CN218180444U

CN218180444U - Sample preparation workstation and sample preparation system

Info

Publication number: CN218180444U
Application number: CN202221841216.7U
Authority: CN
Inventors: 李伟波; 麦瑞彬; 王剑; 侯安新; 王永康; 刘伟伟; 欧阳力; 刘阳; 高建东
Original assignee: Shenzhen Jingtai Technology Co Ltd
Current assignee: Shenzhen Jingtai Technology Co Ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2022-12-30
Anticipated expiration: 2032-07-15

Abstract

The utility model relates to an automation equipment technical field specifically discloses a sample preparation workstation and sample preparation system. The sample preparation workstation comprises: preparing a platform; the manipulator is arranged on the preparation platform; the sample exchange bin is arranged on the preparation platform and used for exchanging samples before and after the experiment with the outside; a transfer tool mounted on the manipulator; install in the experimental apparatus who prepares the platform, manipulator drives the transportation instrument and removes for the sample before transporting the experiment in sample exchange storehouse to experimental apparatus with the transportation instrument and experimenting, and transport the sample after the experiment to sample exchange storehouse. Compared with the prior art, the utility model discloses realize the full automatization of sample preparation, reduced experiment operating personnel's participation, reduce the human cost by a wide margin. In addition, the precision of the equipment can ensure the accuracy of the use amount of the sample raw materials and the accuracy of the sample preparation result in the sample preparation process, and avoid misoperation caused by human factors.

Description

Sample preparation workstation and sample preparation system

Technical Field

The utility model relates to an automation equipment technical field particularly, relates to a sample preparation workstation and sample preparation system.

Background

In automated experiments, the sample preparation process is usually complicated and requires multiple steps to complete. At present, each procedure is mainly manually operated, and a large number of experimenters participate in the preparation process in the experimental process, so that the experimental efficiency is influenced, the manufacturing period is longer, and the experimental accuracy is also influenced. In addition, the test table corresponding to multiple processes in the related art occupies a large area, and requires a large test space.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a sample preparation workstation and sample preparation system, this sample preparation workstation can realize full automatization sample preparation, saves the recruitment cost, improves experimental efficiency.

The utility model provides a sample preparation workstation, include: preparing a platform; the manipulator is arranged on the preparation platform; the sample exchange bin is arranged on the preparation platform and used for exchanging samples before and after an experiment with the outside; a transfer tool mounted on the manipulator; the manipulator drives the transfer tool to move, so that the transfer tool transfers the sample before the experiment in the sample exchange bin to the experimental device for the experiment and transfers the sample after the experiment to the sample exchange bin.

Further, in the above sample preparation workstation, the transfer tool includes a plurality of types, and the sample preparation workstation further includes: the tool storehouse is arranged on the preparation platform and used for storing a plurality of transfer tools, and each transfer tool is detachably connected with the manipulator.

Further, in the above sample preparation workstation, the experiment device includes a plurality of experiment devices, and the plurality of experiment devices are distributed around the manipulator; the manipulator is arranged at the central position of the preparation platform; the experimental device far away from the manipulator is higher than the experimental device close to the manipulator; the sample exchange bin is arranged at the edge position of one side of the preparation platform.

Further, in the above sample preparation workstation, the experimental apparatus comprises at least one of: a powder adding device for adding a powder sample to the sample; the electromagnetic stirring device is used for stirring the sample; an oscillation device for oscillating the sample; the solution cleaning detection device is used for detecting the uniformity degree of the sample; the liquid level layering detection device is used for detecting the layering state of the sample; a filtration device for filtering the sample.

Further, in the above sample preparation workstation, the transfer tool comprises a container transfer jaw, and the experimental apparatus comprises: the mechanical arm is connected with the container transfer clamping jaw, the container transfer clamping jaw is used for containing the bottle cap of the container of the sample, the switch cover rotation module clamps the bottle body of the container, and the container transfer clamping jaw is matched with the switch cover rotation module to carry out switch cover operation on the container.

Further, in the above-mentioned sample preparation workstation, the transportation tool includes a pipetting module, the experimental apparatus includes: the manipulator with move the liquid module and connect, the manipulator drives move the liquid module and remove, through move the liquid module will the solvent in the solvent storehouse adds to in the sample.

Further, in the above sample preparation workstation, the sample preparation workstation further comprises: the manipulator drives the transfer tool to store the sample in the buffer storage rack; the cache rack comprises at least one layer of object placing plate, and a first bin for storing the samples is arranged on the object placing plate; the cache is arranged on one side of the preparation platform.

Further, in the above sample preparation workstation, the buffer rack further includes a connector disposed at the first position, and the connector is configured to limit the sample at the first position; the connecting piece is a step pin which is used for being inserted into an insertion hole formed in the bottom of a tray for containing the sample; or, the connecting piece is an elastic piece, the first bin position is a positioning groove, the elastic piece is arranged in the positioning groove, and when the container containing the sample is placed in the positioning groove, the elastic piece can be abutted to the container and generate elastic deformation.

Further, in the above sample preparation workstation, the sample is contained in a container placed in a tray, the transfer tool includes a container transfer jaw and a tray transfer jaw, and the sample preparation workstation further includes: the manipulator drives the tray transfer clamping jaw to place the tray on the transfer frame, and the manipulator drives the container transfer clamping jaw to transfer the container in the tray to the experimental device.

Further, in the above-described sample preparation workstation, the intermediate transfer rack includes a plurality of intermediate transfer racks having different heights, and the intermediate transfer rack having a higher height is farther from the robot arm.

Further, in the above sample preparation workstation, the transfer rack includes a placing plate, the placing plate is provided with a step pin, and the step pin is used for being inserted into an insertion hole formed at the bottom of a tray for containing the sample; and/or tray clamping pieces are arranged at two ends of the placing plate to clamp the trays.

Further, in the above sample preparation workstation, the sample preparation workstation further comprises: the code reading device is arranged on the preparation platform and used for reading the identification code on the sample; the code reading device is arranged close to the sample exchange bin.

Further, in the above sample preparation workstation, the sample exchange chamber comprises: the support assembly is connected with the preparation platform; the containing plate is connected to the supporting assembly and provided with at least two second bin positions for storing the samples; the positioning piece is connected to the containing plate and corresponds to the second bin, and the positioning piece is used for being matched with a fixing part arranged at the bottom of the tray so as to limit the sample at the second bin; and the sensor is connected with the containing plate and corresponds to the second bin and is used for sensing whether a sample is stored in the second bin.

Further, in the above sample preparation workstation, the preparation workstation further comprises: and the recovery assembly penetrates through the preparation platform and is communicated with a recovery device arranged below the preparation platform.

Further, in the above sample preparation workstation, the sample preparation workstation further comprises: the rack body is arranged on the preparation platform, the rack body and the preparation platform jointly enclose an accommodating space with an opening on one surface, and the manipulator, the sample exchange bin, the transfer tool and the experimental device are all arranged in the accommodating space; a station door arranged at the opening; the sample exchange bin is disposed adjacent to one side of the station door.

Further, in the above sample preparation workstation, the sample preparation workstation further comprises: the three-axis calibration support is connected to the outer wall of the rack body and is arranged close to one side of the station door, the three-axis calibration support comprises an X-direction connecting plate, a Y-direction connecting plate and a Z-direction connecting plate which are arranged in a mutually perpendicular mode in pairs, one end of the Y-direction connecting plate is connected with one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected with one end of the Z-direction connecting plate; the three identification code calibration plates are respectively arranged at two ends of the X-direction connecting plate, and the other identification code calibration plate is arranged at the other end of the Z-direction connecting plate; the rack body is provided with an identification code calibration plate, and each identification code calibration plate is internally provided with an identification code used for positioning the rack body by a mobile device for externally carrying out sample access operation.

