CN219972291U - Sample pretreatment system - Google Patents
Sample pretreatment system Download PDFInfo
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- CN219972291U CN219972291U CN202320596850.7U CN202320596850U CN219972291U CN 219972291 U CN219972291 U CN 219972291U CN 202320596850 U CN202320596850 U CN 202320596850U CN 219972291 U CN219972291 U CN 219972291U
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Abstract
The utility model relates to a sample pretreatment system, and belongs to the technical field of detection equipment. The sample preprocessing system includes: the sample waiting module comprises a test tube rack for placing sample test tubes to be processed; the cover opening and closing module comprises a test tube seat, a cover opening and closing gripper and a cover opening and closing driving device for driving the cover opening and closing gripper to rotate; a pipetting module comprising a pipetting device for pipetting sample liquids; and the test tube transfer module comprises a mechanical gripper and a moving assembly, wherein the mechanical gripper can transfer a sample tube to be processed to a test tube seat after grabbing the sample tube by a test tube rack under the control of the moving assembly. According to the sample pretreatment system, the steps from uncapping to pipetting closing of the sample tube are carried out by adopting automatic equipment, so that the defects of insufficient system flux and low time sequence efficiency in the conventional sample pretreatment process are overcome, the problems of inaccurate sample analysis, insufficient safety protection and cross contamination and the like possibly caused by manual intervention are solved, and the real full-automatic treatment is realized.
Description
Technical Field
The utility model relates to the technical field of detection equipment, in particular to a sample pretreatment system.
Background
With rapid development of molecular biology technology, biotechnology such as gene detection has been widely applied to various fields such as clinical detection, medical research, disease prevention and control, food safety and sanitation, etc. In the face of complex and diverse molecular biological detection technologies such as multiple-task experiments of nucleic acid extraction, PCR reaction, gene library establishment, gene sequencing and the like, a large amount of advanced experimenters with biotechnology knowledge reserves are often required to be input, and sample treatment is mainly performed manually in clinical application, and in the process, medical staff directly contact with a sample, so that personnel infection of germs is possibly caused by infection. Meanwhile, if a viscous sample is encountered, the cover is usually opened and closed manually, the sample is filled with the reagent solution and then mixed uniformly, and then the sample is inspected after being liquefied, but the addition of the reagent solution is completely finished manually, so that the addition is greatly affected by human factors, and uniformity and standardization are difficult to grasp; has the problems of long operation time and unsatisfactory effect.
Meanwhile, the manual operation has the defects of low detection efficiency, long operation time, cross contamination of samples, non-uniform sample treatment and the like, and the ever-increasing sample and detection requirements of patients are not met. Therefore, in order to relieve the pressure of the experimenter and avoid experimental errors caused by manual operation as much as possible, a safe, effective and fully-automatic system device for sample pretreatment is needed.
Disclosure of Invention
Accordingly, it is necessary to provide a sample pretreatment system capable of automatically pretreating a sample, which has the advantages of high uniformity, high efficiency and good safety, in order to solve the above-mentioned problems caused by the manual treatment of biological samples.
A sample preprocessing system, comprising:
the sample waiting module comprises a test tube rack for placing sample test tubes to be processed;
the cover opening and closing module comprises a test tube seat, a cover opening and closing gripper and a cover opening and closing driving device for driving the cover opening and closing gripper to rotate and open and close;
a pipetting module comprising a pipetting device for pipetting sample liquids; and
the test tube transfer module comprises a mechanical gripper and a moving assembly, wherein the mechanical gripper can transfer a sample tube to be processed to the test tube seat after being gripped by the test tube rack under the control of the moving assembly.
According to the sample pretreatment system, the steps from uncapping to pipetting closing of the sample tube are carried out by adopting automatic equipment, so that the defects of insufficient system flux and low time sequence efficiency in the conventional sample pretreatment process are overcome, the sample analysis is likely to be inaccurate due to manual intervention, and the problems of cross contamination and the like are caused due to insufficient safety protection.
