CN113203869A - Full-automatic sample processing system - Google Patents
Full-automatic sample processing system Download PDFInfo
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- CN113203869A CN113203869A CN202110627936.7A CN202110627936A CN113203869A CN 113203869 A CN113203869 A CN 113203869A CN 202110627936 A CN202110627936 A CN 202110627936A CN 113203869 A CN113203869 A CN 113203869A
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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
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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
- G01N35/00584—Control arrangements for automatic analysers
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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
- G01N35/00584—Control arrangements for automatic analysers
- G01N35/00722—Communications; Identification
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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
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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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
- G01N35/02—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
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
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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
- G01N2035/00465—Separating and mixing arrangements
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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
- G01N35/02—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
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0403—Sample carriers with closing or sealing means
Abstract
The invention relates to the technical field of in-vitro diagnosis medical equipment, and discloses a full-automatic sample processing system which comprises a working platform, a test tube rack module, a first carrier, a second carrier and a sample tube transmission module, wherein the test tube rack module, the first carrier, the second carrier and the sample tube transmission module are arranged on the working platform, and a bar code scanning manipulator, an uncovering manipulator and a sample adding arm are arranged above the working platform. The invention aims to replace manual sample pretreatment, improve sample treatment efficiency and reduce contact between a human body and a sample.
Description
Technical Field
The invention relates to the technical field of in-vitro diagnosis medical instruments, in particular to a full-automatic sample processing system.
Background
Before clinical tests are carried out on in-vitro diagnosis medical equipment, pretreatment is generally carried out on a test sample, the pretreatment comprises bar code scanning uncovering of a sample tube, sample distribution and the like, the sample is also required to be violently oscillated before nucleic acid test so as to solve the problem of sample precipitation, the artificial treatment efficiency is low, certain contact risk exists, particularly, the oscillation on a virus nucleic acid sample, and the infection risk of a human body is increased.
In addition, the existing sample pretreatment equipment is generally configured for large-batch sample treatment, the equipment is large, aerosol and the like generated by a sample in the equipment test process are difficult to clean, and the infection risk of operators is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a full-automatic sample processing system which is used for replacing manual work to finish the pretreatment work of a sample, improving the sample processing efficiency and reducing the contact between a human body and the sample, has a small structure and can be directly placed into a biological safety cabinet for sterilization and disinfection.
The purpose of the invention is realized by the following technical scheme:
a full-automatic sample processing system comprises a working platform, wherein a test tube rack module, a first carrier and a second carrier are sequentially arranged on the working platform from left to right, a waste needle box, a PCR plate position and a micropore plate position are arranged on the first carrier, a kit and a needle box are arranged on the second carrier, a sample tube transmission module is arranged on the inner side of the working platform, a bar code scanning mechanical arm, an uncovering mechanical arm and a sample adding arm are sequentially arranged above the working platform from left to right, the working area of the bar code scanning mechanical arm covers the left end of the test tube rack module and the sample tube transmission module, the uncovering mechanical arm is arranged above the sample tube transmission module, the working area of the sample adding arm covers the right end of the first carrier, the second carrier and the sample tube transmission module, the bar code scanning mechanical arm comprises a scanning mechanical arm module and a scanning head, the test tube rack module comprises a test tube rack base, the test-tube rack is characterized in that an oscillation driving mechanism is installed on the left side of the test-tube rack base, a belt transmission mechanism is installed between the oscillation driving mechanism and the test-tube rack base, a rotating shaft is installed on a driven wheel of the belt transmission mechanism, an eccentric shaft is arranged at the position, deviated from the axis, of the upper end of the rotating shaft, a bearing is installed on the eccentric shaft, a connecting seat is installed on the outer ring of the bearing, a test-tube rack is installed on the connecting seat, and the test-tube rack base are connected through a plurality of rubber columns around.
The full-automatic sample processing system comprises a bar code scanning manipulator, a sample tube conveying module, a sample tube placing module, a PCR plate position and a sample tube capping and conveying module, wherein the sample tube conveying module is used for conveying sample tubes to the sample tube rack module, the sample tube conveying module is used for conveying the sample tubes to the sample tube rack module, the sample tube capping and conveying module is used for placing micro-perforated plates or deep-perforated plates, the PCR plate position is used for placing PCR plates, so that different test requirements are met, in the nucleic acid sample processing process, the oscillation driving motor drives the rotating shaft to rotate through the belt transmission mechanism, so that the test tube rack does circular motion along with the eccentric shaft to complete the oscillation of the nucleic acid sample tube, and the sample meets the test requirements of subsequent nucleic acid extraction and nucleic acid detection.
