CN115932303A - Nucleic acid sample pretreatment instrument - Google Patents

Abstract

The invention relates to a nucleic acid sample pretreatment instrument, belonging to the technical field of medical institution inspection rooms; the robot comprises a first cooperation robot and a second cooperation robot, wherein the first cooperation robot is used for taking out reagent tubes, the reagent tubes are used for scanning codes and recording information, the reagent tubes are placed at the feeding position of the cover screwing mechanism, the reagent tubes which are used for taking liquid are placed to the original position of the carrier plate, and the reagent tubes move back and forth to the position below the cover screwing mechanism for cover screwing and cover tightening; the second cooperative robot is used for the processes of taking a gun, sucking liquid, dropping liquid and withdrawing the gun head; the first cooperative robot and the second cooperative robot are adopted to complete corresponding work content of nucleic acid sample pretreatment, so that repeated operations of cap screwing, sampling and liquid dropping of medical staff are completely replaced and simulated, and the fatigue of the staff is reduced; intellectuality, modularization, simplification, fault rate are low, it is convenient to maintain, do not need the air supply.

Description

Nucleic acid sample pretreatment instrument

Technical Field

The invention relates to a nucleic acid sample pretreatment instrument, and belongs to the technical field of inspection rooms of medical institutions.

Background

The new coronary pneumonia epidemic situation seriously threatens the life health of people and has certain influence on hospitals and medical staff as main bodies for dealing with the epidemic situation. Nucleic acid detection has been widely used as an important detection means for new coronary pneumonia epidemic. The medical staff operates the whole process to carry out nucleic acid detection, the operation time is long, and the working intensity is high. There is a great need for a machine or apparatus that can replace medical personnel for nucleic acid detection. At present, the nucleic acid sample pretreatment work in nucleic acid detection cannot be completely replaced by machines or equipment. Conventional detection equipment has complex mechanism components, more pneumatic components (cylinders), higher failure rate and high maintenance difficulty if the pneumatic components fail.

For example, chinese patent ZL201921846676.7 discloses a nucleic acid detection pretreatment automation equipment, including box and reagent dish, the back at box top is provided with the detection host computer to the front of detecting the host computer is provided with detects the head, the left side of box is provided with first conveyer belt to the right side of box is provided with the second conveyer belt, the dead ahead of box is provided with the arm base to the top fixedly connected with arm of arm base, the inside of box is provided with servo motor, and the one end transmission of servo motor output shaft is connected with the reducing gear box, the output shaft of reducing gear box runs through the box and extends to the top of box, the top fixedly connected with carousel of reducing gear box output shaft to one side fixedly connected with response piece at reagent dish top, the front fixedly connected with cylinder at box top to the telescopic end fixedly connected with connecting rod of cylinder, the one end fixedly connected with photoelectric switch that the cylinder was kept away from to the connecting rod, the connecting rod is kept away from between the bottom of photoelectric switch one end and the top of box and is provided with the guide rail. The automation of multi-sample detection is realized, the whole detection process only needs to manually place a plurality of reagent disks provided with samples into the first conveyor belt, the sample loading alignment and the detection pretreatment process can be automatically completed, and manual watching is not needed during multi-sample detection.

However, the mechanism assembly is complicated, the number of pneumatic assemblies (cylinders) is large, the failure rate is high, and the maintenance difficulty is high if the failure occurs. Therefore, a nucleic acid sample pretreatment instrument needs to be developed urgently, the cooperative robot is adopted to complete corresponding work content of nucleic acid sample pretreatment, related repetitive operations of cap screwing, sampling and liquid dropping of medical staff are completely replaced and simulated, and the fatigue strength of the staff is reduced; the intelligent, modularization, simplification, low fault rate, convenient maintenance, pure circuit control do not need the air supply.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the instrument for preprocessing the nucleic acid sample is provided, and the cooperative robot is adopted to complete corresponding work content of the preprocessing of the nucleic acid sample, so that the relevant repetitive operations of cap screwing, sampling and liquid dropping of medical staff are completely replaced and simulated, and the fatigue strength of the staff is reduced; the intelligent, modularization, simplification, low fault rate, convenient maintenance, pure circuit control do not need the air supply.

