CN108970816A - A kind of method, apparatus and system of the centrifugation of automation blood sample - Google Patents
A kind of method, apparatus and system of the centrifugation of automation blood sample Download PDFInfo
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- CN108970816A CN108970816A CN201811022749.0A CN201811022749A CN108970816A CN 108970816 A CN108970816 A CN 108970816A CN 201811022749 A CN201811022749 A CN 201811022749A CN 108970816 A CN108970816 A CN 108970816A
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- 238000005119 centrifugation Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000008280 blood Substances 0.000 title claims abstract description 32
- 210000004369 blood Anatomy 0.000 title claims abstract description 32
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000012360 testing method Methods 0.000 claims description 45
- 230000033001 locomotion Effects 0.000 claims description 26
- 238000012546 transfer Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 14
- 230000032258 transport Effects 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 description 14
- 238000003860 storage Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 206010003671 Atrioventricular Block Diseases 0.000 description 3
- 208000010271 Heart Block Diseases 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000013523 data management Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 230000023555 blood coagulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B15/00—Other accessories for centrifuges
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Abstract
The invention proposes a kind of methods of automation blood sample centrifugation, comprising: S1. crawl has the centrifugal-block of blood sample being in standby；S2. the centrifugal-block is packed into centrifuge, centrifugal treating is carried out by the centrifuge；S3. the centrifugal-block after centrifugal treating is grabbed, is invested in after conveyer belt handled, then empty centrifugal-block is delivered to initial position.The invention also discloses a kind of device and system of automation blood sample centrifugation.The single sample processing time can largely be shortened by implementing technical solution of the present invention.
Description
Technical field
The present invention relates to a kind of blood samples to be centrifuged field, in particular to a kind of to automate the method, apparatus and be that blood sample is centrifuged
System.
Background technique
Laboratory automation system (Total Laboratory automation, TLA) is by input/output, centrifugation, de-
It covers, divide cup, analysis, capping, storage and the big basic function module of data management 8 composition, specific link specifically includes that sweeps automatically
The links such as code, sample sorting, centrifugation, cap off, analysis, capping, storage, transmission result, confirmation and sample reinspection.
It is fully completed at present according to conventional from sample to testing result, including sample process, the accounting maximum period
In the Sample pretreatment stage.In pretreatment stage, treatment process is manual or semi-automatic, the mistake that manual operation is easy to cause
Accidentally, biohazard and pollution are increased, while improving cost on the whole.
Summary of the invention
More than solving the problems, such as, the manual operation that can reduce that the present invention can provide a kind of automation leads to the blood of mistake
The method, apparatus and system of sample centrifugation.
The technical scheme of the present invention is realized as follows:
The invention discloses a kind of methods of automation blood sample centrifugation, comprising:
S1. crawl has the centrifugal-block of blood sample being in standby；
S2. the centrifugal-block is packed into centrifuge, centrifugal treating is carried out by the centrifuge；
S3. the centrifugal-block after centrifugal treating is grabbed, is invested in after conveyer belt handled, then empty centrifugal-block is delivered to just
Beginning position.
Further, step S1 further comprises: manipulator grabs centrifugal-block, is put into the aperture position of centrifuge, completes
Loading process.
Further, the centrifuge aperture position separates four parts, and every to have loaded a centrifugal-block, centrifuge is suitable
Hour hands turn 90 °.
Further, the method further comprises:
Test tube is filled sky centrifugal-block in dress test tube position, centrifugal-block is transported to by lead screw mould group by " loaded " position, it is mechanical
Hand grabs centrifugal-block, is put into the aperture position of centrifuge, completes to load:
Start to be centrifuged after centrifuge is fully loaded with 4 centrifugal-blocks, centrifugation complete after, manipulator centrifugation complete from
Heart block is unloaded to unloading position, completes unloading；
Centrifugal-block after unloading is transported to the next processing module of laboratory automation system by conveyer belt, has finally been handled surplus
Under empty centrifugal-block conveyer belt is pushed to by cylinder in push position, empty centrifugal-block is transported to transferring position, and manipulator will shift
Position sky centrifugal-block is transferred on the empty pallet of " loaded " position, completes transfer；
Empty test tube block transports to dress test tube position from " loaded " position, completes a circulation；
First can judgement be shifted, and first shift if can shift, cannot judge whether unload again, first unload if can unload, no
It can unload and judge whether to load again, judge information next time after waiting everythings to complete.
