CN113135306B - Automatic filling device and method for magnetic beads and reagent - Google Patents
Automatic filling device and method for magnetic beads and reagent Download PDFInfo
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- CN113135306B CN113135306B CN202110483947.2A CN202110483947A CN113135306B CN 113135306 B CN113135306 B CN 113135306B CN 202110483947 A CN202110483947 A CN 202110483947A CN 113135306 B CN113135306 B CN 113135306B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B3/04—Methods of, or means for, filling the material into the containers or receptacles
- B65B3/10—Methods of, or means for, filling the material into the containers or receptacles by application of pressure to material
- B65B3/12—Methods of, or means for, filling the material into the containers or receptacles by application of pressure to material mechanically, e.g. by pistons or pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B1/04—Methods of, or means for, filling the material into the containers or receptacles
- B65B1/06—Methods of, or means for, filling the material into the containers or receptacles by gravity flow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B2220/00—Specific aspects of the packaging operation
- B65B2220/14—Adding more than one type of material or article to the same package
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Abstract
The invention discloses an automatic filling device and method for magnetic beads and reagents. The design of an efficient automatic magnetic bead and reagent filling device is imperative. The longitudinal carrying mechanism of the invention carries out longitudinal transmission, and the magnetic bead shaking and filling mechanism is positioned on a transmission channel of the longitudinal carrying mechanism; and the station switching and carrying mechanism carries transversely between the output end station of the longitudinal carrying mechanism and the reagent filling station of the reagent filling mechanism. The full automation of filling magnetic beads and a filling reagent on the deep hole plate is realized, the quantity of the filled magnetic beads and the reagent quantity are accurate, and the magnetic beads and the reagent quantity are connected at no time interval through each station, so that the efficiency is greatly improved; two magnetic bead shaking and filling mechanisms are arranged, magnetic bead filling is synchronously performed, and the magnetic bead filling efficiency is high; under the combined action of the first cylinder and the second cylinder, the first cylinder drives the liquid-transferring gun to discharge liquid, and the second cylinder further drives the liquid-transferring gun to extrude residual liquid, so that no residue is left during liquid discharge and the liquid discharge amount is accurate; and multiple measures are adopted to prevent liquid from leaking, and pollution is reduced.
Description
Technical Field
The invention belongs to the field of life science equipment, and particularly relates to an automatic filling device and method for magnetic beads and a reagent.
Background
Deep well plates are widely used in the fields of biological research, hospitals and the like, are used for processing, transferring and storing liquid samples, and are further used for nucleic acid extraction. However, at present, the magnetic beads and the filling reagents are mostly filled in the deep-hole plate through manual operation or semi-automatic operation, so that the efficiency is low, the labor intensity is high, the artificial pollution to products is easily caused, or certain acid and alkali reagents are possibly harmful to people due to improper operation. At present, with the spread of novel coronavirus in the world, the requirements for nucleic acid extraction and detection efficiency are greatly improved, and the existing technology of filling magnetic beads in deep-hole plates and filling reagents is difficult to keep up with social demands. Therefore, an efficient automatic magnetic bead and reagent filling device is imperative to design.
Disclosure of Invention
The invention aims to provide an automatic filling device and method for magnetic beads and reagents, aiming at the defects of the prior art.
The invention adopts the following technical scheme:
the invention relates to an automatic magnetic bead and reagent filling device, which comprises a longitudinal carrying mechanism, a magnetic bead shaking and filling mechanism, a station conversion carrying mechanism, a reagent filling mechanism and a rack, wherein the longitudinal carrying mechanism is arranged on the rack; the longitudinal carrying mechanism carries out longitudinal transmission, and the magnetic bead shaking and filling mechanism is positioned on a transmission channel of the longitudinal carrying mechanism; and the station switching and carrying mechanism carries out transverse carrying between the output end station of the longitudinal carrying mechanism and the reagent filling station of the reagent filling mechanism.
The magnetic bead shaking and filling mechanism comprises a rotating motor, a stirring barrel, a magnetic bead disk, a liquid transferring gun and a gun head box; the base of the rotating motor is fixed on the frame, and the stirring barrel support is fixed on the output shaft of the rotating motor; the stirring barrel is fixed on the stirring barrel bracket; an electric valve is arranged at an opening at the bottom of the stirring barrel; the magnetic bead disk is driven by the first ball screw rod type linear module to horizontally move along the conveying direction parallel to the upper longitudinal conveying mechanism; an ultrasonic liquid level sensor is arranged on the frame; the second ball screw rod type linear module drives the third ball screw rod type linear module, the liquid transferring gun, the first air cylinder and the second air cylinder to synchronously and horizontally move along the direction vertical to the conveying direction of the longitudinal conveying mechanism; the third ball screw rod type linear module drives the liquid-transfering gun, the first air cylinder and the second air cylinder to synchronously move up and down; a piston of the liquid-transfering gun is fixed with a piston rod of a first air cylinder, and a cylinder body of the first air cylinder is fixed with a piston rod of a second air cylinder; the gun head box is driven by a third cylinder; a piston rod of the third cylinder is arranged in a direction parallel to the conveying direction of the longitudinal conveying mechanism; a gun head is arranged in the gun head box; the linear guide rail track surfaces of the first ball screw type linear module and the second ball screw type linear module are vertically arranged; the magnetic bead shaking and filling mechanism is provided with two magnetic beads which are arranged at intervals along the conveying direction parallel to the longitudinal conveying mechanism.
