1. The utility model provides a full-automatic sample pretreatment system which characterized in that: comprises a front end racking mechanism, a cooperative robot, a centrifugal mechanism, a cover opening mechanism, a liquid separating mechanism, a rear end racking mechanism and a controller for controlling the mechanisms to operate,

the cooperative robot carries out corresponding quantity adaptation according to the length and the structural design of the pretreatment system,

the front end racking mechanism comprises one or more combinations of a sample test tube feeding device and a test tube rack feeding device, and the sample test tube feeding device comprises one or more combinations of a push hopper slideway feeding mechanism, a hopper conveying mechanism or a test tube seat conveying mechanism; the test tube rack feeding device comprises one or more combinations of a push type feeding mechanism or a disc type feeding mechanism;

a sample test tube output area of one or more combined structures of a push hopper slide way feeding mechanism, a hopper conveying mechanism, a test tube seat conveying mechanism, a push type feeding mechanism or a disc type feeding mechanism is arranged in a workable three-dimensional space range of the cooperative robot;

the cover opening mechanism comprises a first conveying device, a steering device, a second conveying device and a cover opening assembly, one end of the first conveying device is connected with the steering device, the other end of the steering device is connected with the second conveying device, and the cover opening assembly is matched with one side of the first conveying device;

the liquid separating mechanism comprises a disc device, a printing device, a TIP feeding device, a recovery device, an empty pipe feeding machine, a liquid moving device, a first cooperation robot and a second cooperation robot, wherein the first cooperation robot and the second cooperation robot are respectively arranged on two sides of the disc device;

the centrifugal mechanism comprises a third cooperative robot, a centrifugal device and an adaptive assembly matched with the centrifugal device and used for placing a sample test tube, and the third cooperative robot is respectively matched with the front end racking mechanism, the centrifugal device and the cover opening mechanism;

the rear-end racking mechanism comprises one or more combinations of a test tube storage device and a test tube rack storage device, and the first cooperation robot or the second cooperation robot is matched with the rear-end racking mechanism.

2. The fully automatic specimen pre-processing system according to claim 1, wherein: push away fill slide feeding mechanism and include push away fill main part, transfer chain one and slide, push away the discharge gate of fill main part and be connected with the one end cooperation of transfer chain one, the other end of transfer chain one is connected with the one end cooperation of slide, and the other end of slide is close to the cooperation setting of third cooperation robot department, the slide has been seted up long logical groove for last, and the width that long logical groove is greater than the body diameter of sample test tube and is less than the test-tube cap diameter of sample test tube, and the higher one end of oblique slide is located the hopper department of outside sample test tube, and the lower one end of oblique slide is located the one side setting that is close to third cooperation robot, the slide is oblique slide, and the higher one end and the transfer chain cooperation of oblique slide are connected, and the lower one end of oblique slide is located the one side setting that is close to third cooperation robot.

3. The fully automatic specimen pre-processing system according to claim 1, wherein: hopper conveying mechanism is including dividing hopper, transfer chain two and vision processing apparatus, divides the bottom of hopper to be equipped with one with sample test tube size assorted export, and the one end of transfer chain two is located under the export of branch hopper bottom, and the other end of transfer chain two is located the one side setting of being close to third cooperation robot, and vision processing apparatus is located the setting of department directly over transfer chain two.

4. The fully automatic specimen pre-processing system according to claim 1, wherein: the test tube seat conveying mechanism comprises a test tube seat and a third conveying line, the test tube seat is arranged on the third conveying line, the third conveying line is arranged in an annular conveying line mode, one position of the annular conveying line is arranged corresponding to the third cooperation robot in a matched mode, and the test tube seat on the third conveying line is provided with a plurality of test tube seats.

5. The fully automatic specimen pre-processing system according to claim 1, wherein: the push type feeding mechanism comprises a test tube rack conveying mechanism and a test tube rack conveying belt, the test tube rack conveying mechanism comprises a test tube rack output module and a test tube rack input module, the test tube rack conveying belt comprises an output conveying belt and an input conveying belt, one end of the output conveying belt and one end of the input conveying belt are respectively matched and arranged corresponding to the third cooperative robot, the other end of the output conveying belt is matched and arranged corresponding to the test tube rack output end of the test tube rack output module, the other end of the input conveying belt is matched and arranged corresponding to the test tube rack input end of the test tube rack input module,

the test tube rack output module comprises a first storage rack and a pushing unit, the first storage rack is used for uniformly arranging and placing test tube racks, the output end of the first storage rack is matched with the output conveyor belt, the pushing unit is arranged at one end of the first storage rack far away from the output conveyor belt, the pushing end of the pushing unit is matched with the test tube racks of the first storage rack,

the test tube rack input module comprises a second storage rack and a feeding unit, the second storage rack is used for arranging and placing test tube racks, the input end of the second storage rack is arranged in a matching way corresponding to the input conveyor belt, the feeding end of the feeding unit is arranged in a matching way corresponding to the input end of the second storage rack, the feeding unit is positioned on one side of the input conveyor belt far away from the second storage rack,

the pushing unit comprises a pushing plate and a synchronous belt motor, the pushing plate is slidably mounted on the first storage frame, the synchronous belt motor is mounted on the lower side of the first storage frame, and the moving end of the synchronous belt motor is connected with the pushing plate in a matched mode;

the feeding unit comprises a telescopic cylinder and a push plate, the telescopic cylinder is installed on the rack, the push plate is installed at the telescopic end of the telescopic cylinder, and the push plate is arranged right at the input end of the storage frame II.

6. The fully automatic specimen pre-processing system according to claim 1, wherein: disc type feeding mechanism includes driving motor, carries disc and constant head tank, and the constant head tank setting is on the surface of carrying the disc, and the constant head tank is provided with a plurality ofly, and the test-tube rack all can be placed in every constant head tank, and driving motor and carrying the disc cooperation, drive through driving motor and carry the disc rotation, carry the disc to be close to the constant head tank and the cooperation setting of third cooperation robot one side, the constant head tank is including but not limited to align to grid or irregular range on carrying the disc surface.

7. The fully automatic specimen pre-processing system according to claim 1, wherein: the adapter assembly comprises a first adapter placing area, the first adapter placing area is arranged on one side, facing the visual recognition device, of the third cooperative robot, and a plurality of adapters can be placed on the first adapter placing area;

the adaptive assembly comprises a first fixing frame, a first circulation device and a second circulation device are respectively arranged on the first fixing frame, a first lifting device and a second lifting device are respectively arranged at two ends of the second circulation device, and the first circulation device, the second circulation device, the first lifting device and the second lifting device are connected to the controller;

the adapter assembly comprises a second fixing frame, a second adapter placing area A and a second adapter placing area B are arranged on the second fixing frame, and a plurality of adapters can be placed on the second adapter placing area A and the second adapter placing area B respectively;

the adaptation subassembly includes that the third adapter places district A and third adapter and places district B, the district A is placed to the third adapter sets up in the one end of third cooperation robot towards the visual identification device, the district B is placed to the third adapter sets up in the other end of third cooperation robot.

8. The fully automatic specimen pre-processing system according to claim 1, wherein: the cover opening assembly comprises a first positioning frame arranged on one side of the first conveying device, a lifting device is arranged on one side, facing the first conveying device, of the first positioning frame, a telescopic device is connected onto the lifting device, a rotating device is arranged at the bottom of the telescopic device in a matched mode, a clamping jaw mechanism is connected to the bottom end of the rotating device, a clamping device is arranged on the first conveying device in a matched mode, and the lifting device, the telescopic device, the rotating device, the clamping jaw mechanism and the clamping device are connected to a controller;

the cover opening assembly comprises a second positioning frame arranged on one side of the first conveying device, a sliding device is connected to one side, facing the first conveying device, of the second positioning frame, a clamping assembly is arranged on the sliding device in a matched mode, a clamping jaw assembly is connected to the upper portion, facing the first conveying device, of the second positioning frame, and the sliding device, the clamping assembly and the clamping jaw assembly are connected to the controller respectively.

