CN211528446U

CN211528446U - Mechanical arm sample introduction module

Info

Publication number: CN211528446U
Application number: CN202020054811.0U
Authority: CN
Inventors: 许行尚; 杰弗瑞·陈; 赵大强
Original assignee: Nanjing Lanyu Biological Technology Co Ltd
Current assignee: Nanjing Lanyu Biological Technology Co Ltd
Priority date: 2020-01-12
Filing date: 2020-01-12
Publication date: 2020-09-18
Anticipated expiration: 2030-01-12

Abstract

The utility model discloses a mechanical arm sample introduction module, which comprises a first sampling device provided with a sampling needle assembly and a second sampling device provided with a pipette head assembly; the first sampling device is used for sucking a reaction reagent and adding the reaction reagent into the reaction cup, and the second sampling device is used for sucking a sample and adding the sample into the reaction cup; the mechanical arm sample introduction module further comprises a transverse movement assembly, a longitudinal movement assembly and an up-and-down movement assembly, wherein the transverse movement assembly respectively drives the first sampling device and the second sampling device to move transversely, the longitudinal movement assembly respectively drives the first sampling device and the second sampling device to move longitudinally, and the up-and-down movement assembly respectively drives the first sampling device and the second sampling device to move up and down. The mechanical arm sample introduction module can enable the first sampling device and the second sampling device to move transversely, vertically and longitudinally, namely the sampling is flexibly controlled by moving in three directions, so that a reaction reagent and a sample are added into a specified reaction cup, and accurate and rapid sampling is realized.

Description

Mechanical arm sample introduction module

Technical Field

The utility model belongs to the technical field of medical equipment, especially, relate to a sample module is advanced to arm of gathering sample.

Background

The mainstream chemiluminescence product in the market needs to adopt serum or plasma as a detection sample, can not support direct and automatic detection of a whole blood sample, has long first sample report time and long total diagnosis time, hardly meets the requirement of detection turnover time, has long total waiting time, can aggravate the pain of a patient, easily causes the conflict emotion of family members or the patient, and is not beneficial to the treatment of subsequent patients.

Chinese patent document CN106918715A discloses a chemiluminescent diagnostic device comprising: a base having a mounting surface; the sampling needle module comprises a sampling mechanism which is rotatably arranged relative to the base and a driving mechanism which is arranged on the base and is used for driving the sampling mechanism to rotate and lift; a magnetic bead reagent pre-incubation module comprising a pre-incubation tray and pre-incubation heating means for heating the pre-incubation tray, the pre-incubation heating means being disposed at the bottom of the pre-incubation tray; the pre-incubation disc is arranged around the rotating axis of the sampling mechanism and is positioned in a sampling area of the sampling mechanism; the incubation cleaning module comprises an incubation tray, an incubation heating device for heating the incubation tray, a magnetic separation component and a cleaning station component, wherein the incubation heating device is arranged at the bottom of the incubation tray, the magnetic separation component is sleeved at the outer edge of the incubation tray, the cleaning station component comprises a driving component and a cleaning needle fixed on the driving component, the cleaning needle is arranged above the incubation tray and can be matched with an inner cavity of an incubation reaction cup on the incubation tray in a working state; and the data analysis module comprises an industrial personal computer and a touch display screen for data analysis.

However, the mechanical arm sample feeding module in the technical scheme is not ideal and flexible in the specific use process, and the layout among the components makes the whole structure change very overstaffed.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a arm advances a kind module.

In order to solve the technical problem, the utility model adopts the technical proposal that the mechanical arm sample introduction module comprises a first sampling device provided with a sampling needle assembly and a second sampling device provided with a pipette head assembly; the first sampling device is used for sucking a reaction reagent and adding the reaction reagent into the reaction cup, and the second sampling device is used for sucking a sample and adding the sample into the reaction cup; the mechanical arm sample introduction module further comprises a transverse movement assembly, a longitudinal movement assembly and an up-and-down movement assembly, wherein the transverse movement assembly drives the first sampling device and the second sampling device to move transversely respectively, the longitudinal movement assembly drives the first sampling device and the second sampling device to move longitudinally respectively, and the up-and-down movement assembly drives the first sampling device and the second sampling device to move up and down respectively. By adopting the technical scheme, the mechanical arm sample introduction module can enable the first sampling device and the second sampling device to move transversely, vertically and longitudinally, namely move in three directions, flexibly control sampling to enable a reaction reagent and a sample to be added into a designated reaction cup, and realize accurate and rapid sampling.

Optionally, the mechanical arm sample introduction module is used for respectively adding the reaction reagent and the sample into the reaction cup pushed to the designated position by the reaction cup carrying seat.

Optionally, the transverse movement assembly comprises a transverse movement motor I, the transverse movement motor I drives a transmission shaft I to rotate, and the transmission shaft drives the sampling device I to move transversely on a transverse movement shaft I; the transverse motion assembly further comprises a transverse motion motor II, the transverse motion motor II drives the transmission shaft II to rotate, and the sampling device II is driven by the transmission shaft II to transversely move on the transverse motion shaft II.

Optionally, the first transverse motion motor drives the motor rotating shaft to drive the first synchronizing wheel to rotate, so as to drive the first transmission shaft to rotate, the first transmission shaft drives the first synchronizing wheel to rotate, meanwhile, the second synchronizing wheel and the fourth synchronizing wheel drive the seventh synchronizing wheel and the ninth synchronizing wheel to rotate, and the seventh synchronizing wheel and the ninth synchronizing wheel are driven wheels relative to the second synchronizing wheel and the fourth synchronizing wheel; the sampling device comprises a sampling device I, a synchronous wheel II, a synchronous wheel III, a synchronous belt III, a synchronous wheel IV and a synchronous wheel IV, wherein the synchronous wheel II and the synchronous wheel IV are connected through a connecting belt I, the synchronous wheel IV and the synchronous wheel IV are connected through a connecting belt III, and the sampling device I is driven to transversely move on the transverse moving shaft II and the transverse moving shaft I through the synchronous belt I and the synchronous belt III.

