WO2023131139A1 - 一种洗精机 - Google Patents

一种洗精机 Download PDF

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Publication number
WO2023131139A1
WO2023131139A1 PCT/CN2023/070249 CN2023070249W WO2023131139A1 WO 2023131139 A1 WO2023131139 A1 WO 2023131139A1 CN 2023070249 W CN2023070249 W CN 2023070249W WO 2023131139 A1 WO2023131139 A1 WO 2023131139A1
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Prior art keywords
test tube
washing machine
machine according
pipetting
rack
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PCT/CN2023/070249
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English (en)
French (fr)
Inventor
刘见桥
张国峰
李磊
周学亮
杜红姿
马丽琴
Original Assignee
道简(深圳)医疗科技有限公司
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Publication of WO2023131139A1 publication Critical patent/WO2023131139A1/zh

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    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/02—Form or structure of the vessel
    • C12M23/08—Flask, bottle or test tube
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/48—Holding appliances; Racks; Supports
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/52—Mobile; Means for transporting the apparatus
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/54—Constructional details, e.g. recesses, hinges hand portable
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M29/00—Means for introduction, extraction or recirculation of materials, e.g. pumps
    • C12M29/04—Filters; Permeable or porous membranes or plates, e.g. dialysis
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M31/00—Means for providing, directing, scattering or concentrating light
    • C12M31/02—Means for providing, directing, scattering or concentrating light located outside the reactor
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
    • C12M33/04—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by injection or suction, e.g. using pipettes, syringes, needles
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
    • C12M33/10—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by centrifugation ; Cyclones
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M37/00—Means for sterilizing, maintaining sterile conditions or avoiding chemical or biological contamination
    • C12M37/04—Seals
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/40—Means for regulation, monitoring, measurement or control, e.g. flow regulation of pressure
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/44—Means for regulation, monitoring, measurement or control, e.g. flow regulation of volume or liquid level
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/48—Automatic or computerized control
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M47/00—Means for after-treatment of the produced biomass or of the fermentation or metabolic products, e.g. storage of biomass
    • C12M47/04—Cell isolation or sorting

Definitions

  • the invention relates to the field of biotechnology, in particular to the field of washing essence technology.
  • Sperm washing is a processing technology for processing semen to obtain optimal sperm.
  • There are several common washing methods such as washing method, upstream method, and gradient centrifugation method, all of which need to separate the optimal sperm through culture medium and gradient liquid.
  • the existing washing operation is usually performed manually by operators, which has low efficiency, unstable quality and high labor costs.
  • the purpose of the present invention is to solve at least one of the technical problems in the prior art, and provide a washing machine that can automatically perform all or part of the washing operation, improve the standardization of operations and work efficiency, and reduce labor costs.
  • a washing machine comprising a frame, the frame is provided with:
  • Sample seat for placing sample container
  • Fixing device for fixing the test tube
  • test tube rack and the straw rack are used to store test tubes and straws respectively;
  • the clamping device and the pipetting device are all arranged on the rack through the displacement device to move up and down and to move back and forth between the sample holder, the fixing device, the test tube rack and the pipette rack; the clamping device is used for clamping A test tube, the pipetting device is used to connect a suction pipe and can perform suction and injection operations through the suction pipe;
  • the control device is used to control the actions of the fixing device, the clamping device, the pipetting device and the displacement device.
  • the frame is also provided with a printing and labeling device for affixing a label on the test tube, and the clamping device can be moved to the printing and labeling device by the displacement device, and on the frame
  • a first label reading device for reading the label information of the sample container on the sample holder is provided, and the control device can receive the label information read by the first label reading device and send the label information to the printing and labeling device Output print information.
  • the sample holder is provided with a chip reading device for reading the chip information of the sample container on the sample holder;
  • the displacement device is provided with a chip reading and writing device corresponding to the test tube clamped by the clamping device
  • the chip read-write device is used to read the information of the chip on the test tube and write information to the chip of the test tube, and both the chip read-write device and the chip read-write device are connected in communication with the control device.
  • the fixing device is provided with a second label reading device for reading the label information on the test tube; the second label reading device is in communication connection with the control device.
  • the sample holder comprises:
  • a base for placing the sample container is driven by a first driving device and arranged on the frame so as to be laterally rotatable;
  • a first detection device for detecting the orientation of the sample container placed on the seat
  • the control device can receive the detection result of the first detection device and control the action of the first drive device accordingly.
  • the first detection device is a visual device, which is used to take an image of one side of the sample container on the base to judge the orientation of the sample container according to the size and position of the label in the image, and the first detection device simultaneously Used to read the information recorded on the label on the sample container.
  • the surface of the sample holder for placing the sample container is inclined at an angle relative to the horizontal plane.
  • the fixing device is provided with a second detection device for detecting the height of the liquid layer in the test tube on the fixing device, and the second detection device is communicated with the control device.
  • the second detection device is a visual device, and a reference object is arranged on the frame, and the reference object is located in the shooting area of the second detection device.
  • the number of the fixing devices is two or more, and each fixing device can independently fix the test tubes.
  • the rack is provided with a second driving device for driving the fixing device and/or the pipetting device to move, so that the test tube fixed by the fixing device and the suction pipe connected to the pipetting device are relatively inclined at an angle.
  • the displacement device includes a traverse device and two lifting devices, and the clamping device and the pipetting device are respectively arranged on the traverse device by one of the lifting devices so that they can be lifted independently.
  • a centrifugal device is also provided on the frame, and the clamping device can be moved to the centrifugal device by the displacement device.
  • a waste box is detachably provided on the frame, and the waste box has a waste inlet, and the clamping device and the pipetting device can be moved above the waste inlet through the displacement device.
  • the displacement device is provided with a third detection device, the third detection device is used to detect the number and position of the test tubes in the test tube rack and the straws in the straw rack and can be moved by the displacement device, the third detection device The detection device is connected in communication with the control device.
  • the pipetting device is provided with an air pressure detection device, and the air pressure detection device is used to detect the air pressure in the air circuit in the liquid pipetting device or in the suction tube connected to the pipetting device.
  • the air pressure detection device is connected in communication with the control device, and the control device can obtain the viscosity of the liquid in the straw connected to the pipetting device according to the detection result of the air pressure detection device.
  • the displacement device is provided with a third drive device for driving the clamping device to rotate.
  • the test tube rack and the straw rack can be detachably arranged on the rack, and the rack is provided with a fourth detection device for detecting whether the test tube rack and the straw rack are installed on the rack.
  • the four detection devices are connected in communication with the control device.
