CN118925824B - Sample transfer apparatus, sample transfer apparatus control method, sample transfer apparatus control program, and sample processing device - Google Patents
Sample transfer apparatus, sample transfer apparatus control method, sample transfer apparatus control program, and sample processing deviceInfo
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- CN118925824B CN118925824B CN202411210901.3A CN202411210901A CN118925824B CN 118925824 B CN118925824 B CN 118925824B CN 202411210901 A CN202411210901 A CN 202411210901A CN 118925824 B CN118925824 B CN 118925824B
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- optocoupler
- boundary position
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- baffle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
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- Clinical Laboratory Science (AREA)
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Abstract
The application relates to a sample transfer apparatus, a control method thereof, a computer readable storage medium, a computer program product, and a sample processing device. The sample transfer device further comprises an optocoupler assembly, a baffle assembly and a processor, wherein the optocoupler assembly comprises a middle position optocoupler, the baffle assembly comprises a first middle position baffle and a second middle position baffle which are respectively and fixedly connected with the lifting component and the rotating component, the first middle position baffle and the second middle position baffle are respectively used for shielding the middle position optocoupler when the lifting component and the rotating component are located in the overlapping area, and the processor is used for responding to the first middle position baffle and the second middle position baffle to simultaneously shield the middle position optocoupler and outputting protection instructions for the lifting component and the rotating component. By adopting the sample transfer device provided by the application, collision of components with interference of moving tracks can be avoided, and a miniaturized target can be realized.
Description
Technical Field
The present application relates to the technical field of medical devices, and in particular, to a sample transfer apparatus, a control method thereof, a computer readable storage medium, a computer program product, and a sample processing device.
Background
In the design of miniaturized, especially tabletop, analytical instruments, interference of motion trajectories between components is an important consideration. For example, if the movement trajectories of the up-and-down moving member and the rotating member interfere, the movement spaces of the up-and-down moving member and the rotating member overlap, there is a risk that the members collide, resulting in stopping movement of the members or even damage.
In some related technologies, each component interfering with the running track performs its own motion in different time periods by programming and controlling. In other related art, the components are completely avoided in space by enlarging the overall size of the instrument in consideration of the movement trajectories of the components at the design stage.
However, by the timing control avoiding the collision, in some abnormal cases, the timing may not be strictly performed, resulting in the possibility that the collision still occurs. Avoiding the interference of components through structural design can lead to the volume of the instrument to become large, and the miniaturization target can not be realized.
Disclosure of Invention
Based on this, it is necessary to provide a sample transfer apparatus, a control method thereof, a computer-readable storage medium, a computer program product, and a sample processing device, which address the problem that the related art cannot simultaneously achieve collision of components avoiding running trajectory interference and achieve miniaturization goals.
In a first aspect, the application provides a sample transfer apparatus, which comprises a base, a lifting component, a rotating component, an optocoupler component and a baffle component, wherein an overlapping area exists between a movement space of the lifting component and a movement space of the rotating component;
The base is used for carrying out linear motion on the lifting component relative to the base, one end of the rotating component is fixed relative to the base, and the other end of the rotating component carries out circular motion;
The optical coupler assembly comprises an intermediate position optical coupler positioned at different positions on the base;
The baffle assembly comprises a first middle position baffle and a second middle position baffle which are respectively and fixedly connected with the lifting component and the rotating component, and the first middle position baffle and the second middle position baffle are respectively used for shielding the middle position optocoupler when the lifting component and the rotating component are positioned in the overlapping area;
And the processor is electrically connected with the optocoupler assembly, responds to the first middle position baffle sheet and the second middle position baffle sheet to simultaneously shade the middle position optocoupler, and outputs a protection instruction aiming at the lifting component and the rotating component, wherein the protection instruction is used for changing the movement directions of the lifting component and the rotating component.
In one embodiment, the optocoupler assembly further comprises boundary position optocouplers located at different positions on the base;
The baffle assembly further comprises a first boundary position baffle and a second boundary position baffle which are respectively and fixedly connected with the lifting component and the rotating component, wherein the first boundary position baffle and the second boundary position baffle are respectively used for shielding the boundary position optocoupler when the lifting component and the rotating component are located at the boundary positions, and the boundary positions comprise positions where the lifting component and the rotating component start to move.
