WO2024051451A1 - Uplc analysis apparatus and system - Google Patents

Abstract

The present application relates to the technical field of automation apparatuses. Particularly disclosed are a UPLC analysis apparatus and system. The UPLC analysis apparatus comprises: a bearing platform; a UPLC analyzer arranged on the bearing platform; a mechanical arm arranged on the bearing platform; a clamping device assembled on the mechanical arm, the mechanical arm driving the clamping device to move, allowing the clamping device to put a sample bearing device holding experimental samples into the UPLC analyzer for analysis, and to take out the sample bearing device from the UPLC analyzer after analysis; and a solvent holding device arranged on the bearing platform, the solvent holding device being used for holding solvents, and the solvent holding device being communicated with the UPLC analyzer, so that the solvents in the solvent holding device can be guided into the UPLC analyzer. In the present application, the UPLC analyzer, the mechanical arm and so on are integrated on the bearing platform, and experimental samples can be automatically analyzed, thus reducing the labor and time costs, and improving the utilization rate of instruments. Moreover, since the experimental analysis can be automatically carried out, harm to the human body caused by harmful substances is also prevented.

Description

UPLC analysis equipment and systems

This application claims priority to the Chinese patent application submitted to the State Intellectual Property Office on September 7, 2022, with application number 202211089852.3 and the application name "UPLC analysis equipment and system", the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the technical field of automation equipment, specifically, to a UPLC analysis equipment and system.

Background technique

When conducting large-scale chemical experiments, a large number of chemical samples will be reacted, and these samples often require the use of UPLC (Ultra Performance Liquid Chromatography, ultra-high performance liquid chromatography) for chemical analysis.

At present, chemical analysis using UPLC is generally completed manually, which not only consumes a lot of labor costs, but also manually performed UPLC chemical analysis is lacking in efficiency and quality, and cannot meet the requirements of efficient and high-quality experiments.

technical problem

In view of this, this application proposes a UPLC analysis equipment and system to automatically analyze experimental samples.

Technical solutions

In one aspect, this application proposes a UPLC analysis equipment, including: a carrying platform; a UPLC analyzer provided on the carrying platform; a mechanical arm provided on the carrying platform; and a clamping device installed on the mechanical arm. , the mechanical arm drives the clamping device to move, so that the clamping device puts the sample carrying device containing the experimental sample into the UPLC analyzer for analysis, and puts the analyzed sample carrying device Take it out from the UPLC analyzer; a solvent holding device provided on the carrying platform, the solvent holding device is used to hold solvent, the solvent holding device is connected with the UPLC analyzer, so that all The solvent in the solvent holding device is introduced into the UPLC analyzer.

Further, in the above-mentioned UPLC analysis equipment, the solvent holding device includes: a bearing plate, which is arranged on the bearing platform or the UPLC analyzer; and a weighing unit, at least one of which is connected to The carrying plate, the weighing unit is used to carry a container holding a solvent, and detect the amount of solvent in the container in real time; a processing unit is provided on the carrying plate, and the processing unit and the weighing unit Electrical connection for accessing the amount of solvent within the container.

Further, in the above-mentioned UPLC analysis equipment, the weighing unit includes: a connecting plate connected to the load-bearing plate; a load cell including a fixed part and a load-bearing part, the fixed part is connected to the connecting plate; a support member. , Connected to the load-bearing part, the support member is used to place the container, and the load sensor is used to detect the amount of solvent in the container in real time.

Further, in the above-mentioned UPLC analysis equipment, the solvent holding device further includes: an alarm unit, which is provided on the carrier plate and corresponds to the load sensor one-to-one, and the alarm unit is electrically connected to the processing unit, Used to send an alarm signal when the solvent amount is lower than the preset value.

Further, in the above-mentioned UPLC analysis equipment, the UPLC analyzer includes: a main body; a door installed on the main body; an automatic opening and closing door mechanism connected to the door for controlling the automatic opening of the door. or close.

Further, in the above-mentioned UPLC analysis equipment, the automatic door opening and closing mechanism includes: a support body; a driving mechanism installed on the support body; and a transmission shaft, one end of which is connected to the output end of the driving mechanism. , the other end is rotatably connected to the support body; a connecting rod, one end of the connecting rod is connected to the transmission shaft, and the other end is a free end. When the driving mechanism drives the transmission shaft to rotate, the connecting rod The transmission shaft can drive the connecting rod to rotate; the floating joint includes a floating end and a fixed end, the floating end is slidably connected to the connecting rod, and the fixed end is used to connect with the door body, so The connecting rod can drive the floating joint to move, and the floating joint can also slide along the connecting rod to open or close the door.

Further, in the above-mentioned UPLC analysis equipment, the connecting rod is provided with a guide groove along the length direction, and the floating end is slidably embedded in the guide groove; or, the connecting rod is provided with a slide rail along the length direction, The floating end is movable along the slide rail through a slide block.

Further, in the above-mentioned UPLC analysis equipment, the clamping device includes: a driving part, connected to the mechanical arm; two clamping jaws, both connected to the driving part; each of the clamping jaws includes a clamping arm. and a clamping finger, the clamping arm is connected to the driving part, the clamping finger is floatably connected to the clamping arm, the clamping finger has a clamping surface, and one of the two clamping jaws is The gripping surfaces of the gripper fingers are arranged oppositely, and the two gripper fingers are driven toward or away from each other under the driving of the driving part, so as to drive the gripper fingers to grip or release the sample carrying device.