  • the beneficial effects of the present invention are: in the application of the present invention, the operator can place the sample container on the sample seat, the clamping device first clamps the test tube from the test tube rack through the displacement device and places it on the fixing device, and the pipetting device passes through the displacement device Connect the straw from the straw rack and then move to the sample holder to draw the sample from the sample container, and then move to the fixing device to inject the drawn liquid into the test tube, and then draw the preferred sperm-containing solution from the test tube to control
  • the device can control the actions of each part to realize automatic operation. In this way, the present invention can automatically complete part or all of the cleaning operation, improve the standardization degree and operation efficiency of the operation, and reduce the labor cost of workers.
  • Fig. 1 is the overall structural diagram of the preferred embodiment of the present invention.
  • Fig. 2 is a structural diagram after the cabinet door and part of the frame are removed and the waste box is taken out in a preferred embodiment of the present invention
  • Fig. 3 is a top view of the preferred embodiment of the present invention after further removing part of the upper part of the frame;
  • Fig. 4 is the structural diagram of sample holder part in the preferred embodiment of the present invention.
  • Fig. 5 is an exploded structural view of the sample holder part in the preferred embodiment of the present invention.
  • Fig. 6 is a structural diagram of the fixing device part in the preferred embodiment of the present invention.
  • Fig. 7 is an exploded structural view of the fixing device part in the preferred embodiment of the present invention.
  • Fig. 8 is a structural diagram of the displacement device, the clamping device and the pipetting device in the preferred embodiment of the present invention.
  • Fig. 9 is a structural view of the clamping device and the pipetting device in a preferred embodiment of the present invention.
  • Fig. 10 is the schematic diagram of the installation of the test tube rack and the frame in the preferred embodiment of the present invention.
  • Fig. 11 is a schematic structural diagram of a printing and labeling device in a preferred embodiment of the present invention.
  • the preferred embodiment of the present invention provides a kind of fine washing machine, comprises frame 10, is provided with on frame 10: sample seat 20, is used for placing sample container; Fix the test tube; test tube rack 52 and suction pipe rack 53 are used to store test tubes and suction pipes respectively; clamping device 40 and pipetting device 51 are all arranged on the frame 10 by displacement device 60 and can move up and down and in sample holder 20, Move back and forth between the fixing device 30, the test tube rack 52 and the suction pipe rack 53; the clamping device 40 is used for clamping the test tube, and the pipetting device 51 is used for connecting the suction pipe and can carry out suction and injection operations through the suction pipe; the control device 91 uses It is used to control the actions of the fixing device 30 , the clamping device 40 , the pipetting device 51 and the displacement device 60 .
  • the operator can place the sample container on the sample holder 20, the clamping device 40 first clamps the test tube from the test tube rack 52 through the displacement device 60 and places it on the fixing device 30, and the pipetting device 51 passes through the displacement device 60
  • the control device 91 can control the actions of each part to realize automatic operation, so that the present invention can automatically complete part or all of the washing operation, improve the standardization of operation and operation efficiency, and reduce the labor cost of workers.
  • the frame 10 is also provided with a printing and labeling device 70 for attaching a label on the test tube, and the clamping device 40 can move to the printing and labeling device 70 through the displacement device 60.
  • the control device 91 can receive the label information read by the first label reading device and output the printing information to the printing and labeling device 70, so that it can automatically Read the label information of the sample container and print the corresponding label information on the test tube, which can effectively avoid confusion and ensure the quality of the work.
  • the printing and labeling device 70 includes a printing module 71 and a labeling device, and a labeling position is provided on the frame 10, wherein the printing module 71 communicates with the control device 91, and the label can be transported to
  • the labeling device includes a main pressure roller 72 and two secondary pressure rollers 73, the main pressure roller 72 is pressed on the test tube and driven by a first labeling drive device 721 It can rotate to drive the test tube to rotate and attach the label tightly on the test tube.
  • the two secondary pressure rollers 73 are driven by a second labeling drive device 731 and can move to clamp the test tube together with the main pressure roller 72 or loosen the test tube.
  • the printing module 71 is widely used. It usually uses the raw material roller and the receiving roller to convey the bottom film, uses the separation corner to separate the label from the bottom film, and uses the thermal print head to print the label. In addition, it has many types and The structure, its structure and principle are well known to those skilled in the art, and the technology in the art can be flexibly selected according to needs, and will not be described in detail here.
  • the first labeling driving device 721 and the second labeling driving device 731 in the present embodiment all adopt motors, respectively utilize the gear transmission mechanism and the cam mechanism to drive the main pressure roller 72 to rotate and drive the auxiliary pressure roller 73 to move.
  • the first labeling driving device 721 and the second labeling driving device 731 can also adopt other commonly used driving structures; in other embodiments, the printing and labeling device 70 can also adopt other commonly used structures with the above functions, and It is not limited to this.
  • the sample holder 20 is provided with a chip reading device 22 for reading the chip information of the sample container on the sample holder 20;
  • the test tube clamped by the device 40 is provided with a chip read-write device 61, the chip read-write device 61 is used to read the information of the chip on the test tube and write information to the chip of the test tube, the chip read-write device 22 and the chip read-write device 61 All communicate with the control device 91, so that the control device 91 can write corresponding information on the chip of the test tube grabbed by the grabbing device according to the chip information read by the chip reading device 22.
  • it can also be checked again to ensure that the information of the sample and the test tube is consistent, avoid confusion and error, and ensure the quality of the work.
  • both the chip reading device 22 and the chip reading and writing device 61 are adapted to common RFID chips, and their structures and principles are well known to those skilled in the art, and will not be described in detail here.
  • the types of the chip reading device 22 and the chip reading and writing device 61 can also be changed and selected accordingly, and the invention is not limited thereto.
  • the fixing device 30 is provided with a second label reading device for reading the label information on the test tube; the second label reading device communicates with the control device 91, so that when the fixing device 30 fixes the test tube The label information can be checked, which can further avoid sample confusion and errors, and ensure the quality of the work.
  • the sample holder 20 includes: a seat 23 for placing a sample container, and the seat 23 is driven by a first driving device 24 and arranged on the frame 10 so as to be rotatable laterally;
  • the first detection device 21 is used to detect the orientation of the sample container placed on the base 23;
  • the control device 91 can receive the detection result of the first detection device 21 and control the action of the first drive device 24 accordingly, so that in operation
  • the first detection device 21 cooperates with the first driving device 24 to rotate the base 23 and adjust the orientation of the label on the sample container to the set direction, which facilitates subsequent reading of the sample container label. Take and other operations, easy to use.
  • the first detection device 21 is a visual device, which is used to take an image of one side of the sample container on the base 23 to judge the orientation of the sample container according to the size and position of the label in the image, and the first detection device 21 simultaneously It is used to read the information recorded on the label on the sample container, that is, as the first label reading device at the same time, the structure is simple and reliable, and it can judge the angle at which the seat body 23 needs to rotate at one time, which helps to improve the working efficiency and also
  • the structure of the present invention can be simplified.
  • the visual device usually includes a camera, an image processing module, etc., and its structure and principle are well known to those skilled in the art.