Further, in the above sample preparation workstation, the station door comprises: a door frame; the lifting mechanism is connected to the door frame in a sliding manner; the driving mechanism is arranged on the door frame and connected to the lifting mechanism, and is used for driving the lifting mechanism to slide relative to the door frame; the door body is connected with the lifting mechanism and matched with the door frame, and the lifting mechanism is used for driving the door body to slide relative to the door frame.

Further, in the above sample preparation workstation, the station door further comprises: the counterweight block is connected with the door frame in a sliding manner, and the sliding direction of the counterweight block is parallel to that of the door body; the pulley block is arranged on the door frame; the connecting rope is wound on the pulley block, one end of the connecting rope is connected with the balancing weight, the other end of the connecting rope is connected with the lifting mechanism, and when the driving mechanism drives the lifting mechanism to ascend, the pulley block and the connecting rope are matched to pull the balancing weight to descend; when the driving mechanism drives the lifting mechanism to descend, the pulley block and the connecting rope are matched to pull the counterweight block to ascend.

Further, in the above sample preparation workstation, the preparation workstation further comprises: the base is connected with the preparation platform and positioned below the preparation platform, and the manipulator and the control equipment and the electrical equipment of the experimental device are placed in the base; and the display device is arranged on the outer wall of the rack body and used for user viewing and interaction.

Further, in the above-mentioned sample preparation workstation, be provided with the public head of quick change on the manipulator, every all be provided with the female head of quick change on the transportation instrument, the public head of quick change with the female head cooperation of quick change is in order to realize the manipulator with the connection can be dismantled to the transportation instrument.

Further, in the above-mentioned sample preparation workstation, the instrument storehouse be provided with a plurality of places of transporting instrument quantity looks adaptation, be provided with on the preparation platform with a plurality of place the intercommunicating pore of phase adaptation, the transportation instrument is arranged in can stretch into when placing the position in the intercommunicating pore.

The utility model also provides a sample preparation system, including mobile device and above-mentioned any one the sample preparation workstation, the mobile device is used for getting in the sample exchange storehouse of sample preparation workstation and putting the sample.

Further, in the above sample preparation system, the sample preparation workstations include at least two, and the mobile device is further configured to perform experimental interaction between at least two of the sample preparation workstations.

Compared with the prior art, the utility model discloses realize the full automatization of sample preparation, reduced experiment operating personnel's participation, reduce the human cost by a wide margin. In addition, the precision of the equipment can ensure the accuracy of the use amount of the sample raw materials and the accuracy of the sample preparation result in the sample preparation process, and avoid misoperation caused by human factors.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

Fig. 1 is a schematic perspective view of a sample preparation workstation provided in an embodiment of the present invention;

fig. 2 is a schematic perspective view of a sample preparation workstation provided in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a sample exchange chamber provided in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a solvent library provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a cache shelf provided in an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a recycling assembly provided in an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a station door provided in an embodiment of the present invention;

fig. 8 is a schematic structural view of the three-axis calibration bracket and the three identification code calibration plate provided in the embodiment of the present invention.

Detailed Description

Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application have been illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present application.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are intended to be inclusive and mean that, for example, they may be fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 and 2, the sample preparation workstation according to an embodiment of the present invention includes a preparation platform 100, a manipulator 200, a transfer tool installed on the manipulator 200, a sample exchange chamber 300 and an experimental apparatus, wherein the manipulator 200, the sample exchange chamber 300 and the experimental apparatus are all installed on the preparation platform 100.

In a concrete implementation, the sample preparation workstation is provided with frame body 400, and frame body 400 sets up on preparation platform 100, and frame body 400 encloses into an open-ended accommodation space with preparation platform 100 jointly, and manipulator 200, sample exchange bin 300, transportation instrument and experimental apparatus all arrange in this accommodation space. The station door 410 is arranged at the opening, and when the station door 410 is opened, the experimental requirements of information interaction, ventilation and the like of the internal environment where the preparation platform 100 is located and the external environment can be realized. The station door 410 may be a turning door or a lifting door, and is not limited in particular. The robot 200 may be a three-axis, four-axis, or six-axis robot. In addition, can set up transparent visual window on the frame body 400, if both sides face is made for transparent material, can be convenient for like this the experimenter directly perceivedly know the behavior of each experimental apparatus in the workstation, can in time handle when the unexpected condition takes place.

The sample exchange chamber 300 is used for exchanging samples before and after an experiment with the outside, and the sample exchange chamber 300 may be used for placing containers (such as reagent bottles, test tubes, beakers, flasks, etc.) containing samples, or for placing trays loaded with a plurality of the containers. The sample exchange chamber 300 is disposed at a side close to the station door 410, and mainly provides a multi-station exchange platform for material exchange between the inside and outside of the station. On being located the outside mobile device of sample preparation workstation or artifical put into sample exchange chamber 300 to the container that holds the sample or the tray that is equipped with this container, manipulator 200 can press from both sides the container of getting and carry out the experiment, and after the experiment, manipulator 200 can be to the container after the experiment put into sample exchange chamber 300 again, treat outside mobile device or artifical the takeaway.

Referring to fig. 3, in one particular implementation, a sample exchange cartridge 300 includes: a support assembly, a containment plate and a locator 310. Hold the board and connect in supporting component, hold the board and be provided with two at least second positions in a storehouse that are used for depositing the sample, setting element 310 is connected in holding the board and is corresponded the second position in a storehouse, and setting element 310 is arranged in spacing the sample in the second position in a storehouse, avoids the sample to drop. For example, when the second compartment is used for placing the tray, the positioning member 310 may cooperate with a fixing portion disposed at the bottom of the tray to limit the tray at the second compartment. The sample exchange magazine 300 shown in fig. 3 is provided with three second bays, each of which can receive a tray. Two positioning parts 310, such as a step pin, a connecting column and the like, are correspondingly arranged on each second bin, and correspondingly, the bottom of the tray is provided with a plug hole for being plugged with the step pin or the connecting column and the like, so that the tray is fixed on the sample exchange bin 300. Of course, in specific implementation, the number of the positions of the sample exchange bin 300 and the fixing manner of the trays may be determined according to actual situations, for example, tray clamping members are disposed at two ends of the sample exchange bin 300, and the trays are clamped on the sample exchange bin 300. For another example, when the second bin is used for placing a container, the second bin may be a positioning groove disposed on the containing plate, and one positioning groove may position one container. The positioning element 310 may be an elastic element (e.g., a metal sheet or a POM plastic element with good elastic property) disposed on an inner wall of the positioning groove, and is configured to abut against a body of the container and generate elastic deformation when the container is placed in the positioning groove, so as to clamp the container in the positioning groove and prevent the container from falling.

The second bin positions of the containing plate are preferably at least two, so that the placing of a large number of samples can be met, the samples can be taken and placed on the containing plate, and the working efficiency can be improved.

In addition, can also set up the sensor on holding the board, the sensor is connected in holding the board and is corresponded the second position in a storehouse for whether response second position in a storehouse deposits the sample. At least one sensor may be provided per second bin. When the second bin is used for placing a tray, the sensor may be disposed between the two positioners 310; when the second bin is used for placing a container, the sensor may be disposed in the positioning slot. After the sample is placed on the containing plate, the sensor can sense the existence of the sample, and the sensing information is transmitted to the manipulator 200, so that the manipulator 200 can be taken away in time. Through the arrangement of the sensors, the manipulator 200 can know the idle condition of each bin in the sample exchange bin 300 in real time, can place the sample after the experiment in the idle bin when the idle bin is available, and timely takes away the sample before the experiment when no idle bin is available. In one particular implementation, the sensor may be a photosensor or pressure sensor, or the like.

