CN118259037A - Full-automatic test tube sample injection system and method - Google Patents

Abstract

The embodiment of the invention provides a full-automatic test tube sample injection system and method, and relates to the technical field of automation. The problem of insufficient compatibility of a sample detection test tube clamping cover is solved. In the full-automatic test tube sample injection system, a sample injection module is used for detecting the specification of a test tube; the cover opening device is used for clamping the test tube cap positioned on the preset tube opening position and removing the cover; the controller is used for controlling the cover opening device to clamp the test tube cap on the preset pipe opening position according to the specification of the test tube and the pipe opening position signal of the preset pipe opening position of the test tube, and controlling the cover opening device to clamp the test tube cap in size, clamping force and moving speed. The method is implemented by the controller in the system. The full-automatic test tube sampling system can be suitable for uncapping test tubes of various specifications, no matter test tube caps are threaded or are unthreaded, the test tube caps with different specifications of diameters and lengths can be subjected to adaptive uncapping treatment, and the universality and the flexibility of the system are improved.

Description

Full-automatic test tube sample injection system and method

Technical Field

The invention relates to the technical field of automation, in particular to a full-automatic test tube sample injection system and method.

Background

Most of the current medical blood collection tubes are vacuum test tubes, and the following steps are usually needed when the test is performed: reading information of the bar code on the outer wall of the test tube; opening a test tube cover to extract a sample after the information is read; and after the extraction is finished, the test tube cover is covered back to avoid sample pollution.

After blood collection, a certain negative pressure still exists in the test tube, the test tube cover can be opened with a certain force, and in the occasion that a large number of samples in the test tube are required to be extracted, the test tube is scanned one by one through manual operation, and the cover opening and closing operations are carried out, so that the efficiency is low, and the labor intensity is high; moreover, if the force is wrongly mastered, the test tube is possibly broken or the inside of the test tube is oscillated to cause the sample to splash, thereby causing pollution and endangering the physical health of operators.

In the prior art, the bottom of the test tube is clamped through the elastic force of the elastic part in the accommodating part of the test tube rack to cover, the structure cannot be compatible with test tubes of various specifications, the clamping force cannot be controlled, the clamping force is insufficient and slipping is easy to occur, and accordingly the smooth opening and closing of the test tube cover cannot be guaranteed.

Disclosure of Invention

The invention aims to provide a full-automatic test tube sampling system, which can solve the problem of insufficient cover opening compatibility of a sample detection test tube.

The invention further aims to provide a full-automatic test tube sample injection method which can solve the problem that the clamping cover opening compatibility of a sample detection test tube is insufficient.

Embodiments of the invention may be implemented as follows:

The embodiment of the invention provides a full-automatic test tube sample injection system, which comprises a sample injection module, a cover opening device and a controller, wherein the sample injection module and the cover opening device are both in communication connection with the controller; the sample injection module is positioned at the upstream of the cover opening device and is used for conveying the test tube to a preset tube taking position and detecting the specification of the test tube in the conveying process; a preset pipe placing position and a preset pipe opening position are sequentially arranged at the downstream of the preset pipe taking position; the cover opening device is positioned at the downstream of the preset tube taking position and comprises a clamping translation device capable of horizontally moving and a grip device capable of vertically moving, and the clamping translation device is used for clamping a test tube and can be transferred between the preset tube placing position and the preset tube opening position; the gripper device is arranged above the preset opening pipe position and used for clamping a test tube cap positioned on the preset opening pipe position and removing a cover;

The controller is used for obtaining specification signals of the test tubes and tube opening position signals of the preset tube opening positions of the test tubes, and controlling the cover opening device to cover the test tubes according to the clamping sizes, the clamping forces and the moving speeds corresponding to the specification signals according to the specification signals and the tube opening position signals.

In addition, the full-automatic test tube sample injection system provided by the embodiment of the invention can also have the following additional technical characteristics:

Optionally, the fully automatic test tube sample injection system further comprises a height sensor, wherein the height sensor is used for detecting the height of the test tube; the height sensor is arranged at the preset pipe placing position, or the height sensor is arranged at the preset pipe opening position, or the height sensor is arranged between the preset pipe placing position and the preset pipe opening position; the height sensor is in communication connection with the controller; the controller is used for controlling or alarming the clamping translation device or the gripper device according to the height of the test tube.

Optionally, the gripper device comprises a lifting mechanism capable of vertical movement and a rotary gripper capable of clamping rotation, and the rotary gripper is fixed with the lifting mechanism; the lifting mechanism is used for driving the rotary grab to ascend or descend; the rotary handles are used for clamping, rotating or loosening the test tube cap.

