CN217237718U - Automatic optical detection mechanism - Google Patents

Abstract

The utility model belongs to the technical field of detection and analysis instrument, an automatic change optical detection mechanism is disclosed. The utility model discloses an automatic optical detection mechanism, which comprises a frame, an X-axis mechanical arm, a Y-axis mechanical arm, a sampling and sample adding module, a reaction module and an optical detection module; the X-axis mechanical arm is mounted on the rack, the Y-axis mechanical arm is mounted on the X-axis mechanical arm and can move back and forth along the X direction, and a sampling and sample adding module capable of moving up and down along the Y direction is arranged on the Y-axis mechanical arm; after the reaction is finished, the reaction module and/or the optical detection module move to a detection position to finish detection. The utility model discloses an automatic, the operation of integrating, compact structure, detection efficiency is high.

Description

Automatic optical detection mechanism

Technical Field

The utility model belongs to detection and analysis instrument especially relates to automatic optical detection mechanism.

Background

In the field of in vitro diagnostics, the detection of Hematocrit (HCT), refers to the detection of the ratio of the volume of red blood cells in blood. The HCT of the traditional whole blood sample detection is measured by adopting a Wen's method, namely anticoagulant blood is centrifugally settled under certain conditions, and the percentage of the volume occupied by red blood cells is measured by using a specific volume tube, namely the hematocrit. In the existing automatic optical detection instrument, an optical detection module is fixedly arranged and can be detected only at a fixed detection position; the reaction hole is less in position, the detection efficiency is low, and the method is not suitable for high-throughput reaction detection.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: to the technical problem who exists among the above-mentioned prior art, the utility model provides an automatic change optical detection mechanism.

The technical scheme is as follows: the utility model provides an automatic optical detection mechanism, which comprises a frame, an X-axis mechanical arm, a Y-axis mechanical arm, a sampling and sample adding module, a reaction module and an optical detection module; the X-axis mechanical arm is mounted on the rack, the Y-axis mechanical arm is mounted on the X-axis mechanical arm and can move back and forth along the X direction, a sampling and sample adding module capable of moving up and down along the Y direction is arranged on the Y-axis mechanical arm, and the sampling and sample adding module moves to add samples to the reaction module; and after the reaction is finished, the reaction module and/or the optical detection module move to a detection position to finish the detection. The application sets up reaction module andor detection module as portable module, has the flexibility and the holistic integrated nature of mechanism of being convenient for detect.

In some embodiments, the mechanism further comprises a Z-axis robot, and the reaction module is connected to the Z-axis robot and can move back and forth along the Z-direction.

In some embodiments, the mechanism further comprises an X ' axis robot parallel to the X axis robot, and the optical detection module is connected to the X ' axis robot and can move back and forth along the X ' direction.

In some embodiments, the Y-axis robot arm is located in a vertical direction, the X-axis robot arm, the X' -axis robot arm, and the Z-axis robot arm are located in a horizontal plane, and the X direction and the Z direction are perpendicular.

The X-axis mechanical arm, the X' -axis mechanical arm, the Y-axis mechanical arm and the Z-axis mechanical arm all adopt linear motion design structures. Wherein, linear motion project organization includes mounting panel, guide rail and drive assembly, drive assembly includes motor and drive assembly, drive assembly is hold-in range or lead screw etc. as long as can realize directional linear motion function that comes and goes.

In some embodiments, the X-axis arm, the X' -axis arm, the Y-axis arm, and the Z-axis arm further comprise a photoelectric sensor functioning as an origin. In some embodiments, the photoelectric sensor includes an optical coupler and an optical coupler stop. In some technical schemes, one end or two ends of the reaction vessel placing groove are respectively provided with an optical coupler blocking piece, and correspondingly, the end point and the middle of the linear guide rail are respectively provided with an optical coupler at fixed intervals.