The reagent filling mechanism comprises an injection pump, a peristaltic pump, an injection head bracket, a rotary cylinder and a leakage-proof plate; the five injection head groups are arranged along the conveying direction vertical to the longitudinal conveying mechanism, and each injection head group comprises eight injection heads arranged along the conveying direction parallel to the longitudinal conveying mechanism; in the three injection head groups, every two injection heads are respectively communicated with two liquid outlets of one injection pump through pipelines; the liquid inlet of each injection pump is communicated with a liquid tank through a pipeline; in the other two injection head groups, each injection head is communicated with the liquid outlet of one peristaltic pump through a pipeline; all injection heads are fixed on the injection head bracket; the injection head bracket is fixed on the frame; the rotary cylinder is fixed on the frame and drives the anti-leakage plate to rotate; the drip-proof plate is positioned below the injection head.
Preferably, the longitudinal carrying mechanism comprises a fourth air cylinder, and a first pneumatic clamping jaw, a second pneumatic clamping jaw, a third pneumatic clamping jaw and a fourth pneumatic clamping jaw which are driven by the fourth air cylinder to move synchronously.
Preferably, the station conversion and handling mechanism comprises a fourth ball screw type linear module, a fifth ball screw type linear module and a fifth pneumatic clamping jaw; the fourth ball screw rod type linear module drives the fifth ball screw rod type linear module and the fifth pneumatic clamping jaw to horizontally move along the conveying direction perpendicular to the longitudinal conveying mechanism, and the fifth ball screw rod type linear module drives the fifth pneumatic clamping jaw to vertically move. The linear guide rail surfaces of the fourth ball screw type linear module and the fifth ball screw type linear module are vertically arranged.
Preferably, the feeding device further comprises a feeding carrying mechanism, and preferably, the feeding carrying mechanism comprises a sixth ball screw rod type linear module, an electric cylinder and a sixth pneumatic clamping jaw; the sixth ball screw rod type linear module is perpendicular to the conveying direction of the feeding mechanism and drives the electric cylinder to move horizontally; and the electric cylinder drives the sixth pneumatic clamping jaw to vertically move.
The filling method of the automatic magnetic bead and reagent filling device comprises the following specific steps:
firstly, a pipette gun sucks a pipette head in a pipette head box in advance, magnetic beads in a stirring barrel are filled in a magnetic bead disc in advance, and then a first ball screw type linear module drives the magnetic bead disc to move to be longitudinally aligned with the pipette gun; the process that the pipette sucks the pipette head in the pipette head box in advance is as follows: the third air cylinder conveys the gun head box to the position right below the liquid transfer gun, the liquid transfer gun sucks the gun head in the gun head box under the driving of the second ball screw rod type linear module and the third ball screw rod type linear module, and then the gun head box resets; the process that the magnetic beads in the stirring barrel are filled into the magnetic bead disk in advance specifically is as follows: the rotating electrical machines drives the stirring barrel, thereby stirring the magnetic beads in the stirring barrel, the swinging angle is not lower than 180 degrees, after the stirring is completed, the electric valve at the bottom of the stirring barrel is opened for the preset time and then is automatically closed, and the magnetic beads are filled into the magnetic bead tray under the action of the self gravity.
And secondly, the longitudinal conveying mechanism conveys the deep hole plate at the input end of the longitudinal conveying mechanism to a position below a first magnetic bead shaking and filling mechanism, the deep hole plate at the position below the first magnetic bead shaking and filling mechanism is conveyed to an idle station, the deep hole plate at the idle station is conveyed to a position below a second magnetic bead shaking and filling mechanism, and the deep hole plate at the position below the second magnetic bead shaking and filling mechanism is conveyed to the output end of the longitudinal conveying mechanism.
Step three, the magnetic beads are shaken up and the filling mechanism fills the shaken up magnetic beads into a deep hole plate on the longitudinal carrying mechanism, and the specific process is as follows: the second ball screw rod type linear module and the third ball screw rod type linear module drive the liquid-transferring gun to be inserted into the magnetic bead plate, the first air cylinder drives the liquid-transferring gun to absorb magnetic beads from the magnetic bead plate, and after the liquid-transferring gun absorbs the magnetic beads, the second ball screw rod type linear module and the third ball screw rod type linear module drive the liquid-transferring gun to move above the deep hole plate; after the deep hole plate arrives, the first air cylinder drives the liquid-transferring gun to discharge liquid, the second air cylinder further drives the liquid-transferring gun to extrude residual liquid, and therefore the liquid-transferring gun fills magnetic beads on the deep hole plate and ensures that no residue exists when liquid is discharged; two magnetic bead shaking and filling mechanisms fill two rows of holes of the deep hole plate with magnetic beads, wherein the first magnetic bead shaking and filling mechanism starts to fill the deep hole plate with the magnetic beads for the second time, and the second magnetic bead shaking and filling mechanism fills the deep hole plate right below the deep hole plate with the magnetic beads for the subsequent time; when the liquid level that detects the interior magnetic bead of magnetic bead dish as ultrasonic wave level sensor highly is less than preset the height, first ball screw type straight line module drive magnetic bead dish gets back to the agitator below, the rotating electrical machines drive agitator to the magnetic bead in the stirring agitator, after the stirring is accomplished, the motorised valve of agitator bottom is opened and is closed after the time of predetermineeing, the magnetic bead is irritated in the magnetic bead dish under self action of gravity, then first ball screw type straight line module drive magnetic bead dish move to with move the vertical alignment of liquid rifle.
