WO2022252624A1 - 一种全自动样本处理系统 - Google Patents

一种全自动样本处理系统 Download PDF

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Publication number
WO2022252624A1
WO2022252624A1 PCT/CN2022/071508 CN2022071508W WO2022252624A1 WO 2022252624 A1 WO2022252624 A1 WO 2022252624A1 CN 2022071508 W CN2022071508 W CN 2022071508W WO 2022252624 A1 WO2022252624 A1 WO 2022252624A1
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WIPO (PCT)
Prior art keywords
scanning
manipulator
module
cover
sample
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PCT/CN2022/071508
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English (en)
French (fr)
Inventor
姚灏
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长沙迈迪克智能科技有限公司
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Publication of WO2022252624A1 publication Critical patent/WO2022252624A1/zh

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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
    • 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
    • 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
    • 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
    • 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
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
    • 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
    • G01N2035/00465—Separating and mixing arrangements
    • 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
    • G01N2035/0403—Sample carriers with closing or sealing means

Definitions

  • the invention relates to the technical field of in vitro diagnostic medical devices, in particular to an automatic sample processing system.
  • In vitro diagnostic medical equipment generally requires pretreatment of test samples before clinical trials, including barcode scanning and cap opening of sample tubes and sample distribution. Before nucleic acid testing, the samples need to be shaken violently to solve the problem of sample precipitation. Through The efficiency of manual processing is low and there is a certain risk of exposure, especially the oscillation of viral nucleic acid samples, which increases the risk of human infection.
  • the existing sample pre-processing equipment is usually configured for large-scale sample processing.
  • the equipment is relatively large, and the aerosols generated by the samples during the equipment test are difficult to clean up, which increases the risk of infection for operators.
  • the purpose of the present invention is to overcome the shortcomings of the prior art and provide a fully automatic sample processing system, which is used to replace the manual pretreatment of samples, improve the efficiency of sample processing, and reduce the contact between the human body and the sample. Its structure is compact and can directly Put it in a biological safety cabinet for sterilization.
  • a fully automatic sample processing system including a working platform, on which a test tube rack module, a first carrier and a second carrier are sequentially arranged from left to right, and the first carrier is provided with a waste needle box, a PCR The plate position and the micro-well plate position, the second carrier is provided with a reagent box and a needle box, a sample tube transmission module is provided on the inner side of the working platform, and a barcode scanning manipulator, an open The cover manipulator and the sample loading arm, the working area of the barcode scanning manipulator covers the left end of the test tube rack module and the sample tube transmission module, the cover opening manipulator is located above the sample tube transmission module, and the working area of the sample loading arm covers the left end of the sample tube transmission module.
  • a rotating shaft is installed on the driven wheel of the belt transmission mechanism.
  • An eccentric shaft is arranged at the position of the upper end of the rotating shaft deviated from the axis.
  • a bearing is installed on the eccentric shaft, and the outer ring of the bearing is
  • a connecting seat is installed, and a test tube rack is installed on the connecting seat, and the test tube rack and the base of the test tube rack are connected through several rubber columns around them.
  • the barcode scanning manipulator grabs the sample tubes on the test tube rack module and scans the barcode of the sample tubes, then transfers the sample tubes to the sample tube transfer module, and the sample tubes are opened by the cap opening manipulator. After the cap is opened, the sample arm draws the sample from the sample tube for distribution. After the sample arm sucks the sample, the cap-opening manipulator puts the original cap of the sample tube back on the sample tube, and the sample tube transfer module sends the sample tube back to the sample tube. Behind the test tube rack module, the barcode scanning manipulator puts the sample tube back into the test tube rack module.
  • the process of capping, transporting, and putting back the sample tube into the test tube rack module is carried out at the same time as the sample distribution process, which saves sample processing time, and the microplate position is available
  • the PCR plate position can be used to place PCR plates to meet different test requirements.
  • the oscillating drive motor drives the shaft to rotate through the belt transmission mechanism, so that the test tube rack moves with the eccentric shaft. Make a circular motion to complete the oscillation of the nucleic acid sample tube, so that the sample meets the experimental requirements of subsequent nucleic acid extraction and nucleic acid detection.
  • the barcode scanning manipulator includes a scanning manipulator support, the scanning manipulator support can move left and right along the upper end of the working platform, and the scanning manipulator support is equipped with a scanning manipulator Y-direction driving mechanism, a scanning manipulator Y-direction transmission mechanism and a scanning manipulator Y-direction Guide rail, the scanning manipulator module is installed on the guide rail of the scanning manipulator, the scanning manipulator module is connected to the Y-direction transmission mechanism of the scanning manipulator, the scanning manipulator module includes a scanning manipulator base, and a scanning manipulator lifting drive is installed on the scanning manipulator base The motor and the scanning manipulator lifting mechanism, the scanning gripper module is installed on the scanning manipulator lifting mechanism, the scanning head support is installed at the lower end of the scanning manipulator base, the scanning head is installed on the scanning projection support, when the working area of the scanning gripper module Covering the scanning area of the scanning head, its function is to enable the barcode scanning manipulator to complete the barcode scanning of the sample tube during the process of transferring the sample tube,
  • the scanning head bracket is provided with a positioning hole and an arc-shaped limiting groove, and the mounting screws on the scanning head are connected to the scanning head bracket through the positioning hole and the limiting groove respectively, and its function is to facilitate adjustment The angle of the scanning head ensures the scanning effect.
  • the scanning gripper module includes a scanning gripper motor seat, a scanning gripper rotation motor and a scanning gripper control board are installed on the upper end of the scanning gripper motor seat, and a scanning gripper connecting frame is installed on the lower end of the scanning gripper motor seat.
  • a scanning gripper is installed on the top, and the rotating motor of the scanning gripper is a hollow shaft stepping motor. Its function is to control the rotation of the scanning gripper through the hollow shaft stepping motor, so that the connecting line of the scanning gripper can Access to avoid damage to the line due to frequent torsion during rotation.
