技术领域technical field
本发明涉及医疗器械领域，具体涉及一种样本架循环流转装置。The invention relates to the field of medical instruments, in particular to a sample rack circulation device.
背景技术Background technique
随着中国医疗卫生水平的不断提高，大量的医疗需求被释放，患者数量和标本数量逐年增加；高通量、高效率、高智能化的流水线医疗设备得到了广泛的应用；样本传送也采用流水线传送，相对于试管样本放置于样本架形式的流水线，单试管样本流水线设备通量更高、灵活性更强，成为发展的主流与趋势，而市场上大量的生化及免疫检测仪器内部使用的是：使用样本架放置多个试管样本，然后检测试管内样本的检测方式。With the continuous improvement of China's medical and health level, a large number of medical needs have been released, and the number of patients and specimens has increased year by year; high-throughput, high-efficiency, and highly intelligent assembly line medical equipment has been widely used; sample transmission also adopts assembly lines Compared with the assembly line in which test tube samples are placed in sample racks, single test tube sample assembly line equipment has higher throughput and greater flexibility, and has become the mainstream and trend of development. However, a large number of biochemical and immunological detection instruments on the market use internally : Use the sample rack to place multiple test tube samples, and then detect the detection method of the samples in the test tubes.
在单试管流水线的使用过程中，需要将流水线上的单试管样本取出放置于检测仪器内进行检测，从而输出样本的检测结果，但是，单个试管从流水线到检测仪器是非常困难的，现在急需解决这一问题。During the use of the single test tube assembly line, it is necessary to take out the single test tube sample on the assembly line and place it in the detection instrument for detection, so as to output the test result of the sample. However, it is very difficult for a single test tube to go from the assembly line to the detection instrument, and now it is urgent to solve this problem.
发明内容Contents of the invention
本发明的目的是：提供一种样本架循环流转装置，可以将流水线上的待测单试管抓取到样本架内，样本架流入检测仪器内部进行测试，测试完成后，样本架流出检测仪器，将试管抓回流水线，空的样本架可继续循环使用，解决以上问题。The purpose of the present invention is to provide a sample rack circulation device, which can capture the single test tube to be tested on the assembly line into the sample rack, and the sample rack flows into the testing instrument for testing. After the test is completed, the sample rack flows out of the testing instrument. Catch the test tube back to the assembly line, and the empty sample rack can continue to be recycled to solve the above problems.
为了实现上述目的，本发明提供如下的技术方案：In order to achieve the above object, the present invention provides the following technical solutions:
一种样本架循环流转装置，包括输送组件、双通道以及机械手组件，所述机械手组件上设置有用于搬运试管的第一机械手和第二机械手，所述双通道上包括返回通道和进入通道，所述输送组件上包括两条输送线，所述输送组件上设置有推动试管架的横推组件、推手组件以及勾手组件；A sample rack circulation device, including a conveying assembly, a double channel, and a manipulator assembly, the manipulator assembly is provided with a first manipulator and a second manipulator for carrying test tubes, and the double channel includes a return channel and an entry channel, so The conveying assembly includes two conveying lines, and the conveying assembly is provided with a horizontal push assembly, a push hand assembly and a hook assembly to push the test tube rack;
所述第一机械手和第二机械手位于输送组件和双通道上方；The first manipulator and the second manipulator are located above the conveying assembly and the dual channel;
所述横推组件位于输送组件的输送线的端部，所述推手组件和勾手组件位置相对应，所述推手组件和勾手组件也位于输送组件的输送线的端部；The horizontal pushing assembly is located at the end of the conveying line of the conveying assembly, the position of the push handle assembly and the hook assembly are corresponding, and the push handle assembly and the hook assembly are also located at the end of the conveying line of the conveying assembly;
所述返回通道和进入通道上均设置有限位组件和扫码器，所述限位组件位于返回通道和进入通道端部。Both the return passage and the entry passage are provided with a limit assembly and a code scanner, and the limit assembly is located at the ends of the return passage and the entry passage.