Moreover, the conventional pretreatment system is often used for sampling in a puncturing way, so that the problems of frequent blockage and passivation of a sampling needle are easily caused, a complex liquid path structure is sometimes required to be added, the pipeline is easy to age, and the later maintenance work is heavy. The sample pretreatment system solves the problems by rotating the opening and closing cover.
In one embodiment, the sample pretreatment system further comprises a test tube transfer module, the test tube transfer module comprises a transfer guide rail and a transfer slide block, the transfer slide block can slide along the transfer guide rail, the test tube holder is installed on the transfer guide rail through the transfer slide block, the transfer slide block can drive the test tube holder to be located at two ends and the middle of the transfer guide rail respectively, the test tube holder is located at two ends of the transfer guide rail respectively and is located at a clamping station or a pipetting station respectively, the test tube holder is located at the middle of the transfer guide rail and is located at a cover opening and closing station, the pipetting station corresponds to the pipetting device, the clamping station corresponds to the test tube mechanical gripper, and the cover opening and closing station corresponds to the cover opening and closing module. Through the motion of transfer slider on the transfer guide rail, with the test tube seat at clamp station (be used for receiving the mechanical tongs from the sample test tube that test tube rack transferred and fixed), open and shut and cover the station (be used for the test tube lid to open and shut under the action of lid tongs and uncap or close the action of lid) and pipetting station (be used for pipetting equipment to carry out the action of pipetting) flexible, rationally obtain the conversion.
In one embodiment, the moving assembly includes a support, an X-axis assembly, a Y-axis assembly, and a Z-axis assembly;
the X-axis assembly is arranged on the bracket and comprises an X-axis driving device, an X-axis transmission device and an X-axis sliding plate, and the X-axis driving device drives the X-axis transmission device to drive the X-axis sliding plate to move in the X-axis direction;
the Y-axis assembly is arranged on the X-axis sliding plate and comprises a Y-axis driving device, a Y-axis transmission device and a Y-axis sliding block, and the Y-axis driving device drives the Y-axis transmission device to drive the Y-axis sliding block to move in the Y-axis direction;
the Z-axis assembly is arranged on the Y-axis sliding block and comprises a Z-axis driving device, a Z-axis transmission device and a Z-axis sliding block, and the Z-axis driving device drives the Z-axis transmission device to drive the Z-axis sliding block to move in the Z-axis direction;
the mechanical gripper is fixed on the Z-axis sliding block, and one end of the transfer guide rail is positioned below a movable area of the mechanical gripper.
The test tube transfer module cooperates with the transfer guide rail, a barrier-free efficient station conversion mode is realized by utilizing the linear guide rail, the corresponding stations can be used for carrying out more rapid action reaction in the linear work, the division work is clear and single and orderly, and the work efficiency is greatly improved.
In one embodiment, the sample waiting module further comprises an inserting frame, a slot is arranged on the inserting frame, the test tube rack is capable of being inserted into and detachably fixed in the slot, an identification code or a signal for identifying the type of the sample is arranged on the test tube rack, a code reader capable of identifying the identification code or the signal is arranged on the inserting frame, and the code reader is arranged at a stroke position corresponding to the action of inserting the test tube rack into the slot. By means of the arrangement, the test tube rack can be inserted into the inserting frame, meanwhile, the identification code or the signal of the test tube rack can be read, and the probability that errors occur in manual operation is further reduced.
In one embodiment, the cover opening and closing module further comprises a mounting substrate, a moving slide block, a moving guide rail and a moving driving device, wherein the cover opening and closing driving device is mounted on the moving slide block, the moving guide rail and the moving driving device are mounted on the mounting substrate, the moving slide block is connected with the moving guide rail in a sliding mode, and the moving driving device drives the moving slide block to drive the cover opening and closing driving device to slide up and down along the moving guide rail.
In one embodiment, the cover opening and closing gripper is two gripper fingers which are oppositely arranged, and the gripper fingers are arranged on the opening and closing guide rail through a sliding block and can move in opposite or opposite directions along the opening and closing guide rail under the driving of the cover opening and closing driving device;
the opening and closing guide rail is fixed on the rotary chassis and can rotate under the drive of the opening and closing cover driving device;
the test tube seat comprises a clamping guide rail, two clamping sliding blocks, a clamping driving device and two fixed soft clamps which are oppositely arranged, wherein the two fixed soft clamps are respectively fixed on the two clamping sliding blocks, and the clamping driving device can drive the two clamping sliding blocks to move along the clamping guide rail in opposite or opposite directions.