The invention relates to a nucleic acid sample pretreatment instrument, which comprises a first cooperative robot and a second cooperative robot,

the first cooperation robot is used for taking out the reagent tubes from the reagent tube carrier disc, scanning the codes and recording information of the reagent tubes, placing the reagent tubes at the feeding position of the cover screwing mechanism, placing the reagent tubes which are finished liquid taking to the original position of the carrier disc, and screwing and tightly screwing the cover of the reagent tubes to and from the position below the cover screwing mechanism;

the second cooperation robot is used for getting the rifle head, takes the rifle head to carry out the imbibition flow, carries out the liquid dropping flow, moves back rifle head flow, and the repeated rifle head flow of getting finishes to all reagent pipe dropping liquids in the carrier dish after accomplishing.

The first cooperative robot and the second cooperative robot are adopted to complete corresponding work content of nucleic acid sample pretreatment, so that related repetitive operations of cap screwing, sampling and liquid dropping of medical staff are completely replaced and simulated, and the fatigue strength of the staff is reduced; the intelligent, modularization, simplification, low fault rate, convenient maintenance, pure circuit control do not need the air supply.

Preferably, a first end jig is arranged at the tail end of the first cooperation robot, the first end jig is connected with a rotary electric claw, and the first end jig is used for grabbing and putting down the reagent tube; first end tool and rotatory electric claw are provided with 2, and rotatory electric claw is installed on the movable sleeve, and the distance between two first end tools is adjusted to the accessible movable sleeve.

Preferably, the cap screwing mechanism comprises a feeding position, a discharging position and an elastic electric claw, the feeding position and the discharging position are connected with an X-axis moving module, and the elastic electric claw is connected with a Z-axis moving module; the elastic electric claw is used for unscrewing and screwing the reagent tube cover; the feeding position and the discharging position drive the pushing clamping assembly to move through the X-axis moving module to complete switching between the feeding position and the discharging position and to and fro below the cap screwing mechanism.

The first cooperation robot drives a first terminal jig to the reagent tube carrier disc through the mechanical arm, grabs the reagent tube and takes out through the intelligent code reader, the reagent tube sweeps sign indicating number, record information, and the reagent tube is put down to the material loading position of spiral cover mechanism to the removal reagent tube, grabs the reagent tube from the material unloading position and puts to the carrier disc normal position. After grabbing the reagent pipe from the unloading position, the propelling movement clamping components clamp the reagent pipe to the unloading position and propel the X-axis moving module to drive the reagent pipe of the unloading position to the lower part of the cap screwing mechanism, and the cap screwing mechanism screws the cap through the Z-axis moving module and the elastic electric claw. After the cap is screwed, the X-axis moving module drives the blanking position to return, and the second cooperative robot carries out a liquid suction process on the reagent tube with the gun head. After the liquid suction is finished, the X-axis moving module drives the discharging position to the position below the cap screwing mechanism, and the cap screwing mechanism tightly screws the cap through the Z-axis moving module and the elastic electric claw. And after the cover is tightly closed, the X-axis moving module drives the discharging position to return, the pushing clamping assembly is loosened to expose the charging position, and the first cooperative robot grabs the reagent tube from the discharging position and places the reagent tube to the original position of the carrier plate. And continuing the first cooperation robot to drive the first terminal jig to the reagent tube carrier disc through the mechanical arm, grabbing the reagent tube to take out the reagent tube, scanning the code and recording information by the reagent tube, moving the reagent tube to put down the reagent tube at the loading position of the cover screwing mechanism, and completing circulation.

Preferably, a second end jig is arranged at the tail end of the second cooperation robot, the second end jig is connected with a single-channel liquid transfer device and an electric push rod, and the second end jig is used for completing the processes of taking the gun head, absorbing liquid, dropping liquid and withdrawing the gun head; the second end jig is installed on the flange end connecting plate.

Preferably, the carrier plate is provided with a carrier sliding positioning module and a direction mark number, and a carrier transverse sliding mechanism and a carrier longitudinal sliding mechanism are arranged along the direction mark number.

Preferably, the gun head is placed on a gun head box, the liquid dropping process drops liquid into the magnetic bead combination plate, and the gun head withdrawing process withdraws the gun head to a gun head recovery barrel; the gun head box is arranged on the gun head support plate, and the gun head support plate is provided with a gun head support plate sliding positioning module, a gun head support plate transverse sliding mechanism and a gun head support plate longitudinal sliding mechanism; the magnetic bead combination board is arranged on the magnetic bead support board, and a magnetic bead support board sliding positioning module, a magnetic bead support board transverse sliding mechanism and a magnetic bead support board longitudinal sliding mechanism are arranged on the magnetic bead support board; the gun head recycling bin is arranged on the recycling bin support plate.

