CN115449472A

CN115449472A - Washing machine for fine hair

Info

Publication number: CN115449472A
Application number: CN202210010469.8A
Authority: CN
Inventors: 刘见桥; 张国峰; 李磊; 周学亮; 杜红姿; 马丽琴
Original assignee: Daojian Shenzhen Medical Technology Co ltd; Third Affiliated Hospital of Guangzhou Medical University
Current assignee: Daojian Shenzhen Medical Technology Co ltd; Third Affiliated Hospital of Guangzhou Medical University
Priority date: 2022-01-06
Filing date: 2022-01-06
Publication date: 2022-12-09
Also published as: WO2023131139A1

Abstract

The invention discloses a fine washing machine, which comprises a rack, wherein the rack is provided with: the sample seat is used for placing a sample container; the fixing device is used for fixing the test tube; the test tube rack and the pipette rack are respectively used for storing test tubes and pipettes; the clamping device and the liquid transferring device are arranged on the rack through the displacement device and can move up and down and move back and forth among the sample seat, the fixing device, the test tube rack and the pipette rack; the clamping device is used for clamping test tubes, and the liquid transferring device is used for connecting the suction tube and can perform suction and injection operation through the suction tube; and the control device is used for controlling the actions of the fixing device, the clamping device, the liquid transferring device and the displacement device. The invention can automatically complete part or all of the fine washing operation, improve the operation standardization degree and the operation efficiency and reduce the labor cost of workers.

Description

Wash smart machine

Technical Field

The invention relates to the technical field of biology, in particular to the technical field of sperm washing.

Background

The semen washing is a treatment technique for obtaining preferable sperm by treating semen, and there are several types of common washing methods such as a washing method, an upstream method, a gradient centrifugation method, and the like, and preferable sperm need to be separated by a culture solution, a gradient solution, and the like. The existing fine washing operation is usually carried out manually by operators, the efficiency is low, the quality is unstable, and the labor cost is high.

Disclosure of Invention

The invention aims to solve at least one technical problem in the prior art and provide a fine washing machine which can automatically carry out all or part of fine washing operation, improve the operation standardization degree and the operation efficiency and reduce the labor cost.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the utility model provides a fine hair washing machine, includes the frame, be provided with in the frame:

the sample seat is used for placing a sample container;

the fixing device is used for fixing the test tube;

the test tube rack and the pipette rack are respectively used for storing test tubes and pipettes;

the clamping device and the liquid transferring device are arranged on the rack through the displacement device and can move up and down and move back and forth among the sample seat, the fixing device, the test tube rack and the pipette rack; the clamping device is used for clamping test tubes, and the liquid transferring device is used for connecting a suction tube and can perform suction and injection operation through the suction tube;

and the control device is used for controlling the actions of the fixing device, the clamping device, the liquid transferring device and the displacement device.

Preferably, a printing and labeling device for attaching a label to the test tube is further arranged on the rack, the clamping device can move to the printing and labeling device through the displacement device, a first label reading device for reading label information of the sample container on the sample holder is arranged on the rack, and the control device can receive the label information read by the first label reading device and output printing information to the printing and labeling device.

Preferably, the sample holder is provided with a chip reading device for reading chip information of the sample container on the sample holder; the displacement device is provided with a chip reading and writing device corresponding to the test tube clamped by the clamping device, the chip reading and writing device is used for reading information of a chip on the test tube and writing information into the chip of the test tube, and the chip reading device and the chip reading and writing device are in communication connection with the control device.

Preferably, the fixing device is provided with a second label reading device for reading the information of the label on the test tube; the second tag reading device is in communication connection with the control device.

Preferably, the sample holder comprises:

the holder body is used for placing a sample container, and is driven by a first driving device to be transversely and rotatably arranged on the rack;

a first detecting device for detecting the orientation of a sample container placed on the seat body;

the control device can receive the detection result of the first detection device and accordingly control the action of the first driving device.

Preferably, the first detecting device is a vision device for shooting an image of one side of the sample container on the holder body to determine the orientation of the sample container according to the size and position of the label in the image, and the first detecting device is also used for reading information recorded by the label on the sample container.

Preferably, the surface of the sample holder for placing the sample container is inclined at an angle relative to the horizontal plane.

