CN110146708B - Sample adding system and method based on speed open loop control and stroke positioning compensation - Google Patents
Sample adding system and method based on speed open loop control and stroke positioning compensation Download PDFInfo
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Abstract
The invention discloses a sample adding system and method based on speed open loop control and stroke positioning compensation. The system consists of a sample adding arm module, a capacitance-liquid level signal conversion module, a stepping motor driving module and a sample adding system control module. The rotary positioning stroke of the sample adding system is divided into two sections, and photoelectric sensors are respectively arranged at the starting point, the end point and the section dividing point of the rotary stroke; the first section of rotary positioning stroke is controlled by adopting a speed open loop, and a disc notch passes through a photoelectric sensor of a section dividing point to compensate the error of the first section of positioning stroke; speed open loop control and stroke positioning compensation improve the precision of sample adding positioning, the efficiency and the usability of the system, simplify the mechanical and electrical structure and reduce TCO. The sleeve type sample adding needle is improved to detect the liquid level 1.5mm below the liquid level, which is beneficial to the accurate absorption of a reagent/sample and reduces the difficulty of the sample adding needle tracking the descending liquid level during the absorption operation; the rotating/lifting arm works in a cooperative manner, so that the efficiency of the sample adding system is further improved.
Description
Technical Field
The invention belongs to the technical field of sample adding systems in the medical field; in particular to a sample adding system and a method based on speed open loop control and stroke positioning compensation, detecting liquid level by means of an improved sleeve type sample adding needle and cooperatively working a rotating/lifting arm.
Background
In 1957, Technicon introduced the first biochemical Analyzer Auto Analyzer worldwide; in 1972, Beijing coordination hospital was introduced and used first to examine biochemical indexes of body fluids such as blood and urine of patients. In 1959, Berson published a 125I-labeled insulin, a paper to determine blood insulin concentration, which initiated a chemiluminescent immunoassay (Chemimunasence immunoassay, CLIA); the chemiluminescence immunity analyzer detects biochemical indexes such as antibody, antigen, hormone, drug concentration and the like. The analyzer is a necessary technical means for modern medical treatment and assists disease diagnosis. Currently, there are well known manufacturers of biochemical analyzers: roche, olympus, germany bayer, and dutch chart, etc.; known chemiluminescent immunoassays include: abbott (i4000SR), Beckman (ACCESS2), Siemens (Advia Centaur CP), and the like. In 2003, Mirui biological medical electronics GmbH introduced the first home-made biochemical analyzer BS-300; the domestic chemiluminescence immunoassay analyzer comprises: mirey CL-2000i, New industry MAGUMI 4000, etc.
The commercialization of the home-made analyzer is not good, which is comparable to the home-made operating system. Developed countries not only rely on advanced, reliable and complete function of the prior art advantages, leading the analyzer structure is increasingly complex, the volume is continuously increased, the technology threshold and the cost of the instrument are continuously raised; and a free vertical integration mode that the analyzer binds the matched reagent and a free business mode that the operation and maintenance binds the reagent in a snapshot mode are created. The annual detection sample volume of the user reaches the standard, the analyzer is bound with matched reagents, and the analyzer is free; the cost and profit of the analyzer and reagents are extracted from the bound reagents. The user agrees with the reagent ' snapshot ', and the analyzer will be free ' for the lifetime operation and maintenance; the mechanical click sound of instrument operation, the dollar ding-dong sound in the ear of the manufacturer. Therefore, not only are domestic manufacturers directly confronted with the technical challenges of the same lines abroad, but also the domestic manufacturers are subjected to great pressure of wages. Self-strength of national goods!
The 'Achulus of Yousis' in a 'free' mode is the sample size of a high enterprise, and is difficult to reach by a county-level hospital; the opportunity of domestic manufacturers. At the beginning of the reform opening, the input exchanger quotation is more than 500 dollars/line; "giant China" rose from the three-four-wire city, and the quoted price dropped to $ 20/line. By referring to the successful experience of 'huge China', the technology force accumulation and the contrary attack are gathered from the cut-in of middle and low-end products of service-county-level hospitals. Along with the mass production application of products, the bug is found and eliminated, the technology is changed and mature; application and "maturation" as shadow accompany!
The full-automatic biochemical analyzer, the chemiluminescence immunoassay analyzer and the like have similar architectures and are composed of a sample adding cleaning system and an optical testing analysis system. The optical test analysis of the former is based on double reagents and double reaction principles, and biochemical analysis is carried out by a colorimetric method; the latter uses chemical reaction to release energy to excite the intermediate, the energy is released in the form of photons, and the photon counter records the energy. The sample adding and cleaning system of the analyzer has the same functions and mechanical and electrical structures; the loading and cleaning system for CLIA is discussed in the present document, and is abbreviated as the loading and cleaning system of the analyzer. The analyzer has two mechanical structures of a rotary type and a linear type, and the linear type has higher positioning efficiency and precision, but has a complex structure and large operation and maintenance amount; discussion herein is presented about the sample application and washing system of a mid-to-low Rotary (RZ) analyzer: aiming at improving the positioning precision, the system efficiency and the usability, simplifying the mechanical and electrical structure and reducing the TCO.