The manipulator 200 drives the transfer tool to move, so that the transfer tool transfers the sample before the experiment in the sample exchange bin 300 to the experimental device for the experiment, and transfers the sample after the experiment to the sample exchange bin 300. The robot 200 may be fixedly connected to the transfer tool, i.e. the transfer tool is integrated into one end of the robot 200. Preferably, for can dismantling the connection between manipulator 200 and the transportation instrument, during concrete realization, be provided with the public head of quick change on the manipulator 200, be provided with the female head of quick change on the transportation instrument, the public head of quick change cooperates with the female head of quick change and can dismantle with the transportation instrument and be connected in order to realize manipulator 200. The quick-change male head and the quick-change female head can be connected in a pneumatic connection mode to realize quick connection, and other connection modes such as magnetic connection and the like can also be adopted, and the quick-change male head and the quick-change female head are not limited specifically herein.

It can be seen that, compared with the related art, the embodiment realizes the full automation of sample preparation, reduces the participation of experiment operators, and greatly reduces the labor cost. In addition, the precision of the device can ensure the accuracy of the sample raw material dosage and the accuracy of the sample preparation result in the sample preparation process, avoid misoperation caused by human factors, and realize high efficiency, safety and reliability of sample preparation. In addition, this scheme is integrated in a workstation with multichannel process, has not only improved work efficiency, can also save experimental space simultaneously.

In some embodiments, the transport tool comprises a plurality, and the sample preparation station further comprises: the tool magazine 600 is disposed on the preparation platform 100, and the tool magazine 600 is used for storing a plurality of transfer tools, and each transfer tool is detachably connected to the robot 200. During the experiment, the manipulator 200 can be installed different transportation tools according to different experimental procedures, and different experimental devices are selected to complete a series of actions required by the experiment.

When a plurality of experiments are needed, a plurality of experimental devices are correspondingly arranged in the sample preparation workstation. Due to the compact layout within the sample preparation workstation, some of the experimental devices may be closely spaced, and the robot 200 may be susceptible to interference and collision with some of the experimental devices as it moves. To address this issue, in some embodiments, a plurality of experimental devices are distributed around the robot 200, and the robot 200 is placed in a central location of the preparation platform 100. In addition, the experimental device far away from the manipulator 200 is higher than the experimental device close to the manipulator 200, so that the experimental device with a higher size can be prevented from interfering the experimental device with a lower size, and the manipulator 200 can be operated on the experimental devices with different height sizes smoothly. In addition, the sample exchange chamber 300 is disposed at an edge of one side of the preparation platform 100, so that it can interact with the outside more conveniently.

The experimental device comprises: a powder adding device 510, wherein the powder adding device 510 is used for adding a powder sample into a container containing a sample. The manipulator 200 picks up the container from the sample exchange bin 300 and transfers the container to the powder adding device 510, and the powder adding device 510 can accurately perform automatic powder adding on the sample in the container. Wherein, can integrate weighing unit in the powder feeding device 510 for carry out the ration to the powder application of sample, in order to improve the experiment precision.

The experimental device comprises: the electromagnetic stirring device 520 is used for stirring the sample reagent in the container at normal temperature or in a cold or hot way by utilizing magnetic force according to the experiment requirement. In one specific implementation, the electromagnetic stirring device 520 may generate a periodically changing magnetic field, the container is provided with a magneton, the manipulator 200 clamps the container onto the electromagnetic stirring device 520, and the magneton in the container rotates under the induction of the periodically changing magnetic field, so as to stir the sample reagent in the container. The electromagnetic stirring device 520 may further be provided with a temperature adjusting device, which can adjust the temperature of the sample reagent in the container according to the experimental requirements.

The experimental device comprises: an oscillation device 530, the oscillation device 530 is used for oscillating the sample reagent in the container. In one specific implementation, the oscillating device 530 is provided with a container rack for placing containers, a vibrating structure is arranged below the container rack, the vibrating structure can be composed of a motor and an eccentric shaft, and specifically, the motor is used for controlling the rotation of the three eccentric shafts to realize the vibration, so as to drive the container rack above the vibrating structure to vibrate, so as to perform the oscillation experiment on the sample reagents in the containers.

The experimental device comprises: a soluble clear detection device 540, wherein the soluble clear detection device 540 is used for detecting the uniformity degree of the sample reagent. For example, an image of the sample reagent after the shaking or stirring experiment is acquired, and the degree of uniformity, the crystalline state, and the like of the sample reagent are determined from the image. In a specific implementation, the eluviation detection device 540 may include an imaging device for capturing images, the imaging device may move on three axes XYZ and XYZ, and after the oscillation of the sample reagent in the container is finished by the oscillation device 530 or after the stirring is finished by the electromagnetic stirring device 520, the eluviation detection device 540 may be used to capture images from the bottom or the top of the container on the oscillation device 530 or the electromagnetic stirring device 520, and analyze the images to obtain the clarity, crystallization, and other states of the sample reagent. Of course, the lysis-clearing detection apparatus 540 may be integrated with the container holder of the oscillation apparatus 530 or the container holder of the electromagnetic stirring apparatus 520, and a laser sensor may be used to obtain the uniformity of the sample reagent.

The experimental device comprises: a liquid level stratification detecting means 550, the liquid level stratification detecting means 550 being for detecting a stratified state of the sample. For example, an image of the sample reagent in the container after the shaking or stirring experiment is acquired, and the image is subjected to analysis processing to obtain the layered state of the sample reagent. During specific implementation, the liquid level layering detection device 550 can photograph the layering situation of the sample reagent in the container, and then perform image analysis processing to observe the layering experiment result.

The experimental device comprises a filtering device used for filtering the sample reagent.

In some embodiments, the sample preparation station may comprise any of the above described assay devices, in which case the station is adapted to perform a single assay.

In other embodiments, the sample preparation station may include two or more of the above-described assay devices to perform a desired sequence of actions for the assay. For example, the experimental apparatus includes a powder adding device 510, an electromagnetic stirring device 520 and a liquid level layering detection device 550, the manipulator 200 moves the container with the sample to the powder adding device 510 for powder adding operation, then the manipulator 200 moves the container after powder adding to the electromagnetic stirring device 520 for stirring, and then moves to the liquid level layering detection device 550 for layering detection.

In other embodiments, the sample preparation station may include any combination of two or more of the above described assay devices, or all of the above described assay devices, and the manipulator 200 may select different assay devices according to different assay requirements. Therefore, the embodiment has strong functional compatibility, can flexibly and freely match and combine different functions, and can realize functional diversity and high-throughput operation of sample preparation. It can be understood that the experimental apparatus in this embodiment is not limited to the foregoing experimental apparatuses, and may also be other experimental apparatuses, such as a centrifugal apparatus for centrifugal experiments, a magneton taking and placing apparatus cooperating with an electromagnetic stirring apparatus for automatically taking and placing magnetons from and into a container, a nitrogen blowing apparatus for sample concentration, and the like.

