CN112147355A

CN112147355A - Test tube screening device and method, sample analysis system and storage medium

Info

Publication number: CN112147355A
Application number: CN201910789416.9A
Authority: CN
Inventors: 王长星; 张军伟
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority date: 2019-06-28
Filing date: 2019-08-26
Publication date: 2020-12-29
Anticipated expiration: 2039-08-26
Also published as: CN112147355B; CN211402410U

Abstract

The application discloses a test tube screening device and method, a sample analysis system and a computer readable storage medium. The test tube screening device comprises a first test tube rack, a second test tube rack and a third test tube rack, wherein test tubes to be classified are loaded with test tube bar codes; the gripping mechanism is used for gripping and moving the test tubes to be classified; the rotary driving mechanism is connected with the grabbing mechanism and drives the grabbing mechanism to rotate around the vertical axis of the grabbing mechanism; the vertical driving mechanism is connected with the grabbing mechanism and drives the grabbing mechanism to move along the vertical direction; the scanner is arranged adjacent to the grabbing mechanism and is used for scanning and identifying the test tube bar code; the first support is used for installing the grabbing mechanism, the rotary driving mechanism, the vertical driving mechanism and the scanner; the horizontal driving mechanism is connected with the first bracket and drives the first bracket to move along the horizontal direction; and the controller is configured to control the actions of the grabbing mechanism, the rotary driving mechanism, the horizontal driving mechanism, the vertical driving mechanism and the scanner and classify the test tubes to be classified according to the bar code information of the test tube bar codes.

Description

Test tube screening device and method, sample analysis system and storage medium

Technical Field

The present application relates to the field of medical device technology, and in particular, to a tube screening apparatus, a sample analysis system, a tube screening method, and a computer-readable storage medium.

Background

With the increasing level of medical examination, various tests are becoming important indicators for diagnosing and treating diseases. Due to the numerous samples collected and the various detection items of the samples, an automatic pipeline analysis mode is basically adopted for the analysis and detection of the samples.

However, in the conventional sample analysis system (sample analysis pipeline), the test tubes containing samples (such as blood samples) are generally randomly collected, and the test tubes for different types of test items are mixed together and placed, resulting in low test efficiency. Therefore, it is necessary to perform continuous detection on these samples by collectively placing test tubes of the same type of detection items in the same test tube rack, so as to improve the detection efficiency, reduce the output time of detection reports, and save the reagent usage. However, the manual test tube sorting is not only complicated in operation, but also prone to errors and low in efficiency.

Disclosure of Invention

In view of the above, the present application provides a test tube screening apparatus and method, a sample analysis system and a computer readable storage medium to solve the above problems.

In a first aspect, an embodiment of the present application provides a test tube screening apparatus, including:

the test tube sorting system comprises a first test tube rack, a second test tube rack and a sorting device, wherein the first test tube rack is used for loading test tubes to be sorted, and test tube bar codes are arranged on the test tubes to be sorted;

the grabbing mechanism is used for grabbing the test tubes to be classified from the first test tube rack;

the rotary driving mechanism is connected with the grabbing mechanism and is used for driving the grabbing mechanism to rotate around a vertical axis of the grabbing mechanism together with the test tube to be classified grabbed by the grabbing mechanism;

the vertical driving mechanism is connected with the grabbing mechanism and is used for driving the grabbing mechanism to move along the vertical direction together with the test tubes to be classified grabbed by the grabbing mechanism;

the scanner is arranged adjacent to the grabbing mechanism and used for scanning and identifying the test tube bar codes of the test tubes to be classified, grabbed by the grabbing mechanism, in a scanning area of the scanner;

a first bracket for mounting the grasping mechanism, the rotary drive mechanism, the vertical drive mechanism, and the scanner;

a horizontal driving mechanism connected with the first support and used for driving the first support to move along a horizontal direction together with the grabbing mechanism, the rotary driving mechanism, the vertical driving mechanism and the scanner which are installed on the first support;

the controller is configured to be electrically connected with the grabbing mechanism, the rotary driving mechanism, the vertical driving mechanism, the scanner and the horizontal driving mechanism so as to control the actions of the grabbing mechanism, the rotary driving mechanism, the vertical driving mechanism, the scanner and the horizontal driving mechanism, wherein the controller is configured to classify the test tubes to be classified according to the bar code information of the test tube bar codes of the test tubes to be classified, which is identified by the scanner. .

In a second aspect, the embodiment of the present application provides a sample analysis system, including sample analyzer, second test-tube rack, above-mentioned test tube sieving mechanism and conveyor, the second test-tube rack is used for loading the test tube that waits that test tube sieving mechanism screened, the sample analyzer is used for detecting and analyzing the sample that waits to detect in waiting to detect the test tube on the second test-tube rack, conveyor is used for with the second test-tube rack is transported the sample analyzer detects.

In a third aspect, an embodiment of the present application provides a test tube screening method, including the following steps:

(a) controlling a vertical driving mechanism to drive a grabbing mechanism to move along the vertical direction to a first test tube rack capable of loading test tubes to be classified;

(b) controlling the grabbing mechanism to grab one test tube to be classified from the first test tube rack;

(c) controlling the vertical driving mechanism to drive the grabbing mechanism and the test tubes to be classified grabbed by the grabbing mechanism to move away from the first test tube rack along the vertical direction until reaching a scanning area of a scanner;

(d) controlling a rotary driving mechanism to drive the grabbing mechanism and the test tubes to be classified grabbed by the grabbing mechanism to rotate around the vertical axis of the grabbing mechanism;

(e) controlling the scanner to scan test tube bar codes arranged on the test tubes to be classified and grabbed by the grabbing mechanism when the grabbing mechanism and the test tubes to be classified grabbed by the grabbing mechanism rotate around the vertical axis of the grabbing mechanism, and identifying bar code information of the test tube bar codes; and

(f) and controlling the grabbing mechanism to convey the grabbed test tubes to be classified to a second test tube rack corresponding to the bar code information and loosen the test tubes to be classified according to the bar code information of the test tube bar codes.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing computer-executable instructions that, when executed by a processor of a tube sorting apparatus, cause the tube sorting apparatus to perform a tube sorting method as described above.

The application provides a test tube screening device and method, sample analysis system and computer readable storage medium, through will snatch mechanism, rotary driving mechanism, vertical driving mechanism and scanner set up on first support just the scanner with snatch the adjacent setting of mechanism, therefore the scanner can with snatch the mechanism synchronous horizontal migration under horizontal driving mechanism's drive to snatch the mechanism and needn't all will wait to classify the test tube and remove fixed setting in assigned position's scanner department along the horizontal direction at every turn and scan the operation, but snatch the mechanism and can take the test tube of waiting to classify and carry out the scanning operation by the scanner that sets up in the mechanism next door immediately after first test tube rack along the vertical direction, shortened the displacement of waiting to classify the test tube, and then improved the screening efficiency of treating the categorised test tube, and convenient operation.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a simplified schematic diagram of a sample analysis system provided in an embodiment of the present application.

Fig. 2 is a schematic perspective view of the test tube screening apparatus of fig. 1.

Fig. 3 is a schematic perspective view of the rotary drive mechanism and the grasping mechanism of the test tube sorting apparatus in fig. 2.

Fig. 4 is a partial schematic view of the gripping mechanism of the test tube sorting device of fig. 3 in a first operating state.

Fig. 5 is a partial schematic view of the gripping mechanism of the test tube sorting device of fig. 3 in a second operating state.

Fig. 6 is a partial schematic view of the gripping mechanism of the test tube sorting device of fig. 3 in a third operating state.

Fig. 7 is a schematic perspective view of the first horizontal driving mechanism, the vertical driving mechanism, and the grasping mechanism of the test tube sorting apparatus in fig. 2.

Fig. 8 is a schematic perspective view of a second horizontal driving mechanism of the test tube sorting apparatus of fig. 2.

Fig. 9 is a schematic perspective view of the vertical drive mechanism, the rotary drive mechanism, and the grasping mechanism of the test tube sorting apparatus in fig. 2.

Fig. 10 is a flowchart of a tube screening method according to an embodiment of the present application.

FIG. 11 is a flow chart of a tube screening method according to another embodiment of the present application.

FIG. 12 is a flow chart of a tube screening method according to another embodiment of the present application.

FIG. 13 is a flow chart of a tube screening method according to another embodiment of the present application.

Fig. 14 is a partial structural schematic diagram of a test tube screening apparatus according to an embodiment of the present application.

Fig. 15 is a schematic structural view of a test tube gripping device of the test tube sorting device of fig. 14.

Fig. 16 is an exploded schematic view of the test tube gripping device of fig. 15.

Fig. 17 is a view showing the positional relationship between the first central symmetry plane of the first and second air jaws and the second central symmetry plane of the holding jaws of the test tube gripping device of fig. 15.

Fig. 18 is a schematic view of the first tube rack and the jaws of the tube gripping device of fig. 15 in a state where the jaws are closed.

Fig. 19 is a structural schematic view of the first test tube rack and the jaws of the test tube gripping device in fig. 15 in an open state of the jaws.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is understood that the terminology used in the description and claims of the present application and the accompanying drawings is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. The singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The term "comprises" and any variations thereof is intended to cover non-exclusive inclusions. Further, the present application may be embodied in many different forms and is not limited to the embodiments described in the present embodiment. The following detailed description is provided for the purpose of providing a more thorough understanding of the present disclosure, and the terms upper, lower, left, right, front, rear, inner, outer, and the like are used for designating the orientation solely for the illustrated structure as it may be positioned in the corresponding drawings. In the description of the present application, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed at … …" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

While the specification concludes with claims describing preferred embodiments of the present application, it is to be understood that the above description is made only for the purpose of illustrating the general principles of the present application and is not intended to limit the scope of the present application. The protection scope of the present application shall be subject to the definitions of the appended claims.

Referring to fig. 1 and fig. 2 together, fig. 1 is a simplified schematic diagram of a sample analysis system 1000 according to an embodiment of the present disclosure, and fig. 2 is a schematic perspective view of a test tube screening apparatus 100 according to an embodiment of the present disclosure. The sample analysis system 1000 (also referred to herein as a sample testing line) includes a test tube screening apparatus 100, a sample analyzer 200, a second test tube rack 300, and a conveyance apparatus 400. The test tube screening device 100 is used for screening test tubes to be tested corresponding to the sample analyzer 200, the second test tube rack 200 is used for loading the test tubes to be tested screened by the test tube screening device, the sample analyzer 200 is used for detecting and analyzing samples to be tested in the test tubes to be tested on the second test tube rack 200, and the conveying device 400 is used for conveying the second test tube rack 300 to the corresponding sample analyzer 200 for detection. The conveyor 400 is, for example, but not limited to, a belt drive, a gear drive, or a chain drive. The sample to be detected is, for example, but not limited to, a blood sample or a urine sample. The sample analyzer 200 includes, but is not limited to, at least one of a blood cell analyzer, a C-reactive protein analyzer, a slide analyzer, and a glycation analyzer, and other analyzers for detecting components such as blood samples or urine samples are suitable for use in the present application. Preferably, the sample analyzer 200 may include a blood cell analyzer, a C-reactive protein analyzer, and a glycation analyzer, which are sequentially disposed along a transport direction of the transport device 400, and the test tube sorting device 100 is disposed between the C-reactive protein analyzer and the glycation analyzer.