The clamping component and the clamping jaw component are respectively provided with a plurality of fixing clamping positions, and the clamping component and the clamping jaw component are arranged in a matched mode.

9. The fully automatic specimen pre-processing system according to claim 1, wherein: the TIP feeding device is located on one side of the first cooperation robot, and the first cooperation robot, the second cooperation robot, the printing device and the recovery device are arranged on the periphery of the disc device respectively.

The disc device comprises a disc-shaped fixing seat arranged at the center of the top end of the workbench, the top end of the fixing seat is connected with a plurality of fastening frames, and any fastening frame is used for fixing the test tube.

10. The fully automatic specimen pre-processing system according to claim 1, wherein: the test tube rack storage device comprises a plurality of test tube rack trays, a first tray storage position, a first test tube rack taking and placing manipulator and a first test tube rack turnover position, wherein the tray storage positions are arranged according to actual requirements;

test tube storage device includes test tube tray, tray storage bit two, tray lift actuating mechanism and tray conveying mechanism, and two of tray storage bits are provided with a plurality of according to actual demand, and tray lift actuating mechanism and all tray storage bit departments cooperate for with test tube tray access in the tray storage bit two, tray conveying mechanism and tray lift actuating mechanism cooperation for carry test tube tray and be close to first cooperation robot or the cooperation robot department of second.

Background

In the test process of test tube specimens in medical treatment/laboratories, a crucial flow-specimen pretreatment is provided, and the conventional flow comprises feeding, centrifuging, uncovering, liquid separation (matching) and racking/conveying;

the main several ways on the market are as follows:

1. the manual sample of accomplishing each module is got and is put, and its flow is: the manual mode is low in efficiency, high in labor intensity and high in danger. The manual error rate is high, the labor cost is high, and meanwhile, the production line cannot achieve automation.

2. The specimen is put into to traditional diaxon/triaxial manipulator, and its flow is: the manipulator takes a sample and puts the sample into a flow transfer line, and the sample is transferred to a centrifugal station; the manipulator gets during the sample puts into the centrifugal adapter in the centrifuge, snatch and fill up centrifugal adapter after many times and carry out the centrifugation, after the centrifugation is accomplished, take out the sample in the centrifugal adapter in batches by the manipulator and put into backward flow commentaries on classics line, the circulation is opened the lid to the station of uncapping, transport to back station after the completion of uncapping, whether divide liquid (apolegamy) according to the demand after uncapping, the sample is put on the shelf, this kind of mode needs two manipulators at least to it is high to snatch the sample frequency at every turn, the man-hour utilization ratio. The mechanism is complicated, the space is too crowded, and the mechanical failure rate is high.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a full-automatic specimen pretreatment system.

In order to achieve the purpose, the invention provides the following technical scheme: a full-automatic specimen pretreatment system comprises a front-end racking mechanism, a cooperative robot, a centrifugal mechanism, a cover opening mechanism, a liquid separating mechanism, a rear-end racking mechanism and a controller for controlling the mechanisms to operate,

the cooperative robot carries out corresponding quantity adaptation according to the length and the structural design of the pretreatment system,

the front end racking mechanism comprises one or more combinations of a sample test tube feeding device and a test tube rack feeding device, and the sample test tube feeding device comprises one or more combinations of a push hopper slideway feeding mechanism, a hopper conveying mechanism or a test tube seat conveying mechanism; the test tube rack feeding device comprises one or more combinations of a push type feeding mechanism or a disc type feeding mechanism;

a sample test tube output area of one or more combined structures of a push hopper slide way feeding mechanism, a hopper conveying mechanism, a test tube seat conveying mechanism, a push type feeding mechanism or a disc type feeding mechanism is arranged in a workable three-dimensional space range of the cooperative robot;

the cover opening mechanism comprises a first conveying device, a steering device, a second conveying device and a cover opening assembly, one end of the first conveying device is connected with the steering device, the other end of the steering device is connected with the second conveying device, and the cover opening assembly is matched with one side of the first conveying device;

the liquid separating mechanism comprises a disc device, a printing device, a TIP feeding device, a recovery device, an empty pipe feeding machine, a liquid moving device, a first cooperation robot and a second cooperation robot, wherein the first cooperation robot and the second cooperation robot are respectively arranged on two sides of the disc device;

the centrifugal mechanism comprises a third cooperative robot, a centrifugal device and an adaptive assembly matched with the centrifugal device and used for placing a sample test tube, and the third cooperative robot is respectively matched with the front end racking mechanism, the centrifugal device and the cover opening mechanism;

the rear-end racking mechanism comprises one or more combinations of a test tube storage device and a test tube rack storage device, and the first cooperation robot or the second cooperation robot is matched with the rear-end racking mechanism.

Preferably, push away fill slide feeding mechanism and include push away fill main part, transfer chain one and slide, push away the discharge gate of fill main part and be connected with the one end cooperation of transfer chain one, the other end of transfer chain one is connected with the one end cooperation of slide, and the other end of slide is close to the cooperation setting of third cooperation robot department, the slide has been seted up long logical groove for last, and the width that long logical groove is greater than the body diameter of sample test tube and is less than the test-tube cap diameter of sample test tube, and the higher one end of oblique slide is located the hopper department of outside sample test tube, and the lower one end of oblique slide is located the one side setting of being close to third cooperation robot, the slide is oblique slide, and the higher one end and the transfer chain cooperation of oblique slide are connected, and the lower one end of oblique slide is located the one side setting of being close to third cooperation robot.

Preferably, hopper conveying mechanism is including dividing hopper, transfer chain two and vision processing apparatus, divides the bottom of hopper to be equipped with one with sample test tube size assorted export, and the one end of transfer chain two is located and divides under the export of hopper bottom, and the other end of transfer chain two is located the one side setting of being close to third cooperation robot, and vision processing apparatus is located and locates to set up directly over transfer chain two.

Preferably, the test tube seat conveying mechanism comprises a test tube seat and a third conveying line, the test tube seat is arranged on the third conveying line, the third conveying line is arranged in an annular conveying line mode, one position of the annular conveying line is arranged corresponding to the third cooperation robot in a matched mode, and the test tube seat on the third conveying line is arranged in a plurality of modes.

Preferably, the push type feeding mechanism comprises a test tube rack conveying mechanism and a test tube rack conveying belt, the test tube rack conveying mechanism comprises a test tube rack output module and a test tube rack input module, the test tube rack conveying belt comprises an output conveying belt and an input conveying belt, one end of the output conveying belt and one end of the input conveying belt are respectively matched and arranged corresponding to the third cooperation robot, the other end of the output conveying belt is matched and arranged corresponding to the test tube rack output end of the test tube rack output module, the other end of the input conveying belt is matched and arranged corresponding to the test tube rack input end of the test tube rack input module, the test tube rack output module comprises a first storage rack and a pushing unit, the first storage rack is used for uniformly arranging and placing test tube racks, the test tube rack output end of the first storage rack is matched and arranged corresponding to the output conveying belt, the pushing unit is arranged at one end of the first storage rack far away from the output conveying belt, and the pushing end of the pushing unit is matched with the test tube rack of the first storage rack,

the test tube rack input module comprises a second storage rack and a feeding unit, the second storage rack is used for arranging and placing test tube racks, the input end of the second storage rack is arranged in a matching way corresponding to the input conveyor belt, the feeding end of the feeding unit is arranged in a matching way corresponding to the input end of the second storage rack, the feeding unit is positioned on one side of the input conveyor belt far away from the second storage rack,

the pushing unit comprises a pushing plate and a synchronous belt motor, the pushing plate is slidably mounted on the first storage frame, the synchronous belt motor is mounted on the lower side of the first storage frame, and the moving end of the synchronous belt motor is connected with the pushing plate in a matched mode;

the feeding unit comprises a telescopic cylinder and a push plate, the telescopic cylinder is installed on the rack, the push plate is installed at the telescopic end of the telescopic cylinder, and the push plate is arranged right at the input end of the storage frame II.