In some embodiments, the transfer tool comprises a container transfer jaw 210, and the assay device comprises: the cap opening and closing rotating module 560 is connected with the container transferring clamping jaws 210 through the manipulator 200, the container transferring clamping jaws 210 clamp bottle caps of containers for containing samples, the cap opening and closing rotating module 560 clamps bottle bodies of the containers, and the container transferring clamping jaws 210 and the cap opening and closing rotating module 560 are matched to perform cap opening and closing operation on the containers. During the operation of the switch cover, the container transfer clamping jaws 210 clamp the bottle cap immovably, and the switch cover rotating module 560 clamps the bottle body and rotates to separate the bottle body from the bottle cap or screw the bottle body and the bottle cap tightly. The container transfer jaws 210 may grip the container, primarily for opening and closing the lid and transferring the container, and the robot 200 may transfer the container to or between different experimental apparatuses using the container transfer jaws 210.

For example, the experimental apparatus includes a powder adding device 510, an oscillating device 530, a dissolution detecting device 540 and an opening and closing cap rotating module 560, the manipulator 200 uses the container transferring clamping jaw 210 to move the container with the sample to the opening and closing cap rotating module 560 to open the bottle cap; then, the manipulator 200 uses the container transfer clamping jaw 210 to move the container with the bottle cap removed to the powder adding device 510 for powder adding operation, then moves the container after powder adding to the oscillating device 530 for oscillation, and then uses the solution cleaning detection device 540 for uniformity detection; after the experiment is finished, the robot 200 moves the container to the cap opening/closing rotating module 560 by using the container transferring gripper 210 to close the cap, and then moves the cap to the sample exchanging chamber 300 to be removed from the outside.

In some embodiments, referring to fig. 2 and 4, the transfer tool comprises a pipetting module 220, and the assay device comprises: the solvent storehouse 570, manipulator 200 are connected with move liquid module 220, and manipulator 200 drives move liquid module 220 and removes liquid module 220 and add the solvent in the solvent storehouse 570 to the sample through moving liquid module 220. In one implementation, the solvent warehouse 570 is a solvent warehouse capable of storing multiple solvents at the same time, and has a drawer-type structure, and can be stacked in multiple layers, and the number of the solvent warehouses can be increased or decreased according to different requirements. The solvent magazine 570 can achieve automatic uncovering, automatic extension, automatic retraction, and automatic sealing of the solvent. The pipetting module 220 is mainly used for precise pipetting to transfer the solvent in the solvent storage 570 into the container filled with the sample. The solvent library 570 may be provided in one or more groups. In order to facilitate liquid extraction and avoid interference, the solvent tank 570 is disposed at one side of the preparation platform 100 and is disposed away from other experimental devices, and no other experimental device or an experimental device with a low height is disposed between the solvent tank 570 and the manipulator 200, so that interference can be avoided.

The solvent reservoir 570 specifically includes at least one layer of shelves. The support body is provided with the container carrier assembly who is used for bearing the weight of the container including having open-ended holding chamber, holding intracavity, and container carrier assembly is equipped with a plurality of containers and places the portion. The container bearing assembly is connected with the frame body through a first movement mechanism, and the first movement mechanism is used for driving the container bearing assembly to move linearly at the opening. The accommodating cavity is also internally provided with a container sealing assembly, and the container sealing assembly is connected with the frame body through a second movement mechanism. The container sealing assembly comprises a sealing mechanism corresponding to the container placing part, and the second movement mechanism is used for driving the sealing mechanism to be close to or far away from the container placing part so as to enable the sealing mechanism to be in sealing fit with or separated from a container opening of the container.

First motion can drive container carrier assembly at the opening part linear motion in the holding chamber, for example via the opening to the holding chamber outside or to holding intracavity motion, make deposit liquid and move liquid the operation more convenient. A plurality of containers in every layer of frame can place stably in container carrier assembly, can receive more containers in the same space, have reduced the space occupation of a plurality of containers.

The container sealing assembly is located the top that the container bore assembly was born to the container, keeps away from or is close to the container mouth through second motion drive container sealing mechanism, at the liquid-transfering in-process, need not to open one by one and sealing operation to a plurality of containers, has reduced the operating time of liquid-transfering in-process. The first and second movement mechanisms may be motors or cylinders, etc.

The sample exchange chamber 300 is used for interaction with the outside, and the sample to be tested and the sample after the test are stored in the sample exchange chamber 300, in order to solve the problem that the storage capacity of the sample exchange chamber 300 is limited, which affects the efficiency of the test, in some embodiments, referring to fig. 2 and 5, the sample preparation workstation further includes: install in the buffer memory frame 590 of preparation platform 100, manipulator 200 drives the transport instrument and leaves the sample in buffer memory frame 590, and buffer memory frame 590 includes that at least one deck puts the thing board, is provided with the first position in a storehouse that is used for depositing the sample on putting the thing board, and one side of preparation platform 100 is arranged in to buffer memory frame 590. In order to avoid interference, no experimental device or an experimental device with a lower height is disposed between the buffer rack 590 and the robot 200, wherein the height of the experimental device does not exceed the height of the storage plate closest to the preparation platform 100 in the buffer rack 590.

Further, the buffer rack 590 further comprises a connector disposed at the first position, wherein the connector is used for limiting the sample at the first position. The connecting piece can be a step pin which is used for being inserted into an insertion hole formed in the bottom of the tray for containing the sample; or, the connecting piece can be the elastic component, and first position in a storehouse is the constant head tank, and the elastic component sets up on the inner wall of constant head tank, and the elastic component can and produce elastic deformation with the container butt when the container that holds the sample is placed in the constant head tank. Wherein, the elastic component can be a metal sheet or a POM plastic component with better elastic property.

In addition, buffer memory frame 590 still includes the backup pad of two relative settings, puts the thing board and sets up between two backup pads. Wherein, it can be fixed connection to put thing board and backup pad, also can be sliding connection. When the sliding connection is adopted, at least one sliding groove can be formed in the supporting plate, a nut is arranged in the sliding groove, and the nut can move along the sliding groove. Put the both ends of thing board and can be fixed with the angle sign indicating number, the angle sign indicating number is connected with the nut through the bolt, and the position of adjusting nut in the spout before the locking to the position that the thing board was put in the realization is adjustable, thereby can be applicable to the not experimental sample of co-altitude size.

When the sample exchange chamber 300 has no empty space, the robot 200 transfers the sample in the sample exchange chamber 300 to the buffer rack 590 for buffering. The buffer rack 590 may be arranged in multiple layers to store different numbers and/or different types of samples according to different requirements, so as to relieve the pressure of the sample exchange chamber 300.

The sample holds in placing the container in the tray in, can place a plurality of containers simultaneously in a tray to can improve the handling efficiency of sample. The transfer tool comprises a container transfer jaw 210 and a tray transfer jaw 230, the sample preparation station further comprising: and the manipulator 200 drives the tray transfer clamping jaws 230 to place the tray on the transfer frame, and the manipulator 200 drives the container transfer clamping jaws 210 to transfer the containers in the tray to the experimental device one by one. Because the size and the shape of tray have great difference with the container, two kinds of great objects of difference are hardly compromise in good transport to general a clamping jaw, consequently through setting up special clamping jaw with the transport container and the tray of pertinence, can improve the security and the accuracy of transport, avoid midway to drop and empty.

