WO2022217983A1 - 试剂盒装卸装置、试剂加样设备及试剂盒装卸方法 - Google Patents
试剂盒装卸装置、试剂加样设备及试剂盒装卸方法 Download PDFInfo
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- WO2022217983A1 WO2022217983A1 PCT/CN2022/070118 CN2022070118W WO2022217983A1 WO 2022217983 A1 WO2022217983 A1 WO 2022217983A1 CN 2022070118 W CN2022070118 W CN 2022070118W WO 2022217983 A1 WO2022217983 A1 WO 2022217983A1
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- reagent
- loading
- claw
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- 239000003153 chemical reaction reagent Substances 0.000 title claims abstract description 257
- 238000011068 loading method Methods 0.000 title claims abstract description 168
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1081—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00584—Control arrangements for automatic analysers
- G01N35/00722—Communications; Identification
- G01N35/00732—Identification of carriers, materials or components in automatic analysers
Definitions
- the invention relates to the technical field of chemiluminescence immunoassay, in particular to a kit loading and unloading device, a reagent sample adding device and a kit loading and unloading method.
- Chemiluminescence immunoassay technology has the advantages of short reaction time, simple operation and high diagnostic efficiency. With the development of modern science, immunodiagnosis technology has gradually become the key method of modern clinical examination and scientific research, and is used in tumors, diabetes, abnormal gonadal secretion, etc. disease diagnosis. Traditional detection methods are gradually replaced by chemiluminescence immunoassay technology due to complicated manual operation, long reaction time and environmental pollution.
- the chemiluminescence immunoassay system mainly includes: a cuvette storage and transmission system, a sample loading system, a reagent loading system, a sample adding system, an incubation system, a centrifugal cleaning system and a luminescence reading system.
- the reagent loading system needs to manually load and unload the reagent cartridges in the accommodating cavity of the reagent tray device, which is troublesome to operate.
- a reagent box loading and unloading device includes a grabbing mechanism and a conveying mechanism; the grabbing mechanism and the conveying mechanism are used to be arranged close to a reagent tray device, and the conveying mechanism includes a conveying drive part and a conveying drive part connected to the conveying drive part.
- the conveying driving part is used to drive the storage part to move to convey the reagent cartridge
- the grasping mechanism includes a lifting part and a grasping claw connected to the lifting part, the lifting part is used to drive the The gripping claws are raised or lowered so that the gripping claws grip the reagent cartridge and transfer it between the reagent tray device and the storage part.
- the above-mentioned kit loading and unloading device has the following beneficial effects:
- the conveying mechanism conveys the reagent cartridge to the loading port position of the reagent tray device, and the lifting part of the grasping mechanism drives the grasping claw to descend. , grab the reagent cartridge and load it into the reagent tray device.
- the elevating part drives the grabbing claw to descend, grabs the reagent cartridge in the reagent tray device and places it on the storage part, and the conveying driving part drives the storage part to reset.
- the reagent box loading and unloading device can automatically load and unload the reagent box in the accommodating cavity of the reagent tray device, and the operator only needs to place or remove the reagent box on the storage part, which is easy to operate.
- the conveying drive member includes a rotary drive for driving the storage member to rotate between the pick-and-place station, the avoidance station and the grab station, the pick-and-place station is used for The reagent cartridge is removed or placed on the storage part, the grasping station is located below the grasping claw, and the avoidance station is deviated from the grasping station.
- the reagent cartridge loading and unloading device further includes a reagent cartridge detector and an identification code scanner
- the reagent cartridge detector is used to detect the storage part before the storage part moves to the grasping station Whether there is a kit on the kit, when the kit detector detects the kit, the identification code scanner reads the identification code information on the kit.
- the lifting component includes a lifting drive motor, a lead screw, a guide rail and a mounting piece, the lead screw is vertically arranged, the lift driving motor is connected to the lead screw, and the mounting piece is connected to the mounting piece.
- the lead screw is threadedly connected, the guide rail extends in a vertical direction, the mounting piece is slidably matched with the guide rail, and the grabbing claw is connected to the mounting piece.
- the grasping claw comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are arranged oppositely, and the first clamping arm faces the second clamping arm
- One side of the clamping arm is provided with a first V-shaped groove
- the side of the second clamping arm facing the first clamping arm is provided with a second V-shaped groove.
- the groove wall surface of the first V-shaped groove has anti-slip lines; and/or
- the groove wall surface of the second V-shaped groove has anti-skid lines.
- a reagent sample adding device includes a reagent disk device and the reagent box loading and unloading device according to any one of the above embodiments, the reagent disk device has an accommodating cavity, a loading port communicated with the accommodating cavity, and a loading port provided in the accommodating cavity.
- the reagent loading tray in the accommodating cavity is accommodated, and the lifting component is used for driving the grabbing claw to load or unload reagent cartridges on the reagent loading tray through the loading port.
- the above reagent loading device has the reagent cartridge loading and unloading device of any one of the above examples, so that corresponding technical effects can be obtained.
- the reagent cartridge loading and unloading device further includes a loading preparation detector, and the loading preparation detector is used to detect whether there is the grasping claw at a preset height position;
- the reagent loading device further includes a control mechanism, the control mechanism is electrically connected with the reagent tray device and the grasping mechanism, when the loading preparation detector detects that the grasping claw is located at the preset height position, and the control mechanism
- the control mechanism controls the elevating member to drive the gripper to descend into the reagent disk device and load the reagent cartridge.
- the traditional reagent loading system needs to manually complete the loading and unloading of the reagent cartridge in the shutdown state, so that the running test needs to be stopped, affecting the test time and results.
- some reagents may be used up, and different test items may use different reagents.
- reagents need to be loaded or replaced, which will affect the ongoing test.
- the loading preparation detector is set to detect whether there is a grasping claw at the preset height position, and judge the grasping mechanism.
- the lifting component drives the grabbing to descend into the reagent tray device and load the reagent cartridge. In this way, it is possible to realize automatic loading of reagent cartridges without stopping the reagent tray device and without affecting the ongoing test, thereby improving work efficiency and saving manpower.
- the reagent tray device further includes a loading cover for covering the loading port, and the lifting component is used for driving the gripping claw to move to the position of the loading port to open or cover the loading port. Loading cover as described above.