The invention discloses a kind of devices of automation blood sample centrifugation, comprising:
Picking unit, for grabbing the centrifugal-block being in standby with blood sample；
Centrifugal unit carries out centrifugal treating by the centrifuge for the centrifugal-block to be packed into centrifuge；
Transmission unit is invested in after conveyer belt handled, then sky is centrifuged for grabbing the centrifugal-block after centrifugal treating
Block is delivered to initial position.
Further, the picking unit further comprises: manipulator grabs centrifugal-block, is put into the opening position of centrifuge
It sets, completes loading process.
Further, the centrifuge aperture position separates four parts, and every to have loaded a centrifugal-block, centrifuge is suitable
Hour hands turn 90 °.
Further, the device further comprises:
Loading module transports to centrifugal-block by lead screw mould group for test tube to be filled sky centrifugal-block in dress test tube position
" loaded " position, manipulator grab centrifugal-block, are put into the aperture position of centrifuge, complete to load:
Unload module, for starting to be centrifuged after centrifuge is fully loaded with 4 centrifugal-blocks, after centrifugation is completed, manipulator
The centrifugal-block that centrifugation is completed is unloaded to unloading position, completes unloading；
Centrifugal-block after unloading is transported to the next processing mould of laboratory automation system for conveyer belt by shift module
Block has finally handled remaining empty centrifugal-block in push position and has been pushed to conveyer belt by cylinder, and empty centrifugal-block is transported to transfer position
It sets, transferring position sky centrifugal-block is transferred on the empty pallet of " loaded " position by manipulator, completes transfer；
Loop module transports to dress test tube position from " loaded " position for empty test tube block, completes a circulation；
Can judgment module shift for first judging, first shift if can shift, and cannot judge whether unload again, if energy
Unloading first unloads, and cannot unload and judge whether to load again, judges information next time after waiting everythings to complete.
The invention discloses a kind of systems of automation blood sample centrifugation, comprising: at least one use being arranged on supporting plate, supporting plate
In the pallet for the centrifugal-block for loading multiple test tubes, lead screw mould group, centrifuge, manipulator, conveyer belt, with the lead screw mould group,
The controller that centrifuge, manipulator, conveyer belt are connected, the centrifugal-block can be along the lead screw mould group horizontal movement, institutes
The aperture position that centrifugal-block is put into the centrifuge by the manipulator stated again unloads centrifugal-block after carrying out centrifugal treating, institute
The conveyer belt stated receives the centrifugal-block of unloading and the empty centrifugal-block formed after processing is transported to transition range, and the manipulator is grabbed
The empty centrifugal-block in transition range is taken to be transported on the pallet, the controller has above-mentioned device.
Further, the pallet, centrifugal-block, lead screw mould group are four, and centrifugal-block is set to the lead screw mould
In group, the lead screw mould group is arranged in parallel.
The method, apparatus and system for implementing a kind of automation blood sample centrifugation of the invention have technology effect beneficial below
Fruit:
The technical program mainly for high-throughput demand the laboratory report turnaround time (turnaroundtime, TAT),
The technical program can largely shorten the single sample processing time, so that the entirety TAT time substantially shortens, promote laboratory effect
Rate saves the TAT time, and assembly line can also save human cost, reduces the mistake as caused by manual operation, reduces biological danger
Evil and pollution, while can also reduce the cost on the whole.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the method flow diagram of the automation blood sample centrifugation of the embodiment of the present invention one；
Fig. 2 is the apparatus module figure of the automation blood sample centrifugation of the embodiment of the present invention one；
Fig. 3 is the schematic diagram for the system that a kind of automation blood sample of the embodiment of the present invention is centrifuged.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, embodiment, a method of automation blood sample centrifugation, comprising:
S1. crawl has the centrifugal-block of blood sample being in standby；
Booting starts initialization program, and cylinder initialization: manipulator paw opens, and manipulator cylinder rises, on centrifuge
Lid is opened, and after the completion of detecting cylinder initialization, servo initialization: robot movement provides the position to given X, Y location
It is set to the origin position of robot work, the rotor motion of centrifuge is provided to one of them against centrifuge aperture position
The rotor-position is 1, counterclockwise respectively 2,3,4.