Through the cooperation of the components, in the cover opening and closing module, the cover opening and closing driving device can drive the cover opening and closing gripper to open and close, the sliding blocks of the parallel sliding rails drive the clamping jaw fingers to move in parallel, after the test tube cap is clamped, the cover opening and closing gripper is driven to rotate by the cover opening and closing driving device, and the cover opening and closing gripper is in rotary linkage with the ascending or descending movement of the moving sliding blocks, so that the functions of opening and closing the cover are realized.
In one embodiment, the fixing soft clip comprises a fixing clip and a soft clip, wherein the soft clip is arranged on the inner side of the fixing clip and is used for being in direct contact with the test tube. Through the setting of this soft clamp, make this test tube seat can be better the nondestructive clamp test tube.
In one embodiment, the pipetting device is provided with a pipetting assembly and a pipetting head, the pipetting assembly providing a pipetting negative pressure for the pipetting head;
the pipetting module further comprises a pipetting transfer device for driving the pipetting head to move in horizontal and vertical directions.
It will be appreciated that the above described pipetting device and pipetting transferring device may be adapted to achieve their objects by means of conventional devices in the art.
In one embodiment, the mechanical gripper comprises a gripper guide rail, two gripper sliders, a gripper driving device and two gripper fingers which are oppositely arranged, wherein the two gripper fingers are respectively fixed on the two gripper sliders, and the gripper driving device can drive the two gripper sliders to move along the gripper guide rail in opposite or opposite directions.
The gripper driving device drives the two gripping fingers to open and close oppositely, and the parallel opening and closing actions can be realized by controlling the stepping motor, so that the production cost is effectively reduced.
In one embodiment, the mechanical gripper further comprises an optical coupler and an opening and closing optical coupler, wherein the optical coupler is arranged between the two clamping jaw fingers and used for judging whether a test tube exists between the two clamping jaw fingers, and the opening and closing optical coupler is used for judging the opening and closing positions of the clamping jaw fingers. By using the optical coupler and the open-close optical coupler, the problem that the common clamping jaw is not recognized is solved, and the controllability and reliability of the equipment during automatic operation are improved.
In one embodiment, the mechanical gripper and the opening and closing cover gripper are provided with anti-slip grooves towards one side of the test tube. The test tube can be better gripped.
Compared with the prior art, the utility model has the following beneficial effects:
according to the sample pretreatment system, the steps from uncapping to pipetting and closing of the sample test tube are carried out by adopting automatic equipment, so that the defects of insufficient system flux and low time sequence efficiency in the conventional sample pretreatment process are overcome, the problems of inaccurate sample analysis and insufficient safety protection caused by manual intervention are solved, and the sample pretreatment system solves the problems possibly occurring in the human-computer interaction process, so that the real full-automatic treatment is realized.
Moreover, by means of rotating the opening and closing cover, the problem that a sampling needle is blocked and passivated frequently due to the fact that a puncture mode is adopted frequently in the conventional pretreatment system for sampling is solved.
Drawings
FIG. 1 is a schematic diagram of a sample preprocessing system (view angle I);
FIG. 2 is a top view of a sample pretreatment system;
FIG. 3 is a schematic diagram of a sample preprocessing system (view II);
FIG. 4 is a schematic diagram of a side structure of an air exhaust filter module of the sample pretreatment system;
FIG. 5 is a schematic view of a Z-axis assembly and a mechanical gripper;
FIG. 6 is a schematic view of a tube seat in a cap opening and closing station;
FIG. 7 is a schematic view of a part of the structure of a test tube seat at a cover opening and closing station;
FIG. 8 is a schematic view of an open-close cover gripper and its mounting structure;
FIG. 9 is a schematic view of a test tube holder clamping a test tube;
fig. 10 is an exploded view of fig. 9.
