WO2020000808A1

WO2020000808A1 - Uniform mixing device, analyzer, and uniform mixing method

Info

Publication number: WO2020000808A1
Application number: PCT/CN2018/111525
Authority: WO
Inventors: 董文潇; 王盼; 肖春辉
Original assignee: 深圳开立生物医疗科技股份有限公司
Priority date: 2018-06-29
Filing date: 2018-10-24
Publication date: 2020-01-02
Also published as: CN108645688A

Abstract

A uniform mixing device, an analyzer, and a uniform mixing method in the field of medical equipment. The uniform mixing device comprises a fixing device (1), the fixing device (1) being configured to fix a test sample container to be uniformly mixed; a uniform mixing driving device (2), the uniform mixing driving device (2) being configured to drive the fixing device (1) to rotate around an axle center; and a supporting device (3), the supporting device (3) being provided with a supporting surface (301) parallel to a rotating trajectory of the fixing device (1). The test sample container in the uniform mixing process is supported by the supporting device (3), and under the condition of ensuring that the fixing device (1) applies a small force to the test sample container, the risk of damage of a test tube caused by complete loosening of the test sample container can be avoided, thereby ensuring normal operation of a uniform mixing operation. The device is simple in structure, and easy to implement.

Description

Mixing device, analyzer and mixing method

This application claims priority from a Chinese patent application filed on June 29, 2018 with the Chinese Patent Office, application number 201810694115.3, and the invention name is "A Mixing Device, Analyzer, and Tear Leveling Method." Incorporated in this application.

Technical field

The invention relates to the field of medical equipment, in particular to a mixing device and an analyzer using the mixing device. The invention also discloses a mixing method.

Background technique

Medical analyzers (such as blood analyzers) usually need to mix the samples during the analysis operation. Currently, the commonly used mixing method is to use a robot to grab the test tube and then rotate it to mix. In order to enable the robot to It is easier to grasp the test tube, and the robot can be detached from the test tube more easily after the mixing is completed. The gripping force of the test tube holding the test tube should not be too large. The trend is that when the clamping force is small, the test tube has the risk of rupturing the test tube due to dropping or impact. Therefore, a mixing device that can prevent the test tube from loosening while maintaining a small clamping force is urgently needed.

Summary of the invention

In order to overcome the shortcomings of the prior art, the present invention provides a mixing device for solving the problem that it is difficult for the existing mixing device to achieve a stable fixation of the test tube while maintaining a small clamping force.

The present invention also provides an analyzer applying the above-mentioned mixing device, which is used to solve the problem that it is difficult for the existing analyzer to achieve a stable fixation of the test tube while maintaining a small clamping force.

The invention also provides a mixing method, which is used to solve the problem that it is difficult for the existing analyzer to achieve a stable fixation of the test tube while maintaining a small clamping force.

The technical solution adopted by the present invention to solve its technical problems is:

A mixing device including

Fixing device, the fixing device is used for fixing the sample container to be mixed;

Mixing driving device, the mixing driving device is used for driving the fixed device to rotate around an axis;

And a supporting device, the supporting device is provided with a supporting surface parallel to the rotation track of the fixing device.

As a further improvement of the foregoing solution, the fixing device rotates around a horizontal axis.

As a further improvement of the foregoing solution, the support device is provided with an opening through which the sample container passes.

As a further improvement of the foregoing solution, it further includes a detection device, which is triggered when the sample container moves to the opening and the sample container slides relative to the fixed device.

As a further improvement of the above solution, the opening is set at the lowest point of the rotation trajectory of the fixing device, and the detection device includes a signal transmitting device and a signal receiving device disposed below the opening and located on both sides of the opening, respectively, and the sample container is in motion. To the opening, and the detection device is triggered when the bottom end of the sample container is lower than the set height.

As a further improvement of the above solution, before performing the mixing operation, there is a gap between the bottom end of the sample container fixed by the fixing device and the support surface. When the sample container slips relative to the fixing device during rotation, the support is supported. The surface resists the sample container to give the sample container a supporting force opposite to the centrifugal force direction;

Alternatively, the bottom end of the sample container fixed by the fixing device is always in contact with the support surface. When the sample container has a tendency to slip relative to the fixing device during the rotation, the support surface gives the sample container a reverse centrifugal force. Supporting force in direction.