Further, the bar code scanning mechanical arm comprises a scanning mechanical arm support, the scanning mechanical arm support can move left and right along the upper end of the working platform, a scanning mechanical arm Y-direction driving mechanism, a scanning mechanical arm Y-direction transmission mechanism and a scanning mechanical arm Y-direction guide rail are installed on the scanning mechanical arm support, a scanning mechanical arm module is installed on the scanning mechanical arm Y-direction guide rail and is connected to the scanning mechanical arm Y-direction transmission mechanism, the scanning mechanical arm module comprises a scanning mechanical arm base, a scanning mechanical arm lifting driving motor and a scanning mechanical arm lifting mechanism are installed on the scanning mechanical arm base, a scanning gripper module is installed on the scanning mechanical arm lifting mechanism, a scanning head support is installed at the lower end of the scanning mechanical arm base, the scanning head is installed on the scanning projection support, and when the working area of the scanning gripper module covers the scanning area of the scanning head, the function is as follows: the bar code scanning manipulator can complete bar code scanning of the sample tube in the process of transferring the sample tube, so that the sample processing time is fully saved, and the sample processing efficiency is improved.
Further, set up locating hole and convex spacing groove on the scanning head support, the last mounting screw of scanning head is connected to the scanning head support through locating hole and spacing groove respectively, and its effect lies in: the angle of the scanning head can be conveniently adjusted, and the scanning effect is ensured.
Further, scanning tongs module includes scanning tongs motor cabinet, and scanning tongs rotating electrical machines and scanning tongs control panel are installed to scanning tongs motor cabinet upper end, and scanning tongs link is installed to the lower extreme, installs the scanning tongs on the scanning tongs link, scanning tongs rotating electrical machines is hollow shaft step motor, and its effect lies in: the rotation of the scanning gripper is controlled by the hollow shaft stepping motor, so that a connecting wire of the scanning gripper can be connected into the hollow shaft, and the damage of the line due to frequent torsion in the rotating process is avoided.
Further, the manipulator of uncapping includes uncapping manipulator support, uncapping manipulator lifting drive mechanism and uncapping manipulator control panel on the manipulator support of uncapping, uncapping manipulator lifting drive mechanism is for taking drive mechanism, and uncapping manipulator lifting drive mechanism installs first lead screw from the driving wheel on, installs sliding connection seat on the first lead screw, the riser guide is installed to the left and right sides symmetry of uncapping manipulator support, and both ends are connected to the slider of riser guide respectively about the sliding connection seat, install the grip module of uncapping on the sliding connection seat, its effect lies in: the lifting position precision and the sliding stability of the uncovering gripper module are guaranteed.
Further, uncap tongs module is including leading the electrical slip ring fixing base, leads and installs electrically conductive sliding ring in the electrical slip ring fixing base, and the upper end of leading the electrical slip ring fixing base is installed uncap tongs rotating electrical machines seat, installs uncap tongs rotating electrical machines on the uncap tongs rotating electrical machines seat, and the rotor part upper end of leading the electrical slip ring is connected to uncap tongs rotating electrical machines, the lower extreme is connected to uncap tongs link, the uncap tongs of installing on the uncap tongs link, its effect lies in: the uncapping gripper can rotate continuously, and meanwhile, the winding damage of the circuit is avoided.
Further, sample pipe transmission module installs X including transmitting the base on the transmission base to drive mechanism and X to the guide rail, and X installs slide mechanism to the guide rail on, and slide mechanism is connected to X to drive mechanism, and sample pipe clamping mechanism is installed to slide mechanism's upper end, and its effect lies in: the sample tube is transferred between the working area of the bar code scanning manipulator and the working area of the sample adding arm through the sliding mechanism.
Further, slide mechanism includes the slip switching piece, and Z is installed to the guide rail to the slip switching piece lateral wall, sample pipe clamping mechanism's rear end is connected to the slider of Z to the guide rail, installs the guiding axle between sample pipe clamping mechanism and the slip switching piece, installs first spring on the guiding axle, and its effect lies in: the bottom of the sample tube is buffered, and the sample tube is prevented from being ejected and crushed in the process of placing and uncovering the sample tube.