In the present embodiment, the test tube sorting apparatus 100 includes the first test tube rack 11, the grasping mechanism 201, the rotational driving mechanism 202, the horizontal driving mechanism 301, the vertical driving mechanism 302, the scanner 4, the first rack 51, and the controller 6. The first test tube rack 11 is used for loading test tubes 10 to be classified, and test tube bar codes 103 are arranged on the test tubes 10 to be classified. The grasping mechanism 201 is used to grasp the test tube 10 to be sorted from the first test tube rack 11. The rotary drive 202 is connected to the gripping mechanism 201 and is used to drive the gripping mechanism 201 to rotate about its vertical axis, in particular to drive the gripping mechanism 201 with the test tubes 10 to be sorted gripped by it to rotate about its vertical axis. The vertical driving mechanism 302 is connected to the gripping mechanism 201 and is used for driving the gripping mechanism 201 to move along the vertical direction Z together with the test tube to be sorted gripped by the gripping mechanism. The scanner 4 is disposed adjacent to the grasping mechanism 201 and is used to scan and identify, in its scanning area, the tube barcode 103 of the tube 10 to be sorted grasped by the grasping mechanism 201. The first bracket 51 is used to mount the grasping mechanism 201, the rotary drive mechanism 202, the vertical drive mechanism 302, and the scanner 4. The horizontal driving mechanism 301 is connected to the first carriage 51 and is used to drive the first carriage 51 together with the grasping mechanism 201, the rotary driving mechanism 202, the vertical driving mechanism 302, and the scanner 4 mounted on the first carriage 51 to move in the horizontal direction X/Y. The controller 6 is configured to be electrically connected to the grasping mechanism 201, the rotational driving mechanism 202, the horizontal driving mechanism 301, the vertical driving mechanism 302, and the scanner 4, to control the actions of the grasping mechanism 201, the rotational driving mechanism 202, the horizontal driving mechanism 301, the vertical driving mechanism 302, and the scanner 4. The controller 6 is also configured to classify the test tube 10 to be classified according to the barcode information of the test tube barcode 103 of the test tube 10 to be classified, which is recognized by the scanner 4.

In this way, the test tube sorting apparatus 100 of the present application arranges the gripping mechanism 201, the rotary driving mechanism 202, the vertical driving mechanism 302 and the scanner 4 on the first rack 51, and the scanner 4 is arranged adjacent to the gripping mechanism 201, so that the controller 6 can control the horizontal driving mechanism 301 to drive the first rack 51 together with the gripping mechanism 201, the rotary driving mechanism 202, the vertical driving mechanism 302 and the scanner 4 mounted on the first rack 51 to move in the horizontal direction, that is, the scanner 4 can move horizontally in synchronization with the gripping mechanism 201, so that the gripping mechanism 201 does not have to move the test tube 10 to be sorted in the horizontal direction to the scanner fixedly arranged at a designated position every time for scanning operation, but the gripping mechanism 201 can carry the test tube 10 to be sorted away from the first test tube rack 11 in the vertical direction Z and immediately before the scanning operation is carried out by the scanner 4 arranged beside the gripping mechanism 201, the moving distance of the test tubes 10 to be classified is shortened, the screening efficiency of the test tubes 10 to be classified is improved, and the operation is convenient.

In some embodiments, the controller 6 may be configured to: according to the bar code information of the test tube bar code 103, the horizontal driving mechanism 301 and/or the vertical driving mechanism 302 are controlled to drive the grabbing mechanism 201 to move along the horizontal direction X/Y and/or the vertical direction Z together with the test tube 10 to be classified grabbed by the grabbing mechanism to the second test tube rack 300 corresponding to the bar code information.

The second test tube rack 300 is movable relative to the first test tube rack 11, for example.

Specifically, the controller 6 may be configured to:

controlling the vertical driving mechanism 302 to drive the grabbing mechanism 201 to move to the position of the test tube 10 to be classified on the first test tube rack 11 along the vertical direction Z;

controlling the gripping mechanism 201 to grip one test tube 10 to be classified from the first test tube rack 11;

controlling the vertical driving mechanism 302 to drive the gripping mechanism 201 and the test tube 10 to be classified gripped by the gripping mechanism to move away from the first test tube rack 11 along the vertical direction Z to the scanning area of the scanner 4;

controlling the rotary driving mechanism 202 to drive the gripping mechanism 201 to rotate around the vertical axis thereof together with the test tube 10 to be sorted gripped by the gripping mechanism;

controlling the scanner 4 to scan the test tube barcode of the test tube 10 to be sorted and identify barcode information of the test tube barcode 103 when the grasping mechanism 201 rotates about its vertical axis together with the test tube 10 to be sorted grasped by it, so as to transmit the identified barcode information to the controller 6; and

according to the bar code information of the test tube bar code 103, the horizontal driving mechanism 301 and/or the vertical driving mechanism 302 are controlled to drive the grabbing mechanism 201 to move along the horizontal direction X/Y and/or the vertical direction Z together with the test tube 10 to be classified grabbed by the grabbing mechanism to the second test tube rack 300 corresponding to the bar code information.

Preferably, as shown in fig. 2, the scanner 4 is fixedly mounted on the first support 51, and the grasping mechanism 201 is movably mounted on the first support 51 along the vertical direction Z, with the scanner 4 and the grasping mechanism 201 being located on the same side of the first support 51. More preferably, the scanning area of the scanner 4 is set on the path of the movement of the grasping mechanism 201 in the vertical direction Z.

As shown in fig. 2, the first test tube rack 11 is placed on the table 1, and the first test tube rack 11 is provided with a plurality of test tube holes 111 for accommodating the test tubes 10. The first test tube rack 11 is used for temporarily storing test tubes 10 to be classified. In which test tubes 10 having different types of test items can be randomly placed in the test tube holes 111 of the first test tube rack 11. In some embodiments, the first tube rack 11 is fixedly provided on the table 1 to prevent the grasping mechanism 201 from damaging the test tube 10 due to the displacement of the position of the first tube rack 11 during grasping the test tube 10. Optionally, first test-tube rack 11 detachably sets up on workstation 1 to make things convenient for test tube sieving mechanism 100 to change automatically next batch and accomodate the first test-tube rack 11 of waiting to classify test tube 10. For example, the controller 6 may control the first tube rack 11 to move into or out of the working table 1 by a driving motor (not shown) to further improve the screening efficiency of the tubes 10 to be sorted.

In one embodiment, the second tube rack 300 is disposed adjacent to the first tube rack 11. In other embodiments, the second tube rack 300 is provided separately from the first tube rack 11. The number of the second tube racks 300 may include one or more. Each of the second test tube racks 300 may be placed with pre-test tubes 10 having the same type of test items. In some embodiments, a plurality of second tube racks 300 may be arranged in parallel, and thus, each row of second tube racks 300 may be used to receive pre-test tubes of different types of test items, thereby improving the screening efficiency of the test tubes 10 to be sorted. Alternatively, when the sample analysis system 1000 has only a single transport channel, a different second tube rack 300 may be transported through the single transport channel to a corresponding sample analyzer 200 on the sample analysis system 1000 for testing. When the sample analysis system 1000 has multiple transport channels, different second racks 300 may be transported to the corresponding sample analyzers 200 on the sample analysis system 1000 for testing through different transport channels.

As shown in fig. 2, the test tube 10 includes a test tube body 101 and a test tube cap 102 that are fitted to each other. Test tube bar code 103 sets up in the lateral wall of test tube body 101 to make things convenient for scanner 4 to scan the discernment. The cuvette body 101 is used to contain a sample. The barcode information stored in the test tube barcode 103 includes the detection type of the sample to be detected. Examples of the type of the sample to be detected include, but are not limited to, conventional blood test, C-reactive protein (CRP) test, glycated hemoglobin test, and the like. In some embodiments, the barcode information of the tube barcode 103 may also include identification information of the sample analyzer 200 to which the sample analysis system 1000 corresponds. The identification information includes, but is not limited to, at least one of a brand, a specification, a model, a place of manufacture, and a product code of the sample analyzer 200. The test tube barcode 103 may be a barcode, a two-dimensional code, a radio frequency tag, or the like.

In some embodiments, the outer diameter of the vial cap 102 is greater than the outer diameter of the vial body 101. The outer diameter of the cuvette body 101 is designed according to the actual situation. The cross section of the cuvette body 101 is substantially circular. The outer diameter specification and shape change of the test tube cap 102 can be flexibly set so that the grasping mechanism can grasp the test tube 10 more reliably. In addition, the length of the test tube body 101 is greater than the depth of the test tube hole 111, so that the test tube body 101 is partially exposed out of the test tube hole 111 of the first test tube rack 11, and particularly, the test tube cap 102 is exposed out of the test tube hole 111 of the first test tube rack 11, so that the clamping mechanism 2 clamps the test tube 10.

Referring also to fig. 3-6, the gripper mechanism 201 may be configured as a pneumatic gripper mechanism 22, the pneumatic gripper mechanism 22 including a pneumatic gripper 220 and a cylinder 222 connected thereto. The air cylinder 222 is used for driving the air claw 220 to clamp or release the test tube 10 to be classified. In addition, the air gripper grasping mechanism 22 may further include an air cylinder fixing bracket 221 that fixes the air cylinder 222.

It is understood that the grasping mechanism 201 may be configured as a mechanical grasping mechanism, an electric grasping mechanism, or a hydraulic grasping mechanism, but the present application is not limited thereto.

In some embodiments, the gas claw 220 includes opposing first and

second gas claws

223 and 224 coupled to a cylinder 222. The air cylinder 222 is used for driving the first air claw 223 and the second air claw 224 to move close to or away from each other so as to clamp or release the test tube 10 to be sorted.

Specifically, in some embodiments, at least one clamping jaw 21 may be fixed on each of the first pneumatic claw 223 and the second pneumatic claw 224, at least one of the first pneumatic claw 223 and the second pneumatic claw 224 may be movably connected to the air cylinder 222, and the air cylinder 222 is configured to drive the first pneumatic claw 223 and the second pneumatic claw 224 to move toward or away from each other, so that the corresponding clamping jaw 21 fixed on the first pneumatic claw 223 and the second pneumatic claw 224 moves toward or away from each other, so as to clamp or release the test tube 10 to be sorted.

In some embodiments, each jaw 21 includes opposing free ends 211 and connected ends 212. In order to enhance the reliability of clamping jaws 21 in gripping test tube body 101, free end 211 of each clamping jaw 21 is provided with a chuck 213 for clamping test tube body 101, so as to realize the gripping operation of chuck 213 of clamping jaw 21 on test tube body 101. Each clamping jaw 21 is substantially L-shaped, and a space 214 is formed on a side of each clamping jaw 21 close to chuck 213, so as to prevent clamping jaw 21 from interfering with test tube cap 102. In this embodiment, two clamping jaws 21 may be fixed to the first gas jaw 223 and the second gas jaw 224, respectively. In other embodiments, one or three clamping jaws 21 may be fixed on the first air gripper 223 and the second air gripper 224 respectively.

It will be appreciated that, since the outer diameter of test tube cap 102 is greater than the outer diameter of test tube body 101, test tube cap 102 can be stopped by catches 213 of jaws 21, so that the risk of test tube 10 disengaging from jaws 21 can be avoided even when grips 213 are not gripping test tube body 101.