- kits loading and unloading method using the kit loading and unloading device described in any of the above embodiments or the reagent sample adding device described in any of the above embodiments, the kit loading process includes the following steps:
- the conveying driving part drives the storing part to move below the grabbing claw
- the lifting component drives the grabbing claw to descend, grabs the reagent cartridge and loads it in the reagent tray device;
- the kit unloading process includes the following steps:
- the lifting component drives the grasping claw to descend, grasps the reagent box in the reagent tray device and ascends;
- the conveying driving part drives the storing part to move below the grabbing claw
- the lifting component drives the grabbing claw to descend, and the reagent cartridge is placed on the storage component;
- the conveying driving part drives the storing part to return.
- FIG. 1 is a schematic structural diagram of a kit loading and unloading device according to an embodiment
- FIG. 2 is a schematic structural diagram of a grabbing mechanism in the kit loading and unloading device shown in FIG. 1;
- FIG. 3 is a schematic structural diagram of a conveying mechanism in the kit loading and unloading device shown in FIG. 1;
- Fig. 4 is the structural schematic diagram of the first clamping arm in the grasping mechanism shown in Fig. 2;
- Fig. 5 is the structural schematic diagram of another view of the first clamping arm in the grasping mechanism shown in Fig. 2;
- FIG. 6 is a schematic structural diagram of a reagent loading device including the reagent cartridge loading and unloading device shown in FIG. 1;
- FIG. 7 is a cross-sectional view of a loading cover in the reagent sample adding device shown in FIG. 6 .
- Reagent cartridge loading and unloading device 110, grasping mechanism; 120, conveying mechanism; 121, conveying drive part; 1212, rotary drive motor; 1214, synchronous belt; 122, storage part; 111, lift part; ; 1114, screw; 1116, mounting piece; 1118, guide rail; 112, gripping claw; 1121, first clamp arm; 1122, second clamp arm; 1125, first V-groove; 130, kit detector; 140, identification code scanner; 200, reagent loading equipment; 210, reagent tray device; 220, loading preparation detector; 214, loading port; 212, loading cover; 2122, cover plate; 2124, cover handle; 2126, embedded Department; 2128, thermal insulation foam; 230, base.
- first and second are only used for description purposes, and cannot be interpreted as indicating or implying relative importance or implying the number of indicated technical features.
- a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
- a reagent cartridge loading and unloading device includes a grasping mechanism 110 and a conveying mechanism 120 .
- the grasping mechanism 110 and the conveying mechanism 120 are used to be arranged close to the reagent disk device.
- the conveying mechanism 120 includes a conveying driving part and a storing part.
- the conveying driving part is connected to the storing part, and is used for driving the storing part to move to convey the reagent cartridge.
- the grasping mechanism 110 includes a lifting member 111 and a grasping claw 112 .
- the lifting part 111 is connected to the grabbing claw 112 for driving the grabbing claw 112 to ascend or descend, so that the grabbing claw 112 grabs the reagent cartridge and transfers it between the reagent tray device 210 and the storage part 122 .
- the reagent cartridge to be loaded is placed on the storage part 122 of the conveying mechanism 120, for example, the reagent cartridge is placed manually.
- the lifting member 111 of the taking mechanism 110 drives the grabbing claw 112 to descend, grabs the reagent cartridge and loads it into the reagent tray device 210 .
- the elevating part drives the grabbing claw to descend, grabs the reagent cartridge in the reagent tray device and places it on the storage part, and the conveying driving part drives the storage part to reset.
- the reagent cartridge loading and unloading device 100 can automatically load and unload the reagent cartridges in the accommodating cavity of the reagent tray device 210 , and the operator only needs to place or remove the reagent cartridges on the storage part 122 , which is easy to operate.
- the lift component 111 includes a lift drive motor 1112 , a screw 1114 and a mounting member 1116 .
- the lead screw 1114 is vertically arranged, the elevating drive motor 1112 is connected to the lead screw 1114 , the mounting member 1116 is threadedly connected to the screw rod 1114 , and the grasping claw 112 is connected to the mounting member 1116 .
- the lift drive motor 1112 drives the screw rod 1114 to rotate, and the mounting member 1116 moves along the screw rod 1114 to drive the grasping claw 112 to ascend or descend.
- the lifting component 111 further includes a guide rail 1118 , the guide rail 1118 extends in a vertical direction, and the mounting member 1116 is slidably matched with the guide rail 1118 . In this way, the guide rail 1118 can ensure the stability of the movement of the mounting member 1116 and the grasping claw 112 .
- the grasping claw 112 includes a first gripping arm 1121 and a second gripping arm 1122 , and the first gripping arm 1121 and the second gripping arm 1122 are disposed opposite to each other, and can move closer or farther away from each other.
- the driving force of the first clamping arm 1121 and the second clamping arm 1122 may be electric, pneumatic, or the like.
- first V-shaped groove 1125 the side of the first clamping arm 1121 facing the second clamping arm 1122 is provided with a first V-shaped groove 1125
- second V-shaped groove 1125 the side of the second clamping arm 1122 facing the first clamping arm 1121 is provided with a second V-shaped groove 1125 . slot.
- the first V-shaped groove 1125 and the second V-shaped groove extend along the vertical direction and are disposed opposite to each other.
- first V-shaped grooves 1125 there are multiple first V-shaped grooves 1125, such as 2, 3 and so on.
- the multiple first V-shaped grooves 1125 correspond to the multiple second V-shaped grooves one-to-one.
- the groove wall surface of the first V-shaped groove 1125 has anti-slip patterns, such as grid patterns.
- the groove wall surface of the second V-shaped groove has anti-slip patterns, such as grid patterns.
- the anti-skid pattern can increase the friction force with the bottle mouth of the kit to ensure the reliability of grasping.
- the material of the grasping claw 112 is a metal material, and there are grid patterns on it to increase the friction force.
- a soft rubber material layer can also be arranged on the V-shaped groove, and the frictional force can be increased by partial deformation of the soft rubber.
- the conveying drive member 121 includes a rotary drive.
- the rotary drive includes a rotary drive motor 1212 and a timing belt 1214 .
- the rotary drive is used to drive the storage part 122 to rotate between the pick-and-place station, the avoidance station, and the grab station.
- the pick-and-place station is used to remove or place the reagent cartridge on the storage part 122 .
- the grasping station is located below the grasping claw 112 for grasping the reagent cartridge on it when the grasping claw 112 descends.