Further, sample pipe clamping mechanism includes the clamping mechanism base, install the clamping mechanism guide rail on the clamping mechanism base, install sliding seat and left clamp tight piece on the clamping mechanism guide rail, install the clamping mechanism guiding axle between left side clamp tight piece and the sliding seat, install the second spring on the clamping mechanism guiding axle, clamping mechanism base right-hand member fixed mounting has the right side to press from both sides tight piece, the right side that the right side pressed from both sides tight piece is installed and is pressed from both sides tight driving motor, press from both sides and be equipped with the second lead screw on the tight driving motor, the second lead screw passes right side in proper order and presss from both sides tight piece, left side presss from both sides tight piece, the sliding seat is installed on the left end of second lead screw, its effect lies in: the rotation that drives the second lead screw through pressing from both sides tight driving motor makes the sliding seat horizontal slip realize pressing from both sides tightly the sample pipe, cushions the sample pipe lateral wall at the tight in-process of clamp simultaneously, avoids damaging the sample pipe when guaranteeing to press from both sides tight effect.
Furthermore, a right clamping groove in a shape of '>' is formed in the right clamping block, a left clamping groove in a shape of '<' is formed in the left clamping block, and the right clamping block has the following functions: the clamp is suitable for clamping test tubes with different sizes and shapes, and the stability of clamping is ensured.
By combining the technical scheme, compared with the prior art, the full-automatic sample processing system provided by the invention has the beneficial effects that:
the full-automatic sample processing system provided by the invention can automatically complete oscillation, bar code scanning, transfer, uncovering, sample adding, covering and sample tube recovery of test samples, has compact structure, high space utilization rate and high speed, can meet the batch sample processing requirements of various clinical tests, and can be put into a biological safety cabinet due to small volume, complete the sample processing process in the biological safety cabinet and ensure the safety of the test process.
According to the full-automatic sample processing system provided by the invention, the original cover is added back to the sample tube by the cover opening mechanical arm after the sample tube cover opening sample adding arm finishes imbibing, the cover adding cost is reduced, the matching degree of the cover added back to the original cover and the sample tube is high, the sealing performance is good, and the safety is ensured.
According to the full-automatic sample processing system provided by the invention, in the process of placing, uncovering and covering the sample tube, the bottom and the side wall of the sample tube are buffered through the first spring and the second spring, so that the damage to the sample tube in the process of placing, uncovering and covering is avoided, and the safety of the test process is ensured.
Drawings
Fig. 1 is a schematic structural diagram of a fully automatic sample processing system according to the present invention.
Fig. 2 is a schematic structural diagram of the first carrier and the second carrier according to the present invention.
Fig. 3 is a schematic structural diagram of a barcode scanning manipulator according to the present invention.
Fig. 4 is a schematic structural diagram of a scanning robot module according to the present invention.
Fig. 5 is a schematic structural view of a scanning gripper module according to the present invention.
Fig. 6 is a schematic diagram of the mechanism of the uncapping manipulator according to the present invention.
Fig. 7 is a schematic structural view of the open-cover gripper module according to the present invention.
Fig. 8 is a schematic structural diagram of a sample tube transfer module according to the present invention.
Fig. 9 is a schematic structural view of a sample tube clamping mechanism according to the present invention.
Fig. 10 is a schematic structural view of a test tube rack module according to the present invention.
Wherein, 1-a working platform, 2-a test tube rack module, 21-a test tube rack base, 22-an oscillation driving mechanism, 23-a belt transmission mechanism, 24-a test tube rack, 25-a rubber column, 26-a rotating shaft, 261-an eccentric shaft, 27-a bearing, 28-a connecting seat, 3-a first carrier, 31-a waste needle box, 32-a PCR plate position, 33-a micropore plate position, 4-a second carrier, 41-a kit, 42-a needle box, 5-a bar code scanning manipulator, 51-a scanning manipulator bracket, 52-a scanning manipulator Y-direction driving mechanism, 53-a scanning manipulator module, 531-a scanning manipulator base, 532-a scanning manipulator lifting driving motor, 533-a scanning manipulator lifting mechanism and 534-a scanning head bracket, 5341-positioning hole, 5342-limiting groove, 535-scanning gripper module, 5351-scanning gripper motor base, 5352-scanning gripper rotating motor, 5353-scanning gripper control board, 5354-scanning gripper link, 5355-scanning gripper, 54-scanning manipulator Y-direction transmission mechanism, 55-scanning manipulator Y-direction guide rail, 56-scanning head, 6-uncapping manipulator, 61-uncapping manipulator support, 62-uncapping manipulator lifting drive mechanism, 63-uncapping manipulator lifting transmission mechanism, 64-first lead screw, 65-sliding connection base, 66-uncapping gripper module, 661-conductive slip ring fixing base, 662-uncapping gripper rotating motor base, 663-uncapping gripper rotating motor, 664-conductive slip ring, 665-uncapping gripper link, 666-uncapping gripper, 67-lifting guide rail, 68-uncapping manipulator control plate, 7-sample tube transmission module, 71-transmission base, 72-X-direction transmission mechanism, 73-sample tube clamping mechanism, 731-base, 732-clamping mechanism guide rail, 733-right clamping block, 7331-right clamping groove, 734-left clamping block, 7341-left clamping groove, 735-sliding seat, 736-clamping driving motor, 737-clamping mechanism guide shaft, 738-second spring, 739-second screw rod, 74-sliding mechanism, 741-sliding transfer block, 742-guide shaft, 743-first spring, 744-Z-direction guide rail, 75-X-direction guide rail, 8-sample adding arm and 9-sample tube.