Wherein in order to test tube is filled sky centrifugal-block in dress test tube position by the blood sample centrifugal treating of test tube.Pass through lead screw
Centrifugal-block is transported to " loaded " position by mould group, and manipulator grabs centrifugal-block, is put into the aperture position of centrifuge, this movement is known as filling
It carries.
S2. the centrifugal-block is packed into centrifuge, centrifugal treating is carried out by the centrifuge；
S3. the centrifugal-block after centrifugal treating is grabbed, is invested in after conveyer belt handled, then empty centrifugal-block is delivered to just
Beginning position.
Method further comprises:
Test tube is filled sky centrifugal-block in dress test tube position, centrifugal-block is transported to by lead screw mould group by " loaded " position, it is mechanical
Hand grabs centrifugal-block, is put into the aperture position of centrifuge, completes to load:
Start to be centrifuged after centrifuge is fully loaded with 4 centrifugal-blocks, centrifugation complete after, manipulator centrifugation complete from
Heart block is unloaded to unloading position, completes unloading；
Centrifugal-block after unloading is transported to the next processing module of laboratory automation system by conveyer belt, has finally been handled surplus
Under empty centrifugal-block conveyer belt is pushed to by cylinder in push position, empty centrifugal-block is transported to transferring position, and manipulator will shift
Position sky centrifugal-block is transferred on the empty pallet of " loaded " position, completes transfer；
Empty test tube block transports to dress test tube position from " loaded " position, completes a circulation；
Wherein, first can judgement be shifted, and first shift if can shift, cannot judge whether unload again, first unload if can unload
It carries, cannot unload and judge whether to load again, judge information next time after waiting everythings to complete.
Industrial personal computer sends information to motion controller, and motion controller controls manipulator X, Y-direction servo mould group, centrifugation
Machine, cylinder manipulator cylinder and lid arrangement cylinder.Host controls lead screw mould group, conveyer belt and receives position sensor signal.
Four lead screw mould groups can be transported respectively a type of test tube (blood clotting, biochemistry, immune etc.), and lead screw mould group
On centrifugal-block fill and can individually transport to " loaded " position.
Corresponding centrifuge aperture position is rotor-position number 1, is respectively as follows: 2,3,4 counterclockwise.It is every to have loaded a centrifugation
Block, centrifuge turn 90 ° clockwise.Guarantee that rotor-position number 1 is just in centrifuge aperture position when centrifugation.When centrifugation
The circle number of centrifugal basket is set as integer.
Centrifuge rotor has the function of servo-positioning, can any rotor be parked in centrifuge aperture position.Motion control
Device can be according to the given sequence of host 4 centrifugal-blocks that successively unloading centrifugation is completed.
Manipulator X, Y-direction servo mould group have the function of servo-positioning, in robot work region, can accurately determine
" loaded " position, centrifuge aperture position, unloading position and transferring position are arrived in position.
First can judgement be shifted, and first shift if can shift, cannot judge whether unload again, first unload if can unload, no
It can unload and judge whether to load again, judge information next time after waiting everythings to complete.
Specifically: motion controller first the information that industrial personal computer is sent, sequentially get up by classification storage.Later
Transinformation is judged whether there is, if so, then executing a transinformation；Unloading information is judged whether there is again, is had if so, then executing
Unloading information；Loading information is judged whether there is again, if so, then executing primary loading information.It is every to have executed one-off, it should
Movement is cleared, covering.The information for going storage industrial personal computer to send again later completes primary information circulation.