- the avoidance station deviates from the grasp station. When the grasping claw 112 enters and leaves the reagent tray device 210 , the storage part 122 is transferred to the avoidance station.
- the storage member 122 is a tray with placement slots.
- the number of placement slots on the storage part 122 may be one or more.
- the storage part 122 is provided with three reagent cartridge placement positions, which can transport three reagent cartridges at the same time, reducing the gap between the reagent cartridges as much as possible, so that the overall size of the storage part 122 Smaller, which not only satisfies the loading of multiple reagent cartridges, but also ensures the strength of the storage part 122, reduces the load of the horizontal rotation movement and the vibration of the movement, reduces the driving requirements of the horizontal rotation movement, and ensures the reliability of the movement.
- the present invention also provides a reagent sample adding device 200 , which includes a reagent disk device 210 and the reagent box loading and unloading device 100 in any of the above examples.
- the reagent tray device 210 has an accommodating cavity, a loading port 214 communicated with the accommodating cavity, and a reagent loading tray disposed in the accommodating cavity, and the lifting member 111 is used to drive the gripping claw 112 to load the reagent loading tray through the loading port 214 . Load or unload the kit.
- the above-mentioned reagent adding device 200 has the reagent cartridge loading and unloading device 100 of any of the above examples, so that corresponding technical effects can be obtained.
- the grabbing mechanism 110 is installed on the base 230 of the whole machine, and the conveying mechanism 120 is installed on the tray cover of the reagent tray device 210 .
- the two are installed separately and do not need to be installed on the same bracket, and the overall structure is relatively simple.
- the reagent cartridge loading and unloading apparatus 100 further includes a loading preparation detector 220, and the loading preparation detector 220 is used to detect whether there is a grasping claw 112 at a preset height position.
- the reagent sample adding device 200 further includes a control mechanism, and the control mechanism is electrically connected with the reagent disk device 210 and the grab mechanism 110 .
- the control mechanism controls the lifting part 111 to drive the grasping claw to descend to the reagent disk device 210 inside and load the kit.
- the traditional reagent loading system needs to manually complete the loading and unloading of the reagent cartridge in the shutdown state, so that the running test needs to be stopped, affecting the test time and results.
- some reagents may be used up, and different test items may use different reagents.
- reagents need to be loaded or replaced, which will affect the ongoing test.
- the loading preparation detector 220 is provided to detect whether there is a grab at the preset height position.
- the claw 112 judges whether the grasping mechanism 110 has completed the preparatory loading operation. If so, when receiving the loading permission signal of the reagent disk device 210, the lifting component 111 drives the grasping and descends into the reagent disk device 210 and loads the reagent cartridge. In this way, it is possible to realize automatic loading of reagent cartridges without stopping the reagent tray device 210 and without affecting the ongoing test, thereby improving work efficiency and saving manpower.
- the preset height position is preferably close to the loading port 214 of the reagent tray device 210, so that when the reagent cartridge is finally placed, the vertical movement stroke is the shortest, and the movement time is also the shortest, so as to minimize the impact on normal testing.
- the reagent cartridge loading and unloading apparatus 100 further includes a reagent cartridge detector 130 and an identification code scanner 140 .
- the reagent cartridge detector 130 is used to detect whether there is a reagent cartridge on the storage part 122 before the storage part 122 moves to the grab station.
- the identification code scanner 140 reads the identification code information on the reagent cartridge.
- the detection of the reagent cartridge and the reading of the identification code information can be completed before loading, and the obtained identification code information can be entered into the system in advance, and the reagent cartridge is loaded into the reagent tray device. After 210, you can use it without scanning the code.
- the conveying driving part 121 drives the storing part 122 to return to the pick-and-place station for placing the reagent cartridge before proceeding to the subsequent steps.
- the reagent tray device 210 further includes a loading cover 212 for covering the loading port 214 , and the lifting member 111 is used for driving the gripping claw 112 to move to the position of the loading port 214 to open or close the loading cover 212.
- the reagent tray device 210 has a structure of a loading cover 212 added to meet the reagents with refrigeration requirements, and has wider adaptability, and the loading cover 212 can be opened and closed by the grasping mechanism 110 without other driving methods, and the structure is simple .
- the storage part 122 is also provided with a loading cover placement position in addition to the reagent cartridge placement position.
- the grasping claw 112 grasps the loading cover 212 to open the loading port 214 of the reagent disk device 210 , the loading cover 212 is placed on the loading cover placement position of the storage part 122 for temporary storage.
- the grasping claw 112 grasps the loading cover 212 from the storage part 122 and recaps the loading port 214 .
- the reagent tray device 210 may not be provided with the loading cover 212 , and the gripping mechanism 110 can directly load or unload the reagent cartridges in the reagent loading tray through the loading port 214 .
- the loading cover 212 includes a cover tray 2122 , a cover handle 2124 , and an inset 2126 .
- a cover pan 2122 is used to cover the loading port 214 .
- a cover handle 2124 is provided on the cover tray 2122 and provides access to the entire loading cover 212.
- An insert portion 2126 is provided on the side of the cover tray 2122 away from the cover handle 2124 for inserting the loading port 214 .
- the cover plate 2122, the cover handle 2124 and the embedded portion 2126 are preferably made of materials with low thermal conductivity, such as plastic materials. Further, the embedded part 2126 is provided with a heat preservation cavity, and the heat preservation cavity has a built-in heat insulation foam, so as to improve the heat preservation effect of the reagent tray device 210 . In addition, heat insulating foam is also arranged between the edge of the cover plate 2122 and the embedded portion 2126 , so that the loading cover 212 and the loading port 214 are close to the edge of the loading port 214 and are not prone to cold leakage and prevent condensation.
- the present invention also provides a method for loading and unloading a kit, using the reagent box loading and unloading device 100 of any of the above examples or the reagent sample adding device 200 of any of the above examples.
- the kit loading process includes the following steps:
- the conveying driving part drives the storing part to move below the grabbing claw
- the lifting component drives the grabbing claw to descend, grabs the reagent cartridge and loads it in the reagent tray device.
- the kit unloading process includes the following steps:
- the lifting component drives the grasping claw to descend, grasps the reagent box in the reagent tray device and ascends;
- the conveying driving part drives the storing part to move below the grabbing claw
- the lifting component drives the grabbing claw to descend, and the reagent cartridge is placed on the storage component;
- the conveying driving part drives the storing part to return.