In some embodiments, the rotary drive mechanism 202 may omit several jaws 21, i.e. it may be used to drive a first air jaw 223 and a second air jaw 224 by means of an air cylinder 222 to clamp or unclamp the test tube 10 to be sorted. For example, a bayonet (not shown) for clipping the test tube 10 to be sorted is provided between the first air gripper 223 and the second air gripper 224. The bayonet is approximately semicircular. Wherein the bayonet is configured in a shape matched with the outer shape of the test tube 10 to be sorted to increase the contact area of the first and

second air jaws

223 and 224 with the test tube 10 to be sorted, thereby improving the reliability of the first and

second air jaws

223 and 224 in clamping the test tube 10 to be sorted.

Furthermore, in some embodiments, as shown in fig. 6, the cylinder 222 includes a cylinder 2221 and an expansion rod 2223 movably connected to the cylinder 2221. The cylinder 222 is a one-way telescopic cylinder. When the telescopic bar 2223 is retracted into the cylinder 2221 of the cylinder 222, the first air gripper 223 moves toward the direction close to the second air gripper 224 to drive the clamping jaw 21 to clamp the test tube 10; when the telescopic bar 2223 is extended out of the cylinder 2221 of the cylinder 222, the first air jaw 223 moves away from the second air jaw 224 to drive the clamping jaws 21 to release the test tube 10.

In some embodiments, the cylinder 222 may also be a bi-directional telescopic cylinder. When the telescopic bar 2223 is retracted into the cylinder 2221 of the cylinder 222, the first pneumatic claw 223 and the second pneumatic claw 224 approach each other to drive the clamping jaws 21 to clamp the test tube 10; when the telescopic bar 2223 is extended out of the cylinder 2221 of the cylinder 222, the first air jaw 223 and the second air jaw 224 are moved away from each other to drive the gripping jaws 21 to release the test tube 10.

In some embodiments, the grasping mechanism 201 may further include a sensor 225 electrically connected to the controller 6 for detecting a state of distance between the first gas claw 223 and the second gas claw 224 and generating a corresponding electrical signal. The controller 6 is further configured to acquire an electrical signal of the sensor 225 and determine whether the first air gripper 223 and the second air gripper 224 grip the test tube 10 to be sorted based on the electrical signal.

Specifically, when the sensor 225 detects the first electric signal, the controller 6 determines that the first gas claw 223 and the second gas claw 224 are in the fully closed state based on the driving state of the cylinder 222 and the first electric signal, and determines that the first gas claw 223 and the second gas claw 224 do not clamp the test tube 10 to be sorted. When the sensor 225 detects the second electric signal, the controller 6 determines that the first air gripper 223 and the second air gripper 224 are in the semi-closed state according to the driving state of the air cylinder 222 and the second electric signal, and judges that the first air gripper 223 and the second air gripper 224 hold the test tube 10 to be sorted. In the present embodiment, when the cylinder 222 is in the non-driving state, i.e., when the cylinder 222 is not in the operating state, the first and

second gas pawls

223 and 224 are in the fully opened state. That is, when the cylinder 222 is in a driving state, i.e., when the cylinder 222 is in an operating state, the controller 6 may determine whether the first and

second gas claws

223 and 224 are in a fully closed state or a semi-closed state based on the electric signal generated by the sensor 225.

It should be noted that the completely closed state refers to a state in which the first gas claw 223 and the second gas claw 224 are closest to each other, that is, a state in which the distance between the first gas claw 223 and the second gas claw 224 is smaller than the outer diameter of the test tube body 101, as shown in fig. 4. The semi-closed state refers to a state in which the air cylinder 222 can drive the first air jaw 223 and the second air jaw 224 to approach or separate from each other, that is, a state in which the distance between the first air jaw 223 and the second air jaw 224 is substantially equal to the outer diameter of the test tube body 101, as shown in fig. 5. The fully opened state refers to a state in which the first gas claw 223 and the second gas claw 224 are farthest away from each other, that is, a state in which the distance between the first gas claw 223 and the second gas claw 224 is greater than the outer diameter of the test tube body 101, as shown in fig. 6.

The first electrical signal may be a high-level signal, and the second electrical signal may be a low-level signal. In other embodiments, the first electrical signal may be a low-level signal, and the second electrical signal may be a high-level signal.

In some embodiments, the sensor 225 may be a distance sensor. The distance sensor may be, but is not limited to, including a magnetic switch, an ultrasonic ranging sensor, a laser ranging sensor, an infrared ranging sensor, a radar sensor, and the like. In the embodiment shown in fig. 5, the sensor 225 is a magnetic switch, and if the air gripper 220 is fully closed when gripping, i.e. when the air cylinder 222 is in the driving state, the change of the electric signal of the magnetic switch is triggered, so that the controller 6 can know that the air gripper 220 does not grip the test tube 10 to be sorted.

As shown in fig. 3, in some embodiments, the rotary drive mechanism 202 may include a first motor 24 having a vertically extending first axis of rotation 241, with the grasping mechanism 201 being fixed to the first axis of rotation 241. The first motor 24 is used to drive the gripping mechanism 201 to rotate around the first rotation axis 241, so that the test tube barcode 103 of the test tube 10 to be classified, which is clamped by the gripping mechanism 201, can be reliably scanned and identified by the scanner 4. Wherein the axial direction of the first rotation shaft 241 is parallel to the vertical direction Z.

Further, the rotation drive mechanism 202 may further include a mounting frame 23 for fixing the first motor 24. The rotation drive mechanism 202 is fixed to the first bracket 51 by the mounting frame 23. The first motor 24 is fixed to the bottom of the mounting frame 23.

In some embodiments, the rotational drive mechanism 202 may further include a limit stop 25 for limiting the rotational travel of the motor 24. Specifically, in one embodiment, as shown in fig. 3, the motor 241 has a second rotation shaft 242 extending vertically opposite to the first rotation shaft 241. The limiting member 25 includes a rotation preventing block 251, a screw rod 252 and a nut 253. The screw shaft 252 is fixed to the second rotating shaft 242, and an axial direction of the screw shaft 252 is collinear with an axial direction of the second rotating shaft 242. The nut 253 may have a hollow structure.

Specifically, the rotation prevention block 251 may be fixed to the mounting frame 23 and positioned above the first motor 24. In one embodiment, the anti-rotation block 251 is fixed to the mounting frame 23 by screws. In other embodiments, the rotation-preventing block 251 can also be fixed on the mounting frame 23 by a snap, a magnetic absorption structure, or by a welding method, a sliding way and a sliding way matching manner, which is not limited herein.

The first motor 24 includes opposing first and second end surfaces 2401, 2402 (i.e., upper end surface proximate to the lead screw 252, lower end surface distal from the lead screw 252). The lead screw 252 is positioned above the first end surface 2401 of the first motor 24. The second end 2402 of the first motor 24 is attached to the bottom of the mounting frame 23. The screw 252 includes opposing upper and lower end faces 2521 and 2522. The upper end surface 2521 of the screw 252 is an end surface of the screw 252 far away from the first motor 24, and the lower end surface 2521 of the screw 252 is an end surface of the screw 252 close to the first motor 24.

The nut 253 is sleeved on the screw rod 252 and movably clamped on the anti-rotation block 251 along the screw rod 252. The rotation preventing block 251 is configured to restrict the nut 253 from rotating about the lead screw 252 by the first motor 24, and the nut is movable between the upper end surface 2401 of the first motor 24 and the upper end surface 2521 of the lead screw 252 by the first motor 24. In some embodiments, the upper end surface 2521 of the screw 252 may be particularly configured with a step to prevent the screw 253 from moving excessively upward on the screw 252.

Specifically, as shown in fig. 3, a first limit structure 2511 is disposed on one side of the rotation preventing block 251 close to the nut 253, and the nut 253 is provided with a second limit structure 2531 matched with the first limit structure 2511. The first and

second limit structures

2511 and 2531 extend parallel to the vertical direction Z to limit rotation of the nut 253 about the vertical direction Z. In this embodiment, the first limit structure 2511 may be a protrusion formed on the rotation preventing block 251, and the second limit structure 2531 may be a groove which is a through groove and is matched with the protrusion. In another embodiment, the first stop structure 2511 may be a groove formed on the anti-rotation block 251 and the second stop structure 2531 may be a protrusion that mates with the groove. Since the first limit structure 2511 of the rotation preventing block 251 is engaged with the second limit structure 2531 of the nut 253, the rotation of the nut 253 about the vertical direction Z is limited.

In use, when the first motor 24 rotates, the nut 253 moves in the vertical direction Z between the first end surface 2401 of the motor 24 and the upper end surface 2521 of the lead screw 252, and when the nut 253 moves to contact the first end surface 2401 of the first motor 24 or the upper end surface 2521 of the lead screw 252, the nut 253 stops moving and the first motor 24 stalls.

Furthermore, the test tube sorting device 100 comprises a reel 204 for housing an accessory 203 (shown in fig. 9) of said gripping mechanism 201. The spool 204 is fixed to the first rotating shaft 241 so that the spool 204 can rotate about the first rotating shaft 241 by the driving of the first motor 24. The fitting 203 may include, but is not limited to, an air tube for controlling the relative movement of the first and

second air jaws

223 and 224 and a cable for connecting the controller 6. Wherein the air tube is connected at both ends to the air cylinder 222 and the air source, respectively. In some embodiments, the trachea may be switched on or off by a valve disposed therein.

Specifically, as shown in fig. 3, the winding plate 204 is disposed on a side of the cylinder holder 221 away from the cylinder 222. The fitting 203 is wound around the first rotation shaft 241 and housed in the winding plate 204 to achieve a neat placement of the fitting 203. In this way, the air cylinder 222 can switch the positive and negative air pressures inside the first air claw 223 and the second air claw 224 through the fitting 203 to drive the first air claw 223 and the second air claw 224 or a plurality of clamping jaws 21 fixed thereon to open and close, so as to clamp and release the test tube 10 to be classified. Since the fitting 203 wound around the vertical direction Z is accommodated in the coil 226, in this embodiment, the position-limiting member 25 is provided to limit the rotational stroke of the first rotating shaft 241 of the first motor 24, so as to avoid the problem of damage to the fitting 203 due to excessive winding during the operation of the first motor 24.

In some embodiments, the rotary drive mechanism 202 further includes a positioning member 26. The positioning member 26 is used to determine the initial position of the nut 253 and thus the initial rotational angle of the gripper mechanism 201 about its vertical axis. Since the gripping mechanism 201 may affect a test tube next to the test tube by an improper angular position of rotation about its vertical axis when gripping a certain test tube on the first test tube rack 11 or when placing a certain test tube on the second test tube rack 300, especially, the free end 211 of the gripping jaw 21 may touch a test tube next to the test tube in the case where the gripping mechanism 201 has a plurality of gripping jaws 21, the gripping mechanism 201 needs to initialize the angular position of rotation before moving in the vertical direction to above the first test tube rack 11 or the second test tube rack 300 under the drive of the vertical drive mechanism, that is, the gripping mechanism 201 should move in the vertical direction to the first test tube rack 11 or the second test tube rack 300 with the correct angular position of rotation about its vertical axis or to grip a test tube or put it down.

Specifically, the positioning member 26 includes an optical coupler 261 electrically connected to the controller 6 and an optical coupler stop 262 cooperating with the optical coupler 261. The optical coupler 261 is opposite to the initial position of the nut 253, and the optical coupler stopper 262 is fixed on the nut 253 and moves synchronously with the nut 253. The controller 6 is configured to control the operation of the rotary drive mechanism 202 in accordance with an electric signal of the optical coupler 261. Wherein the optical coupler 261 is fixed on the mounting frame 23. In this embodiment, the initial position may be a preset position of the nut 253 near the upper end surface 2521 of the screw 252, but in other embodiments, the initial position may also be a preset position of the nut 253 near the first end surface 2401 of the motor 24.