In some technical solutions, the rack includes a bottom plate and a bracket, the reaction module is disposed on the bottom plate, and the X-axis mechanical arm is disposed above the reaction module through the bracket. Under the condition that the Z-axis mechanical arm is arranged, the Z-axis mechanical arm is arranged on the bottom plate, and the X-axis mechanical arm is arranged above the Z-axis mechanical arm through a support.

In some technical schemes, the sampling and sample adding module comprises a connecting piece, a sampling needle and a first liquid path control system, wherein the connecting piece is arranged on the Y-axis mechanical arm in a sliding manner, and the sampling needle is fixedly arranged on the connecting piece and is communicated with the first liquid path control system. In some embodiments, the sampling and loading module further comprises a second fluid path control system for adding other reagents, and the second fluid path control system is in communication with the sampling needle.

In some technical schemes, the sampling needle is connected with the connecting piece through the insulating block, and the stable safety of the operation of the sampling needle is ensured.

In some technical solutions, the sampling and sample-adding module further includes a liquid level detection plate, and the liquid level detection plate is electrically connected to the sampling needle. In some technical schemes, the liquid level detection plate is fixedly connected with the connecting piece and moves synchronously with the sampling needle. In some technical schemes, the capacitance value of the liquid level detection plate detection sampling needle is 30pF-40 pF.

In some embodiments, the reaction module comprises a reaction vessel and a reaction vessel receiving slot, and the reaction vessel receiving slot is slidably connected to the Z-axis robotic arm. The reaction vessel may be any conventional reaction vessel. In some embodiments, the reaction vessel is a porous reaction vessel; in some embodiments, the reaction vessel is a flat-bottomed reaction vessel; preferably a porous flat-bottomed consumable plate; in some embodiments, the reaction vessel is transparent to facilitate optical detection.

In some embodiments, the detection light source of the optical detection module is routed parallel to the longitudinal axis of the reaction vessel, preferably on the longitudinal axis of the reaction vessel, which facilitates high throughput detection operations, particularly for multi-well reaction vessels.

In some aspects, the optical detection module includes a laser and a photoreceiver. In this case, after the reaction of the reaction module is completed, the reaction module is positioned between the laser and the photoelectric receiver for optical detection by the movement of the reaction module and/or the optical detection module.

In some embodiments, the optical detection module includes a U-shaped mounting block, and one end of the U-shaped mounting block is mounted with a laser and the other end is mounted with a photoelectric receiver.

In some embodiments, the line connecting the laser and the photoelectric receiver is parallel to the longitudinal axis of the reaction vessel. Particularly, the laser is positioned at the lower end, the photoelectric receiver is positioned at the upper end, and the reaction light source penetrates from bottom to top in the vertical direction of the reaction container for detection.

In some technical solutions, the photo receiver includes an optical filter, a convex lens, and a photo receiver board, which are sequentially installed.

In some technical solutions, an insulating cover is disposed between the convex lens and the photoelectric receiving board, and a signal shielding cover is further disposed outside the photoelectric receiving board, so that interference of other signals on signals of the photoelectric receiving board is prevented by the insulating cover and the signal shielding cover.

In some aspects, the laser is a green LED light or a laser light. In some embodiments, the wavelength of the filter is 340-540 nm.

In order to clean the sampling needle before or after sample suction, in some technical schemes, the mechanism further comprises a cleaning pool, wherein the cleaning pool is arranged on the bottom plate and is positioned on the path of the sampling needle to and from the reaction module.

In order to produce the functions of traction and protection on power lines and the like used in the mechanism, in some technical schemes, the automatic optical detection mechanism further comprises a drag chain, wherein the drag chain is fixed on the Y-axis mechanical arm, and a liquid pipeline, a motor power line and a photoelectric signal line are arranged in the drag chain. In some aspects, the tow chain is a horizontal tow chain.

Parts, position relations, connection relations and the like which are not described in the application can be realized through the prior art.