Preferably, disc type feeding mechanism includes driving motor, carries disc and constant head tank, and the constant head tank setting is on the surface of carrying the disc, and the constant head tank is provided with a plurality ofly, and the test-tube rack all can be placed in every constant head tank, and driving motor and carrying the disc cooperation, drive through driving motor and carry the disc rotation, carry the disc to be close to the constant head tank and the cooperation setting of third cooperation robot one side, the constant head tank includes but not limited to align to grid or irregular arrangement at the transport disc surface.

Preferably, the adapter assembly comprises a first adapter placing area, the first adapter placing area is arranged on one side, facing the visual recognition device, of the third cooperative robot, and a plurality of adapters can be placed on the first adapter placing area;

the adaptive assembly comprises a first fixing frame, a first circulation device and a second circulation device are respectively arranged on the first fixing frame, a first lifting device and a second lifting device are respectively arranged at two ends of the second circulation device, and the first circulation device, the second circulation device, the first lifting device and the second lifting device are connected to the controller;

the adapter assembly comprises a second fixing frame, a second adapter placing area A and a second adapter placing area B are arranged on the second fixing frame, and a plurality of adapters can be placed on the second adapter placing area A and the second adapter placing area B respectively;

the adaptation subassembly includes that the third adapter places district A and third adapter and places district B, the district A is placed to the third adapter sets up in the one end of third cooperation robot towards the visual identification device, the district B is placed to the third adapter sets up in the other end of third cooperation robot.

Preferably, the cover opening assembly comprises a first positioning frame arranged on one side of the first conveying device, a lifting device is arranged on one side of the first positioning frame facing the first conveying device, a telescopic device is connected onto the lifting device, a rotating device is arranged at the bottom of the telescopic device in a matched mode, a clamping jaw mechanism is connected to the bottom end of the rotating device, a clamping device is arranged on the first conveying device in a matched mode, and the lifting device, the telescopic device, the rotating device, the clamping jaw mechanism and the clamping device are connected to the controller;

the cover opening assembly comprises a second positioning frame arranged on one side of the first conveying device, a sliding device is connected to one side, facing the first conveying device, of the second positioning frame, a clamping assembly is arranged on the sliding device in a matched mode, a clamping jaw assembly is connected to the upper portion, facing the first conveying device, of the second positioning frame, and the sliding device, the clamping assembly and the clamping jaw assembly are connected to the controller respectively.

The clamping component and the clamping jaw component are respectively provided with a plurality of fixing clamping positions, and the clamping component and the clamping jaw component are arranged in a matched mode.

Preferably, the TIP feeding device is located on one side of the first cooperation robot, and the first cooperation robot, the second cooperation robot, the printing device and the recycling device are respectively arranged around the disc device.

The disc device comprises a disc-shaped fixing seat arranged at the center of the top end of the workbench, the top end of the fixing seat is connected with a plurality of fastening frames, and any fastening frame is used for fixing the test tube.

Preferably, the test tube rack storage device comprises a plurality of test tube rack trays, a first tray storage position, a first test tube rack taking and placing manipulator and a test tube rack turnover position, the plurality of the tray storage positions are arranged according to actual requirements, the first test tube rack taking and placing manipulator is matched with the first tray storage positions, the first test tube rack taking and placing manipulator is matched with the first test tube rack turnover position, the test tube rack trays are placed in the first tray storage positions and used for placing and taking test tube racks, and the first cooperation robot or the second cooperation robot is matched with the first test tube rack turnover position;

test tube storage device includes test tube tray, tray storage bit two, tray lift actuating mechanism and tray conveying mechanism, and two of tray storage bits are provided with a plurality of according to actual demand, and tray lift actuating mechanism and all tray storage bit departments cooperate for with test tube tray access in the tray storage bit two, tray conveying mechanism and tray lift actuating mechanism cooperation for carry test tube tray and be close to first cooperation robot or the cooperation robot department of second.

Compared with the prior art, the invention has the beneficial effects that: through the matching relation between each mechanism module and the cooperative robot, the mechanical structure is reduced and the automatic integration is carried out through reasonable layout, the working hour utilization rate of a single industrial product is improved, the functions of outputting and loading, centrifuging samples, uncapping and separating liquid and storing and loading the sample test tubes by the pretreatment system at any position in the three-dimensional space range in which the cooperative robot can work are realized, and the limitation line of the traditional two-axis, three-axis or multi-axis manipulator is changed; meanwhile, the human-computer interaction interface of the cooperative robot is friendly, so that the safety of human-computer interaction is greatly improved, and the overall working efficiency is improved;

additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present application.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the matching structure of the push hopper chute feeding mechanism and the push type feeding mechanism in the embodiment;

FIG. 3 is a schematic view of the structure of the hopper conveying mechanism and the push type feeding mechanism in the embodiment;

FIG. 4 is a schematic view of the matching structure of the push hopper chute feeding mechanism and the disc type feeding mechanism in the embodiment;

FIG. 5 is a schematic structural diagram of a hopper chute feeding mechanism in an embodiment;

FIG. 6 is a schematic structural view of a hopper conveying mechanism in an embodiment;

FIG. 7 is a schematic structural view of a test tube holder conveying mechanism in the embodiment;

FIG. 8 is a sectional view of a test tube holder carrying mechanism in the embodiment;

FIG. 9 is a schematic view of the test tube holder in the embodiment;

FIG. 10 is a first schematic structural view of a pusher feed mechanism according to an embodiment;

FIG. 11 is a second schematic structural view of the pusher feed mechanism in the embodiment;

FIG. 12 is a third schematic structural view of the pusher feed mechanism in the embodiment;

FIG. 13 is a fourth schematic structural view of the pusher feed mechanism of the embodiment;

FIG. 14 is a fifth schematic structural view of the pusher feed mechanism in the embodiment;

FIG. 15 is a schematic view of the push feed mechanism of FIG. 14 engaged with a cooperating robot;

FIG. 16 is a first schematic structural view of a disc type feeding mechanism in the embodiment;

FIG. 17 is a second schematic structural view of the disc type feeding mechanism in the embodiment;

FIG. 18 is a third schematic structural view of the disc type feeding mechanism in the embodiment;

FIG. 19 is a schematic view showing the structure of the test tube tray feeding mechanism in cooperation with a cooperating robot in the embodiment;

FIG. 20 is a first schematic structural view of a centrifugal mechanism according to an embodiment;

FIG. 21 is a second schematic structural view of a centrifugal mechanism according to an embodiment;

FIG. 22 is a third schematic structural view of a centrifugal mechanism according to an embodiment;

FIG. 23 is a fourth exemplary embodiment of a centrifugal mechanism;

FIG. 24 is a fifth schematic structural view of a centrifugal mechanism according to an embodiment;

FIG. 25 is a first exemplary embodiment of an adapter of the centrifugal mechanism;

FIG. 26 is a second embodiment of an adapter structure for a centrifugal mechanism;

FIG. 27 is a first schematic view of a cooperative robot of the centrifugal mechanism according to an embodiment;

FIG. 28 is a structural diagram of a cooperative robot of the centrifugal mechanism in the second embodiment;

FIG. 29 is a structural diagram of a cooperative robot of the centrifugal mechanism in the third embodiment;

FIG. 30 is a first schematic structural diagram of a lid opening mechanism in the present embodiment;

FIG. 31 is a first schematic view of a first open lid assembly of the present embodiment;

FIG. 32 is a second schematic view of the structure of the open lid assembly of the present embodiment;

FIG. 33 is a second schematic structural view of the opening mechanism in this embodiment;

FIG. 34 is a schematic structural view of a liquid distribution mechanism in this embodiment;

FIG. 35 is a front view of the liquid distribution mechanism in this embodiment;

FIG. 36 is a side view of the liquid distribution mechanism in this embodiment;

FIG. 37 is a top view of the liquid distribution mechanism in this embodiment;

fig. 38 is a schematic structural view of a storage device of the test tube rack in the present embodiment;

fig. 39 is a schematic view of a tray structure of the test tube rack of the present embodiment;

FIG. 40 is a schematic view showing the structure of the test tube storage apparatus in this embodiment;

FIG. 41 is a schematic view showing the structure of the test tube tray in this embodiment;

fig. 42 is a schematic view of the adapter flow structure of fig. 22.

