021.
  • the shaking includes moving the picking block 1021 back and forth respectively at least once in a second set time, moving the picking block 1021 backward by a distance within a second set time, and causing the picking block 1021 to be in the second set time At least one of three ways of intermittently moving forward or backward at least two distances.
  • Moving back and forth respectively at least once in the second set time means that the pickup block 1021 moves back and forth in the front-rear and forward directions to form a shake.
  • the forward direction is the same as the direction in which the pickup block 1021 carries the cuvette, and the backward direction is opposite to the forward direction.
  • the picking block 1021 is moved backward by a distance during the second set time, which means that the picking block 1021 is moved back backwards when moving to the unloading position, and the opposite movement is used to make the cuvette from the picking block. Dropped on 1021.
  • Intermittently moving forward or backward at least two distances during the second set time means that the picking block 1021 moves forward or backward for a period of time, pauses and then continues to maintain the same direction and then moves for a period of time, thereby stopping the plurality of stages. Shakes with movement.
  • jitter can also be implemented by other means, which are not enumerated here.
  • the pause and jitter of the pickup block 1021 is typically implemented using a drive structure 1022, such as, in one embodiment, the drive structure 1022 includes a motor and a timing belt or conveyor chain driven by a motor, the pickup block 1021 being fixedly mounted to the timing belt Or on the conveyor chain. At this time, the pause and jitter of the pickup block 1021 can be realized by the start-stop state of the motor and the forward and reverse rotation.
  • the driving structure 1022 may also adopt other power devices such as a cylinder, a liquid cylinder, etc., and at this time, the pause and shake of the pickup block 1021 can also be realized by changing the running direction, the start-stop state, and the like of the power devices.
  • the dithering can also be achieved by a mechanical structure, such as a dithering mechanism at the unloading position of the picking mechanism 102, and the picking block 1021 through the dithering mechanism when the picking block 1021 is moved to the unloading position Apply force to make it shake.
  • a mechanical structure such as a dithering mechanism at the unloading position of the picking mechanism 102, and the picking block 1021 through the dithering mechanism when the picking block 1021 is moved to the unloading position Apply force to make it shake.
  • the picking block 1021 is periodically moved, wherein the picking block 1021 moves for a first set time or a set distance after a motion period, and then pauses and/or shakes. The second set time. As shown in Figures 1-4, the pick block 1021 pauses or shakes after each step on the conveyor chain.
  • T1 and T2 respectively represent a motion period of the pickup block 1021, and each period includes at least two time periods t1 and t2, t1 represents a first set time, and t2 represents a second set time, the picking The block 1021 first moves after the first set time t1, and then pauses and/or shakes the second set time t2.
  • the pick block 1021 can perform other actions during one motion cycle. These other actions can be interspersed during any time period within a motion cycle.
  • the load bearing surface 1021A can be placed obliquely, the cuvette outlet 1021H being located on the lower side of the inclined load bearing surface 1021A, which facilitates the dropping of the cuvette from the bearing surface 1021A.
  • the pick-up mechanism 102 includes a drive structure 1022 and a plurality of pick-up blocks 1021 spaced apart from the drive structure 1022 for picking up the cuvette from the bin for storing the bulk cuvette during the movement.
  • the pickup block 1021 includes a bearing surface 1021A for supporting the reaction cup, a baffle 1021B disposed opposite the bearing surface 1021A, and a connecting body 1021C connecting the bearing surface 1021A and the baffle 1021B.
  • the bearing surface 1021A, the connecting body 1021C, and the baffle 1021B may be integrally formed, or may be formed by fixing the separated bearing surface 1021A, the connecting body 1021C, and the baffle 1021B to each other.
  • the bearing surface 1021A may be a face or faces of the load-bearing body 102D.
  • the load-bearing body 102D may be a plate-shaped body or may have any other shape.
  • the bearing surface 1021A, the connecting body 1021C and the baffle 1021B form a receiving groove 1021K for accommodating the reaction cup.
  • the receiving groove 1021K is disposed obliquely downward as a whole, and has a cuvette outlet 1021H for the reaction cup to fall. Thereby, the cuvette can be slid down from the accommodating groove 1021K under the action of gravity.
  • the cuvette outlet 1021H is typically located on the lower side of the receiving trough 1021K.
  • the accommodating tank 1021K further has a cuvette inlet, and the cuvette inlet may preferably be disposed obliquely upward or partially obliquely upward, so that the cuvette can fall into the accommodating groove 1021K under the action of gravity.
  • the reaction cup is usually randomly dropped into the accommodating groove 1021K.
  • the cuvette inlet of the accommodating groove 1021K includes the cuvette outlet 1021H (at the same time as an inlet and an outlet), and the reaction cup outlet. 1021H opposite one side opening 1021J and opening 1021I on the side opposite to the connecting body 1021C, the reaction cup is random From these openings, it enters into the accommodating groove 1021K.
  • the cuvette outlet 1021H simultaneously as part of the cuvette inlet, in other embodiments, the cuvette inlet and cuvette outlet of the receiving cell 1021K may also be separately spaced apart.
  • the accommodating groove 1021K as described herein is disposed obliquely downward as a whole and the cuvette inlet of the accommodating groove 1021K is disposed obliquely upwards in the process of picking up and transporting the cuvette in the picking block 1021 (ie, the arrow shown in FIG. 2 is picked up). Block 1021 moves up this section).
  • the width and length of the accommodating groove 1021K is set to be slightly larger than the reaction cup, that is, only one cuvette can be accommodated.
  • the accommodating groove 1021K is disposed laterally, that is, matched with the shape when the reaction cup is lying, so that the reaction cup is accommodated in the accommodating groove 1021K in a lying manner.
  • the unloaded cuvette can only remain in the accommodating groove 1021K, or fall from the openings 1021I, 1021H, and 1021J of the accommodating groove 1021K, and does not fall into the adjacent picking.
  • the pick-up problem of the pickup mechanism 102 caused thereby is also avoided.
  • the baffle 1021B has an upper baffle 1021E opposite to the bearing surface 1021A. At least one of the bearing surface 1021A and the upper baffle 1021E has a chamfer 1021F, 1021G disposed outwardly from the receiving groove 1021K. It is used to increase the size of the opening of the cuvette inlet so that the cuvette provides a larger inlet and it is easier to collect the cuvette. In addition, due to this special pick-up structure, when one pick-up block 1021 passes obliquely upward through the magazine 101, there may be several cuvettes stacked in one of the receiving grooves 1021K.
  • the chamfer can also serve as a guide for the first cuvette to fall more easily into the accommodating groove 1021K than the normal cusp transition.
  • the other cuvettes are more likely to fall from the picking block 1021 due to the shortage of the remaining space of the accommodating groove 1021K and the existence of the chamfering, and will not hang.
  • the cuvette 200 has a rib as a suspension. 202, the cross-sectional dimension of the rib (when the rib cross section is circular, the cross-sectional dimension is the diameter of the circular shape formed by the outermost edge) is d, and the cross section of the portion 203 below the suspension portion of the cuvette 200 The size is f (when the cross section of the portion 203 below the suspension portion of the cuvette 200 is circular and the cross-sectional dimension is the diameter of the circle formed by the outermost edge), the range of the chamfering a of the bearing surface is selected as:
  • the upper baffle b range is selected as:
  • the drive structure includes a motor (not shown separately, but this does not affect the understanding of those skilled in the art) and the conveyor chain 1023.
  • the conveyor chain 1023 and its transfer wheel are integrally tilted, and the transport chain 1023 forms a circulating working transport track.
  • the plurality of picking blocks 1024 are disposed at a distance from each other on the transport chain 1023, thereby being driven by the transport chain 1023.
  • the cuvette is transported obliquely above the cycle.
  • the picking block 1024 has a bearing surface 1024A for supporting the reaction cup.
  • the driving structure controls the picking block 1024 so that the bearing surface 1024A of the picking block 1024 can pass through the silo obliquely upward from the bottom direction for picking up and transporting. And unload the cuvette.
  • the bearing surface 1024A is disposed obliquely, and the lower side forms a cuvette outlet 1021H. This manner is roughly equivalent to the aforementioned pickup block 1021 omitting the shutter 1021B.
  • the pickup block 1024 includes a connector 1024B that is mounted on the driving structure 1022 in addition to the bearing surface 1024A.
  • the picking block 1024 has a bearing surface 1024A for supporting the reaction cup and a lower bottom surface 1024C located at the back of the bearing surface 1024A, and at least one of the bearing surface 1024A and the lower bottom surface 1024C has Chamfers 1024D, 1024E, to increase the probability of the reaction cup entering the bearing surface 1024A.
  • the range of chamfering a of the bearing surface 1024A (consistent with the chamfer of the bearing surface 1021A shown above) is selected to be:
  • the range of chamfers c of the lower bottom surface 1024C is selected to be:
  • the chamfering effect of the lower bottom surface 1024C is to cooperate with the bearing surface 1024A of the next pick-up block 1024 to form a larger opening for the cuvette to enter the load bearing surface 1024A.
  • This chamfer design can also play a guiding role compared to the usual sharp corner transitions.
  • the first cuvette is easier to accurately fall onto the load bearing surface 1024A.
  • the other reaction cups are more likely to fall from the picking block 1024 due to the lack of remaining space of the bearing surface 1024A and the existence of the chamfer, and will not hang on the load-bearing surface. Face 1024A on the groove wall.
  • the picking mechanism 102 may also be of other construction.
  • the drive structure includes a motor (not shown separately, but this does not affect the understanding of those skilled in the art) and timing belt 1026.
  • the timing belt 1026 and its transfer wheel are integrally inclined, and the timing belt 1026 forms a circulating working transport track.
  • the plurality of picking blocks 1027 are disposed at a distance from each other on the conveyor chain timing belt 1026 so as to be at the timing belt 1026. Drive, the reaction cup is transported obliquely above the cycle.
  • the advantage of using the timing belt 1026 is that the gap 1025 (shown in FIG. 3) when the conveyor chain 1023 is used is not generated between the pickup blocks 1027, and the reaction cup can be prevented from being stuck in the gap 1025.
  • the pick-up mechanism 102 mates with a magazine 101.
  • the silo 101 is mounted on a frame structure or in a position adjacent to the frame structure, the frame structure including a frame structure of the left side plate 1017 and the right side plate 1018.
  • the picking mechanism 102 includes a picking block 1028, a conveyor chain 1023, a transfer wheel 1029, and a drive motor 10210.
  • the picking block 1028 is mounted on the conveyor chain 1023, and the picking block 1028 has a load bearing surface or receiving groove for receiving the reaction cup.
  • the conveyor chain 1023 is driven by a transfer wheel 1029 mounted between the left side panel 1017 and the right side panel 1018. Then, the transfer wheel 1029 is driven by a drive motor 10210 mounted on the left side plate 1017.