The working principle is as follows: when the automatic optical detection structure operates, the Y-axis mechanical arm and the X-axis mechanical arm are matched to drive the sampling and sample adding module to sample and absorb samples and add samples into the reaction module (under the condition that the reaction module is designed to be movable, the Y-axis mechanical arm and the X-axis mechanical arm can be matched with the reaction module to move), and after reaction of reaction solution in the reaction module is completed, the reaction module and/or the optical detection module moves to a detection position to complete detection of the reaction module.

Has the advantages that: compared with the prior art, the automatic optical detection mechanism has the advantages that one or both of the reaction module and the optical detection module are set as movable modules, so that the flexibility and the integration of the operation of the mechanism are improved; and the mechanism is more suitable for high-flux detection, the detection efficiency can be obviously improved, and the automation degree is high.

Drawings

FIG. 1 is a schematic diagram of a sampling state structure of an automated optical inspection mechanism;

FIG. 2 is an exploded view of a sample application module of the automated optical inspection mechanism;

FIG. 3 is a schematic view of the sample loading state of the automated optical inspection mechanism;

FIG. 4 is another angular schematic of FIG. 3;

FIG. 5 is a schematic view of a detection state structure of the automated optical detection mechanism;

FIG. 6 is an exploded view of the optical detection module configuration;

FIG. 7 is a schematic view of the structure of the reaction vessel.

In the figure, the device comprises a rack (1), a bottom plate (101), a support (102), an X-axis mechanical arm (2), a Y-axis mechanical arm (3), a sampling and sample adding module (4), a first connecting piece (401), a sampling needle (402), an insulating block (403), a liquid level detection plate (404), a second connecting piece (405), a reaction module (5), a reaction container (501), a reaction container placing groove (502), an optical detection module (6), a laser device (601), a photoelectric receiver (602), an optical filter (6021), a convex lens (6022), a photoelectric receiving plate (6023), an insulating cover (6024), a signal shielding cover (6025), a U-shaped mounting block (603), a Z-axis mechanical arm (7), an X' -axis mechanical arm (8), a photoelectric sensor (9), an optical coupler (901), an optical coupler baffle plate (902), a cleaning pool (10), a drag chain (11) and a sample tube (12).

Detailed Description

The present invention will be described in detail with reference to the following embodiments and accompanying drawings.

An automated optical detection mechanism as shown in fig. 1, fig. 3, fig. 4 and fig. 5 comprises a frame 1, an X-axis mechanical arm 2, a Y-axis mechanical arm 3, a sampling and sample-adding module 4, a reaction module 5 and an optical detection module 6. Wherein, X axle arm 2 is perpendicular to the setting of Y axle arm 3 to X axle arm 2 is located horizontal plane X direction, and Y axle arm 3 is located vertical Y direction. X axle arm 2 is installed in frame 1, and Y axle arm 3 is installed on X axle arm 2 and can be followed X direction round trip movement, is equipped with the sampling application of sample module 4 that can follow Y direction and reciprocate on Y axle arm 3, and reaction module 5 sets up on frame 1 of X axle arm 2 below. The sampling and sample adding module 4 completes the operations of sampling from the sample tube 12 and adding sample to the reaction module 5 under the matching operation of the X-axis mechanical arm 2 and the Y-axis mechanical arm 3, and after the reaction of the reaction module 5 is completed, the detection is completed by moving one or both of the reaction module 5 and the optical detection module 6 to the optical detection position.

In the present embodiment, the reaction module 5 is connected to a Z-axis robot 7 and can move back and forth along the Z direction, wherein the Z-axis robot 7 is located in the Z direction of the horizontal plane, and the Z direction is perpendicular to the X direction. In the case where the reaction vessel 501 is a multi-well reaction vessel, if the sample addition well is not located on the path where the sampling needle 402 horizontally reciprocates to the reaction module 5, the sample addition operation of each reaction well site needs to be completed in conjunction with the operation of the Z-axis robot arm 7. The optical detection module 6 is connected with an X ' axis mechanical arm 8 and can move back and forth along the X ' direction, wherein the X ' axis mechanical arm 8 is parallel to the X axis mechanical arm 2. The optical detection module 6 and the reaction module 5 move to ensure that the reaction hole is positioned at the detection position. In other embodiments, the reaction module 5 slides along the Z-axis mechanical arm 7 to the detection position, and the optical detection module 6 is fixed to complete the detection of the reaction hole. In other embodiments, the reaction module 5 is fixed and the optical detection module 6 slides along the X' axis robot arm 8 to the detection position to complete the detection of the reaction wells.