  • the cover-opening manipulator includes a cover-opening manipulator bracket, and a cover-opening manipulator lifting drive mechanism, a cover-opening manipulator lifting transmission mechanism and a cover-opening manipulator control board are installed on the cover-opening manipulator support, and the cover-opening manipulator lifting transmission mechanism is With a transmission mechanism, the first screw rod is installed on the driven wheel of the lifting and lowering transmission mechanism of the cover-opening manipulator, and a sliding connection seat is installed on the first screw rod. The left and right ends of the seat are respectively connected to the slider of the lifting guide rail, and the cover-opening handle module is installed on the sliding connection seat, and its function is to ensure the positional accuracy and sliding stability of the lifting of the cover-opening handle module.
  • the cover opening handle module includes a conductive slip ring fixing seat, a conductive slip ring is installed in the conductive slip ring fixing seat, a cover opening handle rotating motor seat is installed on the upper end of the conductive slip ring fixing seat, and the cover opening handle
  • the rotating motor seat is equipped with a cover-opening handle rotating motor, the upper end of the rotor part of the conductive slip ring is connected to the cover-opening handle rotating motor, and the lower end is connected to the cover-opening handle connecting frame, and the cover-opening handle connecting frame is equipped with
  • the function of the cover-opening handle is to enable the cover-opening handle to rotate continuously while avoiding wire winding damage.
  • the sample tube transmission module includes a transmission base, an X-direction transmission mechanism and an X-guiding rail are installed on the transmission base, a sliding mechanism is installed on the X-direction rail, the sliding mechanism is connected to the X-direction transmission mechanism, and the upper end of the sliding mechanism is installed
  • a sample tube clamping mechanism whose function is to realize the transfer of the sample tube between the working area of the barcode scanning manipulator and the working area of the sample loading arm through the sliding mechanism.
  • the sliding mechanism includes a sliding transfer block, the side wall of the sliding transfer block is equipped with a Z guide rail, the rear end of the sample tube clamping mechanism is connected to the slider of the Z guide rail, the sample tube clamping mechanism and A guide shaft is installed between the sliding adapter blocks, and a first spring is installed on the guide shaft, and its function is to buffer the bottom of the sample tube to avoid breaking the sample tube during the placement and uncapping of the sample tube.
  • the sample tube clamping mechanism includes a clamping mechanism base, a clamping mechanism guide rail is installed on the clamping mechanism base, a sliding seat and a left clamping block are installed on the clamping mechanism guide rail, and the left clamping block and the sliding seat A clamping mechanism guide shaft is installed between them, a second spring is installed on the clamping mechanism guide shaft, a right clamping block is fixedly installed at the right end of the clamping mechanism base, and a clamping drive motor is installed on the right side of the right clamping block.
  • the tightening drive motor is provided with a second screw rod, the second screw rod passes through the right clamping block and the left clamping block in sequence, and the sliding seat is installed on the left end of the second screw rod, and its function is to: drive the screw rod through the clamping drive motor.
  • the rotation of the second screw rod makes the sliding seat slide left and right to clamp the sample tube, and at the same time buffer the side wall of the sample tube during the clamping process, so as to avoid damage to the sample tube while ensuring the clamping effect.
  • the right clamping block is provided with a ">"-shaped right clamping groove
  • the left clamping block is provided with a " ⁇ "-shaped left clamping groove, the function of which is to adapt to different sizes and shapes
  • the clamping of the test tube ensures the stability of the clamping.
  • the fully automatic sample processing system provided by the present invention can automatically complete the oscillation, barcode scanning, transfer, cap opening, sample addition, capping and sample tube recovery of test samples. It has compact structure, high space utilization rate and fast speed. It can meet the batch sample processing requirements of various clinical trials. In addition, because of its small size, it can be placed in a biological safety cabinet, and the sample processing process is completed in the biological safety cabinet, ensuring the safety of the test process.
  • the cap opening manipulator adds the original cap back to the sample tube, which reduces the cost of capping, and the original cap is added back to its cap and
  • the sample tube has a high degree of matching and good sealing, which ensures safety.
  • the fully automatic sample processing system buffers the bottom and side wall of the sample tube through the first spring and the second spring during the process of placing the sample tube, uncapping, and capping, avoiding the problem of placing, uncapping, and The damage to the sample tube during the capping process ensures the safety of the test process.
  • Fig. 1 is a schematic structural diagram of a fully automatic sample processing system according to the present invention.
  • FIG. 2 is a schematic structural view of the first carrier and the second carrier according to the present invention.
  • FIG. 3 is a schematic structural diagram of the barcode scanning manipulator according to the present invention.
  • FIG. 4 is a schematic structural diagram of the scanning manipulator module of the present invention.
  • Fig. 5 is a schematic structural diagram of the scanning gripper module of the present invention.
  • Fig. 6 is a schematic diagram of the mechanism of the cap opening robot according to the present invention.
  • Fig. 7 is a schematic structural view of the cover-opening handle module according to the present invention.
  • Fig. 8 is a schematic structural diagram of the sample tube transmission module of the present invention.
  • Fig. 9 is a schematic structural diagram of the sample tube clamping mechanism of the present invention.
  • Fig. 10 is a schematic structural view of the test tube rack module of the present invention.
  • 1-working platform 2-test tube rack module, 21-test tube rack base, 22-oscillating drive mechanism, 23-belt transmission mechanism, 24-test tube rack, 25-rubber column, 26-rotating shaft, 261-eccentric shaft, 27-bearing, 28-connecting seat, 3-first carrier, 31-waste needle box, 32-PCR plate position, 33-microwell plate position, 4-second carrier, 41-kit, 42-needle Box, 5-barcode scanning manipulator, 51-scanning manipulator support, 52-scanning manipulator Y-direction drive mechanism, 53-scanning manipulator module, 531-scanning manipulator base, 532-scanning manipulator lifting drive motor, 533-scanning manipulator lifting mechanism , 534-scanning head bracket, 5341-positioning hole, 5342-limiting groove, 535-scanning gripper module, 5351-scanning gripper motor seat, 5352-scanning gripper rotation motor, 5353-scanning gripper control board, 5354
  • a fully automatic sample processing system includes a working platform 1, on which a test tube rack module 2, a first carrier 3 and a second carrier 4 are sequentially arranged from left to right.