  • the bin 101 has a slanted bottom surface for conveying the cuvette to the staging area at the bottom of the hopper 101.
  • the staging area at the bottom of the silo 101 can be, for example, about 4 inches high to allow the cuvette to fall into the load bearing surface of the picking block 1028.
  • Below the staging area of the silo 101 is a door area to prevent the cuvette from falling out of the apparatus between the picking block 1028 and the silo 101.
  • Each pick block 1028 has a flange on each side for guiding the article along a particular path by having flanges mounted in corresponding slots in the left side panel 1017 and the right side panel 1018.
  • Conveyor chain 1023 and pick-up block 1028 form a loop that can be, for example, approximately 48 inches long.
  • the idler 8 is mounted between the left side panel 1017 and the right side panel 1018 at the bottom of the conveyor chain 1023 to assist in guiding the conveyor chain 1023 and the picking block 1028.
  • the picking block 1028 lifts the cuvette out of the hopper 101 and will agitate the cuvette contained in the hopper 101.
  • the picking block 1028 is designed to have a large holding area such that the picking block 1028 is most likely to capture a cuvette into the load bearing surface or receiving groove of each picking block 1028. The additional cuvette in the pick block 1028 will be easily dropped back into the hopper.
  • the pick-up block 1028 approaches the transfer wheel 1029, the excess cuvette slides out of the pick-up block 1028 and falls back to the hopper 101, leaving only one cuvette on the pick-up block 1028 of each pick-up block 1028.
  • Most of the cuvettes that fall from the pick-up block 1028 and return to the hopper 101 are parallel to one another and are generally parallel to the pick-up block 1028, thereby increasing their likelihood of entering the cuvette area of the hopper 101.
  • a plurality of picking mechanisms are shown, which are operated by stepping or stepping by controlling the stroke of the picking block, thereby making the reaction cup more complicated by using the pause or the shaking. It is easy to drop from the pickup block.
  • the second embodiment provides a cuvette automatic loading device which can automatically load the cuvette so that the disordered cuvettes are finally arranged in a certain order for subsequent operation.
  • the cuvette automatic loading device 1 includes a silo 101, a picking mechanism 102, a reversing mechanism 103, a transport mechanism 104, and a control unit (not shown).
  • the control unit is used to control the action of the picking mechanism.
  • the control unit can also be used to control other mechanisms, such as the reversing mechanism 103, the transfer mechanism 104, and the like.
  • the pick-up mechanism 102 can adopt any pick-up mechanism and other pick-up mechanism as shown in the first embodiment, thereby utilizing the operation mode of causing pause and/or jitter after advancing the pick-up block for a period of time, utilizing pause or jitter.
  • the reaction cup is more easily dropped from the pick-up block.
  • the silo 101 is used to store a disordered cuvette having an accommodating chamber having an open opening that allows the operator to pour the bulk cuvette into the chamber. Capacitance inside the cavity.
  • the open opening may also be provided with an openable lid such that the open opening is closed when no cuvette is added.
  • the silo 101 may be in the shape of a large upper and lower, and the open opening is provided at the upper portion such that the open opening has a sufficient size to allow the operator to add the cuvette.
  • the driving structure 1022 controls the picking block 1021 so that the receiving slot 1021K of the picking block 1021 can pass through the silo 101 obliquely upward from the lower direction during a stroke for picking up and transporting Send and unload the cuvette.
  • an oblique opening 1013 is disposed on the side of the silo 101, and a part of the picking mechanism 102 is inserted into the oblique opening 1013, and after entering the silo 101, the picking block 1021 is picked up.
  • the cuvette inlet on the accommodating groove 1021K is disposed in the silo 101 and is disposed obliquely upward so that the cuvette falls into the accommodating groove 1021K.
  • the driving structure 1022 and the picking block 1021 When the driving structure 1022 and the picking block 1021 are loaded into the oblique opening 1013, they substantially seal the oblique opening 1013 or have a small gap with the opening wall of the oblique opening 1013 so that the cuvette does not The silo 101 is dropped at the oblique opening 1013.
  • the silo 101 is divided into a large one and a small cavity by an intermediate partition, and the large cavity 1011 is used to add and store a new cuvette, a small cavity.
  • the body 1012 is an effective pick-up area.
  • the large cavity 1011 communicates with the small cavity 1012.
  • a portion of the pick-up mechanism 102 extends obliquely upward from the small cavity 1012 such that the pick-up block 1021 sequentially passes through the small cavity 1012 under the driving of the driving structure 1022 and moves obliquely upward, thereby causing the reaction in the small cavity 1012.
  • the cup falls on the load bearing surface 1021A of the pickup block 1021 by gravity and the surrounding reaction cup, and moves with the pickup block 1021, thereby completing the pickup of the cuvette.
  • the large and small cavities can prevent too many cuvettes from being stacked in the small cavity 1012, so that the pickup block 1021 does not pick up the cuvette.
  • the silo 101 is also not limited to such a large one and two small cavities, which may also be a complete cavity or other design.
  • the drive structure 1022 includes a motor (not shown separately, but this does not affect the understanding of those skilled in the art) and the conveyor chain 1023.
  • the conveyor chain 1023 and its transfer wheel are integrally inclined, and the transport chain 1023 forms a circulating working transport track.
  • the plurality of pick-up blocks 1021 are disposed at a distance from each other on the transport chain 1023, thereby being driven by the transport chain 1023.
  • the cuvette is transported obliquely above the cycle.
  • the magazine 101 has side panels 1014 disposed along the path of movement of the pick-up block 1021, the side panels 1014 enclosing the side of the cuvette outlet of the pick-up block 1021. (the lower side of the receiving groove 1021K) to prevent the cuvette 200 from falling out of the bearing surface 1021A.
  • the side panel 1014 does not extend to the highest point of the side conveyor chain 1023 (i.e., at the corner of the conveyor chain 1023), and can only be dropped after the cuvette on the pickup block 1021 has passed the highest edge of the side panel 1014. Inside the transfer slot 1031.
  • the other side of the side panel 1014 may be provided with an opposite second side panel 1015.
  • the side panel 1014 and the second side edge are respectively located at two sides of the transport chain 1023, and the picking block 1021 is opposite to the picking block 1021. Limit and protect both sides.
  • the reversing mechanism 103 serves as a process of collecting and sorting, so that the cuvettes picked up by the picking mechanism 102 can be sequentially arranged in order.
  • the cuvette inlet 1035 of the reversing mechanism 103 is disposed at the cuvette outlet 1021H of the pickup mechanism 102. When the cuvette slides off the pickup block 1021, it enters the reversing mechanism 103.
  • the direction in which the reversing mechanism 103 transmits the cuvette 200 is at an angle to the direction in which the picking mechanism 102 carries the cuvette 200, and can be used to change the conveying direction of the cuvette 200 to facilitate mating with subsequent structures. Of course, in other embodiments both can maintain the same or opposite orientation settings.
  • the reversing mechanism 103 is disposed at one side of the pick-up mechanism 102 for receiving and transmitting the cuvette dropped from the pick-up block 1021 , and the transfer mechanism 104 is coupled to the cuvette outlet of the reversing mechanism 103 . 1036.
  • the reversing mechanism 103 is coupled to the picking mechanism 102, and the reversing mechanism 103 has a transfer slot 1031 disposed obliquely downward from the side of the picking mechanism 102.
  • the transfer groove 1031 has a size that allows the lower portion of the cuvette 200 to protrude, and the width of the transfer groove 1031 is smaller than the width of the hanging portion on the cuvette 200.
  • the cuvette 200 used in the embodiment includes a tubular body 201 and a rib 202 disposed outside the tubular body 201.
  • the rib 202 corresponds to the hanging portion of the cuvette 200.
  • the portion below the suspension portion of the cuvette 200 is 203, and the cuvette 200 is mainly suspended by the rib 202 at the upper edge of the transfer groove 1031.
  • the suspension portion can also be other forms of structure, such as a plurality of bumps, and even in some embodiments in which the tubular bodies 201 are tapered, the suspension portion can be the tubular body 201.
  • the outer wall allows the smaller end of the tubular body 201 to extend into the transfer slot 1031, while the larger end is suspended outside the transfer slot 1031.
  • the reaction cup 200 when the reaction cup 200 falls into the transfer tank 1031, it depends on the gravity of the reaction cup 200 itself, and it is simultaneously rotated during the sliding process. By the rotation of the reaction cup 200, the opening of the reaction cup 200 can always be made toward Onwards, the commutation of the cuvette 200 is completed. However, since the cuvette 200 falls into the transfer groove 1031, it oscillates in the transfer groove 1031 substantially around the hanging portion. For example, Figure 15 shows that the cuvette 200 enters from the bottom to the right. In the transfer tank 1031, the portion 203 below the suspension portion of the cuvette 200 swings downward in the clockwise direction.
  • the portion 203 below the suspension portion of the cuvette 200 swings downward in a counterclockwise direction. Once this sway is too large, the cuvette 200 will slide out or fall out of the transfer slot 1031, causing other unpredictable malfunctions.
  • the transfer groove 1031 has a first groove bottom wall 1032 at least at an end close to the pick-up mechanism 102, and the distance between the first groove bottom wall 1032 and the transfer groove 1031 (vertical distance, as shown in FIG. 15
  • the dotted line A is smaller than the distance from the bottom of the cuvette 200 to the hanging portion.
  • the bottom of the transfer slot 1031 is provided with a recess 1034 behind the first slot bottom wall 1032.
  • the recess 1031 means that there is no opening in the bottom wall or the bottom wall of the portion. The recess allows the lower portion of the cuvette 200 to naturally hang down in the transfer groove 1031 and then slide down sequentially.
  • the bottom of the transfer trough 1031 is provided with a second trough bottom wall (not shown) behind the first trough bottom wall 1032.
  • the distance from the bottom of the second groove to the upper edge of the transfer groove 1031 (vertical distance, as indicated by a broken line B in Fig. 15) is larger than the distance from the bottom of the cuvette 200 to the hanging portion.
  • the second groove bottom wall allows the lower portion of the cuvette 200 to naturally hang down in the transfer groove 1031 and then slide down sequentially.
  • the transfer slot 1031 can have both the above-mentioned recess 1034 and the second slot bottom wall. Additionally, in some embodiments, it is also possible for the entire transfer trough 1031 to have such a first trough bottom wall 1032 as described above.
  • the reversing mechanism 103 has a substantially V-shaped guiding groove 1033.
  • the bottom of the guiding groove 1033 communicates with the conveying groove 1031 and is in the same direction as the conveying groove 1031. Extended settings.
  • the guiding groove 1033 is used to enlarge the receiving range of the conveying groove 1031, so that the position where the reaction cup 200 is dropped on the picking block 1021 can still fall into the guiding groove 1033 even if it is not accurate enough, and slides along with the guiding surface of the guiding groove 1033. It enters the transfer slot 1031.
