A multi-item fluorescence quantitative detection device based on mechanical arm gripping

Abstract

The invention discloses a multi-item fluorescence quantitative detection device based on mechanical arm clamping. The device pushes reagent cards from a card output component onto a transmission crawler, and leaves a card position in the middle of every other reagent card to facilitate the insertion and sorting of multi-item reagent cards. After identifying the information of each reagent card on the crawler, the optimal detection sequence of the reagent cards is calculated by an algorithm, and the signal is fed back to the mechanical claw after being obtained. The mechanical claw clamps the reagent card by moving up and down, first moves toward the Y axis to take the reagent card out of a card slot, then moves to a specified position on the X axis, and then moves toward the Y axis to insert the reagent card into a new card slot, and releases the mechanical claw to adjust the position of the reagent card, and then adds samples, transmits and detects. In this way, the position of each item reagent card in the detection sequence is determined according to its reaction time, so as to reduce the waiting time of the reagent card, achieve rapid and efficient acquisition of sample detection results, and improve detection efficiency.

Description

Technical Field

[0001] The invention relates to the field of medical detection equipment, and in particular to a multi-item fluorescence quantitative detection device based on mechanical arm clamping. Background Art

[0002] With the rapid development of modern medicine, fluorescence quantitative detection technology has important application prospects in the fields of emergency, gene screening, tumor cancer, etc. It has the characteristics of fast detection rate and high accuracy, and can provide efficient and accurate detection results for clinical diagnosis.

[0003] Existing crawler-type fully automatic fluorescence detectors are mostly for single-item testing, that is, only the same type of reagent cards can be tested in the same test. If there are multiple test cards to be tested, such as expedited test items or items with different reaction times, the test of the reagent card that has entered the waiting test sequence must be completed before the next test can be carried out.

[0004] At present, the commonly used multi-item reagent card detection device adopts a turntable structure. When multiple types of reagent cards enter the waiting sequence at the same time, the time to enter the detection position can be determined according to the type of reagent card. However, the turntable structure of the device is complex and large in size, which is not conducive to cost saving. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-item fluorescence quantitative detection device based on mechanical arm clamping, aiming to solve the technical problem in the prior art that multi-item reagent cards can be queued in a waiting sequence and detected in an orderly manner at the same time.

[0006] To achieve the above-mentioned purpose, the present invention adopts a multi-item fluorescence quantitative detection device based on mechanical arm clamping, comprising a card output component, a transmission component, a mechanical arm component, a detection component and a waste collection component; the card output component is fixedly connected to the bottom plate and is located on a side of the bottom plate close to the edge, and is used to store and load reagent cards; the transmission component is fixedly connected to the bottom plate through a bracket and is located on the side where the reagent card of the card output component pops out, and is used to transfer the loaded reagent card to one end of the detection component; the mechanical arm component is fixedly connected to the bottom plate and is located on a side of the bottom plate close to the card output component, and is oriented in the direction of the transmission component, and can realize X, Y direction linkage and reagent card clamping action, and realize the sorting function of multi-item reagent cards; the detection component is fixedly connected to the transmission component through a bracket, and is located above the transmission component and close to the side of the waste collection component, and is used for fluorescence quantitative detection of reagent cards; the waste collection component is fixedly connected to the bottom plate and is located below the end of the transmission component, and is used to collect the detected reagent cards.

[0007] The card output assembly includes a card output box bracket, a storage card bin and an automatic card output device. The card output box bracket is fixedly connected to the base plate and is located on a side of the base plate close to the transmission assembly and on a side of the transmission assembly away from the detection assembly; the storage card bin is fixedly connected to the card output box bracket by a buckle and is located on a side close to the transmission track; the automatic card output device is fixedly connected to the base plate through the card output box bracket and is located on a side close to the storage card bin.

[0008] The transmission component includes a transmission belt, a two-dimensional code sensor and a transmission drive component. The transmission belt is rotatably connected to the transmission drive component, fixedly connected to the bottom plate through a bracket, and located between the waste collection component and the card output component. The transmission belt is provided with a reagent card slot, and the reagent card can be inserted into the card slot and transmitted to the detection component position; the two-dimensional code sensor is fixed to the base through a bracket, and is located above the initial card slot of the transmission belt, and is located on one side of the card output port of the storage card bin; the transmission drive component is fixedly connected to the bottom plate through a bracket, and is rotatably connected to the transmission belt, and drives the transmission belt to rotate.