In one embodiment, the lifting component moves linearly between a first boundary position and a second boundary position, and one end of the rotating component moves circularly between a third boundary position and a fourth boundary position;
the boundary position optocouplers of different positions comprise a first boundary position optocoupler, a second boundary position optocoupler, a third boundary position optocoupler and a fourth boundary position optocoupler, wherein the first boundary position baffle is used for shielding the first boundary position optocoupler and the second boundary position optocoupler respectively under the condition that the lifting part is positioned at the first boundary position and the second boundary position, and the second boundary position baffle is used for shielding the third boundary position optocoupler and the fourth boundary position optocoupler respectively under the condition that the rotating part is positioned at the third boundary position and the fourth boundary position.
In one embodiment, the lifting component moves linearly in the vertical direction, and one end of the rotating component moves circularly in the horizontal direction;
The intermediate position optocouplers of different positions comprise a first intermediate position optocoupler and a second intermediate position optocoupler, the first intermediate position optocoupler is positioned between the first boundary position optocoupler and the second boundary position optocoupler in the vertical direction, and the second intermediate position optocoupler, the third boundary position optocoupler and the fourth boundary position optocoupler are circumferentially distributed in the same horizontal plane.
In a second aspect, the present application also provides a method for controlling a sample transfer apparatus, which is applied to any one of the above sample transfer apparatuses, and includes:
Controlling the lifting component and the rotating component to move according to a preset control instruction, and acquiring signals of the optocoupler component;
Determining the position relation between the first middle position baffle and the second middle position baffle and the middle position optocoupler according to the signals, wherein the position relation comprises shielding/non-shielding;
And responding to the first middle position baffle plate and the second middle position baffle plate to simultaneously shade the middle position optocoupler, and outputting protection instructions for the lifting component and the rotating component, wherein the protection instructions are used for changing the movement directions of the lifting component and the rotating component.
In one embodiment, the method further includes, after the responding to the first intermediate position blocking piece and the second intermediate position blocking piece to simultaneously block the intermediate position optocoupler, outputting protection instructions for the lifting component and the rotating component, where the protection instructions are used to change the movement directions of the lifting component and the rotating component, the method further includes:
and responding to the lifting component and the rotating component to return to boundary positions, and controlling the lifting component and the rotating component to move again according to the preset control instruction, wherein the boundary positions comprise positions of the lifting component and the rotating component starting to move.
In one embodiment, the controlling the lifting member and the rotating member to move again according to the preset control command in response to the lifting member and the rotating member returning to the boundary position includes:
Responding to the lifting component or the rotating component to return to the boundary position, and sending response information to an upper computer, wherein the upper computer is used for outputting a retransmission instruction according to the response information;
and in response to receiving the retransmission command, controlling the lifting component and the rotating component to move again according to the preset control command.
In a third aspect, the application also provides a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of the method of any of the preceding claims.
In a fourth aspect, the application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of any of the preceding claims.
In a fifth aspect, the application also provides a sample processing device comprising a memory storing a computer program and a processor implementing the steps of any of the methods described above when the processor executes the computer program.
According to the sample transfer device, the control method thereof, the computer readable storage medium, the computer program product and the sample processing equipment, by arranging the optical couplers and the baffle plates matched with the optical couplers, whether collision is about to occur or not can be rapidly judged when any one of the components with motion interference contacts the overlapped area of interference, and by timely responding that the components with motion interference are positioned in the overlapped area of interference and outputting the protection instruction, the motion direction can be automatically adjusted, intelligent collision avoidance is realized, other operations can be continuously carried out by the equipment, the operation and even damage cannot be stopped because of the collision, and the safe and efficient operation of the sample transfer device is ensured. Also, it is possible to realize a compact configuration of the apparatus while allowing overlapping between the components while realizing the holding function. The signal of the optical coupler component is used for determining whether the component with motion interference is located in the overlapping area of interference or not, and triggering a protection instruction to change the running direction of the component, so that the motion of the lifting component and the rotating component can be effectively controlled, the quick response is ensured when a possible collision condition occurs, and the safety and the reliability of the equipment are improved.