The sample adding and cleaning system comprises a sample, a reaction and reagent system; the sample system comprises a sample needle, a sample disc, a sample stirring assembly, a sample pipeline and a pump valve; the reaction system comprises a reaction disc, an automatic cleaning assembly, a cleaning pipeline and a pump valve; the reagent system comprises a reagent needle, a reagent disk, a reagent stirring assembly, a reagent pipeline and a pump valve. Clearly, the sample, reaction and reagent systems have more commonality than individuality; without loss of generality, the reagent system is addressed herein for discussion. The disk, agitation assembly, tubing, and pump valves of the reagent system are discussed elsewhere herein, focusing on the reagent needle. The reagent needle needs to perform a rotational positioning of four positions: the method comprises the following steps of initialization, reagent sample suction, reaction plate sample adding and cleaning; the rotation of the reagent needle in the horizontal direction and the up-and-down movement of the reagent needle in the vertical direction are realized by a stepping motor by taking a central shaft as a center through a synchronous belt. The reagent needle work flow is as follows: 1. the reagent needle at the initial position rotates to a reagent sample sucking position along with the rotating arm, descends to 1.5mm below the liquid level of the reagent along with the lifting arm, sucks a preset amount of reagent, and ascends to a horizontal movement plane along with the lifting arm. 2. The reagent needle at the reagent sample sucking position rotates to the sample adding position of the reaction plate along with the rotating arm, and the reagent needle injects the reagent into the appointed reaction cup. 3. The reagent needle at the sample adding position of the reaction disc rotates to the cleaning position along with the rotating arm, and falls to the designated cleaning height along with the lifting arm, so that the inner wall and the outer wall of the reagent needle are cleaned, and the reagent needle rises to the horizontal movement plane along with the lifting arm. 4. The reagent needle of the cleaning position rotates to the initial position along with the rotating arm. The four-station process forms a working flow cycle of the reagent needle and is repeated. The common characteristic of motion of the reagent needle is obvious when the reagent needle is orderly transferred among the initial stage, the reagent sample suction stage, the reaction plate sample adding stage and the cleaning stage; therefore, the most representative and typical process of the station, namely the process of the 1 st station, is selected for discussion.
The reagent system and the sample system are collectively called a sample application system; because the motion laws of the reagent needle and the sample needle are highly similar, the patent text uses the unified terms "sample adding needle", "sample adding arm", "sample adding and sucking position", "sample adding system control module"; in place of the "background art", the terms "reagent needle" and "reagent pipetting site" are used for the sake of clarity and simplicity. The efficiency and the precision of a sample adding system of the middle and low-end RZ analyzer are improved, the structure is simplified, the use is easy, the TCO is low, and three key common technologies are involved; the improvement of three key common techniques and the improved source are described in connection with the procedure of the 1 st station of the reagent needle.
Firstly, the positioning error of the reagent needle rotating to the reagent sample sucking position is less than or equal to 0.1mm, namely the final position of the reagent needle is required to deviate from the reagent sample sucking position by less than or equal to 0.1 mm. The existing speed-displacement double closed-loop scheme is complex, high in cost and hard to be competent by a user operation and maintenance department. The positioning of the reagent needle has no strict requirement on the contour precision of the motion trail; under the prior art, although the open loop error of the stepping motor and the synchronous belt is less than 1%, the positioning precision cannot meet the requirement that the opening error is less than or equal to 0.1 mm; and (3) providing a speed open loop control and stroke positioning compensation scheme: the rotating stroke of the reagent needle is segmented according to the proportion of 0.97 to 0.03, and a photoelectric sensor is arranged at the intersection point of the segments. According to the S speed curve, the speed open-loop control finishes 0.97 stroke, the photoelectric sensor is triggered to be interrupted, the stepping motor resets the pulse number corresponding to the 0.03 stroke, and the deviation generated in the 0.97 stroke is compensated; and the corresponding pulse number of 0.03 stroke is finished by using the speed at the section intersection.
Secondly, Liquid Level Detection (LLD) affects the accuracy and efficiency of the reagent system. The service object of LLD is the reagent system, aiming at the precise uptake of reagents: both the false liquid level of bubbles on the surface of the reagent and the error caused by air mixing during the suction are eliminated. For reagent systems, the value of the liquid level 1.5mm below the liquid level > the liquid level of the liquid level is detected; provides a liquid level detection device of an improved sleeve type sampling needle designed by a capacitance method.
Thirdly, the rotation/lifting arm movement of the reagent needle is scheduled in parallel, and two arms are provided to improve the efficiency of the reagent system cooperatively. A serial scheduling strategy of a rotating/lifting arm is abandoned, and a photoelectric sensor is arranged at the intersection point of the lifting arm and the safe movement plane. The rotating arm rotates from an initial position to a reagent sample sucking position, and the lifting arm descends from a horizontal movement plane to a safe movement plane according to an S speed curve; if the rotating arm rotates to the reagent sample sucking position, the lifting arm continues to descend to detect the liquid level 1.5mm below the liquid level; if the rotating arm does not rotate to the reagent sample suction position, the lifting arm descends again to detect the liquid level 1.5mm below the liquid level after the rotating arm rotates to the reagent sample suction position.
A summary of representative intellectual property achievements in the aspect of sample adding systems in the medical field is as follows:
the invention discloses a rotary sample-adding type full-automatic blood coagulation tester (ZL2011104182503), which provides a rotary sample-adding type full-automatic blood coagulation tester.
Invention patent "small biochemical analyzer" (ZL2014102823465), which proposes a small biochemical analyzer comprising a base, a reaction disk rotary base, a reagent sample disk, a sample loading system, a flushing system and a casing.
The invention relates to a positioning method of a sample adding system and a flexible in-vitro diagnostic instrument applying the positioning method (ZL2015106419422), and proposes to select the position of a sample adding needle as an origin; and controlling the sample adding needle to move to the positions above the four vertex test tubes from the original point, and calculating the coordinates of the four vertex test tubes according to the moving distances of the sample adding needle on the X axis and the Y axis.
The beneficial exploration is an overview of research results of a sample adding system in the medical field. Unfortunately, little research has been made on the characteristics of the foot-based rotary sample adding system, the customized control and scheduling scheme, and the improvement of the positioning accuracy and efficiency of the sample adding system. Therefore, it is necessary to make further innovative design based on the existing results.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a sample adding system and a method based on speed open-loop control and stroke positioning compensation, liquid level detection by means of an improved sleeve type sample adding needle and rotation/lifting arm cooperation.