Specifically, when the light coupling flapper 262 blocks the light coupling 261, the light coupling 261 generates a first electric signal and transmits it to the controller 6, and when the light coupling flapper 262 does not block the light coupling 261, the light coupling 261 generates a second electric signal and transmits it to the controller 6. In the process of initializing the position of the screw 253 on the screw 252, if the controller 6 starts to receive the second electric signal generated by the optical coupler 261, that is, the optical coupler blocking piece 262 does not block the optical coupler 261, the controller 6 controls the first motor 24 to rotate to drive the screw 253 to move upwards along the screw 252 until the optical coupler blocking piece 262 blocks the optical coupler 261, and at this moment, the controller 6 receives the first electric signal generated by the optical coupler 261 and judges that the screw 253 has reached the initial position, namely, the clamping mechanism 201 rotates to the initial rotation angle around the vertical axis thereof. However, in some embodiments, because the optical coupler stopper 262 has a certain length in the vertical direction, when starting initialization, if the controller 6 starts to receive the first electric signal generated by the optical coupler 261, that is, the optical coupler stopper 262 blocks the optical coupler 261, the controller 6 first controls the first motor 24 to rotate to drive the screw 253 to move downwards along the lead screw 252 until the optical coupler stopper 262 does not block the optical coupler 261, at this time, the controller 6 receives the second electric signal generated by the optical coupler 261, then controls the first motor 24 to rotate to drive the screw 253 to move upwards along the lead screw 252 until the optical coupler stopper 262 blocks the optical coupler 261 again, at this time, the controller 6 receives the first electric signal generated by the optical coupler 261 and judges that the screw 253 has reached the initial position, that is, the clamping mechanism 201 rotates to the initial rotation angle around its vertical axis. After initializing the angular position of the gripping mechanism 201 about its vertical axis, the controller 6 may then control the vertical driving mechanism 302 to drive the gripping mechanism 201 to grip the test tube 10 to be sorted on the first test tube rack 11 or place the test tube 10 to be sorted on the second test tube rack 300.

Referring again to fig. 2, in some embodiments, the horizontal driving mechanism 301 includes a first horizontal driving mechanism 30 and a second bracket 31. The first horizontal driving mechanism 30 is electrically connected to the controller 6 and is configured to drive the first carriage 51, together with the grasping mechanism 201, the rotary driving mechanism 202, the vertical driving mechanism 302, and the scanner 4 provided thereon, to move horizontally in a first direction X perpendicular to the vertical direction Z under the control of the controller 6. The second bracket 31 is used to mount the first bracket 51 and the first horizontal driving mechanism 30.

Referring to fig. 2 and 7, in some embodiments, the first horizontal driving mechanism 30 includes a first linear guide 32, a first sliding block 33, and a first horizontal driving motor 34. Wherein the first linear guide 32 is fixed on the second bracket 31 and extends along the first direction X. The first slider 33 is slidably disposed on the first linear guide 32 and fixedly coupled to the first bracket 51. The first horizontal driving motor 34 is fixed on the second bracket 31 and connected to the first sliding block 33 to drive the first bracket 51 to move along the first linear guide rail 32, so as to realize the movement of the grabbing mechanism 201 and the scanner 4 along the first direction X.

In some embodiments, the first horizontal driving mechanism 30 further includes a first belt 35 disposed on the second bracket 31. The first belt 35 is disposed in parallel with the first linear guide 32. The first belt 35 is connected to the rotating shaft 341 of the first horizontal driving motor 34 through a pulley 351. The first belt 35 is connected to the first slider 33 through a belt pressing piece 352, so that the first slider 33 and the first belt 35 can move synchronously.

When the first horizontal driving motor 34 works, the first belt 35 transmits the power of the first horizontal driving motor 34 to the first sliding block 33 to drive the first sliding block 33 to move along the first direction X, so that the first bracket 51, the grabbing mechanism 201, the rotary driving mechanism 202, the vertical driving mechanism 302 and the scanner 4 arranged thereon move along the first direction X.

Referring to fig. 2 and 8, in some embodiments, the horizontal driving mechanism 301 further includes a second horizontal driving mechanism 40 and a third bracket 41. The second horizontal driving mechanism 40 is electrically connected to the controller 6 and is configured to drive the second carriage 31 together with the first carriage 51 mounted thereon to move horizontally in a second direction Y perpendicular to the vertical direction Z and the first direction X under the control of the controller 6. The third bracket 41 is used for mounting the second bracket 31 and is horizontally movable in the second direction Y.

Specifically, the second horizontal driving mechanism 40 includes a second

linear guide

42 or 43 and a second horizontal driving motor 44, one end of the third bracket 41 is fixedly connected with the second bracket 31 and the other end is slidably connected to the second

linear guide

42 or 43, and the second horizontal driving motor 44 is used for driving the third bracket 41 to horizontally move on the second

linear guide

42 or 43 along the second direction Y.

In the embodiment shown in fig. 2, the second horizontal drive mechanism 40 comprises two second

linear guides

42 and 43 parallel to each other and extending in the second direction Y and comprises two vertically extending third brackets 41. One end of the two third brackets 41 is fixed to the second bracket 31, and the other end is slidably connected to the two second

linear guide rails

42 and 43, respectively, and the second horizontal driving motor 44 is configured to drive the two third brackets 41 to horizontally move on the two second

linear guide rails

42 and 43 along the second direction Y, respectively.

In addition, the second horizontal driving mechanism 40 may further include a support base 401 provided on the table 1. The supporting base 401 is opened with an opening 4011 for the second rack 300 to go in and out. The second

linear guides

42 and 43 are fixed to the support base 401. The second horizontal driving mechanism 40 further includes a belt mounting seat 45 disposed on the supporting seat 401, a second belt 461 in transmission connection with the second horizontal driving motor 44, and two third belts 462 in linkage connection with the second belt 461. The second horizontal driving motor 44 is disposed on the belt mount 45.

In this embodiment, the second belt 461 is in transmission connection with the second horizontal driving motor 44 through a first belt pulley 471 and a second belt pulley 472, wherein the first belt pulley 471 is connected with a rotating shaft of the second horizontal driving motor 44, so as to drive the second belt pulley 472 to rotate through the second belt 461. The second pulley 472 is connected to the transmission shaft 463, and the transmission shaft 463 is connected to the two third pulleys 473, so as to rotate the two third belts 462. Each of the third belts 462 is connected to the corresponding third bracket 41 by a belt presser (not shown). A second belt 461 and a second horizontal driving motor 44 are provided on the side of the support 401 opposite to the opening 4011. The two third belts 462 are disposed on the inner side of the supporting seat 401, that is, between the supporting seat 401 and the first test tube rack 11, so that the overall structure of the test tube screening apparatus 100 is more compact.

When the second horizontal driving motor 44 operates, the second belt 461 transmits the power of the second horizontal driving motor 44 to the transmission shaft 463, and the two third belts 462 are driven to rotate synchronously by the rotation of the transmission shaft 463, so that the two third brackets 41 also move synchronously, thereby realizing that the second bracket 31 and the third bracket 51 move along the second direction Y together with the grabbing mechanism 201, the rotary driving mechanism 202, the vertical driving mechanism 302 and the scanner 4 mounted thereon.

Referring to fig. 2 and 9, the vertical driving mechanism 302 includes a third linear guide 52 disposed on the first bracket 51, a second slider 53 slidably connected to the third linear guide 52, and a vertical driving motor 54 for driving the second slider 53 to slide along the third linear guide 52. The extending direction of the third linear guide 52 is parallel to the vertical direction Z. The vertical driving mechanism 302 is connected with the mounting frame 23 of the rotary driving mechanism 202 through the second slider 53, so that the vertical driving motor 54 can drive the second slider 53 to drive the rotary driving mechanism 202 and the grabbing mechanism 201 to move on the third linear guide rail 52 along the vertical direction.

Similar to the limiting member 25 of the above-mentioned rotation driving mechanism 202, the vertical driving mechanism 302 further includes a rotation preventing block 55, a lead screw 56 and a nut 57. The rotation preventing block 55 is fixed to the second slider 53. In the present embodiment, the rotation preventing block 55 is fixed to the second slider 53 by a screw 550. In other embodiments, the rotation-preventing block 55 can also be fixed on the second sliding block 53 by a snap, a magnetic absorption structure, or by a welding manner, a sliding way and a sliding way, which is not limited herein.

The nut 57 is embedded in the second slider 53, so that the nut 57 and the second slider 53 move synchronously in the vertical direction Z. Specifically, the side wall of the second slider 53 is opened with a receiving opening 531 for receiving the nut 57. The receiving opening 531 divides the second slider 53 into two opposing connecting portions 532. The rotation preventing block 55 is fixed to the two connecting portions 532 by screws 550 to restrain the nut 57 in the receiving opening 531. The connecting portion 532 of the movable member 53 further defines a through hole 533 for the screw rod 56 to pass through. The through hole 533 is communicated with the receiving hole 531. The second slider 53 is fixedly connected to the mounting frame 23 of the rotation driving mechanism 202, so that the sliding of the second slider 53 can drive the rotation driving mechanism 202 and the grasping mechanism 201 to move along the vertical direction Z.

The lead screw 56 is fixed to the rotation shaft of the vertical driving motor 54. The nut 57 has a hollow structure. The screw 57 is sleeved on the screw rod 56. The rotation prevention block 55 is clamped on the nut 57, so that the nut 57 is limited from rotating around the vertical direction Z. Specifically, one side of the anti-rotation block 55 close to the nut 57 is provided with a first limiting structure 551, and the nut 57 is provided with a second limiting structure 571 in sliding fit with the first limiting structure 551. In this embodiment, the first position-limiting structure 551 is a protrusion formed on the rotation-preventing block 55, and the second position-limiting structure 571 can be formed as a groove matched with the protrusion. The groove is a through groove or a closed groove. In another embodiment, the first position-limiting structure 551 is a groove formed on the anti-rotation block 55, and the second position-limiting structure 571 can be formed as a protrusion matching with the groove. The extending direction of the first limiting structure 551 is parallel to the vertical direction Z. The rotation of the screw nut 57 about the vertical direction Z is limited by the first stop 551 of the anti-rotation block 55 engaging with the second stop 571 of the screw nut 57.

When the vertical driving motor 53 works, the power of the vertical driving motor 53 drives the screw rod 56 to rotate so as to drive the screw nut 57 and the second slider 53 to move along the vertical direction Z together, so that the rotation driving mechanism 202 and the grabbing mechanism 201 move along the vertical direction Z.

It can be understood that the gripping mechanism 201 can be implemented in various ways for guiding and driving along the vertical direction Z and the horizontal direction X, Y, for example, a linear rolling guide rail, a linear sliding guide rail, a guide rod, etc. can be adopted for guiding, a screw and nut transmission, a belt transmission, a gear transmission, a chain transmission, etc. exist in the driving form, the connection mode of the transmission part and the motor shaft can be a direct connection, and can also be an indirect connection through a coupling, etc., and the present application is not limited in particular.