Fourthly, the station switching and carrying mechanism carries the deep hole plate filled with the magnetic beads on the longitudinal carrying mechanism to the lower side of the reagent filling mechanism; the injection heads of each injection head group in the reagent filling mechanism extract liquid from the liquid tank through an injection pump or a peristaltic pump and inject the liquid into the deep hole plate conveyed by the station switching and conveying mechanism; then, the station switching and carrying mechanism carries out transverse carrying on the deep hole plate for a preset distance again, and the injection heads of all injection head groups in the reagent filling mechanism inject liquid into the rest rows of holes of the deep hole plate again; after the first reagent filling of deep hole board, revolving cylinder drive anti-drip leakage board rotates the injection head below, treats that the second reagent filling of deep hole board, anti-drip leakage board shifts out from the injection head below.
As a preferred embodiment, an 8 x 12-hole deep-hole plate is adopted, magnetic beads are stirred and filled into the 6 th row and the 12 th row of the deep-hole plate by a magnetic bead shaking and filling mechanism, and the five injection head components are used for filling the reagent into other holes on the deep-hole plate except for the holes filled with the magnetic beads twice, and each time, the reagent is filled into 40 holes of 5 continuous rows.
The invention has the following beneficial effects:
the full automation of filling magnetic beads and a filling reagent on the deep hole plate is realized, the quantity of the filled magnetic beads and the reagent quantity are accurate, and the magnetic beads and the reagent quantity are connected at no time interval through each station, so that the efficiency is greatly improved; the magnetic bead shaking and filling mechanism is provided with two magnetic bead shaking and filling mechanisms, magnetic bead filling is synchronously performed, the magnetic bead filling efficiency is high, the amount of the filled magnetic beads is controlled through the electric valve at the bottom of the stirring barrel, control is accurate, and fluctuation of the amount of the filled magnetic beads caused by pressure influence by an air pump and the like is avoided; under the combined action of the first cylinder and the second cylinder, the first cylinder drives the liquid-transferring gun to discharge liquid, and the second cylinder further drives the liquid-transferring gun to extrude residual liquid, so that no residue is produced during liquid discharge, and the liquid discharge amount is very accurate. Furthermore, the invention adopts a plurality of measures to prevent liquid leakage and reduce pollution, and the vertical rail surface replaces the traditional horizontal rail surface for feeding, so that the vertical rail surface avoids the liquid leakage direction of the liquid transferring gun and the injection head, and the baffle plate can be arranged above the vertical rail surface to prevent the liquid transferring gun or the injection head from leaking out to corrode the rail, thereby overcoming the defects that the traditional horizontal rail can not avoid the liquid transferring gun and the injection head and is difficult to be blocked by the baffle plate.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is an assembled perspective view of the longitudinal transportation mechanism and the magnetic bead shaking and filling mechanism of the present invention;
fig. 3 is an assembled perspective view of the station changing and carrying mechanism and the reagent filling mechanism of the invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the automatic magnetic bead and reagent filling device includes a longitudinal carrying mechanism 1, a magnetic bead shaking and filling mechanism 2, a station switching and carrying mechanism 3, a reagent filling mechanism 4 and a rack 5; the longitudinal conveying mechanism 1 carries out longitudinal (parallel to the Y-axis direction) transmission, and the magnetic bead shaking and filling mechanism 2 is positioned on a transmission channel of the longitudinal conveying mechanism 1; the station switching and conveying mechanism 3 carries out transverse (parallel to the X-axis direction) conveying between the output end station of the longitudinal conveying mechanism 1 and the reagent filling station of the reagent filling mechanism 4.