进一步的，所述横推组件的数量多于一个，其中一个所述横推组件连接输送组件上两个输送线的端部，其中一个所述横推组件位于输送组件的其中一个输送线端部，且与返回通道位置相对应；其中一个所述横推组件位于输送组件的另一个输送线端部，且与进入通道位置相对应。Further, the number of said pusher assemblies is more than one, one of said pusher assemblies connects the ends of two conveying lines on the conveying assembly, and one of said pusher assemblies is located at one end of the conveying line of the conveying assembly , and corresponds to the position of the return channel; one of the transverse pushing components is located at the other end of the conveying line of the transport component, and corresponds to the position of the entry channel.
进一步的，所述横推组件包括驱动机构、传送机构、框架、光耦、导向机构以及推手，所述驱动机构具体为电机同步轮组件，所述传送机构具体为同步带组件，所述导向机构具体为导轨组件，所述推手在不同横推组件上的结构不完全相同，所述推手与导向机构上的滑块连接，所述推手与传送机构上的传送带连接。Further, the horizontal push assembly includes a drive mechanism, a transmission mechanism, a frame, an optocoupler, a guide mechanism and a push handle, the drive mechanism is specifically a motor synchronous wheel assembly, the transmission mechanism is specifically a synchronous belt assembly, and the guide mechanism Specifically for the guide rail assembly, the structures of the push handles on different horizontal push assemblies are not exactly the same, the push handles are connected to the sliders on the guide mechanism, and the push hands are connected to the conveyor belt on the transmission mechanism.
进一步的，所述推手组件包括电机齿轮组件、齿条、导向机构、光耦以及推动件。Further, the push handle assembly includes a motor gear assembly, a rack, a guide mechanism, an optical coupler, and a pusher.
进一步的，所述勾手组件包括电机齿轮组件、齿条、导向机构、光耦、连接壁以及勾手。Further, the hook assembly includes a motor gear assembly, a rack, a guide mechanism, an optical coupler, a connecting wall and a hook.
进一步的，所述勾手上设置有扭簧结构，所述勾手通过扭簧结构与连接壁活动连接。Further, the hook is provided with a torsion spring structure, and the hook is movably connected with the connecting wall through the torsion spring structure.
进一步的，所述输送组件上设置有阻挡组件，所述阻挡组件包括电机部件、光耦、导向机构、安装座以及偏心轮，所述偏心轮上设置有与阻挡片连接的连接杆。Further, a blocking assembly is provided on the conveying assembly, and the blocking assembly includes a motor component, an optical coupler, a guide mechanism, a mounting base and an eccentric wheel, and a connecting rod connected to the blocking sheet is provided on the eccentric wheel.
进一步的，所述限位组件包括马达组件、挡片、支架以及光耦。Further, the limit assembly includes a motor assembly, a blocking plate, a bracket and an optical coupler.
进一步的，所述第一机械手和第二机械手均通过运动部件与机械手组件连接。Further, both the first manipulator and the second manipulator are connected to the manipulator assembly through moving parts.
进一步的，所述第一机械手和第二机械手位于机械手组件主体部分的两侧，所述第一机械手和第二机械手上均包括马达部件、抓手、安装架、光耦、试管检测器以及驱动轮组。Further, the first manipulator and the second manipulator are located on both sides of the main part of the manipulator assembly, and the first manipulator and the second manipulator include motor parts, grippers, mounting brackets, optocouplers, test tube detectors and drive Round Group.
本发明的有益效果为：提供一种样本架循环流转装置，通过输送组件、双通道以及机械手组件相互配合使用，实现将流水线上的待测单试管抓取到样本架内，样本架流入检测仪器内部进行测试，当测试完成后，样本架流出检测仪器，最后将试管抓回流水线，空的样本架可继续循环使用的效果，实现了单试管流水线与检测仪器的连接，确保了单试管流水线的正常生产。The beneficial effect of the present invention is: to provide a sample rack circulation device, through the cooperative use of the conveying component, the double channel and the manipulator component, the single test tube to be tested on the assembly line can be grabbed into the sample rack, and the sample rack flows into the detection instrument The test is carried out internally. When the test is completed, the sample rack flows out of the testing instrument, and finally the test tube is caught back to the assembly line. The empty sample rack can continue to be recycled, realizing the connection between the single test tube assembly line and the testing instrument, ensuring the safety normal production.
附图说明Description of drawings
图1为本发明一种样本架循环流转装置在流水线旁边工作时的示意图。Fig. 1 is a schematic diagram of a sample rack circulation device of the present invention when it is working beside the assembly line.