Wherein the container transfer jaws 210 may be used for container transfer as well as with the lid opening and closing rotation module 560 for opening and closing the lid for the container. The container transfer jaw 210 may be a single jaw having a gripping surface of a V-shaped configuration, or the jaw may be a combination of multiple cylindrical configurations, such as four parallel cylinders, that cooperate to grip and release the container. The container transfer jaw 210 may also be a double-sided jaw, one side jaw being a V-shaped structure and the other side jaw being a structure consisting of four cylinders, both sides of which may be used to achieve container gripping and releasing. When the cap is opened and closed, the clamping jaws on one side can be used for clamping the container, and then the clamping jaws on the other side can be replaced for clamping the bottle cap, for example, the clamping jaws on the V-shaped clamp can be used for clamping the container, and the clamping jaws on the column shape can be used for clamping the bottle cap.

Tray transfer jaws 230 are used to handle trays such as test tube trays, solvent bottle trays, tip head trays, and the like. Tray transfer jaw 230 includes driving piece, first arm lock and second arm lock, and first arm lock and second arm lock are connected with the driving piece respectively, and the driving piece can drive first arm lock and second arm lock and be close to each other or keep away from. One end of the first clamping arm, which is far away from the driving part, is provided with a first clamping jaw finger, and the first clamping arm is connected with the first clamping jaw finger in a floating manner. Be provided with the elastic component between first arm lock and the first clamping jaw finger, the both ends of elastic component butt first arm lock and first clamping jaw finger respectively. And a second clamping jaw finger is arranged at one end of the second clamping arm far away from the driving part, and the second clamping arm is connected with the second clamping jaw finger in a floating manner. An elastic piece is also arranged between the second clamping arm and the second clamping jaw finger, and two ends of the elastic piece are respectively abutted against the second clamping arm and the second clamping jaw finger. The elastic element can be a spring arranged at intervals, and can also be an elastic sheet or a rubber block and the like. Through connecting the clamping jaw finger in the arm lock floatingly, when the clamping jaw finger clamping face has slight nonparallel with the tray, the adjustable clamp of clamping jaw finger gets the direction and successfully gets the clamp and get the tray, makes the tray can not drop when getting and the transportation.

The transfer rack can comprise a placing plate, the placing plate can be provided with step pins, and the step pins are used for being inserted into insertion holes formed in the bottom of a tray for containing samples; or, the both ends of placing the board can be provided with tray joint spare, of course, also can set up the step pin on placing the board, set up tray joint spare simultaneously at the both ends of placing the board. Set up step pin and/or tray joint spare on placing the board, can avoid the manipulator to take the tray together when the sample, cause the tray to drop the risk that the sample emptys. The robot 200 transfers the trays in the sample exchange magazine 300 to the transfer rack, and grips the containers from the trays on the transfer rack to the experimental apparatus for performing the experiment.

Further, one or more transfer racks may be provided, and when the transfer rack includes a plurality of transfer racks with different heights, the transfer rack with a higher height is farther from the manipulator 200, thereby solving the problem that the manipulator 200 is likely to interfere and collide when taking and placing due to compact layout in the sample preparation workstation.

In a specific implementation, referring to fig. 2, the transfer stand may include at least a first tray frame and a second tray frame 581, and both the first tray frame and the second tray frame 581 are installed on the preparation platform 100. Referring to fig. 2, each of the first and second tray frames 581 may be a single tray rack, i.e., a rack for placing one tray. The placing plate of the first tray frame can be provided with two step pins for matching with the pin holes at the bottom of the tray to position the tray, and the first tray frame can be used for placing a test tube tray, a solvent bottle tray and the like. The second tray frame 581 can be provided with two step pins on the placing plate for cooperating with the pin holes at the bottom of the tray to position the tray, and can also be provided with tray clamping pieces at the two ends of the placing plate for clamping the two ends of the tray when the tray is placed on the placing plate, so as to fix the tray. Second tray frame 581 can be used to place tip head tray, filter head tray etc. because manipulator 200 drives the tray and rises together very easily after pricking tip head or filter head lifting in-process, can press from both sides tight tray through setting up tray joint spare to whole tray is taken up because frictional force.

Referring again to fig. 2, the first and second tray frames 581 can be provided with different height dimensions. For example, the first tray frame can include the tray frame 582 that highly is 90mm and highly be 120 mm's tray frame 583, and the manipulator 200 setting is kept away from to the highly tray frame 583 that is 120mm, and the highly tray frame 582 that is 90mm is close to the manipulator 200 setting, and the interference collision between the tray not only can be avoided to different high designs and arranges, still is convenient for snatching of manipulator 200. The second tray frame 581 may also be provided in plural with different height dimensions, and is not particularly limited herein.

When the experiment device includes two or more than two kinds, in order to determine the experiment type corresponding to different samples, in some embodiments, the tray or the container is provided with an identification code, such as a bar code, a two-dimensional code, and the like, and accordingly, the preparation platform 100 is provided with a code reading device for reading the identification code on the sample. To facilitate the manipulator 200 to know the experiment to be performed on the sample in time after the sample is taken, the code reading device may be disposed near the sample exchange chamber 300. The code reading device determines the experiment type according to the identification code and sends the experiment type to the manipulator 200, and the manipulator 200 transfers the sample to the corresponding experiment device according to the experiment type for experiment.

The manipulator 200 can also determine the grabbing object according to the experiment type and the corresponding experiment process, and then install the corresponding grabbing module. For example, referring to fig. 2, the tray transfer jaw 230 is installed for holding a tray, the container transfer jaw 210 is installed for holding a container, and the pipetting module 220 is installed for performing pipetting operation.

The tool magazine 600 can be provided with a plurality of positions of placing with the adaptation of transportation instrument quantity, be provided with on the preparation platform 100 with a plurality of intercommunicating pores of placing the phase adaptation, the transportation instrument can stretch into in the intercommunicating pore when placing the position in. Due to the limited space available for the preparation platform 100, in some embodiments, the tray transfer jaws 230, container transfer jaws 210, and pipetting module 220 are all mounted in the tool magazine 600. The tool magazine 600 and the preparation platform 100 are provided with access holes corresponding to the tray transfer clamping jaw 230, the container transfer clamping jaw 210 and the liquid-moving module 220, so that the tray transfer clamping jaw 230, the container transfer clamping jaw 210 and the liquid-moving module 220 at least partially extend into a space below the preparation platform 100, and further, the arrangement space on the preparation platform 100 is saved. Wherein, every places the position and can set up the locating part, places when placing the position in each transportation instrument, locating part and transportation instrument cooperation will be transported the instrument and stable deposit in tool magazine 600.

When the transfer tool is placed in the placement site, there may be a portion of the structure protruding above the top surface of the placement site. Therefore, in order to avoid interference of the robot 200 when exchanging the transfer tool in the tool magazine 600, the transfer tool having a higher top surface of the protruded place is farther from the robot 200.

In some embodiments, as shown in fig. 2, the experimental apparatus comprises a powder adding device 510, an electromagnetic stirring device 520, an oscillating device 530, a solution clear detection device 540, a liquid level delamination detection device 550, an opening and closing cover rotating module 560, and a solvent reservoir 570. The solvent library 570, the tool library 600, the switch cover rotating module 560, the liquid level layering detection device 550, the sample exchange bin 300, the code reading device, the transfer rack, the powder adding device 510, the oscillating device 530, the solvent cleaning detection device 540 and the electromagnetic stirring device 520 sequentially surround the manipulator 200. The arrangement refers to the height and the size of each instrument and equipment and the consistency of experimental operation, and can save space and improve experimental efficiency as much as possible.

Referring to fig. 2 and 6, in some embodiments further comprising: the recycling assembly 700 is arranged on the preparation platform 100 in a penetrating manner and communicated with a recycling device arranged below the preparation platform 100 so as to recycle the waste solution, the container, the tip head, the filter head and the like into the recycling device.