- the present invention will be further described below by taking the workflow of the reagent sample adding device 200 of the specific example shown in FIG. 6 as an example.
- step 1 the conveying driving part 121 of the conveying mechanism 120 drives the storage part 122 to move to the reagent cartridge pick-and-place station, and the reagent cartridge is placed manually.
- the storage part 122 is then moved to the avoidance station, where the gripping device moves up and down to avoid the conveying mechanism 120 .
- the reagent cartridge detector 130 detects the presence or absence of the reagent cartridge on the storage part 122, and after detecting the presence of the reagent cartridge, the barcode scanner reads the barcode information of the corresponding reagent cartridge, and enters it into the system in advance. After the reagent disc device 210 is installed, it can be used without further identification.
- step 2 after the storage part 122 moves to the avoidance station, the grasping claw 112 of the grasping mechanism 110 opens, moves from the initial position to the loading port 214 of the reagent tray device 210, grasps the loading cover 212 and returns to the initial position.
- the loading cover placement position of the storage part 122 moves to the grasping station, the grasping claw 112 grabs the loading cover 212 and lowers it to the storage part 122, then opens and returns to the initial position. At this time, the loading cover 212 is transferred to the storage part 122 for loading cover in place.
- Step 3 the reagent cartridge placement position of the storage part 122 moves to the grasping station, the grasping claw 112 of the grasping mechanism 110 opens and moves from the initial position to the reagent cartridge placement position of the rotating tray, grabs the reagent cartridge and returns to the initial position. bit.
- the storage part 122 moves to the avoidance station, and the grabbing claw 112 grabs the reagent cartridge and moves to a preset height position, waiting for the system to allow the reagent cartridge to be loaded.
- Step 4 after receiving the loading permission signal from the reagent tray device 210, the reagent tray of the reagent tray device 210 moves to the corresponding loading position, the grabbing claw 112 grabs the reagent cartridge and moves down to the loading position, and the grabbing claw 112 opens. And move up a certain distance, open and close the grasping claw 112 again, confirm that the reagent box has been completely released, and then rise back to the preset height position again, the reagent tray device 210 can perform the relevant test normally, and the grasping claw 112 finally Return to the initial position, that is, complete 1 kit loading.
- Step 5 After the reagent cartridge is loaded, the loading cover placement position of the storage part 122 moves to the grasping station, the grasping claw 112 moves from the initial position to the storage part 122, grabs the loading cover 212 and returns to the original position.
