CN213197613U - A auxiliary device that is used for automatic nucleic acid extraction equipment to carry out location calibration - Google Patents
A auxiliary device that is used for automatic nucleic acid extraction equipment to carry out location calibration Download PDFInfo
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- CN213197613U CN213197613U CN202021669554.8U CN202021669554U CN213197613U CN 213197613 U CN213197613 U CN 213197613U CN 202021669554 U CN202021669554 U CN 202021669554U CN 213197613 U CN213197613 U CN 213197613U
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Abstract
The utility model discloses an auxiliary device that is used for automatic nucleic acid to draw equipment to carry out location calibration, because the method of adopting artifical calibration to current nucleic acid to draw equipment, there is the deviation to lead to the problem of manipulator skew, bottom through at the manipulator mounting bracket sets up image collector, gather each regional image information of module, give external control device with this image information transmission, the external control device of being convenient for contrasts this image information and the standard image that prestores, supplementary external control device accomplishes walking position of automatic calibration manipulator, the precision of walking in real time calibration, in order to improve the accuracy that the manipulator walked the position, and the cost is reduced.
Description
Technical Field
The utility model belongs to carry out the equipment field of nucleic acid detection's extraction purification to human body sample, especially relate to an auxiliary device that is used for automatic nucleic acid extraction equipment to carry out location calibration.
Background
The nucleic acid detection of the human body sample firstly extracts and purifies the collected human body sample, and the existing extraction and purification process is basically completed by an automatic instrument instead of manual work, so that the detection accuracy is improved, and batch detection and working efficiency are realized.
When the automatic instrument extracts and purifies samples, the manipulator moves to move to take samples and add samples in each area along with the mechanical arm, the mechanical arm can be stuck and stepped due to mechanical structure, driving motor, guide rail and the like in displacement control and precision, the mechanical arm shifts in displacement in long-term operation due to long-term movement tension change of the belt, the manipulator cannot accurately position to take a suction head or deviate from a container in liquid/liquid adding, and therefore the automatic nucleic acid extraction equipment needs to be calibrated regularly after a certain service period, and the position of the manipulator is mainly calibrated.
The deviation of the mechanical arm walking of the automatic instrument is manually calibrated, the deviation needs to be carried out on the spot of a user, and the positions of the upper part, the lower part, the left part, the right part, the front part and the rear part need to be observed by naked eyes. On one hand, manual calibration errors formed by different calibration persons are also a factor of manipulator deviation, on the other hand, unscheduled on-site calibration labor cost to a customer is high, and on the other hand, certain economic loss is caused to the customer due to calibration time lag.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a be used for automatic nucleic acid extraction equipment to advance auxiliary device who fixes a position the calibration, supplementary external control device accomplishes walking of automatic calibration manipulator position to improve the manipulator accuracy of walking a position, reduce cost.
In order to solve the above problem, the technical scheme of the utility model is that:
an aid for positional calibration of an automated nucleic acid extraction apparatus, comprising: the device comprises a platform, a support, a mechanical arm, a mounting rack and an image collector;
the platform is divided into a plurality of module areas with different functions and structures, and different containers or suction heads are placed in the different module areas;
the bracket is vertically and fixedly arranged on one side of the platform and used for supporting the mechanical arm;
the mechanical arm is connected with the bracket in a sliding manner to realize movement in the X direction;
the mounting rack is connected with the mechanical arm in a sliding mode, so that movement in the Y direction is achieved;
the manipulator is connected with the mounting rack in a sliding manner to realize movement in the Z direction;
the image collector is arranged at the bottom end of the mounting rack and used for collecting images of all the module areas;
the image collector is communicated with an external control device through a data transmission line, the images of all the module areas are transmitted to the external control device, and the external control device is assisted to calibrate the positioning of the manipulator.
According to an embodiment of the present invention, a sliding rail in the X direction is disposed on the transverse plate of the support, a first sliding block is fixedly disposed at the connecting end of the mechanical arm and the support, and the first sliding block is matched with the sliding rail; the mechanical arm is perpendicular to the lateral surface of the transverse plate of the support.
According to an embodiment of the present invention, the mechanical arm is provided with a slide rail in the Y direction, and the mounting frame is vertically sleeved on the mechanical arm through a second slider, and is matched with the slide rail in the Y direction to move along the mechanical arm in the Y direction; the mounting rack is perpendicular to the transverse plate of the support.