Centrifuge apparatus is relatively independent mechanism, is positioned between centrifuge and bracket with rubber pad, while playing vibration damping
Effect, centrifugal device use wheel and stabilizer blade, are first moved to desired position, then prop centrifuge.
When centrifugation, the cylinder of lid arrangement stretches out, and covers centrifuge opening, reduces noise.
It is transported in the centrifugal-block of dress test tube position and " loaded " position by lead screw mould group, fills test tube position robot work area
Domain and " loaded " position robot work region are avoided, and reliability is improved.
In conveyer belt, the mode that test tube is installed in centrifugal-block enters the next processing module of laboratory automation system.
Transfer action is override grade, followed by uninstall action, is finally loading movement, is fully loaded with centrifugal-block in centrifuge
When be centrifuged immediately.Transfer action can be carried out when centrifugation.
Centrifuge can be more, such as two, it, can also be to another in the first desk centrifuge when centrifugation
Centrifuge loads, unloads or carries out transfer action.Meanwhile unloading, load, transfer action cannot carry out simultaneously two-by-two.
What the centrifugal-block just unloaded entered is laboratory automation system dress test tube module, by the cuvette cartridge of centrifugal-block
To in pallet, it is left sky centrifugal-block.
The device for realizing above method is described below, does not have the part recorded in device, can refer to the note in above method
It carries.
Please refer to Fig. 2, a kind of device 1 of automation blood sample centrifugation, comprising:
Picking unit 2, for grabbing the centrifugal-block being in standby with blood sample；
Centrifugal unit 3 carries out centrifugal treating by the centrifuge for the centrifugal-block to be packed into centrifuge；
Transmission unit 4 is invested in after conveyer belt handled for grabbing the centrifugal-block after centrifugal treating, then by sky from
Heart block is delivered to initial position.
Picking unit 2 further comprises: manipulator grabs centrifugal-block, is put into the aperture position of centrifuge, and completion loaded
Journey.
Four parts of centrifuge aperture position point, every to have loaded a centrifugal-block, centrifuge turns 90 ° clockwise.
Device 1 further comprises:
Loading module transports to centrifugal-block by lead screw mould group for test tube to be filled sky centrifugal-block in dress test tube position
" loaded " position, manipulator grab centrifugal-block, are put into the aperture position of centrifuge, complete to load:
Unload module, for starting to be centrifuged after centrifuge is fully loaded with 4 centrifugal-blocks, after centrifugation is completed, manipulator
The centrifugal-block that centrifugation is completed is unloaded to unloading position, completes unloading；
Centrifugal-block after unloading is transported to the next processing mould of laboratory automation system for conveyer belt by shift module
Block has finally handled remaining empty centrifugal-block in push position and has been pushed to conveyer belt by cylinder, and empty centrifugal-block is transported to transfer position
It sets, transferring position sky centrifugal-block is transferred on the empty pallet of " loaded " position by manipulator, completes transfer；
Loop module transports to dress test tube position from " loaded " position for empty test tube block, completes a circulation；
Can judgment module shift for first judging, first shift if can shift, and cannot judge whether unload again, if energy
Unloading first unloads, and cannot unload and judge whether to load again, judges information next time after waiting everythings to complete.
Specifically: motion controller first the information that industrial personal computer is sent, sequentially get up by classification storage.Later
Transinformation is judged whether there is, if so, then executing a transinformation；Unloading information is judged whether there is again, is had if so, then executing
Unloading information；Loading information is judged whether there is again, if so, then executing primary loading information.It is every to have executed one-off, it should
Movement is cleared, covering.The information for going storage industrial personal computer to send again later completes primary information circulation.
It fills test tube position and centrifugal-block position is taken to separate, be to allow manipulator in dress test tube position working region and machinery
Hand is separated in " loaded " position working region, is avoided manipulator from colliding, is provided the reliability of whole system.
In uninstall action, four centrifugal-block blocks being centrifuged in centrifuge all are unloaded out, just can be carried out down
A movement.