Detailed Description
To explain in detail the technical features of the present invention and the objects and effects achieved, the following is further described with reference to the accompanying drawings:
as shown in fig. 1-10, a full-automatic sample processing system, comprises a working platform 1, a test tube rack module 2, a first carrier 3 and a second carrier 4 are sequentially arranged on the working platform 1 from left to right, a waste needle box 31, a PCR plate 32 and a microplate 33 are arranged on the first carrier 3, a reagent box 41 and a needle box 42 are arranged on the second carrier 4, a sample tube transmission module 7 is arranged on the inner side of the working platform 1, a bar code scanning manipulator 5, an uncovering manipulator 6 and a sample adding arm 8 are sequentially arranged on the working platform 1 from left to right, the working area of the bar code scanning manipulator 5 covers the left ends of the test tube rack module 2 and the sample tube transmission module 7, the uncovering manipulator 6 is arranged above the sample tube transmission module 7, the working area of the sample adding arm 8 covers the right ends of the first carrier 3, the second carrier 4 and the sample tube transmission module 7, the bar code scanning manipulator 5 comprises a scanning manipulator module 53 and a scanning head 56, the test tube rack module 2 comprises a test tube rack base 21, an oscillation driving mechanism 22 is installed on the left side of the test tube rack base 21, a belt transmission mechanism 23 is installed between the oscillation driving mechanism 22 and the test tube rack base 21, a rotating shaft 26 is installed on a driven wheel of the belt transmission mechanism 23, an eccentric shaft 261 is arranged at the position of the upper end of the rotating shaft 26 deviated from the axis, a bearing 27 is installed on the eccentric shaft 261, a connecting seat 28 is installed on the outer ring of the bearing 27, a test tube rack 24 is installed on the connecting seat 28, and the test tube rack 24 and the test tube rack base 21 are connected through a plurality of.
Preferably, the barcode scanning manipulator 5 comprises a scanning manipulator support 51, the scanning manipulator support 51 can move left and right along the upper end of the working platform 1, a scanning manipulator Y-direction driving mechanism 52, a scanning manipulator Y-direction transmission mechanism 54 and a scanning manipulator Y-direction guide rail 55 are mounted on the scanning manipulator support 51, a scanning manipulator module 53 is mounted on the scanning manipulator Y-direction guide rail 55, the scanning manipulator module 53 is connected to the scanning manipulator Y-direction transmission mechanism 54, the scanning manipulator module 53 comprises a scanning manipulator base 531, a scanning manipulator lifting driving motor 532 and a scanning manipulator lifting mechanism 533 are mounted on the scanning manipulator base 531, a scanning gripper module 535 is mounted on the scanning manipulator lifting mechanism 533, a scanning head support 534 is mounted at the lower end of the scanning manipulator base 531, and the scanning head 56 is mounted on the scanning head support 534, the working area of the scanning gripper module 535 covers the scanning area of the scanning head 56.
Preferably, the scan head bracket 534 is provided with a positioning hole 5341 and a circular arc-shaped limiting groove 5342, and the mounting screws on the scan head 56 are connected to the scan head bracket 534 through the positioning hole 5341 and the limiting groove 5342, respectively.
Preferably, the scanning gripper module 535 comprises a scanning gripper motor base 5351, the scanning gripper motor base 5351 is provided with a scanning gripper rotating motor 5352 and a scanning gripper control plate 5353 at the upper end, a scanning gripper connecting frame 5354 is provided at the lower end, a scanning gripper 5355 is provided on the scanning gripper connecting frame 5354, and the scanning gripper rotating motor 5352 is a hollow shaft stepping motor.
