CN115109693A - Full-automatic sample processing system - Google Patents
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- CN115109693A CN115109693A CN202110284885.2A CN202110284885A CN115109693A CN 115109693 A CN115109693 A CN 115109693A CN 202110284885 A CN202110284885 A CN 202110284885A CN 115109693 A CN115109693 A CN 115109693A
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Abstract
The invention provides a full-automatic sample processing system, comprising: the moving device comprises a gripper moving structure and a sampling moving structure which share one horizontal guide rail; the sample placing area is used for placing the sampling pipe; the hand grip motion structure and the sampling motion structure are arranged in parallel and used for gripping or sampling the sampling tube. The hand grip movement structure and the sampling movement structure are used in a matching way to realize the grabbing and sampling of the sampling tube. Meanwhile, the gripper motion structure and the sampling motion structure are arranged on the same horizontal guide rail, and through the connection of horizontal coordinate axes in three-dimensional coordinates, the space can be saved, the material of the device is saved, and the size of the instrument is further reduced. Based on the gripper motion structure and the sampling motion structure, the sampling tube or the reagent in the same area is grabbed or sucked, and the space is saved, and the efficiency is improved.
Description
Technical Field
The application relates to the technical field of molecular biological detection, in particular to a full-automatic sample processing system.
Background
The existing molecular biological technology comprises nucleic acid extraction, polymerase chain reaction, gene sequencing, a biochip and the like, wherein the nucleic acid extraction is the first step. The nucleic acid extraction is to extract nucleic acid in a sample, wherein the extraction process comprises a plurality of steps such as sample treatment, reagent distribution, micropipette and the like. Most of the existing nucleic acid extraction equipment are semi-automatic instruments, and manual sample adding, reagent distribution and product distribution are needed; the full-automatic nucleic acid extraction workstation also has the defects of low speed, complex structure, large volume, high cost and the like. On the basis of the increasing maturity of molecular technology, automation of laboratory equipment is inevitable, and therefore, a fully automatic sample processing system capable of completing pre-and post-processing of samples is necessary.
At present, a special sample processing system is also available in the market to realize functions of uncovering a sample, adding sample, distributing reagent and the like, but the instrument has the disadvantages of large volume, complex structure and high cost; some functions are single and cannot be flexibly used; some are open structures and cannot be used independently.
In view of the above, there is a need to develop a sample processing system with complete functions, multiple purposes, simple structure, small size and high adaptability.
Disclosure of Invention
Based on the above technical problem, the present invention provides a full-automatic sample processing system, comprising:
the moving device comprises a gripper moving structure and a sampling moving structure which share one horizontal guide rail;
the sample placing area is used for placing the sampling pipe;
the hand grip motion structure and the sampling motion structure are arranged in parallel and used for gripping or sampling the sampling tube.
Description of technical effects: the invention provides a full-automatic sample processing system, comprising: the moving device comprises a gripper moving structure and a sampling moving structure which share one horizontal guide rail; the sample placing area is used for placing the sampling pipe; the hand grip motion structure and the sampling motion structure are arranged in parallel and used for gripping or sampling the sampling tube. And the grabbing and sampling of the sampling tube are carried out through the grabbing motion structure and the sampling motion structure. Meanwhile, the gripper movement structure and the sampling movement structure are arranged on the same horizontal guide rail, so that the space can be saved, and the size of the instrument can be further reduced.
The gripper motion structure comprises a first-direction gripper motion module, a second-direction gripper motion module, a third-direction gripper motion module and a sampling tube clamping rotary motion module which are matched with each other for use, and the sampling tube clamping rotary motion module is used for clamping the sampling tube at any spatial position.
Description of the technical effects: the three vertical gripper motion modules in different directions are arranged to realize the position movement of any space position in the length space of the instrument and equipment; meanwhile, the sampling tube clamping rotary motion module is used for clamping the sampling tube.
The sampling pipe clamping and rotating motion module comprises a clamping unit and a rotating opening and closing cover unit;
the clamping unit is used for clamping the sampling pipe;
the rotary opening and closing cover unit can be used for unscrewing or closing a tube cap of the sampling tube.