Optionally, a preset suction level is set at the downstream of the preset tube opening position, and the clamping translation device is used for clamping the test tube to transfer between the preset tube opening position and the preset suction level; the full-automatic test tube sample injection system further comprises an automatic pipettor; the automatic pipettor is located the low reaches of uncapping device, automatic pipettor with controller communication connection, automatic pipettor is used for to uncapping finishes and moves to the test tube of predetermineeing the suction level absorbs liquid.

Optionally, the preset suction level coincides with the preset discharge level.

Optionally, the full-automatic test tube sample injection system further comprises a code scanner; the code scanner is arranged at the preset tube opening position and is in communication connection with the controller, the code scanner is used for scanning the test tube, and the controller is used for controlling the code scanner to scan the test tube in the process that the gripper device rotates the test tube at the preset tube opening position.

The embodiment of the invention also provides a full-automatic test tube sample injection method, which is executed by the controller in the full-automatic test tube sample injection system and comprises the following steps:

acquiring specification signals of test tubes positioned at the preset tube taking positions;

acquiring a tube opening position signal of the test tube at the preset tube opening position;

according to the specification signal and the tube opening position signal, the gripper device is controlled to clamp the test tube cap on the preset tube opening position, and the gripper device is controlled to clamp the test tube cap in size, clamping force and moving speed.

Optionally, the full-automatic test tube sampling method further includes, after the step of obtaining a tube opening signal of a preset tube opening position of the test tube, before the step of controlling the gripper device to clamp the test tube cap located on the preset tube opening position according to the specification signal and the tube opening signal;

According to the tube opening position signal, the clamping translation device is controlled to loosen the test tube, the gripper device is controlled to clamp and/or rotate the test tube, and the code scanner is controlled to scan the test tube in the rotating process;

The full-automatic test tube sampling system further comprises a code scanner which is connected with the controller in a communication mode, and the code scanner is arranged at a preset tube opening position.

Optionally, the fully automatic test tube sample injection method further comprises the following steps:

Acquiring a test tube which is transferred to the preset tube placing position from the preset tube taking position, and performing translation from the preset tube placing position to the preset tube opening position at a first height;

if the first height is larger than a first preset height, controlling the gripper device to open the cover of the test tube; if the first height is smaller than the first preset height, alarming and stopping the uncovering operation;

After the cover opening operation of the gripper device is completed, translating the test tube from the preset tube opening position to a second height in the process of the preset tube placing position;

If the second height is larger than the second preset height, alarming and stopping the liquid sucking operation; if the second height is smaller than the second preset height, controlling the automatic pipettor to suck the test tube;

the full-automatic test tube sampling system further comprises an automatic liquid shifter in communication connection with the controller, and the automatic liquid shifter is arranged at the preset tube placing position.

Optionally, the fully automatic test tube sample injection method further comprises the following steps:

acquiring a liquid suction signal after the automatic liquid suction device finishes liquid suction;

acquiring a position signal of a test tube;

According to the imbibition signal and the position signal, the clamping translation device is controlled to translate the test tube after imbibition to the preset tube opening position, the clamping cap is covered back on the test tube by the gripper device, and then the clamping translation device is controlled to move the sealed test tube to the preset tube opening position to wait for being removed.

The full-automatic test tube sampling system and the method provided by the embodiment of the invention have the beneficial effects that:

The full-automatic test tube sample injection system comprises a sample injection module, a cover opening device and a controller, wherein the sample injection module and the cover opening device are both in communication connection with the controller; the sample injection module is positioned at the upstream of the cover opening device and is used for conveying the test tube to a preset tube taking position and detecting the specification of the test tube in the conveying process; a preset pipe placing position and a preset pipe opening position are sequentially arranged at the downstream of the preset pipe taking position; the cover opening device is positioned at the downstream of the preset tube taking position, and comprises a clamping translation device capable of horizontally moving and a hand grip device capable of vertically moving, wherein the clamping translation device is used for clamping a test tube and can be transferred between the preset tube placing position and the preset tube opening position; the gripper device is arranged above the preset tube opening position and used for clamping the test tube cap positioned on the preset tube opening position and removing the cap; the controller is used for obtaining specification signals of the test tubes and tube opening position signals of the test tubes at preset tube opening positions, and controlling the cover opening device to cover the test tubes according to the clamping sizes, clamping forces and moving speeds of the corresponding specification signals according to the specification signals and the tube opening position signals.

The full-automatic test tube sampling system firstly identifies test tubes with different specifications, can detect the specifications of the transferred test tubes, selects the most appropriate strategy to operate the test tubes according to detection conditions, can adapt to test tubes with various specifications, and can adapt to cover the test tubes with screw caps or without screw caps or test tube caps with different diameters and lengths, so that the universality and flexibility of the system are improved, the whole-process automation is finished, the control precision is improved, and the service life of a machine is prolonged.