In the figure: 1. a front end racking mechanism; 2. a centrifugal mechanism; 3. a cover opening mechanism; 4. a liquid separating mechanism; 5. a rear end racking mechanism;

11. a hopper body; 12. conveying a first line; 13. a slideway; 14. a distributing hopper; 15. conveying a second line; 16. a vision processing device; 17. a test tube seat; 18. conveying a third line; 19. a test tube rack output module; 110. a test tube rack input module; 112. an output conveyor belt; 113. an input conveyor belt; 114. a first storage rack; 115. a material pushing unit; 116. a second storage rack; 117. a feeding unit; 118. a material pushing plate; 119. a conveying disc; 120. positioning a groove; 121. a specimen test tube; 122. a test tube rack; 123. a test tube rack storage station; 124. a test tube rack push-out mechanism; 125. a test tube rack horizontal conveying line; 126. a test tube rack posture adjusting mechanism; 127. storing the bit by the test tube rack; 128. a propulsion mechanism; 129. a test tube rack lifting device; 130. a test tube rack horizontal conveying device; 131. storing the bit by the test tube rack; 132. conveying the test tube rack; 133. a test tube rack conveying line II; 134. a test tube rack pushing device;

21. an adaptation component; 22. a third cooperative robot; 23. a centrifugal device; 24. a jaw arrangement; 25. a front buffer area; 26. a back buffer region; 27. a sample test tube placing tray;

211. a first adapter placement area; 212. a first fixing frame; 213. a first circulation device; 214. a second transfer device; 215. a first lifting device; 216. a second lifting device; 217. a second fixing frame; 218. a second adapter placement area A; 219. a second adapter placement area B; 2110. a third adapter placement area A; 2111. a third adapter placement area B;

31. a first conveying device; 32. a steering device; 33. a second conveying device; 34. a lid opening assembly;

341. a first positioning frame; 342. a lifting device; 343. a telescoping device; 344. a rotating device; 345. a jaw mechanism; 346. a clamping device; 347. a second positioning frame; 348. a sliding device; 349. a clamping assembly; 350. a jaw assembly; 351. a cap recovery channel;

41. a disc device; 42. a fixed seat; 43. a fastening frame; 44. a first collaboration robot; 45. a second cooperative robot; 46. an empty pipe feeder; 47. a printing device; 48. a TIP supply device; 49. a recovery device; 410. a pipetting device; 411. a universal wheel; 412. a base; 413. a hydraulic cylinder; 414. a level gauge;

51. a test tube rack tray; 52. the first storage position of the tray is stored; 53. the test tube rack picking and placing manipulator; 54. carrying out turnover of the test tube rack; 55. a test tube tray; 56. the second tray is stored; 57. a tray lifting drive mechanism; 58. tray conveying mechanism.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

Referring to fig. 1, the present invention provides a technical solution: a full-automatic specimen pretreatment system comprises a front end loading mechanism 1, a cooperative robot, a centrifugal mechanism 2, a cover opening mechanism 3, a liquid separating mechanism 4, a rear end loading mechanism 5 and a controller for controlling the mechanisms to operate,

referring to the drawings, in the implementation process of the device in the application technology, the cover opening mechanism 3 and the liquid separating mechanism 4 are matched devices, the sample test tube 121 can be directly stored on the shelf after centrifugation is completed, the sample test tube 121 can also be stored on the shelf after being opened, and the sample test tube 121 can also be stored on the shelf after being separated into liquid.

The cooperative robot carries out corresponding quantity adaptation according to the length and the structural design of the pretreatment system, when only the centrifugal-racking or centrifugal-uncapping-racking process is completed, one cooperative robot can be designed, and when liquid separation operation is needed, a plurality of cooperative robots can be arranged to realize high-efficiency operation of the whole process.

The front end racking mechanism 1 comprises one or more combinations of a sample test tube 121 feeding device or a test tube rack 122 feeding device, and the sample test tube 121 feeding device comprises one or more combinations of a push hopper slideway feeding mechanism, a hopper conveying mechanism or a test tube seat 17 conveying mechanism; the feeding device of the test tube rack 122 comprises one or more combinations of a push type feeding mechanism or a disc type feeding mechanism;

the output area of the sample test tube 121 with one or more combined structures of a push hopper slide feeding mechanism, a hopper conveying mechanism, a test tube seat 17 conveying mechanism, a push type feeding mechanism or a disc type feeding mechanism is arranged in the workable three-dimensional space range of the cooperative robot;

the feeding device of the test tube rack 122 comprises one or more combinations of a push type feeding mechanism or a disc type feeding mechanism; arrange the test-tube rack 122 in through sample test tube 121 to export through the test-tube rack 122 form, make the sample test tube 121 input mode that provides multiple form, make things convenient for efficiency and the functional differentiation of sample test tube 121 handling on shelves.

The uncovering mechanism 3 comprises a first conveying device 31, a steering device 32, a second conveying device 33 and an uncovering assembly 34, one end of the first conveying device 31 is connected with the steering device 32, the other end of the steering device 32 is connected with the second conveying device 33, the uncovering assembly 34 is matched with one side of the first conveying device 31,

the third cooperation robot 22 is used for moving the centrifuged sample to the first conveying device 31, the first conveying device 31 is fixed at the top end of the workbench and is positioned at one side of the third cooperation robot 22, one end of the first conveying device 31 is connected with a steering device 32, one end of the steering device 32 is connected with a second conveying device 33, the transferring device is used for transferring the sample on the first conveying device 31 to the second conveying device 33, so that the sample can be conveniently transferred to the next process, one side of the first conveying device 31 is connected with a cover opening assembly 34, the upper cover of the test tube is opened through the cover opening assembly 34, and further the processing of the next process is facilitated; the uncovering action of the invention is fully automatic, thus greatly improving the uncovering efficiency;

the liquid separation mechanism 4 comprises a disc device 41, a printing device 47, a TIP feeding device 48, a recovery device 49, an empty pipe feeding machine 46, a liquid transfer device 410, a first cooperation robot 44 and a second cooperation robot 45, wherein the first cooperation robot 44 and the second cooperation robot 45 are respectively arranged at two sides of the disc device 41, the empty pipe feeding machine 46 is arranged at one side of the second cooperation robot 45, the printing device 47 is arranged at one side of the empty pipe feeding machine 46, the TIP feeding device 48 is arranged at one side of the printing device 47, the recovery device 49 is arranged at one side of the disc device 41, the liquid transfer device 410 is arranged at one side of the recovery device 49,