The technical effect is that the sampling tube clamping and rotating motion module comprises a clamping unit and a rotating opening and closing cover unit; the clamping unit is used for clamping the sampling pipe; the rotary opening and closing cover unit can be used for unscrewing or closing a tube cap of the sampling tube. Clamping the sampling tube through the clamping unit, and then opening and closing the sampling tube by utilizing the rotary opening and closing cover structure so as to facilitate sampling and sample adding.
It should be noted that the clamping structure may be an electric gripper or an air gripper; and the rotary opening and closing cover structure can realize rotary opening and closing through a gear or a synchronous belt.
The sampling motion structure comprises a first direction sampling motion module, a second direction sampling motion module, a third direction sampling motion module and a sample sucking and discharging motion module, and is used for sucking a sample or a reagent at any spatial position.
The technical effect shows that sampling tubes with different sizes need to be sampled or sampled, so that sampling tubes with any size need to be sampled and loaded; therefore, the structure is provided with a first direction sampling motion module, a second direction sampling motion module and a third direction sampling motion module, and the three directions are mutually perpendicular. Meanwhile, the sample suction and discharge movement module is used for sucking the sample.
The first direction hand grip motion module and the first direction sampling motion module are arranged on the same horizontal guide rail.
The technical effect shows that the first direction gripper motion module and the first direction sampling motion module are arranged on the same horizontal guide rail, and the space can be saved and the size of the instrument can be reduced by sharing one guide rail.
Meanwhile, the two motion modules are consistent in the other two directions, so that the space can be effectively utilized.
And the sampling second direction movement module is provided with a visual identification system unit for identifying the use state of the consumable.
Technical effects show that the use state of consumables can be confirmed by the vision recognition system unit.
The sample placement area includes a consumable storage area.
It should be noted that, the system is provided with a consumable storage area for the consumable used in the mode detection process.
The full-automatic sample processing system also comprises an air outlet arranged on the back; the air outlet internal design has bilayer structure filter screen to be used for filtering, reducing the aerosol diffusion and reducing harmful substance diffusion.
The invention also provides a sample pretreatment method which is applicable to the full-automatic sample processing system as claimed in claim 1, wherein the sample pretreatment comprises the following steps:
acquiring consumable state signals fed back by a visual recognition system unit;
driving the hand grip movement structure to grip the sampling tube cap so as to move to an uncovering area for uncovering;
driving a sampling pipe clamping structure to clamp a sampling pipe so as to clamp the sampling pipe to perform rotary motion to open the cover of the sampling pipe cap, and completing the opening of the cover;
driving the sampling motion structure to move to the consumable storage area so as to obtain a TIP head;
driving the sampling motion structure to move to the uncapped sampling tube for drawing a quantitative sample from the uncapped sampling tube;
driving the sampling motion structure to move to a deep hole plate storage area, and discharging the sample into a corresponding deep hole plate;
driving the sampling movement structure to move to a reject discard zone for discarding the TIP head;
and driving the gripper motion structure to perform a cover closing action to finish the sample dispensing treatment.
The present invention also provides a reaction system construction method suitable for the full-automatic sample processing system according to claim 1, the reaction system construction steps being:
acquiring consumable state signals fed back by a visual recognition system unit;
driving the sampling motion structure to move to the consumable storage area so as to obtain a TIP head;
driving the sampling motion structure to move to the reagent quality control storage area so as to be used for sucking quantitative reagents from corresponding reagent bottles;
driving the sampling motion structure to move to the consumable storage area for discharging the reagents into the corresponding PCR tubes;
discarding the TIP header to complete reagent dispensing;
driving the sampling motion structure to move to the consumable storage area so as to obtain the TIP head for the second time;
driving the sampling motion structure to move to the deep-well plate storage area for quantitative extraction of nucleic acid extraction products from the corresponding deep-well plate;
and driving the sampling motion structure to move to the consumable storage area so as to discharge the nucleic acid extraction product into the corresponding PCR tube, thereby completing the distribution of the nucleic acid extraction product.