As shown in fig. 2, the magnetic bead shaking and filling mechanism 2 comprises a rotating motor 2-1, a stirring barrel 2-2, a magnetic bead disk 2-3, a pipette 2-4 and a pipette head box 2-5; the base of the rotating motor 2-1 is fixed on the frame, and the stirring barrel support is fixed on the output shaft of the rotating motor 2-1; the stirring barrel 2-2 is fixed on the stirring barrel bracket through a bolt; an electric valve is arranged at the bottom opening of the stirring barrel; the magnetic ball discs 2-3 are driven by the first ball screw rod type linear module to horizontally move along the conveying direction parallel to the upper longitudinal conveying mechanism 1; an ultrasonic liquid level sensor is arranged on the frame and used for detecting the liquid level height of the magnetic bead discs 2-3; the second ball screw type linear module drives a third ball screw type linear module (together with the liquid transfer gun, the first air cylinder and the second air cylinder) to horizontally move along the direction perpendicular to the conveying direction of the longitudinal conveying mechanism 1 (a support seat of the third ball screw type linear module is fixed on a sliding table of the second ball screw type linear module, and the liquid transfer gun is fixed on the sliding table of the third ball screw type linear module); the third ball screw rod type linear module drives the liquid-transfering gun 2-4, the first cylinder and the second cylinder to synchronously move up and down; a piston of the liquid-transfering gun is fixed with a piston rod of a first air cylinder, and a cylinder body of the first air cylinder is fixed with a piston rod of a second air cylinder; the first air cylinder and the second air cylinder act together, the first air cylinder drives the liquid-transferring gun to discharge liquid, the second air cylinder further drives the liquid-transferring gun to extrude residual liquid, so that no residual liquid exists during liquid discharge, the second air cylinder resets before liquid taking, only the first air cylinder resets to take liquid, and the liquid discharging amount and the liquid taking amount are very accurate; the gun head box 2-5 is driven by a third air cylinder (the gun head box 2-5 is fixed on a piston rod of the third air cylinder); a piston rod of the third cylinder is arranged in parallel to the conveying direction of the longitudinal conveying mechanism 1; a gun head is arranged in the gun head box; the linear guide rail track surfaces of the first ball screw type linear module and the second ball screw type linear module are vertically arranged, but the track surfaces are not upward, so that the linear guide rail is prevented from being polluted or corroded by liquid leakage. The magnetic bead shaking and filling mechanism 2 is provided with two magnetic bead shaking and filling mechanisms which are arranged at intervals along the conveying direction parallel to the longitudinal conveying mechanism 1, the longitudinal conveying mechanism 1 (provided with five stations, and an empty station is arranged between the two magnetic bead shaking and filling mechanism 2 and liquid transferring guns 2-4) conveys the deep hole plates to the two magnetic bead shaking and filling mechanism 2 respectively to carry out magnetic bead filling, each magnetic bead shaking and filling mechanism 2 carries out magnetic bead filling on one column of the deep hole plates, the magnetic bead shaking and filling mechanism 2 and the liquid transferring guns 2-4 are not movable in the magnetic bead filling process, and liquid leakage caused by vibration in the moving process is avoided.
As shown in fig. 3, the reagent filling mechanism 4 comprises an injection pump 4-1, a peristaltic pump, an injection head 4-2, an injection head bracket 4-3, a rotary cylinder and a drip-proof plate; the five injection head groups are arranged along the conveying direction vertical to the longitudinal conveying mechanism 1, and each injection head group comprises eight injection heads 4-2 arranged along the conveying direction parallel to the longitudinal conveying mechanism 1; in the three injection head groups, every two injection heads 4-2 are respectively communicated with two liquid outlets of one injection pump through pipelines; the liquid inlet of each injection pump is communicated with a liquid tank through a pipeline; in the other two injection head groups, each injection head 4-2 is communicated with the liquid outlet of a peristaltic pump through a pipeline; all injection heads 4-2 are fixed on the injection head bracket 4-3; the injection head bracket 4-3 is fixed on the frame; the rotary cylinder is fixed on the frame and drives the anti-leakage plate to rotate; the drip-proof plate is positioned below the injection head 4-2, and the liquid in the injection head 4-2 is temporarily prevented from dripping when the deep hole plate is moved away from the injection head 4-2 by the station switching and conveying mechanism 3. The reagent filling mechanism 4 fills all reagents in two times, and the reagent filled each time is as follows: one column of eluent, one column of deproteinized, one column of lysate and two columns of detergents; the eluent and the washing agent use a syringe pump; the peristaltic pump is used for protein removal and lysate, the peristaltic pump prevents the protein removal and lysate crystallization from blocking a tube, and if the injection pump is used for filling the protein removal and lysate crystallization, the peristaltic pump is easy to damage, and the cost is increased.
As a preferred embodiment, as shown in fig. 1 and 2, the longitudinal handling mechanism 1 comprises a fourth air cylinder and a first pneumatic clamping jaw, a second pneumatic clamping jaw, a third pneumatic clamping jaw and a fourth pneumatic clamping jaw driven by the fourth air cylinder to move synchronously.
As a preferred embodiment, as shown in fig. 3, the station changing and carrying mechanism 3 includes a fourth ball screw type linear module 3-1, a fifth ball screw type linear module 3-2 and a fifth pneumatic jaw; the fourth ball screw type straight line module drives the fifth ball screw type straight line module and the fifth pneumatic clamping jaw to horizontally move along the vertical conveying direction of the conveying mechanism 1 perpendicular to the conveying direction (the supporting seat of the fifth ball screw type straight line module is fixed on the sliding table of the fourth ball screw type straight line module, the fifth pneumatic clamping jaw is fixed on the sliding table of the fifth ball screw type straight line module), and the fifth ball screw type straight line module drives the fifth pneumatic clamping jaw to move up and down. The track surfaces of the linear guide rails of the fourth ball screw rod type linear module 3-1 and the fifth ball screw rod type linear module 3-2 are vertically arranged, but the track surfaces are not upward, so that the linear guide rails are prevented from being polluted or corroded by liquid leakage.