Wherein:
110. a test tube rack; 120. a plug-in rack; 121. a backup plug-in rack;
200. a cover opening and closing module; 210. a test tube holder; 211. clamping the guide rail; 212. clamping a sliding block; 213. a clamping driving device; 214. a fixing clamp; 215. soft clips; 220. a cover opening and closing gripper; 230. a cover opening and closing driving device; 240. a mounting substrate; 250. moving the slide block; 260. a moving guide rail; 270. a movement driving device;
300. a pipetting module; 310. a pipetting transfer device; 321. a liquid-absorbing assembly; 322. a liquid suction head;
410. a mechanical gripper; 412. clamping jaw fingers; 413. the optical coupler is arranged or not; 414. an optical coupler is opened and closed; 415. a gripper driving device; 421. a bracket; 422. an X-axis assembly; 423. a Y-axis assembly; 424. a Z-axis assembly;
500. a test tube transfer module; 510. a transfer rail;
600. an air exhaust filtering module;
700. a sample tube;
Detailed Description
In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Examples
A sample pretreatment system, as shown in fig. 1-4, comprising: a sample waiting module, a cover opening and closing module 200, a pipetting module 300, a test tube transferring module and a test tube transferring module 500.
The sample waiting module comprises a rack 110 for holding sample tubes 700 to be processed.
Considering the probability of error occurrence caused by manual operation, the sample waiting module further comprises an inserting frame 120, a slot is formed in the inserting frame 120, the test tube rack 110 is capable of being inserted into and detachably fixed in the slot, an identification code for identifying the sample type is arranged on the test tube rack 110, a code reader capable of identifying the identification code is arranged on the inserting frame 120, and the code reader is arranged at a travel position corresponding to the action of inserting the test tube rack 110 into the slot. With the arrangement, the test tube rack 110 can be inserted into the insertion rack 120, and the identification code or signal of the test tube rack 110 can be read. It will be appreciated that the above-described shelf 120 may be provided in a plurality, such as at least one backup shelf 121, or the like, depending on the sample throughput.
The cap opening and closing module 200 includes a test tube holder 210, a cap opening and closing gripper 220, and a cap opening and closing driving device 230 for driving the cap opening and closing gripper 220 to rotate;
the pipetting device is provided with a pipetting assembly 321 and a pipetting head 322, the pipetting assembly 321 provides pipetting negative pressure for the pipetting head 322, and the pipetting module 300 further comprises a pipetting device for sucking sample liquid and a pipetting transfer device 310 for driving the pipetting head 322 to move in the horizontal direction and the vertical direction. It will be appreciated that the pipetting device and pipetting transfer device 310 described above may be used for its purpose using conventional equipment in the art.
The test tube transfer module comprises a mechanical gripper 410 and a moving component, wherein the mechanical gripper 410 can transfer a sample tube 700 to be processed to the test tube holder 210 after being gripped by the test tube rack 110 under the control of the moving component.
Specifically, the mechanical gripper 410 includes a gripper guide rail, two gripper blocks, a gripper driving device 415, and two gripper fingers 412 disposed opposite to each other, where the two gripper fingers 412 are respectively fixed on the two gripper blocks, and the gripper driving device 415 may drive the two gripper blocks to move along the gripper guide rail in opposite or opposite directions, as shown in fig. 5.
The gripper driving device 415 drives the two gripper fingers 412 to move in opposite directions, so that the parallel opening and closing actions can be realized by controlling the stepping motor (namely the gripper driving device 415), and the production cost is effectively reduced.
In order to overcome the problem that the common clamping jaw is not recognized, and improve the controllability and reliability of the equipment during automatic operation, in this embodiment, the mechanical gripper 410 further includes an optocoupler 413 and an opening and closing optocoupler 414, where the optocoupler 413 is disposed between the two clamping jaw fingers 412 and is used for judging whether a test tube exists between the two clamping jaw fingers 412, and the opening and closing optocoupler 414 is used for judging the opening and closing positions of the clamping jaw fingers 412.