Optionally, the longitudinal movement assembly comprises a longitudinal movement motor I, and the sampling device I is driven to longitudinally move along a longitudinal movement axis I and a longitudinal movement axis II by the longitudinal movement motor I; the longitudinal movement assembly further comprises a longitudinal movement motor II, and the sampling device II is driven by the longitudinal movement motor II to move longitudinally along a longitudinal movement shaft III and a longitudinal movement shaft IV.

Optionally, the first longitudinal movement motor controls the first sampling device to move longitudinally, the first longitudinal movement motor drives the first driving wheel to rotate, and the first driving wheel drives the first driven wheel to rotate through the fifth belt, so that the first sampling device can move along the first longitudinal movement axis and the second longitudinal movement axis; the two ends of the first longitudinal movement shaft and the two ends of the second longitudinal movement shaft are respectively connected to the spring clamp fixing blocks, and the first sample device is connected to the first longitudinal movement shaft and the second longitudinal movement shaft through longitudinal movement shaft connecting blocks.

Optionally, the up-and-down movement assembly comprises an up-and-down movement motor I, the sampling needle assembly is connected with an up-and-down movement slider I, the up-and-down movement slider I is sleeved on an up-and-down movement screw rod I, the up-and-down movement motor drives the up-and-down movement screw rod I to move, and the up-and-down movement slider I drives the sampling needle assembly to move up and down along a guide rail I on the up-and-down movement screw rod I; the up-and-down movement assembly further comprises an up-and-down movement motor II, the liquid transfer gun head assembly is connected with the up-and-down movement sliding block II, the up-and-down movement sliding block II is sleeved on the up-and-down movement screw rod II, the up-and-down movement motor II drives the up-and-down movement screw rod II to move, and the up-and-down movement sliding block II drives the liquid transfer gun head assembly to move up and down along the guide rail II.

Optionally, the up-down movement motor I controls the sampling device I to move up and down, the up-down movement motor drives the up-down movement screw rod I to move, the up-down movement screw rod I is connected with the up-down movement sliding block I in a sliding mode, the sampling needle assembly is fixedly connected with the up-down movement sliding block I, and the up-down movement sliding block I drives the sampling needle assembly to move up and down along the guide rail; the second up-and-down movement motor controls the second sampling device to move up and down, the second up-and-down movement motor is started to drive the second up-and-down movement screw rod to move, the second up-and-down movement screw rod is connected with the second up-and-down movement sliding block in a sliding mode, the liquid transfer gun head assembly is fixedly connected with the second up-and-down movement sliding block, and the second up-and-down movement sliding block drives the liquid transfer gun head assembly to move up and.

The utility model discloses the further improvement lies in, this arm advances appearance module still including the liquid-transfering gun headstock, the bottom of liquid-transfering gun headstock is provided with liquid-transfering gun head box slide rail, the liquid-transfering gun headstock through liquid-transfering gun head box with liquid-transfering gun head box slide rail cooperation slides, slides with liquid-transfering gun headstock slide rail cooperation again.

The utility model discloses a further improvement lies in, this arm advance kind module is furnished with sample tube storehouse subassembly, sample tube storehouse subassembly has the sample pipe support, be provided with a plurality of sample tube boxes on the sample pipe support, can place a plurality of sample tubes in the sample tube box, the surface of sample pipe support is provided with pipe support elastic steel ball part, the bottom surface of sample tube box corresponds the position and sets up the pipe support elastic steel ball cooperation recess that cooperatees with pipe support elastic steel ball part, sets up the projection at sample pipe support front end bottom; the front part of the sample tube bin assembly is also provided with an exciting liquid storage box.

The utility model is further improved in that the mechanical arm sample injection module is provided with a reagent box bin, and the reagent box bin comprises a cover plate movement assembly, a reagent box frame connecting block, a reagent box mixing motor, a reagent box bin motor rotating connecting block, a connecting rod and a mixing supporting shaft; the reagent box assembly comprises a reagent box frame, the reagent box frame is provided with a plurality of reagent boxes, the connecting rod is connected to the reagent box blending motor, and the connecting rod is connected with the reagent box bin motor rotating connecting block; the reagent box frame connecting block is connected to the connecting rod, is fixed to the bottom surface of the reagent box frame, and is fixedly connected with the blending supporting shaft; the contact surface of the reagent box frame and the reagent box is provided with a reagent box elastic steel ball component, a reagent box elastic steel ball matching groove matched with the reagent box elastic steel ball component is arranged at the bottom of a single reagent box, when the reagent box is pushed into the front end of the reagent box frame, the reagent box elastic steel ball component bounces to fix the reagent box, meanwhile, a reagent box convex column is arranged at the edge of the front end of the reagent box, and when the reagent box is pushed into, the front end senses resistance to prompt that the reagent box is installed in place.

Optionally, the cover plate moving assembly comprises a cover plate, a kit motor rotating connecting block, a cover plate moving matching groove, a cover plate moving motor, a sampling needle cleaning pool and a sampling isolation plate, wherein the cover plate moving motor is connected with the kit motor rotating connecting block, the cover plate moving matching groove is connected with the kit motor rotating connecting block, the cover plate is connected with the cover plate moving matching groove, and the cover plate is located on the upper portion of the sampling isolation plate; the cover plate moving motor drives the reagent box motor to rotate the connecting block, so that the cover plate is driven to move back and forth under the synergistic action of the cover plate moving matching groove.

Optionally, the sampling needle washs the pond including wasing the pond and wasing the reserve chamber of pond, the sampling needle washs the washing that the pond is used for the sampling needle, the bottom of wasing the pond and wasing the reserve chamber of pond all has the outage, and the washing liquid gets into the sampling needle through the liquid joint on sampling needle top and washs.