As a preferred embodiment, as shown in fig. 1, the feeding and carrying mechanism 6 is further included, and the feeding and carrying mechanism 6 includes a sixth ball screw type linear module, an electric cylinder and a sixth pneumatic gripper; the sixth ball screw rod type linear module is vertical to the conveying direction of the feeding mechanism 1 and drives the electric cylinder to move horizontally; and the electric cylinder drives the sixth pneumatic clamping jaw to vertically move. The feed material conveying mechanism 6 conveys the deep hole plate to the longitudinal conveying mechanism 1.
Wherein, the motors of the rotating motor, the electric cylinder, the first ball screw type linear module, the second ball screw type linear module, the third ball screw type linear module, the fourth ball screw type linear module, the fifth ball screw type linear module and the sixth ball screw type linear module are respectively connected with the controller through a driver; the rotary cylinder, the first cylinder, the second cylinder, the third cylinder, the fourth cylinder, the first pneumatic clamping jaw, the second pneumatic clamping jaw, the third pneumatic clamping jaw, the fourth pneumatic clamping jaw, the fifth pneumatic clamping jaw and the sixth pneumatic clamping jaw are respectively connected with the controller through reversing valves, and all the pneumatic clamping jaws are supplied with air by an air pump; the electric valve is controlled by the controller; the signal output ends of the ultrasonic liquid level sensors are all connected with the controller; each injection pump and each peristaltic pump are respectively connected with the controller through control valves, the control valve connected with the injection pump is provided with two liquid outlets, and the control valve connected with the peristaltic pump is provided with one liquid outlet.
The first ball screw type linear module, the second ball screw type linear module, the third ball screw type linear module, the fourth ball screw type linear module, the fifth ball screw type linear module and the sixth ball screw type linear module respectively comprise a ball screw, a sliding table, a linear guide rail, a supporting seat, a coupler and a motor; an output shaft of the motor is connected with a screw rod of the ball screw through a coupler, and the screw rod of the ball screw and the supporting seat form a rotating pair; the supporting seat is fixed on the frame; the nut on the ball screw and the linear guide rail form a sliding pair; the sliding table is fixed with a nut on the ball screw.
The filling method of the automatic magnetic bead and reagent filling device comprises the following specific steps:
firstly, a pipette gun 2-4 pre-sucks a pipette head in a gun head box 2-5, magnetic beads in a stirring barrel 2-2 are pre-filled in a magnetic bead disc 2-3, and then a first ball screw type linear module drives the magnetic bead disc 2-3 to move to be longitudinally aligned with the pipette gun 2-4; the process of pre-sucking the gun heads in the gun head boxes 2 to 5 by the liquid-transfering guns 2 to 4 specifically comprises the following steps: the third air cylinder conveys the gun head box 2-5 to the position right below the liquid transferring gun 2-4, the liquid transferring gun 2-4 sucks the gun head in the gun head box 2-5 under the driving of the second ball screw rod type linear module and the third ball screw rod type linear module, and then the gun head box 2-5 is reset; the process that the magnetic beads in the stirring barrel 2-2 are filled into the magnetic bead disk 2-3 in advance is specifically as follows: the rotating motor 2-1 drives the stirring barrel 2-2, so that magnetic beads in the stirring barrel 2-2 are stirred, manual work is imitated during stirring, the swinging angle is not lower than 180 degrees, after stirring is completed, the electric valve at the bottom of the stirring barrel is opened for preset time and then is automatically closed, the magnetic beads are filled into the magnetic bead disk 2-3 under the action of self gravity, and the output of the magnetic bead quantity is stable.
And step two, the longitudinal conveying mechanism 1 (a seventh cylinder drives a third pneumatic clamping jaw, a fourth pneumatic clamping jaw, a fifth pneumatic clamping jaw and a sixth pneumatic clamping jaw to move synchronously, and the third pneumatic clamping jaw, the fourth pneumatic clamping jaw, the fifth pneumatic clamping jaw and the sixth pneumatic clamping jaw respectively convey a deep hole plate) conveys the deep hole plate at the input end of the longitudinal conveying mechanism 1 to the position below the first magnetic bead shaking and filling mechanism 2, the deep hole plate at the position below the first magnetic bead shaking and filling mechanism 2 is conveyed to an idle position, the deep hole plate at the idle position is conveyed to the position below the second magnetic bead shaking and filling mechanism 2, and the deep hole plate at the position below the second magnetic bead shaking and filling mechanism 2 is conveyed to the output end of the longitudinal conveying mechanism 1.