  • the first carrier 3 is provided with a waste needle box 31, a PCR plate position 32 and a microwell plate position 33
  • the second carrier 4 is provided with a reagent box 41 and a needle box 42
  • the inner side of the working platform 1 is provided with
  • the sample tube transfer module 7, the top of the working platform 1 is provided with a barcode scanning manipulator 5, a cover opening manipulator 6 and a sample loading arm 8 in sequence from left to right, and the working area of the barcode scanning manipulator 5 covers the test tube rack module 2 and the sample tube
  • the left end of the transmission module 7, the opening manipulator 6 is located above the sample tube transmission module 7, the working area of the sample loading arm 8 covers the first carrier 3, the second carrier 4 and the right end of the sample tube transmission module 7,
  • the barcode scanning manipulator 5 includes a scanning manipulator module 53 and a scanning head 56
  • the position of the upper end of the rotating shaft 26 deviated from the axis is provided with an eccentric shaft 261, and a bearing 27 is installed on the eccentric shaft 261.
  • the bearing 27 A connecting seat 28 is installed on the outer ring, and a test tube rack 24 is installed on the connecting seat 28, and the test tube rack 24 and the test tube rack base 21 are connected by several rubber columns 25 around.
  • the barcode scanning manipulator 5 includes a scanning manipulator support 51, the scanning manipulator support 51 can move left and right along the upper end of the working platform 1, the scanning manipulator support 51 is equipped with a scanning manipulator Y-direction drive mechanism 52, a scanning manipulator Y-direction transmission Mechanism 54 and scanning manipulator Y guide rail 55, described scanning manipulator Y guide rail 55 is equipped with scanning manipulator module 53, and scanning manipulator module 53 is connected to scanning manipulator Y to transmission mechanism 54, and described scanning manipulator module 53 comprises scanning manipulator base Seat 531, scanning manipulator lifting drive motor 532 and scanning manipulator lifting mechanism 533 are installed on the scanning manipulator base 531, scanning gripper module 535 is installed on the scanning manipulator lifting mechanism 533, scanning head support is installed on the lower end of scanning manipulator base 531 534 , the scanning head 56 is installed on the scanning head support 534 , and the working area of the scanning gripper module 535 covers the scanning area of the scanning head 56 .
  • the scanning head bracket 534 is provided with a positioning hole 5341 and an arc-shaped limiting groove 5342, and the mounting screws on the scanning head 56 are respectively connected to the scanning head bracket 534 through the positioning hole 5341 and the limiting groove 5342 .
  • the scanning gripper module 535 includes a scanning gripper motor seat 5351, a scanning gripper rotation motor 5352 and a scanning gripper control board 5353 are installed on the upper end of the scanning gripper motor seat 5351, and a scanning gripper connecting frame 5354 is installed on the lower end A scanning gripper 5355 is mounted on the scanning gripper connecting frame 5354, and the scanning gripper rotating motor 5352 is a hollow-shaft stepping motor.
  • the cover-opening manipulator 6 comprises a cover-opening manipulator support 61, an uncapping manipulator lifting drive mechanism 62, a cover-opening manipulator lifting transmission mechanism 63 and a cover-opening manipulator control board 68 are installed on the cover-opening manipulator support 61.
  • the cover manipulator lifting transmission mechanism 63 is a belt transmission mechanism, and the first screw mandrel 64 is installed on the driven wheel of the cover manipulator lifting transmission mechanism 63, and a sliding connection seat 65 is installed on the first screw mandrel 64, and the cover opening manipulator support 61
  • Lifting guide rails 67 are installed symmetrically on both sides of the left and right sides, and the left and right ends of the sliding connection seat 65 are connected to the slider of the lifting guide rail 67 respectively, and the cover-opening handle module 66 is installed on the sliding connection seat 65.
  • the cover-opening handle module 66 includes a conductive slip ring fixing seat 661, a conductive slip ring 664 is installed in the conductive slip ring fixing seat 661, and a cover-opening handle rotating motor seat is installed on the upper end of the conductive slip ring fixing seat 661 662, the cover-opening handle rotating motor seat 662 is equipped with an opening-covering handle rotating motor 663, the upper end of the rotor part of the conductive slip ring 664 is connected to the opening handle rotating motor 663, and the lower end is connected to the opening handle connecting frame 665, A cover opening handle 666 is installed on the cover opening handle connecting frame 665 .
  • the sample tube transmission module 7 includes a transmission base 71, an X-direction transmission mechanism 72 and an X-direction rail 75 are installed on the transmission base 71, a sliding mechanism 74 is installed on the X-direction rail 75, and the sliding mechanism 74 is connected to the X-direction rail 75.
  • a sample tube clamping mechanism 73 is installed on the upper ends of the transmission mechanism 72 and the sliding mechanism 74 .
  • the sliding mechanism 74 includes a sliding transfer block 741, the side wall of the sliding transfer block 741 is equipped with a Z guide rail 744, and the rear end of the sample tube clamping mechanism 73 is connected to the slider of the Z guide rail 744,
  • a guide shaft 742 is installed between the sample tube clamping mechanism 73 and the sliding adapter block 741 , and a first spring 743 is installed on the guide shaft 742 .
  • the sample tube clamping mechanism 73 includes a clamping mechanism base 731, a clamping mechanism guide rail 732 is installed on the clamping mechanism base 731, a sliding seat 735 and a left clamping block 734 are installed on the clamping mechanism guide rail 732, A clamping mechanism guide shaft 737 is installed between the left clamping block 734 and the sliding seat 735, a second spring 738 is installed on the clamping mechanism guide shaft 737, and a right clamping block 733 is fixedly installed on the clamping mechanism base 731 right-hand side.
  • the right side of the clamping block 733 is equipped with a clamping drive motor 736, the output shaft of the clamping drive motor 736 is connected to the second screw mandrel 739, and the second screw mandrel 739 passes through the right clamping block 733 and the left clamping block 734 successively, Its left end is connected on the slide seat 735.
  • the right clamping block 733 is provided with a ">"-shaped right clamping groove 7331
  • the left clamping block 734 is provided with a " ⁇ "-shaped left clamping groove 7341.
  • test tube rack module Put the sample tubes that need to be pretreated into the test tube rack module, and set the system according to the experimental needs, so that the system can pretreat the samples according to the set processing flow.
  • the oscillating drive mechanism 22 drives the rotating shaft 26 to rotate through the belt transmission mechanism 23, so that the test tube rack 24 is together with the eccentric shaft 261. Make a horizontal circular motion around the axis of the rotating shaft 26, so as to oscillate the sample tube 9 loaded on the test tube rack 24, vibrate the sediment in the sample tube 9 and oscillate the sample evenly.