The full-automatic test tube sample injection method is implemented by adopting the controller in the full-automatic test tube sample injection system, so that the problem of insufficient compatibility of the clamping cover opening of the sample detection test tube can be solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a first view angle of a full-automatic test tube sample injection system according to the present embodiment;

Fig. 2 is a schematic structural diagram of a second view angle of the full-automatic test tube sample injection system according to the present embodiment;

Fig. 3 is a flow chart of a full-automatic test tube sample injection method provided in this embodiment.

Icon: 10-a full-automatic test tube sample injection system; 200-clamping and translating device; 300-uncapping device; 400-presetting a tube placing position; 410-presetting a tube opening position; 500-height sensor; 600-test tube.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The fully automatic cuvette injection system 10 according to the present embodiment is described in detail below with reference to fig. 1 to 3.

Referring to fig. 1,2 and 3, the embodiment provides a full-automatic test tube sample injection system 10, which includes a sample injection module, a cover opening device 300 and a controller, wherein the sample injection module and the cover opening device 300 are all in communication connection with the controller; the sample injection module is positioned at the upstream of the cover opening device 300 and is used for conveying the test tube 600 to a preset tube taking position and detecting the specification of the test tube 600 in the conveying process; a preset pipe placing position and a preset pipe opening position 410 are sequentially arranged at the downstream of the preset pipe taking position; the cover opening device 300 is positioned at the downstream of the preset tube taking position, the cover opening device 300 comprises a clamping translation device 200 capable of horizontally moving and a grip device capable of vertically moving, and the clamping translation device 200 is used for clamping the test tube 600 and can be transferred between the preset tube placing position and the preset tube opening position 410; the gripper device is arranged above the preset tube opening position 410 and is used for clamping a test tube cap positioned on the preset tube opening position 410 and removing a cover; the controller is used for obtaining a specification signal of the test tube 600 and a tube opening position signal of the test tube 600 at the preset tube opening position 410, and controlling the cover opening device 300 to cover the test tube 600 according to the clamping size, the clamping force and the moving speed of the corresponding specification signal according to the specification signal and the tube opening position signal.

The test tube 600 is put into a sample injection module for sample injection after the sample is taken; in the sample injection module, the sample injection module can detect the specification of the test tube 600 and send the specification signal of the test tube 600 to the controller, and the sample injection module mainly adopts a mode of scanning and identifying the test tube 600 to identify the specification of the test tube 600; the controller controls the opening clamping size of the rotary grip on the grip device to be matched with the test tube 600 according to the detected specification of the test tube 600; meanwhile, the clamping force is controlled, so that the test tube cap is prevented from being damaged by excessive force or cannot be clamped and stabilized by too little force; after clamping, the cap is separated in a rotating or direct separating way, and the test tube cap can be opened in a rotating way no matter the test tube cap is a threaded cap or a straight tube cap; after the test tube cap is unscrewed, the removal speed of the cap is controlled, and the caps with different specifications of the test tube 600 can be clamped and unscrewed in a targeted way in the whole process.

The gripper device has wide adaptability, can adapt to test tubes 600 of various specifications, whether have screw caps or do not have screw caps, screw caps or straight tube caps, and also have caps of various diameters and lengths, can all adapt to the uncapping process, and increases the versatility and flexibility of the system. And (5) completing the whole process automatically. The sample introduction module can identify test tubes 600 with different specifications, can detect the specifications of the placed test tubes 600, and the controller selects the most appropriate strategy to open the cover of the test tubes 600 according to the detection condition, so that the control precision is improved, and the service life of the machine is prolonged.

Specifically, the sampling module is provided with a plurality of sampling channels, the preset sampling pipe positions are correspondingly provided with a plurality of sampling channels, the sampling channels are in one-to-one correspondence with the preset sampling pipe positions, the sampling channels are used for sampling simultaneously, the preset sampling pipe positions are used for respectively placing test tubes 600 of different specifications, the controller controls the manipulator to select the test tubes 600 of the corresponding specifications on the preset sampling pipe positions according to requirements, the manipulator is moved to the preset opening pipe positions, and the gripper device is used for opening the cover according to the different specifications.

In this embodiment, the full-automatic test tube sample injection system further includes a manipulator, where the manipulator is in communication connection with the controller, and the manipulator is used to clamp the test tube 600 for transferring between a preset tube taking position and a preset tube placing position. The manipulator is used for holding the test tube 600 from a preset tube taking position to a preset tube placing position 400 and then releasing the test tube 600, and the position sensor detects that the test tube 600 is positioned at the preset tube placing position 400, and the controller controls the holding translation device 200 to hold the test tube 600 and translate the test tube 600 to the preset tube opening position 410. Simple structure, simple operation.