The invention provides a full-automatic sample processing system, comprising: the moving device comprises a gripper moving structure and a sampling moving structure which share one horizontal guide rail; the sample placing area is used for placing the sampling pipe; the gripper motion structure and the sampling motion structure are arranged in parallel and used for gripping or sampling the sampling tube. The hand grip movement structure and the sampling movement structure are used in a matching way to realize the grabbing and sampling of the sampling tube. Meanwhile, the gripper movement structure and the sampling movement structure are arranged on the same horizontal guide rail, and through the connection of horizontal coordinate axes in three-dimensional coordinates, space can be saved firstly, meanwhile, the material of the device is saved, and the size of the instrument is further reduced. Based on the gripper movement structure and the sampling movement structure, the sampling tube or reagent in the same area is gripped or sucked, so that the efficiency is improved while the space is saved.
Drawings
FIG. 1 is a schematic view of a layout of a whole machine according to an embodiment;
FIG. 2 is a schematic view of an embodiment of a motion device;
FIG. 3 is an exploded view of one embodiment of the motion device;
FIG. 4 is a schematic structural diagram of a sampling tube holding rotation module according to an embodiment;
FIG. 5 is a schematic structural diagram of a sampling Y-direction motion module according to an embodiment;
FIG. 6 is a layout of a countertop according to an embodiment;
FIG. 7 is a schematic structural diagram of a consumable storage area according to an embodiment;
FIG. 8 is a schematic view of a back vent according to an embodiment;
FIG. 9 is a schematic structural view of a back air hose according to an embodiment;
fig. 10 is a schematic structural diagram of a filter screen according to an embodiment;
fig. 11 is a schematic view of a flip seal structure according to an embodiment;
FIG. 12 is a schematic view of UV sterilization provided in accordance with one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be connected through the inside of the two elements, or may be connected wirelessly or through a wire. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described later can be combined with each other as long as they do not conflict with each other.
The invention provides a full-automatic sample processing system, comprising: the moving device comprises a gripper moving structure and a sampling moving structure which share one horizontal guide rail; the sample placing area is used for placing the sampling pipe; the hand grip motion structure and the sampling motion structure are arranged in parallel and used for gripping or sampling the sampling tube.
Please refer to fig. 1 and fig. 2 to provide an embodiment: a full-automatic sample processing system comprises a hand grip motion module 21 and a sampling tube clamping module 3 which are used for opening and closing a cover of a sampling tube, and a sampling motion module 22 which is used for sample reagent dispensing, wherein the hand grip motion module 21 and the sampling motion module 22 form a motion module 2.
Referring to fig. 6, the working table is provided with seven functional areas, namely, a sample storage area 17, a reagent quality control storage area 11, a deep hole plate storage area 13, a consumable storage area 14, an uncovering area 15, a waste liquid collecting area 16 and a waste product discarding area 12.
Description of technical effects: the invention provides a full-automatic sample processing system, comprising: the moving device comprises a gripper moving structure and a sampling moving structure which share one horizontal guide rail; the sample placing area is used for placing the sampling pipe; the hand grip motion structure and the sampling motion structure are arranged in parallel and used for gripping or sampling the sampling tube. The hand grip movement structure and the sampling movement structure are used in a matching way to realize the grabbing and sampling of the sampling tube. Meanwhile, the gripper motion structure and the sampling motion structure are arranged on the same horizontal guide rail, and through the connection of horizontal coordinate axes in three-dimensional coordinates, the space can be saved, the material of the device is saved, and the size of the instrument is further reduced. Based on the gripper motion structure and the sampling motion structure, the sampling tube or the reagent in the same area is grabbed or sucked, and the space is saved, and the efficiency is improved.
The gripper motion structure comprises a first-direction gripper motion module, a second-direction gripper motion module, a third-direction gripper motion module and a sampling tube clamping and rotating motion module which are matched with each other; the sampling tube is clamped at any spatial position in the processing system through the matching of the first direction hand grip motion module, the second direction hand grip motion module, the third direction hand grip motion module and the sampling tube clamping and rotating motion module.
Description of technical effects: the three vertical gripper motion modules in different directions are arranged to realize the position movement of any space position in the length space of the instrument and equipment; meanwhile, the sampling tube clamping and rotating motion module is used for clamping the sampling tube.