Furthermore, in the above-mentioned UPLC analysis equipment, the clamping device further includes: an elastic pad, which is provided on the clamping surface of each clamping finger, and is used when the clamping finger clamps the sample carrying device. It is elastically contacted with the sample carrying device; the surface of the elastic pad used for fitting with the sample carrying device is provided with an anti-slip portion.

Further, in the above-mentioned UPLC analysis equipment, the clamping claw fingers include: a first connection part, the first connection part is rotatably and floatingly connected to the clamp arm; a second connection part, the second connection part is connected to the clamp arm in a rotatable and floating manner. The first connecting part is connected, and the clamping surface is located on a side of the second connecting part facing away from the clamp arm; the elastic member, the elastic member The elastic member is placed between the clamp arm and the second connecting part, one end of the elastic member is connected to the clamp arm, and the other end is in contact with the second connecting part.

Further, the above-mentioned UPLC analysis equipment also includes: an upper body, the upper body is connected to the bearing platform and defines an accommodation space with the bearing platform, the UPLC analyzer, the robotic arm, The clamping device and the solvent holding device are placed in the accommodation space; the upper body is provided with a switch door on a side corresponding to the solvent holding device to communicate with the outside world through the switch door. Interaction; the lower body is connected to the load-bearing platform and located below the load-bearing platform, and the control equipment and electrical equipment of the mechanical arm, the clamping device, and the UPLC analyzer are placed in the lower body.

Further, the above-mentioned UPLC analysis equipment also includes: a three-axis calibration bracket connected to the outer wall of the upper body. The three-axis calibration bracket includes two X-direction connecting plates, Y-direction connecting plates and Z-direction connecting plates that are arranged perpendicularly to each other. One end of the Y-direction connecting plate is connected to one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected to one end of the Z-direction connecting plate; three identification codes are calibrated board, wherein two of the identification code calibration boards are respectively provided at both ends of the X-direction connecting board, and the other identification code calibration board is provided at the other end of the Z-direction connecting board; wherein each of the identification code calibration boards The code calibration plate has a built-in identification code, and the identification code is used to enable an external device to locate the upper body.

Further, the above-mentioned UPLC analysis equipment also includes: a pallet exchange chamber, which is connected to the carrying platform and is arranged on a side close to the solvent holding device. The pallet exchange chamber is used to interact with the outside world before and after analysis. The sample carrying device, the robotic arm drives the clamping device to take out the sample carrying device before analysis from the pallet exchange chamber, and/or place the sample carrying device after analysis by the UPLC analyzer. into the pallet changer.

Further, in the above-mentioned UPLC analysis equipment, the pallet exchange chamber includes: a support component connected to the bearing platform; a holding plate connected to the support component, and the holding plate is provided with a Store at least one position of the sample carrying device; a positioning piece, the positioning piece is connected to the holding plate and corresponds to the position, and the positioning piece is used to connect with a fixed part provided at the bottom of the sample carrying device Cooperate to limit the sample carrying device to the position.

On the other hand, this application also proposes a UPLC analysis system, which includes sample preparation equipment and any of the above-mentioned UPLC analysis equipment; wherein, the sample preparation equipment and the UPLC analysis equipment are arranged in parallel, and the sample preparation equipment The equipment is placed close to the side of the robotic arm in the UPLC analysis equipment, or the sample preparation equipment is placed on the side of the UPLC analyzer in the UPLC analysis equipment; the sample preparation equipment is used for space for experimental operations. Connected to the accommodation space of the UPLC analysis equipment, the The robotic arm takes out the sample carrying device containing the prepared experimental sample from the sample preparation equipment and puts it into the UPLC analyzer for analysis, and/or takes out the analyzed sample from the UPLC analyzer. The sample carrying device of the experimental sample is placed into the sample preparation equipment for processing.

Further, in the above UPLC analysis system, the carrying platform of the UPLC analysis equipment is provided with a material storage rack on the side close to the sample preparation equipment, or the sample preparation equipment is provided on the side close to the UPLC analysis equipment. The material storage rack is provided; the mechanical arm on the sample preparation equipment puts the sample carrying device containing the prepared experimental sample into the material storage rack, so that the mechanical arm of the UPLC analysis equipment can take it away ; and/or, the robotic arm of the UPLC analysis equipment places the sample carrying device containing the analyzed experimental sample into the material storage rack, so that the robotic arm on the sample preparation equipment can take it away.

Further, in the above-mentioned UPLC analysis system, the sample carrying device includes: a base; a boss is formed on the upper surface of the base, and the boss is provided with a placement hole for placing a container holding the experimental sample, and the boss is Steps are formed between the two opposite ends of the table and the base.

Further, in the above-mentioned UPLC analysis system, the base and the boss are both square, and the other two opposite ends of the boss are flush with the base.

Further, the above-mentioned UPLC analysis system also includes: a visual positioning mechanism, which is arranged on one side of the UPLC analysis equipment and close to the sample preparation equipment, or is arranged on one side of the sample preparation equipment and close to the UPLC analysis equipment. On one side, the visual positioning mechanism is used to determine the position state between the UPLC analysis equipment and the sample preparation equipment.

Further, the above-mentioned UPLC analysis system also includes: a mobile robot, the mobile robot is used to put the sample carrying device to be tested into the sample preparation equipment or the UPLC analysis equipment, and/or, from The sample preparation equipment or the UPLC analysis equipment takes out the sample carrying device after the experiment.

beneficial effects

This application integrates the UPLC analyzer and robotic arm on the carrying platform, which can automatically analyze experimental samples, reducing labor and time costs, and improving the utilization rate of the instrument. At the same time, since it can automatically conduct experimental analysis, it also prevents harmful substances from causing harm to the human body.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application.