As a further improvement of the foregoing solution, the top end of the support surface is not lower than a position after the sample container is rotated upward by 90 ° from its lowest point position.

As a further improvement manner of the foregoing solution, two ends of the support surface are respectively provided with a guide slope.

As a further improvement manner of the foregoing solution, it further includes an X-axis driving device that drives the fixing device, the mixing driving device to move in the X-axis direction, and a Z-axis that drives the fixing device, the mixing driving device, and the X-axis driving device to move along the Z-axis. Driving device.

As a further improvement of the above solution,

The mixing driving device and the fixing device can first move along the X-axis direction to below the supporting device, and then move along the Z-axis direction to enter the initial mixing position;

Alternatively, the mixing driving device and the fixing device may first move along the Z-axis direction to the side of the supporting device, and then move along the X-axis direction into the initial mixing position.

As a further improvement of the above solution,

The Z-axis drive device includes a Z-axis motor, a Z-axis screw and a Z-axis screw nut, a Z-axis screw is fixedly connected to the drive shaft of the Z-axis motor, and a Z-axis screw nut is threadedly connected to the Z-axis screw;

The X-axis drive device includes an X-axis bracket, an X-axis motor, an X-axis screw and an X-axis screw nut, the X-axis motor is fixedly connected to the X-axis bracket, the X-axis screw is fixedly connected to the drive shaft of the X-axis motor, and the X-axis The screw nut is threadedly connected to the X-axis screw, and the X-axis bracket is fixedly connected to the Z-axis screw;

The mixing driving device includes a mixing support, a mixing motor, a driving wheel, a driven wheel and a timing belt. The mixing motor is fixedly connected to the mixing support. The driving wheel is fixedly connected to the driving shaft of the mixing motor. Above the wheel and driven wheel, the mixing bracket is fixedly connected with the X-axis screw nut;

The fixing device is a clamping jaw, and the clamping jaw is fixedly connected to the driven wheel.

As a further improvement of the foregoing solution, the fixing device rotates around a vertical axis.

An analyzer includes the above-mentioned mixing device.

A mixing method for rotating and mixing a sample container includes the following steps. A supporting device is provided, and the supporting device is provided with a supporting surface parallel to the rotation track of the sample container. During the rotation of the sample container, When the sample container slips or has a tendency to slip, the supporting surface is used to give the sample container a supporting force that is opposite to the direction of the centrifugal force.

As a further improvement of the above solution, the rotation mode of the sample container is to rotate about a horizontal axis, and the support device is provided at the lowest point of the rotation track corresponding to the sample container for the sample container in the vertical direction or the horizontal direction. Through the opening, a detection device is provided below the opening;

When the sample container moves to the lowest point of the rotation trajectory, if the detection device is not triggered, it is determined that the sample container does not slip, and the mixing operation is continued; if the detection device is triggered, the sample container is determined to have slipped, and the execution is stopped. Mixing operation.

As a further improvement of the above solution, when it is determined that the sample container has slipped, and the suspension of the mixing operation is stopped, it also includes issuing a warning message, and / or restoring the sample container to the state before the slippage, and / or adjusting the fixed sample Steps of fixing the container.

The beneficial effects of the present invention are:

The invention uses the support device to support the sample container during the mixing process. Under the condition that the fixing device applies a small force to the sample container, the risk of damage to the test tube caused by the sample container completely loosening can be avoided. To ensure the normal operation of the mixing operation, the structure is simple and easy to implement.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is further described below with reference to the drawings and embodiments.

FIG. 1 is a schematic perspective view of an embodiment of the present invention;

2 is a schematic perspective view of the sample container when the sample container is swung to the mixing zero position in the embodiment;

FIG. 3 is a schematic perspective view of the sample container when it swings to 0-45 ° in this embodiment;

FIG. 4 is a schematic perspective view of the sample container when the sample container is swung to more than 90 ° in this embodiment.

detailed description

In the following, the concept, specific structure, and technical effects of the present invention will be clearly and completely described in combination with the embodiments and the drawings to fully understand the objects, schemes, and effects of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that, if there is no special explanation, when a certain feature is called "fixed" and "connected" to another feature, it can be directly fixed and connected to another feature, or it can be indirectly fixed and connected to another feature. One characteristic. In addition, the descriptions of the upper, lower, left, right, front, rear, etc. used in the present invention are only relative to the mutual positional relationship of the components of the present invention in the drawings.