In some embodiments, the scanner 4 is fixed to the first support 51 and is located on the same side of the first support 51 as the grasping mechanism 201. Like this, scanner 4 can only move in the horizontal direction along with first support 51, and also scanner 4 can move in first horizontal direction X and/or second horizontal direction Y along with first support 51, but scanner 4 can not follow rotary drive mechanism 202 and snatch mechanism 201 and follow vertical direction Z motion to shorten the displacement distance of waiting to classify test tube 10, and then improved the screening efficiency of waiting to classify test tube 10, convenient operation. In addition, since the scanner 4 cannot move in the vertical direction Z, the risk of collision of the scanner 4 due to the irregular outer wall of the first bracket 51 in a narrow and crowded space can be avoided, or difficulty in installation due to the irregular outer wall of the first bracket 51 can be avoided. Further, the scanner 4 can be flexibly disposed on the first support 51 to reduce the occupied space of the scanner 4.

Of course, in some embodiments, the scanner 4 may be fixed to the mounting frame 23 of the rotary drive mechanism 202 to move in the vertical direction together with the rotary drive mechanism 202 and the grasping mechanism 201.

Referring to fig. 1 again, the test tube sorting apparatus 100 further includes a memory 7 electrically connected to the controller 6 and a communication bus 8. Specifically, the table 1, the grasping mechanism 201, the rotation driving mechanism 202, the horizontal driving mechanism 301, the vertical driving mechanism 302, the scanner 4, the controller 6, and the memory 7 may be coupled through a communication bus 8. It should be understood by those skilled in the art that fig. 1 is only an example of the test tube sorting apparatus 100 and does not constitute a limitation to the test tube sorting apparatus 100, and that the test tube sorting apparatus 100 may include more or less components than those shown in fig. 1, or some components may be combined, or different components, for example, the test tube sorting apparatus 100 may further include a display device, an input-output device, a network access device, etc.

The controller 6 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the controller 6 is the control center of the test tube sorting apparatus 100 and connects the various parts of the entire test tube sorting apparatus 100 using various interfaces and lines. The controller 6 is also used to perform all the steps in the screening method of the test tubes 10 described below. The memory 7 may be used to store program code 701, and the controller 6 may implement various functions of the tube sorting apparatus 100 by executing or executing the program code 701 stored in the memory 7 and calling up data stored in the memory 7.

Referring to fig. 10, fig. 10 is a flowchart illustrating a test tube screening method according to an embodiment of the present application. The test tube screening method can be applied to the test tube screening apparatus 100 described above, and the test tube screening method in the embodiment of the present application will be described in detail below.

The tube screening method shown in FIG. 10 comprises:

and S101, controlling the vertical driving mechanism to drive the grabbing mechanism to move to a first test tube rack capable of loading test tubes to be classified along the vertical direction.

And S103, controlling the grabbing mechanism to grab one test tube to be classified from the first test tube rack.

And S105, controlling the vertical driving mechanism to drive the grabbing mechanism and the test tubes to be classified grabbed by the grabbing mechanism to move away from the first test tube rack along the vertical direction until reaching a scanning area of the scanner.

And S107, controlling a rotary driving mechanism to drive the grabbing mechanism and the test tubes to be classified grabbed by the grabbing mechanism to rotate around the vertical axis of the grabbing mechanism.

Step S109, controlling the scanner to scan test tube bar codes arranged on the test tubes to be classified and captured by the capturing mechanism when the capturing mechanism and the captured test tubes to be classified rotate around the vertical axis of the capturing mechanism, and identifying bar code information of the test tube bar codes.

And the bar code information comprises the detection type of the sample to be detected. Examples of the type of the sample to be tested include, but are not limited to, conventional blood test, C-reactive protein (CRP) test, glycated hemoglobin test, and the like. In some embodiments, the barcode information may also include identification information of the sample analyzer 200 to which the sample analysis system 1000 corresponds. The identification information includes, but is not limited to, at least one of a brand, a specification, a model, a place of manufacture, and a product code of the sample analyzer 200. The test tube barcode 103 may be a barcode, a two-dimensional code, a radio frequency tag, or the like.

Step S107 may specifically include: and controlling the rotary driving mechanism to drive the grabbing mechanism and the grabbed test tubes to be classified to rotate around the vertical axis of the grabbing mechanism until the scanner scans the test tube bar codes arranged on the test tubes to be classified grabbed by the grabbing mechanism and identifies the bar code information of the test tube bar codes. When the scanner recognizes the bar code information of the test tube bar code, the rotary driving mechanism can be controlled to stop working. So, can ensure the scanner can effectively scan and discern the test tube bar code that is equipped with on the test tube of waiting to classify that snatchs the mechanism and snatchs.

And S111, controlling the grabbing mechanism to convey the grabbed test tubes to be classified to a second test tube rack corresponding to the bar code information according to the bar code information of the test tube bar codes and loosening the test tubes to be classified.

The second test tube rack 300 may establish a preset mapping relationship with the sample analyzer 200 of the sample analysis system 1000. For example, when the sample analyzer 200 is a glycated analyzer, all of the test tubes to be tested loaded on the second tube rack 300 are the test tubes to be sorted 10 whose barcode information includes glycated hemoglobin test items.

In the test tube screening method that this application provided, snatch the mechanism and can take the test tube of waiting to classify along vertical direction and carry out the scanning operation by the scanner that sets up after grabbing the mechanism next door immediately after first test-tube rack, and needn't all remove the fixed scanner department that sets up at the assigned position along the horizontal direction with the test tube of waiting to classify at every turn and scan the operation, thereby shortened the migration distance of waiting to classify the test tube, and then improved the screening efficiency of waiting to classify the test tube, and convenient operation.

As shown in fig. 11, in another embodiment, before step S101, the test tube screening method may further include: and S100, controlling a horizontal driving mechanism to drive the vertical driving mechanism and the grabbing mechanism to move to the position above the test tube to be classified of the first test tube rack along the horizontal direction. Accordingly, step S110 includes: according to the bar code information of the test tube bar codes, the vertical driving mechanism and the horizontal driving mechanism are controlled to drive the grabbing mechanism to convey the grabbed test tubes to be classified to a second test tube rack related to the bar code information, and the grabbing mechanism is controlled to loosen the test tubes to be classified. Wherein, the scanner and the grabbing mechanism synchronously move horizontally under the driving of the horizontal driving mechanism.

In addition, the test tube screening method shown in fig. 11 may further include, after step S103:

and step S104, judging whether the gripping mechanism clamps the test tube to be classified. And if the gripping mechanism does not grip the test tube to be classified, returning to execute the step S100 to grip the next test tube to be classified, or outputting a prompt and/or controlling the gripping mechanism to stop working.

Specifically, step S104 may be implemented after step S103 and before step S105 to determine whether the gripping mechanism grips the test tube to be classified, and if not, it indicates that there may be a fault in the gripping mechanism or there is no test tube to be classified, and at this time, a fault prompt may be output or a next test tube to be classified may be continuously gripped; if the gripping mechanism is recognized to grip the test tube to be classified, the steps S105 to S111 are continuously executed. In addition, step S104 may also be executed after step S105, to determine whether the gripping mechanism grips the test tube to be classified, that is, whether the test tube to be classified falls off from the gripping mechanism, if it is found that the gripping mechanism does not grip the test tube to be classified, it indicates that the gripping mechanism does not grip the test tube to be classified, so that the test tube to be classified falls off, and at this time, an alarm signal should be output and the gripping mechanism should be controlled to stop working; if the gripping mechanism is identified to clamp the test tubes to be classified all the time, the gripping mechanism continues to work. Such as, but not limited to, sound, light signals, text messages, or vibrations.

For example, step S104 may specifically include:

detecting the distance state between a first air claw 223 and a second air claw 224 of the grabbing mechanism by using a sensor 225 to generate corresponding electric signals; and

and judging whether the first air claw 223 and the second air claw 224 clamp the test tube 10 to be classified according to the electric signal.

In some embodiments, the cuvette screening method further includes, before the obtaining sensor 225 detects a distance state between the first air claw 223 and the second air claw 224 to generate a corresponding electric signal: and judging whether the air cylinder 222 is in a driving state, if so, detecting the distance state between the first air claw 223 and the second air claw 224 by the acquisition sensor 225 to generate a corresponding electric signal.

Specifically, when the air cylinder 222 is in the driving state, and the sensor 225 detects the first electric signal, the controller 6 determines that the first air gripper 223 and the second air gripper 224 are in the fully closed state according to the first electric signal, and determines that the first air gripper 223 and the second air gripper 224 do not grip the test tube 10 to be sorted. When the sensor 225 detects the second electric signal, the controller 6 determines that the first air gripper 223 and the second air gripper 224 are in the semi-closed state according to the second electric signal, and determines that the first air gripper 223 and the second air gripper 224 hold the test tube 10 to be sorted.

In addition, steps S103, S105, S107, and S109 shown in fig. 11 refer to the description of the test tube screening method shown in fig. 10, and are not repeated here.

As shown in fig. 12, in another embodiment, the tube screening method may further include, before step S101: step S102, initializing the angle position of the grabbing mechanism rotating around the vertical axis of the grabbing mechanism. Therefore, the clamping mechanism can be driven by the vertical driving mechanism to move to the first test tube rack along the vertical direction at the correct angle position rotating around the vertical axis of the clamping mechanism, and the test tube beside the test tube to be clamped cannot be damaged.

Specifically, the step S102 may include: and acquiring an electric signal sent by the optical coupler, and controlling the action of the rotary driving mechanism according to the electric signal so as to initialize the angle position of the grabbing mechanism rotating around the vertical axis of the grabbing mechanism. For a specific way, reference may be made to the description of the positioning member 26 of the test tube screening apparatus 100, but the present application is not limited thereto.

Of course, in other embodiments, as shown in fig. 13, the test tube screening method may further include, before step S111: step S110, initializing an angular position of the grasping mechanism rotating around its vertical axis. Specifically, reference may be made to step S102 in the method in the embodiment of fig. 12, which is not described herein again.

Of course, in other embodiments, it is also possible to initialize the angular position of the gripping mechanism about its vertical axis when the test tube sorting device is put into operation, and then to fixedly set the angle of rotation of the gripping mechanism, for example 360 ° each time, to ensure that the gripping mechanism returns to the initial angular position after each rotation, without having to initialize the angle before each gripping of a test tube or before the test tube is put down.

The present application further provides a computer-readable storage medium, where the computer-readable storage medium may store a program, and when the program is executed, the program includes some or all of the steps of any one of the test tube screening methods described in the above method embodiments.

The embodiment of this application still provides a test tube sieving mechanism, includes:

the grabbing mechanism is used for grabbing and moving the test tubes to be classified from the first test tube rack;

the first bracket is used for installing the grabbing mechanism and the vertical driving mechanism;

the horizontal driving mechanism is connected with the first support and is used for driving the first support to move along the horizontal direction together with the grabbing mechanism and the vertical driving mechanism which are installed on the first support;

the controller is configured to be electrically connected with the grabbing mechanism, the vertical driving mechanism and the horizontal driving mechanism so as to control the horizontal driving mechanism and/or the vertical driving mechanism to drive the grabbing mechanism and the test tubes to be classified grabbed by the grabbing mechanism to move to the second test tube racks corresponding to the test tubes to be classified along the horizontal direction and/or the vertical direction.

The first test tube rack, the grasping mechanism, the vertical driving mechanism, the first support and the horizontal driving mechanism in this embodiment may refer to the description of the above embodiments, and are not described herein again.

Referring to fig. 14, fig. 14 is a schematic partial structural view of a test tube screening apparatus 100A provided in the present application. In the present embodiment, the test tube sorting apparatus 100A is similar to the test tube sorting apparatus 100 in structure, but the present embodiment focuses on the details of the structure of the test tube sorting apparatus 201A and the scanner 4A of the test tube sorting apparatus 100A in the above embodiments.