  • the transfer groove 1031 has a sliding area close to the pick-up mechanism 102 and is used for easing
  • the buffer area of the cuvette 200 is stored, and the buffer area is connected behind the sliding area, so that the cuvette 200 can enter the buffer area from the sliding area for queuing buffer.
  • the buffer area is usually disposed at the end of the transfer tank 1031.
  • the cuvettes 200 are sequentially arranged and buffered in the transfer groove 1031, and the slide-down area can be regarded as the start end of the transfer groove 1031 (close to the end of the pickup cup 102 reaction cup 200 outlet). ) to the area of the buffer area.
  • the buffer area is provided with a storage state detecting unit, configured to detect whether the cuvette 200 in the buffer area is arranged to a set position or whether a set number is reached, and the storage state detecting unit is connected with the control unit to feed back a buffer to the control unit.
  • the storage state of the zone The control unit can determine whether to continue picking up the cuvette 200 and whether to remind the user based on the received storage status. For example, when it is detected that the cuvette 200 is full, the pickup mechanism 102 is controlled to stop picking up the cuvette 200, and the user can also be informed that the cuvette 200 buffer is full.
  • the sliding area is provided with a cuvette 200 detecting unit, and the detecting unit 200 is connected to the control unit for detecting whether the cuvette 200 is moved from the sliding area to the buffer area.
  • the control unit can determine whether the silo 101 needs to add the cuvette 200 according to the detection result of the detecting unit of the cuvette 200. If the reaction cup 200 is not moved from the sliding area to the buffer area for a long time, and the pickup mechanism 102 remains in operation during this time, it can be considered that the cuvette 200 in the magazine 101 is insufficient to be picked up by the pickup mechanism 102, and a reaction needs to be added. Cup 200, which reminds the user to add.
  • the storage state detecting unit and/or the cuvette 200 detecting unit employs a photosensor.
  • the photoelectric sensor When detecting whether the reaction cup 200 is full, the photoelectric sensor may be disposed in the buffer area or at the intersection of the buffer area and the sliding area, and the photoelectric sensor only needs to detect whether the position of the reaction cup 200 is always present in the position within a certain time. .
  • the first groove bottom wall 1032 can be located in the sliding zone, thereby ensuring that the cuvette 200 in the buffer zone is suspended in the transfer groove 1031 in a state of natural drooping.
  • the buffer area is disposed in the area corresponding to the second groove bottom wall or the recessed portion 1034, so that the cuvette 200 can be queued and cached in a state of natural drooping.
  • the transport mechanism 104 is coupled to the cuvette outlet 1036 of the transfer tank 1031.
  • the transport mechanism 104 has at least one cuvette position 1043 for storing the cuvette 200 for placement. And transport the reaction cup 200.
  • the transport mechanism 104 employs a transfer tray for transporting and positioning the aligned cuvette 200 to a designated location in the system.
  • the cuvette 200 in the reversing mechanism 103 enters the reaction cup position 1043 of the transfer tray, and the reaction cup 200 is transported to the designated position of the system by the rotation of the transfer tray.
  • the transport mechanism 104 is always rotated in one direction and the transport mechanism 104 has a plurality of reaction cup positions 1043.
  • the transfer mechanism 104 rotates one stroke to move the next cuvette position 1043 to the cuvette outlet 1036 of the transfer tank 1031.
  • the transport mechanism 104 waits for the cuvette 200 to enter the reaction cup position 1043, and then rotates one stroke to align the next reaction cup position 1043 with the cuvette outlet 1036 of the transfer tank 1031, and rotates in this motion mode.
  • the transport mechanism 104 includes a mounting base 1041 and a rotating disk 1042 having at least one reaction cup position 1043, the reaction cup position 1043 opening on one side to form an inner cup
  • the port 1045 is rotatably disposed in the mount 1041.
  • the rotating disk 1042 can be driven by a motor or other drive structure.
  • the rotating disk 1042 is a disk structure, and the mounting seat 1041 forms a cylindrical cavity such that after the rotating disk 1042 is mounted to the cavity, the mounting seat 1041 surrounds the rotating disk 1042.
  • One side opening of the mounting seat 1041 forms an outer cup opening 1044 which abuts the outlet of the reaction cup 200 of the reversing mechanism 103 (for example, the outlet of the conveying groove 1031), and the inner feeding cup opening 1045 is disposed on the rotating disk 1042. Adjacent to the side of the mount 1041 (outside of the rotating disk 1042), the inner cup opening 1045 can be aligned with the outer cup opening 1044 during rotation to allow the reaction cup 200 to enter the reaction cup position 1043.
  • the rotary disk 1042 is mounted on a transfer motor (not shown) that is coupled to the transfer motor for controlling the rotation of the transfer motor to control the rotation of the rotary disk 1042.
  • the transfer motor has the possibility of out-of-step during the working process.
  • a self-recovery method after the out-of-step is provided.
  • the transfer motor when the control unit detects the out-of-step signal of the transfer motor, the transfer motor is driven to reversely rotate the set distance and then rotates in the forward direction, and the control unit controls the transfer motor to open the change during the forward rotation of the transfer motor.
  • control unit When the control unit receives the signal to find the zero position, it controls the transfer motor to rotate normally.
  • control transfer motor stops working and sends a message.
  • the operator manually intervenes according to the prompt information to perform maintenance.
  • an out-of-step alarm can also be performed to alert the operator.
  • the transfer motor can also rotate forward to the next cup position during the change process and determine if the zero position is found. If the zero is found, the self-recovery process ends, Often rotated. If the zero is not found, continue to the next cup and continue to change. After multiple failed changes, the control unit then controls the transfer motor to stop working and issues a message.
  • the reversing mechanism 103 may be omitted, and the transport mechanism 104 directly acquires the cuvette 200 dropped on the pick-up mechanism 102 and transports it.
  • the transfer mechanism 104 can also be integrated with the reversing mechanism 103 into a structure that has both the function of the reversing mechanism 103 and the function of the transfer mechanism 104.
  • a stirring mechanism having a stirring block 105 installed in the silo 101 for agitating the cuvette 200 and enabling the cuvette 200 to enter On the bearing surface 1021A, the picking efficiency of the picking mechanism 102 is improved.
  • the agitation block 105 can be driven by a separate power source.
  • the agitating block 105 can also be controlled by the power source of the pick-up mechanism 102.
  • the agitating block 105 is driven by the driven shaft of the transport chain 1023.
  • the agitating block 105 is simultaneously moved up and down or in other directions.
  • the agitating block 105 may have a motion trajectory that is substantially the same as the direction of movement of the bearing surface 1021A or vertically upward.
  • the agitation block 105 can be disposed along the pick-up mechanism 102, and its motion trajectory can be parallel to the moving direction of the corresponding pick-up block 1021, and its function is to push the stacked cuvette 200 up, so that the cuvette 200 falls during the falling process. Goes to the pickup block 1021.
  • the pick-up mechanism 102 and the silo 101 do not form a gap with the agitation block 105. If a gap is formed, the gap has a size that prevents the cuvette 200 from falling into the gap to prevent the cuvette 200 from falling into the gap. Causes the machine to become stuck.
  • This embodiment 3 provides a sample analyzer comprising a cuvette automatic loading device and a transfer mechanism for providing a cuvette.
  • the transfer mechanism is used to move the cuvette provided by the cuvette automatic loading device to other locations, and in some embodiments, the transfer mechanism can employ a robot or other mechanism having a transfer function.
  • the other location may be a location on the reaction device, which may be a reaction tray.
  • the function of the reaction device is to provide one or more cup positions for placing the reaction cup; other positions may also be the sample loading positions separated from the reaction plate, and the robot transports the reaction cup to the sample loading position for the sample loading operation.
  • the cuvette automatic loading device employs any of the cuvette automatic loading devices shown in the above embodiment 2.
  • the cuvette can be picked up using any of the cuvette picking mechanisms shown in the above embodiment 1.
  • the fourth embodiment provides a loading method of the cuvette automatic loading device.
  • the cuvette automatic loading device adopts any one of the cuvette automatic loading devices as shown in Embodiment 2;
  • the loading method includes:
  • This picking step and/or transfer step can utilize the implementation of the structure as shown in embodiments 1 and 2.
  • the method further includes:
  • S08 Send a prompt or alarm message to the user, and/or stop the picking step and the transmitting step.
  • before the caching step further:
  • step S05 the cuvette can be slid downward on the track inclined obliquely downward, and the cuvette is first slid onto the track in an unnaturally falling state in which the bottom of the cuvette is deflected toward the starting point of the track to the buffer area. , or the cuvette slides the set distance in the unnatural drooping state, and then returns to the natural drooping state and slides to the buffer area.
  • the specific operation can be as shown in FIG. 15, and the cuvette 200 is slid downward on the rail inclined obliquely downward, and the cuvette 200 is firstly on the track in an unnaturally falling state in which the bottom of the reaction cup is deflected toward the starting point of the track. After sliding the set distance, it is used to decelerate and prevent the cuvette 200 from rotating too large (as described in Example 2).
  • S11 Sending a prompt or alarm message to the user that the lack of a reaction cup, and/or stopping the picking step and the transmitting step.
  • the picking block is periodically moved, wherein, as described in Embodiment 1, the picking block moves for the first set time or set distance after one motion cycle. Pause and/or shake for the second set time.
  • the shaking comprises moving the picking block back and forth respectively at least once in the second set time, moving the picking block back a distance within the second set time, and At least one of three ways of intermittently moving the pick-up block forward and/or backward by at least two distances during the second set time.
  • the content described in Embodiment 1 can be referred to.
  • the set distance is a positive integer multiple of the spacing between adjacent two picking blocks.
  • the first set time is a time during which the pickup block can be moved by the set distance.