In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the term "and / or" includes any combination of one or more of the associated listed items.

Referring to FIG. 1, a schematic perspective view of an embodiment of the present invention is shown. As shown in the figure, the mixing device includes a fixing device 1, a mixing driving device 2, and a supporting device 3.

The fixing device 1 is used to fix the sample container to be mixed, and it can use a well-known technology such as a manipulator or a suction cup. In this embodiment, a manipulator is preferably used. The fixing method is to clamp the sample container by the clamping claw 101. In order to make it easier for the manipulator to grasp the sample container and the manipulator can be separated from the sample container more easily after the mixing is completed, the clamping force of the manipulator is kept at a small value in this embodiment. In addition, the manipulator further includes a blocking piece 102, which is arranged above the clamping jaw 101 along the axial direction of the sample container.

The mixing driving device 2 is used to drive the fixing device 1 to rotate around an axis. The rotation referred to herein may refer to always rotating in one direction or swinging back and forth. This embodiment is preferably swinging. In addition, in this embodiment, the trajectory of the swing of the fixing device 1 is preferably an arc, but it should not be considered as a limitation to this application. The trajectory of the rotation of the fixing device 1 may also be a circular arc shape such as a sine curve, a parabola, or an ellipse. In this embodiment, the swing axis of the fixing device 1 is preferably a horizontal axis, that is, the fixing device 1 swings in a vertical plane.

The mixing driving device 2 preferably adopts a motor, which drives the entire fixing device 1 to swing through a transmission structure such as a synchronous wheel and a timing belt. Of course, the mixing driving device 2 may be other known power output components that can provide torque.

The supporting device 3 is provided with a supporting surface 301 parallel to the rotation trajectory of the fixing device 1, that is, the swinging trajectory of the fixing device 1 (sample container) in this embodiment is an arc. The supporting surface 301 is also preferably a circle with the same curvature. An arc surface, and the center of the arc surface coincides with the center of the arc track. Wherein, after the sample container is fixed on the fixing device 1, the radius of the support surface 301 should not be less than the distance from the bottom end of the sample container to the circle center. Preferably, the radius of the support surface 301 is slightly larger than the sample in this embodiment. The distance from the bottom end of the container to the above circle center, that is, there is a gap between the bottom end of the sample container and the support surface 301. This gap allows the sample container to enter the mixing position more smoothly. The support device 3 in this embodiment In the normal mixing process, it is not necessary to contact the sample container, and it is supported by the support device 3 only after the sample container slips off.

As the sample container swings from the lowest point to 0 to 90 °, the top of the support surface 301 is preferably not lower than the position after the sample container is rotated upward 90 ° from its lowest point. In the embodiment, the top of the support surface 301 is flush with the position of the sample container after being rotated upward by 90 ° from its lowest point position, that is, the support surface 301 can be regarded as a quarter of a circle.

Preferably, two ends of the support surface 301 are provided with guide inclined surfaces 302, so that the sample container can smoothly enter the support surface 301.

In addition, the mixing device is preferably also provided with a material moving drive device 4, which specifically includes a Z-axis driving device 401 and an X-axis driving device 402, and the Z-axis driving device and the X-axis driving device may adopt a well-known technology such as Motor-screw transmission system, etc. The material moving drive device 4 is used to drive the fixing device 1 to move in the Z-axis and X-axis directions, so that the fixing device 1 can be moved to clamp the sample container at the sample storage position, and drive the sample container to the mixing position.

Specifically, the Z-axis driving device 401 includes a Z-axis motor, a Z-axis screw and a Z-axis screw nut, the Z-axis screw is fixedly connected to the drive shaft of the Z-axis motor, and the Z-axis screw nut is threadedly connected to the Z-axis screw. .