Preferably, the fixing device is provided with a second detection device for detecting the height of the liquid layer in the test tube on the fixing device, and the second detection device is in communication connection with the control device.

Preferably, the second detection device is a vision device, and a reference object is arranged on the rack and located in a shooting area of the second detection device.

Preferably, the number of the fixing devices is two or more, and each fixing device can independently fix the test tube.

Preferably, the rack is provided with a second driving device for driving the fixing device and/or the pipetting device to move so as to enable the test tube fixed by the fixing device and the pipette connected with the pipetting device to be relatively inclined at an angle.

Preferably, the displacement device comprises a traverse device and two lifting devices, and the gripping device and the liquid transferring device can be respectively and independently lifted and lowered by arranging one lifting device on the traverse device.

Preferably, a centrifugal device is further arranged on the frame, and the gripping device can move to the centrifugal device through the displacement device.

Preferably, a waste bin is detachably arranged on the rack, the waste bin is provided with a waste inlet, and the clamping device and the liquid transferring device can move to the position above the waste inlet through the displacement device.

Preferably, the displacement device is provided with a third detection device, the third detection device is used for detecting the number and the positions of the test tubes in the test tube rack and the straws in the straw rack and can move through the displacement device, and the third detection device is in communication connection with the control device.

Preferably, an air pressure detection device is arranged on the liquid transfer device and used for detecting the air pressure in an air path in the liquid transfer device or a suction tube connected with the liquid transfer device.

Preferably, the air pressure detection device is in communication connection with the control device, and the control device can obtain the viscosity of the liquid in the pipette connected with the liquid transfer device according to the detection result of the air pressure detection device.

Preferably, the displacement device is provided with a third driving device for driving the clamping device to rotate.

Preferably, the test tube rack and the pipette rack are detachably arranged on the rack, a fourth detection device used for detecting whether the test tube rack and the pipette rack are installed on the rack is arranged on the rack, and the fourth detection device is in communication connection with the control device.

The invention has the beneficial effects that: in the application of the invention, an operator can place a sample container on a sample seat, the clamping device firstly clamps a test tube from the test tube rack through the displacement device and places the test tube on the fixing device, the liquid transfer device is connected with a suction tube from the suction tube rack through the displacement device and then moves to the sample seat to suck the sample from the sample container, then the liquid transfer device moves to the fixing device to inject the sucked liquid into the test tube, and then the optimized sperm-containing solution is sucked from the test tube, and the control device can control the actions of all parts to realize automatic operation.

Drawings

The invention is described in further detail below with reference to the drawings and the detailed description.

FIG. 1 is an overall block diagram of a preferred embodiment of the present invention;

FIG. 2 is a block diagram of the preferred embodiment of the present invention with the cabinet door and portions of the rack removed and the waste bin removed;

FIG. 3 is a top view block diagram of the preferred embodiment of the present invention with the upper portion of the housing further removed;

FIG. 4 is a block diagram of a sample holder portion in a preferred embodiment of the invention;

FIG. 5 is an exploded view of a sample holder portion in accordance with a preferred embodiment of the present invention;

FIG. 6 is a block diagram of a portion of the fixture in a preferred embodiment of the present invention;

FIG. 7 is an exploded view of a portion of the fastening device in accordance with the preferred embodiment of the present invention;

FIG. 8 is a block diagram of the displacement means, the gripping means and the pipetting means part in a preferred embodiment of the invention;

FIG. 9 is a block diagram of the grasping apparatus and the pipetting device portion in a preferred embodiment of the present invention;

fig. 10 is a schematic view of the mounting of the test tube rack to the rack in the preferred embodiment of the invention;