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Abstract

一种反应杯拾取机构(102)、自动装载装置(1)、样本分析仪及装载方法，通过使驱动结构(1022)带动拾取块(1021)在移动第一设定时间(t1)或设定距离后停顿和/或抖动，从而促使反应杯(200)更容易地从拾取块(1021)上掉落。

Description

反应杯拾取机构、自动装载装置、样本分析仪及装载方法 技术领域
本申请涉及一种样本分析仪，尤其是样本分析仪的反应杯装载装置。
背景技术
样本分析仪(例如全自动化学发光免疫分析仪)中会使用到一次性反应杯进行测试，在测试过程中，反应杯自动装载装置主要作用在于将用户添加到装置中的散装反应杯自动排列整齐，并将排列好的反应杯输送到指定位置，供测试系统使用。
一般地，反应杯自动装载装置首先通过某种方式拾取到一个散放于仪器指定容器内的反应杯，再将拾取到的反应杯输送至转运机构上，转运机构中的反应杯被机械手或者其他装置取用进行接下来的相关操作。
在通常的反应杯自动装载装置中，反应杯都是通过自重从拾取机构掉落，但当反应杯出厂或者后期保存等过程中附着有污染物时，反应杯将不容易从拾取机构上掉下来，从而导致反应杯被带入到仪器内部，可能造成仪器其他部件的异常，导致仪器故障。
发明内容
本申请提供一种新型的反应杯拾取机构、自动装载装置、样本分析仪及装载方法，有助于反应杯从拾取机构上掉落。
根据本申请的一方面，一种实施例中提供了一种反应杯拾取机构，包括：
驱动结构；
多个拾取块，所述拾取块间隔设置在驱动结构上，所述驱动结构带动拾取块移动，所述拾取块具有用于承托反应杯的承重面，所述承重面的至少一侧开口形成反应杯出口；
以及控制单元，所述控制单元与驱动结构信号连接，且所述控制单元发出使驱动结构能够带动拾取块在移动第一设定时间或设定距离后停顿和/或抖动的控制信号，用以使反应杯从所述反应杯出口掉落。
作为所述反应杯拾取机构的进一步改进，所述承重面倾斜设置，所 述反应杯出口位于倾斜承重面的较低一侧。
作为所述反应杯拾取机构的进一步改进，所述拾取块成周期性运动，其中，在一个运动周期内所述拾取块先移动第一设定时间或设定距离后再停顿和/或抖动第二设定时间。
作为所述反应杯拾取机构的进一步改进，所述抖动包括使拾取块在第二设定时间内向后和向前分别运动至少一次、使拾取块在第二设定时间内向后运动一段距离以及使拾取块在第二设定时间内间歇性向前或向后运动至少两段距离这三种方式中的至少一种。
作为所述反应杯拾取机构的进一步改进，所述设定距离为相邻两个拾取块间距的正整数倍；所述第一设定时间为能够使拾取块移动所述设定距离的时间。
作为所述反应杯拾取机构的进一步改进，所述驱动结构包括电机和由电机驱动的同步带或传送链，所述拾取块固定安装在同步带或传送链上，所述传送机构倾斜设置，使拾取块的承重面能够自下方向斜上方穿过用于存放反应杯的料仓，以便拾取反应杯。
根据本申请的一方面，一种实施例中提供了一种反应杯自动装载装置，包括：
料仓，用于存放反应杯；
如上述实施例任一项所述的拾取机构，所述拾取机构与料仓配合，用以拾取料仓内的反应杯；
控制单元，用以控制拾取机构的动作；
以及转运机构，所述转运机构具有至少一个用于存放反应杯的反应杯位，用以放置反应杯。
作为所述反应杯自动装载装置的进一步改进，还包括换向机构，所述换向机构用于盛接并传送自拾取块上落下的反应杯，所述转运机构衔接于换向机构的反应杯出口处。
作为所述反应杯自动装载装置的进一步改进，所述换向机构具有自拾取机构一侧斜向下设置的传送槽，所述传送槽具有靠近拾取机构的滑落区和用于缓存反应杯的缓存区，所述缓存区衔接在滑落区之后，使得反应杯能够从滑落区进入到缓存区内进行排队缓存。
作为所述反应杯自动装载装置的进一步改进，所述缓存区设置有存储状态检测单元，用于检测缓存区内反应杯是否排列至设定位置或是否 到达设定数量，所述存储状态检测单元与控制单元信号连接，用以使所述控制单元在接收到存储状态检测单元发出的存满信号后停止驱动结构的动作。
作为所述反应杯自动装载装置的进一步改进，所述滑落区设置有反应杯检测单元，所述反应杯检测单元与控制单元信号连接，用以检测是否有反应杯从滑落区移动至缓存区。
作为所述反应杯自动装载装置的进一步改进，所述存储状态检测单元和/或反应杯检测单元采用光电传感器。
作为所述反应杯自动装载装置的进一步改进，所述传送槽具有允许反应杯的悬挂部以下部位伸入的尺寸，且所述传送槽的宽度小于反应杯上悬挂部的宽度，所述传送槽靠近拾取机构的一端具有第一槽底壁，所述第一槽底壁到传送槽上沿的距离小于反应杯最底部到悬挂部的距离，用以防止反应杯在传送槽上翻转过大的角度。
作为所述反应杯自动装载装置的进一步改进，所述传送槽的底部设置有位于第一槽底壁之后的留空部和/或第二槽底壁，所述第二槽底壁到传送槽上沿的距离大于反应杯最底部到悬挂部的距离，所述第二槽底壁和留空部使得反应杯的下部能够自然垂落在传送槽内。
作为所述反应杯自动装载装置的进一步改进，所述换向机构具有大致呈V形的导向槽，所述导向槽的底部与传送槽连通，且与传送槽同方向延伸设置。
作为所述反应杯自动装载装置的进一步改进，所述转运机构包括安装座、旋转盘和转运电机，所述旋转盘具有至少一个反应杯位，所述反应杯位一侧开口形成内进杯口，所述旋转盘安装在转运电机上，所述控制单元与转运电机连接，用于控制转运电机的旋转；所述旋转盘可转动的设置在安装座中，所述安装座一侧开口形成外进杯口，所述外进杯口与换向机构的反应杯出口对接，所述内进杯口设置在旋转盘靠近安装座的一侧，使得内进杯口在转动过程中能够与外进杯口对齐，用以反应杯进入到反应杯位。
作为所述反应杯自动装载装置的进一步改进，所述控制单元检测到转运电机失步信号后，驱动转运电机反向旋转设定距离后再正向旋转，同时在转运电机正向旋转过程中所述控制单元控制转运电机开启找零；当所述控制单元接收到找到零位的信号后，控制转运电机正常旋转；当 所述控制单元接收到找零失败的信号后，控制转运电机停止工作并发出提示信息。
作为所述反应杯自动装载装置的进一步改进，所述拾取块还包括与承重面相对设置的挡板以及连接承重面和挡板的连接体，所述承重面、连接体和挡板形成用于容置反应杯的容置槽，所述容置槽斜向设置，所述驱动结构对拾取块进行控制，使拾取块的承重面能够自下方向斜上方穿过料仓，用以拾取反应杯。
根据本申请的一方面，一种实施例中提供了一种样本分析仪，包括如上述实施例任一项所述的反应杯自动装载装置以及转移机构，所述转移机构用于将反应杯自动装载装置提供的反应杯移动到其他位置。
根据本申请的一方面，一种实施例中提供了一种反应杯自动装载装置的装载方法，所述反应杯自动装载装置采用如上述实施例任一项所述的反应杯自动装载装置；
所述装载方法包括：
拾取步骤：将反应杯置于一个拾取块上；
传送步骤：拾取块运载反应杯按照设定路径移动，并使拾取块在移动设定距离或第一设定时间后产生停顿和/或抖动，用以使拾取块上的反应杯掉落。
作为所述装载方法的进一步改进，还包括：
缓存步骤：使从拾取块上掉落的反应杯依次排列，进行缓存。
作为所述装载方法的进一步改进，还包括：
第一检测步骤：检测缓存区内反应杯是否排列至指定位置或是否到达设定数量，当检测结果为是时，向用户发出提示或报警信息，和/或停止拾取步骤和传送步骤。
作为所述装载方法的进一步改进，还包括：
传送步骤：接收传送步骤中掉落的反应杯，使所述反应杯在斜向下倾斜设置的轨道上向下滑动，且所述反应杯先在轨道上以反应杯底部向轨道起点所在方向偏转的非自然垂落状态滑动至缓存区，或所述反应杯以所述非自然垂落状态滑动设定距离后，再恢复到自然垂落状态并滑动至缓存区。
作为所述装载方法的进一步改进，还包括：
第二检测步骤：检测设定时间内是否有反应杯进入缓存区，当检测 结果为否且拾取步骤和传送步骤未停止时，向用户发出缺少反应杯的提示或报警信息，和/或停止拾取步骤和传送步骤。
作为所述装载方法的进一步改进，在所述传送步骤中，所述拾取块成周期性运动，其中，在一个运动周期内所述拾取块先移动所述第一设定时间或设定距离后再停顿和/或抖动第二设定时间。
作为所述装载方法的进一步改进，在所述传送步骤中，所述抖动包括使拾取块在第二设定时间内向后和向前分别运动至少一次、使拾取块在第二设定时间内向后运动一段距离以及使拾取块在第二设定时间内间歇性向前和/或向后运动至少两段距离这三种方式中的至少一种。
作为所述装载方法的进一步改进，在所述传送步骤中，所述设定距离为相邻两个拾取块间距的正整数倍；所述第一设定时间为能够使拾取块移动所述设定距离的时间。
依据上述实施例的反应杯拾取机构、自动装载装置、样本分析仪及装载方法，通过使驱动结构带动拾取块在移动第一设定时间或设定距离后停顿和/或抖动，从而促使反应杯更容易地从拾取块上掉落。
附图说明
图1为本申请反应杯拾取机构一种实施例的分解示意图；
图2为本申请传送链和拾取块一种实施例的结构示意图；
图3为图2局部放大图；
图4为本申请拾取块一种实施例的结构示意图；
图5为拾取块运动周期示意图；
图6为本申请传送链和拾取块另一种实施例的结构示意图；
图7为本申请拾取块另一种实施例的结构示意图；
图8为本申请同步带和拾取块一种实施例的结构示意图；
图9-10为本申请传送链和拾取块另一种实施例的结构示意图；
图11为本申请反应杯自动装载装置一种实施例的结构示意图；
图12为图1所示实施例的分解图；
图13为本申请反应杯自动装载装置一种实施例的俯视图；
图14为本申请反应杯一种实施例的示意图；
图15为本申请传送槽一种实施例的示意图
图16为本申请一种实施例中转运机构自恢复方法的流程图；
图17为本申请装载方法一种实施例的流程框图。
具体实施方式
下面通过具体实施方式结合附图对本发明作进一步详细说明。其中不同实施方式中类似元件采用了相关联的类似的元件标号。在以下的实施方式中，很多细节描述是为了使得本申请能被更好的理解。然而，本领域技术人员可以毫不费力的认识到，其中部分特征在不同情况下是可以省略的，或者可以由其他元件、材料、方法所替代。在某些情况下，本申请相关的一些操作并没有在说明书中显示或者描述，这是为了避免本申请的核心部分被过多的描述所淹没，而对于本领域技术人员而言，详细描述这些相关操作并不是必要的，他们根据说明书中的描述以及本领域的一般技术知识即可完整了解相关操作。