Preferably, the uncovering manipulator 6 comprises an uncovering manipulator support 61, an uncovering manipulator lifting driving mechanism 62, an uncovering manipulator lifting transmission mechanism 63 and an uncovering manipulator control plate 68 are mounted on the uncovering manipulator support 61, the uncovering manipulator lifting transmission mechanism 63 is a belt transmission mechanism, a first lead screw 64 is mounted on a driven wheel of the uncovering manipulator lifting transmission mechanism 63, a sliding connection seat 65 is mounted on the first lead screw 64, lifting guide rails 67 are symmetrically mounted on the left side and the right side of the uncovering manipulator support 61, the left end and the right end of the sliding connection seat 65 are respectively connected to sliding blocks of the lifting guide rails 67, and an uncovering gripper module 66 is mounted on the sliding connection seat 65.
Preferably, the uncovering grip module 66 comprises a conductive slip ring fixing seat 661, a conductive slip ring 664 is installed in the conductive slip ring fixing seat 661, an uncovering grip rotating motor seat 662 is installed at the upper end of the conductive slip ring fixing seat 661, an uncovering grip rotating motor 663 is installed on the uncovering grip rotating motor seat 662, the upper end of a rotor portion of the conductive slip ring 664 is connected to the uncovering grip rotating motor 663, the lower end of the rotor portion of the conductive slip ring 664 is connected to the uncovering grip connecting frame 665, and the uncovering grip 666 is installed on the uncovering grip connecting frame 665.
Preferably, the sample tube transferring module 7 includes a transferring base 71, an X-direction transmission mechanism 72 and an X-direction guide rail 75 are installed on the transferring base 71, a sliding mechanism 74 is installed on the X-direction guide rail 75, the sliding mechanism 74 is connected to the X-direction transmission mechanism 72, and a sample tube clamping mechanism 73 is installed at the upper end of the sliding mechanism 74.
Preferably, the sliding mechanism 74 includes a sliding transfer block 741, a Z-guide rail 744 is installed on a side wall of the sliding transfer block 741, a rear end of the sample tube clamping mechanism 73 is connected to a slider of the Z-guide rail 744, a guide shaft 742 is installed between the sample tube clamping mechanism 73 and the sliding transfer block 741, and a first spring 743 is installed on the guide shaft 742.
Preferably, the sample tube clamping mechanism 73 includes a clamping mechanism base 731, a clamping mechanism guide rail 732 is mounted on the clamping mechanism base 731, a sliding seat 735 and a left clamping block 734 are mounted on the clamping mechanism guide rail 732, a clamping mechanism guide shaft 737 is mounted between the left clamping block 734 and the sliding seat 735, a second spring 738 is mounted on the clamping mechanism guide shaft 737, a right clamping block 733 is fixedly mounted at the right end of the clamping mechanism base 731, a clamping driving motor 736 is mounted at the right side of the right clamping block 733, an output shaft of the clamping driving motor 736 is connected to a second lead screw 739, the second lead screw 739 sequentially passes through the right clamping block 733 and the left clamping block 734, and the left end of the second lead screw 739 is connected to the sliding seat 735.
Preferably, the right clamping block 733 is provided with a ">" shaped right clamping groove 7331, and the left clamping block 734 is provided with a "<" shaped left clamping groove 7341.
The fully automatic sample processing system provided in the above embodiment is implemented as follows:
and putting the sample tube to be pretreated into the test tube rack module, and carrying out system setting according to the experiment requirement, so that the system pretreats the sample according to the set treatment flow.
In the pretreatment process of the experimental sample such as nucleic acid detection, the experimental sample needs to be oscillated before sample distribution, at this time, the oscillation driving mechanism 22 drives the rotating shaft 26 to rotate through the belt transmission mechanism 23, so that the test tube rack 24 makes horizontal circular motion around the axis of the rotating shaft 26 along with the eccentric shaft 261, the sample tube 9 loaded on the test tube rack 24 is oscillated, and precipitates in the sample tube 9 are dispersed and the sample is oscillated uniformly.
When the sample is processed without the need of sample oscillation or after the sample oscillation such as nucleic acid test is completed, the bar code scanning manipulator 5 grabs the sample tube 9 one by one from the test tube rack module 2, after the scanning gripper 5355 grabs the sample tube 9, the scanning manipulator lifting mechanism 533 drives the scanning gripper 5355 to lift up, at the same time, the Y-direction transmission mechanism 54 drives the scanning manipulator module 53 to move toward the sample tube transmission module 7, in the process of transferring the sample tube 9 from the test tube rack module 2 to the sample tube transfer module 7, the scanning gripper rotating motor 5352 drives the scanning gripper 5355 to rotate, so that the scanning head 56 finishes scanning the bar code of the sample tube 9 and feeds back the scanning result to the equipment control end, if the scanning angle needs to be adjusted to obtain a better scanning effect, the mounting angle of the scanning head can be adjusted by adjusting the mounting position of the mounting screw in the limiting groove 5342.