[0009] The robot arm assembly includes a Y-axis translation component, an X-axis translation component and a mechanical claw, wherein the Y-axis translation component is fixedly connected to the base plate and is located on a side of the base plate close to the transmission track, the X-axis translation component is fixedly connected to the Y-axis translation component through a bracket and is located on a side of the Y-axis translation component away from the base plate, the mechanical claw is fixedly connected to the X-axis translation component through a bracket and is located on a side of the X-axis translation component close to the transmission track; the Y-axis translation component includes a Y-axis slide rail, a Y-axis synchronous belt, a Y-axis stepping motor and a Y-axis support frame, the Y-axis slide rail is fixedly connected to the base plate, the two slide rails are placed in parallel and perpendicular to the direction of the transmission track, and are located on a side close to the transmission track, the Y-axis synchronous belt is fixedly connected to the base plate through a bracket and is located between two parallel slide rails on the base plate, the Y-axis stepping motor is fixedly connected to the base plate through a bracket, and the output shaft cooperates with the Y-axis synchronous belt to drive the Y-axis synchronous belt to rotate, and the Y-axis support frame The support frame is slidably connected to the Y-axis slide rail and is fixedly connected to the Y-axis synchronous belt through a buckle, and is driven by the Y-axis synchronous belt to realize Y-axis movement; the X-axis translation component includes an X-axis support frame, an X-axis synchronous belt, an X-axis stepping motor, an X-axis slide rail and an X-axis slider, the X-axis support frame is fixedly connected to the Y-axis support frame, and is located on the side of the Y-axis translation component away from the bottom plate, the X-axis synchronous belt is fixedly connected to the X-axis support frame through a bracket, and is located on the side close to the transmission crawler, the X-axis stepping motor is fixedly connected to the X-axis support frame through a bracket, and is located on the side close to the Y-axis stepping motor, and the output shaft cooperates with the X-axis synchronous belt to drive the X-axis synchronous belt to rotate, the X-axis slide rail is fixedly connected to the X-axis support frame, and is located on the side close to the Y-axis stepping motor, the X-axis slider is slidably connected to the X-axis slide rail, is fixedly connected to the X-axis synchronous belt through a buckle, and is driven by the X-axis synchronous belt to realize X-axis movement.

[0010] Among them, the storage card bin includes a card bin cover, a card bin box, a reagent card and a pressure piece, wherein the card bin cover is located at the top of the storage card bin and can be separated from the card bin to facilitate the addition of reagent cards; the card bin box is fixed to the card output box bracket by a buckle lock, located at the slot notch at the bottom close to one side of the transmission track, so that the automatic card ejector can extend into the interior of the storage card bin and push the reagent card into the card slot of the transmission track; the reagent card is placed in the card bin box, and a QR code is provided on the reagent card to facilitate reading and recording the reagent card information; the pressure piece is slidably connected to the card bin box slide rail, and is located inside the card bin box, and partially extends out of the surface of the card bin box.

[0011] Among them, the automatic card ejector includes a motor, a screw nut structure and a push rod, the motor is fixed on the card ejection box bracket and is located on the side away from the transmission track; the screw nut structure cooperates with the motor and is located between the motor and the push rod, the screw in the screw nut structure is connected to the motor output shaft and drives the screw to rotate, the nut of the screw nut structure is spirally cooperated with the screw, and makes a linear motion on the rotating screw; the push rod is fixedly connected to the screw nut structure, is located below the card magazine box, and is flush with the bottom slot notch, can reciprocate along the slot to realize a cyclic card pushing action.

[0012] Among them, the storage card bin and the automatic card ejector have one to three modules respectively, which correspond to each other in position. Each storage card bin can be taken out separately, and each storage card bin can store different types of reagent cards, which is convenient for carrying out multi-project reagent card testing. The push rod of the corresponding automatic card ejector can be extended into the bottom slot of the corresponding storage card bin to complete the card pushing action.