另外，说明书中所描述的特点、操作或者特征可以以任意适当的方式结合形成各种实施方式。同时，方法描述中的各步骤或者动作也可以按照本领域技术人员所能显而易见的方式进行顺序调换或调整。因此，说明书和附图中的各种顺序只是为了清楚描述某一个实施例，并不意味着是必须的顺序，除非另有说明其中某个顺序是必须遵循的。
本文中为部件所编序号本身，例如“第一”、“第二”等，仅用于区分所描述的对象，不具有任何顺序或技术含义。而本申请所说“连接”、“联接”，如无特别说明，均包括直接和间接连接(联接)。
实施例1：
本实施例1提供一种反应杯拾取机构102，用于拾取反应杯，并将反应杯运送到设定位置后进行卸料。
请参考图1-4，一种实施例中，该反应杯拾取机构102包括驱动结构1022、多个拾取块1021和控制单元(图中未示出，但并不影响本领域技术人员的理解)。
该拾取块1021间隔设置在驱动结构1022上，该驱动结构1022带动拾取块1021移动，该拾取块1021具有用于承托反应杯的承重面1021A，该承重面1021A的至少一侧开口形成反应杯出口1021H。
该控制单元与驱动结构1022信号连接，且该控制单元发出使驱动结构1022能够带动拾取块1021在移动第一设定时间或设定距离后停顿和/ 或抖动的控制信号，用以使反应杯从反应杯出口1021H掉落。反应杯可如图14中标号200所示，但这种反应杯200仅是一种示例，本拾取机构102也适用于其他形式的反应杯。
这种前进一段后产生停顿和/或抖动的方式使得拾取机构102或者仅仅是拾取块1021自身产生抖动效果，通过抖动让反应容器能够顺利从拾取块1021的承重面1021A的反应杯出口1021H落下，进入后续的机构中。
这里所说的设定距离是指将拾取块1021移动到反应杯卸料位置时，拾取块1021需要移动的距离。请参考图2和3，在一种实施例中，该多个拾取块1021是间隔排列，且在传送反应杯的过程中是沿图2中箭头所示方向斜向上运动。当前一个拾取块1021位于卸料位置时，后一个拾取块1021距离卸料位置相隔的距离就等于相邻两个拾取块1021之间的间距，因此通常可以将该设定距离设置为相邻两个拾取块1021间距。在其他实施例中，也可能将该设定的距离设置成相邻两个拾取块1021间距的正整数倍(如1倍或2倍)。其中，拾取块1021在第一设定时间内的移动可以是直线运动、旋转运动、曲线运动等各种运动，本实施例对此不作限定。
当然，如果拾取机构102的卸料位置是不固定的或具有多个卸料位，则该设定的距离也可能并不是固定的，而是根据每次拾取块1021的位置到卸料位置的距离来设定。这里所说的第一设定时间为能够使拾取块1021移动设定距离的时间。
将拾取块1021在移动第一设定时间或设定距离后再使其产生停顿和/或抖动，是为了能够将反应杯卸载在指定的位置，以免其在其他位置掉落引起机器的故障。
进一步地，拾取块1021在移动了第一设定距离或第一设定时间后停顿和/或抖动第二设定时间。
停顿是指拾取块1021在移动了设定距离或第一设定时间后在第二设定时间内保持停止不动，从而利用拾取块1021突然的停顿造成反应杯在运动惯性的作用下与拾取块1021产生相对移动，以便于反应杯从拾取块1021上掉落。
该抖动包括使拾取块1021在第二设定时间内向后和向前分别运动至少一次、使拾取块1021在第二设定时间内向后运动一段距离以及使拾取块1021在第二设定时间内间歇性向前或向后运动至少两段距离这三种方式中的至少一种。
在第二设定时间内向后和向前分别运动至少一次，是指拾取块1021在前后和向前的方向上来回运动，从而形成抖动。该向前的方向与拾取块1021运送反应杯的方向相同，向后的方向则与向前的方向相反。
拾取块1021在第二设定时间内向后运动一段距离，是指拾取块1021在大致移动到卸料位置时，使其向后回退一段距离，利用这种相反的运动使反应杯从拾取块1021上掉落。
在第二设定时间内间歇性向前或向后运动至少两段距离，是指拾取块1021向前或向后先运动一段，停顿一下后再继续保持相同方向再运动一段，从而通过多段的停顿和移动形成抖动。
以上三种方式仅是实现抖动的三种实施例，实际上抖动还可以通过其他方式来实现，这里并未再一一列举。
拾取块1021的停顿和抖动通常采用驱动结构1022来实现，比如，在一种实施例中，该驱动结构1022包括电机和由电机驱动的同步带或传送链，该拾取块1021固定安装在同步带或传送链上。此时，拾取块1021的停顿和抖动可以通过电机的启停状态以及正反转来实现。
驱动结构1022也可能采用气缸、液缸等其他动力装置，此时也可通过改变这些动力装置的运行方向、启停状态等来实现拾取块1021的停顿和抖动。
除了通过驱动结构1022实现抖动外，还可以通过机械结构来实现抖动，例如在拾取机构102的卸料位置设置一个抖动机构，当拾取块1021移动到卸料位置时，通过抖动机构对拾取块1021施加作用力，使其产生抖动。
另一方面，在一种实施例中，该拾取块1021成周期性运动，其中，在一个运动周期内该拾取块1021先移动第一设定时间或设定距离后，再停顿和/或抖动第二设定时间。如图1-4所示，拾取块1021在传送链上每走一步后，就停顿或抖动一下。
请参考图5，T1和T2分别表示拾取块1021的一个运动周期，每个周期内至少包括t1和t2两个时间段，t1表示第一设定时间，t2表示第二设定时间，该拾取块1021先移动第一设定时间t1后，再停顿和/或抖动第二设定时间t2。
当然，在一些实施例中，拾取块1021在一个运动周期内还可以完成其他的动作。这些其他动作可以穿插在一个运动周期内的任意时间段内。
为了便于反应杯滑落，在一些实施例中可以使承重面1021A倾斜设置，该反应杯出口1021H位于倾斜承重面1021A的较低一侧，这样可便于反应杯从承重面1021A上掉落。
请参考图1-4，一种实施例提供了拾取机构102的一种具体实施方式。该拾取机构102包括驱动结构1022和多个间隔设置在驱动结构1022上的拾取块1021，该拾取块1021用于在移动的过程中从用于存放散装反应杯的料仓中拾取反应杯。
该拾取块1021包括用于承托反应杯的承重面1021A，与承重面1021A相对设置的挡板1021B以及连接承重面1021A和挡板1021B的连接体1021C。该承重面1021A、连接体1021C和挡板1021B可以采用一体成型的方式制成，或者也可以通过将分离的承重面1021A、连接体1021C和挡板1021B相互固定形成。
请参考图4，该承重面1021A可以是承重体102D的某一个面或几个面，该承重体102D可以是一种板状体，或者也可以是其他任意的形状。
该承重面1021A、连接体1021C和挡板1021B形成用于容置反应杯的容置槽1021K，该容置槽1021K整体斜向下设置，并具有用于反应杯掉落的反应杯出口1021H，从而使得反应杯可以在重力的作用下从容置槽1021K内滑落。该反应杯出口1021H通常位于容置槽1021K较低的一侧。而容置槽1021K还具有反应杯入口，该反应杯入口较好的可以是斜向上设置或者部分斜向上设置，使得反应杯能够在重力作用下反应杯入口落入到容置槽1021K内。反应杯通常是随机掉入容置槽1021K内，对于图4所示的这种拾取块1021，容置槽1021K的反应杯入口包括反应杯出口1021H(同时作为入口和出口)、与反应杯出口1021H相对的一侧开口1021J以及与连接体1021C相对一侧的开口1021I，反应杯随机 的从这些开口进入到容置槽1021K内。除了使该反应杯出口1021H同时作为反应杯入口的一部分以外，在其他实施例中，容置槽1021K的反应杯入口和反应杯出口也可以是独立分开设置的。
当然，这里所说的容置槽1021K整体斜向下设置以及容置槽1021K的反应杯入口斜向上设置都是指在拾取块1021拾取和运送反应杯的过程中(即图2箭头所示拾取块1021向上运动这一段)。
为了避免一个容置槽1021K内同时拾取并存放了两个以上的反应杯，较好的方式是将容置槽1021K的宽度和长度设置为比反应杯略大，即只能容置一个反应杯。通常情况下，容置槽1021K是横向设置的，即与反应杯横躺时的形状匹配，使反应杯以横躺的方式容置在容置槽1021K内。但，在一些实施例中，也不排除使反应杯以竖向的方式放置在拾取块1021上进行传送。
如图3所示，相邻拾取块1021之间具有缝隙1025，当某一个拾取块1021带着未卸载的反应杯(因为某种原因未从卸料位置掉落)继续向上运动到传送链1023的拐角处时，相邻拾取块1021之间的缝隙1025将变大。此时，拾取块1021的朝向改变，如果没有了挡板1021B的阻挡作用，反应杯极其容易掉落到两个相邻拾取块1021之间的缝隙1025中，最终导致拾取机构102卡滞。本实施例由于挡板1021B的存在，未卸载的反应杯只能继续留在容置槽1021K内，或从容置槽1021K的开口1021I、1021H、1021J处掉落，不会落入到相邻拾取块1021之间的缝隙1025中，因此也避免了由此所导致的拾取机构102卡滞问题。
请参考图4，该挡板1021B具有与承重面1021A相对的上挡面1021E，该承重面1021A和上挡面1021E中至少其一具有自容置槽1021K向外设置的倒角1021F、1021G，用以增加反应杯入口的开口大小，以便于反应杯提供一个更大的入口，更容易收集反应杯。此外，由于这种特殊的拾取结构，当一个拾取块1021向斜上方穿过料仓101时，可能会有几个反应杯堆在一个容置槽1021K内。此时，与通常的尖角过渡相比，该倒角还可以起到导向的作用，使第一个反应杯更容易准确的落入到容置槽1021K内。而当第一个反应杯落入到容置槽1021K后，其他反应杯则会因为容置槽1021K剩余空间的不足以及倒角的存在，而更容易从拾取块1021上掉落，不会挂在容置槽1021K的槽壁上。
在一种实施例中，请参考图14，反应杯200具有作为悬挂部的凸棱 202，该凸棱的横截面尺寸(当凸棱横截面为圆形时，横截面尺寸为最外沿形成的圆形的直径)为d，该反应杯200悬挂部以下的部位203的横截面尺寸为f(当反应杯200悬挂部以下的部位203横截面为圆形时，横截面尺寸为最外沿形成的圆形的直径)，则承重面倒角a范围选择为：
0.5(d-f)≤a≤2(d-f)。
该上挡面倒角b范围选择为：
0.5f≤b≤2f。