Drawings
FIG. 1 is a schematic top view of a sample transfer apparatus in one embodiment;
FIG. 2 is an exploded view of a sample transfer apparatus in one embodiment;
FIG. 3 is an enlarged schematic view of a first intermediate position baffle and a first boundary position baffle in one embodiment;
FIG. 4 is a schematic diagram showing electrical connection of a processor of the sample transfer apparatus according to one embodiment;
FIG. 5 is a flow chart of a method of controlling a sample transfer apparatus according to one embodiment;
FIG. 6 is a flow chart of a control method of the sample transfer apparatus according to another embodiment;
Fig. 7 is a flowchart illustrating the step S140 in one embodiment.
Reference numerals:
00. Sample bearing device 10, base 11, linear guide rail 12, rotation shaft 13, synchronous pulley 20, lifting component 30, rotation component 31, arm head 32, sample adding needle 33, rotation arm 40, optical coupler assembly 41, intermediate position optical coupler 41A, first intermediate position optical coupler 41B, second intermediate position optical coupler 42A, first boundary position optical coupler 42B, third boundary position optical coupler 43A, second boundary position optical coupler 43B, fourth boundary position optical coupler 50, baffle assembly 51A, first intermediate position baffle, 51B, second intermediate position baffle, 52A, first boundary position baffle, 52B, second boundary position baffle 60, driving assembly 61, lead screw motor 62, rotation motor.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, they may be fixedly connected, detachably connected or integrally formed, mechanically connected, electrically connected, directly connected or indirectly connected through an intermediate medium, and communicated between two elements or the interaction relationship between two elements unless clearly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.
Referring to fig. 1 and 2, fig. 1 is a schematic top view of a sample transfer apparatus according to an embodiment of the present application, and fig. 2 is an exploded schematic view of the sample transfer apparatus shown in fig. 1, where the sample transfer apparatus 00 provided in the present embodiment includes a base 10, a lifting member 20, a rotating member 30, an optocoupler assembly 40, a baffle assembly 50 and a processor (not shown in fig. 1 and 2).
Wherein, the lifting component 20 is slidingly connected with the base 10, the rotating component 30 is rotationally connected with the base 10, the structural layout of the lifting component 20 and the rotating component 30 is compact, and the movement interference exists in space, so that an overlapping area of the movement space is formed. In particular, the lifting member 20 may be used to carry vessels. The rotating member 30 may be used to transfer or mix samples.
The overlapping area may be determined by the movement trajectories of the elevation member 20 and the rotation member 30. For example, when the highest point of the elevation member 20 is higher than the lowest point of the rotation member 30 and the lowest point of the elevation member 20 is lower than the highest point of the rotation member 30, it may be determined that the elevation member 20 is located in the overlapping area. When the rotating member 30 is rotated counterclockwise by a certain angle (for example, a rotation angle between 30 degrees and 90 degrees) from the position shown in fig. 1, it can be determined that the rotating member 30 is located in the interference space. It will be appreciated that the overlap area is also related to the distance between the lifting member 20 and the rotating member 30, and the respective orientations of the lifting member 20 and the rotating member 30.
The base 10 is used for moving the lifting member 20 linearly relative to the base 10, one end of the rotating member 30 is fixed relative to the base 10, and the other end moves circularly.
As shown in fig. 2, the base 10 may be provided with a linear guide along which the elevating member 20 may slide up and down. The base 10 may be provided with a rotation shaft, which may be fixedly connected to one end of the rotation member 30 to drive the rotation member 30 to rotate. In fig. 2, the lifting member 20 and the rotating member 30 are respectively disposed on the independent base 10, and it is understood that the lifting member 20 and the rotating member 30 may be disposed on the same base 10, which is not limited in this embodiment.
The optical coupler assembly 40 comprises an intermediate position optical coupler 41 positioned at different positions on the base 10, and the baffle assembly 50 comprises a first intermediate position baffle 51A and a second intermediate position baffle 51B which are respectively and fixedly connected with the lifting component 20 and the rotating component 30, wherein the first intermediate position baffle 51A and the second intermediate position baffle 51B are respectively used for shielding the intermediate position optical coupler 41 under the condition that the lifting component 20 and the rotating component 30 are positioned in an overlapping area.