- the storage part 122 moves to the avoidance position again, the grabbing claw 112 grabs the loading cover 212 and moves to the position of the loading port 214 of the reagent tray device 210 and presses the loading cover 212 to realize the sealing at the loading port 214 of the reagent tray device 210 . Avoid condensation here.
- the unloading process of the kit is roughly opposite to the loading process, which is only briefly described as follows.
- the gripping claw 112 When unloading the reagent cartridge, the gripping claw 112 opens the loading cover 212 of the reagent tray device 210 and then rises, the storage part 122 moves to the gripping station, and the gripping claw 112 places the loading cover 212 on the storage part 122 and rises To the preset height position, the storage part 122 moves to the avoidance station. After receiving the unloading permission signal from the reagent tray device 210 , the grasping claw 112 descends, grasps the reagent cartridge, and places it on the storage part 122 . After the unloading of the reagent cartridge is completed, the gripping claw 112 grips the loading cover 212 from the storage part 122 and recaps the loading port 214 of the reagent tray device 210 .
- the reagent cartridge to be loaded is placed on the storage part 122 of the conveying mechanism 120, for example, the reagent cartridge is placed manually, and the conveying mechanism 120 conveys the reagent cartridge to the reagent tray device 210.
- the lifting member 111 of the grasping mechanism 110 drives the grasping claw 112 to descend to grasp the reagent cartridge and load it into the reagent tray device 210 .
- the elevating part drives the grabbing claw to descend, grabs the reagent cartridge in the reagent tray device and places it on the storage part, and the conveying driving part drives the storage part to reset.
- the reagent cartridge loading and unloading device 100 can automatically load and unload the reagent cartridges in the accommodating cavity of the reagent tray device 210 , and the operator only needs to place or remove the reagent cartridges on the storage part 122 , which is easy to operate.
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Abstract
一种试剂盒装卸装置（100）、试剂加样设备及试剂盒装卸方法。试剂盒装卸装置（100）包括抓取机构（110）以及输送机构（120）；抓取机构（110）以及输送机构（120）用于靠近试剂盘装置（210）设置，输送机构（120）包括输送驱动部件（121）以及连接于输送驱动部件（121）的存放部件（122），输送驱动部件（121）用于驱动存放部件（122）移动以输送试剂盒，抓取机构（110）包括升降部件（111）以及连接于升降部件（111）的抓取爪（112），升降部件（111）用于驱动抓取爪（112）上升或下降，以使抓取爪（112）抓取试剂盒在试剂盘装置（210）内和存放部件（122）之间转移。试剂盒装卸装置（100）能够自动在试剂盘装置（210）的容置腔内进行试剂盒的装载和卸载，操作人员仅需在存放部件（122）放置或取下试剂盒，操作简便。
Description
本发明涉及化学发光免疫分析技术领域，特别是涉及一种试剂盒装卸装置、试剂加样设备及试剂盒装卸方法。
化学发光免疫分析技术具有反应时间短、操作简单、诊断效率高等优点，随着现代科学的发展，免疫诊断技术逐渐成为现代临床检验和科学研究的重点手段，应用于肿瘤、糖尿病、性腺分泌异常等疾病的诊断中。传统的检测手段由于手工操作复杂、反应时间长、具有环境污染性等原因，逐步被化学发光免疫分析技术所取代。
目前，化学发光免疫分析系统主要包括：反应杯存储传送系统、样本装载系统、试剂装载系统、加样系统、孵育系统、离心清洗系统以及发光读数系统。目前，试剂装载系统需要通过人工手动在试剂盘装置的容置腔内进行试剂盒的装载和卸载，操作麻烦。
发明内容
基于此，有必要提供一种试剂盒装卸装置、试剂加样设备及试剂盒装卸方法，以提高装载和卸载的便捷性。
一种试剂盒装卸装置，包括抓取机构以及输送机构；所述抓取机构以及所述输送机构用于靠近试剂盘装置设置，所述输送机构包括输送驱动部件以及连接于所述输送驱动部件的存放部件，所述输送驱动部件用于驱动所述存放部件 移动以输送试剂盒，所述抓取机构包括升降部件以及连接于所述升降部件的抓取爪，所述升降部件用于驱动所述抓取爪上升或下降，以使所述抓取爪抓取所述试剂盒在所述试剂盘装置内和存放部件之间转移。
与现有方案相比，上述试剂盒装卸装置具有以下有益效果：