The laboratory automation blood sample centrifugal device is using centrifugal mechanism and the design method being separately from other sections, Di Xiashi
Wheel and liftable supporting leg, the wheels such as good fortune horse wheel that wheel and supporting leg can also be selected to combine are more convenient, just
It is prompt.
Lid arrangement includes base plate, cylinder, lid and the rubber pad that pads below of lid, and rubber pad is flexible, more preferably with centrifugation
The fitting of machine surface plays the role of reducing noise when centrifuge centrifugal action, while covering centrifugation when centrifugation
Machine prevents operation error, and when centrifugation, manipulator puts in centrifuge, causes the accident, and one can also be put near centrifuge
A lid is put into centrifuge opening with manipulator crawl lid, or removes lid from opening.
Setting position screw rod mould group is mounted on same plate, it is specified that the upper surface of plate is the centrifugation of laboratory automation blood sample
Device working standard face, abbreviation basal plane.
Enter laboratory automation system dress test tube module in centrifugal-block is in the form of block in test tube to imitate than single test tube
Rate is higher, and stability is more preferable, facilitates test tube information data management.
Fig. 3, a kind of system of automation blood sample centrifugation are please referred to, including at least one being arranged on supporting plate 10, supporting plate 10
For loading pallet, lead screw mould group 30, centrifuge 40, the manipulator 50, conveyer belt 60, controller of the centrifugal-block 20 of multiple test tubes
70。
Lead screw mould group 30, centrifuge 40, manipulator 50, conveyer belt 60 receive the instruction of controller 70, and centrifugal-block 20 can edge
30 horizontal movement of lead screw mould group, manipulator 50 by centrifugal-block 20 be put into centrifuge 40 aperture position carry out centrifugal treating after again
Centrifugal-block 20 is unloaded, conveyer belt 60 receives the centrifugal-block 20 of unloading and the empty centrifugal-block 20 formed after processing is transported to transfer
Area, manipulator 50 can grab the empty centrifugal-block 20 in transition range and be transported on pallet, and controller 70 has above-mentioned device 1.
Controller 70 controls manipulator 50 and moves in X, Y-direction.
Pallet, centrifugal-block 20, lead screw mould group 30 are four, and centrifugal-block 20 is set in lead screw mould group 30, lead screw mould group
30 are arranged in parallel.
Four lead screw mould groups 30 respectively transport different types of test tube.
Be switched on self-operating program, and cylinder initialization: manipulator paw opens, and manipulator cylinder rises, and centrifuge upper cover is beaten
It opens, after the completion of detecting cylinder initialization, servo initialization: robot movement provides that the position is to given X, Y location
The origin position of robot work, the rotor motion of centrifuge provide this turn to one of them against centrifuge aperture position
Sub- position is 1, counterclockwise respectively 2,3,4.
Manipulator vertical direction uses the combination of 150mm stroke (the small cylinder of manipulator) and 250mm (the big cylinder of manipulator),
Meet the centrifugal-block of pick-and-place different height.Only stretch out 150mm cylinder when grabbing basal plane above centrifugal-block, when pick-and-place from
Centrifugal-block is to stretch out two cylinders simultaneously in scheming.
" loaded " position has the centrifugal-block for filling test tube, while when not having uninstall action, starts loading movement.Mechanical paw exists
X, under Y direction servo mould group is accurately positioned, movement needs the centrifugal-block position grabbed, and 150mm cylinder stretches out, and paw cylinder is received
Contracting, manipulator clamp centrifugal-block.150mm cylinders retract, manipulator are moved in the case where X, Y direction servo mould group are accurately positioned
" loaded " position, 150mm and 200mm stroke cylinder stretch out simultaneously, and paw cylinder is opened, and centrifugal-block is put into " loaded " position, 150mm and
200mm stroke cylinder rises, and completes loading movement.
One centrifugal-block of every loading, rotor clockwise turn 90 °.Equal centrifuges start to be centrifuged after filling test tube block, are centrifuged
The circle number that machine turns is integer, it is ensured that rotor-position number 1 rests on " loaded " position.