The X-axis driving device 402 includes an X-axis bracket, an X-axis motor, an X-axis screw and an X-axis screw nut, the X-axis motor is fixedly connected to the X-axis bracket, the X-axis screw is fixedly connected to the drive shaft of the X-axis motor, X The shaft screw nut is threadedly connected to the X-axis screw rod, and the X-axis bracket is fixedly connected to the Z-axis screw nut.

The mixing driving device 2 includes a mixing support, a mixing motor, a driving wheel, a driven wheel and a timing belt. The mixing motor is fixedly connected to the mixing support. The driving wheel is fixedly connected to the driving shaft of the mixing motor. Above the driving wheel and the driven wheel, the mixing bracket is fixedly connected with the X-axis screw nut.

The gripper 101 is fixedly connected to the driven wheel. With the movement of the Z-axis motor, X-axis motor, mixing motor and gripper cylinder, the movement of the gripper in the Z-axis direction, the movement in the X-axis direction, and the X-axis rotation and opening and closing of jaws.

The mixing driving device 2 and the fixing device 1 have multiple movement modes. As described in this embodiment, the mixing driving device 2 and the fixing device 1 may first move to the lower side of the supporting device 3 through the X-axis direction through the X-axis driving device 402. , And then move up through the Z-axis driving device 401 in the Z-axis direction to enter the initial mixing position. Alternatively, in other embodiments of the present invention, the mixing driving device 2 and the fixing device 1 may first move along the Z-axis direction to the side of the supporting device 3 through the Z-axis driving device 401, and then move along the X-axis through the X-axis driving device 402. The axis moves into the initial mixing position.

The support device 3 is preferably provided with an opening for the sample container to pass through, which can move the sample container to a mixing position in a highly efficient path, so as to reduce the obstacle of the support device 3 to the movement path of the sample container. Referring to FIG. 2 to FIG. 4, three-dimensional schematic diagrams are shown when the sample container in the present embodiment swings to the mixing zero position, 0 to 45 °, and 90 ° or more. As shown in FIG. 2, since the feeding trajectory of the sample container in this embodiment includes a step of moving upward from below the supporting device 3 until it is at the mixing zero position, in order to prevent the supporting device 3 from hindering the loading of the sample container. The support device 3 is provided with an opening for the sample container to pass in a vertical direction at a position corresponding to the lowest point of the motion trajectory of the sample container. Among them, there are various ways to form the opening. For example, when the support device 3 has a sufficient width At this time, it can be formed directly on the supporting device 3 by removing materials; as shown in this embodiment, the bottom end of the supporting device 3 is close to the mixing zero position and does not really reach the zero position, that is, the supporting surface 301 is slightly Less than a quarter of a circle, the bottom end of the support device 3 avoids the zero position and forms an opening.

Due to the existence of the opening, the supporting device 3 cannot actually support the sample container at the opening position (the opening position in this embodiment is the mixing zero position, that is, the lowest point of the movement track). When the sample container is translated or rotated, If the sample container slips relative to the fixing device at the opening position, the sample container may collide with the supporting device 3. Taking the situation shown in Figure 2 as an example, when the sample container swings back to the mixing zero position, it may move downward relative to the fixing device 3. If the vertical movement of the sample container downward is greater than the above-mentioned gap value, try If the sample container continues to swing upward, it will collide with the support device 3. In order to avoid the above situation, the present invention preferably further includes a detection device, and the sample container slips relative to the fixed device to trigger the detection device. In this embodiment, when the sample The container rotates to the lowest position (mixing zero position), and moves downward to set a distance, so that the detection device is triggered after the bottom end of the sample container is lower than the set height, and then the mixing driving device 2 is stopped. The detection device preferably includes a signal transmitting device 501 and a signal receiving device 502 disposed below the opening, and located on both sides of the opening, respectively. The detection device may also be other known detection devices such as a reflective photocoupler and a micro switch.

In summary, the use process of this embodiment is:

First, the fixing device 3 is driven by the material transfer driving device 4 to clamp the sample container with a small clamping force, and finally moves to the mixing zero position (as shown in FIG. 2).

2. Subsequently, the mixing driving device 2 drives the fixing device 3 and the sample container to rotate upward. During the rotation to 0-90 °, the sample container slides away from the center of the fixing device 3 relative to the fixing device 3. The bottom is in contact with the support surface 301, which supports the sample container (as shown in FIG. 3).