Referring to fig. 1,2 and 3, in this embodiment, a preset suction level is set downstream of a preset open tube position, and the clamping and translating device 200 is used for clamping the test tube 600 to transfer between the preset open tube position and the preset suction level; the full-automatic test tube sample injection system also comprises an automatic pipettor; the automatic pipettor is located at the downstream of the uncapping device 300, and is in communication connection with the controller, and is used for pipetting the test tube 600 which is uncapped and is transferred to the preset pipetting level. Specifically, the automatic pipettor includes a pipette gun for aspirating sample fluid into the test tube 600.

After the cover of the test tube 600 is finished at the preset tube opening position 410, the clamping and translating device 200 translates the test tube 600 after the cover is opened to a preset suction level, and the automatic pipettor is used for sucking samples in the test tube 600 which are moved to the preset suction level. After the automatic pipettor is sucked, the clamping and translating device 200 translates the test tube 600 after the liquid suction is finished back to the preset tube opening position 410, the cover cap of the test tube 600 is closed by the handle device, and after the cover cap of the test tube 600 is closed, the clamping and translating device 200 translates the test tube 600 to the preset tube opening position 400.

Referring to fig. 1, 2 and 3, in this embodiment, the preset suction level coincides with the preset discharge level 400. The clamping and translating device 200 moves the test tube 600 from the preset tube placing position 400 to the preset tube opening position 410, uncovers the preset tube opening position 410, moves to the preset tube placing position 400 to absorb liquid, moves to the preset tube opening position 410 to cover, moves to the preset tube placing position 400 and waits to be removed. In the process of uncovering, imbibition and capping, the clamping translation device 200 clamps the test tube 600 to perform reciprocating translation at the preset tube placing position 400 and the preset tube opening position 410, so that the volume of the whole device is reduced, the structure is simplified, and the efficiency is improved.

Referring to fig. 1, 2 and 3, in the present embodiment, the fully automatic test tube sampling system further includes a height sensor 500, where the height sensor 500 is used to detect the height of the test tube 600; the height sensor 500 is arranged at the preset tube placing position 400, or the height sensor 500 is arranged at the preset tube opening position 410, or the height sensor 500 is arranged between the preset tube placing position 400 and the preset tube opening position 410; the height sensor 500 is communicatively connected to the controller; the controller is used to control or alarm the gripping translation device 200 or the gripping device according to the height of the test tube 600. Specifically, the height sensor 500 employs a laser sensor.

The preset suction level coincides with the preset discharge level 400, so that the structure setting can be simplified and the occupied space of the equipment can be reduced. The cap of the test tube 600 can be monitored in the whole process by only arranging the height sensor 500 between the preset tube placing position 400 and the preset tube opening position 410.

In the process of opening the cap from the preset tube placing position 400 to the preset tube opening position 410, the height sensor 500 is used for detecting whether the cap of the test tube 600 is perfectly covered, and if not, the subsequent cap opening operation needs to be alarmed and stopped; in the process from the preset open position 410 to the preset suction level, the height sensor 500 is used to detect whether the test tube 600 has a cap, and if so, alarm is given and the subsequent suction operation is stopped, so that it is required to ensure that the cap of the test tube 600 reaching the preset suction level is open. After the preset pipetting position is used for pipetting, the clamping and translating device 200 translates the test tube 600 to the preset tube opening position 410, and in the process, the height sensor 500 can detect whether the cap of the test tube 600 exists; after the preset tube opening position 410 completes the covering of the cap, the clamping and translating device 200 translates the test tube 600 from the preset tube opening position 410 to the preset tube placing position 400, in this process, the height sensor 500 can detect whether the cap of the test tube 600 is covered, and finally, the test tube 600 which has sucked the sample and covered the cap can be removed at the preset tube placing position 400.

The whole detection device who is furnished with test tube cap, test tube 600 has the bottle lid when can detecting to place, also can detect and uncap whether the action is accomplished successfully, avoids providing error message to the next operation, causes the damage to equipment.

Referring to fig. 1,2 and 3, in this embodiment, the fully automatic test tube sample injection system further includes a code scanner (not shown); the code scanner is arranged at a preset tube opening position 410, the code scanner is in communication connection with the controller, the code scanner is used for scanning the test tube 600, and the controller is used for controlling the code scanner to scan the test tube 600 in the process that the gripper device rotates the test tube 600 on the preset tube opening position 410.