图2为本发明一种样本架循环流转装置和流水线的位置示意图。Fig. 2 is a schematic diagram of the location of a sample rack circulation device and assembly line according to the present invention.
图3为本发明一种样本架循环流转装置的部分结构俯视图。Fig. 3 is a top view of a partial structure of a sample rack circulation device of the present invention.
图4为本发明一种样本架循环流转装置的样本架流转示意图。Fig. 4 is a schematic diagram of sample rack circulation in a sample rack circulation device of the present invention.
图5为本发明一种样本架循环流转装置的输送组件的部分轴测图。Fig. 5 is a partial isometric view of a transport assembly of a sample rack circulation device of the present invention.
图6为本发明一种样本架循环流转装置的横推组件的轴测图。Fig. 6 is an isometric view of a horizontal pushing assembly of a sample rack circulation device of the present invention.
图7为本发明一种样本架循环流转装置的横推组件上推手不同的轴测图。Fig. 7 is a perspective view of different upper push hands of the horizontal push assembly of a sample rack circulation device of the present invention.
图8为本发明一种样本架循环流转装置的横推组件的又一轴测图。Fig. 8 is another isometric view of a horizontal pusher assembly of a sample rack circulation device of the present invention.
图9为本发明一种样本架循环流转装置的推手组件的轴测图。Fig. 9 is a perspective view of a push handle assembly of a sample rack circulation device of the present invention.
图10为本发明一种样本架循环流转装置的勾手组件的轴测图。Fig. 10 is an isometric view of a hook assembly of a sample rack circulation device of the present invention.
图11为本发明一种样本架循环流转装置的阻挡组件的轴测图。Fig. 11 is a perspective view of a blocking assembly of a sample rack circulation device of the present invention.
图12为本发明一种样本架循环流转装置的输送线的示意图。Fig. 12 is a schematic diagram of a conveying line of a sample rack circulation device of the present invention.
图13为本发明一种样本架循环流转装置的双通道结构示意图。Fig. 13 is a schematic diagram of a dual-channel structure of a sample rack circulation device of the present invention.
图14为本发明一种样本架循环流转装置的返回通道轴测图。Fig. 14 is an isometric view of a return channel of a sample rack circulation device of the present invention.
图15为本发明一种样本架循环流转装置的限位组件轴测图。Fig. 15 is an isometric view of a limit assembly of a sample rack circulation device of the present invention.
图16为本发明一种样本架循环流转装置的机械手组件示意图。Fig. 16 is a schematic diagram of a manipulator assembly of a sample rack circulation device of the present invention.
图17为本发明一种样本架循环流转装置的机械手轴测图。Fig. 17 is an axonometric view of a manipulator of a sample rack circulation device of the present invention.
图中：1、输送组件；11、横推组件；12、推手组件；13、勾手组件；131、勾手；14、阻挡组件；15、输送线；2、双通道；21、返回通道；22、进入通道；23、限位组件；24、扫码器；3、机械手组件；31、第一机械手；32、第二机械手。In the figure: 1. Conveying component; 11. Horizontal pushing component; 12. Pushing component; 13. Hooking component; 131. Hooking component; 14. Blocking component; 15. Conveying line; 22. Access channel; 23. Limit component; 24. Scanner; 3. Manipulator component; 31. First manipulator; 32. Second manipulator.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明作进一步的详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
参考图1至图17，一种样本架循环流转装置，包括输送组件1、双通道2以及机械手组件3，所述机械手组件3上设置有用于搬运试管的第一机械手31和第二机械手32，两个机械手分别独立工作，用于分别将没有检测的试管搬运到输送组件1上，和将双通道2提供给输送组件1上完成检测的试管搬运到流水线上，所述双通道2上包括返回通道21和进入通道22，所述返回通道21用于将检测仪器检测后的试管输送到输送组件1内，所述进入通道22用于将输送组件1上没有检测的试管输送到检测仪器内进行检测，所述输送组件1上包括两条输送线15，用于传输盛放试管的样本架，所述输送组件1上设置有推动试管架的横推组件11、推手组件12以及勾手组件13，用于推动盛放试管的样本架在输送线15上运动；Referring to Figures 1 to 17, a sample rack circulation device includes a transport assembly 1, a dual channel 2, and a manipulator assembly 3, the manipulator assembly 3 is provided with a first manipulator 31 and a second manipulator 32 for handling test tubes, The two manipulators work independently, and are used to transport the untested test tubes to the conveying assembly 1, and transport the test tubes that have been tested on the conveying assembly 1 to the assembly line through the dual channel 2, and the dual channel 2 includes return