Preferably, an intelligent code reader is arranged on the inner side of the carrier plate, and the first cooperative robot and the second cooperative robot are respectively connected with a first demonstrator and a second demonstrator; the feeding device is characterized in that a detection unit is arranged on the feeding position, and a gun head detection unit is arranged on the recycling bin support plate.

The second cooperation robot drives the terminal tool of second to rifle head box, insert the rifle head with the single channel pipettor, continue to be driven by the second cooperation robot after accomplishing to get the rifle head by the electric push rod drive, remove supreme material level, insert the reagent pipe, the imbibition of single channel pipettor, liquid reagent in the reagent pipe is inhaled rifle head bottom, continue to be driven by the second cooperation robot, remove to magnetic bead support plate top, the single channel pipettor dropping liquid, liquid reagent drips into in the corresponding kit in the magnetic bead support plate along the rifle head, continue to be driven by the second cooperation robot, remove to rifle head recycling bin top, it retreats the rifle to accomplish by the electric push rod drive.

Preferably, the system further comprises a negative pressure cabin and a central control system board, wherein the negative pressure cabin is arranged at the upper parts of the first cooperative robot and the second cooperative robot, and the central control system board is arranged at the lower parts of the first cooperative robot and the second cooperative robot.

The technological process of the nucleic acid sample pretreatment instrument is used for the nucleic acid sample pretreatment instrument and comprises the following steps:

the process flow of the first cooperative robot is as follows:

the first step is as follows: the first cooperation robot takes out the reagent tube from the reagent tube carrier tray;

the second step is that: scanning the code of the reagent tube and recording information;

the third step: the first cooperation robot places the reagent tube at the feeding position of the cover screwing mechanism;

the fourth step: the first cooperative robot places the reagent tube which finishes liquid taking to the original position of the carrier plate;

the fifth step: the reagent tube moves back and forth to a position below the cover screwing mechanism to screw and tighten the cover;

the process flow of the second cooperative robot is as follows:

the first step is as follows: taking a gun head by a second cooperative robot;

the second step is that: the second cooperative robot carries out a liquid suction process with a gun head;

the third step: the second cooperative robot performs a liquid dropping process;

the fourth step: and the second cooperative robot carries out the gun head withdrawing process and repeats the gun head taking process after the gun head withdrawing process is finished.

The technological process of the nucleic acid sample pretreatment instrument adopts the nucleic acid sample pretreatment instrument, meets the urgent requirements of screening and high-throughput screening of large-scale people at present, reduces the limitation of conventional detection methods, reduces the labor intensity of detection personnel, and efficiently ensures the personal safety of the detection personnel.

Compared with the prior art, the invention has the following beneficial effects:

the nucleic acid sample pretreatment instrument meets the urgent requirements of screening and high-throughput screening of large-scale people at present, reduces the limitation of a conventional detection method, reduces the labor intensity of detection personnel, and efficiently ensures the personal safety of the detection personnel. The intelligent, modularization, simplification, low fault rate, convenient maintenance, pure circuit control do not need the air supply.

The technological process of the nucleic acid sample pretreatment instrument meets the urgent requirements of screening and high-flux screening of large-scale people at present, reduces the limitation of a conventional detection method, reduces the labor intensity of detection personnel, and efficiently ensures the personal safety of the detection personnel.

Drawings

FIG. 1 is a schematic diagram of a second external perspective structure of a nucleic acid sample pretreatment apparatus according to the present invention;

FIG. 2 is a schematic diagram of an internal top view of a nucleic acid sample pretreatment apparatus according to the present invention;

FIG. 3 is a schematic perspective view of a carrier plate according to the present invention;

fig. 4 is a schematic view of a first three-dimensional structure of a first end jig according to the present invention;

fig. 5 is a schematic diagram of a second three-dimensional structure of a first end jig according to the present invention;

FIG. 6 is a schematic perspective view of a cap screwing mechanism according to the present invention;

fig. 7 is a schematic perspective view of a second end jig according to the present invention;

fig. 8 is a schematic perspective view of a lance tip box according to the present invention;

FIG. 9 is a schematic diagram of an internal perspective structure of a nucleic acid sample pretreatment apparatus according to the present invention.