The sampling system based on speed open loop control and stroke positioning compensation is characterized by comprising a sampling arm module, a capacitance-liquid level signal conversion module, a stepping motor driving module and a sampling system control module; the sample adding arm module is connected with the sample adding system control module through the capacitance-liquid level signal conversion module, and the sample adding system control module is connected with the sample adding arm module through the stepping motor driving module;
the sample adding arm module comprises a lifting arm, and the tail end of the lifting arm is provided with an improved rotating arm of a sleeve type sample adding needle with an inner layer and an outer layer; the rotating arm is provided with a rotating stepping motor with the model SS1704A20A, the lifting arm is provided with a lifting stepping motor with the model SS1704A20A, and the rotating stepping motor and the lifting stepping motor are connected with the sample adding system control module through a stepping motor driving module; the lifting arm is provided with a lifting positioning photoelectric sensor and a model PM-L25, and the lifting positioning blocking piece is matched with the lifting positioning photoelectric sensor for use; the lifting positioning blocking piece is arranged on the lifting arm and moves up and down along with the lifting arm, the lifting positioning photoelectric sensor is over against the lifting positioning blocking piece and fixed on a middle shaft with the height of a safe movement plane, and the lifting positioning photoelectric sensor is connected with the sample adding system control module; the up-and-down movement of the lifting arm relates to a horizontal movement plane and a safe movement plane, and the horizontal movement plane is a name of a height plane where the rotating arm is positioned when rotating and positioning; the safe moving plane is the name of the plane with the lowest height which does not collide with other parts when the rotating arm is positioned in a rotating way, and is positioned below the horizontal moving plane;
the sample adding arm module adopts a main body structure of an I-shaped base, a lifting stepping motor is arranged at the bottom of the sample adding arm module, a lifting arm is driven by a gear and a belt, a rotating stepping motor is arranged on the right side of the top of the sample adding arm module, and a rotating arm is driven by the gear and the belt; a disk with a notch is arranged on a gear concentric with the rotating circumference of the rotating arm, and the notch of the disk synchronously rotates when the rotating arm rotates; the top surface of the I-shaped base is respectively provided with a 1 st rotation positioning photoelectric sensor, a2 nd rotation positioning photoelectric sensor, a 3 rd rotation positioning photoelectric sensor and a model PM-L25, and is connected with a sample adding system control module; the rotational positioning stroke of the sample adding system is divided into two sections of 0.97 rotational stroke and 0.03 rotational stroke, and the starting point, the section dividing point and the end point of the rotational positioning stroke correspond to the 1 st rotational positioning photoelectric sensor, the 2 nd rotational positioning photoelectric sensor and the 3 rd rotational positioning photoelectric sensor one by one; the rotating arm completes 0.97 rotation stroke through speed open-loop control according to an S speed curve, level change of a2 nd rotation positioning photoelectric sensor output signal resets the pulse number corresponding to the residual 0.03 rotation stroke of the rotating stepping motor, and the accumulated error of the 0.97 rotation stroke is compensated; adopting the speed at the position of 0.97 rotation stroke, continuously walking through the pulse number corresponding to the 0.03 rotation stroke, changing the level of the output signal of the 3 rd rotation positioning photoelectric sensor, and finishing the positioning of the reagent/sample suction position; the improved sleeve type sample adding needle with the inner layer and the outer layer provides a liquid level of 1.5mm below the liquid level, and the cooperative work of the rotating arm and the lifting arm is implemented by means of the lifting positioning optical coupler-separation blade.
The capacitance-liquid level signal conversion module consists of a capacitance-voltage signal conversion unit and a signal conditioning and processing unit; the improved sleeve type sampling needle is connected with the capacitance-voltage signal conversion unit, the signal conditioning and processing unit processes the voltage signal output by the capacitance-voltage signal conversion unit and judges the distance of the improved sleeve type sampling needle penetrating into the liquid level;
the improved inner and outer two-layer sleeve type sample adding needle adopts a sleeve structure and comprises a long L1.5The length of the sleeve type sample adding needle is L-1.5mm, and the length of the sleeve type sample adding needle is L; the inner sleeve and the outer sleeve are made of 316L-shaped stainless steel; the pipe walls of the outer layer sleeve and the inner layer sleeve are sprayed with TEFLON insulating coatings; the capacitance formed by the outer sleeve, the inner sleeve and the metal shell of the sample adding container is C10 and C20, the capacitance formed by the outer sleeve and the inner sleeve is C12, and the air medium capacitance value of the outer/inner sleeve when the improved sample adding needle of the inner and outer sleeves is not contacted with the liquid level of the sample adding container, namely the improved sample adding needle of the inner and outer sleeves is C120(ii) a The relation between the capacitance signal output by the improved sleeve type sample adding needle with the inner layer and the outer layer and the distance penetrating into the liquid level is as follows:
defining that X is the height of the needle tip of the sampling needle from the liquid level, the liquid level height is 0, and the downward direction is positive;
x is less than 0, and the needle tip of the sample adding needle is positioned above the liquid level and does not contact the liquid level;
x is 0, and the needle tip of the sampling needle just contacts the liquid level;
x is more than 0 and less than 1.5, the needle tip of the sample adding needle enters the liquid level, and the outer sleeve is not contacted with the liquid level;
x is 1.5, the needle tip of the sampling needle is deep into the liquid level, and the outer sleeve is contacted with the liquid level;
x is more than 1.5, the needle tip of the sample adding needle penetrates into the liquid level, and the outer sleeve enters the liquid level;
↗
capacitance value slowly rising ↓
The capacitance value rises rapidly and up ↓
Abrupt increase of capacitance
The sample adding system control module issues a liquid level detection instruction;
after the sampling needle is positioned, the sampling needle moves downwards opposite to the liquid level;
x is less than 0, and C10 ↗, C20 ↗ and C12 are unchanged;
x is equal to 0, and C10 ↗, C20 ═ ↓andC 12 are unchanged;
x is more than 0 and less than 1.5, and C10 ↗, C20 ═ and C12 are unchanged;
x ═ 1.5, C10 ≠ C, C20 ℃ ═ C, C12 ℃ ═ preparation for sample injection needle extraction;
x is more than 1.5, C10 ℃,. C20 ℃,. C12 ℃,. and the insertion operation of the sample injection needle is stopped;
c12 ↓roller ℃ ] represents the improved two layers inside and outside the sleeve type sample adding needle has reached the liquid level of 1.5mm below the liquid level.