Through tongs device centre gripping test tube 600 and rotate, sweep the information on the sign indicating number ware can scan test tube 600 entirely, do not need to consider the angle of putting and the position of test tube 600, also do not need to consider the setting position of sweeping the sign indicating number ware, test tube 600 rotatory back, sweep the sign indicating number ware and can scan the information of full visual angle, reduce the probability of making mistakes. The position of the code scanner is fixed, and the test tube 600 is rotated to complete information scanning.

In this embodiment, the gripper device includes a lifting mechanism capable of moving vertically and a rotary gripper capable of clamping and rotating, and the rotary gripper is fixed with the lifting mechanism; the lifting mechanism is used for driving the rotary grab to ascend or descend; the rotary gripper is used for clamping, rotating or loosening the test tube cap. The test tube cap is divided into a threaded one and a non-threaded one, the clamping and translating device 200 is used for clamping the test tube for translation, and the gripper device is used for clamping, rotating or loosening the test tube cap.

In the process of uncovering, the rotary handle clamps and rotates the test tube cap, and the test tube cap moves vertically upwards after uncovering; or the rotary handle clamps and rotates the test tube cap in the vertical movement process of the lifting mechanism, and simultaneously moves vertically and rotates the test tube cap in the vertical upward movement process, and rotates the test tube cap according to the thread parameters; either the rotating grip is used to pull the tube cap off the tube or press the tube cap onto the tube during the vertical movement.

Before uncapping, need adopt and sweep the sign indicating number ware and scan the information of test tube 600, at this moment, rotatory handle centre gripping test tube block and with test tube 600 rise to the height of predetermineeing after together and rotate, conveniently sweep the sign indicating number ware and scan the information on the test tube 600 outer wall.

The specific process is as follows: the clamping translation device 200 is arranged below the gripper device, the clamping translation device 200 clamps a test tube 600 of a preset tube placing position 400 and translates to a preset tube opening position 410, the gripper device is driven by the lifting mechanism to move downwards to clamp the test tube 600, the test tube 600 is loosened by the clamping translation device 200, the test tube 600 is rotated after the test tube 600 is lifted by the gripper device by a preset height, and the test tube 600 is scanned by the code scanner.

Referring to fig. 1, 2 and 3, in this embodiment, the fully automatic test tube sampling system 10 further includes a plurality of position detectors, and the plurality of position detectors can detect the positions of the test tubes 600 to determine whether the test tubes 600 are accurately located at the preset tube placing position 400, the preset tube opening position 410 and the preset suction level. Whether the test tube 600 exists at a specific position or not can be judged, whether the test tube 600 is placed successfully or not can be detected, and the test tube 600 is processed respectively according to detection conditions. If the test tube 600 is correctly placed, the next procedure is performed, and if the test tube is incorrectly placed, an alarm is given.

In this embodiment, the sample injection module and the gripper device may be independently disposed, and the translation of the test tube 600 between the sample injection module and the gripper device is implemented by using a mechanical arm. The clamping translation device 200 and the gripper device are arranged together, and the automatic platform has the advantages of simple structure, small volume and low cost, and can be used as an automatic platform.

According to the full-automatic test tube sampling system 10 provided in this embodiment, the working principle of the full-automatic test tube sampling system 10 is as follows: the method mainly comprises the steps of scanning a sample to identify a sample-taking test tube 600, uncovering and sampling a platform, and closing the cover of the test tube 600, and comprises the following steps:

The sample introduction module comprises a sample frame and a sample platform, a test tube 600 containing a sample is placed on the sample frame and is fed into the sample platform, the sample frame is provided with a sliding track, sensing pieces are arranged on the sample frame, the specification of the test tube 600 is characterized by the number of the sensing pieces arranged on the sample frame, so that when the sample frame slides from one end of the sliding track to the other end of the sliding track, a first detection piece arranged on the sample platform corresponding to the other end of the sliding track sends out sensing signals of corresponding times according to the number of the sensing pieces, the specification of the test tube 600 can be determined according to the times of the sensing signals, the classification and identification of test tubes 600 of different specifications are realized, the software is simple in function, and the control processing requirement is lower. In an alternative embodiment, the medical tube identification device further comprises a code scanner disposed on the sliding track, operable according to the sensed signal, to read the barcode on the tube 600.

The preset tube taking position is provided with a first position sensor, after the first position sensor detects that the test tube 600 reaches the preset tube taking position, the sample injection module transmits the specification and the in-place information of the test tube 600 to the controller, and the controller controls the manipulator to move the test tube 600 to the preset tube placing position 400 and issues a cover opening instruction of the test tube 600 with the corresponding specification to the clamping translation device 200 and the gripper device.

