CN113176418A - Automatic liquid transfer device for multi-component detection - Google Patents
Automatic liquid transfer device for multi-component detection Download PDFInfo
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- CN113176418A CN113176418A CN202110560114.1A CN202110560114A CN113176418A CN 113176418 A CN113176418 A CN 113176418A CN 202110560114 A CN202110560114 A CN 202110560114A CN 113176418 A CN113176418 A CN 113176418A
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- 238000001514 detection method Methods 0.000 title claims abstract description 62
- 239000007788 liquid Substances 0.000 title claims abstract description 36
- 238000012546 transfer Methods 0.000 title description 6
- 238000004140 cleaning Methods 0.000 claims abstract description 21
- 238000005070 sampling Methods 0.000 claims abstract description 12
- 230000003287 optical effect Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 4
- 239000012535 impurity Substances 0.000 claims description 2
- 238000005406 washing Methods 0.000 claims description 2
- 240000005528 Arctium lappa Species 0.000 claims 1
- 238000000855 fermentation Methods 0.000 abstract description 17
- 230000004151 fermentation Effects 0.000 abstract description 17
- 238000011065 in-situ storage Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 23
- 230000001133 acceleration Effects 0.000 description 20
- 230000008569 process Effects 0.000 description 14
- 239000012086 standard solution Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000000813 microbial effect Effects 0.000 description 3
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- G—PHYSICS
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- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1004—Cleaning sample transfer devices
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Abstract
The invention discloses an automatic liquid-transfering device for multi-component detection, which comprises a sample cell, a sample cell base (1), a mechanical arm (2) and a liquid-transfering needle (7), wherein: the mechanical arm (2) comprises a longitudinal lifting rod and a transverse rotating rod, and the rotating rod is arranged at the top of the lifting rod and performs rotating operation by taking the lifting rod as a circle center; the liquid transferring needle (7) is arranged at the bottom of the far end of the rotating rod and is vertically downward; the sample pools are arranged on the base (1) in a semicircular mode by taking the lifting rods as circle centers, and the radius enclosed by the sample pools is consistent with the distance from the liquid transferring needle (7) to the axes of the lifting rods. The device can sample on line, and ensures that the sample is an in-situ sample in the current fermentation process through automatic cleaning, calibration, sampling and detection of the liquid-transferring needle, and greatly improves the detection efficiency.
Description
Technical Field
The invention belongs to the field of automatic pipetting, and particularly discloses a multi-component detection automatic pipetting device and a quick and accurate positioning method for a pipetting needle.
Background
In microbial fermentation processes, the concentration of substrates and products has a major influence on the reaction rate of the fermentation process, the conversion rate of the products and the choice of metabolic pathways of the cells. The real-time monitoring of the concentration of the important components is the key to improving the production efficiency, and provides data help for the subsequent improvement of the fermentation process.
Most of concentration analysis instruments in the current market adopt an off-line detection mode. The off-line detection needs manual sampling and dilution, and the off-line detection is input into an instrument for detection after complex pretreatment, so that the hysteresis is high, and the detection period is greatly prolonged. This leads to the inability to obtain real-time data on substrate concentration during fermentation in real time and thus limits the optimal control of the fermentation process by concentration information.
Disclosure of Invention
In order to solve the problem of online in-situ concentration of a substrate, the invention provides an automatic pipetting device for multi-component detection.
The technical scheme is as follows:
the utility model provides a multicomponent detects automatic pipetting device, it includes sample cell, sample cell base, arm and pipetting needle, wherein:
the mechanical arm comprises a longitudinal lifting rod and a transverse rotating rod, the rotating rod is arranged at the top of the lifting rod, and the rotating operation is carried out by taking the lifting rod as the circle center;
the liquid transferring needle is arranged at the bottom of the far end of the rotating rod and vertically faces downwards;
the sample pools are arranged on the base in a semicircular mode by taking the lifting rods as circle centers, and the radius enclosed by the sample pools is consistent with the distance from the liquid transferring needle to the axis of the lifting rods.
Preferably, the mechanical arm drives the transmission gear to horizontally rotate and vertically lift by the stepping motor, so that the liquid-transferring needle moves to a sample pool required by detection to complete liquid-transferring operation.
Preferably, a shading sheet is arranged below the transmission gear and is coordinated with an optical coupling sensor arranged on a central connecting line of the stepping motor and the transmission gear for regulation and control, so that the motion of the mechanical arm is subjected to feedback control, and the control efficiency is improved.
Preferably, the optical coupling sensor is in a U-shaped structure, and the optical shielding sheet enters or leaves a groove of the U-shaped structure to trigger the optical coupling sensor instantly when moving so as to feed back the rotation position of the transmission gear.