The step motor driving module consists of a lifting arm step motor driving unit and a rotating arm step motor driving unit; the lifting arm stepping motor driving unit takes a THB6032 chip as a core; the feet 11, 14, 15, 18 of the THB6032 are grounded, and the feet 26, 27 are connected through R311STM32F103RC pin 20 of the sample loading system control unit; the feet 5, 1 and 6 of the THB6032 are respectively connected with the foot 14 of STM32F103RC of the control unit of the sample adding system15, 16; foot 23 of THB6032 passes through R315Leg 28, leg 28 through C311Grounded, pin 25 passes through R312Connected to Vcc, pin 3 via R313Connected to Vcc, pin 4 via R314Connecting Vcc; the feet 9 and 13 of the THB6032 are connected with two wires of the phase A of the lifting arm stepping motor, and the feet 20 and 16 are connected with two wires of the phase B of the lifting arm stepping motor; the rotating arm stepping motor driving unit takes a THB6032 chip as a core, and the wiring mode is similar to that of the lifting arm stepping motor driving unit.
The sample adding system control module takes an STM32F103RC chip as a core; pins 32, 48, 64, 19, 1 of STM32F103RC are connected to Vcc, pins 31, 47, 63, 18, 60, 28 are connected to ground, and pin 7 is connected via C401Grounding; the feet 20, 14, 15 and 16 of the STM32F103RC are respectively connected with the THB6032 feet 27, 5, 1 and 6 of the lifting arm stepping motor driving unit, and the feet 21, 58, 59 and 61 are respectively connected with the THB6032 feet 27, 5, 1 and 6 of the rotating arm stepping motor driving unit; pins 8 and 9 of the STM32F103RC are respectively connected with an output pin and an input pin of the capacitance-liquid level signal conversion module; the feet 10, 24, 25 and 37 of the STM32F103RC are respectively connected with a lifting positioning photoelectric sensor, a 1 st rotation positioning photoelectric sensor, a2 nd rotation positioning photoelectric sensor and a 3 rd rotation positioning photoelectric sensor.
The sampling process from the initial position to the reagent sample sucking position of the sample adding method by using the sample adding system based on the speed open loop control and the stroke positioning compensation is as follows:
(0) initialization
The number of pulses of full stroke rotation impulse _ whirl;
number of stroke pulses N of 1 st section of rotation0.97＝0.97×impulse_whirl；
Number of stroke pulses N of 2 nd section of rotation0.03＝0.03×impulse_whirl；
The safe pulse number pulse _ fluctuation _ safe of the lifting pulse;
the pulse +10 corresponds to the horizontal movement plane to the safe movement plane;
the maximum number of lift pulses, pulse _ fluctuation _ MAX;
the safe movement plane is connected with the bottom of the reagent tube and corresponds to pulse-10;
firstly, the initial position is rotated and positioned to the reagent suction position
Firstly, 1, the output signal of a 1 st rotation positioning photoelectric sensor changes;
according to the S speed curve, the speed is controlled by an open loop to complete 0.97 rotation stroke;
firstly-2, the output signal of the 2 nd rotation positioning photoelectric sensor changes;
step motor reset N0.03；
After-3, finish N0.03The output signal of the 3 rd rotation positioning photoelectric sensor changes;
finishing the rotation positioning;
② the rotating arm 120 and the lifting arm 130 work cooperatively
Secondly, 1, according to the S speed curve, performing impulse _ fluctuation _ safe by speed open loop;
the output signal of the lifting positioning photoelectric sensor changes;
suspending the input _ migration _ safe;
secondly, reading signals of the 2 nd rotation positioning photoelectric sensor;
the 2 nd rotation of Case1 positions the change of the photoelectric sensor signal, turn to;
the signals of the 2 nd rotation positioning photoelectric sensor of Case2 have no change, are changed in an equal way, and are turned to the third step;
thirdly, liquid level detection and reagent absorption are carried out, and the lifting arm continues to descend less than or equal to impulse _ fluctuation _ MAX
Detecting C12 ≠ ℃, (d) detecting C12 ℃, (d) detecting the liquid level of the needle tip of the sample injection needle 1.5mm below the liquid level, (d) detecting the capacitance value by ℃, [ (C ×) indicating the abrupt change and increase of the capacitance value;
thirdly, stopping the lifting arm, sucking a predetermined amount of reagent, and enabling the sample adding needle to track the liquid level and descend synchronously;
and 3, lifting the lifting arm to a safe movement plane.
Compared with the prior art, the invention has the following beneficial effects:
speed open loop control and stroke positioning compensation improve sample adding positioning precision, system efficiency and usability, simplify mechanical and electrical structure and reduce TCO; the sleeve type sample adding needle is improved to detect the liquid level 1.5mm below the liquid level, which is beneficial to the accurate absorption of a reagent/sample and reduces the difficulty of the sample adding needle tracking the descending liquid level during the absorption operation; the rotating/lifting arm works in a cooperative manner, so that the efficiency of the sample adding system is improved.
Drawings
FIG. 1(a) is a structural diagram of a sample addition system;
FIG. 1(b) is a schematic block diagram of a sample addition system;
FIG. 1(c) is a structural diagram of a sample addition arm module;
FIG. 1(d) is a block diagram of the rotational positioning of the rotating arm;
FIG. 1(e) is a schematic view of the range of motion of the lift arm;
FIG. 2 is a structural view of a modified sleeve type sample injection needle;
FIG. 3 is a functional block diagram of a capacitance-to-fluid level signal conversion module;
FIG. 4 is a circuit diagram of a stepper motor drive module;
FIG. 5 is a circuit diagram of a control module of the sample application system;
FIG. 6 is a flow chart of sampling from an initial position to a reagent draw position of the sample application system.