The preset tube placing position is provided with a second position sensor, the second position sensor judges whether the preset tube placing position 400 has the test tube 600 or not, then the controller starts a power piece of the clamping and translating device 200, two arms of a clamping grip of the clamping and translating device 200 approach the test tube 600 and clamp the test tube 600, the clamping grip clamps the translating test tube 600 to translate, and the height sensor 500 detects whether the test tube 600 has a cap or not.

The preset tube opening position 410 is provided with a third position sensor, the clamping translation device 200 clamps the test tube 600 to move to the preset tube opening position 410 right below the gripper device, the controller receives a signal that the third position sensor monitors that the test tube 600 reaches the preset tube opening position 410, the controller controls the clamping translation device 200 to stop and controls the lifting mechanism to start, and the lifting mechanism drives the rotary gripper of the gripper device to descend.

The fourth position sensor is used for monitoring whether the rotating gripper clamps in place or not, the clamping in place is achieved, the controller controls the clamping translation device 200 to loosen, the gripper clamps the test tube 600 to move upwards and rotate, the code scanner scans test tube 600 information on the outer wall of the test tube 600, after scanning is completed, the gripper clamps the test tube 600 to move downwards, the clamping translation device 200 clamps the test tube 600 again, then the gripper is controlled to rotate and move upwards, the cap is opened, and the cover opening is achieved.

After the cover is opened, the clamping translation device 200 clamps the test tube 600 and translates to a preset suction level, namely, the preset suction level is overlapped with the preset discharge level, when the controller receives a signal that the second position sensor monitors that the clamping translation device 200 reaches the preset discharge level, the controller controls the clamping translation device 200 to stop and controls the automatic pipettor to complete pipetting operation, and in the process of moving the test tube 600 from the preset discharge level 410 to the preset suction level, the height sensor 500 detects whether a cap exists on the test tube 600.

After the liquid suction is finished, the controller controls the clamping translation device 200 to operate, when the controller receives a signal that the third position sensor monitors that the clamping translation device 200 reaches a preset tube opening position 410, the controller controls the clamping translation device 200 to stop and controls the lifting mechanism to start, the lifting mechanism drives the gripper device to rotate and descend, the controller receives a signal that the fourth position sensor monitors that the rotary gripper is in place, and the controller controls the lifting mechanism or the rotary gripper to cap a test tube cover on the test tube 600, and then starts the lifting mechanism to drive the rotary gripper to ascend to complete the cover closing.

After the cap is covered, the controller controls the clamping and translating device 200 to clamp the test tube 600 at the preset tube opening position 410 and translate the test tube 600 to the preset tube placing position 400, and when a signal from the second position sensor to monitor the clamping and translating device 200 to the preset tube placing position 400 is received, the controller controls the clamping and translating device 200 to loosen the test tube 600, and the controller controls the transferring device to complete the removal of the test tube 600. During the movement from the predetermined open position 410 back to the predetermined discharge position 400, the level sensor 500 detects whether the test tube 600 is capped.

Referring to fig. 3, the embodiment further provides a full-automatic test tube sample injection method, which is executed by a controller in the full-automatic test tube sample injection system 10, and includes: acquiring a specification signal of a test tube 600 positioned at a preset tube taking position; acquiring a tube opening position signal of the test tube 600 at a preset tube opening position 410; the gripper device is controlled to clamp the test tube cap on the preset tube opening position 410 according to the specification signal and the tube opening position signal, and the gripper device is controlled to clamp the test tube cap in size, force and moving speed.

The sample injection module has the function of identifying the specification of the test tube 600, and the controller can adopt a matched strategy to cover the test tube 600 with different types and specifications after receiving the specification signal, so that the automatic cover opening and closing of the test tube 600 with multiple specifications and multiple types are realized.

In this embodiment, the full-automatic test tube sample injection method further includes, after the step of obtaining the tube opening signal of the test tube 600 at the preset tube opening position 410, controlling the gripper device to clamp the test tube cap located on the preset tube opening position 410 according to the specification signal and the tube opening signal; according to the tube opening position signal, the clamping translation device 200 is controlled to loosen the test tube 600, the gripper device is controlled to clamp and/or rotate the test tube 600, and the code scanner is controlled to scan the test tube 600 in the rotating process; the full-automatic test tube sample injection system further comprises a code scanner which is in communication connection with the controller, and the code scanner is arranged at a preset tube opening position 410.

The clamping and/or rotating means that the test tube cap can be singly clamped or singly rotated, or clamped and rotated together, and the control operation is carried out according to the test tube caps with different specifications.