In the present embodiment, the test tube sorting apparatus 100A includes a controller (not shown), a scanner 4A, and a test tube gripping apparatus 201A. The test tube gripping device 201A is used to grip and move the test tube 10A. The test tube 10A is provided with a test tube barcode 103. The scanner 4A is disposed adjacent to the test tube gripping device 201A and is used to scan and recognize the test tube 10A gripped by the test tube gripping device 201A in its scanning area. The controller is electrically connected to the test tube gripping device 201A and the scanner 4A to control the operation thereof. Wherein the controller is configured to sort the test tube 10A according to the first characteristic information of the test tube 10A identified by the scanner 4A.

In some embodiments, the scanner 4A may be a barcode scanner. The test tube 10A is provided with a test tube bar code. The first characteristic information includes a test tube barcode 103 of the test tube 10A. The barcode scanner is used to scan and identify, in its scanning area, the test tube barcode 103 of the test tube 10A grasped by the test tube grasping apparatus 201A. The controller is configured to sort the test tubes 10A according to the barcode information of the test tube barcodes 103 of the test tubes 10A identified by the scanner 4A.

In other embodiments, the scanner 4A may also be a photographic scanner. The photographing scanner is used to photograph the test tube 10A and recognize the first characteristic information from the photographed picture. Wherein the first characteristic information includes, but is not limited to, at least one of a test tube barcode 103 of the test tube 10A, a type of the test tube 10A, a color of a test tube cap 102 of the test tube 10A, and a sample amount of a sample to be detected in the test tube 10A.

The test tube 10A has a test tube barcode 103 provided on a test tube body 101. The tube barcode 103 may be a one-dimensional code or a two-dimensional code. Types of test tube 10A include, but are not limited to, Ethylenediaminetetraacetic acid (EDTK) anticoagulant tube, heat removal source tube, immunization tube, biochemical tube, sodium citrate coagulation test tube, or sodium citrate sedimentation tube, and the like. The colors of the test tube cap 102 include, but are not limited to, purple, green, pink, scarlet, orange, yellow, blue, gray, black, and the like. The sample size may be, but is not limited to, 1ml, 2ml, 3ml, 4ml, 5ml, and the like.

It should be noted that the test tube barcode 103 of the test tube 10A, the type of the test tube 10A, the color of the test tube cap 102 of the test tube 10A, and the sample amount of the sample to be detected in the test tube 10A all have a corresponding mapping relationship with the sample to be detected in the test tube 10A in advance. For example, when the first characteristic information is the test tube barcode 103, the photographing scanner may identify the plain code of the test tube barcode 103 or the barcode information of the test tube barcode 103 that is not shielded according to the photographed picture to obtain the effective barcode information of the test tube barcode 103, thereby improving the barcode scanning rate and accuracy. When the first characteristic information is the type of the test tube 10A, and the photographing scanner or the user can recognize that the type of the test tube 10A is the EDTK anticoagulation tube according to the photographed picture, it indicates that the sample to be detected in the test tube 10A is suitable for the detection type of blood cell analysis, so that the test tube screening apparatus 100A can transport the test tube 10A to the blood cell analyzer to detect and analyze the sample to be detected in the test tube 10A. When the first characteristic information is the color of the test tube 10A, and the photographic scanner or the user can recognize that the color of the test tube cap 102 of the test tube 10A is purple according to the photographed picture, it indicates that the type of the test sample to be tested in the test tube 10A is applicable to a hematology test, such as a blood routine test, blood grouping, or glycated hemoglobin test. When the first characteristic information is the sample volume of the sample to be detected in the test tube 10A, and the photographing scanner or the user can recognize that the sample volume of the sample to be detected in the test tube 10A is 2ml according to the photographed picture, it indicates that the type of the detection suitable for the sample to be detected in the test tube 10A may be a blood coagulation test or a temporary test, such as a blood coagulation test, a blood routine test, or a blood type identification. Optionally, in order to improve the accuracy of the test tube sorting apparatus 100A in sorting the test tubes 10A, the controller may sort the test tubes 10A according to a plurality of the first characteristic information.

It should be noted that in some embodiments, the camera scanner has a combination of a camera function, a recognition function, and a storage function to store, analyze, or recall the captured picture. In other embodiments, the camera scanner has only a camera function, and the captured picture is sent to the controller for the controller to analyze or recall the picture.

Optionally, the controller is further configured to control the photographing scanner to continuously take a plurality of pictures, so as to analyze the view angle pictures meeting the condition, and thus, the first characteristic information of the test tube 10A can be accurately identified. Optionally, the controller is further specifically configured to control the shooting type scanner to continuously take a plurality of pictures in a process that the test tube 10A rotates for one turn, so as to improve scanning efficiency.

In some embodiments, the photographic scanner is further configured to identify second characteristic information of the cuvette from the captured photograph. The controller is further used for adjusting the positions of the clamping jaws 21 for grabbing the test tube 10A according to the second characteristic information, so that the clamping jaws 21 are enabled to avoid the test tube bar code 103 of the test tube 10A. Wherein the second characteristic information includes a rotation angle of the test tube 10A.

Fig. 15 to 19 are diagrams illustrating the structure of the test tube gripping device 201A in more detail according to the above embodiment of the present application, and particularly, refer to the detailed diagrams of the structure of the test tube gripping device 201A in the embodiment of fig. 15 to 19.

As shown in fig. 14 to 16, in the present embodiment, the test tube gripping device 201A includes a plurality of gripping claws 21 and an opening/closing driving mechanism 222A that drives the plurality of L-shaped gripping claws 21 to grip or release the test tube 10A. Each jaw 21 has opposite free ends 211 and connected ends 212. The connecting ends 212 of the plurality of clamping jaws 21 are connected to the opening and closing driving mechanism 222A, and the free end 211 of each clamping jaw 21 is provided with a clamping head 213 for clamping the test tube 10A in a protruding mode. The head of the chuck 21 near the free end 211 of the jaws 21 is provided with a chamfered surface 2131.

It should be noted that in this embodiment, the structures of the test tube 10A and the clamping jaw 21 are the same as those of the test tube to be sorted and the clamping jaw described in the above embodiment, and the description thereof is omitted here. The test tube 10A is loaded in the first test tube rack or the second test tube rack. In the present embodiment, the test tube cap 102 of the test tube 10A is movable in the space 214. Specifically, when the resistance of the test tube 10A suddenly increases (for example, the frictional force between the test tube 10A and the first or second test tube rack increases due to poor adhesion of the barcode), the frictional force between the jaw 21 and the test tube 10A in the axial direction is insufficient to pick up the test tube 10A. At this time, the clamping jaws 21 slide up to the brim of the test tube cap 102 until the chucks 213 catch on the test tube cap 102 and generate a pushing force, so that the clamping jaws 21 have a larger gripping force to take the test tube 10A out of the first test tube rack or the second test tube rack.

The test tube gripping device 201A is similar in structure to the gripping mechanism 201. In the present embodiment, the opening-closing drive mechanism 222A may be configured as an air cylinder. The air cylinder is used for driving a plurality of clamping jaws 21 to clamp or loosen the test tube 10A. It is to be understood that the opening and closing driving mechanism 222A may be configured as an electric motor in other embodiments, but the present application is not limited thereto.

The test tube gripping device 201A further includes an air gripper 220 connected to the opening/closing driving mechanism 222A and the plurality of gripping jaws 21. The open-close driving mechanism 222A is used for driving the pneumatic claw 220 to drive the plurality of clamping jaws 21 to clamp or loosen the test tube 10A.

Specifically, the gas claw 220 includes a first gas claw 223 and a second gas claw 224 which are opposed to each other and connected to the opening/closing drive mechanism 222A. At least one clamping jaw 21 is fixed on the first air claw 223 and the second air claw 224 respectively. The opening/closing drive mechanism 222A is configured to drive the first gas claw 223 and the second gas claw 224 to approach or separate from each other in the opening/closing direction thereof, so that the respective holding claws 21 fixed to the first gas claw 223 and the second gas claw 224 approach or separate from each other to hold or release the test tube 10A.

In the present embodiment, two holding jaws 21 arranged at intervals are fixed to the first gas claw 223 and the second gas claw 224, respectively. The first pneumatic claw 223 and the second pneumatic claw 224 each include a first central symmetry plane extending along the opening and closing direction, and the two clamping jaws fixed on the first pneumatic claw and the two clamping jaws fixed on the second pneumatic claw are respectively and symmetrically distributed on two sides of the first central symmetry plane. In the present embodiment, the structure of the first gas claw 223 is the same as that of the second gas claw 224, and the first gas claw 223 is opposite to the second gas claw 224, so that the first gas claw 223 and the second gas claw 224 have the same central symmetry plane along the opening and closing direction thereof. The first central symmetry plane is an axial plane passing through the central axis of the gas claw 220 and extending along the opening and closing direction of the first gas claw 223 and the second gas claw 224.

Wherein each jaw 21 comprises a second central symmetry plane. The second central symmetry plane is not coplanar with the first central symmetry plane, and the two second central symmetry planes of the two clamping jaws 21 fixed on the first pneumatic jaw 223 are not coplanar, and the two second central symmetry planes of the two clamping jaws 21 fixed on the second pneumatic jaw 224 are not coplanar. Like this, under the condition of not changing the test-tube rack structure of current loading test tube 10A, can increase clamping jaw 21's motion stroke to clamping jaw 21 can effectively snatch test tube 10A in narrow and small space, and can adapt to compact structure's test-tube rack.

Optionally, a second central symmetry plane of each jaw 21 secured to the first gas jaw 223 is coplanar with a second central symmetry plane of a corresponding jaw 21 secured to the second gas jaw 224. Clamping jaw 21 can play the centering effect for test tube 10A to prevent that test tube 10A is eccentric and influence clamping jaw 21 and snatch test tube 10A's stability, and then ensured that clamping jaw 21 snatchs test tube 10A's reliability, and improved and snatched efficiency. In addition, the design of the four clamping jaws 21 can also effectively grip the test tube 10A in a narrow space, and the occupied space of the test tube rack 11 can be further saved.

Referring to fig. 17, fig. 17 is a diagram illustrating a position relationship between a first central symmetry plane of the first gas claw 223 and the second gas claw 224 and a second central symmetry plane of the clamping jaw 21. Specifically, in the present embodiment, the first gas claw 223 includes a first central symmetrical plane S1 extending along the opening and closing direction, and each gas claw 21 fixed to the first gas claw 223 includes a second central symmetrical plane S2. The first central symmetry plane S1 of the first gas claw 223 and the second central symmetry plane S2 of each gas claw 21 fixed to the first gas claw 223 form an angle α toward the first gas claw 223, wherein 0 ° < α <90 °. The second gas claw 224 also includes a first central symmetry plane S1 extending along the opening and closing direction, and each gas claw 21 fixed to the second gas claw 224 also includes a second central symmetry plane S2. The first central symmetry plane S1 of the second gas claw 224 and the second central symmetry plane S2 of each gas claw 21 fixed to the second gas claw 224 form an angle β toward the second gas claw 224. Wherein 0 ° < β <90 °, and β ═ α.