The test tube transfer module 500 includes a transfer guide rail 510 and a transfer slide block, the transfer slide block can slide along the transfer guide rail 510, the test tube holder 210 is installed on the transfer guide rail 510 through the transfer slide block, the transfer slide block can drive the test tube holder 210 to be located respectively at two ends and the middle part of the transfer guide rail 510, when the test tube holder 210 is located respectively at two ends of the transfer guide rail 510, the test tube holder 210 is located respectively at a clamping station or a pipetting station, when the test tube holder 210 is located at the middle part of the transfer guide rail 510, the test tube holder 210 is located at a capping station, the pipetting station corresponds to the pipetting device, the clamping station corresponds to the mechanical gripper, and the capping station corresponds to the capping module.
By the movement of the transfer slide block on the transfer guide rail 510, the test tube holder 210 is flexibly and reasonably converted between a clamping station (for receiving and fixing the sample test tube 700 transferred from the test tube rack 110 by the mechanical gripper 410), a cover opening and closing station (for opening and closing the test tube cover under the action of the cover opening and closing gripper 220) and a pipetting station (for pipetting by the pipetting device). The test tube holder 210 is shown in fig. 1-2 in the clamping position, the test tube holder 210 is shown in fig. 6-7 in the opening and closing position, and the test tube holder 210 is shown in fig. 3 in the pipetting position.
Specifically, the moving assembly includes a frame 421, an x-axis assembly 422, a y-axis assembly 423, and a Z-axis assembly 424.
The X-axis assembly 422 is mounted on the bracket 421, the X-axis assembly 422 includes an X-axis driving device, an X-axis transmission device, and an X-axis sliding plate, and the X-axis driving device drives the X-axis transmission device to drive the X-axis sliding plate to move in the X-axis direction;
the Y-axis assembly 423 is mounted on the X-axis sliding plate, the Y-axis assembly 423 comprises a Y-axis driving device, a Y-axis transmission device and a Y-axis sliding block, and the Y-axis driving device drives the Y-axis transmission device to drive the Y-axis sliding block to move in the Y-axis direction;
the Z-axis assembly 424 is mounted on the Y-axis slider, the Z-axis assembly 424 includes a Z-axis driving device, a Z-axis transmission device, and a Z-axis slider, and the Z-axis driving device drives the Z-axis transmission device to drive the Z-axis slider to move in the Z-axis direction;
the robot arm 410 is fixed to the Z-axis slider, and one end of the transfer rail 510 is located below the movable area of the robot arm 410.
The test tube transfer module cooperates with the transfer guide rail 510, a barrier-free efficient station conversion mode is realized by utilizing the linear guide rail, the corresponding stations can be used for carrying out more rapid action reaction in the linear work, the division of work is clear and single and orderly, and the work efficiency is greatly improved.
Considering that the conventional pretreatment system frequently adopts a puncture mode for sampling, so that the problems of frequent blockage and passivation of a sampling needle are easily caused, a complex liquid path structure is sometimes required to be added, and the problems of easy ageing of a pipeline and the like are also sometimes caused, and the later maintenance work is heavy. Thus, the sample pretreatment system of the present embodiment solves the above-described problems by rotating the opening/closing cover.
Specifically, as shown in fig. 8, the cover opening and closing module 200 further includes a mounting substrate 240, a moving slider 250, a moving rail 260, and a moving driving device 270, where the cover opening and closing driving device 230 is mounted on the moving slider 250, the moving rail 260 and the moving driving device 270 are both mounted on the mounting substrate 240, the moving slider 250 is slidably connected with the moving rail 260, the moving driving device 270 drives the moving slider 250 to drive the cover opening and closing driving device 230 to slide up and down along the moving rail 260, and two fingers are disposed on the cover opening and closing driving device 230.
In this embodiment, as shown in fig. 9-10, in order to cooperate with the rotation stability of the cover opening and closing driving device 230 and ensure that the test tube will not fail in response thereto, the test tube holder 210 includes a clamping rail 211, two clamping sliders 212, a clamping driving device 213 (and a bi-directional screw motor), and two opposing fixed soft clamps, which are respectively fixed to the two clamping sliders 212, and the clamping driving device 213 can drive the two clamping sliders 212 to move along the clamping rail 211 in opposite or opposite directions. The fixing soft clamp comprises a fixing clamp 214 and a soft clamp 215, wherein the soft clamp 215 is arranged on the inner side of the fixing clamp 214 and is used for being in direct contact with a test tube. By the above arrangement, the tube holder 210 is enabled to grip the tube better without damage.