In the figure: 1. a first cooperative robot; 2. a second cooperative robot; 3. a carrier plate; 301. a carrier sliding positioning module; 302. a direction marker number; 4. a cap screwing mechanism; 401. loading the material; 402. feeding; 403. loosening and tightening the electric claw; 404. an X-axis moving module; 405. a Z-axis moving module; 406. pushing the clamping assembly; 5. a first end jig; 501. rotating the electric claw; 502. a movable sleeve; 503. a dust cover; 6. a second end jig; 601. a single channel pipettor; 602. an electric push rod; 603. a flange tail end connecting plate; 7. a gun head box; 701. a gun head support plate; 702. a gun head support plate sliding positioning module; 8. a magnetic bead binding plate; 801. a magnetic bead support plate; 802. the magnetic bead support plate slides and positions the module; 9. a gun head recovery barrel; 901. a recycling bin support plate; 10. a first demonstrator; 11. a second demonstrator; 12. a detection unit; 13. a gun head detection unit; 14. a negative pressure bin; 15. a central control system board; 16. an intelligent code reader; 17. a drip-proof night plate.

Detailed Description

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or technical solutions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive work.

Example 1:

as shown in FIGS. 1 to 9, the present invention provides a nucleic acid sample pretreatment apparatus suitable for use by examiners in medical institutions, comprising a first cooperative robot 1 and a second cooperative robot 2,

the first cooperation robot 1 is used for taking out reagent tubes from the reagent tube carrier disc 3, scanning the reagent tubes, recording information, placing the reagent tubes at the feeding position 401 of the cover screwing mechanism 4, placing the reagent tubes which are finished taking liquid to the original position of the carrier disc 3, and screwing and tightly screwing the cover of the reagent tubes to and from the position below the cover screwing mechanism 4;

and the second cooperative robot 2 is used for taking a gun head, carrying out liquid suction flow with the gun head, carrying out liquid dropping flow, carrying out gun head retreating flow, and repeatedly taking the gun head flow after the completion until all reagent tubes in the carrier plate 3 have dropped liquid.

The first cooperative robot 1 and the second cooperative robot 2 are adopted to complete corresponding work content of nucleic acid sample pretreatment, so that related repetitive operations of cap screwing, sampling and liquid dropping of medical staff are completely replaced and simulated, and the fatigue strength of the staff is reduced; the intelligent, modularization, simplification, low fault rate, convenient maintenance, pure circuit control do not need the air supply.

A first end jig 5 is arranged at the tail end of the first cooperation robot 1, the first end jig 5 is connected with a rotary electric claw 501, and the first end jig 5 is used for grabbing and putting down a reagent tube; the rotary electric claw 501 is mounted on a movable sleeve 502, and a dust cover 503 is arranged outside the rotary electric claw 501.

The cap screwing mechanism 4 comprises a feeding position 401, a discharging position 402 and an elastic electric claw 403, the feeding position 401 and the discharging position 402 are connected with an X-axis moving module 404, and the elastic electric claw 403 is connected with a Z-axis moving module 405; the elastic electric claw 403 is used for unscrewing and screwing the reagent tube cover; the loading level 401 and the unloading level 402 are switched between the loading level 401 and the unloading level 402 and move to and fro below the cap screwing mechanism 4 through the pushing and clamping component 406.

The first cooperation robot 1 drives first end tool 5 to reagent pipe carrier dish 3 through the arm, snatchs the reagent pipe and takes out through intelligent code reader 16, and the code, record information are swept to the reagent pipe, remove the reagent pipe and put down the reagent pipe in the material loading position 401 of spiral cover mechanism 4, snatch the reagent pipe from material unloading position 402 and put to carrier dish 3 normal position. After grabbing the reagent tube from the blanking position 402, the pushing and clamping assembly 406 clamps the reagent tube to the blanking position 402 and pushes the X-axis moving module 404 to drive the reagent tube at the blanking position 402 to the lower part of the cap screwing mechanism 4, and the cap screwing mechanism 4 screws the cap through the Z-axis moving module 405 and the elastic electric claw 403. After the cap is screwed, the X-axis moving module 404 drives the blanking position 402 to return, and the second cooperative robot 2 carries a gun head to perform a liquid suction process on the reagent tube. After imbibition is finished, the X-axis moving module 404 drives the discharging position 402 to the position below the cap screwing mechanism 4, and the cap screwing mechanism 4 tightly covers the cap through the Z-axis moving module 405 and the elastic electric claw 403. After the cover is tightly closed, the X-axis moving module 404 drives the blanking position 402 to retract, the pushing and clamping assembly 406 is loosened to expose the loading position 401, and the first cooperative robot 1 grabs the reagent tube from the blanking position 402 and puts the reagent tube into the carrier plate 3 in situ. And continuing the first cooperation robot 1 to drive the first tail end jig 5 to the reagent tube carrier disc 3 through the mechanical arm, grabbing the reagent tube to take out, scanning the reagent tube by the intelligent code reader 16, recording information, moving the reagent tube, and putting down the reagent tube at the feeding position 401 of the cover screwing mechanism 4 to complete circulation.