In this embodiment, the gantry 1 includes a base plate 101 and a support 102, the Z-axis robot arm 7 is mounted on the base plate 101, and the X-axis robot arm 2 is mounted above the Z-axis robot arm 7 via the support 102. X axle arm 2, X 'axle arm 8, Y axle arm 3, Z axle arm 7 all use linear motion project organization, and linear motion project organization includes mounting panel, guide rail and drive assembly, and drive assembly includes motor and drive assembly, and X axle arm 2, Y axle arm 3, Z axle arm 7 adopt synchronous belt drive, and X' axle arm 8 adopts lead screw motor drive. Of course, in other embodiments, the transmission modes of the synchronous belt and the screw rod can be changed and combined at will, or other transmission driving modes known in the field can be selected, as long as the function of directional reciprocating linear motion can be realized.

In this embodiment, the sampling and sample-adding module 4 includes a first connecting part 401, a sampling needle 402 and a first liquid path control system, the first connecting part 401 is slidably disposed on the Y-axis mechanical arm 3, and the sampling needle 402 is fixedly mounted on the first connecting part 401 and is communicated with the first liquid path control system, so as to control the sampling needle 402 to suck and spit to realize operations of sampling, sample adding, mixing and the like. In other embodiments, the sampling and sample-adding module 4 further includes a second liquid path control system for adding other reagents (reaction liquid, buffer solution, cleaning agent, etc.), and the second liquid path control system is communicated with the sampling needle 402 and is used for controlling the introduction of other reagents through the sampling needle 402, and realizing operations such as uniform mixing through suction and discharge. The first and second fluid path control systems herein are each controlled using conventional techniques, such as solenoid valves.

Referring to fig. 2, in the present embodiment, the sampling needle 402 is connected to the first connecting member 401 through the insulating block 403, so as to ensure stable safety of the operation of the sampling needle 402. Riveting is used here, but any other connection method can be realized. As shown in fig. 2, the sampling and sample-adding module 4 of this embodiment further includes a liquid level detection plate 404, and the liquid level detection plate 404 is electrically connected to the sampling needle 402 and is used for controlling the sampling needle 402 to quantitatively suck the sample. The liquid level detection plate 404 is fixed with the first connecting piece 401 through a second connecting piece 405 and moves synchronously with the sampling needle 402. The capacitance value of the liquid level detection plate 404 detecting the sampling needle is 30pF-40 pF.

Referring to fig. 1, 3 and 7, the reaction module 5 includes a reaction vessel 501 and a reaction vessel mounting groove 502, wherein the reaction vessel mounting groove 502 is slidably connected to the Z-axis robot 7, as shown in fig. 7, the reaction vessel 501 is a porous reaction vessel, specifically a porous flat-bottom reaction consumable material plate made of transparent material, such as a 96-well consumable material plate or other consumable material plate. This embodiment detects in vertical direction, so reaction vessel mounting groove 502 bottom fretwork or be transparent material, and the detection light source of being convenient for passes reaction vessel 501 and detects.