Referring to fig. 3, an embodiment is provided: the moving device 2 is composed of a hand grip moving structure 21 and a sampling moving structure 22, wherein the hand grip moving structure 21 comprises a hand grip X-direction moving module 211, a hand grip Y-direction moving module 212, a hand grip Z-direction moving module 213 and a sampling tube clamping rotary moving module 214.
The sampling pipe clamping and rotating motion module comprises a clamping unit and a rotating opening and closing cover unit; the clamping unit is used for clamping the sampling pipe; the rotary opening and closing cover unit can be used for unscrewing or closing the tube cap of the sampling tube.
The technical effect is that the sampling pipe clamping and rotating motion module comprises a clamping unit and a rotary opening and closing cover unit; the clamping unit is used for clamping the sampling pipe; the rotary opening and closing cover unit can be used for unscrewing or closing the tube cap of the sampling tube. Clamping the sampling tube through the clamping unit, and then opening and closing the sampling tube by utilizing the rotary opening and closing cover structure so as to facilitate sampling and sample adding.
Referring to FIG. 4, an embodiment is provided in which the sample tube grip rotation module 214 includes a sample tube grip motion module 2142 and a sample tube rotation cover opening and closing motion module 2141.
Providing one embodiment, the clamping motion 2142 may use electric or pneumatic jaws to achieve a clamping action of the sample tube. Providing an embodiment, the rotating lid opening and closing motion 2141 may be accomplished by a gear or synchronous pulley
And (6) rotating.
The sampling motion structure comprises a first direction sampling motion module, a second direction sampling motion module, a third direction sampling motion module and a sample suction and discharge motion module, and is used for sucking a sample or a reagent at any spatial position.
The technical effect shows that sampling tubes with different sizes need to be sampled or sampled, so that sampling tubes with any size need to be sampled and loaded; therefore, the structure is provided with a first direction sampling motion module, a second direction sampling motion module and a third direction sampling motion module, and the three directions are mutually perpendicular. Meanwhile, the sample suction and discharge motion module is used for sucking the sample.
Providing one embodiment, the sampling motion structure 22 includes a sampling X-direction motion module 221, a sampling Y-direction motion module 222, a sampling Z-direction motion module 223, and a sample suction motion module 224.
The sampling motion structure 22 also includes a droplet capture motion module 225.
The first direction hand grip motion module and the first direction sampling motion module are arranged on the same horizontal guide rail.
The technical effect shows that the first direction gripper motion module and the first direction sampling motion module are arranged on the same horizontal guide rail, and the space can be saved and the size of the instrument can be reduced by sharing one guide rail.
Meanwhile, the two motion modules are arranged in the Y-axis direction and the Z-axis direction and are kept consistent, so that the space can be effectively utilized.
To provide an embodiment, in order to simplify the structure, the grip X-direction moving module 211 and the sampling X-direction moving module 221 share one guide rail 201 and are separately driven.
And the sampling second direction movement module is provided with a visual identification system unit for identifying the use state of the consumable.
Technical effects show that the use state of consumables can be confirmed by the vision recognition system unit.
Referring to fig. 5, an embodiment is provided in which a vision recognition system unit 2221 is integrated on the sampling Y-direction movement module 222 for recognizing the status of consumables.
In one embodiment, the vision recognition system unit 2221 is a camera with image recognition function, and performs image recognition by taking a picture of the consumable area.
In another embodiment, a recognizable two-dimensional code may be provided on the consumable tube, and when the consumable is used, the amount of the remaining consumable may be calculated by the recognition of the vision recognition system unit 2221.
The sample placement area includes a consumable storage area.
It should be noted that, the system is provided with a consumable storage area for the consumable used in the mode detection process.
The full-automatic sample processing system also comprises an air outlet arranged on the back; the air outlet internal design has bilayer structure filter screen to be used for filtering, reducing the aerosol diffusion and reducing harmful substance diffusion.