Step three, the magnetic beads are shaken up and the filling mechanism 2 fills the shaken up magnetic beads into the deep hole plate on the longitudinal carrying mechanism 1, and the specific process is as follows: the second ball screw rod type linear module and the third ball screw rod type linear module drive the liquid-transferring gun 2-4 to be inserted into the magnetic bead disc 2-3, the first air cylinder drives the liquid-transferring gun 2-4 to absorb magnetic beads from the magnetic bead disc 2-3, and after the liquid-transferring gun 2-4 absorbs the magnetic beads, the second ball screw rod type linear module and the third ball screw rod type linear module drive the liquid-transferring gun 2-4 to move to the position above the deep hole plate; after the deep hole plate arrives, the first air cylinder drives the liquid-transferring gun to discharge liquid, the second air cylinder further drives the liquid-transferring gun to extrude residual liquid, and therefore the liquid-transferring guns 2-4 fill magnetic beads on the deep hole plate, no residue is guaranteed when liquid is discharged, and the liquid discharge amount is very accurate; two magnetic beads shake even and filling mechanism 2 carries out the magnetic bead filling to two rows of holes of deep hole board, wherein, shake even and filling mechanism 4 at first magnetic bead and carry out the magnetic bead filling of second time and begin, follow-up second magnetic bead shakes even and filling mechanism 4 just carries out the magnetic bead filling to the deep hole board of adjusting the below well, because this magnetic bead and reagent automatic filling device initial motion, first magnetic bead shakes even and filling mechanism 4 carries out the magnetic bead filling of first time after, the deep hole board has not been carried the second magnetic bead yet and shakes even and filling mechanism under, only stops in idle work position department. When the ultrasonic liquid level sensor detects that the liquid level height of the magnetic beads in the magnetic bead disk 2-3 is lower than the preset height, the first ball screw type linear module drives the magnetic bead disk 2-3 to return to the position below the stirring barrel 2-2, the rotating motor 2-1 drives the stirring barrel 2-2, so that the magnetic beads in the stirring barrel 2-2 are stirred, after stirring is completed, an electric valve at the bottom of the stirring barrel is opened for preset time and then automatically closed, the magnetic beads are filled into the magnetic bead disk 2-3 under the action of self gravity, and then the first ball screw type linear module drives the magnetic bead disk 2-3 to move to be longitudinally aligned with the liquid transferring gun 2-4.
Step four, the station switching and carrying mechanism 3 (the seventh ball screw type linear module 5-1, the eighth ball screw type linear module 5-2 and the seventh pneumatic clamping jaw act cooperatively) transversely carries the deep hole plate filled with the magnetic beads on the longitudinal carrying mechanism 1 to the position below the reagent filling mechanism 4; the injection heads 4-2 of each injection head group in the reagent filling mechanism 4 extract liquid from the liquid tank through the injection pump 4-1 or a peristaltic pump and inject the liquid into the deep hole plate conveyed by the station switching and conveying mechanism 3; then, the station switching and carrying mechanism 3 carries out transverse carrying on the deep hole plate for a preset distance again, and the injection heads 4-2 of all injection head groups in the reagent filling mechanism 4 inject liquid into the rest rows of holes of the deep hole plate again; in the process of filling the reagents twice, each injection head group is not moved, only the station conversion and carrying mechanism 3 moves, so that the phenomenon that the liquid drips due to the movement and shaking of the injection head groups is avoided, after the reagent is filled for the first time, the rotary air cylinder drives the anti-dripping plate to rotate to the position below the injection head 4-2, when the deep hole plate is moved away from the injection head 4-2 by the station conversion and carrying mechanism 3, the liquid in the injection head 4-2 is temporarily prevented from dripping, and when the reagents are filled for the second time, the anti-dripping plate is moved out from the position below the injection head 4-2.
As a preferred embodiment, 8 x 12-hole deep-hole plate is adopted, since the magnetic bead shaking and filling mechanism 2 fills the magnetic beads into the 6 th row and the 12 th row of the deep-hole plate, five injection head components fill the reagent into the other holes except the holes filled with the magnetic beads on the deep-hole plate twice, and each time, the reagent is filled into 40 holes of 5 continuous rows.