Drawings

The following is a more detailed description of embodiments of the present invention with reference to the accompanying drawings:

FIG. 1 is a first perspective view of a sample injection module of a robot arm;

FIG. 2 is a second perspective view of a robotic arm sample injection module;

FIG. 3 is a perspective view of the spring clip of FIGS. 1 and 2;

FIG. 4a is a first perspective view of a longitudinal movement assembly of a sampling device of a mechanical arm sample injection module;

FIG. 4b is a perspective view of a longitudinal movement assembly of the sampling device of the mechanical arm sample injection module;

FIG. 5 is a three-dimensional structure diagram of two longitudinal moving components of the sampling device of the mechanical arm sample injection module;

FIG. 6 is a three-dimensional structure diagram of an up-and-down movement assembly of a sampling device of a mechanical arm sample injection module;

FIG. 7 is a three-dimensional structure diagram of a second up-down moving assembly of the sampling device of the mechanical arm sample injection module;

FIG. 8 is a schematic diagram of a liquid-transferring gun head assembly limiting structure of a second sampling device of the mechanical arm sample injection module;

FIG. 9 is a schematic diagram of a sampling needle assembly of a first sampling device of a mechanical arm sample injection module;

FIG. 10 is a schematic perspective view of a pipette head assembly of a second sampling device of the mechanical arm sample injection module;

FIG. 11 is a schematic perspective view of a sampling needle assembly of a first sampling device of the robotic arm sample injection module;

FIG. 12 is a schematic diagram of a pipette head holder configuration in a robotic arm sample module;

FIG. 13 is a schematic diagram of the pipette head carriage motion assembly of FIG. 12;

FIG. 14 is a schematic perspective view of a sample tube magazine assembly in a robotic arm sample module;

FIG. 15 is a schematic view of a sample tube cassette configuration in the sample tube cartridge assembly of FIG. 14;

FIG. 16 is a schematic diagram of a magazine structure of a reagent cartridge in a sample injection module of a robot arm;

FIG. 17 is a schematic view of the cassette rack configuration in the cassette bay of FIG. 16;

FIG. 18 is a schematic diagram of a cover plate movement assembly in a robotic arm sample module;

FIG. 19 is a schematic view of the configuration of the sampling needle cleaning reservoir in the cartridge bay of FIG. 16;

wherein: 1-mechanical arm sample introduction module; 101-a first sampling device; 10101-a sampling needle assembly; 10102-sampling needle; 10103-needle protection magnet; 10104-capacitance probe one; 10105-PCB board two; 10106-copper spring sheet I; 10107-sampling needle assembling head; 10108-spring one; 10109-connecting block one; 10110-a magnetic field-inducing element; 10111-sampling needle liquid joint; 10112-PCB one; 10113-pressure sensor; 10114-longitudinal movement connecting block one; 102-sampling means two; 10201-pipette head assembly; 10202-pipette tip; 10203-capacitive probe two; 10204-PCB board four; 10205-copper spring II; 10206-pipette head bayonet; 10207-spring two; 10208-connecting block two; 10209-gun head pick-up confirmation magnet; 10210-magnetic field sensing element; 10211-pipette tip liquid connection; 10212-longitudinal motion connecting block two; 10213-PCB board three; 10214-pressure sensor; 103-a lateral motion assembly; 10301 — transverse motion motor one; 10302-drive shaft one; 10303-axis of lateral motion one; 10304-transverse motion motor two; 10305-drive shaft two; 10306-axis of transverse movement two; 10307-synchronizing wheel one; 10308-synchronous round two; 10309-synchronous wheel four; 10310-synchronizing wheel seven; 10311-synchronous wheel nine; 10312-a first synchronous belt; 10313-synchronous belt III; 10314-spring clip; 10315-spring clamp fixing block; 10316-synchronizing wheel six; 10317-synchronizing wheel eight; 10318-synchronizing wheel ten; 10319-synchronizing wheel III; 10320-sync wheel five; 10321-synchronous belt two; 10322-synchronous belt four; 10323-spring clip; 10324-spring clip fixing block; 10325-spring; 104-a longitudinal motion assembly; 10401-longitudinal movement motor one; 10402-longitudinal axis of motion one; 10403-longitudinal axis of motion two; 10404-longitudinal motion motor two; 10405-longitudinal axis of motion three; 10406-longitudinal axis of motion four; 10407-driving wheel one; 10408-Belt five; 10409-driven wheel one; 10410-driving wheel two; 10411-Belt six; 10412-driven wheel two; 105-an up-down motion assembly; 10501-motor I for up-and-down movement; 10502-moving the first slide block up and down; 10503-a first up-and-down motion screw rod; 10504-guide rail one; 10505-a second up-and-down motion motor; 10506-a second slide block moving up and down; 10507-a second up-and-down motion screw rod; 10508-guide rail two; 10509-limit magnet two; 10510-a second limited magnetic field induction element; 10511-a first limit magnet; 10512-a first limiting magnetic field sensing element; 106-pipette headstock; 10601-pipette tip box slide rail; 10602-liquid transfer headstock slide rail; 107-sample tube bin assembly; 10701-sample tube rack; 10702-sample tube box, 10703-tube bin elastic steel ball component; 10704 — sample tube; 10705-fitting steel balls into the grooves; 10706-handle; 10707-convex column; 10708-exciting liquid storage case; 108-reagent cartridge magazine; 10801-a cover plate movement assembly; 10802-kit component; 10803-reagent cartridge rack connecting block; 10804-kit mixing motor; 10805-connecting block for rotating the motor of reagent cabin; 10806-connecting rod; 10807-mixing support shaft; 10808-reagent cartridge holder; 10809-kit; 10810-kit elastic steel ball component; 10811-kit elastic steel ball fitting groove; 10812-reagent cartridge holder posts; 10813-cover plate; 10814-cartridge motor rotation connection block; 10815-cover plate moving mating grooves; 10816-cover plate moving motor; 10817-sampling needle cleaning pool; 10818-a sampling spacer plate; 10819-a wash tank; 10820-cleaning pool spare chamber; 10821-drain hole; 10822-a handle; 10823-kit boss; 109-a waste bin; 1010-excite the liquid bin.

Detailed Description

As shown in fig. 1, the mechanical arm sample introduction module 3 includes a first sampling device 101 provided with a sampling needle assembly 10101 and a second sampling device 102 provided with a pipette head assembly 10201; the first sampling device 101 is used for sucking a reaction reagent and adding the reaction reagent into the reaction cup 9, and the second sampling device 102 is used for sucking a sample and adding the sample into the reaction cup 9; the mechanical arm sample introduction module 3 further comprises a transverse movement assembly 103, a longitudinal movement assembly 104 and an up-and-down movement assembly 105, the transverse movement assembly 103 drives the first sampling device 101 and the second sampling device 102 to move transversely respectively, the longitudinal movement assembly 104 drives the first sampling device 101 and the second sampling device 102 to move longitudinally respectively, and the up-and-down movement assembly 105 drives the first sampling device 101 and the second sampling device 102 to move up and down respectively.