Preferably, the sample cell comprises a detection cell, a standard sample cell, a sampling cell and a cleaning cell.
Preferably, the detection pool is provided with 3 detections corresponding to 3 components, and is provided with a liquid inlet, a liquid outlet and an overflow port, so that liquid flows in a single direction during cleaning to ensure the cleaning effect.
Preferably, the top of the detection pool is provided with a 2mm sample inlet hole, and the circle center of the sample inlet hole is positioned on the rotating path of the liquid transfer needle, so that the influence of impurities in the air on the detection effect is prevented.
Preferably, the standard sample pool contains 8 centrifuge tubes, and the circle centers of the centrifuge tubes are positioned on the rotating path of the pipetting needle, so that multiple standard samples are provided for multi-component detection.
Preferably, the cleaning pool is arranged at the tail end of the sample pool and is the original position of the rotating rod of the mechanical arm, the cleaning operation is directly carried out, the movement times are reduced, and the detection efficiency is improved.
The invention has the advantages of
The utility model provides a multicomponent detects automatic liquid-transfering device, but online sampling, opto-coupler reset can eliminate the return stroke of back and forth movement and look into, and step motor rotation angle only need be considered in rotational positioning, realizes quick location under the prerequisite of guaranteeing the precision, through pipetting needle self-cleaning, calibration, sample and detection, guarantees that the sample is the normal position sample in the current fermentation process to promote detection efficiency greatly.
Drawings
FIG. 1 is a schematic view of the multi-component detection automatic pipetting device of the present invention.
FIG. 2 is a top view of the base of the semicircular sample well of the present invention.
FIG. 3 is a flow chart of the method for quickly and accurately positioning a pipetting needle of the present invention.
FIG. 4 is a flow chart of the pipette needle repositioning of the present invention.
Fig. 5 is a schematic diagram of the speed variation of the continuous control speed process used in the present invention.
Fig. 6 is a flowchart of the process of taking the standard solution to which the embodiment is applied.
Detailed Description
The following detailed description of the multi-component detection automatic pipetting device is provided in connection with the accompanying drawings and the detailed implementation. The specific connection relationship of the structural design of the device is described in the summary of the invention and shown in the attached fig. 1-2.
The device consists of a sample cell base 1 and a mechanical arm 2.
Above-mentioned arm 2 comprises fore-and-aft lifter, horizontal rotary rod, pipetting needle 7, and the semicircle radius that horizontal rotary rod length and sample cell are constituteed is the same, guarantees that pipetting needle 7 is located directly over the sample inlet of wasing pond 6, standard sample pond 4, sample cell 5 and the 3 apron of detection pond.
According to multicomponent detection demand, can inject the original position sample in the sampling cell into 3 detection ponds 3 through pipetting needle 7, 3 detection ponds 3 correspond three kinds of different concentration detection module, can change as required by oneself.
The semicircle uses fore-and-aft lifter as the centre of a circle, washs pond 6 and centre of a circle line and is the polar axis, and sample pond 5, standard sample pond 4, 3 semicircular arrangements in detection pond constitute the polar coordinate system, wash the centre of a circle in pond 6, sample pond 5, standard sample pond 4 and the centre of a circle in the 3 apron sample inlets in detection pond on the circular arc. Wash 6 position definitions in pond as the initial point to sample pond 5, sample pond 1 ~ 8 numbers in the sample pond 4 in proper order. The detection pool (3) is provided with a cover plate, the cover plate is provided with a micro sample inlet hole for preventing air pollution, and the circle center of the sample inlet hole is positioned on the circular arc of the polar coordinate system.
Wash pond 6, sample pond 5 and detection pond 3 and all be equipped with overflow mouth, inlet, leakage fluid dram, can operate it alone to prevent to spill over, accessible embedded system control washs the pond and carries out the washing of pipetting needle before 7 samples of pipetting needle, notes appearance.
The standard sample pool 4 can hold 8 centrifuge tubes, and provides multiple standard samples for multi-component detection.
The circle center of the transverse rotating rod of the mechanical arm 2 and the circle center of the transmission gear 9 are coupled and arranged on the base platform, the stepping motor 8 drives the small end of the conveying belt 12 to drive the conveying gear 9 to enable the mechanical arm 2 to rotate, and the transmission ratio is 1: 5, so as to improve the positioning accuracy of the mechanical arm 2. A shading sheet 10 is arranged below the transmission gear 9, and an optical coupling resetting module is formed by an optical coupling sensor 11. And the optical coupling sensor 11 is arranged on the central connecting line of the stepping motor 8 and the transmission gear 9. The multiple shading sheets 10 can be used for subsequent zero point change, and when the sample cell base 1 is changed, the initial position can be changed conveniently according to requirements.