  • the specific method of judging the direction of the sample container through the captured image is also known to those skilled in the art according to the description of the present invention. This will not be described in detail.
  • the surface of the sample seat 20 for placing the sample container is inclined at an angle relative to the horizontal plane, so that the samples in the sample container can be gathered to a corner of the sample container, increasing the depth of the sample and facilitating suction.
  • the sample holder 20 is directly inclined.
  • the sample holder 20 can also adopt other suitable structures and shapes, and correspondingly, only the surface for placing the sample container can be set to be inclined.
  • the sample seat 20 also includes a glass slide seat 25 for placing a slide glass, which is convenient for testing samples contained in the slide glass.
  • the fixing device 30 is provided with the second detecting device 31 for detecting the height of the liquid layer in the test tube on the fixing device 30, and the second detecting device 31 communicates with the control device 91, so The control device 91 can control the movement of the displacement device 60 and the pipetting device 51 according to the detection result of the second detection device 31, so that the suction pipe connected to the pipetting device 51 can accurately reach the predetermined liquid layer and absorb the required liquid accurately and in sufficient quantities, avoiding The liquid in the rest of the liquid layer is sucked into the suction pipe together, which can effectively improve the working quality.
  • the second detection device 31 is a visual device, and a reference object 32 is arranged on the frame 10.
  • the reference object 32 is located in the shooting area of the second detection device 31, and a constant reference coordinate can be set for the reference object 32. , which is convenient for accurately judging the height of the liquid layer in the test tube and can improve the operation accuracy.
  • the reference object 32 adopts a rod standing beside the test tube.
  • the reference object 32 can also adopt other suitable shapes and installation positions, and is not limited thereto.
  • the second detection device 31 also serves as the second label reading device, which can simplify the structure.
  • the number of fixing devices 30 is two, and each fixing device 30 can fix the test tubes independently, so that two test tubes can be fixed at the same time to perform pipetting operations in the two test tubes, and more complicated washing operations can be performed method, when used in a relatively simple washing method, two samples can also be operated synchronously to improve operating efficiency.
  • the number of fixing devices 30 may also be one, three, four, etc. as required, and is not limited thereto.
  • the fixing device 30 adopts a claw structure driven by a motor.
  • the fixing device 30 may also adopt other suitable fixing structures, such as sleeves, etc., and is not limited thereto.
  • the frame 10 is provided with a second driving device 33 for driving the fixing device 30 to move so that the test tube fixed by the fixing device 30 and the suction pipe connected to the pipetting device 51 are relatively inclined at an angle, so that in the liquid injection operation ,
  • the straw can be tilted close to the inner wall of the test tube so that the injected liquid can flow down slowly along the inner wall of the test tube, avoiding splashing and reducing turbulence, and improving the quality of work.
  • the second driving device 33 drives the pipetting device 51 to tilt the pipette, or simultaneously drives the fixing device 30 and the pipetting device 51 to tilt the test tube and the pipette, and is not limited to this.
  • the second driving device 33 adopts a motor, and the fixing device 30 is swingably arranged on the frame 10 through a rotating shaft 34.
  • the second driving device 33 drives the rotating shaft 34 to rotate so that the fixing device 30 swings.
  • the second driving device 33 may also use other suitable structures such as a swing motor, an air cylinder, and a cam mechanism driven by a motor to drive the fixing device 30 to tilt the test tube, and is not limited thereto.
  • the displacement device 60 includes a traverse device and two elevating devices, and the clamping device 40 and the pipetting device 51 are respectively arranged on the traverse device through an elevating device and can be independently lifted and lowered, In this way, mutual interference between the pipetting device 51 and the clamping device 40 can be avoided, and it also helps to simplify the structure of the present invention.
  • the traversing device includes a beam 62 slidably arranged on the frame 10 and driven by a first traversing motor 621 to move back and forth, and a slidably arranged on the beam 62 and driven by a second traversing motor 631 Drive and can move left and right traversing seat 63, each elevating device all comprises slidingly arranged on traversing seat 63 and is driven by a lift motor 641 and can move up and down elevating seat 64, clamping device 40 and pipetting device 51 respectively Be arranged on two lifting seats 64.
  • the displacement device 60 may also adopt other suitable structures such as a mechanical arm, but is not limited thereto.
  • the frame 10 is also provided with a centrifugal device 92, and the clamping device 40 can move to the centrifugal device 92 through the displacement device 60, so that the clamping device 40 can automatically place the test tube It can be inserted into the centrifuge device 92 to carry out centrifugation operation, and the test tube can be taken out from the centrifuge device 92, which can realize more complex washing operation, further improve the degree of automation and work efficiency, and the scope of application is wider.
  • the centrifuge device 92 is widely used, and will not be described in detail here.
  • the rack 10 is provided with a balance seat 11 for placing test tubes for balance, that is, when the number of sample test tubes that need to be centrifuged cannot meet the requirements of the centrifuge device.
  • the clamping device 40 can clamp the test tubes containing other liquids from the balance seat 11 and put them into the centrifuge 92 to balance with the sample test tubes.
  • a table is provided on the frame 10 , the centrifuge device 92 is provided under the table, and a centrifuge inlet 12 communicating with the centrifuge device 92 is provided on the table.
  • a waste box 80 is detachably arranged on the frame 10, and the waste box 80 has a waste inlet, and the clamping device 40 and the pipetting device 51 can be moved to the waste inlet by the displacement device 60 above, so that the clamping device 40 and the pipetting device 51 can automatically drop discarded test tubes and suction pipes into the waste bin 80 respectively, and the waste bin 80 can be separated from the frame 10 to pour out the collected waste, which is convenient for use .
  • the waste box 80 is directly movably arranged on the ground through casters 82, and can be slidably inserted into and removed from the storage position 84 at the bottom of the frame 10.
  • the top opening of the waste box 80 serves as a waste material inlet.
  • a waste inlet 13 aligned with the top opening of the waste bin 80 is provided on the table.
  • the waste box 80 may also be arranged on the frame 10 by using other detachable structures such as a detachable connection structure, but is not limited thereto.
  • the frame 10 is provided with an in-position detection device 81 for detecting whether the waste bin 80 is in place, and the in-position detection device 81 communicates with the control device 91, which can avoid the waste being thrown when the waste bin 80 is not in place. , more reliable, the in-position detection device 81 can adopt common detection structures such as contact switches and infrared detectors.
  • a handle 83 is provided on the waste box 80 for easy pulling out.
  • the displacement device 60 is provided with the 3rd detecting device 65, the 3rd detecting device 65 is used for detecting the quantity and the position of the test tube in the test tube rack 52 and the straw in the straw rack 53 and can pass through
  • the displacement device 60 moves, and the third detection device 65 communicates with the control device 91, so that the quantity and position of the suction pipes and test tubes can be automatically detected and recorded, so as to prevent the clamping device 40 and the pipetting device 51 from moving to the vacant position and affect the working efficiency and cause Misoperation
  • the third detection device 65 is arranged on the traversing seat 63, and common detection structures such as laser detectors and cameras can be used.