The transverse motion assembly 103 comprises a transverse motion motor I10101, the transverse motion motor I10101 drives a transmission shaft I10102 to rotate, and the transmission shaft I10102 drives the sampling device I101 to transversely move on a transverse motion shaft I10103; the sampling device is characterized by further comprising a second transverse motion motor 10104, the second transverse motion motor 10104 drives a second transmission shaft 10105 to rotate, and the second sampling device 102 is driven to transversely move on a second transverse motion shaft 10106 through the second transmission shaft 10105.

In the embodiment, the first transverse motion motor 10101 and the second transverse motion motor 10104 adopt stepping motors, and as for the first sampling device 101, as shown in fig. 1 and 2, when the first transverse motion motor 10101 is started, the rotating shaft of the motor drives the first synchronizing wheel 10107 to rotate, so that the first transmission shaft 10102 is driven to rotate, the first transmission shaft 10102 drives the second synchronizing wheel 10108 and the fourth synchronizing wheel 10109 to rotate, meanwhile, the second synchronizing wheel 10108 and the fourth synchronizing wheel 10109 drive the seventh synchronizing wheel 10310 and the ninth synchronizing wheel 10311 to rotate, and the seventh synchronizing wheel 10310 and the ninth synchronizing wheel 10311 are driven wheels relative to the second synchronizing wheel 10108 and the fourth synchronizing wheel 10109. The connecting belt of the second synchronizing wheel 10108 and the seventh synchronizing wheel 10310 is a first synchronizing belt 10312, the connecting belt of the fourth synchronizing wheel 10109 and the ninth synchronizing wheel 10311 is a third synchronizing belt 10313, and the first sampling device 101 is driven to transversely move on the second transverse moving shaft 10106 and the first transverse moving shaft 10103 through the first synchronizing belt 10312 and the third synchronizing belt 10313.

The first synchronous belt 10312 and the third synchronous belt 10313 are respectively connected with a spring clip 10314, as shown in fig. 1 and 2, each spring clip 10314 is connected with a spring clip fixing block 10315, and the transverse moving shafts (the transverse moving shaft two 10106 and the transverse moving shaft one 10103) penetrate through the spring clip fixing block 10315, so that the spring clip fixing block 10315 can slide on the transverse moving shaft. Meanwhile, the spring clamp fixing block 10315 is fixedly connected with the two longitudinal moving shafts, namely, two ends of the first longitudinal moving shaft 10402 and the second longitudinal moving shaft 10403 are respectively connected with the two spring clamp fixing blocks 10315 on the first synchronous belt 10312 and the third synchronous belt 10313. The two longitudinal movement shafts, namely the first longitudinal movement shaft 10402 and the second longitudinal movement shaft 10403, are connected with a first longitudinal movement connecting block 10114 in a penetrating manner, and the first longitudinal movement connecting block 10114 can slide on the first longitudinal movement shaft 10402 and the second longitudinal movement shaft 10403 and is connected with a first sampling device 101; the first longitudinal movement connecting block 10114 is connected with a first PCB board 10112, and the first PCB board 10112 is provided with a pressure sensor 10113.

It should be noted that the spring clip 10314 is used to fix the timing belt, the spring clip 10314 is connected to the spring clip fixing block 10324 (shown in fig. 2), the spring clip fixing block 10324 is connected to the longitudinal movement shaft, the longitudinal movement shaft is connected to the longitudinal movement connecting block one 10114, and the sampling device one 101 is connected to the longitudinal movement connecting block one 10114; the spring clip 10314 has a spring 10325, and the specific structure is shown in fig. 3; the spring clamp 10314 and the synchronous belt are connected in an open mode, so that the belt is convenient to adjust, the tension of the belt is kept, the operation is smooth, and the damage is easy to replace; the closed connection mode is easy to cause tension relaxation after long use time, and the long-term operation is not smooth.

Similarly, the second transverse movement motor 10104 controls the second sampling device 102 to move transversely; specifically, when the second transverse movement motor 10104 is started, the rotating shaft of the motor drives the six synchronizing wheels 10316 to rotate, so that the second transmission shaft 10105 is driven to rotate, the second transmission shaft 10105 drives the eight synchronizing wheels 10317 and the ten synchronizing wheels 10318 to rotate, meanwhile, the eight synchronizing wheels 10317 and the ten synchronizing wheels 10318 drive the three synchronizing wheels 10319 and the five synchronizing wheels 10320 to rotate, and the three synchronizing wheels 10319 and the five synchronizing wheels 10320 are driven wheels relative to the eight synchronizing wheels 10317 and the ten synchronizing wheels 10318. The connecting belt of the synchronizing wheel III 10319 and the synchronizing wheel eight 10317 is a synchronous belt II 10321, the connecting belt of the synchronizing wheel V10320 and the synchronizing wheel V10318 is a synchronous belt IV 10322, and the sampling device II 102 is driven to transversely move on the transverse movement shaft II 10106 and the transverse movement shaft I10103 through the synchronous belt II 10321 and the synchronous belt IV 10322.

The second synchronous belt 10321 and the fourth synchronous belt 10322 are respectively connected with a spring clamp 10323 (the structure of which is the same as that of the spring clamp 10314), as shown in fig. 1 and 2, each spring clamp 10323 is connected with a spring clamp fixing block 10324, and a transverse moving shaft penetrates through the spring clamp fixing blocks 10324, so that the spring clamp fixing blocks 10324 can slide on the transverse moving shaft. Meanwhile, the spring clamp fixing block 10324 is fixedly connected with the two longitudinal movement shafts, namely, two ends of the longitudinal movement shaft three 10405 and the longitudinal movement shaft four 10406 are respectively connected with the two spring clamp fixing blocks 10324 (the spring clamp fixing blocks 10315) on the synchronous belt two 10321 and the synchronous belt four 10322. Two longitudinal movement shafts, namely a longitudinal movement shaft three 10405 and a longitudinal movement shaft four 10406, are connected with a longitudinal movement connecting block two 10212 in a penetrating way, the longitudinal movement connecting block two 10212 can slide on the longitudinal movement shaft three 10405 and the longitudinal movement shaft four 10406, and the upper parts of the longitudinal movement connecting block two 10212 are connected with a sampling device two 102; and a PCB (printed circuit board) third 10213 is connected to the longitudinal movement connecting block second 10212, and a pressure sensor 10214 is arranged on the PCB third 10213.