With continued reference to fig. 1 and 2, the optocoupler assembly 40 includes a plurality of optocouplers fixedly disposed on the base 10. Specifically, a plurality of optical couplers are provided adjacent to the elevating member 20, and a plurality of optical couplers are provided adjacent to the rotating member 30. The shutter assembly 50 includes a plurality of shutters fixedly provided on the elevating member 20 and the rotating member 30. Specifically, the outer circumference of the elevating member 20 is provided with a plurality of blocking pieces, and the outer circumference of the rotating member 30 is provided with a plurality of blocking pieces. In the process of the lifting member 20 moving linearly relative to the base 10, the blocking pieces on the lifting member 20 sequentially block the plurality of optocouplers. In the process that one end of the rotating member 30 is fixed relative to the base 10 and the other end performs a circular motion, the blocking piece on the rotating member 30 sequentially blocks the plurality of optocouplers.
The intermediate position optocoupler 41 and the first intermediate position baffle 51A at adjacent positions of the lifting member 20 are mutually adapted, so that when the lifting member 20 is located in the overlapping space, the first intermediate position baffle 51A shields the intermediate position optocoupler 41. The intermediate position photo-coupler 41 adjacent to the rotating member 30 and the second intermediate position blocking piece 51B are mutually adapted so that the second intermediate position blocking piece 51B blocks the intermediate position photo-coupler 41 when the rotating member 30 is located in the overlapping space. Therefore, it can be determined whether the elevating member 20 and the rotating member 30 are located in the overlapping space based on the signal of the intermediate position optocoupler 41.
The processor is electrically connected to the optocoupler assembly 40, and responds to the first middle position baffle 51A and the second middle position baffle 51B to simultaneously shield the middle position optocoupler 41, and outputs a protection instruction for the lifting component 20 and the rotating component 30, wherein the protection instruction is used for changing the movement directions of the lifting component 20 and the rotating component 30.
In order to avoid collision of the lifting member 20 and the rotating member 30, at most one of the lifting member 20 and the rotating member 30 is located at the overlapping region at the same time. Illustratively, when the lifting member 20 is located in the overlapping area, the first middle position baffle 51A shields the middle position optocoupler 41, and at this time, if the rotating member 30 enters the overlapping area, the first middle position baffle 51A and the second middle position baffle 51B shield the middle position optocoupler 41 at the same time, and the processor outputs protection instructions for the lifting member 20 and the rotating member 30. When the rotating member 30 is located in the overlapping area, the second middle position baffle 51B shields the middle position optocoupler 41, and at this time, if the lifting member 20 enters the overlapping area, the first middle position baffle 51A and the second middle position baffle 51B shield the middle position optocoupler 41 at the same time, and the processor outputs protection instructions for the lifting member 20 and the rotating member 30. When the lifting member 20 and the rotating member 30 simultaneously enter the overlapping region, the first intermediate position baffle 51A and the second intermediate position baffle 51B simultaneously shield the intermediate position optocoupler 41, and the processor outputs a protection instruction for the lifting member 20 and the rotating member 30. The protection instruction is used for changing the movement direction of the lifting component 20 and the rotating component 30, so that the collision of the lifting component 20 and the rotating component 30 during the continuous movement can be avoided.
According to the sample transfer device, through the arrangement of the plurality of optocouplers and the baffle plates matched with the optocouplers, whether collision is about to occur or not can be judged rapidly when any one of the moving interference components contacts the interference overlapping area, and through timely responding that the plurality of moving interference components are located in the interference overlapping area and outputting the protection instruction, the moving direction can be automatically adjusted, intelligent collision avoidance is achieved, other operations can be continuously carried out on the device, operation and even damage due to collision stop are avoided, and safe and efficient operation of the sample transfer device is guaranteed. Also, it is possible to realize a compact configuration of the apparatus while allowing overlapping between the components while realizing the holding function.
With continued reference to fig. 1 and 2, in some embodiments, the optocoupler assembly 40 further includes boundary position optocouplers positioned at different locations on the base 10.