a first cooperative robot 44 and a second cooperative robot 45 are respectively connected to two ends of the disc device 41, one end of the second cooperative robot 45 is fixedly provided with an empty tube feeding machine 46, one side of the empty tube feeding machine 46 is fixedly connected with a printing device 47, one side of the printing device 47 is connected with a TIP feeding device 48, the other end of the disc device 41 is connected with a recovery device 49, and one end of the recovery device 49, which is back to the disc device 41, is connected with a liquid transfer device 410; the disc device 41, the first cooperation robot 44, the second cooperation robot 45, the empty tube feeding machine 46, the printing device 47, the TIP feeding device 48, the recovery device 49 and the liquid transfer device 410 are respectively fixed at the top end of the workbench, the empty tube feeding machine 46 moves empty test tubes to a designated position, the second cooperation robot 45 works to grab the empty test tubes to the printing device 47, the printing device 47 prints labels on the empty test tubes, so that the distinction is convenient, the second cooperation robot 45 moves the test tubes to the disc device 41 for fixing, the liquid transfer device 410 drives mother liquid to move and moves the mother liquid to a plurality of test tubes on the disc device 41, and after the liquid separation of the mother liquid is completed, the liquid transfer device 410 drives the TIP initially loaded with the mother liquid to move to the recovery device 49; the disc device 41 drives the test tubes to move to a blanking station, the first cooperation robot 44 moves the test tubes on the disc device 41 to turn around the station, meanwhile, a TIP feeding device 48 on one side of the first cooperation robot 44 is used for providing TIP filled with mother liquor, and meanwhile, the liquid transferring device 410 moves to the TIP feeding device 48 to take the TIP filled with the mother liquor;

the centrifugal mechanism 2 comprises a third cooperation robot 22, a centrifugal device 23 and an adapting assembly 21 matched with the centrifugal device 23 for placing the sample test tube 121, and the third cooperation robot 22 is respectively adapted to the front end racking mechanism 1, the centrifugal device 23 and the cover opening mechanism 3;

the adaptive assembly 21 is used for storing a plurality of adapters, so that the centrifugation of the samples is facilitated, the two ends, facing the front end feeding mechanism and the cover opening mechanism 3, of the third cooperative robot 22 are respectively connected with the centrifugal devices 23, the samples are centrifuged through the two centrifugal devices 23 at the same time, and the centrifugation efficiency is greatly improved; the centrifugal process of the specimen is fully automatically operated, so that the working efficiency is greatly improved, and meanwhile, the error in the moving process of the specimen is reduced.

The rear-end racking mechanism 5 includes one or more combinations of test tube storage devices and test tube rack 122 storage devices, and the first or second cooperation robot 44, 45 is adapted to the rear-end racking mechanism 5.

As shown in fig. 2, 4 and 5, the pusher slideway feeding mechanism includes a pusher body 11, a conveyor line one 12 and a slideway 13, a discharge port of the pusher body 11 is connected with one end of the conveyor line one 12 in a matching manner, the other end of the conveyor line one 12 is connected with one end of the slideway 13 in a matching manner, the other end of the slideway 13 is arranged close to a third cooperative robot 22 in a matching manner, the slideway 13 is provided with a long through groove, the width of the long through groove is larger than the diameter of the tube body of the sample test tube 121 and smaller than the diameter of the test tube cap of the sample test tube 121, the higher end of the inclined slideway 13 is positioned at the hopper of the external sample test tube 121, the lower end of the inclined slideway 13 is positioned at one side close to the third cooperative robot 22, the slideway 13 is an inclined slideway 13, the higher end of the inclined slideway 13 is connected with the conveyor line I12 in a matching way, and the lower end of the inclined slideway 13 is arranged at one side close to the third cooperative robot 22;

through pouring into a large amount of sample test tubes 121 in the push away hopper main part 11, push away sample test tubes 121 one by one in transfer chain 12 through push away hopper main part 11 to convey slide 13 department through transfer chain 12, make being of sample test tubes 121 in slide 13 vertical to the setting, transfer chain 12 lasts output sample test tube 121 simultaneously, can promote the sample test tube 121 in slide 13 and be close to towards cooperation robot department, and can be snatched by cooperation robot.

Set up through the slide 13 of slope for after sample test tube 121 falls into slide 13, can slide towards cooperation robot department automation through the dead weight of sample test tube 121 and be close to.

As shown in fig. 3 and 6, the hopper conveying mechanism comprises a material distribution hopper 14, a second conveying line 15 and a vision processing device 16, wherein an outlet matched with the size of the sample test tube 121 is formed in the bottom of the material distribution hopper 14, one end of the second conveying line 15 is located right below the outlet in the bottom of the material distribution hopper 14, the other end of the second conveying line 15 is located at one side close to the third cooperative robot 22, and the vision processing device 16 is located right above the second conveying line 15;

the transport of sample test tube 121 adopts and divides 14 single output sample test tubes 121 of hopper to fall into two 15 in the transfer chain, convey cooperation robot department through two 15 transfer chains, vision processing apparatus 16 adopts the high accuracy camera to constitute, can scan the bar code on the sample test tube 121 on two 15 transfer chains through the high accuracy camera, and convenient cooperation robot carries out classification to sample test tube 121.

As shown in fig. 7 to 9, the test tube seats 17 conveying mechanism includes a test tube seat 17 and a third conveying line 18, the test tube seat 17 is arranged on the third conveying line 18, the third conveying line 18 is arranged by using an annular conveying line, one position of the annular conveying line is arranged in a matching manner corresponding to the third cooperative robot 22, and a plurality of test tube seats 17 are arranged on the third conveying line 18;

when a certain sample test tube 121 needs to be processed emergently, a test tube seat 17 conveying mechanism can be adopted, the single sample test tube 121 which needs to be processed emergently is arranged on the test tube seat 17, the test tube seat 17 is driven to move to the cooperative robot through the conveying lines III 18, and the cooperative robot is used for grabbing the sample test tube 121 and processing emergently.

As shown in fig. 10, the push type feeding mechanism includes a test tube rack 122 conveying mechanism and a test tube rack 122 conveying belt, the test tube rack 122 conveying mechanism includes a test tube rack 122 output module 19 and a test tube rack 122 input module 110, the test tube rack 122 conveying belt includes an output conveying belt 112 and an input conveying belt 113, one end of the output conveying belt 112 and one end of the input conveying belt 113 are respectively disposed in cooperation with the third cooperation robot 22, the other end of the output conveying belt 112 is disposed in cooperation with the test tube rack 122 output end of the test tube rack 122 output module 19, the other end of the input conveying belt 113 is disposed in cooperation with the test tube rack 122 input end of the test tube rack 122 input module 110,

the test tube rack 122 output module 19 comprises a first storage rack 114 and a pushing unit 115, the first storage rack 114 is used for uniformly arranging the test tube racks 122, the output ends of the test tube racks 122 of the first storage rack 114 are arranged corresponding to the output conveyor belt 112 in a matching manner, the pushing unit 115 is arranged at one end of the first storage rack 114 far away from the output conveyor belt 112, the pushing end of the pushing unit 115 is matched with the test tube racks 122 of the first storage rack 114, the test tube racks 122 full of sample test tubes 121 are arranged in the first storage rack 114, the test tube racks 122 with the sample test tubes 121 are pushed out of the first storage rack 114 to the output conveyor belt 112 one by one through the pushing unit 115, the test tube racks 122 are conveyed to the cooperative robot through the output conveyor belt 112, and the cooperative robot can conveniently grasp the test tube racks 122,

the pushing unit 115 comprises a pushing plate 118 and a synchronous belt motor, the pushing plate 118 is slidably mounted on the first storage rack 114, the synchronous belt motor is arranged at the lower side of the first storage rack 114, the moving end of the synchronous belt motor is matched and connected with the material pushing plate 118, the synchronous belt motor is set to move at a fixed distance, so that the synchronous belt motor drives the material pushing plate 118 to move on the first storage rack 114, and pushes the test tube racks 122 to move on the first storage rack 114 through the pusher plates 118, so that the test tube racks 122 closest to the conveyor belt are placed on the conveyor belt and the test tube racks 122 are conveyed to the designated positions by the conveyor belt for the cooperative robot to take, when the test tube racks 122 on the first storage rack 114 are completely output, the synchronous belt motor drives the material pushing plate 118 to return to the initial position, then, placing the next batch of test tube racks 122 on the first storage rack 114 through manual or mechanical equipment, and performing output circulation of the test tubes;