As shown in fig. 1 and 2, the longitudinal movement assembly 104 includes a longitudinal movement motor 10401, and the longitudinal movement motor 10401 drives the sampling device one 101 to perform longitudinal movement along a longitudinal movement axis one 10402 and a longitudinal movement axis two 10403; the second sampling device 102 is driven to move longitudinally along a third longitudinal movement axis 10405 and a fourth longitudinal movement axis 10406 by the second longitudinal movement motor 10404.

The longitudinal movement motor I10401 controls the longitudinal movement of the sampling device I101: and when the first longitudinal movement motor 10401 is started, as shown in fig. 4a and 4b, the first driving wheel 10407 is driven to rotate, the first driving wheel 10407 drives the first driven wheel 10409 to rotate through the fifth belt 10408, and the first sampling device 101 moves along the first longitudinal movement axis 10402 and the second longitudinal movement axis 10403. The two ends of the first longitudinal moving shaft 10402 and the second longitudinal moving shaft 10403 are respectively connected to the spring clamp fixing block 10324 (the spring clamp fixing block 10315), and the first sampling device 101 is connected to the first longitudinal moving shaft 10402 and the second longitudinal moving shaft 10403 through the longitudinal moving shaft connecting block 10114.

Similarly, the second longitudinal movement motor 10404 controls the second sampling device 102 to move longitudinally: the second longitudinal movement motor 10404 is started, as shown in fig. 5, the second driving wheel 10410 is driven to rotate, the second driving wheel 10410 drives the second driven wheel 10412 to rotate through the sixth belt 10411, and the second sampling device 102 moves along the third longitudinal movement axis 10405 and the fourth longitudinal movement axis 10406. Two ends of the third longitudinal movement shaft 10405 and the fourth longitudinal movement shaft 10406 are respectively connected to the spring clamp fixing blocks, and the second sampling device 102 is connected to the third longitudinal movement shaft 10405 and the fourth longitudinal movement shaft 10406 through a longitudinal movement shaft connecting block 10212.

As shown in fig. 1, the up-and-down movement assembly 105 includes a first up-and-down movement motor 10501, as shown in fig. 6, the sampling needle assembly 10101 is connected to a first up-and-down movement slider 10502, the first up-and-down movement slider 10502 is sleeved on a first up-and-down movement lead screw 10503, the first up-and-down movement motor 10501 drives the first up-and-down movement lead screw 10503 to move, and the first up-and-down movement slider 10502 drives the sampling needle assembly 10101 to move up and down along a first guide rail 10504 on the first up-and-down movement lead screw 10503 (; the liquid-transferring gun head assembly 10201 is connected with a second up-and-down moving sliding block 10506, the second up-and-down moving sliding block 10506 is sleeved on the second up-and-down moving lead screw 10507, the second up-and-down moving motor 10505 drives the second up-and-down moving lead screw 10507 to move, and the second up-and-down moving sliding block 10506 drives the second up-and-down moving gun head assembly 10201 to move up and down along the second guide rail 10508 on the second up-and-down moving lead screw 10507.

As shown in fig. 6, the up-and-down movement motor one 10501 controls the sampling device one 101 to move up and down, the up-and-down movement motor one 10501 is started to drive the up-and-down movement screw rod one 10503 to move, the up-and-down movement screw rod one 10503 is slidably connected with the up-and-down movement slider one 10502, the sampling needle assembly 10101 is fixedly connected with the up-and-down movement slider one 10502, and the up-and-down movement slider one 10502 drives the sampling needle assembly 10101 to move up and down along the.

Similarly, as shown in fig. 7, the second up-and-down motion motor 10505 controls the second sampling device 102 to move up and down, the second up-and-down motion motor 10505 is started to drive the second up-and-down motion screw 10507 to move, the second up-and-down motion screw 10507 is slidably connected with the second up-and-down motion slider 10506, the pipetting gun head assembly 10201 is fixedly connected with the second up-and-down motion slider 10506, and the second up-and-down motion slider 10506 drives the pipetting gun head assembly 10201 to move up and down along the second guide rail 10508.

As shown in fig. 8, the up-and-down movement of the pipette head assembly 10201 is performed by positioning the up-and-down movement through the second position-limiting magnet 10509 and the second position-limiting magnetic field sensing element 10510, the second position-limiting magnet 10509 is disposed on one side of the pipette head assembly 10201 on the longitudinal movement shaft connection block, and the second position-limiting magnetic field sensing element 10510 is disposed on the side of the pipette head assembly 10201 corresponding to the second position-limiting magnet 10509. Similarly, the up-and-down movement of the sampling needle assembly 10101 is performed by the first limiting magnet 10511 and the first limiting magnetic field sensing element 10512, the first limiting magnet 10511 is disposed on one surface of the sampling needle assembly 10101 on the longitudinal movement shaft connection block, and the first limiting magnetic field sensing element 10512 is disposed on one surface of the sampling needle assembly 10101 corresponding to the first limiting magnet 10511, as shown in fig. 9.

The mechanical arm sample introduction module 3 in this embodiment has the functions that the second sampling device 102 provided with the pipette head assembly 10201 sucks a sample by using the pipette head and then adds the sample into the reaction cup, and the first sampling device 101 provided with the sampling needle assembly 10101 sucks a reaction reagent and adds the reaction reagent into the reaction cup to react with the sample.