It is understood that the sample preparation station may further comprise a base 800, the base 800 being connected to the preparation platform 100 and located below the preparation platform 100. The base 800 is a hollow shell, and the control equipment and electrical equipment of the manipulator 200 and the experimental apparatus, such as an electrical box, a computer host, a manipulator control box, etc., can be placed in the inner space. The outer wall of the rack body 400 may further be provided with a display device (not shown in the figures) for a user to view experimental conditions in the workstation and/or interact with each device in the workstation (such as manually inputting operation instructions, changing experimental procedures, etc.). In addition, a plurality of cooling fans may be further disposed in the base 800 for cooling the electronic control device in the base 800, and a controller of the cooling fan is also located in the base 800.

The recycling assembly 700 is mainly used for recycling the waste tip heads after pipetting, an upper port of the recycling assembly 700 protrudes out of the preparation platform 100, and a lower port of the recycling assembly 700 extends into a lower space of the preparation platform 100, namely the base 800, so that the waste is thrown into a recycling device below the base 800 through the recycling assembly 700.

The experimental procedure of this example is illustrated below:

firstly, reagents, powders, instruments (such as a filter head, a tip head and the like) and the like used for preparing samples are placed on the sample interaction chamber 300 through an external experimenter or a mobile device, the robot arm 200 selects different quick-change clamping jaw tools from a tool library according to different samples, and the different samples are moved to corresponding positions in the station after being read and identified by a code reading device. Manipulator 200 selects corresponding clamping jaw instrument according to the size of container, removes the container and uncaps on switch lid rotation module 560, then carries out the liquid feeding operation according to the experiment requirement, if needs add the powder, manipulator 200 places the container on powder adding device 510, according to the accurate volume that adds needs of the requirement of preparation. After the powder adding and liquid adding are completed, the manipulator 200 can move to the electromagnetic stirring device 520 and the oscillating device 530 for stirring and oscillating. After the oscillation is completed, the lysis-clearing detecting apparatus 540 detects the oscillated reagent. If the liquid is layered, the manipulator 200 may place the reagent in the liquid level layering detection device 550 for detection. After all preparation operations are completed, the manipulator 200 moves the finished reagent to the sample exchange bin 300, and then the finished reagent is taken away by an external experimenter or a moving device for subsequent operations.

The whole workstation comprises the functions of reagent carrying and conveying, reagent storage, cover opening, liquid transferring, powder adding, oscillation, detection and the like, wherein the functions can be arranged and combined according to different experimental requirements to realize the automation of preparation, a plurality of function positions are designed in the workstation, the diversity of functions can be realized, and the high-throughput operation of sample preparation can be realized.

In some embodiments, a ventilation window 420 is formed in a ceiling of the rack body 400, and the ventilation window 420 is connected to an external exhaust gas treatment device through a pipe to discharge exhaust gas generated in the experiment through the ventilation window 420.

In some embodiments, an emergency stop device may be disposed on the rack body 400 for stopping the operation of the robot 200 and/or the experimental device. By providing the emergency stop device, the experimenter can press the emergency stop button on the emergency stop device to stop the experiment when the accident happens.

In some embodiments, the sample preparation workstation may further include a status indication device, such as a signal light, which may be disposed above the rack body 400 or on the base 800 for emitting a different signal to indicate the workstation's operational status. For example, the status indicating device sends out a green signal to indicate that the workstation is working normally; the state indicating device sends out a yellow signal to indicate that the work station stops working currently; the state indicating device sends out a red signal to indicate that the work station works abnormally currently.

In some embodiments, at least one monitoring device, such as a camera, may be disposed within the sample preparation workstation, and in particular, may be disposed above the interior side of the rack body 400. Through setting up monitoring device, the experimenter can long-rangely look over the experimental conditions in the workstation.

In some embodiments, referring to fig. 7, the station door 410 is a lift door, the station door 410 comprising: door frame 412, elevating system 411, actuating mechanism and the door body.

The elevating mechanism 411 is slidably coupled to the door frame 412. In a concrete implementation, elevating system includes two lift units, and two lift units set up relatively and all are connected with door frame 412 slidable, and the door body is arranged in between two lift units and is connected with two lift units, and two lift units drive the relative door frame 412 of door body simultaneously and slide.

The driving mechanism is installed on the door frame 412 and connected to the lifting mechanism 411, and the driving mechanism is used for driving the lifting mechanism 411 to slide relative to the door frame 412.

In one specific implementation, the driving mechanism includes two driving units corresponding to the two lifting units, the two driving units are respectively connected to the two lifting units in a one-to-one correspondence, and the driving units are used for driving the lifting units to slide relative to the door frame 412. The driving unit may be a motor, a hydraulic mechanism, a pneumatic mechanism, or the like, and the specific form of the driving unit is not limited in this embodiment. It is understood that a control mechanism is also included, the control mechanism is electrically connected to the two driving units for controlling the working states of the two driving units, and in particular, the control mechanism can be installed on the door frame 412.

The door body is matched with the door frame 412, the door body is connected to the lifting mechanism 411, the lifting mechanism 411 is used for driving the door body to slide relative to the door frame 412, and then the door body is opened or closed, and the two lifting units are respectively arranged on two sides of the door body and connected with the door body. In one specific implementation, the door body is detachably connected with the lifting unit, such as by bolts. The driving mechanism can control the lifting mechanism 411 to further control the door body to park at any position within the sliding range, so as to adjust the opening degree of the door body relative to the door frame 412.

During specific implementation, the driving mechanism can be a screw motor, the lifting mechanism 411 is connected with a nut mounting seat of the screw motor, the nut mounting seat is correspondingly moved to a corresponding position by controlling the number of rotation turns of the screw motor, namely, the nut mounting seat is the designated parking position of the lifting mechanism 411, the door body can be stopped at any position by the mode, and the opening degree of the door body relative to the door frame 412 can be adjusted at will.

In the correlation technique, the door body only closes or opens two kinds of states totally for door frame 412, and some experiments have the requirement to the air volume, can seriously influence the experiment effect when the air volume can not reach the requirement, and the overhead door among the correlation technique can't adjust the size of switch door in automatic laboratory, and then can't adjust the air volume. In this embodiment, the driving mechanism can control the lifting mechanism to stop at any position within the sliding range, so as to adjust the opening degree of the door body relative to the door frame 412.

During the experiment, can adjust the aperture size of the door body according to the required ventilation requirement of different experiments, and then adjustable intake size to this reaches better ventilation effect.

Each lifting unit comprises: first guide rail, connecting plate and stop gear. The first guide rail is arranged on the door frame 412, the connecting plate is slidably connected to the first guide rail, the door body is connected to the connecting plate, the connecting plate drives the door body to slide relative to the door frame 412, and the driving unit is connected with the connecting plate to drive the connecting plate to slide along the first guide rail. The door body and the connecting plate can be connected through bolts.

The limiting mechanism is connected to the door frame 412 and used for limiting the sliding stroke of the connecting plate. In some embodiments, the stop mechanism includes an upper stop block and a lower stop block connected to the doorframe 412, and the connecting plate is constrained to slide back and forth between the upper stop block and the lower stop block. In other embodiments, the spacing mechanism may further include an upper sensing assembly and a lower sensing assembly. The lower sensing assembly includes a lower sensing piece and a lower sensor, one of which is disposed at a lower end of the door frame 412, and the other of which is disposed at a lower end of the connecting plate. Accordingly, the upper sensing assembly includes an upper sensor and an upper sensing piece, one of which is provided at the upper end of the door frame 412 and the other of which is provided at the upper end of the connection plate. The upper sensor and the lower sensor are respectively electrically connected with the control mechanism and used for sending stop signals to the driving unit when the connecting plate moves to the upper limit position and the lower limit position, and the driving unit stops working when receiving the stop signals to enable the connecting plate to stop at the limit position.