3. The sample container continues to rotate upward. During the rotation to 90 ° -180 °, the sample container slides relative to the fixing device 3 toward the center of the circle until the top of the sample container abuts against the blocking piece 102.

4. When the sample container moves to 180 °, it rotates in the reverse direction. During the reverse rotation, the movement of the sample container relative to the fixing device 3 is the same as the above steps, that is, it moves toward the center of the circle during the rotation to 180 ° -90 °. During the rotation to 90 ° -0 °, move away from the center of the circle. Because of the gap between the bottom end of the sample container and the support surface 301, the sample container is more smooth when re-entering the support surface 301.

5. When the sample container is rotated in the reverse direction to the mixing zero position, the sample container is detected by the detection device. If the detection device has not been triggered, the above process is repeated until the mixing is completed; if the detection device is triggered, it is suspended. Mixing operation.

In other embodiments of the present invention, the arc length of the support surface 301 can be adjusted according to the actual swing trajectory of the sample container. If the highest angle of the sample container swing does not exceed 90 °, the arc length of the support surface 301 can be shortened.

In other embodiments of the present invention, if the loading trajectory of the sample container is adjusted so that it does not pass through the support device 3 in the vertical direction, the above-mentioned opening need not be provided, that is, the support surface can face the sample container at the lowest point. For support.

In other embodiments of the present invention, the supporting device may be disposed on both sides of the zeroing position for mixing, and the sample container performs the mixing operation by swinging left and right.

In other embodiments of the present invention, the sample container may always be in contact with the support surface of the support device, and when the friction force given by the fixing device to the sample container is less than the centrifugal force, that is, the sample container has a tendency to slip, the support surface 301 The sample device is given a supporting force opposite to the direction of the centrifugal force.

In other embodiments of the present invention, the rotation axis of the fixing device may also be a vertical axis, and the sample container is placed vertically. At this time, the support surface 301 is a horizontal plane and is located below the sample container.

The invention also discloses a mixing method. The method first includes the step of driving the sample container to rotate by using a mixing driving device. In order to avoid damage caused by the sample container slipping during the rotation, the method further includes the sample container. The step of supporting the sample container when it slips or has a tendency to slip. The specific implementation of this step is to provide a support device. The support device is provided with a support surface parallel to the rotation trajectory of the sample container. When the sample container and the support surface resist each other, the sample container is given a supporting force opposite to the centrifugal force direction.

Preferably, the rotation of the sample container is about a horizontal axis, that is, rotation in a vertical plane. In order to facilitate the sample container to quickly enter the mixing position, the support device is provided with an opening for the sample container to pass in the vertical direction at the lowest point of the rotation track of the sample container, and a detection device is provided below the opening.

Relying on the above-mentioned detection device, the attitude determination of the sample container can be realized: when the sample container moves to the lowest point position of the rotational trajectory, if no slippage occurs or the slippage distance is small, the detection device will not be triggered. At this time, the sample container is judged If no slippage occurs, continue to perform the mixing operation; if the sample container slippage distance is large, the detection device is triggered, at this time it is determined that the sample container has slipped off, and the mixing operation is stopped.

Further, when it is determined that the sample container has slipped off and the mixing operation is stopped, the method may further include the following steps: issuing a warning message to remind the operator, and / or restoring the sample container to the pre-slippage mode by manual or mechanical driving. In order to continue mixing, and / or adjust the fixing strength of the fixed sample container to avoid slippage during subsequent mixing.

The above is a detailed description of the preferred implementation of the present invention, but the invention is not limited to the described embodiments, and those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present invention. These equivalent modifications or replacements are all included in the scope defined by the claims of this application.