In this embodiment, the full-automatic test tube sample injection method further includes:

Acquiring a test tube 600 which is transferred from a preset tube taking position to a preset tube placing position, and translating from the preset tube placing position 400 to a preset tube opening position 410 at a first height; if the first height is greater than the first preset height, controlling the gripper device to perform the uncapping operation on the test tube 600; if the first height is smaller than the first preset height, alarming and stopping the uncovering operation;

After the cover opening operation of the gripper device is completed, the test tube 600 translates from the preset tube opening position 410 to a second height in the process of the preset tube placing position 400; if the second height is larger than the second preset height, alarming and stopping the liquid sucking operation; if the second height is smaller than the second preset height, controlling the automatic pipettor to aspirate the test tube 600;

wherein, full-automatic test tube sampling system still includes the automatic pipettor with controller communication connection, and automatic pipettor sets up in predetermineeing and puts tub position 400.

The first preset height and the second preset height are values within a difference range between the height of the test tube 600 after being capped and the height of the test tube 600 without being capped, and represent that the test tube is capped. The first preset height is used for making a first judgment for judging a test tube cap in the process of translating the test tube 600 from the preset tube placing position to the preset tube placing position, and the second preset height is used for making a second judgment for judging a test tube cap in the process of translating the test tube 600 from the preset tube placing position 410 to the preset tube placing position 400, and of course, the second preset height can be set to be the same value as the first preset height.

A height greater than the first preset height or the second preset height, indicating that the test tube 600 has a cap thereon; less than the first preset height or the second preset height indicates that there is no cap on the tube 600. Whether the test tube 600 is provided with a cap or not can be detected in the whole course, and then the operations are performed respectively; the device can also be used as an alarm detection device for detecting whether the function of the switch cover is normally operated or not, so that misoperation is avoided.

In this embodiment, the full-automatic test tube sample injection method further includes: acquiring a liquid suction signal after the automatic liquid suction device finishes liquid suction; acquiring a position signal of the test tube 600; according to the imbibition signal and the position signal, the clamping and translating device 200 is controlled to translate the tube 600 after imbibition to the preset tube opening position 410, the clamping cap is covered back onto the tube 600 by the gripper device, and then the clamping and translating device 200 is controlled to transfer the sealed tube 600 to the preset tube placing position 400 to wait for being removed.

The full-automatic test tube sampling system further comprises a transfer device, and the test tube 600 transferred to the preset tube placing position 400 is removed by the transfer device after the sealing is completed.

The full-automatic test tube sampling system 10 and the method provided by the embodiment have at least the following advantages:

Can discern the test tube 600 of different specifications, the test tube 600 of multiple specification of adaptation, no matter the test tube lid has the screw thread, all can uncap the operation, uncap the operation according to the most suitable uncap tactics of different specification adaptations of test tube 600 to test tube 600, improve control accuracy, extension machine life has extensive suitability.

The test tube cap detection device has the advantages that the height sensors are arranged to detect whether the test tube cap exists or not, so that whether the uncovering action is successfully completed is detected, and the fact that the equipment is damaged due to the fact that error information is provided for the next operation is avoided.

A plurality of position detectors are provided to determine whether test tube 600 is present or not. Whether the test tube 600 is successfully placed or not can be judged, whether the test tube is successfully placed or not can be detected, the test tube is respectively processed according to the detection condition, the test tube is correctly placed for the next step of flow, and the test tube is alarmed when the test tube is incorrectly placed.

The full-automatic operation can be performed on the full-automatic platform to finish the operations of full-automatic code scanning identification, cover opening, detection, sampling, cover closing and the like, so that the manual intervention is reduced, the efficiency and the accuracy are improved, and meanwhile, the pollution caused by the manual cover opening of the liquid in the test tube 600 is avoided, and the physical health of operators is endangered.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The full-automatic test tube sample injection system is characterized by comprising a sample injection module, a cover opening device (300) and a controller, wherein the sample injection module and the cover opening device (300) are both in communication connection with the controller;

The sample injection module is positioned at the upstream of the cover opening device (300) and is used for conveying the test tube (600) to a preset tube taking position and detecting the specification of the test tube (600) in the conveying process;

A preset pipe placing position and a preset pipe opening position (410) are sequentially arranged at the downstream of the preset pipe taking position; the cover opening device (300) is positioned at the downstream of the preset tube taking position, the cover opening device (300) comprises a clamping translation device (200) capable of horizontally moving and a grip device capable of vertically moving, and the clamping translation device (200) is used for clamping a test tube (600) and can be transferred between the preset tube placing position and the preset tube opening position (410); the gripper device is arranged above the preset opening pipe position (410) and is used for clamping a test tube cap positioned on the preset opening pipe position (410) and removing a cover;

The controller is used for acquiring specification signals of the test tube (600) and a tube opening position signal of the test tube (600) at the preset tube opening position (410), and controlling the cover opening device (300) to cover the test tube (600) according to the specification signals and the tube opening position signal, and the clamping size, the clamping force and the moving speed corresponding to the specification signals.