In one implementation, the lower sensor blade is connected to the web for movement therewith. The lower inductor is connected to the door frame and provided with a slot, when the connecting plate moves to the lower limit position, the lower induction sheet is inserted into the slot, and the lower inductor sends a stop signal to the control mechanism so that the control mechanism controls the driving unit to stop working.

The driving unit may be a screw motor installed on the door frame 412, and the connecting plate is connected to a nut mounting seat of the screw motor. The lead screw motor is mounted on the door frame 412 through the motor mount. Specifically, the driving unit may include a driving motor and a lead screw, and the lead screw is connected with the connecting plate; if the driving motor is a stepping motor and the screw rod is a rotary screw rod, the motor drives the screw rod to rotate so that the screw rod nut mounting seat makes linear motion along the screw rod to drive the connecting plate to move; if the driving motor is a linear motor and the screw rod is a telescopic screw rod, the motor drives the screw rod to linearly extend and retract so that the screw rod drives the connecting plate to move up and down, and the driving unit can be an air cylinder and a piston rod. It can be understood that the number of the driving units is two, and the two driving units respectively drive the connecting plates in the two lifting units to slide up and down relative to the door frame.

The two driving units are simultaneously controlled by the control mechanism to further control the opening and closing of the door body. After the control mechanism receives a door opening instruction of the system, the two driving units output upward thrust to push the door body to ascend. On the contrary, after the control mechanism receives a door closing instruction of the system, the two driving units output downward pulling force to push the door body to descend.

In the related art, there is a risk of sudden drop when the lift gate is unexpectedly powered off, and there is a serious potential safety hazard. Based on this, referring to fig. 7, in some embodiments also includes: a second guide rail, a counterweight 413 and a traction assembly. The second guide rail is disposed on the door frame 412, and the second guide rail is parallel to the first guide rail. The weight 413 is slidably connected to the second rail. The traction component is arranged on the door frame, one end of the traction component is connected with the balancing weight 413, the other end of the traction component is connected with the connecting plate, and when the driving unit drives the connecting plate to ascend, the traction component pulls the balancing weight 413 to descend; when the driving unit drives the connection plate to descend, the traction assembly pulls the counterweight 413 to ascend.

Further, the tow assembly includes a pulley block 414 and a connecting rope. The assembly pulley 414 is installed on the door frame 412, and the connection rope is wound on the assembly pulley 414, and one end of the connection rope is connected with the counterweight block 413, and the other end of the connection rope is connected with the connection plate. In specific implementation, the pulley block may be a single pulley, or may be a pulley block composed of two pulleys, or may be a pulley block composed of more pulleys, or may have other expressions.

The weight of the counter weight 413 is slightly smaller than the sum of the weight of the door body and the weight of the connecting plate.

In this embodiment, when the door body is opened, the driving unit outputs an upward thrust to push the door body to rise, and meanwhile, the counterweight block 413 descends to achieve a counterweight effect. On the contrary, when the door body is closed, the driving unit outputs a downward pulling force to pull the door body to descend, and meanwhile, the counterweight block 413 ascends to achieve the counterweight effect.

In this embodiment, in consideration of safety and manual operation in power failure, the counterweight 413 is added, so that the safety of use and the convenience of maintenance are greatly increased. On one hand, the power required by the driving unit during driving can be reduced, the volume of the driving unit is reduced, and the structure is more compact; on the other hand, can prevent under the condition of unexpected outage, the risk that the door body dropped suddenly has realized accomplishing safety interlock under the unexpected outage condition, manual when maintaining moreover lift gently can, the operation of being convenient for.

Further, in some embodiments, a safety limiting block is further disposed below the weight block, and the safety limiting block is connected to the doorframe 412 for limiting when the weight block 413 moves downward.

In some embodiments, the door body and the two side panels connected with the door body are mainly made of fireproof non-metallic materials, so that the safety of the preparation process of the flammable and explosive sample is improved, meanwhile, the preparation process is full-automatic preparation of equipment, the artificial participation is reduced, and the harm of the toxic sample to a human body is reduced. In addition, the door body is a transparent visual window body, so that experimenters can intuitively know the experimental conditions in the workstation under the condition that the station door 410 is not opened.

Referring to fig. 1, in some embodiments, the sample preparation workstation further comprises: a three-axis calibration support 910 and three identification code calibration plates 920. Is connected to an outer wall of the housing body 400 and is disposed adjacent to one side of the station door 410. As shown in fig. 8, the three-axis calibration bracket 910 includes an X-direction connecting plate 911, a Y-direction connecting plate 912 and a Z-direction connecting plate 913 which are perpendicular to each other in pairs, one end of the Y-direction connecting plate 912 is connected to one end of the X-direction connecting plate 911, and the other end of the Y-direction connecting plate 912 is connected to one end of the Z-direction connecting plate 913. Two identification code calibration plates of the three identification code calibration plates 920 are respectively arranged at two ends of the X-direction connecting plate 911, and the other identification code calibration plate is arranged at the other end of the Z-direction connecting plate 913. Wherein, the identification code 921 is arranged in each identification code calibration plate 920, and the identification code 921 is used for making the outside perform the mobile device positioning rack body 400 of the sample access operation, thereby being convenient for the mobile device to take and place the sample in the sample exchange chamber 300.

According to the embodiment, the robot and the like can be positioned by reading the identification codes arranged in the three-dimensional space, and the positioning precision is improved.

In conclusion, the embodiment can realize full automation of the preparation process, does not need a large amount of experimenters to participate in the preparation process, can continuously work for 24 hours, can greatly improve the preparation efficiency, shortens the preparation period, reduces the labor cost, has strong functional compatibility, and can flexibly and freely match and combine different functions. The experimental device in the embodiment adopts precise transmission, so that the accuracy of the dosage in the sample preparation process is improved, the error caused by manual operation is reduced, and the accuracy of sample preparation is ensured.

The utility model provides a sample preparation system, including any kind of sample preparation workstation of mobile device and aforementioned embodiment, the mobile device can be arranged in getting in the sample exchange storehouse of sample preparation workstation and put the sample. This mobile device specifically can be mobile robot, utilizes mobile robot to carry out the transportation of sample, can reduce artifical working strength, promotes transmission efficiency, and then can realize full automatization experimentation. Wherein the three-axis calibration identification code on the sample preparation workstation can assist the mobile device in positioning the sample preparation workstation.

In addition, at least two sample preparation workstations can be arranged in the sample preparation system, and the two sample preparation workstations can realize different or same experimental operations. A mobile device may be used to conduct experimental interactions between these sample preparation workstations. For example, the sample preparation station a is performing a powdering experiment, the sample preparation station B is performing an oscillation experiment, and the mobile device may transport the sample that has been powdered by the sample preparation station a to the sample preparation station B for oscillation operation. The interaction between the workstations is realized by utilizing the mobile equipment, so that the manual participation can be reduced, and the full-automatic experiment process is realized.

It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A sample preparation workstation, comprising:

preparing a platform;

the manipulator is arranged on the preparation platform;

the sample exchange bin is arranged on the preparation platform and used for exchanging samples before and after an experiment with the outside;

a transfer tool mounted on the manipulator;

the manipulator drives the transfer tool to move, so that the transfer tool transfers the sample before the experiment in the sample exchange bin to the experimental device for the experiment and transfers the sample after the experiment to the sample exchange bin.