Detailed Description
As shown in fig. 1(a), fig. 1(b), fig. 1(c), fig. 1(d), and fig. 1(e), the sample adding system is composed of a sample adding arm module 100, a capacitance-liquid level signal conversion module 200, a stepping motor driving module 300, and a sample adding system control module 400; the sample adding arm module 100 is connected with a sample adding system control module 400 through a capacitance-liquid level signal conversion module 200, and the sample adding system control module 400 is connected with the sample adding arm module 100 through a stepping motor driving module 300;
the sample adding arm module 100 comprises a lifting arm 130, and a rotating arm 120 with an improved inner-outer two-layer sleeve type sample adding needle 110 at the tail end; the rotating arm 120 is provided with a rotating stepping motor 121 and a model SS1704A20A, the lifting arm 130 is provided with a lifting stepping motor 131 and a model SS1704A20A, and the rotating stepping motor 121 and the lifting stepping motor 131 are connected with the sample adding system control module 400 through a stepping motor driving module 300; the lifting arm 130 is provided with a lifting positioning photoelectric sensor 133 and a model PM-L25, and the lifting positioning baffle plate 132 is matched with the lifting positioning photoelectric sensor 133 for use; the lifting positioning blocking piece 132 is arranged on the lifting arm 130 and moves up and down along with the lifting arm 130, the lifting positioning photoelectric sensor 133 is over against the lifting positioning blocking piece 132 and fixed on a middle shaft with a safe movement plane, and the lifting positioning photoelectric sensor 133 is connected with the sample adding system control module 400; the up-and-down movement of the lifting arm 130 involves a horizontal movement plane and a safe movement plane, and the horizontal movement plane is a name of a height plane where the rotating arm is positioned when rotating and positioning; the safe moving plane is the name of the plane with the lowest height which does not collide with other parts when the rotating arm is positioned in a rotating way, and is positioned below the horizontal moving plane;
the sample adding arm module 100 adopts the main structure of an I-shaped base 101, the bottom of the sample adding arm module is provided with a lifting stepping motor 131, a lifting arm 130 is driven by a gear and a belt, the right side of the top of the sample adding arm module is provided with a rotating stepping motor 121, and a rotating arm 120 is driven by the gear and the belt; a gear concentric with the rotating circumference of the rotating arm 120 is provided with a disc 102 with a notch 122, and the notch of the disc synchronously rotates when the rotating arm rotates; the top surface of the I-shaped base 101 is respectively provided with a 1 st rotation positioning photoelectric sensor 123, a2 nd rotation positioning photoelectric sensor 124, a 3 rd rotation positioning photoelectric sensor 125 and a model PM-L25, and is connected with a sample adding system control module 400; the rotational positioning stroke of the sample adding system is divided into two sections of 0.97 rotational stroke and 0.03 rotational stroke, and the starting point, the section dividing point and the end point of the rotational positioning stroke correspond to the 1 st rotational positioning photoelectric sensor 123, the 2 nd rotational positioning photoelectric sensor 124 and the 3 rd rotational positioning photoelectric sensor 125 one by one; the rotating arm 120 completes the 0.97 rotating stroke through speed open-loop control according to the S speed curve, the level change of the output signal of the No. 2 rotating positioning photoelectric sensor 124 resets the pulse number corresponding to the residual 0.03 rotating stroke of the rotating stepping motor 121, namely, the accumulated error of the 0.97 rotating stroke is compensated; the speed at the 0.97 rotation stroke is adopted, the pulse number corresponding to the 0.03 rotation stroke is continuously walked, the level of the output signal of the 3 rd rotation positioning photoelectric sensor 125 is changed, and the positioning of the reagent/sample suction position is finished; the improved sleeve type sample adding needle with the inner layer and the outer layer provides a liquid level of 1.5mm below the liquid level, and the cooperative work of the rotating arm and the lifting arm is implemented by means of the lifting positioning optical coupler-separation blade.
Description 1: the mechanical movement of the sample, reaction and reagent systems of the sample application system is more common than individual; the disk, stirring assembly, tubing and pump valve of the reagent system are discussed elsewhere; the reagent needle needs to perform four-position rotational positioning, and the most representative and typical procedures are positioning from an initial position to a reagent sample sucking position and reagent sucking; the present document is directed to this exemplary process with a view to conciseness and clarity of presentation without loss of generality; and so on.
As shown in fig. 2 and 3, the improved sleeve-type sample adding needle 110 with inner and outer layers adopts a sleeve structure, including a long L1.5An outer sleeve 111 with a length of L-1.5mm and an inner sleeve 112 with a length of L, wherein L is the length of the improved sleeve type sampling needle 110; the inner sleeve 112 and the outer sleeve 111 are made of 316L-shaped stainless steel; TEFLON insulating coatings are sprayed on the tube walls of the outer layer sleeve 111 and the inner layer sleeve 112; the capacitance formed between the outer sleeve 111, the inner sleeve 112 and the metal casing of the sample adding container is C10 and C20, the capacitance formed between the outer sleeve 111 and the inner sleeve 112 is C12, and the air medium capacitance of the outer/inner sleeve when the improved inner and outer sleeve type sample adding needle 110 is not in contact with the liquid level of the sample adding container, i.e. the outer/inner sleeve is C120；
The capacitance-liquid level signal conversion module 200 is composed of a capacitance-voltage signal conversion unit 220 and a signal conditioning and processing unit 230; the improved inner and outer two layers of sleeve type sampling needle 110 are connected with the capacitance-voltage signal conversion unit 220, the signal conditioning and processing unit 230 processes the voltage signal output by the capacitance-voltage signal conversion unit 220, and the distance of the improved sleeve type sampling needle 110 penetrating into the liquid level is judged; the relationship between the capacitance signal output by the improved inner-layer and outer-layer sleeve type sample adding needle 110 and the distance penetrating into the liquid level is as follows:
defining that X is the height of the needle tip of the sampling needle from the liquid level, the liquid level height is 0, and the downward direction is positive;
x is less than 0, and the needle tip of the sample adding needle is positioned above the liquid level and does not contact the liquid level;
x is 0, and the needle tip of the sampling needle just contacts the liquid level;
x is more than 0 and less than 1.5, the needle tip of the sample adding needle enters the liquid level, and the outer sleeve is not contacted with the liquid level;
x is 1.5, the needle tip of the sampling needle is deep into the liquid level, and the outer sleeve is contacted with the liquid level;
x is more than 1.5, the needle tip of the sample adding needle penetrates into the liquid level, and the outer sleeve enters the liquid level;
↗
capacitance value slowly rising ↓
The capacitance value rises rapidly and up ↓
The capacitance value is increased suddenly;
the sample adding system control module 400 issues a liquid level detection instruction;
after the sampling needle is positioned, the sampling needle moves downwards opposite to the liquid level;
x is less than 0, and C10 ↗, C20 ↗ and C12 are unchanged;
x is equal to 0, and C10 ↗, C20 ═ ↓andC 12 are unchanged;
x is more than 0 and less than 1.5, and C10 ↗, C20 ═ and C12 are unchanged;
x ═ 1.5, C10 ≠ C, C20 ℃ ═ C, C12 ℃ ═ preparation for sample injection needle extraction;
x is more than 1.5, C10 ℃,. C20 ℃,. C12 ℃,. and the insertion operation of the sample injection needle is stopped;
c12 ≈ deflector represents that the improved sleeve type sampling needle has reached 1.5mm liquid level below the liquid surface.