The baffle assembly 50 further comprises a first boundary position baffle 52A and a second boundary position baffle 52B fixedly connected with the lifting component 20 and the rotating component 30 respectively, wherein the first boundary position baffle 52A and the second boundary position baffle 52B are used for shielding the boundary position optocoupler when the lifting component 20 and the rotating component 30 are located at the boundary positions, and the boundary positions comprise the positions where the lifting component 20 and the rotating component 30 start to move.
The boundary position may be preset, or may be an extreme position to which the elevating member 20/rotating member 30 can move on the base 10, for example. In an embodiment, the processor may determine, in response to the boundary position optocoupler and the intermediate position optocoupler 41 being sequentially blocked by the first boundary position blocking piece 52A and the first intermediate position blocking piece 51A, an initial movement direction of the lifting member 20 to be a direction pointed by the boundary position optocoupler to the intermediate position optocoupler 41, and determine a protection instruction for the lifting member 20 to be a direction opposite to the initial movement direction, for changing the movement direction of the lifting member 20. Further, the processor may determine that the lifting member 20 is returned to the boundary position in response to the boundary position optocoupler being blocked again by the first boundary position baffle 52A. Similarly, the processor may determine an initial movement direction of the rotating member as a direction (including clockwise/counterclockwise) from the boundary position optocoupler to the intermediate position optocoupler 41 and a protection instruction for the rotating member 30 as a direction for changing the movement direction of the rotating member 30 to be opposite to the initial movement direction in response to the boundary position optocoupler and the intermediate position optocoupler 41 being sequentially blocked by the second boundary position blocking piece 52B and the second intermediate position blocking piece 51B, respectively. Further, the processor may determine that the rotating member 30 is returned to the boundary position in response to the boundary position optocoupler being blocked again by the second boundary position baffle 52B.
In some embodiments, as shown in connection with fig. 2, the lifting member 20 moves linearly between a first boundary position and a second boundary position, and one end of the rotating member 30 moves circularly between a third boundary position and a fourth boundary position.
The boundary position optocouplers of different positions include a first boundary position optocoupler 42A, a second boundary position optocoupler 43A, a third boundary position optocoupler 42B, and a fourth boundary position optocoupler 43B, where the first boundary position blocking piece 52A is configured to block the first boundary position optocoupler 42A and the second boundary position optocoupler 43A when the lifting member 20 is located at the first boundary position and the second boundary position, and the second boundary position blocking piece 52B is configured to block the third boundary position optocoupler 42B and the fourth boundary position optocoupler 43B when the rotating member is located at the third boundary position and the fourth boundary position.
That is, the elevating member 20 and the rotating member 30 can perform bidirectional movement between boundary positions. It can be appreciated that the first middle position baffle 51A shields the middle position optocoupler 41 during the movement of the lifting member 20 from the first boundary position to the second boundary position and vice versa. Similarly, the second intermediate position blocking piece 51B blocks the intermediate position optocoupler 41 during rotation of the rotating member 30 from the third boundary position to the fourth boundary position and from the fourth boundary position to the third boundary position.
In fig. 2, the lifting member 20 and the rotating member 30 are illustrated as being bi-directionally movable between two boundary positions, respectively, and it is understood that the lifting member 20 and the rotating member 30 may be bi-directionally movable between more than two boundary positions. At this time, the elevating member 20 and the rotating member 30 may correspond to two or more boundary position photocouplers.
Further, the elevation member 20 may perform a linear motion in a vertical direction, and one end of the rotation member 30 may perform a circular motion in a horizontal direction.
The intermediate position optocouplers 41 in different positions comprise a first intermediate position optocoupler 41A and a second intermediate position optocoupler 41B, wherein the first intermediate position optocoupler 41A is positioned between the first boundary position optocoupler 42A and the second boundary position optocoupler 43A in the vertical direction, and the second intermediate position optocoupler 41B, the third boundary position optocoupler 42B and the fourth boundary position optocoupler 43B are circumferentially distributed in the same horizontal plane.
Referring to fig. 3, fig. 3 is an enlarged schematic view of a first middle position baffle and a first boundary position baffle in an embodiment. For example, after the first intermediate position fence 51A and the first boundary position fence 52A are assembled to the outer circumference of the elevation member 20, the first intermediate position fence 51A and the first intermediate position optocoupler 41A may be positioned on the same straight line in the vertical direction, and the first boundary position fence 52A, the first boundary position optocoupler 42A, and the second boundary position optocoupler 43A may be positioned on another straight line different from the straight line in the vertical direction.