Channel 21 and entry channel 22, the return channel 21 is used to transport the test tubes detected by the detection instrument into the delivery assembly 1, and the entry channel 22 is used to transport the test tubes not detected on the delivery assembly 1 to the detection instrument for For detection, the conveying assembly 1 includes two conveying lines 15 for transferring sample racks containing test tubes, and the conveying assembly 1 is provided with a pusher assembly 11 for pushing the test tube rack, a pusher assembly 12 and a hook assembly 13 , for pushing the sample rack holding the test tube to move on the conveying line 15;
所述第一机械手31和第二机械手32位于输送组件1和双通道2上方，用于搬运其上的试管；The first manipulator 31 and the second manipulator 32 are located above the conveying assembly 1 and the dual channel 2, and are used to carry the test tubes thereon;
所述横推组件11位于输送组件1的输送线15的端部，所述推手组件12和勾手组件13位置相对应，所述推手组件12和勾手组件13也位于输送组件1的输送线15的端部，用于推动盛放试管的样本架在输送线15上运动；The horizontal pushing assembly 11 is located at the end of the conveying line 15 of the conveying assembly 1, the position of the push handle assembly 12 and the hook assembly 13 are corresponding, and the push handle assembly 12 and the hook assembly 13 are also located on the conveying line of the conveying assembly 1 The end of 15 is used to push the sample rack holding the test tube to move on the conveying line 15;
所述返回通道21和进入通道22上均设置有限位组件23和扫码器24，用于将其上盛放试管的样本架定位，然后对样本架上的试管进行扫描获得相应的信息，所述限位组件23位于返回通道21和进入通道22端部。Both the return passage 21 and the entry passage 22 are provided with a limit assembly 23 and a code scanner 24, which are used to position the sample rack containing the test tubes on it, and then scan the test tubes on the sample rack to obtain corresponding information. The limiting assembly 23 is located at the ends of the return passage 21 and the entry passage 22 .
所述横推组件11的数量多于一个，其中一个所述横推组件11连接输送组件1上两个输送线15的端部，其中一个所述横推组件11位于输送组件1的其中一个输送线15端部，用于确保盛放试管的样本架在输送线15上正常运动，且与返回通道21位置相对应，用于在样本架从双通道2进入输送线1前对样本架上的试管扫描；其中一个所述横推组件11位于输送组件1的另一个输送线15端部，且与进入通道22位置相对应，用于在样本架从输送线1进入双通道2前对样本架进行扫描。The number of said pusher assemblies 11 is more than one, and one of said pusher assemblies 11 is connected to the ends of two conveying lines 15 on the conveying assembly 1, and one of said pusher assemblies 11 is located on one of the conveying assemblies 1. The end of the line 15 is used to ensure the normal movement of the sample rack containing the test tube on the conveying line 15, and corresponds to the position of the return channel 21, and is used to check the sample rack on the sample rack before entering the conveying line 1 from the double channel 2. Test tube scanning; one of the horizontal pushing components 11 is located at the end of the other conveying line 15 of the conveying component 1, and corresponds to the position of the entry channel 22, and is used to scan the sample rack before the sample rack enters the dual channel 2 from the transport line 1 to scan.
所述横推组件11包括驱动机构、传送机构、框架、光耦、导向机构以及推手，所述驱动机构具体为电机同步轮组件，所述传送机构具体为同步带组件，所述导向机构具体为导轨组件，所述推手在不同横推组件11上的结构不完全相同，用于适应不同位置，所述推手与导向机构上的滑块连接，所述推手与传送机构上的传送带连接。The horizontal push assembly 11 includes a drive mechanism, a transmission mechanism, a frame, an optocoupler, a guide mechanism and a push handle, the drive mechanism is specifically a motor synchronous wheel assembly, the transmission mechanism is specifically a synchronous belt assembly, and the guide mechanism is specifically a As for the guide rail assembly, the structures of the push handles on different horizontal push assemblies 11 are not exactly the same, and are used to adapt to different positions. The push handles are connected with the sliders on the guide mechanism, and the push hands are connected with the conveyor belt on the transmission mechanism.