According to the utility model discloses an embodiment, the surface of mounting bracket is equipped with the ascending slide rail of Z side, the manipulator is connected through the cooperation of third slider and the ascending slide rail of Z side, realizes the ascending removal of Z side.
According to an embodiment of the present invention, the auxiliary device for positioning and calibrating the automated nucleic acid extraction apparatus further comprises a driving device;
the driving device comprises an X-direction motor, a Y-direction motor and a Z-direction motor;
the X-direction motor is arranged on the mechanical arm, is electrically connected with the first sliding block and drives the first sliding block to move;
the Y-direction motor is arranged on the mounting frame, is electrically connected with the second sliding block and drives the second sliding block to move;
the Z-direction motor is arranged on the manipulator and electrically connected with the third sliding block to drive the third sliding block to move.
The utility model discloses owing to adopt above technical scheme, make it compare with prior art and have following advantage and positive effect:
the utility model relates to an embodiment be used for automatic nucleic acid to draw equipment and carry out auxiliary device who fixes a position the calibration, because the method of adopting artifical calibration to current nucleic acid to draw equipment, there is the deviation to lead to the problem of manipulator skew, bottom through at the manipulator mounting bracket sets up image collector, gather each regional image information of module, give external control device with this image information transmission, the external control device of being convenient for contrasts this image information and the standard image that prestores, supplementary external control device accomplishes walking position of automatic calibration manipulator, the precision of walking in real time calibration, in order to improve the accuracy that the manipulator walked the position, and the cost is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a positioning and calibrating device for an automated nucleic acid extraction apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of the present invention;
FIG. 3 is a flow chart of a method for calibrating the position of an automated nucleic acid extraction apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an acquisition module area of an image acquisition device in an embodiment of the present invention;
description of reference numerals:
1: an image collector; 2: a mounting frame; 3: a mechanical arm; 4: a manipulator; 5: a support; 501: a transverse plate; 6: a platform; 7: a module area; 701: a reagent zone; 702: a sample area; 703: a container zone; 704: a suction head area.
Detailed Description
The following provides a detailed description of the positioning calibration device and method for an automated nucleic acid extraction apparatus according to the present invention with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more fully apparent from the following description and appended claims.
Example one
The embodiment aims at the problem that the existing nucleic acid extraction equipment has deviation to cause mechanical arm deviation due to the adoption of a manual calibration method, and provides the auxiliary device for positioning and calibrating the automatic nucleic acid extraction equipment, which is used for assisting the control device to finish automatically calibrating the walking position of the mechanical arm and calibrating the walking precision in real time so as to improve the walking accuracy of the mechanical arm.
As shown in FIGS. 1 and 2, the auxiliary device for positioning calibration of an automated nucleic acid extraction apparatus comprises: platform 6, support 5, arm 3, manipulator 4, mounting bracket 2 and image collector 1. Wherein the platform 6 is divided into a plurality of modular areas 7 with different functions and structures, and different containers or suction heads are placed in the different modular areas 7. The support 5 is vertically and fixedly arranged on one side of the platform 6 and used for supporting the mechanical arm 3. Arm 3 and support 5 sliding connection realize the ascending removal in X direction. The manipulator 4 is connected with the mechanical arm 3 in a sliding mode, and movement in the Y direction is achieved. The image collector 1 is arranged at the bottom end of the mounting rack 2 and used for collecting images of the module areas 7. The image collector 1 communicates with an external control device through a data transmission line, transmits images of each module area 7 to the external control device, and assists the external control device to calibrate the positioning of the manipulator.
Specifically, the support 5 is n-shaped, a transverse plate 501 of the support 5 is provided with a sliding rail in the X direction, and a first sliding block is fixedly arranged at the connecting end of the mechanical arm 3 and the support 5 and matched with the sliding rail; and in the mounted state, the robot arm 3 is perpendicular to the side of the cross plate 501 of the stand 5. It will be appreciated that the robotic arm 3 is in the same lateral level as the cross plate 501.