It will be appreciated that the mechanical gripper 410 and the open-close lid gripper 220 are provided with anti-slip grooves on both sides of the symmetrically mounted gripper fingers and gripper fingers facing the test tube. The tube body and the cover body of the test tube can be better clamped and fixed.
Further, the embodiment further includes an air exhaust filtering module 600, which can be mounted on the housing of the apparatus to solve the problem of aerosol pollution.
The workflow and principle of the sample pretreatment system are as follows:
step 1: sample loading and automatic identification.
The assembled sample test tubes 700 are placed in the test tube rack 110, and after the sample test tubes 700 are provided with sample type codes corresponding to the position codes of the test tube rack 110 one by one, the sample test tubes 700 are inserted into the insertion rack 120 (the insertion process automatically obtains the identified sample types by using a code reader).
Step 2: sample sampling tube transfer.
The selected sample tube 700 is gripped by the three-axis (X, Y, Z axis) automated mechanical gripper 410 of the moving assembly and transferred to the tube holder 210 waiting at the gripping station of the tube transfer module 500.
Step 3: the sampling tube is clamped and uncapped.
After the previous step is completed, the sample test tube is clamped by a bidirectional screw motor serving as a clamping driving device 213 and then is transferred to the next cover opening and closing station for cover opening.
Step 4: and pipetting and closing the sampling tube.
The test tube transfer module 500 drives the test tube seat 210 to move the sample test tube 700 to the pipetting station through the transfer slide block, the test tube transfer module performs pipetting operation, and after pipetting is completed, the test tube transfer module 500 returns to the cover opening and closing station to perform cover closing action.
Step 5: the sampling tube returns to the original position.
The tube transfer module 500 returns the sample tube 700 to the clamping station and returns to the home position by the mechanical gripper 410 of the mobile assembly while the next sample is grasped.
The sample pretreatment system can be carried out by adopting automatic equipment from the step of uncapping a sample test tube to the step of pipetting and closing the cover, the defects of insufficient system flux and low time sequence efficiency in the conventional sample pretreatment process are overcome, and the problems of inaccurate sample analysis, insufficient safety protection and cross contamination and the like possibly caused by manual intervention are solved.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.
Claims (10)
1. A sample pretreatment system, comprising:
the sample waiting module comprises a test tube rack for placing sample test tubes to be processed;
the cover opening and closing module comprises a test tube seat, a cover opening and closing gripper and a cover opening and closing driving device for driving the cover opening and closing gripper to rotate and open and close;
a pipetting module comprising a pipetting device for pipetting sample liquids; and
the test tube transfer module comprises a mechanical gripper and a moving assembly, wherein the mechanical gripper can transfer a sample tube to be processed to the test tube seat after being gripped by the test tube rack under the control of the moving assembly.
2. The sample pretreatment system of claim 1, further comprising a tube transfer module comprising a transfer rail and a transfer slide, wherein the transfer slide is capable of sliding along the transfer rail, the tube holder is mounted on the transfer rail by the transfer slide, the transfer slide is capable of driving the tube holder to be positioned at two ends and in the middle of the transfer rail respectively, the tube holder is positioned at a clamping station or a pipetting station respectively when the tube holder is positioned at two ends of the transfer rail, the tube holder is positioned at a cap opening and closing station when the tube holder is positioned in the middle of the transfer rail, the pipetting station corresponds to the pipetting device position, the clamping station corresponds to the tube mechanical gripper position, and the cap opening and closing station corresponds to the cap opening and closing module position.