After equal centrifuges centrifugation terminates, start uninstall action.Mechanical paw is accurately positioned in X, Y direction servo mould group
Under, centrifuge aperture position is moved to, 150mm and 200mm stroke cylinder stretches out simultaneously, and paw cylinder is shunk, and manipulator clamps
Centrifugal-block, 150mm and 200mm stroke cylinder rise, and manipulator is moved to and unloaded in the case where X, Y direction servo mould group are accurately positioned
Position is carried, 150mm cylinder stretches out, and paw cylinder is opened, 150mm cylinders retract, completes uninstall action.One centrifugation of every unloading
Block, the position of the mobile centrifugal-block of conveyer belt, unloads vacating space to next centrifugal-block.4 centrifugal-blocks are complete in centrifuge
Portion's unloading is completed to execute next movement again.
When not loading movement and uninstall action, when transferring position is free centrifugal-block, start transfer action.Mechanical paw exists
X, under Y direction servo mould group is accurately positioned, transferring position is moved to, 150mm stroke cylinder stretches out, and paw cylinder is shunk, machine
Tool hand clamps empty centrifugal-block, and 150mm stroke cylinder retracts, and manipulator is moved in the case where X, Y direction servo mould group are accurately positioned
" loaded " position, 1500mm stroke cylinder stretch out, and paw cylinder is opened, and 150mm stroke cylinder retracts, and complete transfer action.
Program priority is transfer, but shift to meet to load has empty pallet to vacate after the completion；Followed by unload, because
Centrifuge can just vacate rotor pallet after only unloading is completed, and be finally to load, centrifugal-block is loaded into centrifuge.
Manipulator X, Y-axis servo mould group are all arranged two limit switches and stop if robot movement touches extreme position
Stop is made, and plays a protective role, while each servo mould group is provided with mechanical origin, for origin of looking for a job, as machinery
Reference frame.
Safety is considered in programming, waited and detected that lid is opened, just carry out when centrifuge stops operating
Loading or unloading movement waits and detects when manipulator cylinder all rises just progress X, Y-axis moving operation.
Industrial personal computer stores the information that industrial personal computer is sent under normal circumstances, and when executing, the information point of storage
Class is uninstall action or loading movement or other information, then executes by the priority of program.It is same during execution
When the information sent of storage industrial personal computer, wait the secondary movement to be carried out, then execute the information of storage again,
When centrifuge apparatus is installed, stabilizer blade is first packed up, centrifuge apparatus is shifted onto suitable position, then put down supporting leg,
Centrifuge apparatus rises to suitable height, and wheel is liftoff.The height for adjusting centrifuge according to need of work simultaneously meets mechanical
Hand is grabbed in centrifuge to be needed.
The method, apparatus and system for implementing a kind of automation blood sample centrifugation of the invention have technology effect beneficial below
Fruit:
The technical program mainly for high-throughput demand the laboratory report turnaround time (turnaroundtime, TAT),
The technical program can largely shorten the single sample processing time, so that the entirety TAT time substantially shortens, promote laboratory effect
Rate saves the TAT time, and assembly line can also save human cost, reduces the mistake as caused by manual operation, reduces biological danger
Evil and pollution, while can also reduce the cost on the whole.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the meter of computer usable program code that the present invention, which can be used at one or at least one,
The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The function of being specified in present one process of flow chart or one box of at least one process and/or block diagram or at least one box
Device.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
The manufacture of device is enabled, which realizes in one process of flow chart or at least one process and/or one side of block diagram
The function of being specified in frame or at least one box.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one process of flow chart or at least one process and/or box
The step of function of being specified in one box of figure or at least one box.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method of automation blood sample centrifugation characterized by comprising
S1. crawl has the centrifugal-block of blood sample being in standby；
S2. the centrifugal-block is packed into centrifuge, centrifugal treating is carried out by the centrifuge；
S3. the centrifugal-block after centrifugal treating is grabbed, is invested in after conveyer belt handled, then empty centrifugal-block is delivered to initial bit
It sets.