2. The sample preparation workstation of claim 1, wherein the transport means comprises a plurality, the sample preparation workstation further comprising:

the tool library is arranged on the preparation platform and used for storing a plurality of transfer tools, and each transfer tool is detachably connected with the manipulator.

3. The sample preparation workstation of claim 1, wherein the experimental device comprises a plurality, the plurality of experimental devices being distributed around the manipulator;

the manipulator is arranged at the center of the preparation platform;

the experimental device far away from the manipulator is higher than the experimental device close to the manipulator;

the sample exchange bin is arranged at the edge position of one side of the preparation platform.

4. The sample preparation workstation of claim 1, wherein the experimental device comprises at least one of:

a powder adding device for adding a powder sample to the sample;

the electromagnetic stirring device is used for stirring the sample;

an oscillation device for oscillating the sample;

the solution cleaning detection device is used for detecting the uniformity of the sample;

the liquid level layering detection device is used for detecting the layering state of the sample;

a filtration device for filtering the sample.

5. The sample preparation workstation of claim 2, wherein the transfer tool comprises a container transfer jaw, the assay device comprising:

the mechanical arm is connected with the container transfer clamping jaw, the container transfer clamping jaw is used for containing the bottle cap of the container of the sample, the switch cover rotation module clamps the bottle body of the container, and the container transfer clamping jaw is matched with the switch cover rotation module to carry out switch cover operation on the container.

6. The sample preparation workstation of claim 2, wherein the transfer tool comprises a pipetting module, the assay device comprising:

the manipulator is connected with the liquid transfer module, the manipulator drives the liquid transfer module to move, and the solvent in the solvent storehouse is added into the sample through the liquid transfer module.

7. The sample preparation workstation of any one of claims 1 to 6, further comprising:

the manipulator drives the transfer tool to store the sample in the cache frame;

the cache rack comprises at least one layer of object placing plate, and a first bin for storing the samples is arranged on the object placing plate;

the cache is arranged on one side of the preparation platform.

8. The sample preparation workstation of claim 7, wherein the buffer rack further comprises a connector disposed at the first position, the connector for retaining the sample at the first position;

the connecting piece is a step pin which is used for being inserted into an insertion hole formed in the bottom of a tray for containing the sample; or

The connecting piece is an elastic piece, the first bin is a positioning groove, the elastic piece is arranged in the positioning groove, and when a container containing the sample is placed in the positioning groove, the elastic piece can be abutted to the container and elastically deforms.

9. The sample preparation workstation of claim 2, wherein the samples are contained in containers disposed within a tray, the transfer means comprises a container transfer jaw and a tray transfer jaw, the sample preparation workstation further comprising:

the manipulator drives the tray transfer clamping jaw to place the tray on the transfer frame, and the manipulator drives the container transfer clamping jaw to transfer the container in the tray to the experimental device.

10. The sample preparation workstation of claim 9 wherein said staging rack comprises a plurality of staging racks of unequal heights, the higher the height the more remote the staging rack is from the robot.

11. The sample preparation workstation according to claim 9, wherein the transfer rack comprises a placing plate provided with step pins for plugging with plugging holes opened at the bottom of the tray; and/or tray clamping pieces are arranged at two ends of the placing plate to clamp the trays.

12. The sample preparation workstation of any one of claims 1 to 6, further comprising:

the code reading device is arranged on the preparation platform and used for reading the identification code on the sample;

the code reading device is arranged close to the sample exchange bin.

13. The sample preparation workstation of any one of claims 1 to 6, wherein the sample exchange bin comprises:

the support assembly is connected with the preparation platform;

the containing plate is connected to the supporting assembly and provided with at least two second bin positions for storing the samples;

the positioning piece is connected to the containing plate and corresponds to the second bin, and the positioning piece is used for limiting the sample at the second bin;

and the sensor is connected with the containing plate and corresponds to the second bin and is used for sensing whether the second bin stores samples or not.

14. The sample preparation workstation of any one of claims 1 to 6, further comprising:

and the recovery assembly penetrates through the preparation platform and is communicated with a recovery device arranged below the preparation platform.

15. The sample preparation workstation of any one of claims 1 to 6, further comprising:

the rack body is arranged on the preparation platform, the rack body and the preparation platform jointly enclose an accommodating space with an opening on one surface, and the manipulator, the sample exchange bin, the transfer tool and the experimental device are all arranged in the accommodating space;

a station door arranged at the opening;

the sample exchange bin is disposed adjacent to one side of the station door.

16. The sample preparation workstation of claim 15, further comprising:

the three-axis calibration support is connected to the outer wall of the rack body and is arranged close to one side of the station door, the three-axis calibration support comprises an X-direction connecting plate, a Y-direction connecting plate and a Z-direction connecting plate which are arranged in a mutually perpendicular mode in pairs, one end of the Y-direction connecting plate is connected with one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected with one end of the Z-direction connecting plate;

the three identification code calibration plates are respectively arranged at two ends of the X-direction connecting plate, and the other identification code calibration plate is arranged at the other end of the Z-direction connecting plate;

the rack body is provided with an identification code calibration plate, and each identification code calibration plate is internally provided with an identification code used for positioning the rack body by a mobile device for externally carrying out sample access operation.

17. The sample preparation workstation of claim 15, wherein the station door comprises:

a door frame;

a lifting mechanism slidably connected to the door frame;

the driving mechanism is arranged on the door frame and connected to the lifting mechanism, and is used for driving the lifting mechanism to slide relative to the door frame;

the door body is connected with the lifting mechanism and matched with the door frame, and the lifting mechanism is used for driving the door body to slide relative to the door frame.

18. The sample preparation workstation of claim 17, wherein the station door further comprises:

the counterweight block is connected with the door frame in a sliding way, and the sliding direction of the counterweight block is parallel to the sliding direction of the door body;

the pulley block is arranged on the door frame;

the connecting rope is wound on the pulley block, one end of the connecting rope is connected with the balancing weight, and the other end of the connecting rope is connected with the lifting mechanism;

when the driving mechanism drives the lifting mechanism to ascend, the pulley block and the connecting rope are matched to pull the counterweight block to descend; when the driving mechanism drives the lifting mechanism to descend, the pulley block and the connecting rope are matched to pull the counterweight block to ascend.

19. The sample preparation workstation of claim 15, further comprising:

the base is connected with the preparation platform and positioned below the preparation platform, and the manipulator and control equipment and electrical equipment of the experimental device are placed in the base;

and the display device is arranged on the outer wall of the rack body and used for user viewing and interaction.

20. The sample preparation workstation according to claim 2, wherein a quick-change male head is provided on the manipulator, and a quick-change female head is provided on each of the transfer tools, the quick-change male head and the quick-change female head being engaged to detachably connect the manipulator and the transfer tools.

21. The sample preparation workstation according to claim 2, wherein the tool magazine is provided with a plurality of placement positions corresponding to the number of the transfer tools, the preparation platform is provided with communication holes corresponding to the plurality of placement positions, and the transfer tools can extend into the communication holes when placed at the placement positions.

22. A sample preparation system, comprising a mobile device for taking and placing a sample in a sample exchange bay of a sample preparation workstation, and a sample preparation workstation as claimed in any one of claims 1 to 21.

23. The sample preparation system of claim 22, wherein the sample preparation stations comprise at least two, and the mobile device is further configured to perform experimental interactions between at least two of the sample preparation stations.