Illustratively, the second intermediate position baffle 51B and the second intermediate position optocoupler 41B may be located in the same horizontal plane, and the second boundary position baffle 52B, the third boundary position optocoupler 42B, and the fourth boundary position optocoupler 43B may be located in another horizontal plane lower than the horizontal plane. The distance from the second intermediate position baffle 51B and the second boundary position baffle 52B to the rotation axis of the rotating member 30 may be a first preset distance, and the distance from the second intermediate position optocoupler 41B, the third boundary position optocoupler 42B, and the fourth boundary position optocoupler 43B to the rotation axis of the rotating member 30 may be a second preset distance, and the first preset distance may be smaller than the second preset distance.
In fig. 2, the movement direction of the lifting member 20 is perpendicular to the movement direction of the rotating member, and it is understood that the angle between the movement direction of the lifting member 20 and the movement direction of the rotating member 30 may be smaller than 90 degrees.
Optionally, the sample transfer apparatus 00 may further include:
the driving assembly 60 is electrically connected to the processor, and includes a screw motor 61 and a rotating motor 62. The base 10 is provided with a linear guide rail 11, and the screw motor 61 is used for driving the lifting member 20 to move along the linear guide rail 11. The base 10 is provided with a rotary shaft 12 and a timing pulley 13, and a rotary motor 62 is used to drive the rotary member 30 to rotate. Specifically, the rotating member 30 may include an arm head 31, a sample addition needle 32, and a rotating arm 33 that rotate in synchronization.
And the power supply assembly is electrically connected with the processor and is used for supplying power to the processor. In one possible implementation, referring to fig. 4, fig. 4 is a schematic diagram illustrating electrical connection of a processor of the sample transfer apparatus according to one embodiment. In particular, the processor may employ a drive control algorithm to program the motion profile of the drive assembly 60. The processor can be connected with the upper computer through CAN (Controller Area Network) buses.
In an embodiment of the present application, there is provided a sample processing apparatus configured as any one of the sample transfer devices 00 described above.
Specifically, the sample processing device may be, but is not limited to, a miniaturized biochemical analyzer, an immunoassay analyzer, a specific protein analyzer, a sample pretreatment device, or the like.
In an embodiment of the present application, as shown in fig. 5, a control method of a sample transfer apparatus is provided, and the method is applied to the processor for illustration, and includes the following steps S110 to S130.
Step S110, the lifting component and the rotating component are controlled to move according to a preset control instruction, and signals of the optocoupler assembly are obtained.
Step S120, determining the position relation between the first middle position baffle and the second middle position baffle and the middle position optocoupler according to the signals, wherein the position relation comprises shielding/non-shielding.
And step S130, responding to the first middle position baffle plate and the second middle position baffle plate to simultaneously shade the middle position optocoupler, and outputting protection instructions for the lifting component and the rotating component, wherein the protection instructions are used for changing the movement directions of the lifting component and the rotating component.
For example, the processor may activate the lifting member and the rotating member according to a preset control command, performing linear and rotational movements. For example, the lifting member may be moved in a vertical direction while the rotating member may be moved in a circular motion supported by the base. Simultaneously, the processor continuously monitors the state of the optical coupler assembly, and acquires the optical signal intensity of the optical coupler at the middle position on the base at different positions in real time. If the intermediate position optocoupler is blocked, the signal strength will change (e.g., drop or zero), which the processor records as "blocked". If the two light couplers are detected to be simultaneously shielded at the middle position, the processor generates and outputs a protection instruction. The protection instruction can comprise immediately stopping the movement of the lifting component and the rotating component, and returning the lifting component to the safe height, wherein the rotating component changes the movement direction and rotates anticlockwise or clockwise around the base.
According to the control method of the sample transfer device, whether the component with motion interference is located in the overlapping area of interference or not is determined through the signals of the optical coupler assembly, and the operation direction of the component is changed by triggering the protection instruction, so that the motion of the lifting component and the rotating component can be effectively controlled, the rapid response is ensured when a possible collision condition occurs, and the safety and the reliability of equipment are improved.