Be equipped with the ascending slide rail of Y direction on the arm 3, manipulator 4 passes through mounting bracket 2 and arm 3 sliding connection. The mounting frame 2 is provided with a through hole, and a second slide block is mounted on the through hole arm, so that the mounting frame 2 can be vertically sleeved on the mechanical arm 3 and can move along the mechanical arm 3 in the Y direction; and in the mounted state the mounting frame 2 is perpendicular to the upper surface of the robot arm 3. It will be appreciated that the mounting frame 2 is in the same vertical plane as the robot arm 3, and that the mounting frame 2 is also perpendicular to the cross plate 501 of the support 5.
In addition, a slide rail in the Z direction is arranged on the surface of the mounting frame 2, and the manipulator 4 is connected with the slide rail in the Z direction in a matching manner through a third slide block, so that the manipulator 4 can move in the Z direction.
The robot arm 3 slides on the cross plate 501 of the support 5, the mounting frame 2 slides on the robot arm 3, or the robot arm 4 slides on the mounting frame 2, and the robot arm 3 and the mounting frame are driven by corresponding motors. That is, the auxiliary device for positioning and calibrating the automated nucleic acid extraction equipment is provided with an X-direction motor, a Y-direction motor and a Z-direction motor, and each driving motor is electrically connected with an external control device and can be controlled by the external control device. When the external control device needs the mechanical arm 3 or the mechanical arm 4 to move, a control command is sent to the X-direction motor, the Y-direction motor or the Z-direction motor to be started, and the distance contained in the command is moved. Specifically, the X-direction motor is arranged on the mechanical arm 3, is electrically connected with the first sliding block and drives the first sliding block to move; the Y-direction motor is arranged on the mounting frame 2, is electrically connected with the second sliding block and drives the second sliding block to move; the Z-direction motor is arranged on the mechanical arm 4 and is electrically connected with the third sliding block to drive the third sliding block to move.
The image collector 1 can be arranged at the bottom end of the mounting frame 2 and also can be arranged on the mechanical arm 4, so that the image collector 1 can move in an XY plane area above the platform 6 and can move in a Z direction to finish collecting images of all the module areas 7.
The auxiliary device that is used for automatic nucleic acid extraction equipment to carry out location calibration that this embodiment provided, because the method of adopting artifical calibration to current nucleic acid extraction equipment, there is the deviation to lead to the problem of manipulator skew, bottom through at manipulator mounting bracket 2 sets up image collector 1, gather the image information of each module region 7, give external control device with this image information transmission, the external control device of being convenient for compares this image information and the standard image that prestores, supplementary external control device accomplishes the walking position of automatic calibration manipulator, the precision of walking in real time calibration, in order to improve the accuracy that the manipulator walked, and the cost is reduced.
The following briefly describes the operation steps of the robot positioning calibration using the auxiliary device, as follows:
the method comprises the following steps: collecting the position of a suction head or a container in a positioning area, selecting a target suction head or a target container from the position, and taking the position of the target suction head or the target container as a preset positioning point;
step two: moving the manipulator to the position above the preset positioning point, and collecting an image of a lower positioning area as a standard image;
step three: when the manipulator is positioned and calibrated, the manipulator is moved to the position above the preset positioning point, and the image of the lower positioning area is collected to be used as a real-time image;
step four: transmitting the real-time image to an external control device, receiving an instruction of the external control device, and realizing the position movement of the mechanical arm or the mechanical arm; and re-collecting the real-time image until receiving a calibration completion instruction sent by the external control device.
Specifically, in the first step, the positioning area is divided into a plurality of different module areas, and suckers or containers with different sizes or different intervals are placed in each module area; and taking each module area as an independent positioning area and coding. As shown in fig. 3, the module area 7 includes: a reagent zone 701, a sample zone 702, a vessel zone 703, and a tip zone 704, for placing various tips or vessels, respectively. The image collector 1 photographs the module area 7 within the visual angle range, and the module area 7 is divided into a plurality of photographing areas according to the visual angle range because the visual angle range is limited and the sizes of the areas are different, so that each area is ensured to be within the visual angle range. Since the size and size of the functional area of the module area 7 are related to the volume of the device, the amount of the sample to be tested, etc., and the shape and position of the area of the module area 7 are related to the space utilization rate and the utilization efficiency of the instrument, different device structures may have different area sizes and shapes of the module area 7.
Taking the suction head area 704 as an example, the area has 9 suction head frames which are divided into areas 704-1, 704-2, 704-3, 704-4, 704-5, 704-6, 704-7, 704-8 and 704-9, and each suction head frame is taken as a separate area.