Referring again to fig. 14-16, the first air gripper 223 and the second air gripper 224 each include a positioning member 226 and an adjusting member 227. The adjuster 227 is fixed to the opening/closing drive mechanism 222A via the positioning member 226. The adjusting member 227 is detachably connected to the positioning member 226 to adjust the moving stroke of the clamping jaw 21 fixed on the first pneumatic jaw 223 and/or the second pneumatic jaw 224.

Wherein the adjusting member 227 is fixed on the positioning member 226 by the locking member 228. Several clamping jaws 21 are fixed on the adjusting piece 227. The adjusting member 227 has at least two adjusting holes 2271 along the opening and closing direction of the air claw 220. The positioning member 226 is provided with a locking hole 2261 corresponding to the at least two adjusting holes 2271. The locking member 228 can be locked in the corresponding locking hole 2261 of the positioning member 226 through the corresponding adjusting hole 2271 of the adjusting member 227 so as to adjust the moving stroke of the clamping jaw 21 fixed on the first pneumatic jaw 221 and/or the second pneumatic jaw 224. In this way, the opening/closing drive mechanism 222A can control the movement stroke of the positioning member 226 to limit the movement stroke of the gripping jaw 21, and therefore, the gripping jaw 21 can grip only the test tube 10A of a predetermined size under the control of the opening/closing drive mechanism 222A. Furthermore, the movement stroke of the clamping jaw 21 can be adjusted by adjusting the position of the adjusting member 227 relative to the positioning member 226, so that the movement stroke of the clamping jaw 21 can be adjusted, so that the clamping jaw 21 can clamp test tubes 10A with different sizes.

Specifically, in the present embodiment, the positioning member 226 is fixed to the opening/closing drive mechanism 222A by a mounting structure. The mounting structure may be a fastener or other locating structure, such as an adhesive. The mounting structure may also be a magnetic attraction structure, a sliding guide structure, a snap structure, or the like, so that the positioning member 226 is detachably fixed to the opening/closing driving mechanism 222A. In other embodiments, the positioning member 226 is integrally formed with the opening/closing driving mechanism 222A or fixedly connected thereto by welding. Note that the mounting structure is applicable to the mounting structure of the following embodiments.

It should be noted that the air cylinder 222 of the above embodiment is applied to the opening/closing driving mechanism 222A, and the description thereof is omitted. In the present embodiment, the opening-closing drive mechanism 222A is configured as an air cylinder. The cylinder includes a cylinder body 2221 and an expansion rod 2223 movably connected to the cylinder body 2221. The positioning member 226 is fixed to the cylinder 2221 by a locking member, such as a pin or a screw. In this way, the opening/closing drive mechanism 222A can control the movement stroke of the positioning member 226 to limit the movement stroke of the clamping jaw 21, that is, the movement stroke of the clamping jaw 21 is controlled by the opening/closing drive mechanism 222A, and the movement stroke of the clamping jaw 21 is predetermined under the control of the opening/closing drive mechanism 222A.

The adjusting member 227 is provided with a receiving groove 2270 penetrating the adjusting hole 2271 at a side thereof away from the positioning member 226. The locking member 28 is received in the receiving groove 2270, so that the overall structure of the test tube gripping device is simpler, and the problem of collision of the test tube 10A caused by the locking member 28 being exposed out of the adjusting member 227 is avoided. The adjusting part 227 of the first air claw 223 is provided with two clamping grooves 2272 at one side close to the second clamping claw 224 for clamping the two clamping claws 21. In the present embodiment, the locking slot 2272 is a closed slot, so as to prevent the clamping jaw 21 from protruding out of the side of the locking slot 2272 close to the positioning member 226 and obstructing the assembly of the positioning member 226 and the adjusting member 227. In some embodiments, the slot 2272 may also be a through slot, which is not limited herein. The adjusting piece 227 of the first air claw 223 is provided with a chamfered surface 2273 at both ends of a side close to the second clamping jaw 224. The chamfered surface 2273 is provided with a clamping hole 2274 penetrating through the clamping groove 2272. Fasteners 28 pass through card holes 2274 to lock jaws 21 within card slot 2272. The extension direction of the chamfered surface 2273 is the same as the extension direction of the catching groove 2272, so that the locking member 28 can conveniently catch the holding jaw 21. In addition, the design of the chamfered surface 2273 can provide a space for the locking member 28 to make the structure of the test tube gripping device more compact.

To strengthen jaw 21 fixedly attached to adjuster 227. In some embodiments, connecting end 212 of jaw 21 is further provided with a stop projection (not shown) against which locking element 28 is stopped. In other embodiments, locking holes (not shown) may be formed in the positions of the clamping jaws 21 corresponding to the clamping holes 2274, so that the locking members 28 pass through the clamping holes 2274 and are locked in the corresponding locking holes of the clamping jaws 21.

Referring to fig. 16, 18 and 19, in the present embodiment, the number of the jaws is four, and the test tubes 10A are loaded on the first test tube rack 11. The first test tube rack 11 is provided with a plurality of test tube holes 111 arranged in a matrix. A plurality of test tube holes 111 are provided at intervals in each row along the first direction X of the first test tube rack 11. A plurality of test tube holes 111 in each column are arranged at intervals along a second direction Y perpendicular to the first direction X. In one embodiment, four clamping jaws 21 move horizontally along the first direction X, wherein the opening and closing direction is parallel to the first direction X. In another embodiment, four jaws 21 move vertically along the second direction Y, wherein the opening and closing direction is parallel to the second direction Y.

As shown in fig. 18 and 19, in the present embodiment, the four clamping jaws 21 move vertically along the second direction Y, and the opening and closing range D1 of the four clamping jaws 21 is far greater than the shortest distance D2 between two test tube holes 111 in two adjacent rows. It should be noted that, in the conventional test tube gripping device, the second central symmetry plane of the two clamping jaws coincides with the first central symmetry plane of the pneumatic jaw, that is, the two clamping jaws are both disposed in the first direction, and the opening and closing range of the two clamping jaws is D2. Therefore, clamping jaw 21 of this application is through make full use of the clearance of test-tube rack 11 except that each test tube hole 111 to along clamping jaw 21 first direction X or under the prerequisite that second direction Y opened and shut the action, can realize that clamping jaw 21's motion space reaches the biggest. In addition, under the same test tube hole condition of arranging, clamping jaw 21 of this application not only can be fine in the compact test tube hole is arranged and can be fine the adaptation, and the ability that adapts to different diameter test tubes 10A is stronger simultaneously.

As can be appreciated, since the test tube barcode 103 is attached to the outer wall of the test tube 10A, the frictional force between the test tube 10A and the first tube rack 11 or the second tube rack is increased. In particular, when the depth of the test tube 10A inserted into the test tube hole 111 of the first test tube rack 11 or the test tube hole of the second test tube rack is insufficient; or, when the test tube barcode 103 of the test tube 10A is poorly adhered, for example, the test tube barcode 103 tilts up, the friction force between the test tube 10A and the first test tube rack 11 or the second test tube rack easily ejects the test tube 10A from the corresponding test tube hole, so that the test tube 10A is easily toppled or collided, and the clamping jaw 21 cannot effectively grab or release the corresponding test tube 10A.

As shown in fig. 15, 16, 18 and 19, optionally, in some embodiments, the test tube gripping device 100A further comprises a pressing piece 229. The pressing pieces 229 are used to press the test tubes 10A such that the test tubes 10A are completely inserted into the bottoms of the corresponding test tube holes 111 of the first test tube rack 11. On the one hand, when test tube 10A inserts completely in the test tube hole 111 on first test-tube rack 11, dop 213 chucking of a plurality of clamping jaws 21 is in test tube 10A's preset position department to clamping jaw 21 can effectively snatch corresponding test tube 10A, and ensures that scanner 4A can effectively scan and discern the bar code information of test tube 10A's test tube bar code 103. On the other hand, when the test tube 10A is completely inserted into the bottom of the test tube hole 111 on the first test tube rack 11, the test tube gripping device 100A can prevent the test tube 10A from popping out of the test tube hole 111 of the first test tube rack 11 or the test tube hole of the second test tube rack when the test tube 10A is released into the test tube hole 111 of the first test tube rack 11 or the test tube hole of the second test tube rack, so as to prevent the test tube 10A from falling or colliding. On the other hand, when the test tube 10A is completely inserted into the bottom of the test tube hole 111 of the first test tube rack 11, the clamping jaws 21 can prevent the catches 213 of the clamping jaws 21 from interfering with the test tube cap 102 of the test tube 10A when the test tube 10A is released.

Wherein the pressing member 229 includes a barrier 2291 disposed between the first and

second air jaws

223 and 224. The blend stop 2291 is used for pressing test tube 10A when dop 213 chucking test tube 10A, avoids test tube 10A to take place the slope or rock to in the test tube hole 111 of test tube 10A location at first test-tube rack 11 or the test tube hole of second test-tube rack, and then clamping jaw 21 can effectively snatch corresponding test tube 10A. In addition, the pressing member 229 further includes a connection frame 2292 connecting both end portions of the barrier 2291. The test tube gripping device 201A further includes a cylinder holder 221 for fixing the opening/closing drive mechanism 222A. The barrier 2291 is fixed to the cylinder holder 221 via two connecting frames 2292. In this embodiment, the two connecting frames 2292 are fixed to the cylinder fixing frame 221 by a mounting structure.

Optionally, the thickness of each clamping jaw 21 is less than or equal to 2 mm. The jaw 21 includes a gripping surface 2101 and two opposing attachment surfaces 2102 that attach the gripping surface 2101. Clamping surface 2101 is the side of jaw 21 that contacts tube 10A. Two connecting surfaces 2102 extend along the length of clamping jaw 21, i.e. two connecting surfaces 2102 are parallel to the second central symmetry plane of clamping jaw 21. It should be noted that the thickness of the clamping jaw 21 is the distance between the two connecting surfaces 2102 of the clamping jaw 21 in the direction perpendicular to the second central symmetry plane. So, this application comes centre gripping test tube 10A through the clamping jaw 21 that adopts a plurality of thickness to clamping jaw 21 reaches the minimizing to sheltering from of test tube bar code 103, and then has promoted the accuracy of the bar code information of test tube bar code 103 on scanner 4A scanning and the discernment test tube 10A.

In other embodiments, the collet 213 may be used to clamp the test tube cap 102. Thus, the clamping jaw 21 is avoided from shielding the test tube barcode 103 on the test tube 10A, and then the scanner 4A can accurately scan and identify the barcode information of the test tube barcode 103 on the test tube 10A.

In other embodiments, the collet 213 stops at the bottom of the test tube cap 102. Thus, when the friction force between chuck 213 and test tube 10A is small and not enough to grasp test tube 10A, chuck 213 of clamping jaw 21 is stopped by the bottom of test tube cap 102, so as to ensure that clamping jaw 21 effectively grasps test tube 10A, and avoid the problem of collision damage caused by the sliding of test tube 10A.

Optionally, in some embodiments, collet 213 is provided with chamfered surface 2131 near the head of free end 211 of jaw 21. Thus, in the process of grasping test tube 10A by chuck 213 of clamping jaw 21, when the clamping force of chuck 213 is smaller than the frictional force between chuck 213 and test tube body 101, chuck 213 of clamping jaw 21 can smoothly slide to the bottom of test tube cap 102 of test tube 10A, so that clamping jaw 21 grasps test tube 10A.

In other embodiments, chamfered surface 2131 may be provided at the end of collet 213 distal from free ends 211 of jaws 21. In this manner, jaws 213 of jaws 21 may slide smoothly over test tube cap 102 of test tube 10A during release of test tube 10A.