Description of the drawings

The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of the exemplary embodiments of the present application in conjunction with the accompanying drawings, in which the same reference numerals are used in the exemplary embodiments of the present application. Reference numbers usually refer to identical parts.

Figure 1 is a schematic three-dimensional structural diagram of the UPLC analysis equipment provided in the embodiment of the present application;

Figure 2 is another three-dimensional structural schematic diagram of the UPLC analysis equipment provided in the embodiment of the present application;

Figure 3 is a schematic three-dimensional structural diagram of the UPLC analysis equipment provided in the embodiment of the present application in an open state with a switch door;

Figure 4 is a front view of the switch door of the UPLC analysis equipment provided in the embodiment of the present application in an open state;

Figure 5 is a schematic three-dimensional structural diagram of the solvent holding device in the embodiment of the present application;

Figure 6 is a schematic structural diagram of the weighing unit in the solvent holding device in the embodiment of the present application;

Figure 7 is a schematic structural diagram of the clamping device clamping the sample carrying device in the embodiment of the present application;

Figure 8 is another structural schematic diagram of the clamping device clamping the sample carrying device in the embodiment of the present application;

Figure 9 is a schematic three-dimensional structural diagram of the automatic door opening and closing mechanism in the embodiment of the present application;

Figure 10 is a schematic three-dimensional structural diagram of the clamping device in the embodiment of the present application;

Figure 11 is a schematic three-dimensional structural diagram of the three-axis calibration bracket in the embodiment of the present application;

Figure 12 is a schematic three-dimensional structural diagram of the pallet exchange warehouse in the embodiment of the present application;

Figure 13 is a schematic three-dimensional structural diagram of the UPLC analysis system provided in the embodiment of the present application;

Figure 14 is a schematic three-dimensional structural diagram of the sample carrying device in the embodiment of the present application;

Figure 15 is a top view of the sample holding device in the embodiment of the present application.

Detailed ways

Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present application, the first information may also be called second information, and similarly, the second information may also be called first information. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this application, the meaning of "plurality" is Two or more, unless otherwise expressly and specifically limited.

In the description of this application, it needs to be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. It is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation on the present application.

Unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

The technical solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to FIGS. 1 to 4 , the UPLC analysis equipment 100 according to one embodiment of the present application includes: a bearing platform 110 , a UPLC analyzer 120 , a robotic arm 130 , a gripping device 140 and a solvent holding device 150 . Among them, the UPLC analyzer 120, the robotic arm 130, the clamping device 140 and the solvent holding device 150 are all arranged on the bearing platform 110. The bearing platform 110 can provide a same horizontal installation surface for the above components. The main function of the UPLC analyzer 120 is For chemical analysis of experimental samples.

In a specific implementation, referring to FIGS. 2 to 4 , the UPLC analysis equipment 100 may also include an upper body 160 and a lower body 170 . The bearing platform 110 is connected to the lower body 170 . The upper body 160 is connected to the bearing platform 110 and is connected to the bearing platform 110 . The platform 110 is surrounded by a storage space, and the UPLC analyzer 120, the robotic arm 130, the clamping device 140 and the solvent holding device 150 are all placed in the storage space to avoid interference from the external environment. The upper body 160 can also be provided with a switch door 161 on the side corresponding to the solvent holding device 150, so as to interact with the outside world through the switch door 161, such as adding solvent to the solvent holding device 150, changing the container holding the solvent, etc. During specific implementation, the switch door 161 can be a nitrogen gas spring door, and its main function is to prevent the switch door 161 from falling down under the support of the nitrogen gas spring when the nitrogen gas spring door is opened upward. The upper body 160 is connected to the lower body 170, and an electric control box, etc. can be installed in the lower frame 170. During specific implementation, the bottom of the lower body 170 may also be provided with a moving part, such as a roller, to drive the lower body 170 and the upper body 160 to move.

The clamping device 140 is installed on the robot arm 130. The clamping device 140 is used to clamp the sample carrying device 180 containing the experimental sample, see Figures 7 and 8. The robotic arm 130 drives the clamping device 140 to move, so that the clamping device 140 places the sample carrying device 180 into the UPLC analyzer 120 for analysis, and carries the analyzed sample. The carrier device 180 is removed from the UPLC analyzer 120.

The solvent holding device 150 is used to hold solvent. The solvent holding device 150 is connected with the UPLC analyzer 120 so that the solvent in the solvent holding device 150 is introduced into the UPLC analyzer 120 . During specific implementation, the solvent holding device 150 can be disposed on the carrying platform 110 , and of course, can also be disposed on the UPLC analyzer 120 . When the solvent holding device 150 is installed on the UPLC analyzer 120, the installation space can be saved, and the conduit connecting the solvent holding device 150 and the UPLC analyzer 120 can be shortened, making the whole more beautiful and tidy. The solvent holding device 150 can input solvent into the UPLC analyzer 120 through the conduit. Before the UPLC analyzer 120 analyzes the experimental sample, the experimental sample can be diluted with the solvent; after the analysis is completed, the solvent can be used to dilute the UPLC analyzer 120 Perform cleaning.

In this embodiment, the UPLC analyzer 120 and the robotic arm 130 are integrated on the carrying platform 110, which can automatically analyze experimental samples, reducing labor and time costs, and improving the utilization rate of the instrument. At the same time, since it can automatically conduct experimental analysis, it also prevents harmful substances from causing harm to the human body. In some embodiments, referring to FIG. 5 , the solvent holding device 150 includes: a bearing plate 151 , a weighing unit 152 and a processing unit. The bearing plate 151 is arranged on the bearing platform 110 or the UPLC analyzer 120 . There is at least one weighing unit 152 and all of them are connected to the carrying plate 151. The weighing unit 152 is used to carry the container 153 containing the solvent and detect the amount of solvent in the container 153 in real time. In specific implementation, the container 153 can be a solvent bottle, a test tube, a beaker, etc. The processing unit is disposed on the carrying plate 151 , and is electrically connected to each weighing unit 152 for obtaining the amount of solvent in the container 153 .