所述推手组件12包括电机齿轮组件、齿条、导向机构、光耦以及推动件。The push handle assembly 12 includes a motor gear assembly, a rack, a guide mechanism, an optical coupler and a pusher.
所述勾手组件13包括电机齿轮组件、齿条、导向机构、光耦、连接壁以及勾手131。The hook assembly 13 includes a motor gear assembly, a rack, a guide mechanism, an optical coupler, a connecting wall and a hook 131 .
所述勾手131上设置有扭簧结构，所述勾手131通过扭簧结构与连接壁活动连接。The hook 131 is provided with a torsion spring structure, and the hook 131 is movably connected with the connecting wall through the torsion spring structure.
所述输送组件1上设置有阻挡组件14，所述阻挡组件14包括电机部件、光耦、导向机构、安装座以及偏心轮，所述偏心轮上设置有与阻挡片连接的连接杆。A blocking assembly 14 is provided on the conveying assembly 1, and the blocking assembly 14 includes a motor component, an optical coupler, a guide mechanism, a mounting base and an eccentric wheel, and a connecting rod connected with the blocking plate is provided on the eccentric wheel.
所述限位组件23包括马达组件、挡片、支架以及光耦。The limiting assembly 23 includes a motor assembly, a blocking plate, a bracket and an optical coupler.
所述第一机械手31和第二机械手32均通过运动部件与机械手组件3连接。Both the first manipulator 31 and the second manipulator 32 are connected to the manipulator assembly 3 through moving parts.
所述第一机械手31和第二机械手32位于机械手组件3主体部分的两侧，所述第一机械手31和第二机械手32上均包括马达部件、抓手、安装架、光耦、试管检测器以及驱动轮组。The first manipulator 31 and the second manipulator 32 are located on both sides of the main body of the manipulator assembly 3, and the first manipulator 31 and the second manipulator 32 all include motor parts, grippers, mounting brackets, optocouplers, and test tube detectors. and drive wheels.
本发明的工作原理为：流水线上需要至少两条轨道：一条轨道运输有盛放待测试管的小车，输送至固定位置，供机械手抓取；另一条轨道的运输小车为空的，带动空的小车在固定位置等待，机械手将完成测试的试管被抓回至空小车上，然后流水线带动装有检测后试管的小车再次前进；输送组件1主要负责样本架的流转；双通道组件2主要负责与测试仪器的对接，进行样本架的交换；双机械臂组件3主要负责将流水线上的待测试管抓到样本架内及将样本架上完成测试的试管抓回至流水线。The working principle of the present invention is: at least two tracks are needed on the assembly line: one track transports the trolley containing the tubes to be tested to a fixed position for the manipulator to grab; the transport trolley on the other track is empty and drives the empty tube The trolley waits at a fixed position, and the manipulator grabs the tested test tubes back to the empty trolley, and then the assembly line drives the trolley equipped with the tested test tubes to move forward again; the transport component 1 is mainly responsible for the circulation of sample racks; Docking of test instruments and exchange of sample racks; the dual robotic arm assembly 3 is mainly responsible for grabbing the tubes to be tested on the assembly line into the sample racks and grabbing the test tubes that have been tested on the sample racks back to the assembly line.