The working mode of the liquid transfer device is as follows: before the mechanical arm 2 acquires an instruction from an upper computer, resetting is carried out through the optocoupler module, and the liquid transferring needle 7 is rotated to a position right above the center of the cleaning pool 6 based on the rotation of a transverse rotating rod of the mechanical arm 2; when a cleaning instruction is acquired, the liquid transferring needle 7 is lowered to clean based on the lifting of the longitudinal lifting rod of the mechanical arm 2; when a standard sample is obtained, the liquid transferring needle 7 rotates to a position right above the standard sample selected by the standard sample pool 4, the upper computer provides the selected standard sample number (number 1-8), the liquid transferring needle rotates to the detection pool 3 appointed by the upper computer after sampling is finished, the original point is returned after the sample is injected, and resetting is carried out to wait for next liquid transferring; when a sample to be measured is obtained, the sampling pool 5 extracts fermentation liquor from a fermentation tank, the liquid transferring needle 7 moves to a position right above the sampling pool 5, samples are taken and is rotated to the detection pool 3 appointed by the upper computer, and after the sample is injected, the original point is returned and reset is performed to wait for next liquid transferring.
The working mode of the optical coupling module is as follows: move liquid needle 7 and be the opto-coupler initial point when being located directly over wasing pond 6, can drive anti-dazzling screen 10 motion when arm 2 is rotatory to wash pond 6 to detecting pond 3 and be the positive direction, then be the reverse direction otherwise, can not trigger the opto-coupler when 2 forward motions of arm, when the initial point is crossed in reverse motion, just trigger opto-coupler sensor 11, so that the resetting of arm 2.
Based on the device disclosed by the invention, a quick and accurate positioning method for the pipetting needle is also provided, wherein a stepping motor 8 drives a transmission gear 9 to work to realize the lifting or rotating of the mechanical arm 2, and the rotating of the mechanical arm 2 realizes the positioning of the pipetting needle 7 positioned at the end part of the mechanical arm 2 and a target sample pool; the lifting of the mechanical arm 2 realizes the liquid taking or the pulling out of the liquid transferring needle 7 and the target sample cell.
With reference to fig. 3, the method includes the following steps:
an optocoupler resetting step: the mechanical arm 2 repeatedly rotates to trigger the optocoupler sensor 11 to obtain an initial position;
task acquisition: the upper computer sends a detection flow instruction, and the system analyzes the instruction and determines a target position;
moving: determining a target position according to the instruction, and positioning the pipetting needle 7 to the target position by taking the distance as a parameter;
and returning to the original point: and after each positioning is finished, judging whether the instruction task is finished, if so, automatically returning to the origin of the polar coordinates to wait for the next instruction, and otherwise, executing the next positioning according to the detection flow.
With reference to fig. 6, the following example shows the process of taking a standard solution to which the present invention is applied:
step 1: establishing a polar coordinate system: the device is applied to an automatic liquid transfer device for multi-component detection, and is combined with a figure 1, a cleaning pool, a sampling pool, a standard sample pool and a detection pool are distributed in a semicircular manner, form a polar coordinate system with a mechanical arm positioned in the circle center, a connecting line of the cleaning pool and the circle center is a polar axis, and the cleaning pool is set as an origin of coordinates.
Step 2: with reference to fig. 4, the opto-coupler is reset: the mechanical arm is provided with a light shading sheet and an optical coupling module which are jointly completed, the light shading sheet is coupled with a main shaft of the mechanical arm, and the light shading sheet rotates along with the main shaft when the mechanical arm rotates. The working mode of the optical coupling sensor is set to be pulse triggering, and the rising edge is used when the shading sheet covers the optical coupling sensor, and the falling edge is used when the shading sheet leaves the optical coupling sensor. And a pulse trigger signal obtained by the optical coupling sensor is sent to the embedded main control system to trigger external interruption so as to realize a reset function. With reference to fig. 3, the reset step works in the following manner: the shading sheet rotates along with the mechanical arm. The mechanical arm rotates to a negative angle and moves towards the direction of the sensor, when the shading sheet touches the sensor, the shading sheet moves in the same direction to know the step number, the shading sheet moves in the same direction in the same step number again, whether the optical coupler sensor is triggered or not is judged, the initial position is obtained if the optical coupler sensor is triggered, and the resetting is carried out again if the optical coupler sensor is not triggered.