the input module 110 of the test tube rack 122 comprises a second storage rack 116 and a feeding unit 117, the second storage rack 116 is used for arranging and placing the test tube racks 122, the input ends of the second storage rack 116 are arranged in a matching way corresponding to the input conveyor belt 113, the feeding end of the feeding unit 117 is arranged in a matching way corresponding to the input end of the second storage rack 116, the feeding unit 117 is positioned at one side of the input conveyor belt 113 far away from the second storage rack 116, after the sample test tubes 121 on the test tube racks 122 are completely grabbed, the empty test tube racks 122 are placed on the input conveyor belt 113 through a cooperation robot, the test tube racks 122 are conveyed to the second storage rack 116 through the input conveyor belt 113, then the test tube racks 122 are pushed into the second storage rack 116 through the feeding unit 117 for storage, and workers can take the empty test tube racks 122 and place the test tubes 121 conveniently,

the feeding unit 117 comprises a telescopic cylinder and a push plate, the telescopic cylinder is installed on the rack, the push plate is installed at the telescopic end of the telescopic cylinder, the push plate is arranged opposite to the input end of the second storage rack 116, the input end of the second storage rack 116 is flush with the conveying surface of the input conveying belt 113, when the test tube rack 122 is placed on the input conveying belt 113 by the cooperative robot, the push plate is pushed to extend by the telescopic cylinder after the test tube rack is conveyed to the position of the feeding unit 117 by the conveying belt, so that the test tube rack 122 is pushed to be placed in the second storage rack 116, then the telescopic cylinder retracts, so that the push plate is restored to the initial position, then the next test tube rack 122 is continuously conveyed to the position of the feeding unit 117 by the conveying belt, and the storage of the test tube rack 122 is realized until all the test tube racks 122 on the conveying belt are stored or the test tube racks 122 are fully stored in the second storage rack 116;

meanwhile, the above structure can also be combined with a feeding device for the sample test tubes 121, the empty test tube racks 122 are stored in the first storage rack 114, after the sample test tubes 121 are conveyed to the cooperative robot, the empty test tube racks 122 are output to the cooperative robot through the output module 19 of the test tube racks 122, then the sample test tubes 121 are placed in the test tube racks 122 through the cooperative robot, then after the test tube racks 122 are full, the test tube racks 122 with the sample test tubes 121 are placed on the input conveyor belt 113 through the cooperative robot, the test tube racks 122 are conveyed to the second storage rack 116 through the input conveyor belt 113, then the test tube racks 122 are pushed into the second storage rack 116 through the feeding unit 117 for storage, and the worker can take the test tube racks 122 with the sample test tubes 121 and perform subsequent processing on the sample test tubes 121.

As shown in fig. 11, the push-type feeding mechanism includes a test tube rack storage station 123, a test tube rack push-out mechanism 124, a test tube rack horizontal conveying line 125 and a test tube rack posture adjusting mechanism 126, in this embodiment, the test tube rack is placed in the test tube rack storage station 123 in a horizontal state in which the test tube rack is horizontally laid down, a plurality of test tube rack storage stations 123 may be horizontally arranged in the same row, and a test tube rack storage space with a certain depth is provided in a vertical direction of each test tube rack storage station for placing a certain number of test tube racks 122; the test tube rack horizontal conveying line 125 is flush with the topmost test tube rack end of the test tube rack storage station 123, and the test tube rack posture adjusting mechanism 126 is a test tube rack rotating table; the test tube rack push-out mechanism 124 comprises a telescopic propulsion device arranged in the direction of three axes of XYZ, a lifting platform of the telescopic propulsion device is arranged at the bottom of a storage station of the test tube rack and used for placing all the test tube racks on the lifting platform, a horizontal mechanism of the telescopic propulsion device is arranged at the top of the storage station of the test tube rack, a telescopic push-out mechanism of the telescopic propulsion device is arranged on the horizontal mechanism and corresponds to the topmost test tube rack on the storage station 123 of the test tube rack, when the test tube rack is operated, the lifting platform lifts the test tube rack at equal intervals, after the test tube rack is lifted to a working height, the push-out mechanism is driven to the corresponding test tube rack through the horizontal mechanism, the test tube rack at the position is pushed out to a horizontal conveying line of the test tube rack through the push-out mechanism, then the test tube rack 122 is output to a posture adjusting mechanism 126 of the test tube rack, the test tube rack in a horizontal state is rotated to a vertical state through the posture adjusting mechanism 126 of the test tube rack, to allow for subsequent specimen tube placement;

as shown in fig. 12, the push-type feeding mechanism includes a multi-layer test tube rack storage location 127 and a push mechanism 128 matched with each test tube rack storage location, a test tube rack tray can be placed in each test tube rack storage location, the push mechanism is a stepping synchronous push block, a test tube rack lifting device 129 is arranged at the tail end of each test tube rack storage location, a test tube rack horizontal conveying device 130 matched with the cooperative robot side is arranged at the test tube rack storage location at the top layer, the test tube rack lifting device 129 can be arranged corresponding to the test tube rack horizontal conveying device 130, the test tube rack lifting device 129 lifts the test tube rack to the test tube rack horizontal conveying device, and the test tube rack 122 is conveyed to the cooperative robot 22 through the test tube rack horizontal conveying device 130; the test tube rack lifting device can realize the lifting function in the form of a lifting platform, and the horizontal conveying device of the test tube rack can realize the lifting function of the test tube rack in the forms of a conveying line and a telescopic push cylinder;

or, by arranging a combination form structure of the synchronous belt conveying device on the test tube rack lifting device, when the test tube rack lifting device is used, the synchronous belt conveying device is synchronously driven by the test tube rack lifting device to lift and is in butt joint fit with the corresponding storage position of the test tube rack, the test tube racks in the test tube rack trays on the storage position of the test tube rack are pushed out to the synchronous belt conveying device one by one through the pushing mechanism, and then the test tube racks are lifted to the top through the test tube rack lifting device and then are output to the cooperative robot through the synchronous belt conveying device for subsequent process flows;

as shown in fig. 13, impulse type feeding mechanism includes test-tube rack storage bit 131, test-tube rack transfer chain one 132 and test-tube rack transfer chain two 133, test-tube rack transfer chain one 132 sets up in test-tube rack storage bit 131, test-tube rack 122 is arranged in on test-tube rack transfer chain one 132, can arrange on test-tube rack transfer chain one 132 simultaneously and be provided with a plurality of test-tube racks 122, test-tube rack transfer chain two 133 sets up the end at test-tube rack transfer chain one 132, and test-tube rack transfer chain one 132 sets up with test-tube rack transfer chain two 133 parallel and level, impel test-tube rack 122 through test-tube rack transfer chain one 132 and arrange in on test-tube rack transfer chain two 133, then carry test-tube rack 122 to cooperation robot 22 department through test-tube rack transfer chain two 133, make things convenient for cooperation robot 22 to take test tube 121 in the test-tube rack or take of test-tube rack 122.

In order to improve the centrifugal processing efficiency of the sample test tube in an emergency state, as shown in fig. 14 and 15, the push type feeding mechanism comprises a test tube rack emergency pushing mechanism, by arranging a test tube rack pushing device 134, a worker can place the test tube rack 122 with the sample test tube 121 on the test tube rack pushing device 134, push the test tube rack 122 to the cooperative robot 22 through the test tube rack pushing device 134 for taking and centrifugal processing, meanwhile, the test tube rack pushing device 134 can also be designed as a test tube rack placing device, the worker can directly place the test tube rack on the test tube rack placing device, the cooperative robot 22 takes the direct sample test tube 121 and places the sample test tube 121; in addition, according to the actual use needs, the quantity of test-tube rack pusher can be provided with a plurality ofly to carry out corresponding position adjustment according to field device layout form.