Before the sample tube 9 is placed in the sample tube transport module 7, the second lead screw 739 in the clamping drive motor 736 rotates to slide the sliding seat 735 and the left clamping block 734 to the left side, the scanning gripper 5355 moves downwards to place the sample tube 9 between the left clamping block 734 and the right clamping block 733, when the bottom of the sample tube 9 contacts the clamping mechanism base 731, the first spring 743 buffers the impact generated in the process to avoid damaging the sample tube 9, then the scanning gripper 5355 releases the sample tube 9, the second lead screw 739 rotates reversely to move the sliding seat 735 and the left clamping block to the right side, so that the sample tube 9 is clamped by the left clamping groove 7341 and the right clamping groove 7331, and in the clamping process, the second spring 738 buffers the impact generated in the process to avoid damaging the sample tube 9.
After the steps are completed, the X-direction transmission mechanism 72 drives the sliding mechanism 74 to slide rightwards to reach a working area of the uncovering manipulator 6, the uncovering manipulator 6 uncovers the sample tube 9, in the uncovering process, the uncovering manipulator lifting transmission mechanism 63 drives the uncovering handle module 66 to move downwards, the uncovering handle 666 clamps the sample tube cover to rotatably uncover the sample tube cover, the uncovering manipulator lifting driving mechanism 62 works simultaneously when the uncovering handle rotating motor 663 drives the uncovering handle 666 to rotate, the uncovering handle module 66 synchronously ascends to enable the sample tube cover to spirally ascend and separate from the sample tube body, and in the uncovering process, the first spring 743 and the second spring 738 buffer the stress of the sample tube 9.
After the uncapping process is completed, the uncapping manipulator 6 moves leftwards to leave the upper part of the sample tube 9, the sample adding arm 8 starts to work, in the sample adding process, the sample adding arm 8 extracts a sample from the sample tube 9 after taking a sample adding needle from the needle box 42 and distributes the sample into a microporous plate or a deep hole plate on a microporous plate position 33, or distributes the sample into a PCR plate on a PCR plate position 32, and after the sample distribution is completed, the sample adding needle after being used is automatically taken off into the waste needle box 31 by the sample adding arm 8.
When the application of sample arm carries out sample distribution, uncap manipulator 6 with sample tube lid on adding sample tube 9 back, then sample tube transmission module 7 transmits sample tube 9 to the left end, bar code scanning manipulator 5 shifts sample tube 9 back test tube rack module 2 to begin to grab next sample tube and carry out the bar code scanning.
It can be known from the above embodiments and implementation steps that the fully automatic sample processing system provided by the present invention can automatically complete the steps of oscillation, barcode scanning, transfer, uncapping, distributing, capping, etc. of sample processing, the needle fetching action of the sample loading arm 8 can be performed simultaneously with the uncapping action of the uncapping manipulator 6, the sample distributing and needle releasing actions of the sample loading arm 8 can be performed simultaneously with the steps of capping of the uncapping manipulator 6, transferring of the sample tube transfer module 7, resetting of the sample tube 9 by the barcode scanning manipulator 5, etc., and the processing speed is fast and the efficiency is high.
In the process that the bar code scanning manipulator 5 transfers the sample tube 9 to the sample tube clamping mechanism 73 and the uncapping manipulator 6 uncaps and caps the sample tube 9, the first spring 743 and the second spring 738 can buffer and protect the bottom and the side wall of the sample tube 9, and the sample tube 9 can be prevented from being damaged.
According to the full-automatic sample processing system provided by the invention, after the sample is sucked by the sample adding arm 8, the original cover of the sample tube is added back to the sample tube 9, so that the matching degree and the sealing property of the sample tube and the cover are ensured, the cost is reduced, and the safety is also ensured.
The applicant asserts that the above-described embodiments merely represent the basic principles, principal features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, and that various changes and modifications can be made by one skilled in the art without departing from the spirit and scope of the invention, which will fall within the scope of the invention as claimed.
The present invention is not limited to the above embodiments, and any embodiments that achieve the objects of the present invention by using the similar structure and method of the present invention are within the scope of the present invention.