另一方面，本实施例还提供另一种拾取机构。请参考图6和7，在一种实施例中，该驱动结构包括电机(图中未单独示出，但这并不影响本领域技术人员对此的理解)和传送链1023。该传送链1023及其传送轮整体倾斜的设置，且传送链1023形成一个循环工作的传送轨道，该多个拾取块1024间隔一定距离的设置在传送链1023上，从而在传送链1023的带动下，循环的向斜上方运送反应杯。
该拾取块1024具有用于承托反应杯的承重面1024A，该驱动结构对拾取块1024进行控制，使拾取块1024的承重面1024A能够自下方向斜上方穿过料仓，用以拾取、运送并卸载反应杯。
承重面1024A斜向设置，其较低的一侧形成反应杯出口1021H。这种方式大致相当于前述拾取块1021省略了挡板1021B。
请参考图1、6和7，在本实施例中，该拾取块1024除了承重面1024A外，还包括连接体1024B，该连接体1024B安装在驱动结构1022上。
为了扩大反应杯进入承重面1024A的空间，该拾取块1024具有用于承托反应杯的承重面1024A和位于承重面1024A背面的下底面1024C，该承重面1024A和下底面1024C中至少其一具有倒角1024D、1024E，用以提高反应杯进入承重面1024A的机率。
在一种实施例中，该承重面1024A的倒角a(与上述所示承重面1021A的倒角一致)的范围选择为：
0.5(d-f)≤a≤2(d-f)。
在一种实施例中，该下底面1024C的倒角c范围选择为：
0.5f≤c≤2f。
该下底面1024C的倒角作用在于与下一个拾取块1024的承重面1024A配合，形成一个用于反应杯进入到承重面1024A的较大开口。
这种倒角设计与通常的尖角过渡相比，还可以起到导向的作用，使 第一个反应杯更容易准确的落入到承重面1024A上。而当第一个反应杯落入到承重面1024A后，其他反应杯则会因为承重面1024A剩余空间的不足以及倒角的存在，而更容易从拾取块1024上掉落，不会挂在承重面1024A的槽壁上。
进一步地，拾取机构102还可能是其他结构。请参考图8，在一种实施例中，该驱动结构包括电机(图中未单独示出，但这并不影响本领域技术人员对此的理解)和同步带1026。该同步带1026及其传送轮整体倾斜的设置，且同步带1026形成一个循环工作的传送轨道，该多个拾取块1027间隔一定距离的设置在传送链同步带1026上，从而在同步带1026的带动下，循环的向斜上方运送反应杯。
采用同步带1026的好处在于：拾取块1027之间不会产生采用传送链1023时的间隙1025(如图3所示)，可以避免反应杯卡滞在间隙1025内。
另一方面，请参考图9和10，在另一种拾取机构的实施例中，该拾取机构102与一个料仓101配合。该料仓101安装在一个框架结构上或者安装在邻近该框架结构的位置上，该框架结构包括左侧板1017和右侧板1018的框架结构。
请继续参考图9和10，该拾取机构102包括拾取块1028、传送链1023、传送轮1029和驱动电机10210。拾取块1028安装在传送链1023，且该拾取块1028具有一个用于容置反应杯的承重面或容置槽。传送链1023由安装在左侧板1017和右侧板1018之间的传送轮1029驱动。然后，传送轮1029由安装在左侧板1017上的驱动电机10210驱动。
该料仓101具有一个用于将反应杯输送到位于料斗101底部集结区的倾斜底表面。料仓101底部的集结区可以是例如大约4英寸高，以使反应杯落入位于拾取块1028的承重面上。在料仓101的集结区下面，是一个门区域以防止反应杯在经过拾取块1028和料仓101之间从该装置中掉出来。
每一个拾取块1028在每一侧具有凸缘，以用于通过具有搭载在左侧板1017和右侧板1018中的相应槽内的凸缘而沿具体路径引导物件。传送链1023和拾取块1028形成一个可以例如是大约48英寸长的循环的环路。惰轮8安装在左侧板1017和右侧板1018之间位于传送链1023底部，以助于引导传送链1023和拾取块1028。
拾取块1028将反应杯举出料斗101，并将搅动容纳在料斗101中的反应杯。拾取块1028设计具有大的保持面积，以使拾取块1028将一个反应杯捕获到每一个拾取块1028的承重面或容置槽内的可能性最大。在拾取块1028中额外的反应杯将被容易地落回到料斗中。
当拾取块1028接近传送轮1029时，多余的反应杯便从拾取块1028中滑出并落回料斗101，只在每一个拾取块1028的拾取块1028上留下一个反应杯。从拾取块1028中掉出的并回到料斗101中的大多数反应杯是彼此平行的，并整体平行于拾取块1028，从而提高了它们进入料斗101的反应杯集结区的可能性。
本实施例一示出了多种拾取机构，这些机构通过对拾取块进行动作行程上的控制，使其按照一步一停或一步一抖的方式运行，从而利用这种停顿或抖动使反应杯更容易的从拾取块上掉落。
实施例2：
本实施例2提供了一种反应杯自动装载装置，其可以自动的装载反应杯，使无序的反应杯最后按照一定的顺序排列，以便于后续操作取用。
请参考图11和12，在一种实施例中，该反应杯自动装载装置1包括料仓101、拾取机构102、换向机构103、转运机构104以及控制单元(图中未示出)。该控制单元用以控制拾取机构的动作。此外，该控制单元也可以用来控制其他机构，例如换向机构103、转运机构104等。
其中，该拾取机构102可采用如实施例一所示的任一种拾取机构以及其他的拾取机构，从而通过这种使拾取块前进一段后产生停顿和/或抖动的运行方式，利用停顿或抖动使反应杯更容易的从拾取块上掉落。
本实施例以下采用图1-4所示这种拾取机构102为例进行说明。
请继续参考图11和12，该料仓101用于存放无序的反应杯，其具有一个容置腔，该容置腔具有敞开口，这个敞开口便于操作者将散装的反应杯倒入到容置腔内。该敞开口也可设置有可打开的盖子，使敞开口在不添加反应杯的时候处于封闭状态。料仓101可以是成上大下小的形状，敞开口设置在上部，使得敞开口具有足够的尺寸，以便于操作者添加反应杯。
该驱动结构1022对拾取块1021进行控制，使拾取块1021的容置槽1021K能够在一段行程中自下方向斜上方穿过料仓101，用以拾取、运 送并卸载反应杯。具体可以是如图1、11和12所示，在料仓101侧方设置有斜向开口1013，拾取机构102的一部分装入该斜向开口1013内，进入料仓101内后，拾取块1021容置槽1021K上的反应杯入口朝向料仓101内且斜向上设置，以便于反应杯落入到容置槽1021K内。当驱动结构1022和拾取块1021装入到斜向开口1013内时，其基本密封该斜向开口1013，或者与斜向开口1013的口壁之间具有较小的间隙，使反应杯不会从斜向开口1013处掉出料仓101。
请参考图1、4和11，在一种实施例中，料仓101被中间隔板分为一大一小两个腔体，大腔体1011用于添加和存储新的反应杯，小腔体1012为有效拾取区域，该大腔体1011和小腔体1012下方相通，当小腔体1012内反应杯减少时，大腔体1011内的反应杯会进入到小腔体1012内。该拾取机构102的一部分从小腔体1012内斜向上延伸，使得拾取块1021在驱动结构1022的驱动下依次从小腔体1012内穿过，并向斜上方移动，从而使小腔体1012内的反应杯在重力以及周围反应杯的作用下落到拾取块1021的承重面1021A上，并随拾取块1021移动，从而完成反应杯的拾取。
这种一大一小两个腔体可以防止小腔体1012内堆叠太多的反应杯，导致拾取块1021不好拾取反应杯。当然，料仓101也并不限定于这种一大一小两个腔体的方式，其也可以为一个完整的腔体或其他设计。
请参考图3和12，该驱动结构1022包括电机(图中未单独示出，但这并不影响本领域技术人员对此的理解)和传送链1023。该传送链1023及其传送轮整体倾斜的设置，且传送链1023形成一个循环工作的传送轨道，该多个拾取块1021间隔一定距离的设置在传送链1023上，从而在传送链1023的带动下，循环的向斜上方运送反应杯。
请参考图2、4、11和12，一种实施例中，该料仓101具有沿着拾取块1021运动轨迹设置的侧板1014，该侧板1014封住拾取块1021的反应杯出口一侧(容置槽1021K较低的一侧)，用以防止反应杯200从承重面1021A内掉出。该侧板1014并不延伸到一侧传送链1023的最高处(即传送链1023的拐角处)，只有当拾取块1021上的反应杯越过了该侧板1014的最高边沿后才能够掉落到传送槽1031内。
同时，该侧板1014的另一侧可以设置一个相对的第二侧板1015，该侧板1014和第二侧边分别位于传送链1023的两侧，对拾取块1021 两侧进行限位和保护。
进一步地，该换向机构103起到一个收集和整理的过程，使拾取机构102拾取到的反应杯能够按顺序依次进行排列。请参考图13，该换向机构103的反应杯入口1035设置在拾取机构102的反应杯出口1021H处，当反应杯从拾取块1021上滑落后，进入到换向机构103内。
该换向机构103传送反应杯200的方向与拾取机构102运送反应杯200的方向成夹角设置，可用于改变反应杯200的传送方向，以便于与后续结构进行配合。当然，在其他实施例中两者也可以保持同样或相反的方向设置。
请继续参考图13，该换向机构103设置于拾取机构102的一侧，用于盛接并传送自拾取块1021上落下的反应杯，该转运机构104衔接于换向机构103的反应杯出口1036处。
具体地，请继续参考图13和15，一种实施例中，该换向机构103衔接于拾取机构102之后，且换向机构103具有自拾取机构102一侧斜向下设置的传送槽1031。该传送槽1031具有允许反应杯200下部伸入的尺寸，且传送槽1031的宽度小于反应杯200上悬挂部的宽度。使得反应杯200落入到传送槽1031时，反应杯200的悬挂部可以悬挂在传送槽1031的的槽壁上，而反应杯200悬挂部以下的部分伸入到传送槽1031内，使得反应杯200通过悬挂部在传送槽1031上滑动。
请参考图14，本实施例所采用的反应杯200包括管体201和设置在管体201外的凸棱202，在这种反应杯200中凸棱202就相当于反应杯200的悬挂部，反应杯200悬挂部以下的部位为203，反应杯200主要通过该凸棱202悬挂在传送槽1031的上沿。当然，在其他实施例中，该悬挂部也能够是其他形式的结构，例如可以是多个凸块，甚至在一些管体201成锥形设置的实施例中，该悬挂部可以是管体201的外壁，使得管体201较小的一端伸入到传送槽1031，而较大的一端则悬挂在传送槽1031外。