样本架流转逻辑：如图4所示，空的样本架在位置51等待，当流水线上有待测试管时，第一机械手31将试管从流水线上抓到样本架内；装有试管的样本架由横推组件11将其由位置51推动进入通道22内，样本架在进入通道22内传输至位置位置52，此时通道限位组件23处于阻挡状态，样本架在位置52时扫码器24会进行样本架架号扫码，将试管信息与样本架绑定；当测试仪器许可后，进入通道22上的限位组件23打开，样本架在进入通道22的作用下被传输至测试仪器内部进行取样测试；完成相关测试后，样本架由测试仪器进入返回通道21内，由返回通道21传输至位置53，此时通道限位组件23处于阻挡状态，样本架在位置53时扫码器24对样本架进行样本架架号扫码，读取试管信息；进而通道限位组件23打开，由横推组件11将样本架推至位置54；由推手组件12将样本架由位置54推至输送线15上，由输送线15将其输送至位置55，此时阻挡组件14处于阻挡状态，当此处的传感器检测到样本架后，第二机械手32将样本架内的试管抓回至流水线的小车内，试管信息与样本架解绑；待抓取试管完成后，阻挡组件14下降，处于放行状态，空样本架就从位置55由输送线15输送至空样本架存储区6内排队；空样本架存储区6最前端位置56处的空样本架由横推组件11推至位置57；空样本架从位置57由推手组件12推至输送线15上，由输送线15输送至空样本架存储区7内排队；位置51处和位置56处的样本架被推走后，存储区内排队的空样本架会补上。Sample rack circulation logic: As shown in Figure 4, an empty sample rack is waiting at position 51. When there are test tubes on the assembly line, the first manipulator 31 grabs the test tubes from the assembly line into the sample rack; The horizontal pushing component 11 pushes it from the position 51 into the channel 22, and the sample rack is transported to the position 52 in the entering channel 22. At this time, the channel limit component 23 is in a blocking state, and when the sample rack is at the position 52, the code scanner 24 will Scan the code of the sample rack number to bind the test tube information with the sample rack; when the test instrument permits, the limit assembly 23 on the access channel 22 is opened, and the sample rack is transmitted to the inside of the test instrument under the action of the access channel 22 for further testing. Sampling test: After the relevant tests are completed, the sample rack enters the return channel 21 from the test instrument, and is transported to the position 53 by the return channel 21. At this time, the channel limit assembly 23 is in a blocking state, and when the sample rack is at position 53, the scanner 24 pairs The sample rack scans the code of the rack number to read the test tube information; then the channel limit assembly 23 is opened, and the sample rack is pushed to position 54 by the horizontal push assembly 11; the sample rack is pushed from position 54 to the conveying line by the push handle assembly 12 15, it is transported to the position 55 by the conveying line 15. At this time, the blocking assembly 14 is in the blocking state. When the sensor here detects the sample rack, the second manipulator 32 grabs the test tube in the sample rack back to the trolley of the assembly line Inside, the test tube information is unbound from the sample rack; after the grabbing of the test tube is completed, the blocking assembly 14 descends and is in the release state, and the empty sample rack is transported from the position 55 to the empty sample rack storage area 6 by the conveying line 15; The empty sample rack at the frontmost position 56 of the rack storage area 6 is pushed to the position 57 by the horizontal push assembly 11; the empty sample rack is pushed from the position 57 to the conveying line 15 by the push handle assembly 12, and is transported to the empty sample rack by the conveying line 15 for storage. Queue in zone 7; after the sample racks at positions 51 and 56 are pushed away, the empty sample racks queued in the storage area will be replenished.
如图6所示，横推组件11的推手上安装了扭簧结构，样本架只能按照一个方向流入，不受阻挡。As shown in FIG. 6 , a torsion spring structure is installed on the push handle of the horizontal push assembly 11 , and the sample rack can only flow in one direction without being blocked.
如图7所示，横推组件11的推手的另一种结构。As shown in FIG. 7 , another structure of the push handle of the horizontal push assembly 11 .
如图9所示，推手组件12推样本架的运动是通过齿轮齿条与直线导轨的形式来实现的直线运动。As shown in FIG. 9 , the movement of the pusher assembly 12 to push the sample rack is a linear movement realized in the form of a rack and pinion and a linear guide.
如图10所示，勾手组件13勾样本架的运动是通过齿轮齿条与直线导轨的形式来实现的直线运动。勾手131上安装了扭簧结构，样本架可按一个方向流入，不受阻挡，当样本架流过勾手131后，而其后无其它样本架排队跟随时，勾手131可将样本架勾至位置56或位置51。As shown in FIG. 10 , the movement of the hook assembly 13 to hook the sample rack is a linear movement realized in the form of a rack and pinion and a linear guide rail. The torsion spring structure is installed on the hook 131, and the sample rack can flow in in one direction without being blocked. When the sample rack flows through the hook 131, and there is no other sample rack queuing up to follow, the hook 131 can move the sample rack Tick to position 56 or position 51.
如图11所示，阻挡组件14处于阻挡状态，样本架无法通过；处于放行状态，样本架可通过。As shown in FIG. 11 , the blocking component 14 is in the blocking state, and the sample rack cannot pass through; in the releasing state, the sample rack can pass through.