Claims (10)
1. A fully automated sample processing system, comprising: including work platform, the last test tube rack module, first carrier and the second carrier of having set gradually from a left side to the right side of work platform, be equipped with useless needle box, PCR board position and micropore board position on the first carrier, be equipped with kit and needle box on the second carrier, work platform's inboard is equipped with sample pipe transmission module, and work platform's top is equipped with bar code scanning manipulator, uncapping manipulator and application of sample arm from a left side to the right side in proper order, bar code scanning manipulator's work area covers the left end of test tube rack module and sample pipe transmission module, uncapping manipulator is located the top of sample pipe transmission module, the work area of application of sample arm covers first carrier, second carrier and sample pipe transmission module right-hand member, bar code scanning manipulator includes scanning manipulator module and scanning head, the test tube rack module includes the test tube rack base, and the oscillation drive mechanism is installed in the left side of test tube rack base, install between vibration actuating mechanism and the test-tube rack base and take drive mechanism, take drive mechanism to install the pivot from the driving wheel, the skew axis's in the upper end position of pivot is equipped with the eccentric shaft, installs the bearing on the eccentric shaft, and the connecting seat is installed to the bearing outer lane, installs the test-tube rack on the connecting seat, be connected through a plurality of rubber columns all around between test-tube rack and the test-tube rack base.
2. A fully automated sample processing system according to claim 1, wherein: the bar code scanning mechanical arm comprises a scanning mechanical arm support which can move left and right along the upper end of the working platform, a scanning mechanical arm Y-direction driving mechanism, a scanning mechanical arm Y-direction transmission mechanism and a scanning mechanical arm Y-direction guide rail are arranged on the scanning mechanical arm support, the scanning manipulator module is arranged on the Y-direction guide rail of the scanning manipulator and is connected with the Y-direction transmission mechanism of the scanning manipulator, the scanning manipulator module comprises a scanning manipulator base, a scanning manipulator lifting drive motor and a scanning manipulator lifting mechanism are arranged on the scanning manipulator base, a scanning gripper module is arranged on the scanning manipulator lifting mechanism, a scanning head bracket is arranged at the lower end of the scanning manipulator base, the scanning head is arranged on the scanning projection bracket, and when the working area of the scanning gripper module covers the scanning area of the scanning head.
3. A fully automated sample processing system according to claim 2, wherein: the scanning head bracket is provided with a positioning hole and a circular arc-shaped limiting groove, and the mounting screws on the scanning head are connected to the scanning head bracket through the positioning hole and the limiting groove respectively.
4. A fully automated sample processing system according to claim 2, wherein: the scanning gripper module comprises a scanning gripper motor base, a scanning gripper rotating motor and a scanning gripper control plate are mounted at the upper end of the scanning gripper motor base, a scanning gripper connecting frame is mounted at the lower end of the scanning gripper motor base, a scanning gripper is mounted on the scanning gripper connecting frame, and the scanning gripper rotating motor is a hollow shaft stepping motor.
5. A fully automated sample processing system according to claim 1, wherein: the uncapping manipulator comprises an uncapping manipulator support, an uncapping manipulator lifting driving mechanism, an uncapping manipulator lifting transmission mechanism and an uncapping manipulator control panel are mounted on the uncapping manipulator support, the uncapping manipulator lifting transmission mechanism is a belt transmission mechanism, a first lead screw is mounted on a driven wheel of the lifting manipulator lifting transmission mechanism, a sliding connection seat is mounted on the first lead screw, lifting guide rails are symmetrically mounted on the left side and the right side of the uncapping manipulator support, the left end and the right end of the sliding connection seat are respectively connected to sliding blocks of the lifting guide rails, and an uncapping gripper module is mounted on the sliding connection seat.
6. A fully automated sample processing system according to claim 5, wherein: the cover opening gripper module comprises a conductive sliding ring fixing seat, a conductive sliding ring is installed in the conductive sliding ring fixing seat, a cover opening gripper rotating motor seat is installed at the upper end of the conductive sliding ring fixing seat, a cover opening gripper rotating motor is installed on the cover opening gripper rotating motor seat, the upper end of a rotor part of the conductive sliding ring is connected to the cover opening gripper rotating motor, the lower end of the rotor part of the conductive sliding ring is connected to a cover opening gripper connecting frame, and a cover opening gripper is installed on the cover opening gripper connecting frame.