2. the method according to claim 1, wherein step S1 further comprises: manipulator grabs centrifugal-block, puts
To the aperture position of centrifuge, loading process is completed.
3. method according to claim 2, which is characterized in that the centrifuge aperture position separates four parts, every dress
A centrifugal-block is carried, centrifuge turns 90 ° clockwise.
4. method according to claim 2, which is characterized in that the method further comprises:
Test tube is filled sky centrifugal-block in dress test tube position, centrifugal-block is transported to by lead screw mould group by " loaded " position, manipulator is grabbed
Centrifugal-block is taken, the aperture position of centrifuge is put into, completes to load:
Start to be centrifuged after centrifuge is fully loaded with 4 centrifugal-blocks, after centrifugation is completed, centrifugal-block of the manipulator centrifugation completion
It is unloaded to unloading position, completes unloading；
Centrifugal-block after unloading is transported to the next processing module of laboratory automation system by conveyer belt, has finally been handled remaining
Empty centrifugal-block is pushed to conveyer belt by cylinder in push position, and empty centrifugal-block is transported to transferring position, and manipulator is by transferring position
Empty centrifugal-block is transferred on the empty pallet of " loaded " position, completes transfer；
Empty test tube block transports to dress test tube position from " loaded " position, completes a circulation.
5. a kind of device of automation blood sample centrifugation characterized by comprising
Picking unit, for grabbing the centrifugal-block being in standby with blood sample；
Centrifugal unit carries out centrifugal treating by the centrifuge for the centrifugal-block to be packed into centrifuge；
Transmission unit is invested in after conveyer belt handled, then empty centrifugal-block is defeated for grabbing the centrifugal-block after centrifugal treating
It send to initial position.
6. device according to claim 5, which is characterized in that the picking unit further comprises: manipulator crawl
Centrifugal-block is put into the aperture position of centrifuge, completes loading process.
7. device as claimed in claim 6, which is characterized in that the centrifuge aperture position separates four parts, every dress
A centrifugal-block is carried, centrifuge turns 90 ° clockwise.
8. device as claimed in claim 6, which is characterized in that the device further comprises:
Centrifugal-block is transported to loading by lead screw mould group for test tube to be filled sky centrifugal-block in dress test tube position by loading module
Position, manipulator grab centrifugal-block, are put into the aperture position of centrifuge, complete to load:
Unload module, for starting to be centrifuged after centrifuge is fully loaded with 4 centrifugal-blocks, after centrifugation is completed, manipulator from
The centrifugal-block that the heart is completed is unloaded to unloading position, completes unloading；
Centrifugal-block after unloading is transported to the next processing module of laboratory automation system for conveyer belt, most by shift module
It has post-processed remaining empty centrifugal-block and conveyer belt is pushed to by cylinder in push position, empty centrifugal-block is transported to transferring position, machine
Transferring position sky centrifugal-block is transferred on the empty pallet of " loaded " position by tool hand, completes transfer；
Loop module transports to dress test tube position from " loaded " position for empty test tube block, completes a circulation.
9. a kind of system of automation blood sample centrifugation characterized by comprising at least one being arranged on supporting plate, supporting plate is used for
Load the pallet of the centrifugal-block of multiple test tubes, lead screw mould group, centrifuge, manipulator, conveyer belt, with the lead screw mould group, from
The controller that scheming, manipulator, conveyer belt are connected, the centrifugal-block can be described along the lead screw mould group horizontal movement
Manipulator by centrifugal-block be put into the centrifuge aperture position carry out centrifugal treating after centrifugal-block is unloaded again, it is described
Conveyer belt receive the centrifugal-block of unloading and the empty centrifugal-block formed after processing be transported to transition range, the manipulator crawl
Empty centrifugal-block in transition range is transported on the pallet, and the controller has claim 5 to 8 described in any item
Device.
10. the system of automation blood sample centrifugation according to claim 1, which is characterized in that the pallet, centrifugal-block,
Lead screw mould group is four, and centrifugal-block is set in the lead screw mould group, and the lead screw mould group is arranged in parallel.
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Application publication date: 20181211 |