As shown in fig. 4 and 16-18, the disc type feeding mechanism includes a driving motor, a conveying disc 119 and positioning grooves 120, the positioning grooves 120 are disposed on the surface of the conveying disc 119, and a plurality of positioning grooves 120 are disposed, a test tube rack 122 may be disposed in each positioning groove 120, the driving motor is engaged with the conveying disc 119, the conveying disc 119 is driven to rotate by the driving motor, the positioning grooves 120 on one side of the conveying disc 119 close to the third cooperative robot 22 are engaged with the third cooperative robot 22, and the positioning grooves 120 include, but are not limited to, uniform arrangement or irregular arrangement on the surface of the conveying disc 119;

with empty test-tube rack 122 or put the test-tube rack 122 of sample test tube 121 as to the constant head tank 120 in, drive conveying disc 119 through driving motor and rotate for conveying disc 119 and rotating and can driving test-tube rack 122 and be close to the cooperation robot, and snatch test-tube rack 122 through the cooperation robot and carry out follow-up operation.

The positioning slots 120 include, but are not limited to, a uniform or irregular arrangement on the surface of the conveyor disc 119.

According to the equipment demand after the actual equipment production, constant head tank 120 can be evenly densely covered setting on carrying disc 119, or irregularly put the setting, and the quantity of constant head tank 120 can set up according to the demand simultaneously to and carry disc 119's size to set up, convenient subsequent transformation.

For sample test tube centrifugal processing efficiency under improving emergency, as shown in fig. 19, set up test tube tray 55 simultaneously, arrange sample test tube 121 in test tube tray 55, arrange centrifugal mechanism department in, make things convenient for cooperation robot 22 to take the sample test tube 121 in test tube tray 55, and simultaneously, test tube tray 55 can be provided with a plurality ofly, test tube tray 22 of material loading and the test tube tray 22 after the centrifugation are divided into to test tube tray 22, the test tube tray 22 of material loading is used for placing and does not carry out centrifugal sample test tube 121, test tube tray 22 after the centrifugation is used for putting into the urgent processing sample test tube 121 after the centrifugation, make things convenient for the staff directly to take.

As shown in fig. 20 to 23 and 25 to 29, the adapter assembly 21 includes a first adapter placement area 211, the first adapter placement area 211 is disposed on a side of the third cooperative robot 22 facing the visual recognition device, several adapters can be placed on the first adapter placement area 211,

in this embodiment, a first adapter placing area 211 is provided at one end of the third cooperative robot 22 facing the vision processing device 16, a plurality of adapters can be placed in the first adapter placing area 211, the insertion of the blood collection tube or the insertion of the test tube rack 122 is completed, the third cooperative robot 22 completes the insertion in the first adapter placing area 211, and after the insertion is completed, the adapters are moved into the two centrifugation devices 23 by the third cooperative robot 22, respectively, and centrifugation is performed;

as shown in fig. 42, the adapting assembly 21 includes a first fixing frame 212, the first fixing frame 212 is respectively provided with a first circulation device 213 and a second circulation device 214, two ends of the second circulation device 214 are respectively provided with a first lifting device 215 and a second lifting device 216, the first circulation device 213, the second circulation device 214, the first lifting device 215 and the second lifting device 216 are connected to a controller,

in the present embodiment, the third cooperative robot 22 is connected to a first fixed frame 212 on a side facing the vision processing apparatus 16, the first fixed frame 212 is connected to a first transfer device 213 and a second transfer device 214, respectively, the second transfer device 214 is located below the first transfer device 213, and both ends of the second transfer device 214 are provided with a first lifting device 215 and a second lifting device 216, respectively; the adapter can flow on the first flow conversion device 213 and the second flow conversion device 214, after the adapter rotates a slow test tube or test tube rack 122, the adapter flows to the second lifting device 216 through the first flow conversion device 213, the second lifting device 216 descends, the adapter is moved to the second flow conversion device 214 through the first flow conversion device 213 one by one, the first flow conversion device 213 is empty, after the sample centrifugation is completed, the first flow conversion device 213 is used for receiving the adapter coming out of the centrifugation device 23, after the adapter is received, the adapter on the second flow conversion device 214 is lifted through the first lifting device 215 and flows to the first flow conversion device 213, and the above actions are repeated;

the adapter assembly 21 comprises a second fixing frame 217, a second adapter placing area a 218 and a second adapter placing area B219 are arranged on the second fixing frame 217, a plurality of adapters can be placed on the second adapter placing area a 218 and the second adapter placing area B219 respectively,

in this embodiment, the top end of the workbench is connected with a second fixing frame 217, the second fixing frame 217 is connected with a second adapter placing area a 218 and a second adapter placing area B219, the second adapter placing area B219 is located below the second adapter placing area a 218, the second adapter placing area a 218 and the second adapter placing area B219 are used for placing adapters, and the second adapter placing area a 218 and the second adapter placing area B219 correspond to one centrifugal device 23 respectively, so that the adapters can be distinguished;

the adapter assembly 21 comprises a third adapter placement area a 2110 and a third adapter placement area B2111, the third adapter placement area a 2110 being provided at one end of the third cooperative robot 22 facing the visual recognition device, the third adapter placement area B2111 being provided at the other end of the third cooperative robot 22,

in the present embodiment, the third adaptor placement area a 2110 is provided at one end of the third cooperative robot 22 facing the vision processing device 16, the third adaptor placement area B2111 is provided at the other end of the third cooperative robot 22, the third adaptor placement area a 2110 and the third adaptor placement area B2111 correspond to one centrifugal device 23, respectively, and the third cooperative robot 22 moves the adaptor into the corresponding centrifugal device 23 in the corresponding adaptor placement area, respectively, thereby making it possible to distinguish different specimens.

As shown in fig. 24, the centrifugal mechanism may further include front and rear buffer areas 25 and 26, the front and rear buffer areas 25 and 26 are respectively provided with a sample test tube placing tray 27, the coordinated robot 22 may place the conveyed sample test tube 121 in the sample test tube placing tray 27 on the front and rear buffer areas 25 and 26, so that the sample test tube is placed in the adapter for centrifugal use, and the centrifuged sample test tube 121 may also be placed in a buffer manner; in addition, the front and rear buffer areas 25 and 26 can be used independently, the front buffer area 25 is used for placing the sample test tube on the front end upper frame, and the rear buffer area 26 is used for placing the sample test tube after centrifugation.