意外断电后的样本架自复位与试管清理：重新上电后第一机械手31和第二机械手32先复位上抬至最高点，并判断抓手上是否有试管；其余电机进行复位；如第一机械手31的抓手上有试管，将试管抓到流水线的小车上；所有带试管的样本架按顺序流转至位置55，第二机械手32的抓手将试管抓回至流水线的小车上；当传感器长时间检测到样本架后，即空样本架存储区52已满，说明样本架全部回收完成，然后再次工作。Sample rack self-reset and test tube cleaning after accidental power failure: after power on again, the first manipulator 31 and the second manipulator 32 first reset and lift to the highest point, and judge whether there is a test tube on the gripper; the rest of the motors are reset; There are test tubes on the gripper of a manipulator 31, and the test tubes are caught on the dolly of the assembly line; all sample racks with test tubes flow to position 55 in sequence, and the gripper of the second manipulator 32 grabs the test tubes back to the dolly of the assembly line; After the sensor detects the sample rack for a long time, that is, the empty sample rack storage area 52 is full, indicating that all the sample racks have been recovered, and then work again.
上述实施例用于对本发明作进一步的说明，但并不将本发明局限于这些具体实施方式。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应理解为在本发明的保护范围之内。The above examples are used to further illustrate the present invention, but do not limit the present invention to these specific implementations. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be understood as falling within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310733407.4ACN116674975A (en) | 2023-06-20 | 2023-06-20 | Sample frame circulation device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310733407.4ACN116674975A (en) | 2023-06-20 | 2023-06-20 | Sample frame circulation device |
| Publication Number | Publication Date |
|---|---|
| CN116674975Atrue CN116674975A (en) | 2023-09-01 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310733407.4APendingCN116674975A (en) | 2023-06-20 | 2023-06-20 | Sample frame circulation device |
| Country | Link |
|---|---|
| CN (1) | CN116674975A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100300831A1 (en)* | 2007-11-30 | 2010-12-02 | Gianandrea Pedrazzini | System for automatically identifying, conveying and addressing biological material specimens |
| CN207417850U (en)* | 2017-09-29 | 2018-05-29 | 深圳市新产业生物医学工程股份有限公司 | Transmit blocking mechanism, sample frame conveying device, sample rack loading system and chemiluminescence detector |
| CN110182586A (en)* | 2019-05-22 | 2019-08-30 | 中山市创艺生化工程有限公司 | Transfer conveying device for test tube rack |
| CN110456092A (en)* | 2019-10-11 | 2019-11-15 | 潍坊市康华生物技术有限公司 | A kind of sample rack conveying device |
| CN113023351A (en)* | 2021-04-14 | 2021-06-25 | 长春赛诺迈德医学技术有限责任公司 | Assembly line interface device |
| CN113687090A (en)* | 2021-08-24 | 2021-11-23 | 长春赛诺迈德医学技术有限责任公司 | Assembly line interface module and full-automatic analyzer |
| CN114264829A (en)* | 2021-11-09 | 2022-04-01 | 北京胡曼智造科技有限责任公司 | A sample rack connecting rail conveying device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100300831A1 (en)* | 2007-11-30 | 2010-12-02 | Gianandrea Pedrazzini | System for automatically identifying, conveying and addressing biological material specimens |
| CN207417850U (en)* | 2017-09-29 | 2018-05-29 | 深圳市新产业生物医学工程股份有限公司 | Transmit blocking mechanism, sample frame conveying device, sample rack loading system and chemiluminescence detector |
| CN110182586A (en)* | 2019-05-22 | 2019-08-30 | 中山市创艺生化工程有限公司 | Transfer conveying device for test tube rack |
| CN110456092A (en)* | 2019-10-11 | 2019-11-15 | 潍坊市康华生物技术有限公司 | A kind of sample rack conveying device |
| CN113023351A (en)* | 2021-04-14 | 2021-06-25 | 长春赛诺迈德医学技术有限责任公司 | Assembly line interface device |
| CN113687090A (en)* | 2021-08-24 | 2021-11-23 | 长春赛诺迈德医学技术有限责任公司 | Assembly line interface module and full-automatic analyzer |
| CN114264829A (en)* | 2021-11-09 | 2022-04-01 | 北京胡曼智造科技有限责任公司 | A sample rack connecting rail conveying device |
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