Claims (5)
1. Magnetic bead and reagent automatic filling device shakes even and filling mechanism, station conversion transport mechanism, reagent filling mechanism and frame, its characterized in that including vertical transport mechanism, magnetic bead: the longitudinal carrying mechanism carries out longitudinal transmission, and the magnetic bead shaking and filling mechanism is positioned on a transmission channel of the longitudinal carrying mechanism; the station switching and carrying mechanism carries out transverse carrying between an output end station of the longitudinal carrying mechanism and a reagent filling station of the reagent filling mechanism;
the magnetic bead shaking and filling mechanism comprises a rotating motor, a stirring barrel, a magnetic bead disk, a liquid transferring gun and a gun head box; the base of the rotating motor is fixed on the frame, and the stirring barrel support is fixed on the output shaft of the rotating motor; the stirring barrel is fixed on the stirring barrel bracket; an electric valve is arranged at an opening at the bottom of the stirring barrel; the magnetic bead disk is driven by the first ball screw rod type linear module to horizontally move along the conveying direction parallel to the upper longitudinal conveying mechanism; an ultrasonic liquid level sensor is arranged on the frame; the second ball screw rod type linear module drives the third ball screw rod type linear module, the liquid transferring gun, the first air cylinder and the second air cylinder to synchronously and horizontally move along the direction vertical to the conveying direction of the longitudinal conveying mechanism; the third ball screw rod type linear module drives the liquid-transfering gun, the first air cylinder and the second air cylinder to synchronously move up and down; a piston of the liquid-transfering gun is fixed with a piston rod of a first air cylinder, and a cylinder body of the first air cylinder is fixed with a piston rod of a second air cylinder; the gun head box is driven by a third cylinder; a piston rod of the third cylinder is arranged in parallel to the conveying direction of the longitudinal conveying mechanism; a gun head is arranged in the gun head box; the linear guide rail surfaces of the first ball screw type linear module and the second ball screw type linear module are both vertically arranged; the magnetic bead shaking and filling mechanism is provided with two magnetic bead shaking and filling mechanisms which are arranged at intervals along the conveying direction parallel to the longitudinal conveying mechanism;
the reagent filling mechanism comprises an injection pump, a peristaltic pump, an injection head bracket, a rotary cylinder and a leakage-proof plate; the five injection head groups are arranged along the conveying direction vertical to the longitudinal conveying mechanism, and each injection head group comprises eight injection heads arranged along the conveying direction parallel to the longitudinal conveying mechanism; in the three injection head groups, every two injection heads are respectively communicated with two liquid outlets of one injection pump through pipelines; the liquid inlet of each injection pump is communicated with a liquid tank through a pipeline; in the other two injection head groups, each injection head is communicated with the liquid outlet of one peristaltic pump through a pipeline; all injection heads are fixed on the injection head bracket; the injection head bracket is fixed on the frame; the rotary cylinder is fixed on the frame and drives the anti-leakage plate to rotate; the drip-proof plate is positioned below the injection head;
the filling method of the automatic magnetic bead and reagent filling device comprises the following steps:
firstly, a pipette gun sucks a pipette head in a pipette head box in advance, magnetic beads in a stirring barrel are filled in a magnetic bead disc in advance, and then a first ball screw type linear module drives the magnetic bead disc to move to be longitudinally aligned with the pipette gun; the process that the pipette sucks the pipette head in the pipette head box in advance specifically comprises the following steps: the third air cylinder conveys the gun head box to the position right below the liquid transfer gun, the liquid transfer gun sucks the gun head in the gun head box under the driving of the second ball screw rod type linear module and the third ball screw rod type linear module, and then the gun head box resets; the process that the magnetic beads in the stirring barrel are filled into the magnetic bead disk in advance specifically is as follows: the rotating motor drives the stirring barrel, so that the magnetic beads in the stirring barrel are stirred, the swinging angle is not less than 180 degrees, after the stirring is finished, the electric valve at the bottom of the stirring barrel is opened for a preset time and then automatically closed, and the magnetic beads are filled into the magnetic bead disk under the action of self gravity;
secondly, the deep hole plate at the input end of the longitudinal conveying mechanism is conveyed to the position below a first magnetic bead shaking and filling mechanism by the longitudinal conveying mechanism, the deep hole plate at the position below the first magnetic bead shaking and filling mechanism is conveyed to an idle station, the deep hole plate at the idle station is conveyed to the position below a second magnetic bead shaking and filling mechanism, and the deep hole plate at the position below the second magnetic bead shaking and filling mechanism is conveyed to the output end of the longitudinal conveying mechanism by the longitudinal conveying mechanism;
step three, the magnetic beads are shaken up and the filling mechanism fills the shaken up magnetic beads into a deep hole plate on the longitudinal carrying mechanism, and the specific process is as follows: the second ball screw rod type linear module and the third ball screw rod type linear module drive the liquid-transferring gun to be inserted into the magnetic bead plate, the first air cylinder drives the liquid-transferring gun to absorb magnetic beads from the magnetic bead plate, and after the liquid-transferring gun absorbs the magnetic beads, the second ball screw rod type linear module and the third ball screw rod type linear module drive the liquid-transferring gun to move above the deep hole plate; after the deep hole plate arrives, the first air cylinder drives the liquid-transferring gun to discharge liquid, the second air cylinder further drives the liquid-transferring gun to extrude residual liquid, and therefore the liquid-transferring gun fills magnetic beads on the deep hole plate and ensures that no residue exists when liquid is discharged; two magnetic bead shaking and filling mechanisms are used for filling magnetic beads in two rows of holes of the deep hole plate, wherein the first magnetic bead shaking and filling mechanism is used for filling the magnetic beads for the second time, and the second magnetic bead shaking and filling mechanism is used for filling the magnetic beads in the deep hole plate right below the former magnetic bead shaking and filling mechanism; when the ultrasonic liquid level sensor detects that the liquid level of magnetic beads in the magnetic bead disk is lower than a preset height, the first ball screw type linear module drives the magnetic bead disk to return to the position below the stirring barrel, the rotary motor drives the stirring barrel to stir the magnetic beads in the stirring barrel, after stirring is completed, an electric valve at the bottom of the stirring barrel is opened for a preset time and then automatically closed, the magnetic beads are filled into the magnetic bead disk under the action of self gravity, and then the first ball screw type linear module drives the magnetic bead disk to move to be longitudinally aligned with the liquid-transferring gun;
fourthly, the station switching and carrying mechanism carries the deep hole plate filled with the magnetic beads on the longitudinal carrying mechanism to the lower side of the reagent filling mechanism; the injection heads of each injection head group in the reagent filling mechanism extract liquid from the liquid tank through an injection pump or a peristaltic pump and inject the liquid into the deep hole plate conveyed by the station switching and conveying mechanism; then, the station switching and carrying mechanism carries out transverse carrying on the deep hole plate for a preset distance again, and the injection heads of all injection head groups in the reagent filling mechanism inject liquid into the rest rows of holes of the deep hole plate again; after the first reagent filling of deep hole board, revolving cylinder drive anti-drip leakage board rotates the injection head below, treats that the second reagent filling of deep hole board, anti-drip leakage board shifts out from the injection head below.