The reagent tube moves back and forth to the position below the cap screwing mechanism 4 for cap screwing and cap tightening, so that the interference problem can be avoided. The cap screwing mechanism 4 is also provided with a drip-proof board 17 for preventing liquid dropping.

The carrier plate 3 is provided with a carrier sliding positioning module 301 and a direction mark 302, and a carrier transverse sliding mechanism and a carrier longitudinal sliding mechanism are arranged along the direction mark 302.

Whether the carrier plate 3 is placed in place or not is detected through the carrier sliding positioning module 301, and if deviation exists, the carrier plate 3 can be moved to a correct position through the carrier transverse sliding mechanism and the carrier longitudinal sliding mechanism, so that the carrier plate 3 can float in a space of 3-6 mm when being placed.

A second end jig 6 is arranged at the tail end of the second cooperation robot 2, the second end jig 6 is connected with a single-channel liquid shifter 601 and an electric push rod 602, and the second end jig 6 is used for completing the processes of taking a gun head, absorbing liquid, dropping liquid and withdrawing the gun head; the second end jig 6 is mounted on the flange end connecting plate 603.

The gun head is placed on a gun head box 7, the liquid dropping process drops liquid into the magnetic bead combination plate 8, and the gun head withdrawing process withdraws the gun head to a gun head recovery barrel 9; the gun head box 7 is arranged on the gun head support plate 701, and the gun head support plate 701 is provided with a gun head support plate sliding positioning module 702, a gun head support plate transverse sliding mechanism and a gun head support plate longitudinal sliding mechanism; the magnetic bead combination board 8 is arranged on a magnetic bead carrier plate 801, and the magnetic bead carrier plate 801 is provided with a magnetic bead carrier plate sliding positioning module 802, a magnetic bead carrier plate transverse sliding mechanism and a magnetic bead carrier plate longitudinal sliding mechanism; the lance head recovery barrel 9 is arranged on the recovery barrel carrier plate 901.

Second cooperation robot 2 drives second end tool 6 to rifle head box 7, insert the rifle head with single channel pipettor 601, continue to be driven by second cooperation robot 2 after accomplishing getting the rifle head by electric push rod 602 drive, remove to material loading 401, insert the reagent pipe, the imbibition of single channel pipettor 601, liquid reagent in the reagent pipe is inhaled rifle head bottom, continue to be driven by second cooperation robot 2, remove to magnetic bead support plate 801 top, single channel pipettor 601, liquid reagent drips into in the corresponding kit in the magnetic bead support plate 801 along the rifle head, continue to be driven by second cooperation robot 2, remove to rifle head recycling bin 9 top, it retreats the rifle to drive the completion by electric push rod 602.

When the single-channel pipettor 601 moves and rises slowly, and when the single-channel pipettor 601 moves and falls, the falling speed is consistent with the falling speed of the liquid reagent, so that the liquid reagent is prevented from falling.

An intelligent code reader 16 is arranged on the inner side of the carrier disc 3, and the first cooperative robot 1 and the second cooperative robot 2 are respectively connected with a first demonstrator 10 and a second demonstrator 11; a detection unit 12 is arranged on the feeding level 401, and a gun head detection unit 13 is arranged on the recycling bin support plate 901.

The intelligent code reader 16 is used for finishing code scanning and information recording, the first demonstrator 10 and the second demonstrator 11 are used for finishing mechanical arm dragging teaching and visual programming, and the robot can be easily operated without an expert programming language. The detection unit 12 is configured to detect whether the pushing and clamping assembly 406 moves to complete switching between the feeding position 401 and the discharging position 402, and the gun head detection unit 13 is configured to detect whether the electric push rod 602 drives to complete gun retreating. Here, the detection unit 12 may employ a detection sensor to detect the movement of the push clamp assembly 406.

The nucleic acid sample pretreatment instrument further comprises a negative pressure bin 14 and a central control system board 15, wherein the negative pressure bin 14 is arranged at the upper parts of the first cooperative robot 1 and the second cooperative robot 2, and the central control system board 15 is arranged at the lower parts of the first cooperative robot 1 and the second cooperative robot 2.

The central control system board 15 is used for completing the whole machine control according to the technological process of the nucleic acid sample pretreatment instrument.