请参考图15，反应杯200落入到传送槽1031内时，依靠反应杯200自身的重力，其在下滑过程中同时在进行自转，通过反应杯200的自转能够使反应杯200的开口始终朝上，完成反应杯200的换向。但是，因为反应杯200落入到传送槽1031的初期会大致以悬挂部为中心在传送槽1031内摇摆。例如，图15中示出了反应杯200以底部向右的方式进入 到传送槽1031中，此时反应杯200悬挂部以下的部位203将安装顺时针的方向向下摇摆。同样的，当反应杯200以底部向左的方式进入到传送槽1031中，此时反应杯200悬挂部以下的部位203将安装逆时针的方向向下摇摆。一旦这种摇摆过大，将会导致反应杯200从传送槽1031内滑出或掉落，引起其它不可预知的故障。
对此，在本实施例中该传送槽1031至少在靠近拾取机构102的一端具有第一槽底壁1032，该第一槽底壁1032到传送槽1031上沿的距离(垂直距离，如图15中虚线A所示)小于反应杯200最底部到悬挂部的距离。使得反应杯200摇摆到一定角度时就会被第一槽底壁1032所阻挡，如图15所示，从而避免其摇摆过大，从传送槽1031滑出或掉落。并且，当反应杯200以底部向右的方式进入到传送槽1031中时，该第一槽底壁1032还可以对反应杯200起到减速的效果，避免其迅速从传送槽1031内向下滑落。
请继续参考图15，在一种实施例中，该传送槽1031的底部设置有位于第一槽底壁1032之后的留空部1034。留空部1031是指该部分没有底壁或底壁中留有开口。该留空部使得反应杯200的下部能够自然垂落在传送槽1031内，然后依次向下滑落。
在其他的实施例中，该传送槽1031的底部设置有位于第一槽底壁1032之后的第二槽底壁(附图未示出)。该第二槽底部到传送槽1031上沿的距离(垂直距离，如图15中虚线B所示)大于反应杯200最底部到悬挂部的距离。该第二槽底壁使得反应杯200的下部能够自然垂落在传送槽1031内，然后依次向下滑落。
当然，另外一些实施例中，传送槽1031可以同时具备以上提到的留空部1034和第二槽底壁。另外，在某些实施例中，也可以使整个传送槽1031都具有上述这种第一槽底壁1032。
进一步地，请参考图11、15，一种实施例中，该换向机构103具有大致呈V形的导向槽1033，该导向槽1033的底部与传送槽1031连通，且与传送槽1031同方向延伸设置。导向槽1033用于扩大传送槽1031的接收范围，使得拾取块1021上反应杯200掉落的位置即使不够准确，也依然可以落入到导向槽1033内，并随着导向槽1033的导向面滑入到传送槽1031内。
另一方面，该传送槽1031具有靠近拾取机构102的滑落区和用于缓 存反应杯200的缓存区，该缓存区衔接在滑落区之后，使得反应杯200能够从滑落区进入到缓存区内进行排队缓存。缓存区通常设置在传送槽1031的末端，此时反应杯200按序依次排列并缓存于传送槽1031内，而滑落区可认为是从传送槽1031始端(靠近拾取机构102反应杯200出口的一端)到缓存区这一段区域。
该缓存区设置有存储状态检测单元，用于检测缓存区内反应杯200是否排列至设定位置或是否到达设定数量，该存储状态检测单元与控制单元信号连接，用以向控制单元反馈缓存区的存储状态。控制单元可以根据收到的存储状态来判断是否继续拾取反应杯200以及是否提醒用户。例如，当检测到反应杯200存满时，则控制拾取机构102停止拾取反应杯200，同时也可以告知用户反应杯200缓存已满。
进一步地，该滑落区设置有反应杯200检测单元，该反应杯200检测单元与控制单元信号连接，用以检测是否有反应杯200从滑落区移动至缓存区。控制单元可根据反应杯200检测单元的检测结果判断料仓101是否需要添加反应杯200。如果长时间没有反应杯200从滑落区移动至缓存区，且这段时间内拾取机构102依然保持运作，则可以认为料仓101内的反应杯200不足以被拾取机构102所拾取，需要添加反应杯200，从而提醒用户进行添加。
存储状态检测单元和/或反应杯200检测单元采用光电传感器。当检测反应杯200是否存满时，可以将光电传感器设置在缓存区内或者缓存区与滑落区的交接处，该光电传感器只需检测一定时间内该位置是否始终有反应杯200的存在即可。通常情况下，可将第一槽底壁1032位于滑落区内，从而保证在缓存区的反应杯200是以自然垂落的状态悬挂在传送槽1031内。而缓存区则设置在第二槽底壁或留空部1034所对应的区域内，使得反应杯200能够以自然垂落的状态进行排队缓存。
另一方面，请参考图11、13，该转运机构104衔接于该传送槽1031的反应杯出口1036处，该转运机构104具有至少一个用于存放反应杯200的反应杯位1043，用以放置并转运反应杯200。
在本实施例中，该转运机构104采用一种转运盘，用于将排列整齐的反应杯200进行转运并定位到系统指定位置。该转运盘转动过程中，换向机构103中的反应杯200进入转运盘的反应杯位1043中，通过转运盘的转动，将反应杯200转运至系统指定位置。
一种实施例中，该转运机构104始终朝一个方向转动，且转运机构104上具有多个反应杯位1043。当其中一个反应杯位1043接收到反应杯后，转运机构104转动一个行程，使下一个反应杯位1043移动到传送槽1031的反应杯出口1036处，。此时转运机构104等待反应杯200进入反应杯位1043后，再转动一个行程，使下下一个反应杯位1043对齐传送槽1031的反应杯出口1036处，并按此运动方式循环转动。
请参考图11和13，一种实施例中，该转运机构104包括安装座1041和旋转盘1042，该旋转盘1042具有至少一个反应杯位1043，该反应杯位1043一侧开口形成内进杯口1045，该旋转盘1042可转动的设置在安装座1041中。旋转盘1042可以由电机或其他驱动结构进行驱动。旋转盘1042为圆盘结构，安装座1041形成圆柱形的腔体，使得旋转盘1042安装到腔体后，安装座1041对旋转盘1042形成包围。安装座1041一侧开口形成外进杯口1044，该外进杯口1044与换向机构103的反应杯200出口(例如传送槽1031的出口)对接，该内进杯口1045设置在旋转盘1042靠近安装座1041的一侧(旋转盘1042的外侧)，使得内进杯口1045在转动过程中能够与外进杯口1044对齐，用以反应杯200进入到反应杯位1043。
该旋转盘1042安装在转运电机(图中未示出)上，该控制单元与转运电机连接，用于控制转运电机的旋转，从而控制旋转盘1042的旋转。
转运电机在工作过程中存在失步的可能，为了避免旋转盘1042运行过程中因为失步故障直接导致模块停止运行的问题，一种实施例中，提供了一种失步后自恢复的方法。
请参考图16，当控制单元检测到转运电机失步信号后，驱动转运电机反向旋转设定距离后再正向旋转，同时在转运电机正向旋转过程中控制单元控制转运电机开启找零。
当控制单元接收到找到零位的信号后，控制转运电机正常旋转。
当控制单元接收到找零失败的信号后，控制转运电机停止工作并发出提示信息。操作者根据该提示信息人工介入，进行维修。
当然，在控制单元检测到转运电机失步后，也可以进行失步报警，从而对操作者进行提醒。
一种实施例中，转运电机在找零过程中也可以正向旋转到下一个杯位，并且判断是否找到零位。如果找到零位，则结束该自恢复过程，正 常旋转。如未找到零位，则继续向下一个杯位旋转，继续找零。当多次找零失败后，控制单元再控制转运电机停止工作并发出提示信息。
以上介绍了一种既包括换向机构103，又包括转运机构104的自动装载装置。在其他实施例中，也可以省略换向机构103，使转运机构104直接获取拾取机构102上落下的反应杯200，并进行转运。此外，转运机构104也可以与换向机构103整合成一个结构，使其既具有换向机构103的功能，又具有转运机构104的功能。
请参考图12，在一种实施例中，还包括搅拌机构，该搅拌机构具有搅拌块105，该搅拌块105安装在料仓101内，用以搅动反应杯200并使反应杯200能够进入到承重面1021A上，提高拾取机构102的拾取效率。
该搅拌块105可以由单独的动力源进行驱动。搅拌块105也可以采用拾取机构102的动力源进行控制，例如搅拌块105由传送链1023的从动轴带动，拾取机构102运动过程中，搅拌块105同时在做上下或其他方向的运动。该搅拌块105可以具有与承重面1021A运动方向大致相同或者竖直向上的运动轨迹。例如，该搅拌块105可以沿拾取机构102设置，其运动轨迹可以是平行于对应拾取块1021的移动方向，其作用在于将堆叠的反应杯200推起，使反应杯200在下落的过程中落入到拾取块1021上。
该拾取机构102和料仓101各自与搅拌块105最好是不形成间隙，如果形成间隙，则该间隙具有可防止反应杯200掉入的尺寸，以防止反应杯200掉落到该间隙内，导致机器卡滞。
实施例3：
本实施例3提供一种样本分析仪，包括反应杯自动装载装置以及转移机构，该反应杯自动装载装置用于提供反应杯。该转移机构用于将反应杯自动装载装置提供的反应杯移动到其他位置，在一些实施例中，该转移机构可以采用机械手或其他具有转移功能的机构。
其他位置可以是反应装置上的某个位置，该反应装置可以为一个反应盘。反应装置的作用在于提供一个及以上的杯位，用于放置反应杯；其他位置也可以是和反应盘分离设置的加样位，机械手将该反应杯运送至加样位进行加样操作。
该反应杯自动装载装置采用以上实施例2所示的任一种反应杯自动装载装置。或者采用以上实施例1所示的任一种反应杯拾取机构来拾取反应杯。
实施例4：
本实施例4提供了一种反应杯自动装载装置的装载方法。
该反应杯自动装载装置采用的是如实施例2所示的任一种反应杯自动装载装置；
请参考图17，该装载方法包括：
拾取步骤：
S01：将反应杯置于一个拾取块上；
传送步骤：
S02：拾取块运载反应杯按照设定路径移动设定距离或第一设定时间；
S03：使拾取块产生停顿和/或抖动，用以使拾取块上的反应杯掉落。
该拾取步骤和/或传送步骤可利用如实施例1和2所示的结构的实现。
其中，请参考图17，在某些实施例中还包括：
缓存步骤：
S06：使从拾取块上掉落的反应杯在缓存区内依次排列，进行缓存。