As shown in fig. 10, the liquid-transferring gun head assembly 10201 has a liquid-transferring gun head rod, the lower end of the liquid-transferring gun head rod is used for picking up the liquid-transferring gun head 10202, meanwhile, the liquid-transferring gun head rod itself is a second capacitance probe 10203, and is connected with a fourth PCB 10204 through a second copper spring 10205 (as shown in fig. 8), so as to perform liquid level monitoring, which is used for liquid level monitoring when the liquid-transferring gun head 10202 starts to absorb liquid, and liquid absorption is started after the foremost end of the liquid-transferring gun head 10202 enters a sample liquid for a certain distance; the liquid transfer gun head clamping connector 10206 is connected with the spring II 10207 and the connecting block II 10208, when the liquid transfer gun head 10202 is picked up, the spring II 10207 is compressed, the gun head pick-up confirming magnet 10209 on the connecting block II 10208 moves along with the spring II, and the magnetic field sensing element 10210 on the PCB plate IV 10204 senses the change of the magnetic field for monitoring and confirming whether the liquid transfer gun head 10202 is picked up or not.

A pipette head liquid connector 10211 at the top end of the pipette head assembly 10201 is connected with a pressure sensor 10214 (shown in fig. 8) on a PCB board three 10213, and the PCB board three 10213 is arranged on a longitudinal movement connecting block two 10212 on a longitudinal movement shaft three 10405 and is used for monitoring the liquid pressure in the pipette head 10202. After the pipette tip 10202 absorbs liquid, it moves to the position above the reaction cup carrier seat, and when the reaction cup 9 is emptied of the internal liquid, the spring two 10207 is reset, so that the discarded pipette tip 10202 is discarded into the waste bin 109 (shown in fig. 1).

The needle head protection magnet 10103 of the sampling needle assembly 10101 has the function that when the sampling needle 10102 touches the bottom of the sample tube, the first sampling needle device 101 is prevented from continuously moving downwards through magnetic field induction, and the needle head of the sampling needle 10102 is protected.

The sampling needle assembly 10101 has the following specific structure: as shown in fig. 11, the sampling needle assembly 10101 has a sampling needle bar, the lower end of the sampling needle bar is a sampling needle 10102, the sampling needle bar is designed integrally, and the sampling needle bar is a capacitance probe one 10104 and is connected with a PCB board two 10105 through a copper elastic sheet one 10106 (as shown in fig. 9), so as to perform liquid level monitoring, the liquid level monitoring is performed when the sampling needle 10102 starts to suck liquid, and the liquid suction is started after the foremost end of the sampling needle 10102 enters a reaction reagent for a certain distance; the sampling needle is provided with a sampling needle assembly head 10107 which is connected with a spring I10108 and a connecting block I10109, when the sampling needle 10102 absorbs liquid and touches the bottom of the kit, the spring I10108 compresses, the needle head protection magnet 10103 on the connecting block I10109 moves along with the spring I10108, the magnetic field induction element 10110 on the PCB board II 10105 senses the change of the magnetic field, the sampling needle 10102 stops moving downwards continuously, and the needle head is protected from being damaged, as shown in fig. 6.

The sampling needle fluid connection 10111 at the top end of the sampling needle assembly 10101 is connected to a pressure sensor 10113 on a PCB board one 10112 (shown in fig. 2), the PCB board one 10112 is disposed on a longitudinal movement connection block one 10114 on a longitudinal movement shaft one 10402 for monitoring the fluid pressure in the sampling needle 10102. The sampling needle 10102 sucks liquid and moves to the upper part of the reaction cup carrying seat, and the reaction cup 9 is emptied of the liquid inside.

In addition, as shown in fig. 12, in cooperation with the second sampling device 102, the mechanical arm sample injection module 3 of this embodiment further includes a pipette head holder 106, a pipette head box slide rail 10601 is disposed at the bottom of the pipette head holder 106, as shown in fig. 13, the pipette head holder 106 slides in cooperation with the pipette head box slide rail 10601 through the pipette head box, and then slides in cooperation with the pipette head box slide rail 1062, and the two slide rails are used for the pipette head holder 106 to extend out of the instrument to replace the pipette head 10202.

In this embodiment, the sample tube bin assembly 107 is further assembled to the mechanical arm sample introduction module 3, as shown in fig. 14, the sample tube bin assembly 107 has a sample tube rack 10701 (as shown in fig. 15), a plurality of sample tube boxes 10702 are arranged on the sample tube rack 10701, a plurality of sample tubes 10704 can be placed in the sample tube boxes 10702, and a convex column 10707 is arranged at the bottom of the front end of the sample tube rack 10701; the front of the sample tube magazine assembly 107 is also provided with an excitation fluid storage cartridge 10708. During the specific use, through the elasticity steel ball part 10703 at sample pipe support 10701 surface setting, the bottom surface of single sample pipe box 10702 corresponds the position and sets up pipe support steel ball cooperation recess 10705, and pipe support elasticity steel ball bounces the location when pushing, is equipped with handle 10706 on the sample pipe support 10701, and the front end (keeping away from handle 10706) bottom of sample pipe support 10701 sets up projection 10707, and the front end sensing is to the resistance when sample pipe box 10702 pushes away promptly and is indicateed sample pipe box 10702 and install the target in place.

In this embodiment, a reagent box bin 108 is further assembled to the mechanical arm sample injection module 3, as shown in fig. 16, the reagent box bin 108 includes a cover plate moving assembly 10801, a reagent box assembly 10802, a reagent box frame connecting block 10803, a reagent box blending motor 10804, a reagent box bin motor rotating connecting block 10805, a connecting rod 10806, and a blending support shaft 10807; the reagent box assembly 10802 comprises a reagent box frame 10808, the reagent box frame 10808 is provided with a plurality of reagent boxes 10809, the connecting rod 10806 is connected to the reagent box blending motor 10804, and the connecting rod 10806 is connected with the reagent box bin motor rotating connecting block 10805; the reagent box frame connecting block 10803 is connected to the connecting rod 10806, the reagent box frame connecting block 10803 is fixed to the bottom surface of the reagent box frame 10808, and the bottom surface of the reagent box frame 10808 is fixedly connected with the uniformly-mixing supporting shaft 10807; reagent box elastic steel ball parts 10810 are arranged on the contact surface of the reagent box frame 10808 and the reagent box 10809, reagent box steel ball matching grooves 10811 (the position is shown) are arranged at the bottom of the single reagent box 10809, when the single reagent box 10809 is pushed into the front end of the reagent box frame 10808, the steel balls bounce up to fix the reagent box 10809, meanwhile, as shown in fig. 17, reagent box frame convex columns 10812 are arranged on the edge of the front end of the reagent box frame 10808, resistance sensed by the front end when the reagent box 10809 is pushed in indicates that the reagent box 10809 is installed in place, and the reagent box 10809 is provided with a handle 10822 and a reagent box convex.