fig. 11 is a schematic structural view of a printing and labeling device in a preferred embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10. a frame; 11. a balancing seat; 12. a centrifugal inlet; 13. a waste inlet; 14. a fourth detection device; 15. a cabinet door; 16. a grating; 17. a lighting lamp; 18. a primary filter; 19. a high efficiency filter; 20. a sample holder; 21. a first detection device; 22. a chip reading device; 23. a base body; 24. a first driving device; 25. a glass carrier; 30. a fixing device; 31. a second detection device; 32. a reference object; 33. a second driving device; 34. a rotating shaft; 40. a gripping device; 41. a third driving device; 42. a gripping motor; 43. a clamping seat; 44. a clamping rod; 51. a pipetting device; 52. a test tube rack; 53. a pipette rack; 60. a displacement device; 61. a chip read-write device; 62. a cross beam; 621. a first traverse motor; 63. a traversing seat; 631. a second traverse motor; 64. a lifting seat; 641. a lifting motor; 65. a third detection device; 70. printing and labeling device; 71. a printing module; 72. a main press roll; 721. a first labeling driving device; 73. a secondary compression roller; 731. a second labeling driving device; 80. a waste bin; 81. an in-place detection device; 82. a caster wheel; 83. a handle; 84. a bin level; 91. a control device; 92. a centrifugal device; 93. a touch screen; 94. a blending platform.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

Referring to fig. 1 to 11, in accordance with a preferred embodiment of the present invention, there is provided a sperm washing machine including a frame 10, the frame 10 having: a sample holder 20 for placing a sample container; a fixing device 30 for fixing the test tube; a test tube rack 52 and a pipette rack 53 for storing test tubes and pipettes, respectively; a gripping device 40 and a pipette device 51, each of which is provided on the rack 10 by a displacement device 60 so as to be movable up and down and back and forth between the specimen holder 20, the fixing device 30, the test tube rack 52, and the pipette rack 53; the clamping device 40 is used for clamping test tubes, and the liquid transferring device 51 is used for connecting pipettes and can perform suction and injection operation through the pipettes; and a control device 91 for controlling the actions of the fixing device 30, the gripping device 40, the liquid-transferring device 51, and the displacement device 60. In the application of the invention, an operator can place a sample container on the sample seat 20, the clamping device 40 firstly clamps a test tube from the test tube rack 52 through the displacement device 60 and places the test tube on the fixing device 30, the pipetting device 51 is connected with a pipette from the pipette rack 53 through the displacement device 60 and moves to the sample seat 20 to suck the sample from the sample container, then moves to the fixing device 30 to inject the sucked liquid into the test tube, and then sucks the optimized solution containing the sperm from the test tube, and the control device 91 can control the actions of all parts to realize automatic operation.

As a preferred embodiment of the present invention, it may also have the following additional technical features:

in this embodiment, still be provided with the printing of being used for attached label on the test tube and paste mark device 70 in the frame 10, press from both sides and get device 40 and can move to printing and paste mark device 70 department through displacement device 60, be provided with the first label reading device that is used for reading the label information of sample container on the sample seat 20 in the frame 10, controlling means 91 can receive the label information that first label reading device read and to printing mark device 70 output printing information, so can read the label information of sample container automatically and print corresponding label information on the test tube, can effectively avoid obscuring, guarantee the operation quality.

Referring to fig. 11, in this embodiment, the printing and labeling device 70 includes a printing module 71 and a labeling device, a labeling position is disposed on the rack 10, wherein the printing module 71 is in communication connection with the control device 91, the label can be conveyed to the labeling position and label information can be printed on the label, the labeling device includes a main pressing roller 72 and two auxiliary pressing rollers 73, the main pressing roller 72 is pressed on the test tube and driven by a first labeling driving device 721 to rotate so as to drive the test tube to rotate and press and attach the label to the test tube, and the two auxiliary pressing rollers 73 are driven by a second labeling driving device 731 to move so as to clamp or release the test tube together with the main pressing roller 72. The printing module 71 has a wide range of applications, and generally uses a stock roll and a receiving roll to transport a base film, a separation corner to separate a label from the base film, a thermal print head to print the label, and various types and structures, and the structure and principle of the printing module are well known to those skilled in the art, and the printing module can be flexibly selected according to needs, and will not be described in detail herein. In the present embodiment, the first labeling driving device 721 and the second labeling driving device 731 both use motors, and respectively use a gear transmission mechanism and a cam mechanism to drive the main pressing roller 72 to rotate and the sub-pressing roller 73 to move, in other embodiments, the first labeling driving device 721 and the second labeling driving device 731 can also use other common driving structures; in other embodiments, the printing and labeling device 70 may also adopt other structures with the above functions, and is not limited thereto.