Referring to fig. 7, an embodiment is provided in which the consumable storage area 14 can store different consumables according to different functions, and is designed with two TIP placement positions, i.e., a TIP placement area 141 and a TIP placement area 142, and a PCR tube placement area 143, wherein the PCR tube placement area 143 is compatible with the commercial eight-tube and 96-well PCR plate placement.
Referring to fig. 11, an embodiment is provided, the system is designed to be a relatively closed structure, a sealing strip 7 is designed on the flip cover with an openable front end, and is used for sealing the flip cover, and the rest is locked by a screw fastening method.
Referring to fig. 8, 9 and 10, an embodiment is provided, in which the back is provided with a unique air outlet 4, the interior of the air outlet is provided with a filter screen 6, the filter screen 6 is of a double-layer structure, one side of the filter screen is a high-efficiency HEPA filter 61, and the other side of the filter screen is an activated carbon filter 62, so that the double-layer filtering purpose is achieved, and aerosol diffusion and harmful substance diffusion are reduced. The system can also provide another air outlet mode, and the air outlet 4 is connected with the air pipe 5, so that the function of discharging the air to the outdoor can be realized.
The invention also provides a sample pretreatment method which is applicable to the full-automatic sample processing system as claimed in claim 1, wherein the sample pretreatment comprises the following steps:
acquiring consumable state signals fed back by a visual recognition system unit;
driving the hand grip movement structure to grip the sampling tube cap so as to move to the uncovering area to uncover the cover;
driving a sampling pipe clamping structure to clamp a sampling pipe so as to clamp the sampling pipe to perform rotary motion to perform uncovering rotation action on the sampling pipe cap to complete uncovering;
driving the sampling motion structure to move to the consumable storage area so as to obtain a TIP head;
driving the sampling motion structure to move to the uncapped sampling region for aspirating a metered sample from the uncapped sampling tube;
driving the sampling motion structure to move to a deep hole plate storage area, and discharging the sample into a corresponding deep hole plate;
driving the sampling movement structure to move to a reject discard zone for discarding the TIP head;
and driving the gripper motion structure to perform a cover closing action to finish the dispensing processing of the sample.
In one embodiment, the sample pre-processing step comprises: opening the turning cover, putting the sample to be processed in the sample storage area 17, putting the required quality control, calibration product and related reagent in the reagent quality control storage area 11, putting the deep-hole plate in the deep-hole plate storage area 13, and putting the required TIP head in the TIP placing areas I141 and II 142 of the consumable storage area 14. After the relevant sample reagent and the consumable are placed, the turning cover is closed.
Software executes an automatic pretreatment process, a sampling motion module 22 firstly identifies and confirms states of related consumables through a visual identification system 2221 integrated on a sampling Y-direction motion 222, then a gripper motion module 21 moves to a corresponding sample storage area 17 to grab a sampling pipe cap and then moves to an uncovering area 15, a sampling pipe is clamped by a sampling pipe clamping module 3, the sampling pipe clamping and rotating motion 214 carries out uncovering rotation on the sampling pipe cap, and after uncovering is completed, the gripper motion module 21 moves to a waste liquid collecting area 16 to prevent samples accumulated inside the sampling pipe cap from dripping to pollute a workbench.
The sampling motion module 22 moves to the upper side of the consumable storage area 14, after the disposable TIP head is taken through the sampling Z-direction motion 223, the sampling motion module 22 moves to the uncovering area 15, a quantitative sample is sucked from the uncovered sampling pipe, the sampling motion module moves to the deep hole plate storage area 13 again, after the sample is discharged into the corresponding deep hole plate, the sampling motion module 22 moves to the waste discarding area 12, and the disposable TIP head is discarded.
The hand grip motion module 21 moves from the waste liquid collecting area 16 to the uncovering area 15, performs a cover closing action, covers the sampling tube back to the sampling tube, the sampling tube clamping module 3 releases the sampling tube, the hand grip motion module 21 puts the covered sampling tube on the sample rack of the sample storage area 17 from the uncovering area, and the completed sample is separated and injected.
According to the above steps, all the sample dispensing processes are sequentially completed.