As shown in fig. 18, the cover plate moving assembly 10801 includes a cover plate 10813, a reagent cartridge motor rotation connecting block 10814, a cover plate moving fitting groove 10815, a cover plate moving motor 10816, a sampling needle washing tank 10817 and a sampling isolation plate 10818, wherein the cover plate moving motor 10816 is connected to the reagent cartridge motor rotation connecting block 10814, the cover plate moving fitting groove 10815 is connected to the reagent cartridge motor rotation connecting block 10814, the cover plate 10813 is connected to the cover plate moving fitting groove 10815, and the cover plate 10813 is located on the upper portion of the sampling isolation plate 10818; the cover plate moving assembly 10801 is based on the principle that the cover plate moving motor 10816 is started, the reagent box motor rotates the connecting block 10814 to rotate, the cover plate 10813 is driven to move back and forth under the synergistic effect of the cover plate moving matching groove 10815, the cover plate 10813 moves back when the pipetting operation is not performed, the sample and the reaction reagent are covered, and the reagent and the sample are prevented from being polluted to influence the detection result.

Aforementioned sample pipe storehouse subassembly 107 and reagent box 108's upper portion all is provided with sampling division board and apron, the apron is located sampling division board upper portion, both evenly distributed have with sample pipe and the reagent box sample connection sampling hole of corresponding size, when needs move the liquid, the sampling hole coincidence from top to bottom of sampling division board and apron, sample needle and liquid-transfering gun head move the liquid in can inserting reaction reagent and the sample, when accomplishing the operation, the apron moves backward for the sampling division board, sampling hole position between them staggers, sample needle and liquid-transfering gun head can not carry out the liquid-transfering promptly.

As shown in fig. 18, the sampling needle cleaning pool 10817 comprises a cleaning pool 10819 and a cleaning pool spare cavity 10820, the sampling needle cleaning pool 10817 is used for cleaning the sampling needle 10102, the sampling needle cleaning pool 10817 is divided into two parts, namely, the cleaning pool 10819 and the cleaning pool spare cavity 10820, the bottoms of the two parts are provided with liquid drainage holes 10821, and cleaning liquid enters the sampling needle 10102 through a liquid joint at the top end of the sampling needle 10102 to be cleaned. Wash basin stand-by chamber 10820 is configured to drain from a drain opening 10821 in the bottom of wash basin stand-by chamber 10820 in the event that wash liquid in wash basin 10819 overflows.

Reagent box 10809 has a mixing function, reagent box mixing motor 10804 rotates to drive reagent box bin motor rotation connecting block 10805 on the reagent box mixing motor to rotate, connecting rod 10806 is connected with reagent box bin motor rotation connecting block 10805, connecting rod 10806 is connected with reagent box frame connecting block 10803, the two are movably connected, reagent box frame connecting block 10803 is fixed on the bottom surface of reagent box frame 10808, the bottom surface of reagent box frame 10808 is fixedly connected with mixing support shaft 10807, so that reagent box 10809 and mixing support shaft 10807 swing together to play a role in mixing reaction reagents in reagent box 10809.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only illustrative of the principles of the present invention, and that the present invention can be modified in various ways without departing from the spirit and scope of the present invention, such as by making some adjustments to the structure of the lateral motion assembly, the vertical motion assembly, the up-and-down motion assembly, the reagent cartridge, and the sample tube cartridge, and that such modifications and improvements fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A mechanical arm sample introduction module is characterized by comprising a first sampling device provided with a sampling needle assembly and a second sampling device provided with a liquid transfer gun head assembly; the first sampling device is used for sucking a reaction reagent and adding the reaction reagent into the reaction cup, and the second sampling device is used for sucking a sample and adding the sample into the reaction cup; the mechanical arm sample introduction module further comprises a transverse movement assembly, a longitudinal movement assembly and an up-and-down movement assembly, wherein the transverse movement assembly drives the first sampling device and the second sampling device to move transversely respectively, the longitudinal movement assembly drives the first sampling device and the second sampling device to move longitudinally respectively, and the up-and-down movement assembly drives the first sampling device and the second sampling device to move up and down respectively.

2. The mechanical arm sample introduction module according to claim 1, wherein the mechanical arm sample introduction module is configured to separately introduce a reaction reagent and a sample into a reaction cuvette pushed to a designated position by the reaction cuvette carrier.

3. The mechanical arm sample feeding module as claimed in claim 2, wherein the lateral movement assembly comprises a first lateral movement motor, the first lateral movement motor drives a first transmission shaft to rotate, and the first sampling device is driven by the first transmission shaft to move laterally on the first lateral movement shaft; the transverse motion assembly further comprises a transverse motion motor II, the transverse motion motor II drives the transmission shaft II to rotate, and the sampling device II is driven by the transmission shaft II to transversely move on the transverse motion shaft II.

4. The mechanical arm sample introduction module according to claim 3, wherein the transverse motion motor I drives a motor rotating shaft to drive a synchronizing wheel I to rotate, so as to drive a transmission shaft I to rotate, the transmission shaft I drives the synchronizing wheel to rotate, meanwhile, a synchronizing wheel II and a synchronizing wheel IV drive a synchronizing wheel VII and a synchronizing wheel IX to rotate, and the synchronizing wheel VII and the synchronizing wheel IX are driven wheels relative to the synchronizing wheel II and the synchronizing wheel IV; the sampling device comprises a sampling device I, a synchronous wheel II, a synchronous wheel III, a synchronous belt III, a synchronous wheel IV and a synchronous wheel IV, wherein the synchronous wheel II and the synchronous wheel IV are connected through a connecting belt I, the synchronous wheel IV and the synchronous wheel IV are connected through a connecting belt III, and the sampling device I is driven to transversely move on the transverse moving shaft II and the transverse moving shaft I through the synchronous belt I and the synchronous belt III.