Claims

A mixing device comprising:

A fixing device for fixing a sample container to be mixed;

A mixing driving device for driving the fixing device to rotate around an axis;

And a supporting device, the supporting device is provided with a supporting surface parallel to the rotation track of the fixing device.
The mixing device according to claim 1, wherein the fixing device rotates around a horizontal axis.
The mixing device according to claim 2, wherein the support device is provided with an opening through which the sample container passes.
The mixing device according to claim 3, further comprising a detection device that triggers the detection when the sample container moves to the opening and the sample container slides relative to the fixing device. Device.
The mixing device according to claim 4, wherein the openings are provided at positions corresponding to the lowest points of the rotation trajectory of the fixing device, and the detection device includes a portion provided below the openings and located at all positions. The signal transmitting device and the signal receiving device on both sides of the opening, the detection device is triggered when the sample container moves to the opening and the bottom end of the sample container is lower than a set height.
The mixing device according to any one of claims 2 to 5, characterized in that before performing the mixing operation, the bottom end of the sample container fixed by the fixing device and the support surface There is a gap between the support surface and the sample container when the sample container slips off relative to the fixing device during the rotation to give the sample container a supporting force opposite to the centrifugal force direction;

Alternatively, the bottom end of the sample container fixed by the fixing device is always in contact with the support surface. When the sample container has a tendency to slip relative to the fixing device during rotation, all the The supporting surface gives the sample container a supporting force opposite to the centrifugal force direction.
The mixing device according to any one of claims 2 to 5, wherein the top end of the support surface is not lower than a position after the sample container is rotated upward by 90 ° from its lowest point position.
The mixing device according to any one of claims 1 to 5, characterized in that the two ends of the support surface are respectively provided with guide slopes.
The mixing device according to claim 1, wherein:

The mixing driving device and the fixing device may first move along the X-axis direction to below the supporting device, and then move along the Z-axis direction to enter the initial mixing position;

Alternatively, the mixing driving device and the fixing device may first move to the side of the supporting device in the Z-axis direction, and then move in the X-axis direction to enter the mixing initial position.
The mixing device according to claim 9, further comprising an X-axis driving device that drives the fixing device, the mixing driving device to move in the X-axis direction, and drives the fixing device, the mixing driving device, X-axis drive A Z-axis drive that moves along the Z-axis.
The mixing device according to claim 10, wherein:

The Z-axis driving device includes a Z-axis motor, a Z-axis screw and a Z-axis screw nut, the Z-axis screw is fixedly connected to a drive shaft of the Z-axis motor, and the Z-axis screw nut and the Z-axis Threaded screw connection;

The X-axis driving device includes an X-axis bracket, an X-axis motor, an X-axis screw and an X-axis screw nut, the X-axis motor is fixedly connected to the X-axis bracket, and the X-axis screw and the X-axis motor The drive shaft of the X-axis screw nut is fixedly connected to the X-axis screw nut, and the X-axis bracket is fixedly connected to the Z-axis screw nut;

The mixing driving device includes a mixing support, a mixing motor, a driving wheel, a driven wheel and a timing belt. The mixing motor is fixedly connected to the mixing support, and the driving wheel is fixed to a driving shaft of the mixing motor. Connected, the timing belt is wound around the driving wheel and the driven wheel, and the mixing bracket is fixedly connected with the X-axis screw nut;

The fixing device is a clamping jaw, and the clamping jaw is fixedly connected to the driven wheel.
The mixing device according to claim 1, wherein the fixing device rotates around a vertical axis.
An analyzer, comprising the mixing device according to any one of claims 1 to 12.
A mixing method for rotating and mixing a sample container includes the following steps. A support device is provided. The support device is provided with a support surface parallel to the rotation trajectory of the sample container. During the rotation of the sample container, when the sample container slips or has a tendency to slip, the support surface is used to give the sample container a supporting force opposite to the centrifugal force direction.
The mixing method according to claim 14, wherein the rotation mode of the sample container is to rotate about a horizontal axis, and the support device is provided at a position corresponding to the lowest point of the rotation trajectory of the sample container. There is an opening through which the sample container passes in a vertical direction or a horizontal direction, and a detection device is provided below the opening;

When the sample container moves to the lowest position of the rotation trajectory, if the detection device is not triggered, it is determined that the sample container does not slip, and the mixing operation is continued; if the detection device is triggered, it is determined that the sample container has slipped, Stop performing the mixing operation.
The mixing method according to claim 15, further comprising: when it is determined that the sample container has slipped and stopping the performing of the mixing operation, the method further comprises sending a warning message and / or restoring the sample container to a state before the slippage. And / or the step of adjusting the fixing strength of the sample container.