Referring to fig. 4, 5, 8 and 9, in the present embodiment, the sample holder 20 is provided with a chip reading device 22 for reading chip information of the sample container on the sample holder 20; the displacement device 60 is provided with a chip reading and writing device 61 corresponding to the test tube clamped by the clamping device 40, the chip reading and writing device 61 is used for reading information of a chip on the test tube and writing information into the chip of the test tube, the chip reading device 22 and the chip reading and writing device 61 are both in communication connection with the control device 91, so that the control device 91 can write corresponding information into the chip of the test tube grabbed by the grabbing device according to the chip information read by the chip reading device 22, and meanwhile, the chip reading and writing device 61 can check the test tube with written information again when grabbing the test tube with written information each time, thereby ensuring the information consistency of a sample and the test tube, avoiding confusion and ensuring the operation quality.

In the present embodiment, the chip reading device 22 and the chip reading/writing device 61 are both adapted to a common RFID chip, and the structure and principle thereof are well known to those skilled in the art and will not be described in detail herein. In other embodiments, the types of the chip reading device 22 and the chip reading/writing device 61 may be changed and selected for different kinds of chips, and are not limited thereto.

In this embodiment, the fixing device 30 is provided with a second label reading device for reading the information of the label on the test tube thereon; second label reading device and controlling means 91 communication connection, so, fixing device 30 can check label information when fixed test tube, can further avoid the sample to obscure and make mistakes, guarantees operation quality.

Referring to fig. 4 and 5, in the present embodiment, the sample holder 20 includes: a base 23 for placing the sample container, wherein the base 23 is driven by a first driving device 24 and is transversely and rotatably arranged on the rack 10; a first detecting device 21 for detecting the orientation of the sample container placed on the seat body 23; the control device 91 can receive the detection result of the first detection device 21 and control the action of the first driving device 24 accordingly, so that after the operator places the sample container on the base 23, the first detection device 21 can rotate the base 23 by matching with the first driving device 24 to adjust the orientation of the label on the sample container to the set direction, thereby facilitating subsequent operations such as reading the label of the sample container and facilitating use.

In this embodiment, the first detecting device 21 is a vision device for shooting an image of one side of the sample container on the base 23 to determine the orientation of the sample container according to the size and position of the label in the image, and the first detecting device 21 is also used for reading information recorded on the label on the sample container, i.e. as the first label reading device, and the structure is simple and reliable, and the size of the angle that the base 23 needs to rotate can be determined at one time, which is helpful for improving the operation efficiency, and the structure of the present invention can also be simplified. The vision device generally includes a camera, an image processing module, etc., the structure and principle of which are well known to those skilled in the art, and the specific method for determining the orientation of the sample container by the captured image is also known to those skilled in the art from the description of the present invention, and will not be described in detail herein.

In this embodiment, the surface of the sample holder 20 for placing the sample container is inclined at an angle relative to the horizontal plane, so that the sample in the sample container can be gathered at one corner of the sample container, the depth of the sample is increased, and the sample can be conveniently sucked. In this embodiment, the sample holder 20 is directly arranged in an inclined manner, in other embodiments, the sample holder 20 may have other suitable structures and shapes, and accordingly, only the face on which the sample container is arranged may be arranged in an inclined manner. In addition, in this embodiment, the specimen holder 20 further includes a slide holder 25 for holding a slide, so as to facilitate the detection of the specimen contained in the slide.

Referring to fig. 6 and 7, in this embodiment, the second detection device 31 for detecting the height of the liquid layer in the test tube on the fixing device 30 is disposed on the fixing device 30, the second detection device 31 is connected to the control device 91 in a communication manner, so that the control device 91 can control the movements of the displacement device 60 and the liquid-moving device 51 according to the detection result of the second detection device 31, so that the pipette connected to the liquid-moving device 51 can accurately reach the predetermined liquid layer and accurately suck the required liquid in a sufficient amount, thereby preventing the liquid in the rest of the liquid layer from being sucked into the pipette together, and effectively improving the operation quality.