In a specific implementation, referring to Figure 6, the weighing unit 152 includes: a connecting plate 152a, a load cell 152b and a support 152c. The connecting plate 152a is connected to the bearing plate 151. The load cell 152b includes a fixed part and a load-bearing part, and the fixed part is connected to the connecting plate 152a. The support member 152c is connected to the load-bearing part. The support member 152c is used to place the container 153 containing the solvent, and the load sensor 152b is used to detect the amount of solvent in the container 153 in real time.

Specifically, referring to Figure 6, the load cell 152b can be a single-point load cell. One end of the single-point load cell (the left end shown in Figure 6) is connected to the connection plate 152a, and a pad is placed at the connection point. The first spacer 152d is provided so that there is a gap between the bottom plane of the load cell 152b and the connecting plate 152a. The other end of the load cell 152b (the right end shown in Figure 6) is connected to the support member 152c, and a second pad 152e is provided at the connection point so that there is a gap between the load cell 152b and the support member 152c. . Wherein, a groove can be provided on the upper surface of the support member 152c, and the bottom of the container 153 containing the solvent can be embedded in the groove.

During specific implementation, the processing unit can be a transmitter, integrating each weighing unit 152 on the load-bearing plate 151, using the transmitter to supply power to the load sensors 152b on each weighing unit 152, and at the same time, receiving the load from each load sensor. 152b The amount of solvent in the container 153 detected.

This embodiment uses the weighing principle of a single-point weighing sensor to determine the solvent capacity in the container 153 on the support 152c through the weight data sensed by the single-point weighing sensor, and integrates multiple single-point weighing sensors. , transmit the obtained sensor data to the system control end through the transmitter, and detect changes in the solution in the container 153 at any time.

This embodiment can obtain changes in liquid level in a timely manner and automatically detect the amount of solvent in the container 153 online, which greatly improves the efficiency of the automated experimental process and has a simple and reliable structure. In addition, since the inventory data of the solvent in the container 153 can be obtained in time, data support can also be provided for the system control end to make decisions.

Further, the solvent holding device 150 may also include an alarm unit. The alarm unit is arranged on the carrying plate 151 and is electrically connected to the processing unit. It is used to send an alarm signal when the amount of solvent is lower than a preset value to prompt the staff to add solvent to the container 153 in a timely manner. It should be noted that during specific implementation, the preset value can be determined according to actual conditions, and this embodiment does not impose any limitation on it.

In some embodiments, continuing to refer to FIG. 1 , the UPLC analyzer 120 includes: a body 121 , a door 122 and an automatic opening and closing door mechanism 123 . The door 122 can be installed on the main body 121 in a switchable manner, and the automatic opening and closing door mechanism 123 can be installed on the main body 121 or on the carrying platform 110 . The automatic door opening and closing mechanism 123 is connected to the door body 122 and is used to control the door body 122 to automatically open or close.

In a specific implementation, referring to Figure 9, the automatic door opening and closing mechanism 123 may include: a support body 123a, a driving mechanism 123b, a transmission shaft 123c, a connecting rod 123d and a floating joint 123e. The support body 123a may include a top plate 123f, a bottom plate 123g, and a vertical plate 123h connected between the top plate 123f and the bottom plate 123g. The driving mechanism 123b is installed on the top plate 123f of the supporting body 123a. One end of the transmission shaft 123c is connected to the output end of the driving mechanism 123b, and the other end is rotatably connected to the bottom plate 123g of the supporting body 123a. One end of the connecting rod 123d is connected to the transmission shaft 123c, and the other end is a free end. When the driving mechanism 123b drives the transmission shaft 123c to rotate, the transmission shaft 123c can drive the connecting rod 123d to rotate. The floating joint 123e includes a floating end and a fixed end. The floating end is slidably connected to the connecting rod 123d. The fixed end is used to connect with the door body 122. The connecting rod 123d can drive the floating joint 123e to move. At the same time, the floating joint 123e can also move along the connecting rod 123d. The door 122 is opened or closed by sliding along the connecting rod 123d.

Specifically, the connecting rod 123d is provided with a guide groove 123i along the length direction, and the floating end is slidably embedded in the guide groove 123i. Alternatively, the connecting rod 123d is provided with a slide rail along the length direction, and the floating end can move along the slide rail through a slide block.

This embodiment realizes the automatic door opening and closing function of the door body 122, which not only provides prerequisites for the UPLC analyzer 120 to realize full automation, but also greatly reduces labor and time costs and prevents harm to operators caused by harmful substances.

In some embodiments, referring to FIG. 10 , the clamping device 140 includes a driving part 141 and two clamping jaws 142 . The driving part 141 may be an electric claw or the like, and the driving part 141 is detachably connected to the robotic arm 130 through a quick-change connector 143 . Both clamping jaws 142 are connected to the driving part 141 . Each clamping jaw 142 includes a clamping arm 142a and a clamping finger 142b. The clamping arm 142a is connected to the driving part 141. The clamping finger 142b is floatingly connected to the clamping arm 142a. The clamping finger 142b has a clamping surface 142e. The gripping surfaces 142e of the gripper fingers 142b in each gripper 142 are arranged oppositely. The two gripper fingers 142b are driven toward or away from each other under the driving of the driving part 141, so as to drive the two gripper fingers 142b to clamp through the gripping surface 142e. Remove or release the sample holding device 180.