3. The sample pretreatment system of claim 2, wherein the moving assembly comprises a rack, an X-axis assembly, a Y-axis assembly, and a Z-axis assembly;
the X-axis assembly is arranged on the bracket and comprises an X-axis driving device, an X-axis transmission device and an X-axis sliding plate, and the X-axis driving device drives the X-axis transmission device to drive the X-axis sliding plate to move in the X-axis direction;
the Y-axis assembly is arranged on the X-axis sliding plate and comprises a Y-axis driving device, a Y-axis transmission device and a Y-axis sliding block, and the Y-axis driving device drives the Y-axis transmission device to drive the Y-axis sliding block to move in the Y-axis direction;
the Z-axis assembly is arranged on the Y-axis sliding block and comprises a Z-axis driving device, a Z-axis transmission device and a Z-axis sliding block, and the Z-axis driving device drives the Z-axis transmission device to drive the Z-axis sliding block to move in the Z-axis direction;
the mechanical gripper is fixed on the Z-axis sliding block, and one end of the transfer guide rail is positioned below a movable area of the mechanical gripper.
4. The sample pretreatment system according to claim 1, wherein the sample waiting module further comprises an insertion frame, a slot is provided on the insertion frame, the test tube rack is insertable and detachably fixed in the slot, an identification code or a signal for identifying the sample type is provided on the test tube rack, a code reader for identifying the identification code or the signal is provided on the insertion frame, and the code reader is provided at a travel position corresponding to the insertion of the test tube rack into the slot.
5. The sample pretreatment system of claim 1, wherein the cover opening and closing module further comprises a mounting substrate, a moving slide block, a moving guide rail and a moving driving device, wherein the cover opening and closing driving device is mounted on the moving slide block, the moving guide rail and the moving driving device are both mounted on the mounting substrate, the moving slide block is slidably connected with the moving guide rail, and the moving driving device drives the moving slide block to drive the cover opening and closing driving device to slide up and down along the moving guide rail.
6. The sample pretreatment system according to claim 5, wherein the cover opening and closing gripper comprises two gripper fingers which are oppositely arranged, and the gripper fingers are arranged on the opening and closing guide rail through a sliding block and can move in opposite or opposite directions along the opening and closing guide rail under the driving of the cover opening and closing driving device;
the opening and closing guide rail is fixed on the rotary chassis and can rotate under the drive of the opening and closing cover driving device;
the test tube seat comprises a clamping guide rail, two clamping sliding blocks, a clamping driving device and two fixed soft clamps which are oppositely arranged, wherein the two fixed soft clamps are respectively fixed on the two clamping sliding blocks, and the clamping driving device can drive the two clamping sliding blocks to move along the clamping guide rail in opposite or opposite directions.
7. The sample pretreatment system of claim 1, wherein the pipetting device is provided with a pipetting assembly and a pipetting head, the pipetting assembly providing a pipetting negative pressure for the pipetting head;
the pipetting module further comprises a pipetting transfer device for driving the pipetting head to move in horizontal and vertical directions.
8. The sample pretreatment system of claim 1, wherein the mechanical gripper comprises a gripper rail, two gripper blocks, a gripper driving device and two gripper fingers disposed opposite to each other, the two gripper fingers being respectively fixed to the two gripper blocks, the gripper driving device being capable of driving the two gripper blocks to move in opposite or opposite directions along the gripper rail.
9. The sample pretreatment system of claim 1, wherein the mechanical gripper further comprises an optocoupler and an optocoupler, the optocoupler is disposed between the two gripper fingers for determining whether a test tube is present between the two gripper fingers, and the optocoupler is configured to determine the position of the gripper fingers.
10. The sample pretreatment system of claim 1, wherein the mechanical gripper and the lid-opening gripper are each provided with an anti-slip slot on a side facing the test tube.
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| CN202320596850.7U CN219972291U (en) | 2023-03-23 | 2023-03-23 | Sample pretreatment system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320596850.7U CN219972291U (en) | 2023-03-23 | 2023-03-23 | Sample pretreatment system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117554313A (en) * | 2024-01-10 | 2024-02-13 | 绍兴君鸿智能科技有限公司 | Automatic detection system and automatic detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117554313A (en) * | 2024-01-10 | 2024-02-13 | 绍兴君鸿智能科技有限公司 | Automatic detection system and automatic detection method |
| CN117554313B (en) * | 2024-01-10 | 2024-04-02 | 绍兴君鸿智能科技有限公司 | Automatic detection system and automatic detection method |
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