  • the liquid pipetting device 51 is provided with an air pressure detection device, and the air pressure detection device is used to detect the air pressure in the air circuit of the liquid pipetting device 51 or the suction pipe connected to the liquid pipetting device 51, so that it can be detected according to the detection of the air pressure detection device. As a result, it is judged whether the suction pipe leaks air. After the suction pipe is inserted into the liquid, the air pressure in the air circuit in the pipetting device 51 or the suction pipe connected to the pipetting device 51 will also change with the height of the suction pipe. The air pressure detection device will check this. After the detection, the height of the liquid level in the container such as the test tube can also be obtained correspondingly.
  • the air pressure detection device is connected to the control device 91 in communication, and the control device 91 can obtain the viscosity of the liquid in the suction pipe connected to the pipetting device 51 according to the detection result of the air pressure detection device, so that it can be automatically detected in the washing operation.
  • the viscosity of the liquid further improves the working efficiency.
  • the change of liquid consistency will affect the air pressure in the pipetting device 51, and when the liquid is maintained in the suction pipe by closing the pipetting device 51, the difference in liquid thickness will also make the suction pipe and pipette If there is a difference in the air pressure in the liquid device 51, the corresponding corresponding relationship can be obtained by performing experiments and records on liquids of different thicknesses. After the corresponding data are detected and stored in the experiment, the thickness of the liquid can be obtained according to the measured pressure.
  • the displacement device 60 is provided with a third driving device 41 for driving the rotation of the clamping device 40, so that when the clamping device 40 clamps the cap of the test tube, it cooperates and fixes For the fixing of the test tube body by the device 30, the third driving device 41 can rotate the clamping device 40 to remove the tube cap or install it on the tube body of the test tube, which further improves the degree of automation and is convenient to use.
  • the third driving device 41 adopts a rotating motor
  • the clamping device 40 adopts two clamping seats 43 driven by a clamping motor 42
  • each clamping seat 43 is respectively provided with two clamping rods 44
  • the Four clamping rods 44 grip the tube caps of the test tubes, have simple structure, wide application range, and are convenient to control and use.
  • the third driving device 41 and the clamping device 40 may also adopt other commonly used driving structures and clamping structures, and are not limited thereto.
  • test tube holder 52 and suction pipe holder 53 all can be detachably arranged on the frame 10, and frame 10 is provided with for testing test tube holder 52 and suction pipe holder 53 Whether it is installed on the fourth detection device 14 on the frame 10 , the fourth detection device 14 is connected to the control device 91 in communication. In this way, the presence or absence of the test tube rack 52 and the suction pipe rack 53 can be automatically judged, thereby reducing accidental failures and ensuring the quality of work.
  • each test tube rack 52 and straw rack 53 correspond to at least one fourth detection device 14, which can accurately determine the position of each test tube rack 52 and straw rack 53.