In a specific implementation, referring to Fig. 10, the clamp arm 142a includes: a third connecting portion 142c and a fourth connecting portion 142d. The first end (the rear end shown in Fig. 10) of the third connecting portion 142c is connected to the driving portion. 141 is connected, the second end of the third connection part 142c (the front end shown in Figure 10) is connected with the first end (the rear end shown in Figure 10) of the fourth connection part 142d, and the fourth connection part 142d The second end (the front end shown in Figure 10) is a free end, and the clamping finger 142b is connected to the fourth connecting portion 142d.

In a specific implementation, continuing to refer to Figure 10, the gripper finger 142b includes: a first connecting portion 142g and a second connecting portion 142h. The first connecting portion 142g is rotatably and floatingly connected to the fourth connecting portion 142d of the clamping arm 142a. ; The second connecting portion 142h is connected to the first connecting portion 142g, and the clamping surface 142e is located on the side of the second connecting portion 142h away from the fourth connecting portion 142d of the clamp arm 142a. The elastic member is placed between the fourth connecting portion 142d of the clamp arm 142a and the second connecting portion 142h of the claw finger 142b. One end of the elastic member is connected to the fourth connecting portion 142d, and the other end is in contact with the second connecting portion 142h. . In specific implementation, the elastic member can be a spring, a spring piece, a rubber block, etc.

In this embodiment, the clamping finger 142b is floatingly connected to the clamping arm 142a. When the clamping surface 142e of the clamping finger 142b is slightly non-parallel to the sample carrying device 180, the clamping finger 142b can automatically adjust the clamping. The sample carrying device 180 is successfully clamped in the correct direction, so that the sample carrying device 180 will not fall during the clamping and transfer process.

In the embodiment, the clamping device 140 further includes: an elastic pad 142f, which is provided on the clamping surface 142e of each clamping finger 142b, for elastically contacting the sample carrying device 180 when the clamping finger 142b clamps the sample carrying device 180. Abut. Specifically, the elastic pad 142f may be a foamed silicone pad, a rubber pad, etc. Compared with related technologies, under the same clamping pressure, the friction between the elastic pad 142f and the sample carrying device 180 in this embodiment is greatly increased, effectively preventing the risk of the sample carrying device 180 from slipping. In addition, since the material of the elastic pad 142f is soft, the sample carrying device 180 will not be worn when grabbing the sample carrying device 180 .

Furthermore, the surface of the elastic pad 142f used for contacting the sample carrying device 180 is provided with an anti-slip portion to further increase friction. The anti-slip part may be an anti-slip pattern, anti-slip convex particles, etc. provided on the elastic pad 142f.

In some embodiments, referring to FIG. 2 and FIG. 11 , it also includes: a three-axis calibration bracket 191 and three identification code calibration plates 192 . The three-axis calibration bracket 191 is connected to the outer wall of the upper body 160. The three-axis calibration bracket 191 includes two The X-direction connecting plate 191a, the Y-direction connecting plate 191b and the Z-direction connecting plate 191c are arranged perpendicularly to each other. Among them, one end of the Y-direction connection plate 191b is connected to one end of the X-direction connection plate 191a, and the other end of the Y-direction connection plate 191b is connected to one end of the Z-direction connection plate 191c. Of the three identification code calibration plates 192, two of the identification code calibration plates 192 are located at both ends of the X-direction connecting plate 191a, and the other identification code calibration plate is located at the other end of the Z-direction connecting plate 191c. Each identification code calibration plate 192 has a built-in identification code, and the identification code is used to position an external device (such as an external mobile robot) on the upper body 160 . Among them, the X-direction connecting plate 191a is parallel to the carrying platform 110. Among them, the identification code can be a QR code, a barcode, a character code, etc.

This embodiment allows external devices such as robots to locate the upper body 160 by reading the identification codes arranged in three-dimensional space, thereby determining the position of the UPLC analysis equipment, thereby improving positioning accuracy. Specifically, the identification code arranged in the three-dimensional space can be set close to the position of the switch door 161, so that the external device can accurately locate the position of the switch door 161 of the UPLC analysis equipment.

In some embodiments, referring to Figure 12, a pallet exchange bin 190 is also included. The pallet exchange chamber 190 is connected to the carrying platform 110 and is disposed on a side close to the solvent holding device 150 so that humans or mobile robots can add solvent and pick up and place the sample holding device 180 on this side. The pallet exchange chamber 190 is used to interact with the outside world with the sample carrying device 180 before and after analysis. The robotic arm 130 drives the clamping device 140 to take out the sample carrying device 180 before analysis from the pallet exchange chamber 190, and/or after analysis by the UPLC analyzer 120 The sample carrier 180 is placed into the pallet changer 190 .

In some embodiments, referring to FIG. 12 , the pallet exchange bin 190 includes a support assembly, a holding plate 193 and a positioning member 194 . The support assembly is connected to the bearing platform 110. Specifically, the support assembly includes a bottom plate 195 and a side plate 196. The bottom plate 195 is arranged corresponding to the holding plate 193. The bottom plate 195 is connected to the holding plate 193 through the side plate 196. The bottom plate 195 and/or the side plates 196 are connected to the carrying platform 110 . The holding plate 193 is provided with at least one compartment for storing the sample carrying device 180 . The positioning member 194 is connected to the holding plate 193 and corresponds to the storage position. The positioning member 194 is used to cooperate with the fixing part provided at the bottom of the sample carrying device 180 to limit the sample carrying device 180 to the storage position.