  • the barcode scanning manipulator 5 grabs the sample tubes 9 one by one from the test tube rack module 2, and after the scanning gripper 5355 grabs the sample tubes 9, the scanning manipulator
  • the lifting mechanism 533 drives the scanning gripper 5355 to rise, and at the same time, the scanning manipulator Y-direction transmission mechanism 54 drives the scanning manipulator module 53 to move in the direction of the sample tube transfer module 7, and transfers the sample tube 9 from the test tube rack module 2 to the sample tube transfer module 7.
  • the scanning gripper rotation motor 5352 drives the scanning gripper 5355 to rotate, so that the scanning head 56 completes the barcode scanning of the sample tube 9 and feeds back the scanning result to the device control terminal. If it is necessary to adjust the scanning angle to obtain a better
  • the scanning effect can be adjusted by adjusting the installation position of the installation screw in the limit groove 5342 to adjust the installation angle of the scanning head.
  • the second screw rod 739 in the clamping drive motor 736 rotates, so that the sliding seat 735 and the left clamping block 734 slide to the left, and the scanning gripper 5355 moves downward to The sample tube 9 is placed between the left clamping block 734 and the right clamping block 733.
  • the first spring 743 buffers the impact generated during this process to avoid damage to the sample tube 9
  • the scanning gripper 5355 releases the sample tube 9
  • the second screw rod 739 reversely rotates to move the sliding seat 735 and the left clamping block 734 to the right, so that the sample tube 9 is clamped by the left clamping groove 7341 and the right clamping groove 7331 Clamping, during the clamping process
  • the second spring 738 buffers the impact generated during the process to avoid damage to the sample tube 9 .
  • the X-direction transmission mechanism 72 drives the sliding mechanism 74 to slide to the right and reaches the working area of the uncapping manipulator 6.
  • the capping manipulator 6 uncaps the sample tube 9.
  • the transmission mechanism 63 drives the uncapping gripper module 66 to move downward, and the uncapping gripper 666 clamps the sample tube cap to rotate and uncap.
  • the uncapping gripper rotation motor 663 drives the uncapping gripper 666 to rotate, the uncapping manipulator
  • the lifting drive mechanism 62 works at the same time, so that the opening handle module 66 rises synchronously, so that the sample tube cover spirally rises away from the sample tube body. to buffer.
  • the cover-opening manipulator 6 moves to the left to leave above the sample tube 9, and the sample loading arm 8 starts to work. Aspirate the sample and distribute it to the microwell plate or deep well plate on the microwell plate position 33, or distribute it to the PCR plate on the PCR plate position 32. Get off into the waste needle box 31 automatically.