The advantages of the product characteristics of the nucleic acid sample pretreatment instrument are as follows:

1, the cooperative robot is adopted to complete corresponding work content of nucleic acid sample pretreatment for the first time, so that related repetitive operations of cap screwing, sampling and liquid dropping of medical personnel are completely replaced and simulated, and the fatigue strength of the personnel is reduced;

2, a negative pressure bin 14 forms a built-in negative pressure filtering system and is provided with an ultraviolet disinfection system, so that aerosol pollutants are effectively prevented from leaking;

compared with the conventional sampling equipment, the nucleic acid sample pretreatment instrument has the advantages of intelligence, modularization, simplification, low failure rate, convenient maintenance and no need of an air source for pure circuit control. On the contrary, conventional detection equipment has complicated mechanism components, more pneumatic component cylinders and higher failure rate, and has high maintenance difficulty if a failure occurs;

4, space aspect: the floor area is 1.95 square meters, which saves more space than the operation table of the medical staff;

5, the pretreatment system is more intelligent: the central control system board 15 of the device reserves external signal input and output signal ports, so that the sampling condition of the sample can be monitored conveniently, and medical staff can search related reagent tubes conveniently.

The invention discloses a process flow of a nucleic acid sample pretreatment instrument, which comprises the following steps:

the process flow of the first cooperative robot 1:

the first step is as follows: the first cooperative robot 1 takes out a reagent tube from the reagent tube carrier tray;

the second step is that: scanning the code of the reagent tube and recording information;

the third step: the first cooperative robot 1 places the reagent tubes at a loading level 401 of the cap screwing mechanism 4;

the fourth step: the first cooperative robot 1 places the reagent tube which has finished taking the liquid to the carrier plate 3 in situ;

the fifth step: the reagent tube moves back and forth to a position below the cover screwing mechanism 4 to screw and tighten the cover;

the process flow of the second cooperative robot 2 is as follows:

the first step is as follows: the second cooperative robot 2 takes the gun head;

the second step is that: the second cooperative robot 2 carries out a liquid suction process with a gun head;

the third step: the second cooperative robot 2 performs a liquid dropping process;

the fourth step: and the second cooperative robot 2 performs a gun head withdrawing process and repeats a gun head taking process after the gun head withdrawing process is completed.

The technological process of the nucleic acid sample pretreatment instrument meets the urgent requirements of screening and high-flux screening of large-scale people at present, reduces the limitation of a conventional detection method, reduces the labor intensity of detection personnel, and efficiently ensures the personal safety of the detection personnel.

The working process of the first cooperative robot 1 is specifically as follows:

step S1, placing a reagent tube: the first cooperation robot 1 drives a first tail end jig 5 to the reagent tube carrier disc 3 through a mechanical arm, picks up a reagent tube, takes out the reagent tube, scans the code and records information through the intelligent code reader 16, moves the reagent tube, puts down the reagent tube at a feeding position 401 of the cover screwing mechanism 4;

step S2, cap screwing: the pushing and clamping component 406 is used for clamping the reagent tube to the blanking position 402 and pushing the X-axis moving module 404 to drive the reagent tube of the blanking position 402 to be below the cap screwing mechanism 4, and the cap screwing mechanism 4 is used for screwing the cap through the Z-axis moving module 405 and the elastic electric claw 403;

step S3, imbibition: after the cap is screwed, the X-axis moving module 404 drives the blanking position 402 to return, and the second cooperative robot 2 works to suck liquid;

step S4, cover tightening: after imbibition is finished, the X-axis moving module 404 drives the discharging position 402 to the position below the cap screwing mechanism 4, and the cap screwing mechanism 4 tightly covers the cap through the Z-axis moving module 405 and the elastic electric claw 403;

s5, placing a reagent tube to the original position: after the cover is closed, the X-axis moving module 404 drives the discharging position 402 to retract, the pushing clamping assembly 406 is loosened to expose the charging position 401, and the first cooperative robot 1 grabs the reagent tube from the discharging position 402 and places the reagent tube in the carrier plate 3 in situ.

S6, circularly placing reagent tubes: and continuing the first cooperation robot 1 to drive the first tail end jig 5 to the reagent tube carrier disc 3 through the mechanical arm, taking out the reagent tube, scanning the code and recording information through the intelligent code reader 16, moving the reagent tube to the feeding position 401 of the cover screwing mechanism 4, putting down the reagent tube, gripping the reagent tube from the discharging position 402, putting the reagent tube to the carrier disc 3 in situ, and repeating the steps S2-S6 to complete the cycle.