In the second step, image information of each module area is collected, and a specific image area is selected and correspondingly coded to establish a standard image library. Wherein the specific image area refers to an image area with prominent characteristic points easy to identify, as shown in fig. 4, three main characteristic points are determined in the 704-1 area: 704-1a, 704-1b and 704-1c, the suction head is placed before the positioning calibration is carried out, so that when images are shot, the three characteristic points are more prominent, and the identification comparison is facilitated.
Correspondingly, after the external control device receives the real-time image, firstly identifying the code in the real-time image, traversing the standard image library according to the code, and obtaining a corresponding standard image; then, comparing a specific image area in the real-time image with a specific image area of a corresponding standard image, judging whether a difference exists, and if not, taking the preset positioning point as a calibration position; and if the real-time image exists, sending an instruction to the auxiliary device, moving the mechanical arm or the mechanical arm, and acquiring the real-time image of the module area again until the specific image area of the real-time image is the same as the specific image area of the standard image, and taking the position of shooting the real-time image as the calibration position.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, the changes are still within the scope of the present invention if they fall within the scope of the claims and their equivalents.
Claims (5)
1. An aid for positional calibration of an automated nucleic acid extraction apparatus, comprising: the device comprises a platform, a support, a mechanical arm, a mounting rack and an image collector;
the platform is divided into a plurality of module areas with different functions and structures, and different containers or suction heads are placed in the different module areas;
the bracket is vertically and fixedly arranged on one side of the platform and used for supporting the mechanical arm;
the mechanical arm is connected with the bracket in a sliding manner to realize movement in the X direction;
the mounting rack is connected with the mechanical arm in a sliding mode, so that movement in the Y direction is achieved;
the manipulator is connected with the mounting rack in a sliding manner to realize movement in the Z direction;
the image collector is arranged at the bottom end of the mounting rack and used for collecting images of all the module areas;
the image collector is communicated with an external control device through a data transmission line, the images of all the module areas are transmitted to the external control device, and the external control device is assisted to calibrate the positioning of the manipulator.
2. The auxiliary device for positioning and calibrating the automated nucleic acid extracting equipment according to claim 1, wherein a slide rail in the X direction is arranged on a transverse plate of the support, a first slide block is fixedly arranged at the connecting end of the mechanical arm and the support, and the first slide block is matched with the slide rail; the mechanical arm is perpendicular to the lateral surface of the transverse plate of the support.
3. The auxiliary device for positioning and calibrating the automated nucleic acid extracting apparatus according to claim 2, wherein the robot arm is provided with a slide rail in the Y direction, and the mounting rack is vertically sleeved on the robot arm through a second slide block and is matched with the slide rail in the Y direction to move along the robot arm in the Y direction; the mounting rack is perpendicular to the transverse plate of the support.
4. The auxiliary device for the positioning calibration of the automated nucleic acid extracting apparatus according to claim 3, wherein the surface of the mounting rack is provided with a slide rail in the Z direction, and the robot is cooperatively connected with the slide rail in the Z direction through a third slide block to realize the movement in the Z direction.
5. The assistance apparatus for positioning calibration of an automated nucleic acid extraction apparatus according to claim 4, further comprising a driving means;
the driving device comprises an X-direction motor, a Y-direction motor and a Z-direction motor;
the X-direction motor is arranged on the mechanical arm, is electrically connected with the first sliding block and drives the first sliding block to move;
the Y-direction motor is arranged on the mounting frame, is electrically connected with the second sliding block and drives the second sliding block to move;
the Z-direction motor is arranged on the manipulator and electrically connected with the third sliding block to drive the third sliding block to move.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021669554.8U CN213197613U (en) | 2020-08-12 | 2020-08-12 | A auxiliary device that is used for automatic nucleic acid extraction equipment to carry out location calibration |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021669554.8U CN213197613U (en) | 2020-08-12 | 2020-08-12 | A auxiliary device that is used for automatic nucleic acid extraction equipment to carry out location calibration |
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| CN213197613U true CN213197613U (en) | 2021-05-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111951248A (en) * | 2020-08-12 | 2020-11-17 | 上海仁度生物科技有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111951248A (en) * | 2020-08-12 | 2020-11-17 | 上海仁度生物科技有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
| CN111951248B (en) * | 2020-08-12 | 2023-11-28 | 上海仁度生物科技股份有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
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