In some embodiments, as shown in fig. 6, the method for controlling a sample transfer apparatus may further include:
and step S140, controlling the lifting component and the rotating component to move again according to a preset control instruction in response to the lifting component and the rotating component returning to the boundary positions, wherein the boundary positions comprise the positions of the lifting component and the rotating component starting to move.
For example, the processor may continuously monitor the signal of the optocoupler at the boundary position in response to the lifting and rotating members changing the direction of movement. In case the signal strength of the optocoupler changes at the boundary position, it is determined that the lifting/rotating member returns to the boundary position. And under the condition that the lifting part and the rotating part return to the boundary positions, the lifting part and the rotating part are controlled to move again according to a preset control command. Thus, the automatic retransmission of the control command and the subsequent action can be realized, and the equipment is prevented from being stopped.
In some embodiments, as shown in fig. 7, the step S140 may include:
and step S141, responding to the lifting component or the rotating component to return to the boundary position, and sending response information to the upper computer, wherein the upper computer is used for outputting a retransmission instruction according to the response information.
In step S142, in response to receiving the retransmission command, the lifting member and the rotating member are controlled again to move according to the preset control command.
The response information may include whether the lifting member/rotating member returns to the boundary position, a movement state (including a speed, a direction, etc.) of the lifting member/rotating member, whether the optocoupler is operating normally, etc. Further, the host computer may determine whether the lifting member/rotating member satisfies the retransmission condition based on the response information. Thus, accurate monitoring and control of the lifting component and the rotating component can be realized.
In summary, according to the sample transfer apparatus and the control method thereof, by arranging the plurality of optocouplers and the baffle plates matched with the optocouplers, whether collision is about to occur or not can be rapidly judged when any one of the components with motion interference contacts the overlapped area, and by timely responding to the fact that the plurality of components with motion interference are located in the overlapped area with interference and outputting the protection instruction, the motion direction can be automatically adjusted, so that the intelligent collision avoidance is realized, other operations can be continuously performed by the apparatus, the operation is not stopped or even damaged due to the collision, and the safe and efficient operation of the sample transfer apparatus is ensured. Also, it is possible to realize a compact configuration of the apparatus while allowing overlapping between the components while realizing the holding function. The signal of the optical coupler component is used for determining whether the component with motion interference is located in the overlapping area of interference or not, and triggering a protection instruction to change the running direction of the component, so that the motion of the lifting component and the rotating component can be effectively controlled, the quick response is ensured when a possible collision condition occurs, and the safety and the reliability of the equipment are improved.
In an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method embodiments described above.
In an embodiment of the application, a computer program product is provided, comprising a computer program which, when being executed by a processor, implements the steps of the method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile memory and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (RESISTIVE RANDOM ACCESS MEMORY, reRAM), magneto-resistive Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computation, an artificial intelligence (ARTIFICIAL INTELLIGENCE, AI) processor, or the like, but is not limited thereto.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (7)
1. The sample transfer device comprises a base, a lifting part and a rotating part, wherein an overlapping area exists between the movement space of the lifting part and the movement space of the rotating part;
The base is used for carrying out linear motion on the lifting component relative to the base, one end of the rotating component is fixed relative to the base, and the other end of the rotating component carries out circular motion;
The optical coupler assembly comprises an intermediate position optical coupler positioned at different positions on the base;
The baffle assembly comprises a first middle position baffle and a second middle position baffle which are respectively and fixedly connected with the lifting component and the rotating component, and the first middle position baffle and the second middle position baffle are respectively used for shielding the middle position optocoupler when the lifting component and the rotating component are positioned in the overlapping area;
The processor is used for electrically connecting the optocoupler assembly, responding to the first middle position baffle plate and the second middle position baffle plate to simultaneously shade the middle position optocoupler, and outputting protection instructions for the lifting component and the rotating component, wherein the protection instructions are used for changing the movement directions of the lifting component and the rotating component;
the optocoupler assembly further comprises boundary position optocouplers positioned at different positions on the base;
the baffle assembly further comprises a first boundary position baffle and a second boundary position baffle which are respectively and fixedly connected with the lifting component and the rotating component, wherein the first boundary position baffle and the second boundary position baffle are respectively used for shielding the boundary position optocoupler when the lifting component and the rotating component are positioned at the boundary positions;
the lifting component moves linearly between a first boundary position and a second boundary position, and one end of the rotating component moves circularly between a third boundary position and a fourth boundary position;
The boundary position optocouplers of different positions comprise a first boundary position optocoupler, a second boundary position optocoupler, a third boundary position optocoupler and a fourth boundary position optocoupler, wherein the first boundary position baffle is used for shielding the first boundary position optocoupler and the second boundary position optocoupler respectively when the lifting component is positioned at the first boundary position and the second boundary position, and the second boundary position baffle is used for shielding the third boundary position optocoupler and the fourth boundary position optocoupler respectively when the rotating component is positioned at the third boundary position and the fourth boundary position;
the lifting component moves linearly in the vertical direction, and one end of the rotating component moves circularly in the horizontal direction;
The intermediate position optocouplers of different positions comprise a first intermediate position optocoupler and a second intermediate position optocoupler, the first intermediate position optocoupler is positioned between the first boundary position optocoupler and the second boundary position optocoupler in the vertical direction, and the second intermediate position optocoupler, the third boundary position optocoupler and the fourth boundary position optocoupler are circumferentially distributed in the same horizontal plane.