5. The mechanical arm sample feeding module as claimed in claim 2, wherein the longitudinal movement assembly comprises a first longitudinal movement motor, and the first sampling device is driven by the first longitudinal movement motor to perform longitudinal movement along a first longitudinal movement axis and a second longitudinal movement axis; the longitudinal movement assembly further comprises a longitudinal movement motor II, and the sampling device II is driven by the longitudinal movement motor II to move longitudinally along a longitudinal movement shaft III and a longitudinal movement shaft IV.

6. The mechanical arm sample introduction module as claimed in claim 5, wherein the first longitudinal movement motor controls a longitudinal movement of the first sampling device, the first longitudinal movement motor drives a first driving wheel to rotate, and the first driving wheel drives a first driven wheel to rotate through a belt V, so that the first sampling device can move along the first longitudinal movement axis and the second longitudinal movement axis; the two ends of the first longitudinal movement shaft and the two ends of the second longitudinal movement shaft are respectively connected to the spring clamp fixing blocks, and the first sample device is connected to the first longitudinal movement shaft and the second longitudinal movement shaft through longitudinal movement shaft connecting blocks.

7. The mechanical arm sample feeding module as claimed in claim 6, wherein the up-and-down movement assembly comprises a first up-and-down movement motor, the sampling needle assembly is connected with a first up-and-down movement slider, the first up-and-down movement slider is sleeved on a first up-and-down movement screw rod, the first up-and-down movement motor drives the first up-and-down movement screw rod to move, and the first up-and-down movement slider drives the sampling needle assembly to move up and down along a first guide rail on the first up-and-down movement screw rod; the up-and-down movement assembly further comprises an up-and-down movement motor II, the liquid transfer gun head assembly is connected with the up-and-down movement sliding block II, the up-and-down movement sliding block II is sleeved on the up-and-down movement screw rod II, the up-and-down movement motor II drives the up-and-down movement screw rod II to move, and the up-and-down movement sliding block II drives the liquid transfer gun head assembly to move up and down along the guide rail II.

8. The mechanical arm sample feeding module as claimed in claim 7, wherein the up-and-down motion motor I controls the up-and-down motion of the sampling device I, the up-and-down motion motor drives the up-and-down motion screw rod I to move, the up-and-down motion screw rod I is slidably connected with the up-and-down motion slider I, the sampling needle assembly is fixedly connected with the up-and-down motion slider I, and the up-and-down motion slider I drives the sampling needle assembly to move up and down along the guide rail; the second up-and-down movement motor controls the second sampling device to move up and down, the second up-and-down movement motor is started to drive the second up-and-down movement screw rod to move, the second up-and-down movement screw rod is connected with the second up-and-down movement sliding block in a sliding mode, the liquid transfer gun head assembly is fixedly connected with the second up-and-down movement sliding block, and the second up-and-down movement sliding block drives the liquid transfer gun head assembly to move up and.

9. The mechanical arm sample introduction module according to claim 2, further comprising a pipette head rack, wherein a pipette head box slide rail is disposed at a bottom of the pipette head rack, and the pipette head rack slides in cooperation with the pipette head box slide rail through the pipette head box and then slides in cooperation with the pipette head box slide rail.

10. The mechanical arm sample introduction module according to claim 2, wherein the mechanical arm sample introduction module is provided with a sample tube bin assembly, the sample tube bin assembly is provided with a sample tube rack, a plurality of sample tube boxes are arranged on the sample tube rack, a plurality of sample tubes can be placed in the sample tube boxes, a tube rack elastic steel ball component is arranged on the surface of the sample tube rack, a tube rack elastic steel ball matching groove matched with the tube rack elastic steel ball component is arranged at a position corresponding to the bottom surface of the sample tube box, and a convex column is arranged at the bottom of the front end of the sample tube rack; the front part of the sample tube bin assembly is also provided with an exciting liquid storage box.

11. The mechanical arm sample introduction module according to claim 2, wherein the mechanical arm sample introduction module is provided with a reagent box bin, and the reagent box bin comprises a cover plate movement assembly, a reagent box frame connecting block, a reagent box blending motor, a reagent box bin motor rotating connecting block, a connecting rod and a blending supporting shaft; the reagent box assembly comprises a reagent box frame, the reagent box frame is provided with a plurality of reagent boxes, the connecting rod is connected to the reagent box blending motor, and the connecting rod is connected with the reagent box bin motor rotating connecting block; the reagent box frame connecting block is connected to the connecting rod, is fixed to the bottom surface of the reagent box frame, and is fixedly connected with the blending supporting shaft; the contact surface of the reagent box frame and the reagent box is provided with a reagent box elastic steel ball component, a reagent box elastic steel ball matching groove matched with the reagent box elastic steel ball component is arranged at the bottom of a single reagent box, when the reagent box is pushed into the front end of the reagent box frame, the reagent box elastic steel ball component bounces to fix the reagent box, meanwhile, a reagent box convex column is arranged at the edge of the front end of the reagent box, and when the reagent box is pushed into, the front end senses resistance to prompt that the reagent box is installed in place.

12. The mechanical arm sample introduction module according to claim 11, wherein the cover plate movement assembly comprises a cover plate, a reagent box motor rotation connecting block, a cover plate movement matching groove, a cover plate movement motor, a sampling needle cleaning pool and a sampling isolation plate, the cover plate movement motor is connected with the reagent box motor rotation connecting block, the cover plate movement matching groove is connected with the reagent box motor rotation connecting block, the cover plate is connected with the cover plate movement matching groove, and the cover plate is located on the upper portion of the sampling isolation plate; the cover plate moving motor drives the reagent box motor to rotate the connecting block, so that the cover plate is driven to move back and forth under the synergistic action of the cover plate moving matching groove.

13. The mechanical arm sample introduction module according to claim 12, wherein the sampling needle cleaning pool comprises a cleaning pool and a cleaning pool standby cavity, the sampling needle cleaning pool is used for cleaning the sampling needle, liquid discharge holes are formed in the bottoms of the cleaning pool and the cleaning pool standby cavity, and cleaning liquid enters the sampling needle through a liquid joint at the top end of the sampling needle for cleaning.