  • the uncapping manipulator 6 puts the original cap of the sample tube back on the sample tube 9, then the sample tube transfer module 7 transfers the sample tube 9 to the left end, and the barcode scanning manipulator 5 transfers the sample tube 9 Return to the test tube rack module 2, and start grabbing the next sample tube for barcode scanning.
  • the fully automatic sample processing system provided by the present invention can automatically complete the steps of sample processing, such as oscillation, barcode scanning, transfer, uncapping, distribution, and capping, and the needle extraction of the sample loading arm 8.
  • the action can be carried out simultaneously with the uncapping action of the uncapping manipulator 6, and the sample distribution and needle removal actions of the sample loading arm 8 can be combined with the capping of the uncapping manipulator 6, the transmission of the sample tube transfer module 7, and the barcode scanning manipulator 5 for the sample tube Steps such as reset of 9 are carried out simultaneously, and its processing speed is faster, and efficiency is higher.
  • the first spring 743 and the second spring 738 can control the sample tube 9.
  • the buffer protection function of the bottom and the side wall can avoid damage to the sample tube 9 .
  • the original cover of the sample tube is added back to the sample tube 9, which ensures the matching degree and sealing performance between the sample tube and the cover, reduces the cost, and at the same time Safety is also guaranteed.

Abstract

一种全自动样本处理系统，包括工作平台（1）和安装在工作平台（1）上的试管架模块（2）、第一载架（3）、第二载架（4）和样本管传输模块（7），以及安装在工作平台（1）上方的条码扫描机械手（5）、开盖机械手（6）、加样臂（8），条码扫描机械手（5）的工作区域覆盖试管架模块（2）和样本管传输模块（7）左端，加样臂（8）的工作区域覆盖第一载架（3）、第二载架（4）和样本管传输模块（7）右端，开盖机械手（6）位于样本管传输模块（7）上方，试管架模块（2）包括试管架底座（21）、振荡驱动机构（22）和带传动机构（23），带传动机构（23）的从动轮通过偏心轴（261）和连接座（28）连接到试管架（24），试管架（24）和试管架底座（21）之间通过橡胶柱（25）相连接。全自动样本处理系统的目的在于替代人工完成样本的前处理工作，提升样本处理效率，减少人体与样本的接触。

Description

一种全自动样本处理系统 技术领域
本发明涉及体外诊断医疗器械技术领域，特别是涉及一种全自动样本处理系统。
背景技术
在体外诊断医疗设备进行临床试验之前一般需要对检验样本进行预处理，包括样本管的条码扫描开盖及样本分配等，在核酸检验之前还需要将样本进行剧烈振荡以解决样本的沉淀问题，通过人工处理效率较低且存在一定的接触风险，尤其是对病毒核酸样本的振荡，增加了人体的感染风险。
另外，现有的样本前处理设备通常是针对大批量的样本处理进行配置的，设备较庞大，在设备试验过程中样本产生的气溶胶等难以清理，增加了操作人员的感染风险。
发明内容
本发明的目的在于克服现有技术的缺点，提供一种全自动样本处理系统，用于替代人工完成样本的前处理工作，提升样本处理效率，减少人体与样本的接触，其结构小巧，能够直接放入生物安全柜中进行杀菌消毒。
本发明的目的通过以下技术方案来实现：
一种全自动样本处理系统，包括工作平台，工作平台上从左至右依次设置有试管架模块、第一载架和第二载架，所述第一载架上设有废针盒、PCR板位和微孔板位，所述第二载架上设有试剂盒和针盒，工作平台的内侧设有样 本管传输模块，工作平台的上方从左至右依次设有条码扫描机械手、开盖机械手和加样臂，所述条码扫描机械手的工作区域覆盖试管架模块和样本管传输模块的左端，所述开盖机械手位于样本管传输模块的上方，所述加样臂的工作区域覆盖第一载架、第二载架和样本管传输模块右端，所述条码扫描机械手包括扫描机械手模块和扫描头，所述试管架模块包括试管架底座，试管架底座的左侧安装有振荡驱动机构，振荡驱动机构和试管架底座之间安装有带传动机构，所述带传动机构的从动轮上安装有转轴，转轴的上端偏离轴线的位置设有偏心轴，偏心轴上安装有轴承，轴承外圈安装有连接座，连接座上安装有试管架，所述试管架和试管架底座之间通过四周的若干橡胶柱相连接。
上述的全自动样本处理系统，通过条码扫描机械手抓取试管架模块上的样本管并对样本管进行条码扫描后，将样本管转移至样本管传输模块上，有开盖机械手对样本管进行开盖，开盖后加样臂从样本管吸取样本进行分配，加样臂吸取完样本后开盖机械手将样本管盖原盖加回到样本管上，并由样本管传输模块将样本管传回试管架模块后方，由条码扫描机械手将样本管放回试管架模块，样本管加盖、传输、放回试管架模块的过程与样本分配过程同时进行，节约了样本处理时间，微孔板位可用于放置微孔板或深孔板，PCR板位可用于放置PCR板，从而满足不同的试验需求，在核酸样本处理过程中，振荡驱动电机通过带传动机构带动转轴转动，使试管架随偏心轴做圆周运动从而完成对核酸样本管的振荡，使样本满足后续核酸提取、核酸检测的试验需求。