上述试剂盒装卸装置进行试剂盒装载时，在输送机构的存放部件放置待装载的试剂盒，输送机构将试剂盒输送至试剂盘装置的装载口位置，抓取机构的升降部件驱动抓取爪下降，抓取试剂盒并装载于试剂盘装置内。进行试剂盒卸载时，升降部件驱动抓取爪下降，抓取试剂盘装置内的试剂盒并放置在存放部件上，输送驱动部件驱动存放部件复位。如此，试剂盒装卸装置能够自动在试剂盘装置的容置腔内进行试剂盒的装载和卸载，操作人员仅需在存放部件放置或取下试剂盒，操作简便。
在其中一个实施例中，所述输送驱动部件包括旋转驱动器，旋转驱动器用于驱动所述存放部件在取放工位、避让工位以及抓取工位之间转动，所述取放工位用于在所述存放部件上取下或放置试剂盒，所述抓取工位位于所述抓取爪的下方，所述避让工位偏离于所述抓取工位。
在其中一个实施例中，所述试剂盒装卸装置还包括试剂盒检测器以及识别码扫描器，所述试剂盒检测器用于检测所述存放部件移动至所述抓取工位之前所述存放部件上是否有试剂盒，当所述试剂盒检测器检测到试剂盒，所述识别码扫描器读取所述试剂盒上的识别码信息。
在其中一个实施例中，所述升降部件包括升降驱动电机、丝杆、导轨以及安装件，所述丝杆竖直设置，所述升降驱动电机连接于所述丝杆，所述安装件与所述丝杆螺纹连接，所述导轨沿竖直方向延伸，所述安装件与所述导轨滑动配合，所述抓取爪连接于所述安装件。
在其中一个实施例中，所述抓取爪包括第一夹臂和第二夹臂，所述第一夹臂和所述第二夹臂相对设置，所述第一夹臂朝向所述第二夹臂的一侧设有第一V型槽，所述第二夹臂朝向所述第一夹臂的一侧设有第二V型槽。
在其中一个实施例中，所述第一V型槽的槽壁表面具有防滑纹；和/或
所述第二V型槽的槽壁表面具有防滑纹。
一种试剂加样设备，包括试剂盘装置以及上述任一实施例所述的试剂盒装卸装置，所述试剂盘装置具有容置腔、与所述容置腔连通的装载口以及设置在所述容置腔内的试剂装载盘，所述升降部件用于驱动所述抓取爪经由所述装载口在所述试剂装载盘装载或卸载试剂盒。
上述试剂加样设备具有上述任一示例的试剂盒装卸装置，因而能够获得相应的技术效果。
在其中一个实施例中，所述试剂盒装卸装置还包括装载预备检测器，所述装载预备检测器用于检测预设高度位置上是否有所述抓取爪；所述试剂加样设备还包括控制机构，所述控制机构与所述试剂盘装置、所述抓取机构电性连接，当所述装载预备检测器检测到所述抓取爪位于所述预设高度位置上，并且所述控制机构接收到所述试剂盘装置的允许装载信号时，所述控制机构控制所述升降部件驱动所述抓取抓下降至所述试剂盘装置内并装载所述试剂盒。
传统的试剂装载系统需要在停机状态下手动完成试剂盒的装载和卸载，使得正在运行的测试需要停止，影响测试的时间和结果。同时，在测试过程中，存在部分试剂被用完的情况，也存在不同的测试项目要用到不同的试剂的情况，此时都需要装载试剂或更换试剂，都会影响正在进行的测试。上述实施例的试剂盒装卸装置，在装载试剂盒时，其他动作可提前在试剂盘装置的外部进行，通过设置装载预备检测器来检测预设高度位置上是否有抓取爪，判断抓取机构 是否已经完成了预备装载动作，如是，在接收到试剂盘装置的允许装载信号时，升降部件驱动抓取抓下降至试剂盘装置内并装载试剂盒。如此，即可在试剂盘装置不停机且不影响正在进行的测试的情况下，实现自动试剂盒的装载，从而提高工作效率，节省人力。
在其中一个实施例中，所述试剂盘装置还包括用于封盖所述装载口的装载盖，所述升降部件用于驱动所述抓取爪移动至所述装载口的位置以打开或者盖上所述装载盖。
一种试剂盒装卸方法，使用上述任一实施例所述的试剂盒装卸装置或者上述任一实施例所述的试剂加样设备，试剂盒装载过程包括以下步骤：
将试剂盒放置在所述存放部件；
所述输送驱动部件驱动所述存放部件移动至所述抓取爪的下方；
所述升降部件驱动所述抓取爪下降，抓取试剂盒并装载在试剂盘装置中；
试剂盒卸载过程包括以下步骤：
所述升降部件驱动所述抓取爪下降，抓取试剂盘装置中的试剂盒并上升；
所述输送驱动部件驱动所述存放部件移动至所述抓取爪的下方；
所述升降部件驱动所述抓取爪下降，将试剂盒放置在所述存放部件；
所述输送驱动部件驱动所述存放部件复位。
图1为一实施例的试剂盒装卸装置的结构示意图；
图2为图1所示试剂盒装卸装置中的抓取机构的结构示意图；
图3为图1所示试剂盒装卸装置中的输送机构的结构示意图；
图4为图2所示抓取机构中第一夹臂的结构示意图；
图5为图2所示抓取机构中第一夹臂的另一视角的结构示意图；
图6为包含图1所示试剂盒装卸装置的试剂加样设备的结构示意图；
图7为图6所示试剂加样设备中装载盖的剖面图。
附图标记说明：
100、试剂盒装卸装置；110、抓取机构；120、输送机构；121、输送驱动部件；1212、旋转驱动电机；1214、同步带；122、存放部件；111、升降部件；1112、升降驱动电机；1114、丝杆；1116、安装件；1118、导轨；112、抓取爪；1121、第一夹臂；1122、第二夹臂；1125、第一V型槽；130、试剂盒检测器；140、识别码扫描器；200、试剂加样设备；210、试剂盘装置；220、装载预备检测器；214、装载口；212、装载盖；2122、盖盘；2124、盖把；2126、嵌入部；2128、隔热泡棉；230、底座。
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
在本发明的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目 的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参考图1至图3所示，本发明一实施例的试剂盒装卸装置包括抓取机构110以及输送机构120。
抓取机构110以及输送机构120用于靠近试剂盘装置设置。
输送机构120包括输送驱动部件以及存放部件。输送驱动部件连接于存放部件，用于驱动存放部件移动以输送试剂盒。
抓取机构110包括升降部件111以及抓取爪112。升降部件111连接于抓取爪112，用于驱动抓取爪112上升或下降，以使抓取爪112抓取试剂盒在试剂盘装置210内和存放部件122之间转移。
进行试剂盒装载时，在输送机构120的存放部件122放置待装载的试剂盒，例如通过人工手动的方式放置试剂盒，输送机构120将试剂盒输送至试剂盘装置210的装载口214位置，抓取机构110的升降部件111驱动抓取爪112下降，抓取试剂盒并装载于试剂盘装置210内。进行试剂盒卸载时，升降部件驱动抓取爪下降，抓取试剂盘装置内的试剂盒并放置在存放部件上，输送驱动部件驱动存放部件复位。如此，试剂盒装卸装置100能够自动在试剂盘装置210的容置腔内进行试剂盒的装载和卸载，操作人员仅需在存放部件122放置或取下试剂盒，操作简便。
如图2所示，在其中一个示例中，升降部件111包括升降驱动电机1112、丝杆1114以及安装件1116。丝杆1114竖直设置，升降驱动电机1112连接于丝杆1114，安装件1116与丝杆1114螺纹连接，抓取爪112连接于安装件1116。在本示例中，升降驱动电机1112驱动丝杆1114转动，则安装件1116沿丝杆1114移动，带动抓取爪112上升或下降。
进一步地，在其中一个示例中，升降部件111还包括导轨1118，导轨1118沿竖直方向延伸，安装件1116与导轨1118滑动配合。如此，通过导轨1118能够保证安装件1116以及抓取爪112运动的稳定性。
如图2、图4及图5所示，在其中一个示例中，抓取爪112包括第一夹臂1121和第二夹臂1122，第一夹臂1121和第二夹臂1122相对设置，能够相互靠近或远离。第一夹臂1121和第二夹臂1122相互靠近时，能够抓取试剂盒，相互远离时，则可松开试剂盒。第一夹臂1121和第二夹臂1122的驱动力可以是电动、气动等。在图示的具体示例中，第一夹臂1121朝向第二夹臂1122的一侧设有第一V型槽1125，第二夹臂1122朝向第一夹臂1121的一侧设有第二V型槽。第一V型槽1125以及第二V型槽沿竖直方向延伸，相对设置。