  • the control device 91 can adjust the moving path of the displacement device 60 to prevent the clamping device 40 and the pipetting device 51 from moving to the empty space, which helps to improve the working efficiency and reduce the failure rate.
  • Control device 91 can adopt common control structures such as PLC, control circuit board, PC, those skilled in the art can select flexibly as required.
  • the frame 10 is provided with a touch screen 93 connected to the control device 91, which is convenient for viewing detection data and adjusting operation modes.
  • frame 10 is cabinet shape, and the cabinet door 15 that can open and close is installed, can form the closed working environment, guarantee the working quality, cabinet body opening is provided with
  • the grating 16, the grating 16 communicates with the control device 91, can prevent the operator from injuring the operator by starting when he has not left the work area, the cabinet is provided with an illuminating lamp 17, and the upper part of the cabinet is provided with a vent and an air filter, which can reduce Pollution;
  • vent is arranged on the top center of cabinet, and air filter comprises the primary effect filter 18 that is arranged at vent place and is arranged on the high efficiency filter 19 below primary filter 18, primary The high-efficiency filter 18 and the high-efficiency filter 19 are widely used, and will not be described in detail here.
  • the position of the vent and the structure of the air filter can also be adjusted as required.
  • the frame 10 may also adopt other suitable shapes and structures, and is not limited thereto.
  • the liquid pipetting device 51 adopts a commonly used pipette, and its structure and principle are well known to those skilled in the art, and will not be described in detail here. In other embodiments, the liquid pipetting device 51 can also use Other commonly used pipetting structures are not limited thereto.
  • a mixing platform 94 is also provided on the table of the frame 10 for conveniently placing raw materials when mixing gradient liquid, culture liquid, and the like.

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Abstract

本申请提供一种洗精机，涉及生物技术领域。该洗精机包括机架，机架上设置有:样本座，用于放置样本容器;固定装置，用于固定试管;试管架和吸管架，分别用于存放试管和吸管；夹取装置和移液装置，均通过位移装置设置在机架上而且可上下移动以及在样本座、固定装置、试管架和吸管架之间来回移动；夹取装置用于夹取试管，移液装置用于连接吸管并能够通过吸管进行吸取和注出作业；控制装置，用于控制固定装置、夹取装置、移液装置和位移装置的动作。本申请可以自动完成部分或全部洗精操作，提高作业标准化程度和作业效率，降低工人劳动成本。

Description

一种洗精机 技术领域
本发明涉及生物技术领域，特别涉及洗精技术领域。
背景技术
洗精术是对精液进行处理以得到优选精子的处理技术，有洗涤法、上游法、梯度离心法等几类常用洗涤方法，均需要通过培养液、梯度液等来将优选精子分离。现有的洗精作业通常由操作人员手动进行，效率较低，质量不稳定，人工成本较高。
发明内容
本发明的目的在于至少解决现有技术中存在的技术问题之一，提供一种能够自动进行全部或部分洗精操作，提高作业标准化程度和作业效率，降低人工成本的洗精机。
为实现上述目的，本发明提供的技术方案是：
一种洗精机，包括机架，所述机架上设置有：
样本座，用于放置样本容器；
固定装置，用于固定试管；
试管架和吸管架，分别用于存放试管和吸管；
夹取装置和移液装置，均通过位移装置设置在机架上而可上下移动以及在所述样本座、固定装置、试管架和吸管架之间来回移动；所述夹取装置用于夹取试管，所述移液装置用于连接吸管并能够通过吸管进行吸取和注出作业；
控制装置，用于控制所述固定装置、夹取装置、移液装置和位移装置的动作。
优选的，所述机架上还设置有用于在试管上贴附标签的打印贴标装置，所 述夹取装置能够通过所述位移装置移动至所述打印贴标装置处，所述机架上设置有用于读取所述样本座上样本容器的标签信息的第一标签读取装置，所述控制装置能够接收所述第一标签读取装置读取的标签信息并向所述打印贴标装置输出打印信息。
优选的，所述样本座上设置有用于读取样本座上样本容器的芯片信息的芯片读取装置；所述位移装置上对应于所述夹取装置夹取的试管处设置有芯片读写装置，所述芯片读写装置用于读取试管上芯片的信息以及向试管的芯片写入信息，所述芯片读取装置和芯片读写装置均与所述控制装置通信连接。
优选的，所述固定装置上设置有用于读取其上试管上标签信息的第二标签读取装置；所述第二标签读取装置与所述控制装置通信连接。
优选的，所述样本座包括：
用于放置样本容器的座体，所述座体由一第一驱动装置驱动而可横向转动的设置在所述机架上；
第一检测装置，用于检测置于所述座体上的样本容器的朝向；
所述控制装置能够接收所述第一检测装置的检测结果并依此控制所述第一驱动装置的动作。
优选的，所述第一检测装置为视觉装置，用于拍摄所述座体上样本容器的一侧图像以依据图像中标签的大小和位置判断样本容器的朝向，且所述第一检测装置同时用于读取样本容器上标签记录的信息。