As shown in fig. 30-32, the uncovering assembly 34 comprises a first positioning frame 341 disposed on one side of the first conveying device 31, a lifting device 342 is disposed on one side of the first positioning frame 341 facing the first conveying device 31, a telescopic device 343 is connected to the lifting device 342, a rotating device 344 is cooperatively disposed at the bottom of the telescopic device 343, a clamping jaw mechanism 345 is connected to the bottom end of the rotating device 344, a clamping device 346 is cooperatively disposed on the first conveying device 31, the lifting device 342, the telescopic device 343, the rotating device 344, the clamping jaw mechanism 345 and the clamping device 346 are connected to a controller,

in this embodiment, the first positioning frame 341 is located on one side of the first conveying device 31, one side of the first positioning frame 341 facing the first conveying device 31 is connected with a lifting device 342, the lifting device 342 is connected with a telescopic device 343, and further the clamping jaw mechanism 345 can be driven to move in the horizontal and vertical directions through the lifting device 342 and the telescopic device 343, the bottom end of the telescopic device 343 is connected with a rotating device 344, and the clamping jaw mechanism 345 can be driven to rotate through the rotating device 344, so as to facilitate opening of the upper cover of the test tube, the bottom of the rotating device 344 is connected with the clamping jaw mechanism 345, one end of the first conveying device 31 facing the third cooperative robot 22 is connected with a clamping device 346, and the clamping device 346 is used for fixing the test tube, so as to facilitate the clamping jaw mechanism 345 to open the upper cover;

the uncovering assembly 34 comprises a second positioning frame 347 arranged on one side of the first conveying device 31, a sliding device 348 is connected to one side of the second positioning frame 347 facing the first conveying device 31, a clamping assembly 349 is cooperatively arranged on the sliding device 348, a clamping jaw assembly 350 is connected to the upper portion of one side of the second positioning frame 347 facing the first conveying device 31, the sliding device 348, the clamping assembly 349 and the clamping jaw assembly 350 are respectively connected to the controller,

in this embodiment, second locating rack 347 is located one side of first conveyor 31, second locating rack 347 is connected with slider 348 on the one side towards first conveyor 31, be connected with clamping component 349 on the slider 348, clamping component 349 is used for the centre gripping test tube, clamping component 350 is connected with above clamping component 349, on the fixed second locating rack 347 of clamping component 350, clamping component 349 centre gripping test tube, it shifts up to drive the test tube through slider 348, when slider 348 drives test tube to predetermined position, clamping component 350 carries out the centre gripping to the upper cover of test tube, slider 348 drives the test tube and moves down, and then accomplishes uncapping of test tube.

The clamping assembly 349 and the jaw assembly 350 are respectively provided with a plurality of fixing clamping positions, the clamping assembly 349 and the jaw assembly 350 are arranged in a matching way,

in this embodiment, be provided with a plurality of fixed screens on centre gripping subassembly 349 and the clamping jaw subassembly 350 respectively, the fixed screens on centre gripping subassembly 349 and the clamping jaw subassembly 350 set up mutually supporting, and a plurality of fixed screens can once fix a plurality of test tubes, and then can once uncap a plurality of test tubes, improve work efficiency greatly.

As shown in fig. 33, the uncovering mechanism may also be configured to uncover a single sample test tube 121, and by cooperating with the test tube holder conveyor line 18, the sample test tube 121 is conveyed to the uncovering mechanism, and the uncovering treatment of the sample test tube 121 conveyed to the uncovering mechanism is realized by cooperation of the clamping device 346 and the clamping jaw mechanism 345; meanwhile, a cap recovery channel 351 is arranged, the caps of the sample test tube after being opened can be moved to the recovery channel by the cap opening manipulator to be recovered in a unified manner, and the cap centralized recovery processing is realized;

as shown in fig. 34 to 37, the TIP feeding device 48 is located at one side of the first cooperative robot 44, and the first cooperative robot 44, the second cooperative robot 45, the printing device 47 and the recycling device 49 are respectively disposed around the disc device 41, so that the cooperative robot can work conveniently, and the work efficiency is greatly improved.

The disc device 41 comprises a disc-shaped fixed seat 42 arranged at the center of the top end of the workbench, the top end of the fixed seat 42 is connected with a plurality of fastening frames 43, any fastening frame 43 is used for fixing a test tube,

in this embodiment, fixing base 42 is installed in the top central point of workstation and is put, and fixing base 42's top is connected with a plurality of fastening framves 43, and arbitrary fastening frame 43 is used for fixed test tube, and then can fix a plurality of test tubes on fixing base 42, and then conveniently divide liquid.

Further, the bottom of workstation is provided with a plurality of universal wheels 411 symmetrically.

In this embodiment, a plurality of universal wheels 411 are symmetrically installed at the bottom end of the workbench, and the universal wheels 411 facilitate the movement of the equipment.

Further, a plurality of bases 412 are symmetrically arranged around the bottom end of the workbench.

Further, a hydraulic cylinder 413 is connected between any one of the bases 412 and the working table, and the hydraulic cylinder 413 is connected to the controller.

In this embodiment, the bottom of workstation symmetric connection all around has a plurality of hydraulic cylinder 413, and hydraulic cylinder 413 is located the outside of universal wheel 411, and the bottom of arbitrary hydraulic cylinder 413 is connected with base 412, drives base 412 through hydraulic cylinder 413 and removes, and then improves the stability of workstation, prevents to appear rocking at minute liquid in-process workstation.

Further, a level gauge 414 is provided at one side of the table.

In this embodiment, a level gauge 414 is connected to the sidewall of the worktable, so that whether the equipment is in a horizontal state can be accurately checked through the level gauge 414, and the base 412 can be conveniently adjusted.

As shown in fig. 38 to 41, the storage device of the test tube rack 122 includes a plurality of test tube rack trays 51, a first tray storage location 52, a first rack pick-and-place manipulator 53 and a first rack indexing location 54, the first tray storage location 52 is provided according to actual requirements, the first rack pick-and-place manipulator 53 is matched with the first tray storage location 52, the first rack pick-and-place manipulator 53 is matched with the first rack indexing location 54, the test tube rack trays 51 are placed in the first tray storage location 52 for placing and taking the test tube rack 122, the first cooperation robot 44 or the second cooperation robot 45 is matched with the first rack indexing location 54,

the first tray storage position 52 is designed according to the requirements in spatial layout and number structure, the first test tube rack tray 51 is used for placing the test tube rack 122, the test tube rack 122 is used for placing the sample test tubes 121, the empty test tube rack 122 taken by the first test tube rack taking and placing manipulator 53 is arranged on the first test tube rack 122, the sample test tubes 121 are arranged in the test tube rack 122 by a cooperative robot, after the test tube rack 122 is filled with the test tubes, the manipulator 53 can carry the test tube rack 122 to the first test tube rack tray 51 in the first tray storage position 52 for storage, after the test tube rack tray 51 is filled with the test tubes 122 filled with the sample test tubes 121, the worker can take the test tube rack tray 51 out for next procedure, meanwhile, the empty test tube rack tray 51 is arranged in the first tray storage position 52, and the circulation of the rear-end test tubes is realized;

the test tube storage device comprises a plurality of test tube trays 55, a tray storage position two 56, a tray lifting driving mechanism 57 and a tray conveying mechanism 58, wherein the tray storage position two 56 is provided according to actual requirements, the tray lifting driving mechanism 57 is matched with all the tray storage positions and used for storing and taking the test tube trays 55 from the tray storage position two 56, the tray conveying mechanism 58 is matched with the tray lifting driving mechanism 57 and used for conveying the test tube trays 55 to a position close to the first cooperation robot 44 or the second cooperation robot 45,

the tray lifting driving mechanism 57 comprises a lifting platform and push claws arranged on the lifting platform, the push claws can grab and push out the test tube tray 55, and the test tube tray 55 can be attracted to the platform surface of the lifting platform through the action of the push claws and is conveyed to the tray conveying mechanism 58 or the second tray storage position 56;

the tray conveying mechanism 58 is a synchronous conveying belt device, after the test tube tray 55 is conveyed to the tray conveying mechanism 58 through the tray lifting driving mechanism 57, the test tube tray 55 can be conveyed to a position close to the cooperative robot through the synchronous conveying belt device, the specimen test tube 121 is placed into the test tube tray 55 through the cooperative robot, after the test tube tray 55 is full of the specimen test tubes 121, the test tube tray 55 is conveyed to the tray lifting driving mechanism 57 through the synchronous conveying belt device, and the test tube tray 55 is lifted and conveyed to the corresponding tray storage position two 56 through the tray lifting driving mechanism 57 for storage and used for the next process flow;

meanwhile, the number of the second tray storage positions 56 is set to be multiple according to actual needs, so that the test tube trays 55 can be recycled.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.