The working process of the second cooperative robot 2 is specifically as follows:

step D1, taking a gun head: the second cooperation robot 2 drives the second end jig 6 to the gun head box 7, the single-channel pipettor 601 is inserted into the gun head, and the electric push rod 602 drives the gun head taking;

step D2, imbibition: the liquid reagent is continuously driven by the second cooperative robot 2 to move to the feeding position 401, a reagent tube is inserted, a single-channel liquid shifter 601 absorbs liquid, and the liquid reagent in the reagent tube is absorbed into the bottom of the gun head;

step D3, dripping liquid: the second cooperative robot 2 continues to drive the liquid reagent to move to the position above the magnetic bead support plate 801, the single-channel liquid shifter 601 drips the liquid reagent, and the liquid reagent drips into a corresponding reagent kit in the magnetic bead support plate 801 along the gun head;

step D4, withdrawing the gun head: and D1, continuously driving by the second cooperation robot 2, moving to the position above the gun head recovery barrel 9, driving by the electric push rod 602 to finish gun withdrawal, and repeating the steps D1-D4 to finish circulation after the gun withdrawal is finished.

The connection between the first cooperative robot 1 and the second cooperative robot 2 is that the liquid is absorbed in step S3, after the cover is screwed, the X-axis moving module 404 drives the blanking position 402 to return, and the second cooperative robot 2 works to absorb the liquid. Before pipetting, the second cooperative robot 2 has completed the work of taking the gun head, step D1. The second cooperative robot 2 works and sucks liquid, which is the step D2: the liquid reagent is continuously driven by the second cooperation robot 2 to move to the feeding position 401, the reagent tube is inserted, the single-channel liquid shifter 601 sucks liquid, and the liquid reagent in the reagent tube is sucked into the bottom of the gun head. After the second cooperative robot 2 completes the step D2, the subsequent steps are continued, and the first cooperative robot 1 also continues the subsequent steps.

The working processes of the first cooperative robot 1 and the second cooperative robot 2 are both driven by the motor, and the first cooperative robot and the second cooperative robot can be controlled by pure electric circuits and software without complex structures such as an air source and an air cylinder.

Example 2

As shown in FIGS. 1 to 9, the difference from the nucleic acid sample pretreatment apparatus described in example 1 is that:

first end tool 5 and rotatory electric claw 501 are provided with 2, and rotatory electric claw 501 is installed on the movable sleeve 502, and the accessible movable sleeve 502 adjusts the distance between two first end tools 5 for compatible single-extraction reagent pipe, 10 mix reagent pipe, 20 mix the reagent pipe.

Here, the distance between the two first end jigs 5 can be adjusted by manually disassembling and assembling the first end jigs 5 and adjusting the position of the first end jigs 5 mounted on the movable sleeve 502.

In order to fit two first end fixtures 5, the single-channel pipette 601, the loading position 401, the unloading position 402, and the tightening electric claw 403 are all provided with 2 sets.

In order to further improve the working efficiency of the nucleic acid sample pretreatment instrument described in embodiment 1, 2 sets of the first cooperation robot 1 and the cap screwing mechanism 4 are respectively provided, the first cooperation robot 1 and the cap screwing mechanism 4 are tightly covered and put on the carrier disc 3 in situ, a reagent tube is taken out from the reagent tube carrier disc 3, the reagent tube is scanned and information is recorded, and the reagent tube is put on a loading position 401 of the cap screwing mechanism 4 and is screwed; and the second cooperative robot 2 carries out liquid suction flow, liquid dropping flow and gun head withdrawing flow on the reagent pipe which is completely capped by the capping mechanism 4 and is provided with a gun head. After the gun head withdrawing process is finished, another cap screwing mechanism 4 is used for tightly screwing the cap, another first cooperation robot 1 is used for placing the cap on a carrier disc 3 in situ and taking out a reagent tube, the reagent tube is used for scanning codes and recording information, and the reagent tube is placed on a feeding position 401 of another cap screwing mechanism 4 and is screwed; in the process, the second cooperative robot 2 carries out liquid suction and liquid dropping and gun head withdrawing processes on a reagent tube which is completely covered by the cover screwing mechanism 4 by the gun head.

The research and development of the equipment meet the urgent requirements of screening and high-throughput screening of large-scale people at present, the limitation of a conventional detection method is reduced, the labor intensity of detection personnel is reduced, and the personal safety of the detection personnel is effectively guaranteed. Compared with the conventional sampling equipment, the equipment has the advantages of intellectualization, modularization, simplification, low failure rate, convenient maintenance and no need of an air source for pure circuit control; the control function is optimized correspondingly, and the method is more intelligent and simple to operate. And conventional check out test set, mechanism's subassembly is loaded down with trivial details, and pneumatic subassembly cylinder class is more, and the fault rate is higher, if break down its maintenance degree of difficulty height.