2. The automatic filling device of magnetic beads and reagents according to claim 1, wherein: the longitudinal carrying mechanism comprises a fourth cylinder, and a first pneumatic clamping jaw, a second pneumatic clamping jaw, a third pneumatic clamping jaw and a fourth pneumatic clamping jaw which are driven by the fourth cylinder to move synchronously.
3. The automatic filling device of magnetic beads and reagents according to claim 1, wherein: the station switching and carrying mechanism comprises a fourth ball screw rod type linear module, a fifth ball screw rod type linear module and a fifth pneumatic clamping jaw; the fourth ball screw rod type linear module drives the fifth ball screw rod type linear module and the fifth pneumatic clamping jaw to horizontally move along the direction vertical to the conveying direction of the longitudinal conveying mechanism, and the fifth ball screw rod type linear module drives the fifth pneumatic clamping jaw to move up and down; the linear guide rail track surfaces of the fourth ball screw type linear module and the fifth ball screw type linear module are vertically arranged.
4. The automatic filling device of magnetic beads and reagents according to claim 1, wherein: the feeding and carrying mechanism comprises a sixth ball screw rod type linear module, an electric cylinder and a sixth pneumatic clamping jaw; the sixth ball screw rod type linear module is perpendicular to the conveying direction of the feeding mechanism and drives the electric cylinder to move horizontally; and the electric cylinder drives the sixth pneumatic clamping jaw to vertically move.
5. The automatic filling device of magnetic beads and reagents according to claim 1, wherein: the method is characterized in that an 8X 12-hole deep-hole plate is adopted, magnetic beads are uniformly shaken and filled into the 6 th row and the 12 th row of the deep-hole plate by a filling mechanism, and the five injection head components fill reagents into other holes on the deep-hole plate except for the holes filled with the magnetic beads twice, and each time, 40 continuous 5 rows of holes are filled.
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| KR102629738B1 (en) * | 2021-08-12 | 2024-01-29 | 퓨쳐이엔지 주식회사 | Nucleic acid extractors busy with bulk |
| CN113928642B (en) * | 2021-09-28 | 2022-12-06 | 安徽博日生物科技有限公司 | Magnetic bead filling and film sealing system and working method thereof |
| CN113859651B (en) * | 2021-09-30 | 2023-03-24 | 安徽博日生物科技有限公司 | Overlapped storage type nucleic acid extraction reagent filling and sealing membrane system and working method thereof |
| CN114713305A (en) * | 2021-11-11 | 2022-07-08 | 杭州博日科技股份有限公司 | Pipettor adjustment mechanism and pipettor |
| CN114261939B (en) * | 2021-12-14 | 2024-03-19 | 苏州镁伽科技有限公司 | Automatic split charging equipment |
| CN115092436B (en) * | 2022-07-22 | 2024-03-29 | 青岛瑞斯凯尔生物科技有限公司 | Reagent strip filling device and method thereof |
| CN115447817B (en) * | 2022-09-16 | 2023-05-30 | 安徽博日生物科技有限公司 | Full-automatic nucleic acid magnetic bead extraction tube filling and film sealing equipment and method |
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| CH545477A (en) * | 1971-06-24 | 1973-12-15 | Rohe Scientific Corp | Chemical analysis device |
| JP4776549B2 (en) * | 2004-12-10 | 2011-09-21 | ユニバーサル・バイオ・リサーチ株式会社 | Biological material fixed carrier enclosing chip, biological material fixed carrier processing apparatus and processing method therefor |
| DE102012100836B3 (en) * | 2012-02-01 | 2013-04-11 | Cybio Ag | Kapillardispenser |
| PL2633913T3 (en) * | 2012-03-01 | 2020-03-31 | Eppendorf Ag | Pipette device and multi-channel pipette device |
| CN102633006B (en) * | 2012-04-27 | 2014-12-17 | 北京赛升药业股份有限公司 | High-viscosity liquid precise subpackaging device |
| CN207951483U (en) * | 2018-01-17 | 2018-10-12 | 珠海乐维再生医学科技有限公司 | Automatic pipettor |
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