In this embodiment, the second detection device 31 is a vision device, the frame 10 is provided with a reference object 32, the reference object 32 is located in the shooting area of the second detection device 31, and the reference object 32 can set a constant reference coordinate, so that the height of the liquid layer in the test tube can be accurately determined, and the operation precision can be improved. In this embodiment, the reference object 32 is a rod that is vertically arranged beside the test tube, and in other embodiments, the reference object 32 may also have other suitable shapes and arrangement positions, which are not limited to this. In this embodiment, the second detection device 31 serves as the second tag reading device at the same time, and the configuration can be simplified.

In this embodiment, the number of the fixing devices 30 is two, and each fixing device 30 can independently fix the test tube, so that two test tubes can be fixed simultaneously to perform pipetting operation in the two test tubes, a more complicated semen washing operation method can be performed, and two samples can be synchronously operated to improve the operation efficiency when the device is used for a simpler semen washing method. In other embodiments, the number of the fixing devices 30 may be one, three, four, etc. according to the requirement, and is not limited thereto. In this embodiment, the fixing device 30 adopts a motor-driven clamping jaw structure, and in other embodiments, the fixing device 30 may also adopt other suitable fixing structures, such as a sleeve, and the like, without being limited thereto.

In this embodiment, the rack 10 is provided with a second driving device 33 for driving the fixing device 30 to move so that the test tube fixed by the fixing device 30 and the pipette connected to the pipetting device 51 are relatively inclined at an angle, so that in the liquid injection operation, the pipette can be inclined to cling to the inner wall of the test tube so that the injected liquid can slowly flow down along the inner wall of the test tube, thereby avoiding splashing and reducing turbulence, and improving the operation quality. In other embodiments, the second driving device 33 may be configured to drive the pipetting device 51 to move so as to tilt the pipette, or drive the fixing device 30 and the pipetting device 51 to move so as to tilt both the test tube and the pipette, without being limited thereto. In this embodiment, the second driving device 33 is a motor, the fixing device 30 is disposed on the frame 10 via a rotating shaft 34, and the second driving device 33 drives the rotating shaft 34 to rotate so as to swing the fixing device 30, in other embodiments, the second driving device 33 may also drive the fixing device 30 to tilt by using other suitable structures such as a swing motor, an air cylinder, a cam mechanism driven by a motor, and the like, but is not limited thereto.

Referring to fig. 8 and 9, in the present embodiment, the displacing device 60 includes a traversing device and two lifting devices, and the gripping device 40 and the liquid-transferring device 51 are respectively and independently lifted and lowered by a lifting device disposed on the traversing device, so that the mutual interference between the liquid-transferring device 51 and the gripping device 40 during operation can be avoided, and the structure of the present invention can be simplified. In this embodiment, the traverse device includes a cross beam 62 slidably disposed on the frame 10 and driven by a first traverse motor 621 to move forward and backward, and a traverse base 63 slidably disposed on the cross beam 62 and driven by a second traverse motor 631 to move leftward and rightward, each of the elevating devices includes an elevating base 64 slidably disposed on the traverse base 63 and driven by an elevating motor 641 to move upward and downward, and the gripping device 40 and the liquid-transferring device 51 are disposed on the two elevating bases 64, respectively. In other embodiments, the displacement device 60 may be a mechanical arm or other suitable structure, and is not limited thereto.

Referring to fig. 1 to 3, in this embodiment, a centrifugal device 92 is further disposed on the rack 10, and the gripping device 40 can move to the centrifugal device 92 through the displacement device 60, so that the gripping device 40 can automatically place the test tube into the centrifugal device 92 for centrifugal operation, and can take out the test tube from the centrifugal device 92, thereby realizing more complicated semen washing operation, further improving automation degree and operation efficiency, and having a wider application range. The centrifugal device 92 is widely used, and not described in detail herein, in this embodiment, the rack 10 is provided with a balance seat 11 for placing balance test tubes, that is, when the number of sample test tubes to be centrifuged cannot meet the requirement for uniform placement in the centrifugal device 92, the gripping device 40 can grip test tubes filled with other liquids from the balance seat 11 and place the test tubes in the centrifugal device 92 for balancing with the sample test tubes. In this embodiment, the frame 10 is provided with a table, the centrifugal device 92 is arranged under the table, and the table is provided with a centrifugal inlet 12 communicated with the centrifugal device 92.