For the operation needing to add quality control, standard products or reagents, the sampling motion module 22 moves to the upper part of the consumable storage area 14, the sampling motion module 22 moves to the reagent quality control storage area 11 after sampling the disposable TIP head through the motion 223 in the Z direction, quantitative quality control, calibration products or reagents are sucked from the corresponding quality control bottles, calibration product bottles or reagent bottles and then move to the deep hole plate storage area 13, the sampling motion module 22 moves to the waste product discarding area 12 after the quality control, calibration products or reagents are discharged into the corresponding deep hole plates, and the disposable TIP head is discarded. In the sample pretreatment process, the fan at the air outlet of the whole machine exhausts the air inside out of the machine through the filter screen. After the sample pretreatment is finished, the turnover cover can be opened, the deep hole plate is taken out, and the deep hole plate is placed on a nucleic acid extractor for extraction operation. The method comprises the following steps: opening the flip, putting the reagent needed to participate in system construction into the reagent quality control storage area 11, putting the deep-well plate with nucleic acid extraction completed into the deep-well plate storage area 13, putting the needed TIP head into the TIP placing area I141 and the TIP placing area II 142 of the consumable material storage area 14, putting the eight-connected tube or 96-hole PCR plate into the position of the PCR tube placing area 143, and closing the flip after the putting is completed.
The invention also provides a reaction system construction method which is applicable to the full-automatic sample processing system as claimed in claim 1, and the reaction system construction steps are as follows:
acquiring consumable state signals fed back by a visual recognition system unit;
driving the sampling motion structure to move to the consumable storage area so as to obtain a TIP head;
driving the sampling motion structure to move to the reagent quality control storage area so as to be used for sucking quantitative reagents from corresponding reagent bottles;
driving the sampling motion structure to move to the consumable storage area for discharging the reagent into the corresponding PCR tube;
discarding the TIP header to complete reagent dispensing;
driving the sampling motion structure to move to the consumable storage area so as to obtain the TIP head for the second time;
driving the sampling motion structure to move to the deep-well plate storage area for quantitative extraction of nucleic acid extraction products from the corresponding deep-well plate;
and driving the sampling motion structure to move to the consumable storage area so as to discharge the nucleic acid extraction product into the corresponding PCR tube, thereby completing nucleic acid extraction product distribution.
According to an embodiment, software executes a reaction system construction work, the sampling motion module 22 firstly identifies and confirms states of relevant consumables through the visual identification system 2221 integrated on the sampling Y-direction motion 222, then the sampling motion module 22 moves to the upper side of the consumable storage area 14, after a disposable TIP head is taken through the sampling Z-direction motion 223, the sampling motion module 22 moves to the reagent quality control storage area 11, a certain amount of reagent is taken from a corresponding reagent bottle and then moves to the PCR tube placing area 143 on the consumable storage area 14, after the reagent is discharged into a corresponding PCR tube, the sampling motion module 22 moves to the waste product discarding area 12, and the disposable TIP head is discarded.
And completing the distribution of the corresponding reagents according to the steps. The dispensing process can be used for single suction and single discharge or for single suction and multiple discharge.
After the reagents are distributed, the sampling motion module 22 moves to the upper part of the consumable storage area 14, the sampling motion module 22 moves to the deep hole plate storage area 13 after the disposable TIP head is taken through the sampling Z-direction motion 223, the sampling motion module 22 sucks a certain amount of nucleic acid extraction products from the extracted deep hole plate, then moves to the PCR tube placing area 143 on the consumable storage area 14, the sampling motion module 22 moves to the waste product discarding area 12 after the nucleic acid extraction products are discharged into the corresponding PCR tubes, the disposable TIP head is discarded, and the nucleic acid extraction products are distributed according to the steps. After the steps are completed, the flip cover can be opened, the PCR tube is taken out, and the PCR tube is put on a PCR instrument for amplification operation.
After the operation is completed, the ultraviolet lamp is turned on, and the sterilization operation can be performed.
Referring to fig. 12, 8 is an ultraviolet lamp for sterilizing the whole apparatus.
In another embodiment, the number and positions of the ultraviolet lamps 8 in the system can be set to be different according to different use scenes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A fully automated sample processing system, comprising:
the moving device comprises a gripper moving structure and a sampling moving structure which share one horizontal guide rail;
the sample placing area is used for placing the sampling pipe;
the hand grip movement structure and the sampling movement structure are arranged in parallel and used for gripping or sampling the sampling pipe.