Description 2: the goal of LLD is for the reagent system to accurately aspirate reagent. When reagent is sucked, the liquid level is reduced, and the sampling needle has the technical problem of synchronous reduction. Currently, analyzers sample the level of quantization: 5-10ul in China, and 1-2ul in developed countries; taking 10ul as an example, taking the reagent from a 10mm by 75mm reagent tube, and lowering the liquid level by 10/pi by 5 to 0.127 mm; therefore, the liquid level of 1.5mm below the liquid level is detected, and the problem that the liquid level is synchronously reduced by tracking the sample adding needle is simplified. For a detailed discussion of the improvement of the sleeve type sample adding needle, refer to another patent "liquid level detecting device and method for improving the sleeve type sample adding needle" in this subject group.
As shown in fig. 4, the stepping motor driving module 300 is composed of a lift arm stepping motor driving unit 310, a rotating arm stepping motor driving unit 320;the lift arm stepping motor driving unit 310 takes a THB6032 chip as a core; the feet 11, 14, 15, 18 of the THB6032 are grounded, and the feet 26, 27 are connected through R311 An STM32F103RC pin 20 of the sample addition system control unit 400; pins 5, 1 and 6 of THB6032 are respectively connected with pins 14, 15 and 16 of STM32F103RC of the sample adding system control unit 400; foot 23 of THB6032 passes through R315Leg 28, leg 28 through C311Grounded, pin 25 passes through R312Connected to Vcc, pin 3 via R313Connected to Vcc, pin 4 via R314Connecting Vcc; the feet 9 and 13 of the THB6032 are connected with two wires of the phase of the lifting stepping motor 131A, and the feet 20 and 16 are connected with two wires of the phase of the lifting stepping motor 131B; the rotary arm stepping motor driving unit 320 uses a THB6032 chip as a core, and the wiring manner is similar to that of the lift arm stepping motor driving unit 310.
As shown in fig. 5, the sample adding system control module 400 takes an STM32F103RC chip as a core; pins 32, 48, 64, 19, 1 of STM32F103RC are connected to Vcc, pins 31, 47, 63, 18, 60, 28 are connected to ground, and pin 7 is connected via C401Grounding; the legs 20, 14, 15, 16 of the STM32F103RC are connected to the THB6032 legs 27, 5, 1, 6 of the lift arm stepping motor drive unit 310, respectively, and the legs 21, 58, 59, 61 are connected to the THB6032 legs 27, 5, 1, 6 of the rotary arm stepping motor drive unit 320, respectively; pins 8 and 9 of the STM32F103RC are respectively connected with an output pin and an input pin of the capacitance-liquid level signal conversion module 200; the feet 10, 24, 25, 37 of the STM32F103RC are connected to the elevation positioning photosensor 133, the 1 st rotational positioning photosensor 123, the 2 nd rotational positioning photosensor 124, and the 3 rd rotational positioning photosensor 125, respectively.
As shown in FIG. 6, the sampling flow from the initial position to the reagent aspirating position of the sample adding system is as follows:
(0) initialization
Pulse number for full stroke of rotation impulse _ whirl
Number of stroke pulses N of 1 st section of rotation0.97＝0.97×impulse_whirl；
Number of stroke pulses N of 2 nd section of rotation0.03＝0.03×impulse_whirl；
The safe pulse number pulse _ fluctuation _ safe of the lifting pulse;
the pulse +10 corresponds to the horizontal movement plane to the safe movement plane;
the maximum number of lift pulses, pulse _ fluctuation _ MAX;
the safe movement plane is connected with the bottom of the reagent tube and corresponds to pulse-10;
firstly, the initial position is rotated and positioned to the reagent suction position
1, the output signal of the 1 st rotation positioning photoelectric sensor 123 changes;
according to the S speed curve, the speed is controlled by an open loop to complete 0.97 rotation stroke;
(ii) -2 the output signal of the 2 nd rotational positioning photosensor 124 changes;
step motor reset N0.03；
After-3, finish N0.03The output signal of the 3 rd rotational positioning photosensor 125 changes;
finishing the rotation positioning;
② the rotating/lifting arms work in coordination
Secondly, 1, according to the S speed curve, performing impulse _ fluctuation _ safe by speed open loop;
the output signal of the elevation positioning photosensor 133 changes;
suspending the input _ migration _ safe;
2-reading 2 nd rotation positioning photoelectric sensor 124 signal
Signal change of the 2 nd rotation positioning photoelectric sensor 124 of Case1, turn to ③;
the signals of the 2 nd rotation positioning photoelectric sensor 124 of Case2 have no change, are changed in an equal way, and turn to three;
thirdly, liquid level detection and reagent absorption are carried out, and the lifting arm continues to descend less than or equal to impulse _ fluctuation _ MAX
Detecting C12 ≠ ℃, (d) detecting C12 ℃, (d) detecting the liquid level of the needle tip of the sample injection needle 1.5mm below the liquid level, (d) detecting the capacitance value by ℃, [ (C ×) indicating the abrupt change and increase of the capacitance value;
thirdly, stopping the lifting arm, sucking a predetermined amount of reagent, and enabling the sample adding needle to track the liquid level and descend synchronously;
and 3, lifting the lifting arm to a safe movement plane.