优选的，所述样本座上用于放置样本容器的面相对水平面倾斜一角度。
优选的，所述固定装置上设置有用于检测固定装置上试管内的液层高度的第二检测装置，所述第二检测装置与所述控制装置通信连接。
优选的，所述第二检测装置为视觉装置，所述机架上设置有参照物，所述 参照物位于所述第二检测装置的拍摄区域内。
优选的，所述固定装置的数量为两个及以上，各固定装置能够分别独立固定试管。
优选的，所述机架上设置有用于驱动所述固定装置和/或移液装置活动以使固定装置固定的试管和移液装置连接的吸管相对倾斜一角度的第二驱动装置。
优选的，所述位移装置包括横移装置和两升降装置，所述夹取装置和移液装置分别通过一所述升降装置设置在所述横移装置上而可分别独立升降。
优选的，所述机架上还设置有离心装置，所述夹取装置能够通过所述位移装置移动至所述离心装置处。
优选的，所述机架上可分离的设置有废料箱，所述废料箱具有废料进口，所述夹取装置和移液装置能够通过所述位移装置移动至所述废料进口的上方。
优选的，所述位移装置上设置有第三检测装置，所述第三检测装置用于检测所述试管架中试管和吸管架中吸管的数量与位置并能够通过位移装置移动，所述第三检测装置与所述控制装置通信连接。
优选的，所述移液装置上设置有气压检测装置，所述气压检测装置用于检测所述移液装置内气路或移液装置连接的吸管内的气压大小。
优选的，所述气压检测装置与所述控制装置通信连接，所述控制装置能够依据所述气压检测装置的检测结果得出移液装置连接的吸管内液体的粘稠度。
优选的，所述位移装置上设置有用于驱动所述夹取装置转动的第三驱动装置。
优选的，所述试管架和吸管架均可拆卸设置在机架上，所述机架上设置有用于检测所述试管架和吸管架是否安装于机架上的第四检测装置，所述第四检测装置与所述控制装置通信连接。
本发明的有益效果是：本发明在应用中，作业人员可以将样本容器放置在样本座上，夹取装置先通过位移装置从试管架夹取试管放置在固定装置上，移液装置通过位移装置从吸管架上连接吸管再移动至样本座处从样本容器中吸取样本，之后再移动至固定装置中将吸取的液体注入到试管内，并在之后从试管内吸取优选出的含精子溶液，控制装置能够控制各部分动作实现自动作业，如此，本发明可以自动完成部分或全部洗精操作，提高作业标准化程度和作业效率，降低工人劳动成本。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明。
图1是本发明优选实施例的整体结构图；
图2是本发明优选实施例移除柜门和部分机架并将废料箱取出后的结构图；
图3是本发明优选实施例进一步移除部分机架上部部分后的俯视结构图；
图4是本发明优选实施例中样本座部分的结构图；
图5是本发明优选实施例中样本座部分的分解结构图；
图6是本发明优选实施例中固定装置部分的结构图；
图7是本发明优选实施例中固定装置部分的分解结构图；
图8是本发明优选实施例中位移装置、夹取装置和移液装置部分的结构图；
图9是本发明优选实施例中夹取装置和移液装置部分的结构图；
图10是本发明优选实施例中试管架与机架的安装示意图；
图11是本发明优选实施例中打印贴标装置的结构示意图。
其中，图中各附图标记：
10、机架；11、平衡座；12、离心入口；13、废料入口；14、第四检测装置；15、柜门；16、光栅；17、照明灯；18、初效过滤器；19、高效过滤器； 20、样本座；21、第一检测装置；22、芯片读取装置；23、座体；24、第一驱动装置；25、载玻座；30、固定装置；31、第二检测装置；32、参照物；33、第二驱动装置；34、转轴；40、夹取装置；41、第三驱动装置；42、夹取电机；43、夹紧座；44、夹杆；51、移液装置；52、试管架；53、吸管架；60、位移装置；61、芯片读写装置；62、横梁；621、第一横移电机；63、横移座；631、第二横移电机；64、升降座；641、升降电机；65、第三检测装置；70、打印贴标装置；71、打印模块；72、主压辊；721、第一贴标驱动装置；73、副压辊；731、第二贴标驱动装置；80、废料箱；81、到位检测装置；82、脚轮；83、拉手；84、仓位；91、控制装置；92、离心装置；93、触控屏；94、调配台。
具体实施方式
本部分将详细描述本发明的具体实施例，本发明之较佳实施例在附图中示出，附图的作用在于用图形补充说明书文字部分的描述，使人能够直观地、形象地理解本发明的每个技术特征和整体技术方案，但其不能理解为对本发明保护范围的限制。
参照图1至图11，本发明的优选实施例，提供了一种洗精机，包括机架10，机架10上设置有：样本座20，用于放置样本容器；固定装置30，用于固定试管；试管架52和吸管架53，分别用于存放试管和吸管；夹取装置40和移液装置51，均通过位移装置60设置在机架10上而可上下移动以及在样本座20、固定装置30、试管架52和吸管架53之间来回移动；夹取装置40用于夹取试管，移液装置51用于连接吸管并能够通过吸管进行吸取和注出作业；控制装置91，用于控制固定装置30、夹取装置40、移液装置51和位移装置60的动作。本发明在应用中，作业人员可以将样本容器放置在样本座20上，夹取装置40先通过位移装置60从试管架52夹取试管放置在固定装置30上，移液装置51通过 位移装置60从吸管架53上连接吸管再移动至样本座20处从样本容器中吸取样本，之后再移动至固定装置30中将吸取的液体注入到试管内，并在之后从试管内吸取优选出的含精子溶液，控制装置91能够控制各部分动作实现自动作业，如此，本发明可以自动完成部分或全部洗精操作，提高作业标准化程度和作业效率，降低工人劳动成本。
作为本发明的优选实施例，其还可具有以下附加技术特征：
本实施例中，机架10上还设置有用于在试管上贴附标签的打印贴标装置70，夹取装置40能够通过位移装置60移动至打印贴标装置70处，机架10上设置有用于读取样本座20上样本容器的标签信息的第一标签读取装置，控制装置91能够接收第一标签读取装置读取的标签信息并向打印贴标装置70输出打印信息，如此能够自动读取样本容器的标签信息并在试管上打印对应的标签信息，能够有效避免混淆，保证作业质量。
参照图11，在本实施例中，打印贴标装置70包括打印模块71和贴标装置，机架10上设置有贴标位，其中打印模块71与控制装置91通信连接，能够将标签输送到贴标位上并在标签上打印标签信息，贴标装置则包括一主压辊72和两副压辊73，主压辊72压紧在试管上并由一第一贴标驱动装置721驱动而可转动以带动试管转动同时将标签压紧贴附在试管上，两副压辊73由一第二贴标驱动装置731驱动而可移动以与主压辊72一起夹紧试管或松开试管。打印模块71应用广泛，其通常利用原料辊和收料辊来进行底膜的输送，利用分离拐角使得标签从底膜上脱离，利用热敏打印头等对标签进行打印，此外还具有多类种类和结构，其结构和原理已为本领域技术人员熟知，本领域技术可以根据需要灵活选用，在此不另作详述。本实施例中的第一贴标驱动装置721和第二贴标驱动装置731均采用了电机，分别利用齿轮传动机构和凸轮机构来驱动主压辊72 转动和驱动副压辊73移动，在其他实施例中，第一贴标驱动装置721和第二贴标驱动装置731也可采用其他常用驱动结构；在其他实施例中，打印贴标装置70也可采用其他常用具有上述功能的结构，并不局限于此。
参照图4、图5、图8和图9，本实施例中，样本座20上设置有用于读取样本座20上样本容器的芯片信息的芯片读取装置22；位移装置60上对应于夹取装置40夹取的试管处设置有芯片读写装置61，芯片读写装置61用于读取试管上芯片的信息以及向试管的芯片写入信息，芯片读取装置22和芯片读写装置61均与控制装置91通信连接，如此，控制装置91能够依据芯片读取装置22读取的芯片信息在抓取装置抓取的试管的芯片上写入相应信息，同时芯片读写装置61在每次抓取已写入信息的试管时也能够进行再次核对，确保样本与试管的信息一致，避免混淆出错，保证作业质量。
本实施例中，芯片读取装置22和芯片读写装置61均适配于常用的RFID芯片，其结构和原理已为本领域技术人员熟知，在此不另作详述。在其他实施例中，针对其他不同种类的芯片，芯片读取装置22和芯片读写装置61的类型也可随之变化选择，并不局限于此。
本实施例中，固定装置30上设置有用于读取其上试管上标签信息的第二标签读取装置；第二标签读取装置与控制装置91通信连接，如此，固定装置30在固定试管时能够核对标签信息，能够进一步避免样本混淆出错，保证作业质量。