进一步的，所述条码扫描机械手包括扫描机械手支架，所述扫描机械手支架可沿工作平台上端左右移动，扫描机械手支架上安装有扫描机械手Y向驱动机构、扫描机械手Y向传动机构和扫描机械手Y向导轨，所述扫描机械手Y向导轨上安装有扫描机械手模块，扫描机械手模块连接到扫描机械手Y向 传动机构，所述扫描机械手模块包括扫描机械手基座，扫描机械手基座上安装有扫描机械手升降驱动电机和扫描机械手升降机构，扫描机械手升降机构上安装有扫描抓手模块，扫描机械手基座的下端安装有扫描头支架，所述扫描头安装在扫描投支架上，当扫描抓手模块的工作区域覆盖扫描头的扫描区域，其作用在于：使条码扫描机械手能够在转移样本管的过程中完成样本管条码扫描，充分节约样本处理时间，提高样本处理效率。
进一步的，所述扫描头支架上开设有定位孔和圆弧形的限位槽，所述扫描头上的安装螺丝分别通过定位孔和限位槽连接到扫描头支架，其作用在于：方便调整扫描头的角度，保证扫描效果。
进一步的，所述扫描抓手模块包括扫描抓手电机座，扫描抓手电机座上端安装有扫描抓手旋转电机和扫描抓手控制板、下端安装有扫描抓手连接架，扫描抓手连接架上安装有扫描抓手，所述扫描抓手旋转电机为空心轴步进电机，其作用在于：通过空心轴步进电机控制扫描抓手的旋转，使扫描抓手的连接线可从空心轴中接入，避免旋转过程中线路因频繁扭转而损坏。
进一步的，所述开盖机械手包括开盖机械手支架，开盖机械手支架上安装有开盖机械手升降驱动机构、开盖机械手升降传动机构和开盖机械手控制板，所述开盖机械手升降传动机构为带传动机构，开盖机械手升降传动机构的从动轮上安装有第一丝杆，第一丝杆上安装有滑动连接座，所述开盖机械手支架的左右两侧对称安装有升降导轨，滑动连接座的左右两端分别连接到升降导轨的滑块上，所述滑动连接座上安装有开盖抓手模块，其作用在于：保证开盖抓手模块升降的位置精度和滑动的平稳性。
进一步的，所述开盖抓手模块包括导电滑环固定座，导电滑环固定 座内安装有导电滑环，导电滑环固定座的上端安装有开盖抓手旋转电机座，开盖抓手旋转电机座上安装有开盖抓手旋转电机，导电滑环的转子部分上端连接到开盖抓手旋转电机、下端连接到开盖抓手连接架，所述开盖抓手连接架上安装有开盖抓手，其作用在于：使开盖抓手能够连续旋转，同时避免线路缠绕损伤。
进一步的，所述样本管传输模块包括传输底座，传输底座上安装有X向传动机构和X向导轨，X向导轨上安装有滑动机构，滑动机构连接到X向传动机构，滑动机构的上端安装有样本管夹紧机构，其作用在于：通过滑动机构实现样本管在条码扫描机械手工作区域和加样臂工作区域之间的转移。
进一步的，所述滑动机构包括滑动转接块，滑动转接块侧壁安装有Z向导轨，所述样本管夹紧机构的后端连接到Z向导轨的滑块，样本管夹紧机构和滑动转接块之间安装有导向轴，导向轴上安装有第一弹簧，其作用在于：对样本管底部进行缓冲，避免在样本管放置和开盖过程中顶碎样本管。
进一步的，所述样本管夹紧机构包括夹紧机构底座，夹紧机构底座上安装有夹紧机构导轨，夹紧机构导轨上安装有滑动座和左夹紧块，左夹紧块和滑动座之间安装有夹紧机构导向轴，夹紧机构导向轴上安装有第二弹簧，夹紧机构底座右端固定安装有右夹紧块，右夹紧块的右侧安装有夹紧驱动电机，夹紧驱动电机上设有第二丝杆，第二丝杆依次穿过右夹紧块、左夹紧块，滑动座安装在第二丝杆的左端上，其作用在于：通过夹紧驱动电机带动第二丝杆的转动使滑动座左右滑动实现对样本管的夹紧，同时在夹紧过程中对样本管侧壁进行缓冲，在保证夹紧效果的同时避免损坏样本管。
进一步的，所述右夹紧块上开设有“>”形的右夹紧槽，所述左夹紧 块上开设有“<”形的左夹紧槽，其作用在于：适应不同尺寸和形状的试管的夹持，保证夹持的稳定性。
结合以上技术方案，与现有技术相比，本发明所提供的一种全自动样本处理系统，其有益效果是：
本发明所提供的全自动样本处理系统，能够自动化地完成试验样本的振荡、条码扫描、转移、开盖、加样、加盖和样本管回收，其结构紧凑、空间利用率高、速度快，能够满足各种临床试验的批量化样本处理需求，另外，由于其体积较小，因此能够放入生物安全柜中，在生物安全柜中完成样本处理过程，保证了试验过程的安全性。
本发明所提供的全自动样本处理系统，样本管开盖加样臂完成吸液后由开盖机械手将原盖加回到样本管上，降低了加盖成本，且原盖加回其盖子和样本管的匹配度高，密封性好，保证了安全性。
本发明所提供的全自动样本处理系统，在样本管放置和开盖、加盖过程中，通过第一弹簧和第二弹簧对样本管的底部和侧壁进行缓冲，避免了放置、开盖、加盖过程中对样本管的损坏，保证了试验过程的安全性。
附图说明
图1为本发明所述的一种全自动样本处理系统的结构示意图。
图2为本发明所述的第一载架和第二载架的结构示意图。
图3为本发明所述的条码扫描机械手的结构示意图。
图4为本发明所述的扫描机械手模块的结构示意图。
图5为本发明所述的扫描抓手模块的结构示意图。
图6为本发明所述的开盖机械手的机构示意图。
图7为本发明所述的开盖抓手模块的结构示意图。
图8为本发明所述的样本管传输模块的结构示意图。
图9为本发明所述的样本管夹紧机构结构示意图。
图10为本发明所述的试管架模块的结构示意图。
其中，1-工作平台，2-试管架模块，21-试管架底座，22-振荡驱动机构，23-带传动机构，24-试管架，25-橡胶柱，26-转轴，261-偏心轴，27-轴承，28-连接座，3-第一载架，31-废针盒，32-PCR板位，33-微孔板位，4-第二载架，41-试剂盒，42-针盒，5-条码扫描机械手，51-扫描机械手支架，52-扫描机械手Y向驱动机构，53-扫描机械手模块，531-扫描机械手基座，532-扫描机械手升降驱动电机，533-扫描机械手升降机构，534-扫描头支架，5341-定位孔，5342-限位槽，535-扫描抓手模块，5351-扫描抓手电机座，5352-扫描抓手旋转电机，5353-扫描抓手控制板，5354-扫描抓手连接架，5355-扫描抓手，54-扫描机械手Y向传动机构，55-扫描机械手Y向导轨，56-扫描头，6-开盖机械手，61-开盖机械手支架，62-开盖机械手升降驱动机构，63-开盖机械手升降传动机构，64-第一丝杆，65-滑动连接座，66-开盖抓手模块，661-导电滑环固定座，662-开盖抓手旋转电机座，663-开盖抓手旋转电机，664-导电滑环，665-开盖抓手连接架，666-开盖抓手，67-升降导轨，68-开盖机械手控制板，7-样本管传输模块，71-传输底座，72-X向传动机构，73-样本管夹紧机构，731-底座，732-夹紧机构导轨，733-右夹紧块，7331-右夹紧槽，734-左夹紧块，7341-左夹紧槽，735-滑动座，736-夹紧驱动电机，737-夹紧机构导向轴，738-第二弹簧，739-第二丝杆，74-滑动机构，741-滑动转接块，742-导向轴，743-第一 弹簧，744-Z向导轨，75-X向导轨，8-加样臂，9-样本管。
具体实施方式
为详细说明本发明的技术特征和所实现的目的和效果，以下结合附图做进一步的描述:
如图1-10所示，一种全自动样本处理系统，包括工作平台1，工作平台1上从左至右依次设置有试管架模块2、第一载架3和第二载架4，所述第一载架3上设有废针盒31、PCR板位32和微孔板位33，所述第二载架4上设有试剂盒41和针盒42，工作平台1的内侧设有样本管传输模块7，工作平台1的上方从左至右依次设有条码扫描机械手5、开盖机械手6和加样臂8，所述条码扫描机械手5的工作区域覆盖试管架模块2和样本管传输模块7的左端，所述开盖机械手6位于样本管传输模块7的上方，所述加样臂8的工作区域覆盖第一载架3、第二载架4和样本管传输模块7右端，所述条码扫描机械手5包括扫描机械手模块53和扫描头56，所述试管架模块2包括试管架底座21，试管架底座21的左侧安装有振荡驱动机构22，振荡驱动机构22和试管架底座21之间安装有带传动机构23，所述带传动机构23的从动轮上安装有转轴26，转轴26的上端偏离轴线的位置设有偏心轴261，偏心轴261上安装有轴承27，轴承27外圈安装有连接座28，连接座28上安装有试管架24，所述试管架24和试管架底座21之间通过四周的若干橡胶柱25相连接。
优选的，所述条码扫描机械手5包括扫描机械手支架51，所述扫描机械手支架51可沿工作平台1上端左右移动，扫描机械手支架51上安装有扫描机械手Y向驱动机构52、扫描机械手Y向传动机构54和扫描机械手Y向导轨 55，所述扫描机械手Y向导轨55上安装有扫描机械手模块53，扫描机械手模块53连接到扫描机械手Y向传动机构54，所述扫描机械手模块53包括扫描机械手基座531，扫描机械手基座531上安装有扫描机械手升降驱动电机532和扫描机械手升降机构533，扫描机械手升降机构533上安装有扫描抓手模块535，扫描机械手基座531的下端安装有扫描头支架534，所述扫描头56安装在扫描头支架534上，扫描抓手模块535的工作区域覆盖扫描头56的扫描区域。
优选的，所述扫描头支架534上开设有定位孔5341和圆弧形的限位槽5342，所述扫描头56上的安装螺丝分别通过定位孔5341和限位槽5342连接到扫描头支架534。
优选的，所述扫描抓手模块535包括扫描抓手电机座5351，扫描抓手电机座5351上端安装有扫描抓手旋转电机5352和扫描抓手控制板5353、下端安装有扫描抓手连接架5354，扫描抓手连接架5354上安装有扫描抓手5355，所述扫描抓手旋转电机5352为空心轴步进电机。
优选的，所述开盖机械手6包括开盖机械手支架61，开盖机械手支架61上安装有开盖机械手升降驱动机构62、开盖机械手升降传动机构63和开盖机械手控制板68，所述开盖机械手升降传动机构63为带传动机构，开盖机械手升降传动机构63的从动轮上安装有第一丝杆64，第一丝杆64上安装有滑动连接座65，所述开盖机械手支架61的左右两侧对称安装有升降导轨67，滑动连接座65的左右两端分别连接到升降导轨67的滑块上，所述滑动连接座65上安装有开盖抓手模块66。
优选的，所述开盖抓手模块66包括导电滑环固定座661，导电滑环固定座661内安装有导电滑环664，导电滑环固定座661的上端安装有开盖抓手 旋转电机座662，开盖抓手旋转电机座662上安装有开盖抓手旋转电机663，导电滑环664的转子部分上端连接到开盖抓手旋转电机663、下端连接到开盖抓手连接架665，所述开盖抓手连接架665上安装有开盖抓手666。
优选的，所述样本管传输模块7包括传输底座71，传输底座71上安装有X向传动机构72和X向导轨75，X向导轨75上安装有滑动机构74，滑动机构74连接到X向传动机构72，滑动机构74的上端安装有样本管夹紧机构73。
优选的，所述滑动机构74包括滑动转接块741，滑动转接块741侧壁安装有Z向导轨744，所述样本管夹紧机构73的后端连接到Z向导轨744的滑块，样本管夹紧机构73和滑动转接块741之间安装有导向轴742，导向轴742上安装有第一弹簧743。
优选的，所述样本管夹紧机构73包括夹紧机构底座731，夹紧机构底座731上安装有夹紧机构导轨732，夹紧机构导轨732上安装有滑动座735和左夹紧块734，左夹紧块734和滑动座735之间安装有夹紧机构导向轴737，夹紧机构导向轴737上安装有第二弹簧738，夹紧机构底座731右端固定安装有右夹紧块733，右夹紧块733的右侧安装有夹紧驱动电机736，夹紧驱动电机736输出轴连接到第二丝杆739，第二丝杆739依次穿过右夹紧块733、左夹紧块734，其左端连接到滑动座735上。
优选的，所述右夹紧块733上开设有“>”形的右夹紧槽7331，所述左夹紧块734上开设有“<”形的左夹紧槽7341。
以上实施例所提供的一种全自动样本处理系统，其具体实施过程如下：
将需要进行预处理的样本管放入试管架模块，并根据实验需要进行 系统设置，使系统按照设定的处理流程对样本进行预处理。
在核酸检测等实验样本的前处理过程中，实验样本在进行样本分配之前需要先进行振荡，此时振荡驱动机构22通过带传动机构23带动转轴26进行旋转，使试管架24随偏心轴261一起绕转轴26的轴线做水平的圆周运动，从而对装载在试管架24上的样本管9进行振荡，将样本管9内的沉淀物振散同时将样本振荡均匀。
在无需进行样本振荡的实验样本处理时或完成核酸试验等样本的振荡后，条码扫描机械手5从试管架模块2上逐一抓取样本管9，扫描抓手5355抓取样本管9后，扫描机械手升降机构533带动扫描抓手5355上升，与此同时扫描机械手Y向传动机构54带动扫描机械手模块53向样本管传输模块7的方向运动，在将样本管9从试管架模块2转移到样本管传输模块7的过程中，扫描抓手旋转电机5352带动扫描抓手5355进行旋转，使扫描头56完成对样本管9的条码扫描并反馈扫描结果给设备控制端，如需调整扫描角度以获得更好的扫描效果，可通过调整安装螺丝在限位槽5342内的安装位置调整扫描头的安装角度。
在样本管9放入样本管传输模块7之前，夹紧驱动电机736内的第二丝杆739转动，使滑动座735和左夹紧块734向左侧滑动，扫描抓手5355向下运动将样本管9放入左夹紧块734和右夹紧块733之间，在样本管9底部接触夹紧机构底座731时，第一弹簧743对该过程产生的冲击进行缓冲，避免损坏样本管9，然后扫描抓手5355放开样本管9，第二丝杆739反向转动使滑动座735和左夹紧块734向右运动，使样本管9被左夹紧槽7341和右夹紧槽7331夹紧，在夹紧过程中，第二弹簧738对该过程中产生的冲击进行缓冲，避免损 坏样本管9。
完成以上步骤后，X向传动机构72带动滑动机构74向右滑动，到达开盖机械手6的工作区域，由开盖机械手6对样本管9进行开盖，在开盖过程中，开盖机械手升降传动机构63带动开盖抓手模块66向下运动，开盖抓手666夹紧样本管盖进行旋转开盖，在开盖抓手旋转电机663带动开盖抓手666转动的同时，开盖机械手升降驱动机构62同时工作，使开盖抓手模块66同步上升，使样本管盖螺旋上升脱离样本管体，在开盖过程中，第一弹簧743和第二弹簧738对样本管9的受力进行缓冲。
完成开盖过程后，开盖机械手6向左运动离开样本管9上方，加样臂8开始工作，在加样过程中，加样臂8从针盒42取加样针后从样本管9中吸取样本并分配到微孔板位33上的微孔板或深孔板中，或者分配到PCR板位32上的PCR板中，完成样本分配后，加样臂8将使用后的加样针自动脱入废针盒31。