7. A fully automated sample processing system according to claim 1, wherein: the sample tube transmission module comprises a transmission base, an X-direction transmission mechanism and an X-direction guide rail are mounted on the transmission base, a sliding mechanism is mounted on the X-direction guide rail and connected to the X-direction transmission mechanism, and a sample tube clamping mechanism is mounted at the upper end of the sliding mechanism.
8. A fully automated sample processing system according to claim 7, wherein: the sliding mechanism comprises a sliding transfer block, a Z-direction guide rail is installed on the side wall of the sliding transfer block, the rear end of the sample tube clamping mechanism is connected to a sliding block of the Z-direction guide rail, a guide shaft is installed between the sample tube clamping mechanism and the sliding transfer block, and a first spring is installed on the guide shaft.
9. A fully automated sample processing system according to claim 7, wherein: sample pipe clamping mechanism includes the clamping mechanism base, install the clamping mechanism guide rail on the clamping mechanism base, install sliding seat and left clamp tight piece on the clamping mechanism guide rail, install the clamping mechanism guiding axle between left clamp tight piece and the sliding seat, install the second spring on the clamping mechanism guiding axle, clamping mechanism base right-hand member fixed mounting has the right side to press from both sides tight piece, press from both sides tight driving motor is installed on the right side of right side to press from both sides tight piece, press from both sides tight driving motor output shaft to second lead screw, the second lead screw runs through right side in proper order and presss from both sides tight piece, the tight piece of left side clamp, its left end is fixed on the sliding seat.
10. A fully automated sample processing system according to claim 9, wherein: the right clamping block is provided with a '>' shaped right clamping groove, and the left clamping block is provided with a '<' shaped left clamping groove.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110627936.7A CN113203869A (en) | 2021-06-05 | 2021-06-05 | Full-automatic sample processing system |
| PCT/CN2022/071508 WO2022252624A1 (en) | 2021-06-05 | 2022-01-12 | Fully-automatic sample processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110627936.7A CN113203869A (en) | 2021-06-05 | 2021-06-05 | Full-automatic sample processing system |
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| Publication Number | Publication Date |
|---|---|
| CN113203869A true CN113203869A (en) | 2021-08-03 |
Family
ID=77024181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110627936.7A Pending CN113203869A (en) | 2021-06-05 | 2021-06-05 | Full-automatic sample processing system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113203869A (en) |
| WO (1) | WO2022252624A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114323850A (en) * | 2021-12-22 | 2022-04-12 | 上海锐翌生物科技有限公司 | Sample pretreatment device and pretreatment method of nucleic acid and fecal sample |
| CN114713311A (en) * | 2022-04-24 | 2022-07-08 | 成都青软智控科技有限公司 | Full-automatic liquid transferring and separating workbench |
| WO2022252624A1 (en) * | 2021-06-05 | 2022-12-08 | 长沙迈迪克智能科技有限公司 | Fully-automatic sample processing system |
| WO2023125326A1 (en) * | 2021-12-29 | 2023-07-06 | 安图实验仪器(郑州)有限公司 | Online uncapping system |
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| CN116448535B (en) * | 2023-06-16 | 2023-11-10 | 杭州凯莱谱质造科技有限公司 | Full-automatic magnetic solid phase extraction equipment |
| CN116773839B (en) * | 2023-08-22 | 2023-11-03 | 世纪亿康（天津）医疗科技发展有限公司 | Integrated automatic analyzer for blood detection and analysis method |
| CN117169533B (en) * | 2023-10-31 | 2024-01-26 | 苏州立禾生物医学工程有限公司 | High-speed automatic cup separating instrument |
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| CN113203869A (en) * | 2021-06-05 | 2021-08-03 | 深圳市华瑞康生物科技有限公司 | Full-automatic sample processing system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022252624A1 (en) * | 2021-06-05 | 2022-12-08 | 长沙迈迪克智能科技有限公司 | Fully-automatic sample processing system |
| CN114323850A (en) * | 2021-12-22 | 2022-04-12 | 上海锐翌生物科技有限公司 | Sample pretreatment device and pretreatment method of nucleic acid and fecal sample |
| CN114323850B (en) * | 2021-12-22 | 2024-02-13 | 上海锐翌生物科技有限公司 | Sample pretreatment device and nucleic acid and fecal sample pretreatment method |
| WO2023125326A1 (en) * | 2021-12-29 | 2023-07-06 | 安图实验仪器(郑州)有限公司 | Online uncapping system |
| CN114713311A (en) * | 2022-04-24 | 2022-07-08 | 成都青软智控科技有限公司 | Full-automatic liquid transferring and separating workbench |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022252624A1 (en) | 2022-12-08 |
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