在其中一个示例中，第一V型槽1125有多个，如2个、3个等。相应地，第二V型槽有多个，多个第一V型槽1125和多个第二V型槽一一对应。
在其中一个示例中，第一V型槽1125的槽壁表面具有防滑纹，例如网格纹。在其中一个示例中，第二V型槽的槽壁表面具有防滑纹，例如网格纹。防滑纹能够增大与试剂盒瓶口间的摩擦力，保证抓取的可靠性。
在其中一个示例中，抓取爪112的材料为金属材料，其上设有网格纹增大摩擦力。此外，也可以在V型槽上设置软胶材料层，通过软胶的部分变形来增大摩擦力。
如图3所示，在其中一个示例中，输送驱动部件121包括旋转驱动器。旋转驱动器包括旋转驱动电机1212以及同步带1214。旋转驱动器用于驱动存放部件122在取放工位、避让工位以及抓取工位之间转动。其中，取放工位用于在存放部件122上取下或放置试剂盒。抓取工位位于抓取爪112的下方，供抓取爪112下降时抓取其上的试剂盒。避让工位偏离于抓取工位，当抓取爪112进出试剂盘装置210时，存放部件122转移至避让工位。
在其中一个示例中，存放部件122为具有放置槽的托盘。
存放部件122上放置槽的数量可以是一个，也可以是多个。在图示的具体示例中，存放部件122上设有有3个试剂盒放置位，可同时输送3个试剂盒，尽可能的减小了试剂盒之间的间隙，使得存放部件122的整体尺寸较小，既满足多个试剂盒的装载，同时也保证了存放部件122的强度，减轻了水平旋转运动的负载和运动的振动，降低了水平旋转运动的驱动要求，保证运动的可靠性。
进一步地，请参考图6所示，本发明还提供一种试剂加样设备200，包括试剂盘装置210以及上述任一示例的试剂盒装卸装置100。其中，试剂盘装置210具有容置腔、与容置腔连通的装载口214以及设置在容置腔内的试剂装载盘，升降部件111用于驱动抓取爪112经由装载口214在试剂装载盘装载或卸载试剂盒。
上述试剂加样设备200具有上述任一示例的试剂盒装卸装置100，因而能够获得相应的技术效果。
在图6所示的具体示例中，抓取机构110安装在整机的底座230上，输送机构120安装在试剂盘装置210的盘盖上。两者分开安装，无需安装在同一个支架上，整体结构相对简单。
在其中一个示例中，试剂盒装卸装置100还包括装载预备检测器220，装载 预备检测器220用于检测预设高度位置上是否有抓取爪112。在本示例中，试剂加样设备200还包括控制机构，控制机构与试剂盘装置210、抓取机构110电性连接。当装载预备检测器220检测到抓取爪112位于预设高度位置上，并且控制机构接收到试剂盘装置210的允许装载信号时，控制机构控制升降部件111驱动抓取抓下降至试剂盘装置210内并装载试剂盒。
传统的试剂装载系统需要在停机状态下手动完成试剂盒的装载和卸载，使得正在运行的测试需要停止，影响测试的时间和结果。同时，在测试过程中，存在部分试剂被用完的情况，也存在不同的测试项目要用到不同的试剂的情况，此时都需要装载试剂或更换试剂，都会影响正在进行的测试。
针对该问题，上述示例的试剂盒装卸装置100，在装载试剂盒时，其他动作可提前在试剂盘装置210的外部进行，通过设置装载预备检测器220来检测预设高度位置上是否有抓取爪112，判断抓取机构110是否已经完成了预备装载动作，如是，在接收到试剂盘装置210的允许装载信号时，升降部件111驱动抓取抓下降至试剂盘装置210内并装载试剂盒。如此，即可在试剂盘装置210不停机且不影响正在进行的测试的情况下，实现自动试剂盒的装载，从而提高工作效率，节省人力。
预设高度位置优选靠近试剂盘装置210的装载口214，使得在最后放置试剂盒时，垂直运动的行程最短，运动的时间也最小，尽量减小对正常测试的影响。
如图6所示，在其中一个示例中，试剂盒装卸装置100还包括试剂盒检测器130以及识别码扫描器140。在装载试剂盒过程中，试剂盒检测器130用于检测存放部件122移动至抓取工位之前存放部件122上是否有试剂盒。当试剂盒检测器130检测到试剂盒时，识别码扫描器140读取试剂盒上的识别码信息。
通过试剂盒检测器130和识别码扫描器140，在装载前即可完成试剂盒的检 测和识别码信息读取，获取的识别码信息可提前录入到系统中，待试剂盒装载到试剂盘装置210后，即可使用无需再扫码。
当试剂盒检测器130未检测到试剂盒时，输送驱动部件121驱动存放部件122回到取放工位，以供放置试剂盒后再进行后续步骤。
如图6和图7所示，在其中一个示例中，试剂盘装置210还包括用于封盖装载口214的装载盖212，升降部件111用于驱动抓取爪112移动至装载口214的位置以打开或者盖上装载盖212。
试剂盘装置210增加了装载盖212结构，满足有冷藏要求的试剂，适应性更广，而且通过抓取机构110即可实现装载盖212的打开和关闭，无需其他的驱动方式来实现，结构简单。
进一步地，在其中一个示例中，存放部件122除了设置有试剂盒放置位，还设置有装载盖放置位。抓取爪112在抓取装载盖212以打开试剂盘装置210的装载口214后，将装载盖212放置在存放部件122的装载盖放置位上暂存。在完成试剂盒装载后，抓取爪112从存放部件122上抓取装载盖212，重新封盖装载口214。
可以理解地，在其他示例中，试剂盘装置210也可以不设置装载盖212，抓取机构110可直接将试剂盒经由装载口214在试剂装载盘内进行装载或卸载。
在其中一个示例中，装载盖212包括盖盘2122、盖把2124以及嵌入部2126。盖盘2122用于封盖装载口214。盖把2124设置在盖盘2122上，可供拿取整个装载盖212。嵌入部2126设置在盖盘2122的远离盖把2124的一侧上，用于嵌入装载口214。
盖盘2122、盖把2124以及嵌入部2126优选低导热材料，如塑胶材料。进一步地，嵌入部2126设有保温腔，保温腔内置隔热泡棉，提高试剂盘装置210 保温效果。此外，盖盘2122的边缘与嵌入部2126之间亦设置有隔热泡棉，使装载盖212与装载口214边缘贴近处不容易漏冷，避免出现冷凝水。
进一步地，本发明还提供一种试剂盒装卸方法，使用上述任一示例的试剂盒装卸装置100或者上述任一示例的试剂加样设备200。
试剂盒装载过程包括以下步骤：
将试剂盒放置在所述存放部件；
所述输送驱动部件驱动所述存放部件移动至所述抓取爪的下方；
所述升降部件驱动所述抓取爪下降，抓取试剂盒并装载在试剂盘装置中。
试剂盒卸载过程包括以下步骤：
所述升降部件驱动所述抓取爪下降，抓取试剂盘装置中的试剂盒并上升；
所述输送驱动部件驱动所述存放部件移动至所述抓取爪的下方；
所述升降部件驱动所述抓取爪下降，将试剂盒放置在所述存放部件；
所述输送驱动部件驱动所述存放部件复位。
以下以图6所示具体示例的试剂加样设备200的工作流程为例，对本发明作进一步说明。
图6所示具体示例的试剂加样设备200的试剂盒装载的流程步骤如下步骤：
步骤1，输送机构120的输送驱动部件121带动存放部件122运动到试剂盒取放工位，通过人工手动的方式放置试剂盒。然后存放部件122运动到避让工位，此处抓取装置上下运动可与输送机构120避开。运动过程中试剂盒检测器130对存放部件122上试剂盒的有无进行检测，检测到有试剂盒后条码扫描器读取对应试剂盒的条码信息，提前录入到系统中，待试剂盒装载到试剂盘装置210后，即可使用，无需再进行识别。