And step 3: acquiring a task: the upper computer sends an instruction, the instruction designates a detection flow, and the mechanical arm makes corresponding actions according to the detection flow.
And 4, step 4: calculating the total route required for moving to the sample cell: the mechanical arm analyzes the instruction, determines that the action task is to take a sample to be detected or a standard sample according to the detection flow, and converts the angle of the sampling pool or the standard sample pool with a specific label into the angle required by the mechanical arm to rotate by combining a semi-disc polar coordinate system which is formed by taking the mechanical arm as the circle center, the cleaning pool and the circle center as the polar axis in fig. 1, and the angle required by the mechanical arm to rotate is converted into the pulse number n.
Wherein i is the transmission ratio of the transmission belt, theta is the angle of the movement required by the liquid transferring needle, T is the subdivision number of the stepping motor, and theta0Is the degree of rotation of the stepping motor under one pulse.
And 5: and (3) adjusting the acceleration and deceleration algorithm parameters by combining with the figure 5: adjusting acceleration and deceleration algorithm parameters according to the distance, preventing inaccurate positioning caused by the fact that the distance passing section cannot reach the maximum speed, and improving the positioning accuracy, the method comprises the following steps:
(1) after the total distance is obtained, setting a constant speed vmaxAnd distributing half of the total distance to the constant speed section, wherein the running time of the constant speed section is obtained by the following formula:
in the formula, T is the running time of the constant speed section.
(2) The S-shaped acceleration and deceleration algorithm adopting a quadratic function sets the running time of an acceleration section and a deceleration section as
Namely, it is
The acceleration and deceleration algorithm parameter is adjusted to obtain an acceleration increase factor J of an acceleration section according to the set maximum speed and the distribution time, and the acceleration increase factor J is obtained by the following formula:
(3) the relationship between the deceleration section and the acceleration section is mirror symmetry, and the acceleration reduction factor K is obtained by the following formula:
K＝-J
(4) the five sections of acceleration and deceleration stages formed by S-shaped acceleration and deceleration are respectively an acceleration section, a deceleration section, a uniform velocity section, an acceleration and deceleration section and a deceleration section, and the sectional velocity correspondingly comprises:
an acceleration section:
a deceleration and acceleration section:
a uniform speed section: v. ofmax
An acceleration and deceleration section:
a speed reduction section:
step 6: moving: the S-type acceleration and deceleration process is divided into an S-type acceleration start process, a uniform speed operation process, and an S-type deceleration stop process, as shown in fig. 5, a timer in the embedded system sends out pulses to control the stepping motor, and the pulse frequency is changed by a table look-up method, thereby achieving the purpose of speed change. In the starting process, the condition that the initial speed and the final speed are both 0 is adopted, the S-shaped acceleration starting is carried out, the S-shaped deceleration stopping is carried out at a constant speed for a certain distance so as to prevent the problems of overshoot, shaking and rotation blockage in the liquid transferring process, and the liquid transferring needle is accurately positioned above the miniature sample inlet.
And 7: and returning to the original point: and after each positioning is finished, judging whether the instruction task is finished, if so, automatically returning to the origin of the polar coordinates to wait for the next instruction, and otherwise, executing the next positioning according to the detection flow.
And 8: and cleaning the liquid transferring needle and waiting for the next instruction.
In a preferred embodiment, the application of the method is combined with a microbial fermentation multi-component concentration online analysis and detection process, and the process is divided into standard liquid pipetting and fermentation liquid pipetting, wherein a pipetting needle is positioned above a cleaning pool (origin of coordinates) after each pipetting is finished. The embedded system determines the target position and executes the function according to three parameters in the communication instruction, namely, Standard _ Pool, Detection _ Cell and Standard liquid _ Vol. Wherein, Standard _ pool represents from which Standard pool the extracted Standard solution is extracted (total eight Standard pools), Detection _ cell represents to which Detection pool the extracted Standard solution is arranged, and Standard _ liquid _ vol represents the volume of the Standard solution to be extracted; the fermentation liquor pipetting is to transfer the fermentation liquor into the Detection pool, two parameters, namely a Detection _ cell and a fermentation Broth _ vol, transmitted by an upper computer are required to be received, the meaning of the Detection _ cell is the same as that of the Detection _ cell, the fermentation Broth _ vol represents the volume of the fermentation liquor required to be pumped, and the position of the sampling pool is fixed and only one variable is required, so that the variable representation is not required, and one parameter is less than that of a standard liquor pipetting function. The standard liquid transferring process flow is shown in fig. 5, and the method is applied 3 times from the cleaning tank to the standard sample tank, from the standard sample tank to the detection tank, and from the detection tank to the cleaning tank in the whole process.