In this embodiment, the detection light source path of the optical detection module 6 is set to be vertical, which is more suitable for high-throughput detection of the multi-well reaction vessel. As shown in fig. 6, the optical detection module 6 includes a U-shaped mounting block 603, two ends of the U-shaped mounting block 603 are disposed on a vertical axis, a laser 601, specifically, a green LED lamp, is mounted at a lower end of the U-shaped mounting block 603, and an optical filter 6021, a convex lens 6022, an insulating cover 6024, a photoelectric receiving plate 6023, and a signal shielding cover 6025 are sequentially mounted at an upper end, wherein a wavelength of the optical filter 6021 is 340 and 540nm, and light emitted by the light source sequentially passes through the light source 601, the reaction vessel 501, the convex lens 6022, the optical filter 6021, and the photoelectric receiving plate 6023. The relative position of the light source 601 and the photoelectric receiving plate 6023 can effectively prevent dust from affecting the light intensity of the measuring end and avoid affecting the detection result. The signal shielding cover 6025 and the insulating cover 6024 can effectively prevent other signals from interfering with the signal of the photoelectric receiving plate.

In this embodiment, the X-axis arm 2, the X' -axis arm 8, the Y-axis arm 3, and the Z-axis arm 7 further include a photoelectric sensor 9 serving as an origin, and with reference to fig. 1 and 3, the photoelectric sensor 9 includes an optical coupler 901 and an optical coupler stopper 902. The optocoupler baffles 902 are arranged at two ends of the reaction container mounting groove 502, and the optocouplers 901 are arranged at the end points of the linear guide rail of the mechanical arm and at the middle part of the linear guide rail at fixed intervals so as to meet the positioning requirements of completing sample adding and detection of each sample adding hole of the reaction container 501. The photoelectric sensor 9 is conventional in the art, and other sensors known in the art may be substituted for the positioning operation.

In this embodiment, the bottom plate is further provided with a cleaning tank 10, and in order to further improve the integration of the mechanism, the cleaning tank 10 is mounted on the bottom plate 101 on a path where the sampling needle 402 moves back and forth to the reaction module 5, and the Y-axis robot arm 3 is horizontally provided with a drag chain 11.

When the automatic optical detection mechanism is used for detecting a sample, the method comprises the following steps: (1) sampling: according to actual detection needs, reaction containers 501 of corresponding models are placed in the reaction container placement grooves 502, with reference to fig. 1, the sample tubes 12 are placed at sampling positions, the sampling and sample adding modules 4 move to the positions above the sample tubes 12 along the X-axis mechanical arm 2, then the sampling needles 402 move downwards along the Y-axis, signals are monitored through the liquid level detection plate 404, and the absorption of samples is controlled through the first liquid path control system. (2) Sample adding: after the sampling needle 402 absorbs a sample, the sampling needle 402 moves upwards along the Y-axis mechanical arm 3, so that the sampling needle 402 moves out of the sample tube 12, then moves to a position corresponding to a sample adding hole position above the reaction container 501 along the X-axis mechanical arm 2, and then moves downwards along the Y-axis mechanical arm 3, the sampling needle 402 extends into the sample adding hole, sample adding is completed under the control of the first liquid path control system (as shown in fig. 3 and 4), for a porous reaction container, sample adding of reaction hole positions which are in the same straight line with the horizontal reciprocating path of the sampling needle 402 is completed in such a circulating manner, when sample adding operation of other rows of reaction hole positions on the reaction container 501 is required, the reaction container 501 moves along the Z-axis mechanical arm 7, and the sample adding hole of the reaction container 501 is ensured to be located on the horizontal reciprocating path of the sampling needle 402. (3) Reaction: after the sample addition is completed, the sample reacts in the reaction container 501, and at this time, if other reagents need to be added, the reaction is realized through a second liquid path control system; if it is necessary to add other reagents after the sample addition is completed, the step can be inserted first, and then the sample addition operation of other reaction well sites can be performed. If the sampling needle 402 needs to be cleaned before and after sample addition and before and after addition of other reagents, the sampling needle 402 is moved to the cleaning tank 10, and the first liquid path control system controls the aspiration and the discharge for cleaning. (4) And (3) detection: as shown in fig. 5 and fig. 6, after the reaction is completed, the reaction module 5 moves to the U-shaped groove of the U-shaped mounting block 603 along the Z-axis mechanical arm 7, and then moves the optical detection module 6 along the X' -axis mechanical arm 8, so that the reaction hole to be detected is located between the laser 601 and the photoelectric receiver 602 for detection.