When storing the sample carrying device 180 in this embodiment, the positioning member 194 on the holding plate 193 cooperates with the fixing part at the bottom of the sample carrying device 180 to better position the sample carrying device 180 and improve the access efficiency. In addition, the cooperation between the positioning member 194 and the fixing part can also limit the sample carrying device 180 to the position of the holding plate 193 to fix the sample carrying device 180, thus solving the problem of the sample carrying device 180 easily slipping.

In addition, the pallet exchange bin 190 may also include a sensor, which is connected to the holding plate 193 and corresponds to the bin. Each bin may be provided with at least one sensor for sensing whether the sample carrying device 180 is placed on the bin. Correspondingly, the pallet exchange bin 190 also includes a control component that is electrically connected to the sensor and is used to obtain the sensing signal of the sensor, and when it senses that there is a sample carrying device 180 on the bin, it notifies the robotic arm 130 to take it away.

The embodiment of the present application also provides a UPLC analysis system. See Figure 13. The system includes a sample preparation device 200 and any of the above UPLC analysis devices 100. Wherein, the sample preparation equipment 200 and the UPLC analysis equipment 100 are arranged side by side, and the sample preparation equipment 200 is placed on a side close to the robotic arm 130 in the UPLC analysis equipment 100, or the sample preparation equipment 200 is placed on the UPLC analysis side of the UPLC analysis equipment 100. The side of instrument 120.

The space used for experimental operations in the sample preparation equipment 200 is connected with the accommodation space of the UPLC analysis equipment 100. The robotic arm 130 of the UPLC analysis equipment 100 takes out the sample carrying device 180 containing the prepared experimental samples from the sample preparation equipment 200. Put it into the UPLC analyzer 120 for analysis, and/or take out the sample carrying device 180 containing the analyzed experimental sample from the UPLC analyzer 120 and put it into the sample preparation equipment 200 for processing.

The working principle of this embodiment: the automatic door opening and closing mechanism 123 opens the door 122, the robotic arm 130 grabs the sample carrying device 180 containing the reagent to be detected on the sample preparation equipment 200 through the clamping device 140, and puts the sample carrying device 180 into the UPLC analysis in the instrument 120, and then the automatic door opening and closing mechanism 123 closes the door 122, and the UPLC analyzer 120 starts detection and analysis. When the detection and analysis of the reagents in the UPLC analyzer 120 is completed, the automatic door opening and closing mechanism 123 opens the door 122, and the robotic arm 130 grabs the sample carrying device 180 after the detection and analysis in the UPLC analyzer 120 has been completed through the gripper device 140, and transfers the sample The carrying device 180 is put back into the sample preparation device 200, and the cycle continues. When the amount of solvent in the container in the solvent holding device 150 is lower than the lower limit, the alarm unit will give a solvent shortage prompt. At this time, the nitrogen spring door needs to be manually opened to add solvent to the container. After the addition is completed, the equipment continues to operate.

This embodiment combines the UPLC analyzer 120 with the sample preparation equipment, which can realize automatic preparation and automatic analysis of samples at the same time, reduce intermediate transfer links, effectively improve work efficiency, and have a compact layout, which can save space on the site.

In some embodiments, the carrying platform 110 of the UPLC analysis device 100 is provided with a material storage rack on a side close to the sample preparation device 200 , or the sample preparation device 200 is provided with a material storage rack on a side close to the UPLC analysis device 100 .

The robotic arm on the sample preparation equipment 200 places the sample carrying device 180 containing the prepared experimental sample into the material storage rack, so that the robotic arm 130 of the UPLC analysis equipment 100 can take it away. And/or, the robotic arm 120 of the UPLC analysis equipment 100 places the sample carrying device 180 containing the analyzed experimental sample into the material storage rack, so that the robotic arm on the sample preparation equipment 200 can take it away.

In this embodiment, a material storage rack is provided on the sample preparation equipment 200 or the UPLC analysis equipment 100 to realize experimental sample interaction between the UPLC analysis equipment 100 and the sample preparation equipment 200 .

It can be understood that the UPLC analysis equipment 100 can obtain experimental samples to be analyzed from the sample preparation equipment 200, or can obtain experimental samples to be analyzed from the outside through the tray interaction chamber 190, which is not limited here. The UPLC analysis equipment 100 can put the analyzed experimental samples into the sample preparation equipment 200 for further processing, and can also transfer the analyzed experimental samples to the outside through the tray interaction chamber 190, which is not limited here.

In some embodiments, referring to Figures 14 and 15, the sample carrying device 180 includes: a base 181 and a boss 182 formed on the upper surface of the base 181. The boss 182 has a placement hole for placing a container holding an experimental sample. 182a, steps are formed between the opposite ends of the boss 182 and the base 181. During specific implementation, both the base 181 and the boss 182 can be square, and the other opposite ends of the boss 182 are flush with the base 181 , that is, the front and rear sides of the base 181 and the boss 182 are flush (relative to (for the state shown in Figure 15). The boss 182 can be provided with 24 placement holes 182a, arranged in a square shape, for placing containers, such as 2 ml test tubes, reagent bottles, etc. Both the base 181 and the boss 182 can be machined using pps material.

The sample carrying device 180 in this embodiment is configured as a stepped structure, which can be applied to different usage scenarios. For example, the sample carrying device 180 is placed vertically in the sample preparation equipment 200, horizontally in the UPLC analyzer 120, and when used as a clamping device 140 When taking the sample carrying device 180 from the sample preparation device 200, the gripping device 140 grabs both sides of the length of the base 181, as shown in Figure 8. When the clamping device 140 takes the sample carrying device 180 from the UPLC analyzer 120, the clamping device 140 grabs both sides of the length of the step 182, as shown in FIG. 7 .