进一步地，请参考图17，在某些实施例中还执行：
第一检测步骤：
S07：检测缓存区内反应杯是否排列至指定位置或是否到达设定数量；
当检测结果为是时，执行：
S08：向用户发出提示或报警信息，和/或停止拾取步骤和传送步骤。
当检测结果为否时，执行：
S09：正常进行缓存步骤，拾取步骤和传送步骤也正常进行。
进一步地，请参考图17，在某些实施例中，在缓存步骤之前还执行：
传送步骤：
S04：接收传送步骤中掉落的反应杯；
S05：使反应杯从接收位置滑动至缓存区。
其中，在S05步骤中，可以使反应杯在斜向下倾斜设置的轨道上向下滑动，且反应杯先在轨道上以反应杯底部向轨道起点所在方向偏转的非自然垂落状态滑动至缓存区，或反应杯以该非自然垂落状态滑动设定距离后，再恢复到自然垂落状态并滑动至缓存区。
具体的操作可如图15所示，使反应杯200在斜向下倾斜设置的轨道上向下滑动，且反应杯200先在轨道上以反应杯底部向轨道起点所在方向偏转的非自然垂落状态滑动设定距离后，用以减速和防止反应杯200自转过大(如实施例2所述)。
进一步地，请参考图17，在某些实施例中还执行：
第二检测步骤：
S10：检测设定时间内是否有反应杯进入缓存区，且拾取步骤和传送步骤是否未停止；
当检测结果为没有反应杯进入缓存区且拾取步骤和传送步骤未停止时，执行：
S11：向用户发出缺少反应杯的提示或报警信息，和/或停止拾取步骤和传送步骤。
当检测结果为有反应杯进入缓存区，执行：
S12：正常进行拾取步骤和传送步骤。
进一步地，在某些实施例的传送步骤中，该拾取块成周期性运动，其中，如实施例1所述，在一个运动周期内拾取块先移动第一设定时间或设定距离后再停顿和/或抖动第二设定时间。
进一步地，在某些实施例的传送步骤中，该抖动包括使拾取块在第二设定时间内向后和向前分别运动至少一次、使拾取块在第二设定时间内向后运动一段距离以及使拾取块在第二设定时间内间歇性向前和/或向后运动至少两段距离这三种方式中的至少一种。对于这三种方式的解释可参考实施例1所述内容。
进一步地，在某些实施例的传送步骤中，设定距离为相邻两个拾取块间距的正整数倍。该第一设定时间为能够使拾取块移动所述设定距离的时间。
以上应用了具体个例对本发明进行阐述，只是用于帮助理解本发明，并不用以限制本发明。对于本领域的一般技术人员，依据本发明的思想，可以对上述具体实施方式进行变化。

Claims (27)

  1. 一种反应杯拾取机构,其特征在于，包括：
    驱动结构；
    多个拾取块，所述拾取块间隔设置在驱动结构上，所述驱动结构带动拾取块移动，所述拾取块具有用于承托反应杯的承重面，所述承重面的至少一侧开口形成反应杯出口；
    以及控制单元，所述控制单元与驱动结构信号连接，且所述控制单元发出使驱动结构能够带动拾取块在移动第一设定时间或设定距离后停顿和/或抖动的控制信号，用以使反应杯从所述反应杯出口掉落。
  2. 如权利要求1所述的反应杯拾取机构，其特征在于，所述承重面倾斜设置，所述反应杯出口位于倾斜承重面的较低一侧。
  3. 如权利要求1所述的反应杯拾取机构，其特征在于，所述拾取块成周期性运动，其中，在一个运动周期内所述拾取块先移动第一设定时间或设定距离后再停顿和/或抖动第二设定时间。
  4. 如权利要求3所述的反应杯拾取机构，其特征在于，所述抖动包括使拾取块在第二设定时间内向后和向前分别运动至少一次、使拾取块在第二设定时间内向后运动一段距离以及使拾取块在第二设定时间内间歇性向前或向后运动至少两段距离这三种方式中的至少一种。
  5. 如权利要求1所述的反应杯拾取机构，其特征在于，所述设定距离为相邻两个拾取块间距的正整数倍；所述第一设定时间为能够使拾取块移动所述设定距离的时间。
  6. 如权利要求1-5任一项所述的反应杯自动装载装置，其特征在于，所述驱动结构包括电机和由电机驱动的同步带或传送链，所述拾取块固定安装在同步带或传送链上，所述传送机构倾斜设置，使拾取块的承重面能够自下方向斜上方穿过用于存放反应杯的料仓，以便拾取反应杯。
  7. 一种反应杯自动装载装置，其特征在于，包括：
    料仓，用于存放反应杯；
    如权利要求1-6任一项所述的拾取机构，所述拾取机构与料仓配合，用以拾取料仓内的反应杯；
    控制单元，用以控制拾取机构的动作；
    以及转运机构，所述转运机构具有至少一个用于存放反应杯的反应杯位，用以放置反应杯。
  8. 如权利要求7所述的反应杯自动装载装置，其特征在于，还包括换向机构，所述换向机构用于盛接并传送自拾取块上落下的反应杯，所述转运机构衔接于换向机构的反应杯出口处。
  9. 如权利要求8所述的反应杯自动装载装置，其特征在于，所述换向机构具有自拾取机构一侧斜向下设置的传送槽，所述传送槽具有靠近拾取机构的滑落区和用于缓存反应杯的缓存区，所述缓存区衔接在滑落区之后，使得反应杯能够从滑落区进入到缓存区内进行排队缓存。
  10. 如权利要求9所述的反应杯自动装载装置，其特征在于，所述缓存区设置有存储状态检测单元，用于检测缓存区内反应杯是否排列至设定位置或是否到达设定数量，所述存储状态检测单元与控制单元信号连接，用以使所述控制单元在接收到存储状态检测单元发出的存满信号后停止驱动结构的动作。
  11. 如权利要求10所述的反应杯自动装载装置，其特征在于，所述滑落区设置有反应杯检测单元，所述反应杯检测单元与控制单元信号连接，用以检测是否有反应杯从滑落区移动至缓存区。
  12. 如权利要求11所述的反应杯自动装载装置，其特征在于，所述存储状态检测单元和/或反应杯检测单元采用光电传感器。
  13. 如权利要求9所述的反应杯自动装载装置，其特征在于，所述传送槽具有允许反应杯的悬挂部以下部位伸入的尺寸，且所述传送槽的宽度小于反应杯上悬挂部的宽度，所述传送槽靠近拾取机构的一端具有第一槽底壁，所述第一槽底壁到传送槽上沿的距离小于反应杯最底部到悬挂部的距离，用以防止反应杯在传送槽上翻转过大的角度。
  14. 如权利要求13所述的反应杯自动装载装置，其特征在于，所述传送槽的底部设置有位于第一槽底壁之后的留空部和/或第二槽底壁，所述第二槽底壁到传送槽上沿的距离大于反应杯最底部到悬挂部的距离，所述第二槽底壁和留空部使得反应杯的下部能够自然垂落在传送槽内。
  15. 如权利要求9所述的反应杯自动装载装置，其特征在于，所 述换向机构具有大致呈V形的导向槽，所述导向槽的底部与传送槽连通，且与传送槽同方向延伸设置。
  16. 如权利要求8所述的反应杯自动装载装置，其特征在于，所述转运机构包括安装座、旋转盘和转运电机，所述旋转盘具有至少一个反应杯位，所述反应杯位一侧开口形成内进杯口，所述旋转盘安装在转运电机上，所述控制单元与转运电机连接，用于控制转运电机的旋转；所述旋转盘可转动的设置在安装座中，所述安装座一侧开口形成外进杯口，所述外进杯口与换向机构的反应杯出口对接，所述内进杯口设置在旋转盘靠近安装座的一侧，使得内进杯口在转动过程中能够与外进杯口对齐，用以反应杯进入到反应杯位。
  17. 如权利要求16所述的反应杯自动装载装置，其特征在于，所述控制单元检测到转运电机失步信号后，驱动转运电机反向旋转设定距离后再正向旋转，同时在转运电机正向旋转过程中所述控制单元控制转运电机开启找零；当所述控制单元接收到找到零位的信号后，控制转运电机正常旋转；当所述控制单元接收到找零失败的信号后，控制转运电机停止工作并发出提示信息。
  18. 如权利要求1-17任一项所述的反应杯自动装载装置，其特征在于，所述拾取块还包括与承重面相对设置的挡板以及连接承重面和挡板的连接体，所述承重面、连接体和挡板形成用于容置反应杯的容置槽，所述容置槽斜向设置，所述驱动结构对拾取块进行控制，使拾取块的承重面能够自下方向斜上方穿过料仓，用以拾取反应杯。
  19. 一种样本分析仪，其特征在于，包括权利要求1-18项中任一项所述的反应杯自动装载装置以及转移机构，所述转移机构用于将反应杯自动装载装置提供的反应杯移动到其他位置。
  20. 一种反应杯自动装载装置的装载方法，其特征在于，所述反应杯自动装载装置采用如权利要求1-18任一项所述的反应杯自动装载装置；
    所述装载方法包括：
    拾取步骤：将反应杯置于一个拾取块上；
    传送步骤：拾取块运载反应杯按照设定路径移动，并使拾取块在移 动设定距离或第一设定时间后产生停顿和/或抖动，用以使拾取块上的反应杯掉落。
  21. 如权利要求20所述的装载方法，其特征在于，还包括：
    缓存步骤：使从拾取块上掉落的反应杯依次排列，进行缓存。
  22. 如权利要求21所述的装载方法，其特征在于，还包括：
    第一检测步骤：检测缓存区内反应杯是否排列至指定位置或是否到达设定数量，当检测结果为是时，向用户发出提示或报警信息，和/或停止拾取步骤和传送步骤。
  23. 如权利要求21所述的装载方法，其特征在于，还包括：
    传送步骤：接收传送步骤中掉落的反应杯，使所述反应杯在斜向下倾斜设置的轨道上向下滑动，且所述反应杯先在轨道上以反应杯底部向轨道起点所在方向偏转的非自然垂落状态滑动至缓存区，或所述反应杯以所述非自然垂落状态滑动设定距离后，再恢复到自然垂落状态并滑动至缓存区。
  24. 如权利要求23所述的装载方法，其特征在于，还包括：
    第二检测步骤：检测设定时间内是否有反应杯进入缓存区，当检测结果为否且拾取步骤和传送步骤未停止时，向用户发出缺少反应杯的提示或报警信息，和/或停止拾取步骤和传送步骤。
  25. 如权利要求20所述的装载方法，其特征在于，在所述传送步骤中，所述拾取块成周期性运动，其中，在一个运动周期内所述拾取块先移动所述第一设定时间或设定距离后再停顿和/或抖动第二设定时间。
  26. 如权利要求25所述的装载方法，其特征在于，在所述传送步骤中，所述抖动包括使拾取块在第二设定时间内向后和向前分别运动至少一次、使拾取块在第二设定时间内向后运动一段距离以及使拾取块在第二设定时间内间歇性向前和/或向后运动至少两段距离这三种方式中的至少一种。
  27. 如权利要求20所述的装载方法，其特征在于，在所述传送步骤中，所述设定距离为相邻两个拾取块间距的正整数倍；所述第一设定时间为能够使拾取块移动所述设定距离的时间。
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