Description 3: the analyzer samples and slightly quantizes, the technical difficulty of the synchronous falling of the sample adding needle tracking liquid level is reduced, and only the sample adding needle is mentioned in the process and is not unfolded.
Claims (5)
1. A sample adding system based on speed open loop control and stroke positioning compensation is characterized in that the sample adding system consists of a sample adding arm module (100), a capacitance-liquid level signal conversion module (200), a stepping motor driving module (300) and a sample adding system control module (400); the sample adding arm module (100) is connected with the sample adding system control module (400) through the capacitance-liquid level signal conversion module (200), and the sample adding system control module (400) is connected with the sample adding arm module (100) through the stepping motor driving module (300);
the sample adding arm module (100) comprises a lifting arm (130), and the tail end of the lifting arm is provided with an improved rotating arm (120) of a sleeve type sample adding needle (110) with an inner layer and an outer layer; the improved inner and outer two-layer sleeve type sample adding needle (110) adopts a sleeve structure comprising a long L1.5The sample adding device comprises an outer layer sleeve (111) with the length of L-1.5mm and an inner layer sleeve (112) with the length of L, wherein L is the length of an improved inner layer sleeve type sample adding needle (110) and an improved outer layer sleeve type sample adding needle; the inner layer sleeve (112) and the outer layer sleeve (111) are made of 316L-shaped stainless steel; TEFLON insulating coatings are sprayed on the pipe walls of the outer layer sleeve (111) and the inner layer sleeve (112); the capacitance formed by the outer sleeve (111), the inner sleeve (112) and the metal shell of the sample adding container is C10 and C20, the capacitance formed by the outer sleeve (111) and the inner sleeve (112) is C12, and the air medium capacitance value of the outer/inner sleeve when the improved sleeve type sample adding needle (110) of the inner and outer layers is not contacted with the liquid level of the sample adding container is C120；
The rotating arm (120) is provided with a rotating stepping motor (121) with the model of SS1704A20A, the lifting arm (130) is provided with a lifting stepping motor (131) with the model of SS1704A20A, and the rotating stepping motor (121) and the lifting stepping motor (131) are connected with the sample adding system control module (400) through a stepping motor driving module (300); the lifting arm (130) is provided with a lifting positioning photoelectric sensor (133), the model is PM-L25, and the lifting positioning baffle plate (132) is matched with the lifting positioning photoelectric sensor (133) for use; the lifting positioning blocking piece (132) is arranged on the lifting arm (130) and moves up and down along with the lifting arm (130), the lifting positioning photoelectric sensor (133) is over against the lifting positioning blocking piece (132) and fixed on a middle shaft with the height of a safe movement plane, and the lifting positioning photoelectric sensor (133) is connected with the sample adding system control module (400); the up-and-down movement of the lifting arm (130) relates to a horizontal movement plane and a safe movement plane, and the horizontal movement plane is a name of a height plane where the rotating arm is positioned when rotating and positioning; the safe moving plane is the name of the plane with the lowest height which does not collide with other parts when the rotating arm is positioned in a rotating way, and is positioned below the horizontal moving plane;
the sample adding arm module (100) adopts a main body structure of an I-shaped base (101), a lifting stepping motor (131) is arranged at the bottom, a lifting arm (130) is driven by a gear and a belt, a rotating stepping motor (121) is arranged at the right side of the top, and a rotating arm (120) is driven by the gear and the belt; a disk (102) with a notch (122) is arranged on a gear concentric with the rotating circumference of the rotating arm (120), and the notch of the disk synchronously rotates when the rotating arm rotates; the top surface of the I-shaped base (101) is respectively provided with a 1 st rotation positioning photoelectric sensor (123), a2 nd rotation positioning photoelectric sensor (124) and a 3 rd rotation positioning photoelectric sensor (125), the models of which are PM-L25, and the I-shaped base is connected with a sample adding system control module (400); the rotational positioning stroke of the sample adding system is divided into two sections of 0.97 rotational stroke and 0.03 rotational stroke, and the starting point, the section dividing point and the end point of the rotational positioning stroke correspond to the 1 st rotational positioning photoelectric sensor (123), the 2 nd rotational positioning photoelectric sensor (124) and the 3 rd rotational positioning photoelectric sensor (125) one by one; the rotating arm (120) completes 0.97 rotating stroke through speed open-loop control according to an S speed curve, level change of a2 nd rotating positioning photoelectric sensor (124) output signal resets the pulse number corresponding to the residual 0.03 rotating stroke of the rotating stepping motor (121), namely, the accumulated error of the 0.97 rotating stroke is compensated; the speed at the 0.97 rotation stroke is adopted, the pulse number corresponding to the 0.03 rotation stroke is continuously walked, the level of the output signal of the 3 rd rotation positioning photoelectric sensor (125) is changed, and the positioning of the reagent/sample suction position is finished; the improved sleeve type sample adding needle with the inner layer and the outer layer provides a liquid level of 1.5mm below the liquid level, and the rotating arm (120) and the lifting arm (130) are cooperatively operated by means of the lifting positioning optical coupler-separation blade.