2. A control method of a sample transfer apparatus, characterized by being applied to the sample transfer apparatus of claim 1, the method comprising:
Controlling the lifting component and the rotating component to move according to a preset control instruction, and acquiring signals of the optocoupler component;
Determining the position relation between the first middle position baffle and the second middle position baffle and the middle position optocoupler according to the signals, wherein the position relation comprises shielding/non-shielding;
And responding to the first middle position baffle plate and the second middle position baffle plate to simultaneously shade the middle position optocoupler, and outputting protection instructions for the lifting component and the rotating component, wherein the protection instructions are used for changing the movement directions of the lifting component and the rotating component.
3. The method of claim 2, wherein outputting a protection instruction for the lifting member and the rotating member in response to the first intermediate position fence and the second intermediate position fence simultaneously shielding the intermediate position optocoupler, the protection instruction for changing a movement direction of the lifting member and the rotating member, and thereafter comprises:
and responding to the lifting component and the rotating component to return to boundary positions, and controlling the lifting component and the rotating component to move again according to the preset control instruction, wherein the boundary positions comprise positions of the lifting component and the rotating component starting to move.
4. A method according to claim 3, wherein said controlling the movement of the lifting member and the rotating member again in accordance with the preset control command in response to the lifting member and the rotating member returning to the boundary position comprises:
Responding to the lifting component or the rotating component to return to the boundary position, and sending response information to an upper computer, wherein the upper computer is used for outputting a retransmission instruction according to the response information;
and in response to receiving the retransmission command, controlling the lifting component and the rotating component to move again according to the preset control command.
5. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 2 to 4.
6. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of any of claims 2 to 4.
7. A sample processing device, characterized in that it is configured to comprise the sample transfer apparatus of claim 1.
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| CN202411210901.3A CN118925824B (en) | 2024-08-30 | 2024-08-30 | Sample transfer apparatus, sample transfer apparatus control method, sample transfer apparatus control program, and sample processing device |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279275A (en) * | 2011-06-22 | 2011-12-14 | 深圳市国赛生物技术有限公司 | Integrated apparatus for magnetic stirring, cleaning and separation |
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| KR100236506B1 (en) * | 1990-11-29 | 2000-01-15 | 퍼킨-엘머시터스인스트루먼츠 | Apparatus for polymerase chain reaction |
| ATE520970T1 (en) * | 2002-04-08 | 2011-09-15 | E A Fischione Instr Inc | PREPARATION HOLDING DEVICE |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102279275A (en) * | 2011-06-22 | 2011-12-14 | 深圳市国赛生物技术有限公司 | Integrated apparatus for magnetic stirring, cleaning and separation |
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Denomination of invention: Sample transfer device and control method readable storage medium and program product sample processing equipment Granted publication date: 20250909 Pledgee: Bank of Nanjing Limited by Share Ltd. Shanghai branch Pledgor: Shanghai Pinfeng Medical Technology Co.,Ltd. Registration number: Y2025980040649 |