Referring to fig. 1 to 3, in the present embodiment, a waste bin 80 is detachably disposed on the frame 10, the waste bin 80 has a waste inlet, the gripping device 40 and the liquid-moving device 51 can be moved above the waste inlet by the displacement device 60, so that the gripping device 40 and the liquid-moving device 51 can automatically drop waste test tubes and straws into the waste bin 80, respectively, and the waste bin 80 can be separated from the frame 10 to dump the collected waste for use. In this embodiment, waste bin 80 is removably positioned on the floor directly by casters 82 and is slidably insertable into and removable from a lower portion of frame 10 in a bin 84, with the top opening of waste bin 80 serving as a waste inlet, and the deck having a waste inlet 13 aligned with the top opening of waste bin 80. In other embodiments, the waste bin 80 may be disposed on the frame 10 by other detachable structures such as a detachable connection structure, but is not limited thereto. In addition, in this embodiment, the in-place detection device 81 for detecting whether the waste bin 80 is in place is arranged on the rack 10, and the in-place detection device 81 is communicated with the control device 91, so that the situation that waste is thrown in when the waste bin 80 is not in place can be avoided, and the in-place detection device 81 is more reliable and can adopt common detection structures such as a contact switch and an infrared detector. In addition, in this embodiment, the waste bin 80 is provided with a handle 83 for easy pulling.

Referring to fig. 8 and 9, in the present embodiment, a third detecting device 65 is disposed on the displacement device 60, the third detecting device 65 is used for detecting the number and the positions of the test tubes in the test tube rack 52 and the pipettes in the pipette rack 53 and can be moved by the displacement device 60, the third detecting device 65 is in communication with the control device 91, so that the number and the positions of the pipettes and the test tubes can be automatically detected and recorded, and the situation that the gripping device 40 and the pipetting device 51 move to the vacant position to affect the operation efficiency and cause misoperation can be avoided, in the present embodiment, the third detecting device 65 is disposed on the traverse seat 63, and a common detecting structure such as a laser detector and a camera can be adopted.

In this embodiment, the liquid transferring device 51 is provided with an air pressure detecting device, the air pressure detecting device is used for detecting the air pressure inside the air passage inside the liquid transferring device 51 or inside the suction pipe connected with the liquid transferring device 51, so that whether the suction pipe leaks air can be judged according to the detection result of the air pressure detecting device, after the suction pipe extends into the liquid, the air pressure inside the air passage inside the liquid transferring device 51 or inside the suction pipe connected with the liquid transferring device 51 can also change along with the height of the suction pipe extending, and after the air pressure detecting device detects the air pressure, the height of the liquid level inside the container such as the test tube can be correspondingly obtained. In this embodiment, the air pressure detection device is in communication connection with the control device 91, and the control device 91 can obtain the viscosity of the liquid in the pipette connected to the liquid transfer device 51 according to the detection result of the air pressure detection device, so that the viscosity of the liquid can be automatically detected in the semen washing operation, and the operation efficiency is further improved. When liquid is sucked under the same condition, the air pressure in the liquid transferring device 51 is influenced by the change of the consistency of the liquid, when the liquid transferring device 51 is closed and the liquid is maintained in the suction tube, the difference of the consistency of the liquid can cause the difference of the air pressure in the suction tube and the liquid transferring device 51, corresponding relations can be obtained by carrying out experiments and recording on the liquid with different consistencies, and after the corresponding data are detected and stored in the experiments, the consistency of the liquid can be correspondingly obtained according to the measured pressure.

Referring to fig. 8 and 9, in the present embodiment, the third driving device 41 is disposed on the displacement device 60 for driving the gripping device 40 to rotate, so that when the gripping device 40 grips the cap of the test tube, in cooperation with the fixing device 30 to fix the tube body of the test tube, the third driving device 41 can detach or attach the cap to the tube body of the test tube by rotating the gripping device 40, thereby further improving the degree of automation and facilitating the use. In this embodiment, the third driving device 41 employs a rotating motor, the gripping device 40 employs two clamping bases 43 driven by the gripping motor 42, each clamping base 43 is provided with two gripping rods 44, and the four gripping rods 44 are used to grip the cap of the test tube, which is simple in structure, wide in application range, and convenient to control and use. In other embodiments, the third driving device 41 and the grasping device 40 may adopt other common driving structures and grasping structures, and are not limited thereto.