2. The sample adding system based on the speed open loop control and the stroke positioning compensation as claimed in claim 1, wherein the capacitance-liquid level signal conversion module (200) is composed of a capacitance-voltage signal conversion unit (220), a signal conditioning and processing unit (230); the improved inner and outer two layers of sleeve type sample adding needles (110) are connected with a capacitance-voltage signal conversion unit (220), a signal conditioning and processing unit (230) processes voltage signals output by the capacitance-voltage signal conversion unit (220) and judges the distance of the improved inner and outer two layers of sleeve type sample adding needles (110) penetrating into the liquid level;
the improved relation between the capacitance signal output by the sleeve type sample adding needle (110) with the inner layer and the outer layer and the distance penetrating into the liquid level is as follows:
defining that X is the height of the needle tip of the sampling needle from the liquid level, the liquid level height is 0, and the downward direction is positive;
x is less than 0, and the needle tip of the sample adding needle is positioned above the liquid level and does not contact the liquid level;
x is 0, and the needle tip of the sampling needle just contacts the liquid level;
x is more than 0 and less than 1.5, the needle tip of the sample adding needle enters the liquid level, and the outer sleeve is not contacted with the liquid level;
x is 1.5, the needle tip of the sampling needle is deep into the liquid level, and the outer sleeve is contacted with the liquid level;
x is more than 1.5, the needle tip of the sample adding needle penetrates into the liquid level, and the outer sleeve enters the liquid level;
↗, indicating that the capacitance value rises slowly, × indicating that the capacitance value rises rapidly, and ×) indicating that the capacitance value increases suddenly;
a sample adding system control module (400) issues a liquid level detection instruction;
after the sampling needle is positioned, the sampling needle moves downwards opposite to the liquid level;
X＜0，C10↗、C20↗c12 unchanged;
X＝0，C10↗、C20↑↑c12 unchanged;
0＜X＜1.5，C10↗、C20↑c12 unchanged;
X＝1.5，C10↑↑、C20↑、C12↑↑the sampling needle is ready for extraction operation;
X＞1.5，C10↑、C20↑、C12↑stopping the insertion operation of the sample adding needle;
C12↑↑characterization ofThe improved sleeve type sample adding needle with the inner layer and the outer layer reaches the liquid level of 1.5mm below the liquid level.
3. The sample adding system based on the speed open loop control and the stroke positioning compensation as claimed in claim 1, wherein the step motor driving module (300) is composed of a lifting arm step motor driving unit (310) and a rotating arm step motor driving unit (320); the lifting arm stepping motor driving unit (310) takes a THB6032 chip as a core; the feet 11, 14, 15, 18 of the THB6032 are grounded, and the feet 26, 27 are connected through R311An STM32F103RC pin 20 of a sample loading system control unit (400); the feet 5, 1 and 6 of the THB6032 are respectively connected with the feet 14, 15 and 16 of STM32F103RC of the sample adding system control unit (400); foot 23 of THB6032 passes through R315Leg 28, leg 28 through C311Grounded, pin 25 passes through R312Connected to Vcc, pin 3 via R313Connected to Vcc, pin 4 via R314Connecting Vcc; the feet 9 and 13 of the THB6032 are connected with two A-phase wires of the lifting stepping motor (131), and the feet 20 and 16 are connected with two B-phase wires of the lifting stepping motor (131); the rotating arm stepping motor driving unit (320) takes a THB6032 chip as a core, and the wiring mode is similar to that of the lifting arm stepping motor driving unit (310).
4. The sample adding system based on the speed open loop control and the stroke positioning compensation as claimed in claim 1, wherein the sample adding system control module (400) takes an STM32F103RC chip as a core; pins 32, 48, 64, 19, 1 of STM32F103RC are connected to Vcc, pins 31, 47, 63, 18, 60, 28 are connected to ground, and pin 7 is connected via C401Grounding; the feet 20, 14, 15 and 16 of the STM32F103RC are respectively connected with the THB6032 feet 27, 5, 1 and 6 of the lifting arm stepping motor driving unit (310), and the feet 21, 58, 59 and 61 are respectively connected with the THB6032 feet 27, 5, 1 and 6 of the rotating arm stepping motor driving unit (320); pins 8 and 9 of the STM32F103RC are respectively connected with an output pin and an input pin of the capacitance-liquid level signal conversion module (200); the feet 10, 24, 25 and 37 of the STM32F103RC are respectively connected with a lifting positioning photoelectric sensor (133), a 1 st rotation positioning photoelectric sensor (123), a2 nd rotation positioning photoelectric sensor (124) and a 3 rd rotation positioning photoelectric sensor (125).
5. A loading method using the loading system based on speed open loop control and stroke position compensation according to claim 1, wherein the sampling flow from the initial position to the reagent suction position is as follows:
(0) initialization
The number of pulses of full stroke rotation impulse _ whirl;
number of stroke pulses N of 1 st section of rotation0.97＝0.97×impulse_whirl；
Number of stroke pulses N of 2 nd section of rotation0.03＝0.03×impulse_whirl；
Firstly, the initial position is rotated and positioned to the reagent suction position
1, the output signal of a 1 st rotation positioning photoelectric sensor (123) changes;
according to the S speed curve, the speed is controlled by an open loop to complete 0.97 rotation stroke;
the output signal of a2 nd rotation positioning photoelectric sensor (124) changes;
step motor reset N0.03；
After-3, finish N0.03The output signal of the 3 rd rotational positioning photosensor (125) changes;
finishing the rotation positioning;
② the rotating arm (120) and the lifting arm (130) work together
Secondly, 1, according to the S speed curve, performing impulse _ fluctuation _ safe by speed open loop;
the output signal of the lifting positioning photoelectric sensor (133) changes;
suspending the input _ migration _ safe;
2, reading a2 nd rotation positioning photoelectric sensor (124) signal;
signal change of a2 nd rotation positioning photoelectric sensor (124) of Case1 is performed;
the signals of the 2 nd rotation positioning photoelectric sensor (124) of Case2 have no change, are changed in an equal way, and are turned to the third step;
thirdly, liquid level detection and reagent absorption are carried out, and the lifting arm continues to descend less than or equal to impulse _ fluctuation _ MAX
③ 1 testing C12↑↑The needle point of the sample adding needle reaches the liquid level 1.5mm below the liquid level,↑↑indicating an abrupt increase in capacitance;
thirdly, stopping the lifting arm, sucking a predetermined amount of reagent, and enabling the sample adding needle to track the liquid level and descend synchronously;
and 3, lifting the lifting arm to a safe movement plane.
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