In some embodiments, the sample holding device 180 is provided with an identification code, such as a two-dimensional code, a graphic code, etc., and by scanning the identification code, the chemical reagent information in the containers on each placement hole on the sample holding device 180 can be obtained.

During specific implementation, pin holes or pointed step pins can also be provided at the bottom of the sample carrying device 180 to match the pointed step pins or pin holes provided on the preparation platform of the sample preparation equipment 200 or the carrying platform of the UPLC analysis equipment 100. This allows the sample carrying device 180 to automatically correct itself by relying on its own gravity when the position deviation of the sample carrying device 180 is within 2 mm. During operation, the clamping device 140 puts the test tube vertically downward into the corresponding placement hole directly above the sample carrying device 180. When the container reaches about 1 mm from the bottom plane of the hole of the sample carrying device 180, the clamping device 140 releases the container. The container falls to the bottom of the hole under the action of gravity. Since the top of the hole is chamfered, even if there is a slight deviation between the axis of the container and the axis of the hole, it can be automatically corrected.

In some embodiments, a visual positioning mechanism is also included. The visual positioning mechanism is disposed on one side of the UPLC analysis device 100 and close to the sample preparation device 200, or is disposed on the sample preparation device 200 and close to the UPLC analyzer. On one side of the analysis equipment 100, the visual positioning mechanism is used to determine the position state between the UPLC analysis equipment 100 and the sample preparation equipment 200. During specific implementation, the visual positioning mechanism can be provided on the bearing platform 110 or on the upper body 160 .

In some embodiments, a mobile robot is also included. The mobile robot is used to put the sample carrying device 180 containing the sample to be tested into the sample preparation device 200 or the UPLC analysis device 100, or to take out the experiment from the sample preparation device 200 or the UPLC analysis device 100. The final sample carrying device 180. Wherein, the mobile robot can locate the UPLC analysis device 100 and/or the sample preparation device 200 through the identification codes in the three identification code calibration plates.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. In this way, if these modifications and variations of the present application fall within the scope of the claims of this application and its equivalent technology, then this application is also intended to include these modifications and variations.

Claims (20)

1. A UPLC analysis equipment, characterized by including:

   carrying platform;

   A UPLC analyzer provided on the carrying platform;

   A mechanical arm provided on the carrying platform;

   A clamping device installed on the robotic arm. The robotic arm drives the clamping device to move, so that the clamping device places the sample carrying device containing the experimental sample into the UPLC analyzer for analysis. , and take out the analyzed sample carrying device from the UPLC analyzer;

   A solvent holding device provided on the carrying platform, the solvent holding device is used to hold solvent, the solvent holding device is connected with the UPLC analyzer, so that the solvent in the solvent holding device Import into the UPLC analyzer.
2. The UPLC analysis equipment according to claim 1, characterized in that the solvent holding device includes:

   A bearing plate, arranged on the bearing platform or the UPLC analyzer;

   Weighing unit, there is at least one weighing unit and all of them are connected to the carrying plate. The weighing unit is used to carry a container holding a solvent and detect the amount of solvent in the container in real time;

   A processing unit is provided on the carrier plate, and is electrically connected to the weighing unit, and is used to obtain the amount of solvent in the container.
3. The UPLC analysis equipment according to claim 2, characterized in that the weighing unit includes:

   A connecting plate connected to the load-bearing plate;

   A load cell includes a fixed part and a load-bearing part, and the fixed part is connected to the connecting plate;

   A support member is connected to the load-bearing part, the support member is used to place the container, and the load sensor is used to detect the amount of solvent in the container in real time.
4. The UPLC analysis equipment according to claim 2, wherein the solvent holding device further includes:

   An alarm unit is provided on the carrier plate and corresponds to the load sensor one-to-one. The alarm unit is electrically connected to the processing unit and is used to send an alarm signal when the solvent amount is lower than a preset value.
5. The UPLC analysis equipment according to claim 1, characterized in that the UPLC analyzer includes:

   ontology;

   A door installed on the main body;

   An automatic door opening and closing mechanism is connected to the door body and used to control the door body to automatically open or close.
6. The UPLC analysis equipment according to claim 5, characterized in that the automatic door opening and closing mechanism includes:

   supporting body;

   A driving mechanism installed on the supporting body;

   A transmission shaft, one end of which is connected to the output end of the driving mechanism, and the other end is rotatably connected to the support body;

   A connecting rod, one end of the connecting rod is connected to the transmission shaft, and the other end is a free end. When the driving mechanism drives the transmission shaft to rotate, the transmission shaft can drive the connecting rod to rotate;

   A floating joint includes a floating end and a fixed end. The floating end is slidably connected to the connecting rod. The fixed end is used to connect to the door body. The connecting rod can drive the floating joint to move. , and at the same time, the floating joint can also slide along the connecting rod to open or close the door.
7. UPLC analysis equipment according to claim 6, characterized in that,

   The connecting rod is provided with a guide groove along the length direction, and the floating end is slidably embedded in the guide groove;

   Alternatively, the connecting rod is provided with a slide rail along the length direction, and the floating end can move along the slide rail through a slide block.
8. The UPLC analysis equipment according to claim 1, characterized in that the clamping device includes:

   A driving part, connected to the robotic arm;