2. The fully automated cuvette sampling system according to claim 1, wherein:

The full-automatic test tube sample injection system further comprises a height sensor (500), wherein the height sensor (500) is used for detecting the height of a test tube (600); the height sensor (500) is arranged at the preset pipe placing position (400), or the height sensor (500) is arranged at the preset pipe opening position (410), or the height sensor (500) is arranged between the preset pipe placing position (400) and the preset pipe opening position (410); the height sensor (500) is in communication with the controller; the controller is used for controlling or alarming the clamping translation device (200) or the gripper device according to the height of the test tube (600).

3. The fully automated cuvette sampling system according to claim 2, wherein:

The gripper device comprises a lifting mechanism capable of vertically moving and a rotary gripper capable of clamping and rotating, and the rotary gripper is fixed with the lifting mechanism; the lifting mechanism is used for driving the rotary grab to ascend or descend; the rotary handles are used for clamping, rotating or loosening the test tube cap.

4. A fully automated cuvette injection system according to any one of claims 1-3, wherein:

The lower stream of the preset open pipe position is provided with a preset suction level, and the clamping translation device (200) is used for clamping a test tube (600) to transfer between the preset open pipe position and the preset suction level;

The full-automatic test tube sample injection system further comprises an automatic pipettor; the automatic pipettor is located at the downstream of the cover opening device (300), the automatic pipettor is in communication connection with the controller, and the automatic pipettor is used for pipetting a test tube (600) which is completely opened and is transferred to the preset pipetting level.

5. The fully automated cuvette sampling system according to claim 4, wherein:

the preset suction level coincides with the preset discharge level (400).

6. A fully automated cuvette injection system according to any one of claims 1-3, wherein:

The full-automatic test tube sample injection system further comprises a code scanner; the code scanner is arranged at the preset opening position (410), the code scanner is in communication connection with the controller, the code scanner is used for scanning the test tube (600), and the controller is used for controlling the code scanner to scan the test tube (600) in the process that the gripper device rotates the test tube (600) at the preset opening position (410).

7. A fully automatic test tube sample injection method performed by the controller in the fully automatic test tube sample injection system according to any one of claims 1 to 6, wherein the fully automatic test tube sample injection method comprises:

Acquiring specification signals of test tubes (600) positioned at the preset tube taking positions;

acquiring a tube opening position signal of the test tube (600) at the preset tube opening position (410);

According to the specification signal and the tube opening position signal, the gripper device is controlled to clamp the test tube cap on the preset tube opening position (410), and the gripper device is controlled to clamp the test tube cap in size, clamping force and moving speed.

8. The fully automatic test tube sampling method according to claim 7, further comprising, after the step of obtaining a tube opening signal of the test tube (600) at the preset tube opening position (410), controlling the gripper device according to the specification signal and the tube opening signal to clamp a test tube cap located at the preset tube opening position (410);

According to the tube opening position signal, the clamping and translating device (200) is controlled to loosen the test tube (600), the gripper device is controlled to clamp and/or rotate the test tube (600), and the code scanner is controlled to scan the test tube (600) in the rotating process;

The full-automatic test tube sample injection system further comprises a code scanner in communication connection with the controller, and the code scanner is arranged at a preset tube opening position (410).

9. The fully automated test tube sampling method of claim 7, further comprising:

Acquiring a test tube (600) which is transferred from the preset tube taking position to the preset tube placing position, and translating from the preset tube placing position (400) to the preset tube opening position (410) at a first height;

If the first height is larger than a first preset height, controlling the gripper device to open the cover of the test tube (600); if the first height is smaller than the first preset height, alarming and stopping the uncovering operation;

After the cover opening operation of the gripper device is completed, the test tube (600) translates from the preset tube opening position (410) to a second height in the process of the preset tube placing position (400);

if the second height is larger than the second preset height, alarming and stopping the liquid sucking operation; if the second height is smaller than the second preset height, controlling the automatic pipettor to suck the test tube (600);

The full-automatic test tube sampling system further comprises an automatic pipettor in communication connection with the controller, and the automatic pipettor is arranged at the preset tube placing position (400).

10. The fully automated test tube sampling method of claim 9, further comprising:

acquiring a liquid suction signal after the automatic liquid suction device finishes liquid suction;

Acquiring a position signal of the test tube (600);

According to the imbibition signal and the position signal, the clamping and translating device (200) is controlled to translate the tube (600) after imbibition to the preset tube opening position (410), the clamping cap is covered back onto the tube (600) by the gripper device, and then the clamping and translating device (200) is controlled to move the sealed tube (600) to the preset tube placing position (400) to wait for being removed.