The nucleic acid sample pretreatment apparatus provided by the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, it is possible to make various improvements and modifications to the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (11)

1. A nucleic acid sample pretreatment apparatus comprising a first cooperative robot (1) and a second cooperative robot (2),

the first cooperation robot (1) is used for taking out reagent tubes from the reagent tube carrier disc (3), identifying the reagent tubes, placing the reagent tubes at a feeding position (401) of the cover screwing mechanism (4), placing the reagent tubes which have finished liquid taking to the original position of the carrier disc (3), and screwing and tightly screwing the cover of the reagent tubes to and fro to a position below the cover screwing mechanism (4);

and the second cooperative robot (2) is used for taking a gun head, carrying out liquid suction flow with the gun head, carrying out liquid dropping flow, carrying out gun head retreating flow, and repeating the gun head taking flow after the completion until all reagent tube liquid dropping in the carrier plate (3) is finished.

2. The nucleic acid sample pretreatment instrument according to claim 1, wherein a first end jig (5) is provided at an end of the first cooperative robot (1), the first end jig (5) is connected with a rotary electric claw (501), and the first end jig (5) is used for grabbing and putting down a reagent tube.

3. The nucleic acid sample pretreatment instrument according to claim 2, wherein 2 first end jigs (5) and 2 rotary electric claws (501) are provided, the rotary electric claws (501) are mounted on a movable sleeve (502), and the distance between the two first end jigs (5) can be adjusted by the movable sleeve (502).

4. The nucleic acid sample pretreatment instrument according to claim 1, wherein the cap screwing mechanism (4) comprises a feeding position (401), a discharging position (402) and a tension electric claw (403), the feeding position (401) and the discharging position (402) are connected with an X-axis moving module (404), and the tension electric claw (403) is connected with a Z-axis moving module (405); the elastic electric claw (403) is used for screwing and unscrewing the reagent tube cover; the feeding position (401) and the discharging position (402) are switched and move to and fro below the cap screwing mechanism (4) through the pushing and clamping assembly (406).

5. The nucleic acid sample pretreatment instrument according to claim 4, wherein a detection unit (12) is provided at said loading position (401).

6. The nucleic acid sample pretreatment instrument according to claim 1, wherein a second end jig (6) is arranged at the tail end of the second cooperative robot (2), the second end jig (6) is connected with a single-channel pipette (601) and an electric push rod (602), and the second end jig (6) is used for completing the processes of taking, absorbing, dripping and withdrawing a gun head; the second end jig (6) is installed on the flange end connecting plate (603).

7. The pre-treatment apparatus for nucleic acid samples according to any of claims 1-6, wherein the carrier tray (3) is provided with a carrier slide positioning module (301) and a direction mark (302), and a carrier transverse slide mechanism and a carrier longitudinal slide mechanism are provided along the direction mark (302).

8. The nucleic acid sample pretreatment apparatus according to claim 7, wherein an intelligent code reader (16) is provided inside the carrier plate (3).

9. The nucleic acid sample pretreatment robot according to claim 1, wherein the tip is placed on a tip cassette (7), the dropping flow drops into the magnetic bead bonding plate (8), and the tip withdrawing flow withdraws the tip to a tip recovery tank (9); the gun head box (7) is arranged on a gun head support plate (701), and a gun head support plate sliding positioning module (702), a gun head support plate transverse sliding mechanism and a gun head support plate longitudinal sliding mechanism are arranged on the gun head support plate (701); the magnetic bead combination plate (8) is arranged on a magnetic bead carrier plate (801), and a magnetic bead carrier plate sliding positioning module (802), a magnetic bead carrier plate transverse sliding mechanism and a magnetic bead carrier plate longitudinal sliding mechanism are arranged on the magnetic bead carrier plate (801); the gun head recovery barrel (9) is arranged on the recovery barrel support plate (901).

10. The nucleic acid sample pretreatment robot according to claim 9, wherein a tip detection unit (13) is provided on the recovery tank support plate (901).

11. The nucleic acid sample pretreatment instrument according to claim 1, further comprising a negative pressure chamber (14) and a central control system board (15), wherein the negative pressure chamber (14) is disposed above the first cooperative robot (1) and the second cooperative robot (2), and the central control system board (15) is disposed below the first cooperative robot (1) and the second cooperative robot (2).

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