参照图4和图5，本实施例中，样本座20包括：用于放置样本容器的座体23，座体23由一第一驱动装置24驱动而可横向转动的设置在机架10上；第一检测装置21，用于检测置于座体23上的样本容器的朝向；控制装置91能够接收第一检测装置21的检测结果并依此控制第一驱动装置24的动作，如此，在 操作人员将样本容器置于座体23上后，第一检测装置21配合第一驱动装置24能够使座体23转动而调整样本容器上标签的朝向至设定方向，方便后续对样本容器标签的读取等操作，便于使用。
在本实施例中，第一检测装置21为视觉装置，用于拍摄座体23上样本容器的一侧图像以依据图像中标签的大小和位置判断样本容器的朝向，且第一检测装置21同时用于读取样本容器上标签记录的信息，即同时作为了第一标签读取装置，结构简单可靠，能够一次性判断出座体23需要转动的角度大小，有助于提高作业效率，同时也能够简化本发明的结构。视觉装置通常包括摄像头、图像处理模块等，其结构和原理已为本领域技术人员熟知，通过拍摄的图像判断样本容器朝向的具体方法也是本领域技术人员根据本发明的描述能够得知的，在此不另作详述。
本实施例中，样本座20上用于放置样本容器的面相对水平面倾斜一角度，如此能够使样本容器中的样本汇聚到样本容器的一角，增大样本的深度，便于进行吸取。本实施例中直接将样本座20倾斜设置，在其他实施例中，样本座20也可采用其他适宜的结构和形状，相应的也可仅将其用于放置样本容器的面设置为倾斜。此外，本实施例中，样本座20还包括用于放置载玻片的载玻座25，便于对用载玻片盛装的样本进行检测。
参照图6和图7，本实施例中，固定装置30上设置有用于检测固定装置30上试管内的液层高度的第二检测装置31，第二检测装置31与控制装置91通信连接，如此控制装置91能够依据第二检测装置31的检测结果控制位移装置60和移液装置51的动作，使得移液装置51连接的吸管能够准确到达预定液层并准确足量地吸取需要的液体，避免其余液层的液体被一起吸入到吸管中，能够有效提高作业质量。
本实施例中，第二检测装置31为视觉装置，机架10上设置有参照物32，参照物32位于第二检测装置31的拍摄区域内，该参照物32能够设定一恒定的参照坐标，便于准确判断试管内液层的高度，能够提高作业精度。本实施例中，该参照物32采用了立置于试管旁的杆件，在其他实施例中，该参照物32也可采用其他适宜的形状和设置位置，并不局限于此。本实施例中，第二检测装置31同时作为了第二标签读取装置，能够简化结构。
本实施例中，固定装置30的数量为两个，各固定装置30能够分别独立固定试管，如此能够同时固定两根试管以在两试管中进行移液操作，能够进行更为复杂的洗精作业方法，在用于较简单的洗精方法时也可两个样本同步作业以提高作业效率。在其他实施例中，固定装置30的数量也可根据需要采用一个、三个、四个等其他数量，并不局限于此。本实施例中，固定装置30采用了由电机驱动的夹爪结构，在其他实施例中，固定装置30也可采用其他适宜的固定结构，例如套筒等，并不局限于此。
本实施例中，机架10上设置有用于驱动固定装置30活动以使固定装置30固定的试管和移液装置51连接的吸管相对倾斜一角度的第二驱动装置33，如此在注液操作中，吸管能够倾斜紧贴试管的内侧壁以使注入的液体能够沿试管内壁缓慢流下，避免飞溅和减少扰流，提高作业质量。在其他实施例中，也可设置为第二驱动装置33驱动移液装置51活动来使吸管倾斜，或同时驱动固定装置30和移液装置51活动来使试管和吸管均倾斜，并不局限于此。在本实施例中，第二驱动装置33采用了电机，固定装置30通过一转轴34可摆动设置在了机架10上，第二驱动装置33驱动转轴34转动从而使的固定装置30摆动，在其他实施例中，第二驱动装置33也可采用摆动电机、气缸、由电机驱动的凸轮机构等其他适宜结构来驱动固定装置30活动以使试管倾斜，并不局限于此。
参照图8和图9，本实施例中，位移装置60包括横移装置和两升降装置，夹取装置40和移液装置51分别通过一升降装置设置在横移装置上而可分别独立升降，如此能够避免移液装置51和夹取装置40作业时相互干扰，同时也有助于简化本发明的结构。在本实施例中，横移装置包括滑动设置在机架10并由一第一横移电机621驱动而可前后移动的横梁62，以及滑动设置在横梁62上并由一第二横移电机631驱动而可左右移动的横移座63，各升降装置均包括滑动设置在横移座63上并由一升降电机641驱动而可上下移动的升降座64，夹取装置40和移液装置51分别设置在两升降座64上。在其他实施例中，位移装置60也可采用机械臂等其他适宜结构，并不局限于此。
参照图1至图3，本实施例中，机架10上还设置有离心装置92，夹取装置40能够通过位移装置60移动至离心装置92处，如此，夹取装置40能够自动将试管置入离心装置92以进行离心作业，并能够将试管从离心装置92中取出，能够实现更为复杂的洗精操作，进一步提升自动化程度和作业效率，适用范围为更广。离心装置92应用广泛，在此不另作详述，在本实施例中，机架10上设置有用于放置平衡用试管的平衡座11，即在需要进行离心操作的样本试管数量不能满足离心装置92内均匀放置要求时，夹取装置40可以从平衡座11上夹取装有其他液体的试管放入离心装置92内来与样本试管进行平衡。在本实施例中，机架10上设置有一台面，离心装置92设置在台面下，台面上设置有连通离心装置92的离心入口12。
参照图1至图3，本实施例中，机架10上可分离的设置有废料箱80，废料箱80具有废料进口，夹取装置40和移液装置51能够通过位移装置60移动至废料进口的上方，如此夹取装置40和移液装置51能够分别将废弃的试管和吸管自动投入到废料箱80中，废料箱80可以从机架10上分离出来以倒出收集的 废弃物，便于使用。在本实施例中，废料箱80直接通过脚轮82可移动设置在地面上，并能够滑动插入机架10下部的以仓位84内和从仓位84内移出，废料箱80的顶部开口而作为废料进口，台面上设置有与废料箱80的顶部开口对齐的废料入口13。在其他实施例中，废料箱80也可采用可拆卸连接结构等其他可分离结构来设置在机架10上，并不局限于此。此外，本实施例中，机架10上设置有用于检测废料箱80是否到位的到位检测装置81，到位检测装置81与控制装置91通信，能够避免废料箱80未到位时废弃物被投放的情况，更为可靠，该到位检测装置81可采用接触开关、红外检测器等常用检测结构。此外，本实施例中，废料箱80上设置有拉手83，方便拉出。
参照图8和图9，本实施例中，位移装置60上设置有第三检测装置65，第三检测装置65用于检测试管架52中试管和吸管架53中吸管的数量与位置并能够通过位移装置60移动，第三检测装置65与控制装置91通信连接，如此能够自动检测和记录吸管和试管的数量和位置，避免夹取装置40和移液装置51移至空位而影响作业效率和导致误操作，在本实施例中，第三检测装置65设置在了横移座63上，可采用激光检测器、摄像头等常用检测结构。
本实施例中，移液装置51上设置有气压检测装置，气压检测装置用于检测移液装置51内气路或移液装置51连接的吸管内的气压大小，如此可以根据气压检测装置的检测结果判断吸管是否漏气，在吸管伸入液体内后，移液装置51内气路或移液装置51连接的吸管内的气压大小也会随吸管伸入的高度变化，气压检测装置对此进行检测后，相应也可获取试管等容器内液面的高度。本实施例中气压检测装置与控制装置91通信连接，控制装置91能够依据气压检测装置的检测结果得出移液装置51连接的吸管内液体的粘稠度，如此能够在洗精作业中自动检测液体粘稠度，进一步提高作业效率。在同样条件下吸取液体时， 液体浓稠度的变化会影响移液装置51内的气压大小，在关闭移液装置51而将液体维持在吸管内时，液体浓稠度的不同也会使吸管和移液装置51内气压出现差异，通过对不同浓稠度液体进行实验和记录便能够得到相应的对应关系，实验检测并存储这些对应数据后，即可依据测得的压力大小对应得到液体的浓稠度。
参照图8和图9，在本实施例中，位移装置60上设置有用于驱动夹取装置40转动的第三驱动装置41，如此，在夹取装置40夹取试管的管帽时，配合固定装置30对试管管身的固定，第三驱动装置41可以通过使夹取装置40转动而将管帽卸下或装至试管的管身上，进一步提高自动化程度，方便使用。在本实施例中，第三驱动装置41采用了旋转电机，夹取装置40采用了由夹取电机42驱动的两夹紧座43，各夹紧座43上分别设置有两夹杆44，利用四根夹杆44夹取试管的管帽，结构简单，适用范围广，便于控制和使用。在其他实施例中，第三驱动装置41和夹取装置40也可采用其他常用的驱动结构和夹取结构，并不局限于此。