2. The fully automated sample processing system of claim 1, wherein the gripper motion mechanism comprises a first direction gripper motion module, a second direction gripper motion module, a third direction gripper motion module, and a sampling tube clamping rotational motion module in cooperation for clamping the sampling tube at any spatial location.
3. The fully automated sample processing system of claim 2, wherein the sampling tube gripping rotational movement module comprises a gripping unit and a rotational open and close cover unit;
the clamping unit is used for clamping the sampling pipe;
the rotary opening and closing cover unit can be used for unscrewing or closing a tube cap of the sampling tube.
4. The fully automated sample processing system of claim 2, wherein the sampling motion structure comprises a first direction sampling motion module, a second direction sampling motion module, a third direction sampling motion module, and a sample aspirating and discharging motion module for aspirating a sample or reagent at any spatial location.
5. The fully automated sample processing system of claim 4, wherein the grip first direction motion module and the sampling first direction motion module are disposed on the same horizontal rail.
6. The fully automatic sample processing system according to claim 4, wherein a visual recognition system unit is disposed on the sampling second direction movement module for recognizing the use status of the consumable.
7. The fully automated sample processing system of claim 1, wherein the sample placement zone comprises a consumable storage zone.
8. The fully automated sample processing system of claim 1, further comprising a back air vent; and a double-layer structure filter screen is designed inside the air outlet for filtering.
9. A method for sample pre-processing is applied to the full-automatic sample processing system as claimed in any one of claims 1 to 8, wherein the sample pre-processing comprises the following steps:
acquiring consumable state signals fed back by a visual recognition system unit;
driving the hand grip movement structure to grip the sampling tube cap so as to move to an uncovering area for uncovering;
driving a sampling pipe clamping structure to clamp a sampling pipe so as to clamp the sampling pipe to perform rotary motion to perform uncovering rotation action on the sampling pipe cap to complete uncovering;
driving the sampling motion structure to move to the consumable storage area so as to obtain a TIP head;
driving the sampling motion structure to move to the uncapped sampling region for aspirating a metered sample from the uncapped sampling tube;
driving the sampling motion structure to move to a deep hole plate storage area, and discharging the sample into a corresponding deep hole plate;
driving the sampling movement structure to move to a reject discard zone for discarding the TIP head;
and driving the gripper motion structure to perform a cover closing action to finish the sample dispensing treatment.
10. A reaction system construction method is applicable to the full-automatic sample processing system as claimed in any one of claims 1 to 8, and is characterized by comprising the following steps:
acquiring consumable state signals fed back by a visual recognition system unit;
driving the sampling motion structure to move to the consumable storage area so as to obtain a TIP head;
driving the sampling movement structure to move to the reagent zone for aspirating a metered amount of reagent from within a corresponding reagent bottle;
driving the sampling motion structure to move to the consumable storage area for discharging the reagent into the corresponding PCR tube;
discarding the TIP header to complete reagent dispensing;
driving the sampling motion structure to move to the consumable storage area so as to obtain the TIP head for the second time;
driving the sampling motion structure to move to the deep-well plate storage area for quantitative extraction of nucleic acid extraction products from the corresponding deep-well plate;
driving the sampling motion structure to move to the consumable storage area for extracting the nucleic acid extraction product
And discharging the nucleic acid into the corresponding PCR tube to complete the distribution of the nucleic acid extraction products.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110284885.2A CN115109693A (en) | 2021-03-17 | 2021-03-17 | Full-automatic sample processing system |
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| CN202110284885.2A CN115109693A (en) | 2021-03-17 | 2021-03-17 | Full-automatic sample processing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116676183A (en) * | 2023-07-31 | 2023-09-01 | 四川徕伯益自动化技术有限公司 | Molecular diagnosis system and molecular diagnosis method |
| CN116676183B (en) * | 2023-07-31 | 2023-11-10 | 四川徕伯益自动化技术有限公司 | Molecular diagnosis system |
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