The quick and accurate positioning method of the pipetting needle can ensure the rapidity, the stability and the accuracy of the microbial fermentation multi-component online analyzer during pipetting and prevent the loss caused by inaccurate positioning of the pipetting needle in the pipetting process.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides a multicomponent detects automatic pipetting device which characterized in that it includes sample cell, sample cell base (1), arm (2) and pipetting needle (7), wherein:
the mechanical arm (2) comprises a longitudinal lifting rod and a transverse rotating rod, and the rotating rod is arranged at the top of the lifting rod and performs rotating operation by taking the lifting rod as a circle center;
the liquid transferring needle (7) is arranged at the bottom of the far end of the rotating rod and is vertically downward;
the sample pools are arranged on the base (1) in a semicircular mode by taking the lifting rods as circle centers, and the radius enclosed by the sample pools is consistent with the distance from the liquid transferring needle (7) to the axes of the lifting rods.
2. The device according to claim 1, characterized in that the mechanical arm (2) is driven by the stepping motor (8) to drive the transmission gear (9) to rotate horizontally and move vertically to move up and down, so that the pipetting needle (7) is moved to the sample pool required by detection to complete pipetting operation.
3. The device according to claim 2, characterized in that a shading sheet (10) is arranged below the transmission gear (9) and is coordinated with an optical coupling sensor (11) arranged on a central connecting line of the stepping motor and the transmission gear for regulation and control, so that the motion of the mechanical arm is feedback controlled, and the control efficiency is improved.
4. A device according to claim 3, characterized in that the opto-coupler sensor (11) is of U-shaped configuration, and the movement of the gobo (10) into or out of the recess of the U-shaped configuration triggers the opto-coupler sensor instantaneously to feed back the rotational position of the transmission gear (9).
5. The device according to claim 1, characterized in that the sample cell comprises a detection cell (3), a standard cell (4), a sampling cell (5) and a washing cell (6).
6. The device according to claim 5, characterized in that the detection cell (3) is provided with 3 corresponding 3 component detections, and is provided with a liquid inlet, a liquid outlet and an overflow port, so that the liquid flows in a single direction during cleaning to ensure the cleaning effect.
7. The device according to claim 5, characterized in that the top of the detection cell (3) is equipped with a 2mm sample inlet, the center of which is located on the rotation path of the pipetting needle, so as to prevent impurities in the air from affecting the detection effect.
8. The device according to claim 5, characterized in that the standard cell (4) contains 8 centrifuge tubes, the centers of which are located on the rotational path of the pipetting needle, providing multiple standards for multicomponent detection.
9. The device according to claim 5, characterized in that the cleaning pool (6) is arranged at the tail end of the sample pool, which is the original position of the rotating rod of the mechanical arm (2), and the cleaning operation is directly performed, thereby reducing the movement times and improving the detection efficiency.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101140292A (en) * | 2006-09-07 | 2008-03-12 | 深圳迈瑞生物医疗电子股份有限公司 | Sample feeding system, anticollision device and anti-collision method |
| CN103454440A (en) * | 2013-08-29 | 2013-12-18 | 深圳市锦瑞电子有限公司 | High-speed sampling device |
| CN105922265A (en) * | 2016-06-20 | 2016-09-07 | 广州视源电子科技股份有限公司 | Motion trail planning method and device for mechanical arm and robot |
| CN108918626A (en) * | 2018-07-30 | 2018-11-30 | 南京工业大学 | Concentration response type biochemical multi-component online analyzer |
| CN208736884U (en) * | 2018-02-11 | 2019-04-12 | 博阳生物科技（上海）有限公司 | A kind of sample arm and light-induced chemiluminescent detector |
-
2021
- 2021-05-21 CN CN202110560114.1A patent/CN113176418B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101140292A (en) * | 2006-09-07 | 2008-03-12 | 深圳迈瑞生物医疗电子股份有限公司 | Sample feeding system, anticollision device and anti-collision method |
| CN103454440A (en) * | 2013-08-29 | 2013-12-18 | 深圳市锦瑞电子有限公司 | High-speed sampling device |
| CN105922265A (en) * | 2016-06-20 | 2016-09-07 | 广州视源电子科技股份有限公司 | Motion trail planning method and device for mechanical arm and robot |
| CN208736884U (en) * | 2018-02-11 | 2019-04-12 | 博阳生物科技（上海）有限公司 | A kind of sample arm and light-induced chemiluminescent detector |
| CN108918626A (en) * | 2018-07-30 | 2018-11-30 | 南京工业大学 | Concentration response type biochemical multi-component online analyzer |
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