参照图1、图2、图3和图11，本实施例中，试管架52和吸管架53均可拆卸设置在机架10上，机架10上设置有用于检测试管架52和吸管架53是否安装于机架10上的第四检测装置14，第四检测装置14与控制装置91通信连接。如此能够自动判断试管架52和吸管架53的有无，减少意外故障，保证作业质量。在本实施例中，试管架52和吸管架53均为多个，且各试管架52和吸管架53均对应于至少一第四检测装置14，能够准确判断各试管架52和吸管架53的有无，控制装置91能够调整位移装置60的移动路径，避免夹取装置40和移液装置51移动至空位处，有助于提高作业效率，降低故障率。
控制装置91可采用PLC、控制电路板、PC等常用控制结构，本领域技术人 员可以根据需要灵活选用。本实施例中在机架10上设置有与控制装置91连接的触控屏93，便于查看检测数据和调整作业模式。
参照图1和图2，此外，本实施例中，机架10呈柜体状，并安装有可开闭的柜门15，能够形成封闭的作业环境，保证作业质量，柜体开口处设置有光栅16，光栅16与控制装置91通信，能够避免操作人员未离开作业区域时启动而伤害到操作人员，柜体内设置有照明灯17，柜体的上部设置有通风口以及空气过滤器，能够减少污染；在本实施例中，通风口设置在了柜体的顶部中央，空气过滤器包括设置在通风口处的初效过滤器18和设置在初效过滤器18下方的高效过滤器19，初效过滤器18和高效过滤器19应用广泛，在此不另作详述，在其他实施例中，通风口的位置以及空气过滤器的结构也可根据需要调整。在其他实施例中，机架10也可采用其他适宜的形状和结构，并不局限于此。
本实施例中，移液装置51采用了常用的移液器，其结构和原理已为本领域技术人员熟知，在此不另作详述，在其他实施例中，移液装置51也可采用其他常用的移液结构，并不局限于此。
参照图1至图3，在本实施例中，机架10的台面上还设置有调配台94，用于在调配梯度液、培养液等时方便放置原料。
在不出现冲突的前提下，本领域技术人员可以将上述附加技术特征自由组合以及叠加使用。
以上所述仅为本发明的优先实施方式，只要以基本相同手段实现本发明目的的技术方案都属于本发明的保护范围之内。

Claims (19)

  1. 一种洗精机，其特征在于，包括机架(10)，所述机架(10)上设置有：
    样本座(20)，用于放置样本容器；
    固定装置(30)，用于固定试管；
    试管架(52)和吸管架(53)，分别用于存放试管和吸管；
    夹取装置(40)和移液装置(51)，均通过位移装置(60)设置在机架(10)上而可上下移动以及在所述样本座(20)、固定装置(30)、试管架(52)和吸管架(53)之间来回移动；所述夹取装置(40)用于夹取试管，所述移液装置(51)用于连接吸管并能够通过吸管进行吸取和注出作业；
    控制装置(91)，用于控制所述固定装置(30)、夹取装置(40)、移液装置(51)和位移装置(60)的动作。
  2. 根据权利要求1所述的一种洗精机，其特征在于，所述机架(10)上还设置有用于在试管上贴附标签的打印贴标装置(70)，所述夹取装置(40)能够通过所述位移装置(60)移动至所述打印贴标装置(70)处，所述机架(10)上设置有用于读取所述样本座(20)上样本容器的标签信息的第一标签读取装置，所述控制装置(91)能够接收所述第一标签读取装置读取的标签信息并向所述打印贴标装置(70)输出打印信息。
  3. 根据权利要求1所述的一种洗精机，其特征在于，所述样本座(20)上设置有用于读取样本座(20)上样本容器的芯片信息的芯片读取装置(22)；所述位移装置(60)上对应于所述夹取装置(40)夹取的试管处设置有芯片读写装置(61)，所述芯片读写装置(61)用于读取试管上芯片的信息以及向试管的芯片写入信息，所述芯片读取装置(22) 和芯片读写装置(61)均与所述控制装置(91)通信连接。
  4. 根据权利要求1至3任一所述的一种洗精机，其特征在于，所述固定装置(30)上设置有用于读取其上试管上标签信息的第二标签读取装置；所述第二标签读取装置与所述控制装置(91)通信连接。
  5. 根据权利要求1所述的一种洗精机，其特征在于，所述样本座(20)包括：
    用于放置样本容器的座体(23)，所述座体(23)由一第一驱动装置(24)驱动而可横向转动的设置在所述机架(10)上；
    第一检测装置(21)，用于检测置于所述座体(23)上的样本容器的朝向；
    所述控制装置(91)能够接收所述第一检测装置(21)的检测结果并依此控制所述第一驱动装置(24)的动作。
  6. 根据权利要求5所述的一种洗精机，其特征在于，所述第一检测装置(21)为视觉装置，用于拍摄所述座体(23)上样本容器的一侧图像以依据图像中标签的大小和位置判断样本容器的朝向，且所述第一检测装置(21)同时用于读取样本容器上标签记录的信息。
  7. 根据权利要求5所述的一种洗精机，其特征在于，所述样本座(20)上用于放置样本容器的面相对水平面倾斜一角度。
  8. 根据权利要求1所述的一种洗精机，其特征在于，所述固定装置(30)上设置有用于检测固定装置(30)上试管内的液层高度的第二检测装置(31)，所述第二检测装置(31)与所述控制装置(91)通信连接。
  9. 根据权利要求8所述的一种洗精机，其特征在于，所述第二检测装置(31)为视觉装置，所述机架(10)上设置有参照物(32)，所述参照 物(32)位于所述第二检测装置(31)的拍摄区域内。
  10. 根据权利要求1所述的一种洗精机，其特征在于，所述固定装置(30)的数量为两个及以上，各固定装置(30)能够分别独立固定试管。
  11. 根据权利要求1所述的一种洗精机，其特征在于，所述机架(10)上设置有用于驱动所述固定装置(30)和/或移液装置(51)活动以使固定装置(30)固定的试管和移液装置(51)连接的吸管相对倾斜一角度的第二驱动装置(33)。
  12. 根据权利要求1所述的一种洗精机，其特征在于，所述位移装置(60)包括横移装置和两升降装置，所述夹取装置(40)和移液装置(51)分别通过一所述升降装置设置在所述横移装置上而可分别独立升降。
  13. 根据权利要求1所述的一种洗精机，其特征在于，所述机架(10)上还设置有离心装置(92)，所述夹取装置(40)能够通过所述位移装置(60)移动至所述离心装置(92)处。
  14. 根据权利要求1所述的一种洗精机，其特征在于，所述机架(10)上可分离的设置有废料箱(80)，所述废料箱(80)具有废料进口，所述夹取装置(40)和移液装置(51)能够通过所述位移装置(60)移动至所述废料进口的上方。
  15. 根据权利要求1所述的一种洗精机，其特征在于，所述位移装置(60)上设置有第三检测装置(65)，所述第三检测装置(65)用于检测所述试管架(52)中试管和吸管架(53)中吸管的数量与位置并能够通过位移装置(60)移动，所述第三检测装置(65)与所述控制装 置(91)通信连接。
  16. 根据权利要求1所述的一种洗精机，其特征在于，所述移液装置(51)上设置有气压检测装置，所述气压检测装置用于检测所述移液装置(51)内气路或移液装置(51)连接的吸管内的气压大小。
  17. 根据权利要求16所述的一种洗精机，其特征在于，所述气压检测装置与所述控制装置(91)通信连接，所述控制装置(91)能够依据所述气压检测装置的检测结果得出移液装置(51)连接的吸管内液体的粘稠度。
  18. 根据权利要求1所述的一种洗精机，其特征在于，所述位移装置(60)上设置有用于驱动所述夹取装置(40)转动的第三驱动装置(41)。
  19. 根据权利要求1所述的一种洗精机，其特征在于，所述试管架(52)和吸管架(53)均可拆卸设置在机架(10)上，所述机架(10)上设置有用于检测所述试管架(52)和吸管架(53)是否安装于机架(10)上的第四检测装置(14)，所述第四检测装置(14)与所述控制装置(91)通信连接。
PCT/CN2023/070249 2022-01-06 2023-01-04 一种洗精机 WO2023131139A1 (zh)

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