Claims (15)

1. An automatic optical detection mechanism is characterized by comprising a rack (1), an X-axis mechanical arm (2), a Y-axis mechanical arm (3), a sampling and sample adding module (4), a reaction module (5) and an optical detection module (6); the X-axis mechanical arm (2) is mounted on the rack (1), the Y-axis mechanical arm (3) is mounted on the X-axis mechanical arm (2) and can move back and forth along the X direction, a sampling and sample-adding module (4) capable of moving up and down along the Y direction is arranged on the Y-axis mechanical arm (3), and the sampling and sample-adding module (4) moves to add samples to the reaction module (5); after the reaction is finished, the reaction module (5) and/or the optical detection module (6) move to a detection position to finish detection.

2. The automated optical inspection mechanism of claim 1, further comprising a Z-axis robot (7), wherein the reaction module (5) is connected to the Z-axis robot (7) and is movable back and forth in the Z-direction.

3. The automated optical inspection mechanism of claim 1, further comprising an X ' axis robot (8) parallel to the X axis robot (2), wherein the optical inspection module (6) is connected to the X ' axis robot (8) and is movable back and forth in the X ' direction.

4. The automated optical inspection mechanism of claim 2 or 3, wherein the X-axis robot (2), the X' -axis robot (8), the Y-axis robot (3), and the Z-axis robot (7) are all designed to move linearly.

5. The automated optical inspection mechanism of claim 2 or 3, wherein the X-axis robot (2), X' -axis robot (8), Y-axis robot (3), Z-axis robot (7) further comprise a photoelectric sensor (9) functioning as an origin.

6. The automated optical inspection mechanism according to claim 1, wherein the rack (1) comprises a base plate (101) and a support (102), the reaction module (5) is disposed on the base plate (101), and the X-axis robot arm (2) is disposed above the reaction module (5) via the support (102).

7. The automated optical inspection mechanism of claim 1, wherein the sampling and sample application module (4) comprises a connector, a sampling needle (402) and a first fluid path control system, the connector is slidably disposed on the Y-axis mechanical arm (3), and the sampling needle (402) is fixedly mounted on the connector and is in communication with the first fluid path control system.

8. Automated optical detection mechanism according to claim 7, characterized in that the sampling needle (402) is connected to a connector by an insulating block (403).

9. The automated optical detection mechanism of claim 7, wherein the sampling and loading module (4) further comprises a liquid level detection plate (404), the liquid level detection plate (404) being electrically connected to the sampling needle (402).

10. The automated optical inspection mechanism of claim 2, wherein the reaction module (5) comprises a reaction vessel (501) and a reaction vessel receiving slot (502), the reaction vessel receiving slot (502) is slidably connected to the Z-axis robot (7).

11. The automated optical detection mechanism of claim 10, wherein the reaction vessel (501) is a multi-well reaction vessel; the reaction vessel (501) is a flat-bottom reaction vessel.

12. Automated optical inspection mechanism according to claim 1, characterized in that the inspection light source of the optical inspection module (6) is routed parallel to the longitudinal axis of the reaction module (5).

13. Automated optical detection mechanism according to claim 1, characterized in that the optical detection module (6) comprises a laser (601) and a photoelectric receiver (602); the photoelectric receiver (602) comprises an optical filter (6021), a convex lens (6022) and a photoelectric receiving plate (6023) which are sequentially mounted.

14. The automated optical inspection mechanism of claim 13, wherein the optical inspection module (6) comprises a U-shaped mounting block (603), the U-shaped mounting block (603) having a laser (601) mounted at one end and a photo receiver (602) mounted at the other end.

15. The automated optical detection mechanism according to claim 13, wherein an insulating cover (6024) is provided between the convex lens (6022) and the photoelectric receiving plate (6023), and a signal shielding cover (6025) is further provided outside the photoelectric receiving plate (6023).

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