In some embodiments, gripping surfaces 2101 of jaw 21 include a first gripping surface 2132 on collet 213 that connects two chamfered surfaces 2131. Optionally, the first clamping surface 2132 is an arc-shaped arc surface that is outwardly curved with respect to the clamping jaw 21 to form a convex surface, so as to reduce the contact area between the clamping jaw 21 and the test tube 10A, and further reduce friction with the test tube barcode 103 disposed on the test tube 10A, so as to protect the integrity of the test tube barcode 103.

In other embodiments, gripping surface 2101 of jaw 21 further includes a second gripping surface 2103 distal from chuck 213. The two ends of the chamfered surface 2131 are respectively connected with the second clamping surface 2103 and the first clamping surface 2131 in a smooth transition manner, so as to ensure that the clamping heads 213 of the clamping jaws 21 smoothly slide over the test tube cap 102 of the test tube 10A. The first holding surface 2131 and the second holding surface 2103 are located on different planes on a side close to the chuck head 213. First clamping face 2132 abuts test tube body 101 of test tube 10A, and second clamping face 2103 abuts test tube cap 102 of test tube 10A, so that the clamping force of clamping jaw 21 on test tube 10A is further increased.

In some embodiments, each jaw 21 is transparent. Thus, the scanner 4A can scan the tube barcode 103 covered by the clamping jaw 21 through the clamping jaw 21, so that the scanner 4A can recognize the barcode information of the tube barcode 103 of the tube 10A to be sorted.

In the present embodiment, the holding jaw 21 is made of a transparent material. Specifically, the holding jaw 21 is made of a material that is transparent to the scanning light of the scanner 4A. Optionally, the transparent material is a hard transparent material, such as, but not limited to, a glass material, a plastic, and the like.

The application provides a test tube grabbing device and test tube sieving mechanism. Based on at each the protruding chucking that is equipped with of free end of clamping jaw the dop of test tube, so that each the clamping jaw is L shape, the dop is close to the head of the free end of clamping jaw is provided with the chamfer face, thereby has increased the clamping-force of clamping jaw to the test tube, and has improved and snatched efficiency.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in this specification are preferred embodiments and that the acts and modules involved are not necessarily required for this application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative. The screening method is realized in the form of a software functional unit and can be stored in a computer-recognizable storage medium when being sold or used as an independent product. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute all or part of the steps of the screening method according to the embodiments of the present application. The storage medium may include: a U-disk, a removable hard disk, a magnetic disk, an optical disk, a Read-Only Memory (ROM) or a Random Access Memory (RAM), and other various media capable of storing program codes.

The features mentioned above in the description and in the drawings can be combined with one another in any desired manner, as long as they are of significance within the scope of the application. The advantages and features explained for the test tube screening device apply in a corresponding manner to the corresponding system and to the corresponding method and vice versa.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in view of the above, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A test tube screening apparatus, comprising:

the controller is configured to be electrically connected with the grabbing mechanism, the rotary driving mechanism, the vertical driving mechanism, the scanner and the horizontal driving mechanism so as to control the actions of the grabbing mechanism, the rotary driving mechanism, the vertical driving mechanism, the scanner and the horizontal driving mechanism, wherein the controller is configured to classify the test tubes to be classified according to the bar code information of the test tube bar codes of the test tubes to be classified, which is identified by the scanner.

2. The test tube screening apparatus of claim 1, wherein the controller is configured to:

and controlling the horizontal driving mechanism and/or the vertical driving mechanism to drive the grabbing mechanism and the grabbed test tubes to be classified to move to a second test tube rack corresponding to the bar code information along the horizontal direction and/or the vertical direction according to the bar code information of the test tube bar codes.

3. Test tube screening apparatus according to claim 1 or 2, wherein the scanner is fixed to the first holder, and the gripping mechanism is mounted on the first holder movably in a vertical direction, the scanner being located on the same side of the first holder as the gripping mechanism.

4. Test tube screening apparatus according to any one of claims 1 to 3, wherein a scanning area of the scanner is provided on a path of movement of the gripping mechanism in a vertical direction.

5. Test tube screening apparatus according to any one of claims 1 to 4, wherein the gripping mechanism is configured as a pneumatic gripping mechanism comprising a connected air cylinder and air gripper for driving the air gripper to grip or release the test tube to be sorted.

6. Test tube screening apparatus according to claim 5, wherein the gas claw comprises first and second opposing gas claws connected to the gas cylinder for driving the first and second gas claws toward and away from each other so as to grip or release the test tube to be sorted.

7. The test tube screening apparatus of claim 6, wherein at least one clamping jaw is fixed to each of the first pneumatic gripper and the second pneumatic gripper, at least one of the first pneumatic gripper and the second pneumatic gripper being movably connected to the air cylinder for driving the first pneumatic gripper and the second pneumatic gripper to approach or separate from each other so that the respective clamping jaws fixed to the first pneumatic gripper and the second pneumatic gripper approach or separate from each other for clamping or releasing the test tube to be sorted.

8. The test tube screening apparatus according to claim 6 or 7, wherein the gripping mechanism further includes a sensor electrically connected to the controller, for detecting a state of distance between the first air gripper and the second air gripper and generating a corresponding electrical signal, and the controller is further configured to acquire the electrical signal of the sensor and determine whether the first air gripper and the second air gripper grip the test tube to be sorted based on the electrical signal.

9. Test tube screening apparatus according to any one of claims 1 to 8, wherein the rotary drive mechanism comprises a first motor having a vertically extending first axis of rotation, the gripping mechanism being fixed on the first axis of rotation, the first motor being adapted to drive the gripping mechanism with the test tubes to be sorted gripped thereby into rotation about the first axis of rotation.

10. The test tube screening apparatus according to claim 9, wherein the rotary drive mechanism further includes a stopper for limiting a rotational stroke of the first motor.

11. The test tube screening apparatus according to claim 10, wherein the first motor further has a second rotation axis extending vertically opposite to the first rotation axis, the limiting member includes a rotation preventing block, a screw rod fixed to the second rotation axis and having an axial direction collinear with an axial direction of the second rotation axis, and a nut sleeved on the screw rod and movably engaged with the rotation preventing block along the screw rod, the rotation preventing block is configured to limit the nut from rotating around the screw rod under the driving of the first motor, and the nut is movable between an upper end surface of the motor and an upper end surface of the screw rod under the driving of the first motor.

12. Test tube screening apparatus according to claim 11, wherein the rotary drive mechanism further comprises a positioning member for determining an initial position of the nut and thus an initial rotation angle of the gripping mechanism about its vertical axis.

13. The test tube screening apparatus according to claim 12, wherein the positioning member includes an optical coupler electrically connected to the controller and an optical coupler stop cooperating with the optical coupler, the optical coupler is opposite to an initial position of the nut, the optical coupler stop is fixed to the nut and moves synchronously with the nut, and the controller is configured to control the operation of the rotation driving mechanism according to an electrical signal of the optical coupler.

14. Test tube screening apparatus according to any one of claims 9 to 13, further comprising a reel for accommodating an accessory of the gripping mechanism, the reel being fixed on the first rotation axis so that the reel can be rotated about the first rotation axis by the first motor.

15. Test tube screening apparatus according to any one of claims 1 to 14, wherein the horizontal drive mechanism comprises:

a first horizontal driving mechanism electrically connected with the controller and used for driving the first bracket together with the grabbing mechanism, the rotary driving mechanism, the vertical driving mechanism and the scanner arranged thereon to horizontally move along a first direction perpendicular to the vertical direction under the control of the controller; and

and the second bracket is used for mounting the first bracket and the first horizontal driving mechanism.

16. The test tube screening apparatus of claim 15, wherein the first horizontal drive mechanism comprises:

the first linear guide rail is fixed on the second bracket and extends along the first direction;

the first sliding block is slidably arranged on the first linear guide rail and is fixedly connected with the first bracket;

and the first horizontal driving motor is fixed on the second support and connected with the first sliding block so as to drive the first sliding block to drive the first support to move along the first linear guide rail, so that the grabbing mechanism and the scanner move along the first direction.

17. Test tube screening apparatus according to claim 15 or 16, wherein the horizontal drive mechanism further comprises:

a second horizontal driving mechanism electrically connected to the controller and for driving the second bracket together with the first bracket mounted thereon to move horizontally in a second direction perpendicular to the vertical direction and the first direction under the control of the controller; and

a third bracket for mounting the second bracket and being horizontally movable in the second direction.

18. The test tube screening apparatus of claim 17, wherein the second horizontal driving mechanism includes a second linear guide and a second horizontal driving motor, one end of the third rack is fixedly connected with the second rack and the other end is slidably connected to the second linear guide, and the second horizontal driving motor is configured to drive the third rack to move horizontally in the second direction on the second linear guide.

19. A sample analysis system, comprising a sample analyzer, a second test tube rack, the test tube screening device of any one of claims 1 to 18, and a conveying device, wherein the second test tube rack is used for loading the test tubes to be tested screened by the test tube screening device, the sample analyzer is used for detecting and analyzing the samples to be tested in the test tubes to be tested on the second test tube rack, and the conveying device is used for conveying the second test tube rack to the sample analyzer for detection.

20. The sample analysis system of claim 19, wherein the sample analyzer comprises at least one of a blood cell analyzer, a C-reactive protein analyzer, a slide analyzer, and a glycation analyzer.

21. The specimen analysis system according to claim 20, wherein the specimen analyzer includes a blood cell analyzer, a C-reactive protein analyzer, and a glycation analyzer, which are disposed in this order in a carrying direction of the carrying device, and the test tube sorting device is disposed between the C-reactive protein analyzer and the glycation analyzer.

22. A test tube screening method is characterized by comprising the following steps:

23. The cuvette screening method according to claim 22, wherein prior to step (a), the method further comprises:

(g) and controlling a horizontal driving mechanism to drive the vertical driving mechanism and the grabbing mechanism to move to the position above the test tube to be classified of the first test tube rack along the horizontal direction.

Controlling the vertical driving mechanism and/or the horizontal driving mechanism to drive the grabbing mechanism to convey the grabbed test tubes to be classified to a second test tube rack related to the bar code information according to the bar code information of the test tube bar codes, and controlling the grabbing mechanism to loosen the test tubes to be classified;

wherein, the scanner and the grabbing mechanism synchronously move horizontally under the driving of the horizontal driving mechanism.

24. The cuvette screening method according to claim 23, wherein after step (b), the method further comprises:

(h) and (c) judging whether the grabbing mechanism clamps the test tube to be classified, if so, executing the step (g) to clamp the next test tube to be classified, or outputting a prompt and/or controlling the grabbing mechanism to stop working.

25. Test tube screening method according to any one of claims 22 to 24, wherein, prior to step (a) or prior to step (f), the method further comprises:

(i) initializing the angular position of the gripping mechanism about its vertical axis of rotation.

26. Test tube screening method according to any one of claims 22 to 25, characterized in that it is carried out using a test tube screening device according to any one of claims 1 to 18.

27. A computer-readable storage medium storing computer-executable instructions that, when executed by a processor of a tube sorting apparatus, cause the tube sorting apparatus to perform the method according to any one of claims 22 to 26.

28. A test tube screening apparatus, comprising:

29. The cuvette screening apparatus according to claim 28, further comprising:

and the scanner is arranged adjacent to the grabbing mechanism and is used for scanning and identifying the test tube bar codes of the test tubes to be classified grabbed by the grabbing mechanism in a scanning area of the scanner.