   Two clamping jaws, both connected to the driving part; each clamping jaw includes a clamping arm and a clamping finger, the clamping arm is connected to the driving part, and the clamping finger is floatingly connected On the clamp arm, the clamping claw fingers have a clamping surface, and the clamping surfaces of the clamping claw fingers of the two clamping jaws are arranged oppositely, and the two clamping claw fingers are driven by the driving part to each other. Approach or move away to drive the gripper fingers to clamp or release the sample holding device.
9. The UPLC analysis equipment according to claim 8, characterized in that the clamping device further includes:

   An elastic pad is provided on the clamping surface of each clamping finger, and is used to elastically contact the sample carrying device when the clamping finger clamps the sample carrying device;

   The surface of the elastic pad used to fit with the sample carrying device is provided with an anti-slip portion.
10. The UPLC analysis equipment according to claim 8, wherein the gripper fingers include:

    A first connection part, the first connection part is rotatably and floatingly connected to the clamp arm;

    a second connection part, the second connection part is connected to the first connection part, and the clamping surface is located on the side of the second connection part facing away from the clamp arm;

    An elastic member is placed between the clamp arm and the second connecting part. One end of the elastic member is connected to the clamp arm, and the other end is in contact with the second connecting part.
11. The UPLC analysis equipment according to claim 1, further comprising:

    The upper machine body is connected to the load-bearing platform and defines a storage space with the load-bearing platform. The UPLC analyzer, the mechanical arm, the clamping device and the solvent holding device Placed in the accommodation space; the upper body is provided with a switch door on the side corresponding to the solvent holding device, so as to interact with the outside world through the switch door;

    The lower body is connected to the load-bearing platform and located below the load-bearing platform. The mechanical arm, the clamping device, and the control equipment and electrical equipment of the UPLC analyzer are placed in the lower body.
12. The UPLC analysis equipment according to claim 11, further comprising:

    A three-axis calibration bracket is connected to the outer wall of the upper body. The three-axis calibration bracket includes two X-direction connecting plates, a Y-direction connecting plate and a Z-direction connecting plate that are arranged perpendicularly to each other. One end of the Y-direction connecting plate It is connected to one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected to one end of the Z-direction connecting plate;

    Three identification code calibration plates, two of which are located at both ends of the X-direction connection plate, and the other identification code calibration plate is provided at the other end of the Z-direction connection plate;

    Each of the identification code calibration plates has an identification code built into it, and the identification code is used to enable an external device to locate the upper body.
13. The UPLC analysis equipment according to any one of claims 1 to 12, further comprising:

    A pallet exchange chamber is connected to the carrying platform and is arranged on a side close to the solvent holding device. The pallet exchange chamber is used to interact with the outside world before and after analysis of the sample carrying device. The robotic arm drives the The clamping device takes out the sample carrying device before analysis from the pallet exchange chamber, and/or places the sample carrying device after analysis by the UPLC analyzer into the pallet exchange chamber.
14. The UPLC analysis equipment according to claim 13, characterized in that the pallet exchange bin includes:

    A support component connected to the bearing platform;

    a holding plate, the holding plate is connected to the support assembly, and the holding plate is provided with at least one position for storing the sample carrying device;

    A positioning piece, which is connected to the holding plate and corresponds to the bin. The positioning piece is used to cooperate with the fixing part provided at the bottom of the sample carrying device to limit the position of the sample carrying device. in said position.
15. A UPLC analysis system, characterized in that it includes a sample preparation device and the UPLC analysis device according to any one of claims 1 to 14; wherein the sample preparation device and the UPLC analysis device are arranged in parallel, and the The sample preparation equipment is placed on a side close to the robotic arm in the UPLC analysis equipment, or the sample preparation equipment is placed on the side of the UPLC analyzer in the UPLC analysis equipment;

    The space used by the sample preparation equipment for experimental operations is connected with the accommodation space of the UPLC analysis equipment. The mechanical arm of the UPLC analysis equipment takes out the sample containing the prepared experimental sample from the sample preparation equipment. The carrying device is placed into the UPLC analyzer for analysis, and/or the sample carrying device containing the analyzed experimental sample is taken out from the UPLC analyzer and placed into the sample preparation equipment for processing.
16. The UPLC analysis system according to claim 15, characterized in that,

    The carrying platform of the UPLC analysis equipment is provided with a material storage rack on a side close to the sample preparation equipment, or the sample preparation equipment is provided with the material storage rack on a side close to the UPLC analysis equipment;

    The mechanical arm on the sample preparation equipment places the sample carrying device containing the prepared experimental sample into the material storage rack, so that the mechanical arm of the UPLC analysis equipment can take it away; and/or the UPLC The robotic arm of the analysis equipment places the sample carrying device containing the analyzed experimental sample into the material storage rack, so that the robotic arm on the sample preparation equipment can take it away.
17. The UPLC analysis system according to claim 15, characterized in that the sample carrying device includes: a base; a boss is formed on the upper surface of the base, and the boss is provided with a container for placing the experimental sample A hole is placed, and a step is formed between the opposite ends of the boss and the base.
18. The UPLC analysis system according to claim 17, characterized in that,

    The base and the boss are both square, and the other two opposite ends of the boss are flush with the base.
19. The UPLC analysis system according to any one of claims 15 to 18, further comprising:

    A visual positioning mechanism is provided on a side of the UPLC analysis equipment and close to the sample preparation equipment, or is provided on a side of the sample preparation equipment and close to the UPLC analysis equipment. The visual positioning mechanism is used to determine the The positional status between the UPLC analysis equipment and the sample preparation equipment.
20. The UPLC analysis system according to any one of claims 15 to 18, further comprising: a mobile robot for placing the sample carrying device to be tested into the sample preparation equipment or the UPLC analysis equipment, and/or, take out the sample carrying device after the experiment from the sample preparation equipment or the UPLC analysis equipment.