在加样臂进行样本分配的同时，开盖机械手6将样本管盖原盖加回样本管9上，然后样本管传输模块7将样本管9传输到左端，条码扫描机械手5将样本管9转移回试管架模块2，并开始抓取下一个样本管进行条码扫描。
由以上实施例及实施步骤可知，本发明提供的全自动样本处理系统，能够自动化地完成样本处理的振荡、条码扫描、转移、开盖、分配、加盖等步骤，加样臂8的取针动作可与开盖机械手6的开盖动作同时进行，加样臂8的样本分配和脱针动作可与开盖机械手6的加盖、样本管传输模块7的传输及条码扫描机械手5对样本管9的复位等步骤同时进行，其处理速度较快、效率较高。
在条码扫描机械手5将样本管9转移到样本管夹紧机构73和开盖机械手6对样本管9的开盖、加盖过程中，第一弹簧743和第二弹簧738能够对样本管9的底部和侧壁其缓冲保护作用，能够避免损坏样本管9。
本发明提供的全自动样本处理系统，在加样臂8完成样本吸取后，将样本管原盖加回样本管9上，保证了样本管与盖子的匹配度和密封性，降低了成本，同时也保证了安全性。
申请人声明，以上所述实施例仅表达了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是本发明的原理，对于本行业的普通技术人员来说，在不脱离本发明构思和范围的前提下，还可以做出各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。
本发明并不限于上述实施方式，凡采用与本发明相似结构及其方法来实现本发明目的的实施方式均在本发明保护范围之内。

Claims (10)

  1. 一种全自动样本处理系统，其特征在于：包括工作平台，工作平台上从左至右依次设置有试管架模块、第一载架和第二载架，所述第一载架上设有废针盒、PCR板位和微孔板位，所述第二载架上设有试剂盒和针盒，工作平台的内侧设有样本管传输模块，工作平台的上方从左至右依次设有条码扫描机械手、开盖机械手和加样臂，所述条码扫描机械手的工作区域覆盖试管架模块和样本管传输模块的左端，所述开盖机械手位于样本管传输模块的上方，所述加样臂的工作区域覆盖第一载架、第二载架和样本管传输模块右端，所述条码扫描机械手包括扫描机械手模块和扫描头，所述试管架模块包括试管架底座，试管架底座的左侧安装有振荡驱动机构，振荡驱动机构和试管架底座之间安装有带传动机构，所述带传动机构的从动轮上安装有转轴，转轴的上端偏离轴线的位置设有偏心轴，偏心轴上安装有轴承，轴承外圈安装有连接座，连接座上安装有试管架，所述试管架和试管架底座之间通过四周的若干橡胶柱相连接。
  2. 根据权利要求1所述的一种全自动样本处理系统，其特征在于：所述条码扫描机械手包括扫描机械手支架，所述扫描机械手支架可沿工作平台上端左右移动，扫描机械手支架上安装有扫描机械手Y向驱动机构、扫描机械手Y向传动机构和扫描机械手Y向导轨，所述扫描机械手Y向导轨上安装有扫描机械手模块，扫描机械手模块连接到扫描机械手Y向传动机构，所述扫描机械手模块包括扫描机械手基座，扫描机械手基座上安装有扫描机械手升降驱动电机和扫描机械手升降机构，扫描机械手升降机构上安装有扫描抓手模块，扫描机械手基座的下端安装有扫描头支架，所述扫描头安装在扫描头支架上，扫描抓手模块的工作区域覆盖扫描头的扫描区域。
  3. 根据权利要求2所述的一种全自动样本处理系统，其特征在于：所述扫描头 支架上开设有定位孔和圆弧形的限位槽，所述扫描头上的安装螺丝分别通过定位孔和限位槽连接到扫描头支架。
  4. 根据权利要求2所述的一种全自动样本处理系统，其特征在于：所述扫描抓手模块包括扫描抓手电机座，扫描抓手电机座上端安装有扫描抓手旋转电机和扫描抓手控制板、下端安装有扫描抓手连接架，扫描抓手连接架上安装有扫描抓手，所述扫描抓手旋转电机为空心轴步进电机。
  5. 根据权利要求1所述的一种全自动样本处理系统，其特征在于：所述开盖机械手包括开盖机械手支架，开盖机械手支架上安装有开盖机械手升降驱动机构、开盖机械手升降传动机构和开盖机械手控制板，所述开盖机械手升降传动机构为带传动机构，开盖机械手升降传动机构的从动轮上安装有第一丝杆，第一丝杆上安装有滑动连接座，所述开盖机械手支架的左右两侧对称安装有升降导轨，滑动连接座的左右两端分别连接到升降导轨的滑块上，所述滑动连接座上安装有开盖抓手模块。
  6. 根据权利要求5所述的一种全自动样本处理系统，其特征在于：所述开盖抓手模块包括导电滑环固定座，导电滑环固定座内安装有导电滑环，导电滑环固定座的上端安装有开盖抓手旋转电机座，开盖抓手旋转电机座上安装有开盖抓手旋转电机，导电滑环的转子部分上端连接到开盖抓手旋转电机、下端连接到开盖抓手连接架，所述开盖抓手连接架上安装有开盖抓手。
  7. 根据权利要求1所述的一种全自动样本处理系统，其特征在于：所述样本管传输模块包括传输底座，传输底座上安装有X向传动机构和X向导轨，X向导轨上安装有滑动机构，滑动机构连接到X向传动机构，滑动机构的上端安装有样本管夹紧机构。
  8. 根据权利要求7所述的一种全自动样本处理系统，其特征在于：所述滑动机构包括滑动转接块，滑动转接块侧壁安装有Z向导轨，所述样本管夹紧机构的后端连接到Z向导轨的滑块，样本管夹紧机构和滑动转接块之间安装有导向轴，导向轴上安装有第一弹簧。
  9. 根据权利要求7所述的一种全自动样本处理系统，其特征在于：所述样本管夹紧机构包括夹紧机构底座，夹紧机构底座上安装有夹紧机构导轨，夹紧机构导轨上安装有滑动座和左夹紧块，左夹紧块和滑动座之间安装有夹紧机构导向轴，夹紧机构导向轴上安装有第二弹簧，夹紧机构底座右端固定安装有右夹紧块，右夹紧块的右侧安装有夹紧驱动电机，夹紧驱动电机上设有第二丝杆，第二丝杆依次穿过右夹紧块、左夹紧块，所述滑动座安装在第二丝杆的左端。
  10. 根据权利要求9所述的一种全自动样本处理系统，其特征在于：所述右夹紧块上开设有“>”形的右夹紧槽，所述左夹紧块上开设有“<”形的左夹紧槽。
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CN116773839A (zh) * 2023-08-22 2023-09-19 世纪亿康（天津）医疗科技发展有限公司 一种集成式血液检测自动分析仪及分析方法
CN116773839B (zh) * 2023-08-22 2023-11-03 世纪亿康（天津）医疗科技发展有限公司 一种集成式血液检测自动分析仪及分析方法
CN117342176A (zh) * 2023-08-22 2024-01-05 宁波丞达精机股份有限公司 一种镜片存储装置
CN117169533A (zh) * 2023-10-31 2023-12-05 苏州立禾生物医学工程有限公司 一种高速自动分杯仪器
CN117169533B (zh) * 2023-10-31 2024-01-26 苏州立禾生物医学工程有限公司 一种高速自动分杯仪器

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