步骤2，存放部件122运动到避让工位后，抓取机构110的抓取爪112打开， 从初始位运动到试剂盘装置210的装载口214位置，抓取装载盖212并回到初始位。存放部件122的装载盖放置位运动到抓取工位，抓取爪112抓取装载盖212下降至存放部件122处后打开再回到初始位，此时装载盖212转移到存放部件122的装载盖放置位上。
步骤3，存放部件122的试剂盒放置位运动到抓取工位，抓取机构110的抓取爪112打开并从初始位运动到旋转托盘的试剂盒放置位，抓取试剂盒并回到初始位。存放部件122运动到避让工位，抓取爪112抓取试剂盒运动到预设高度位置，等待系统允许试剂盒装载。
以上部分的运动均在试剂盘装置210外部，不会影响正在运行的测试。
步骤4，在接收到试剂盘装置210的允许装载信号后，试剂盘装置210的试剂托盘运动到对应的装载位，抓取爪112抓取试剂盒向下运动到装载位，抓取爪112打开并上移一段距离，再进行一次抓取爪112打开和关闭，确认试剂盒已经完全放开后再次上升回到预设高度位置，试剂盘装置210即可正常进行相关测试，抓取爪112最后回到初始位，即完成1次试剂盒装载。
重复步骤3步骤和4，最多可完成3次试剂盒的装载。
步骤5，完成试剂盒装载后，存放部件122的装载盖放置位运动到抓取工位，抓取爪112从初始位运动到存放部件122的处，抓取装载盖212并回到初始位。存放部件122再次运动到避让工位，抓取爪112抓取装载盖212运动到试剂盘装置210的装载口214位置并压紧装载盖212，实现试剂盘装置210的装载口214处的密封，避免此处有冷凝水的出现。
试剂盒的卸载流程与装载流程大致相反，在此仅作简略阐述如下。
在进行试剂盒卸载时，抓取爪112将试剂盘装置210的装载盖212打开后上升，存放部件122运动至抓取工位，抓取爪112将装载盖212放置在存放部 件122上，上升到预设高度位置，存放部件122运动至避让工位。在接收到试剂盘装置210的允许卸载信号后，抓取爪112下降，抓取试剂盒，再放置在存放部件122上。在完成试剂盒卸载后，抓取爪112从存放部件122抓取装载盖212，重新封盖试剂盘装置210的装载口214。
上述试剂盒装卸装置100进行试剂盒装载时，在输送机构120的存放部件122放置待装载的试剂盒，例如通过人工手动的方式放置试剂盒，输送机构120将试剂盒输送至试剂盘装置210的装载口214位置，抓取机构110的升降部件111驱动抓取爪112下降，抓取试剂盒并装载于试剂盘装置210内。进行试剂盒卸载时，升降部件驱动抓取爪下降，抓取试剂盘装置内的试剂盒并放置在存放部件上，输送驱动部件驱动存放部件复位。如此，试剂盒装卸装置100能够自动在试剂盘装置210的容置腔内进行试剂盒的装载和卸载，操作人员仅需在存放部件122放置或取下试剂盒，操作简便。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。
Claims (10)
- 一种试剂盒装卸装置，其特征在于，包括抓取机构以及输送机构；所述抓取机构以及所述输送机构用于靠近试剂盘装置设置，所述输送机构包括输送驱动部件以及连接于所述输送驱动部件的存放部件，所述输送驱动部件用于驱动所述存放部件移动以输送试剂盒，所述抓取机构包括升降部件以及连接于所述升降部件的抓取爪，所述升降部件用于驱动所述抓取爪上升或下降，以使所述抓取爪抓取所述试剂盒在所述试剂盘装置内和存放部件之间转移。
- 如权利要求1所述的试剂盒装卸装置，其特征在于，所述输送驱动部件包括旋转驱动器，旋转驱动器用于驱动所述存放部件在取放工位、避让工位以及抓取工位之间转动，所述取放工位用于在所述存放部件上取下或放置试剂盒，所述抓取工位位于所述抓取爪的下方，所述避让工位偏离于所述抓取工位。
- 如权利要求2所述的试剂盒装卸装置，其特征在于，所述试剂盒装卸装置还包括试剂盒检测器以及识别码扫描器，所述试剂盒检测器用于检测所述存放部件移动至所述抓取工位之前所述存放部件上是否有试剂盒，当所述试剂盒检测器检测到试剂盒，所述识别码扫描器读取所述试剂盒上的识别码信息。
- 如权利要求1所述的试剂盒装卸装置，其特征在于，所述升降部件包括升降驱动电机、丝杆、导轨以及安装件，所述丝杆竖直设置，所述升降驱动电机连接于所述丝杆，所述安装件与所述丝杆螺纹连接，所述导轨沿竖直方向延伸，所述安装件与所述导轨滑动配合，所述抓取爪连接于所述安装件。
- 如权利要求1～4中任一项所述的试剂盒装卸装置，其特征在于，所述抓取爪包括第一夹臂和第二夹臂，所述第一夹臂和所述第二夹臂相对设置，所述第一夹臂朝向所述第二夹臂的一侧设有第一V型槽，所述第二夹臂朝向所述第一夹臂的一侧设有第二V型槽。
- 如权利要求5所述的试剂盒装卸装置，其特征在于，所述第一V型槽的槽壁表面具有防滑纹；和/或所述第二V型槽的槽壁表面具有防滑纹。
- 一种试剂加样设备，其特征在于，包括试剂盘装置以及如权利要求1～6中任一项所述的试剂盒装卸装置，所述试剂盘装置具有容置腔、与所述容置腔连通的装载口以及设置在所述容置腔内的试剂装载盘，所述升降部件用于驱动所述抓取爪经由所述装载口在所述试剂装载盘装载或卸载试剂盒。
- 如权利要求7所述的试剂加样设备，其特征在于，所述试剂盒装卸装置还包括装载预备检测器，所述装载预备检测器用于检测预设高度位置上是否有所述抓取爪；所述试剂加样设备还包括控制机构，所述控制机构与所述试剂盘装置、所述抓取机构电性连接，当所述装载预备检测器检测到所述抓取爪位于所述预设高度位置上，并且所述控制机构接收到所述试剂盘装置的允许装载信号时，所述控制机构控制所述升降部件驱动所述抓取抓下降至所述试剂盘装置内并装载所述试剂盒。
- 如权利要求7或8所述的试剂加样设备，其特征在于，所述试剂盘装置还包括用于封盖所述装载口的装载盖，所述升降部件用于驱动所述抓取爪移动至所述装载口的位置以打开或者盖上所述装载盖。
- 一种试剂盒装卸方法，其特征在于，使用如权利要求1～6中任一项所述的试剂盒装卸装置或者如权利要求7～9中任一项所述的试剂加样设备，试剂盒装载过程包括以下步骤：将试剂盒放置在所述存放部件上；所述输送驱动部件驱动所述存放部件移动至所述抓取爪的下方；所述升降部件驱动所述抓取爪下降，抓取试剂盒并装载在试剂盘装置中；试剂盒卸载过程包括以下步骤：所述升降部件驱动所述抓取爪下降，抓取试剂盘装置中的试剂盒并上升；所述输送驱动部件驱动所述存放部件移动至所述抓取爪的下方；所述升降部件驱动所述抓取爪下降，将试剂盒放置在所述存放部件；所述输送驱动部件驱动所述存放部件复位。
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| CN113156147A (zh) * | 2021-04-14 | 2021-07-23 | 深圳市亚辉龙生物科技股份有限公司 | 试剂盒装卸装置、试剂加样设备及试剂盒装卸方法 |
| CN214669129U (zh) * | 2021-04-14 | 2021-11-09 | 深圳市亚辉龙生物科技股份有限公司 | 试剂盒装卸装置及试剂加样设备 |
| CN113495166A (zh) * | 2021-06-22 | 2021-10-12 | 迪瑞医疗科技股份有限公司 | 一种试剂盒自动加载系统及其控制方法 |
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