Referring to fig. 1, 2, 3 and 11, in the present embodiment, both the test tube rack 52 and the pipette rack 53 are detachably disposed on the rack 10, the rack 10 is provided with the fourth detecting device 14 for detecting whether the test tube rack 52 and the pipette rack 53 are mounted on the rack 10, and the fourth detecting device 14 is in communication connection with the control device 91. Therefore, the existence of the test tube rack 52 and the pipette rack 53 can be automatically judged, accidental faults are reduced, and the operation quality is ensured. In this embodiment, the test tube racks 52 and the pipette racks 53 are plural, and each of the test tube racks 52 and the pipette racks 53 corresponds to at least one fourth detection device 14, so that the presence or absence of each of the test tube racks 52 and the pipette racks 53 can be accurately determined, and the control device 91 can adjust the moving path of the displacement device 60, prevent the gripping device 40 and the pipetting device 51 from moving to the vacant position, and contribute to improving the work efficiency and reducing the failure rate.

The control device 91 can adopt common control structures such as a PLC, a control circuit board and a PC, and can be flexibly selected by a person skilled in the art according to needs. In this embodiment, a touch screen 93 connected to the control device 91 is disposed on the frame 10, so as to facilitate checking the detection data and adjusting the operation mode.

Referring to fig. 1 and 2, in addition, in this embodiment, the rack 10 is in a cabinet shape, and is provided with an openable and closable cabinet door 15, so that a closed operation environment can be formed, and the operation quality can be ensured, the grating 16 is arranged at an opening of the cabinet, the grating 16 is communicated with the control device 91, so that the situation that an operator is injured due to starting when the operator does not leave an operation area can be avoided, the illumination lamp 17 is arranged in the cabinet, and the ventilation opening and the air filter are arranged at the upper part of the cabinet, so that pollution can be reduced; in this embodiment, the ventilation opening is disposed at the top center of the cabinet, the air filter includes a primary filter 18 disposed at the ventilation opening and a high efficiency filter 19 disposed below the primary filter 18, the primary filter 18 and the high efficiency filter 19 are widely used, and not described in detail herein, and in other embodiments, the position of the ventilation opening and the structure of the air filter can be adjusted as needed. In other embodiments, the frame 10 may take on other suitable shapes and configurations, and is not limited thereto.

In this embodiment, the pipetting device 51 is a commonly used pipette, the structure and principle thereof are well known to those skilled in the art, and will not be described in detail herein, and in other embodiments, the pipetting device 51 may also be other commonly used pipetting structures, and is not limited thereto.

Referring to fig. 1 to 3, in the present embodiment, a preparing platform 94 is further disposed on the top surface of the frame 10 for conveniently placing the raw materials when preparing the gradient solution, the culture solution, and the like.

The above additional technical features can be freely combined and used in superposition by those skilled in the art without conflict.

The above description is only a preferred embodiment of the present invention, and the technical solutions that achieve the objects of the present invention by basically the same means are all within the protection scope of the present invention.

Claims

1. The fine washing machine is characterized by comprising a rack (10), wherein the rack (10) is provided with:

a sample holder (20) for placing a sample container;

a holding device (30) for holding a test tube;

a test tube rack (52) and a pipette rack (53) for storing test tubes and pipettes, respectively;

a gripping device (40) and a pipetting device (51), both of which are arranged on the rack (10) by a displacement device (60) and can move up and down and back and forth among the sample holder (20), the fixing device (30), the test tube rack (52) and the pipette rack (53); the clamping device (40) is used for clamping test tubes, and the liquid transferring device (51) is used for connecting straws and can perform suction and injection operation through the straws;

and the control device (91) is used for controlling the actions of the fixing device (30), the clamping device (40), the liquid transferring device (51) and the displacement device (60).

2. A washing machine according to claim 1, characterized in that the frame (10) is further provided with a printing and labeling device (70) for applying labels to the test tubes, the gripping device (40) is movable to the printing and labeling device (70) by the displacement device (60), the frame (10) is provided with a first label reading device for reading label information of the sample containers on the sample holders (20), and the control device (91) is capable of receiving the label information read by the first label reading device and outputting the printed information to the printing and labeling device (70).

3. A washing machine according to claim 1, characterized in that the sample holder (20) is provided with a chip reading device (22) for reading chip information of a sample container on the sample holder (20); the displacement device (60) is provided with a chip reading and writing device (61) corresponding to the test tube clamped by the clamping device (40), the chip reading and writing device (61) is used for reading information of a chip on the test tube and writing the information into the chip of the test tube, and the chip reading device (22) and the chip reading and writing device (61) are both in communication connection with the control device (91).

4. A washing machine according to any one of claims 1 to 3, characterized in that said holding means (30) is provided with second label reading means for reading information of the labels on the test tubes thereon; the second tag reading device is connected in communication with the control device (91).

5. A washing machine according to claim 1, characterized in that said sample holder (20) comprises:

a holder body (23) for holding a sample container, wherein the holder body (23) is driven by a first driving device (24) and is transversely and rotatably arranged on the rack (10);

a first detection device (21) for detecting the orientation of a sample container placed on said seat (23);

the control device (91) can receive the detection result of the first detection device (21) and control the action of the first driving device (24) accordingly.

6. A washing machine according to claim 5, characterized in that the first detecting means (21) is a vision device for taking an image of a side of the sample container on the base (23) to determine the orientation of the sample container according to the size and position of the label in the image, and the first detecting means (21) is also used for reading the information recorded on the label on the sample container.

7. A washing machine according to claim 5, characterized in that the surface of the sample holder (20) on which the sample vessel is placed is inclined at an angle to the horizontal.

8. A washing machine according to claim 1, characterized in that the holding means (30) is provided with second detection means (31) for detecting the height of the liquid layer in the cuvette on the holding means (30), said second detection means (31) being communicatively connected to said control means (91).

9. A washing machine according to claim 8, characterized in that said second detection means (31) is a vision device, said frame (10) being provided with a reference object (32), said reference object (32) being located in the area of said second detection means (31).

10. A washing machine according to claim 1, characterized in that said fixing means (30) are two or more in number, each fixing means (30) being capable of independently fixing a test tube.

11. A washing machine according to claim 1, characterized in that the frame (10) is provided with second driving means (33) for driving the fixing means (30) and/or the pipetting means (51) to move so that the test tube fixed by the fixing means (30) and the pipette connected to the pipetting means (51) are inclined at an angle with respect to each other.

12. A washing machine as claimed in claim 1, characterized in that said displacement means (60) comprise a traversing means and two lifting means, said gripping means (40) and said pipetting means (51) being independently liftable and lowerable, respectively, by a said lifting means provided on said traversing means.

13. A washing machine according to claim 1, characterized in that a centrifugal device (92) is arranged on the frame (10), and the gripping device (40) can be moved to the centrifugal device (92) by the displacement device (60).

14. A washing machine according to claim 1, characterized in that a waste bin (80) is detachably arranged on the frame (10), the waste bin (80) having a waste inlet, the gripping device (40) and the pipetting device (51) being movable by the displacement device (60) above the waste inlet.

15. A machine according to claim 1, wherein a third detecting device (65) is arranged on the displacement device (60), said third detecting device (65) is used for detecting the number and positions of the test tubes in the test tube rack (52) and the straws in the pipette rack (53) and can be moved by the displacement device (60), and said third detecting device (65) is in communication connection with said control device (91).

16. A washing machine according to claim 1, characterized in that the liquid-transferring device (51) is provided with an air pressure detecting device for detecting the air pressure in the air passage of the liquid-transferring device (51) or in the suction tube connected with the liquid-transferring device (51).

17. A washer according to claim 16, characterized in that said air pressure detecting means is communicatively connected to said control means (91), and said control means (91) is capable of deriving the consistency of the liquid in the pipette connected to the pipetting device (51) from the detection result of said air pressure detecting means.

18. A washing machine according to claim 1, characterized in that said displacement means (60) are provided with third driving means (41) for driving said gripping means (40) in rotation.

19. A semen washing machine according to claim 1, characterized in that the test tube rack (52) and the pipette rack (53) are detachably arranged on the frame (10), the frame (10) is provided with a fourth detection device (14) for detecting whether the test tube rack (52) and the pipette rack (53) are mounted on the frame (10), and the fourth detection device (14) is in communication connection with the control device (91).