[0013] Wherein, the transmission driving component includes a driving motor, a rotating bearing and a transmission track pulley, the driving motor is fixedly connected to the base plate through a bracket, and is located on a side close to the card output assembly, and the output shaft cooperates with the driving track pulley to drive the transmission track to rotate; the rotating bearing is fixedly connected to the base plate through a bracket, and cooperates with the driven track pulley of the transmission track through a key connection, and is located on a side of the transmission track away from the driving motor; the transmission track pulley consists of a driving pulley and a driven pulley, the driving pulley is rotationally connected to the driving motor, the driven pulley is rotationally connected to the rotating bearing, and is rotationally connected to the transmission track, and is located on a side of the transmission track away from the driving motor, driving the transmission track to achieve friction transmission.

[0014] The mechanical claw comprises a carrying plate, a gripper and a driver, wherein the carrying plate is fixedly connected to the X-direction slider through a bracket, and slides along the X and Y directions under the drive of the X-direction synchronous belt and the Y-direction synchronous belt, and toward the direction of the transmission track; the gripper is slidably connected to the carrying plate, and is located on a side of the carrying plate close to the transmission track; the driver is fixedly connected to the carrying plate, and is rotationally connected to the gripper, driving the gripper to slide up and down, thereby realizing clamping and releasing actions.

[0015] Wherein, the driver includes a small turntable and a servo, the small turntable is rotatably connected to the gripper and is located on the side of the supporting plate close to the gripper and between the two grippers; the servo is fixedly connected to the supporting plate, its output shaft cooperates with the small turntable and is located on the side of the supporting plate away from the gripper.

[0016] The present invention discloses a multi-item fluorescence quantitative detection device based on mechanical arm clamping. The reagent card is pushed out from the card output component onto the transmission crawler, and a card position is left empty in the middle of every other reagent card to facilitate the insertion and sorting of the multi-item reagent cards. After identifying the information of each reagent card on the crawler, the optimal sequence of the reagent cards is calculated by an algorithm, and the signal is fed back to the mechanical claw after it is obtained. The mechanical claw clamps the reagent card by moving up and down, first moves toward the Y axis to take the reagent card out of the card slot, then moves to a specified position on the X axis, and then moves toward the Y axis to insert the reagent card into a new card slot, and releases the mechanical claw to adjust the position of the reagent card, and then adds samples, transmits and detects. In this way, the position of each item reagent card in the detection sequence is determined according to its reaction time, so as to reduce the waiting time of the reagent card, achieve fast and efficient acquisition of sample detection results, and improve detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of a multi-item fluorescence quantitative detection device based on mechanical arm clamping of the present invention.

[0019] Figure 2 It is a structural schematic diagram of the card output assembly of the present invention.

[0020] Figure 3 It is a schematic diagram of the structure of the transmission component of the present invention.

[0021] Figure 4 It is a structural schematic diagram of the mechanical arm assembly of the present invention.

[0022] Figure 5 It is a schematic structural diagram of the mechanical claw of the present invention.

[0023] In the figure: 1-card output assembly, 2-transmission assembly, 3-mechanical arm assembly, 4-detection assembly, 5-waste collection assembly, 6-bottom plate, 11-card output box bracket, 12-storage card compartment, 13-automatic card output device, 21-transmission crawler, 22-two-dimensional code sensor, 23-transmission drive component, 31-Y-direction translation component, 32-X-direction translation component, 33-mechanical claw, 100-multi-item fluorescence quantitative detection device based on mechanical arm clamping, 121-card compartment cover, 122-card compartment box, 123-reagent card, 124-pressing piece, 131-motor, 132-screw nut structure, 133-push rod, 231-drive motor, 232-rotating bearing, 233-drive track wheel, 311-Y-direction slide rail, 312-Y-direction synchronous belt, 313-Y-direction stepper motor, 314-Y-direction support frame, 321-X-direction support frame, 322-X-direction synchronous belt, 323-X-direction stepper motor, 324-X-direction slide rail, 325-X-direction slider, 331-carrying plate, 332-hand claw, 333-driver, 3331-small turntable, 3332-servo gear. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0025] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0026] In the first example of this embodiment:

[0027] See also Figure 2The present invention provides a multi-item fluorescence quantitative detection device 100 based on mechanical arm gripping, comprising a card output component 1, a transmission component 2, a mechanical arm component 3, a detection component 4 and a waste collection component 5; the card output component 1 is fixedly connected to a bottom plate 6 and is located on a side of the bottom plate 6 close to the edge, and is used to store and load a reagent card 123; the transmission component 2 is fixedly connected to the bottom plate 6 through a bracket and is located on a side of the card output component 1 where the reagent card 123 pops out, and is used to transfer the loaded reagent card 123 to one end of the detection component 4; the mechanical arm component 3 is fixedly connected to the bottom plate 6 and is located on a side of the bottom plate 6 close to the edge of the bottom plate On one side of the card output component 1, and in the direction of the transmission component 2, the X and Y direction linkage and the reagent card 123 clamping action can be realized, and the reagent card 123 to be tested on the transmission component 2 can be clamped to the specified position to realize the sorting function of multi-project reagent cards. The detection component 4 is fixedly connected to the transmission component 2 through a bracket, and is located above the transmission component 2 and close to the side of the waste collection component 5, and is used for fluorescent quantitative detection of the reagent card 123. The waste collection component 5 is fixedly connected to the bottom plate 6 and is located below the end of the transmission component 2, and is used to collect the tested reagent cards 123.

[0028] Furthermore, the card output assembly 1 includes a card output box bracket 11, a storage card bin 12 and an automatic card output device 13. The card output box bracket 11 is fixedly connected to the base plate 6 and is located on a side of the base plate 6 close to the transmission belt 21, and is located on a side of the transmission belt 21 away from the detection assembly 4; the storage card bin 12 is fixedly connected to the card output box bracket 11 through a buckle and is located on a side close to the transmission belt 21; the automatic card output device 13 is fixedly connected to the base plate 6 through the card output box bracket 11 and is located on a side close to the storage card bin 12.

[0029] Furthermore, the storage card bin 12 includes a bin cover 121, a bin box 122, a reagent card 123 and a pressing piece 124, wherein the bin cover 121 is located at the top of the storage card bin 12 and can be separated from the bin to facilitate the addition of the reagent card 123; the bin box 122 is fixed to the card output box bracket 11 by a buckle lock, and is located at the slot notch at the bottom of one side close to the transmission belt 21, so that the automatic card output device push rod 133 can extend into the bottom slot of the storage card bin 12 to push the reagent card 123 into the card slot of the transmission belt 21; the reagent card 123 is placed in the bin box 122, and a QR code is provided on the reagent card 123 to facilitate reading and recording the reagent card information; the pressing piece 124 is slidably connected to the slide rail of the bin box 122, and is located inside the bin box 122, and partially extends out of the surface of the bin box 122.

[0030] Furthermore, the automatic card ejector 13 includes a motor 131, a screw nut structure 132 and a push rod 133. The motor 131 is fixed on the card ejector box bracket 11 and is located on a side away from the transmission track 21; the screw nut structure 132 cooperates with the motor 131, and the screw of the screw nut structure 132 located between the motor 131 and the push rod 133 is connected to the output shaft of the motor 131 and drives the screw to rotate, and the nut of the screw nut structure 132 is spirally cooperated with the screw and makes a linear motion on the rotating screw; the push rod 133 is fixedly connected to the screw nut structure 132, is located below the card magazine box 122, and is flush with the bottom slot notch, and can reciprocate along the slot to realize a cyclic card pushing action.

[0031] Furthermore, the storage card bin 12 and the automatic card ejector 13 have one to three modules respectively, which correspond one to one in position. Each storage card bin 12 can be taken out individually, and each storage card bin 12 can store different types of reagent cards 123, which is convenient for carrying out the detection of multi-project reagent cards 123. The push rod 133 of the corresponding automatic card ejector 13 can be extended into the bottom slot of the corresponding storage card bin 12 to complete the card pushing action.

[0032] In this embodiment, the card output assembly 1 is carried by a base, and a first card bin, a second card bin and a third card bin are respectively arranged on the base, and each card bin can be taken out separately from the card output assembly 1, and the three card bins are respectively oriented toward the direction of the transmission track 21, and the interiors of the three card bins have storage cavities, and the reagent cards 123 are loaded by opening the card bin covers 121, and the motor 131 is fixed on the side of the first card bin, the second card bin and the third card bin away from the transmission track 21, and the motor 131 rotates and drives the push rod 133 to extend into the interior of the card bin to push out the reagent cards 123 in the card bins, and the three card bins ensure that the device can load three types of reagent cards 123 at the same time, as well as the reagent cards 123 During the replacement and loading in the operation process, the pressing piece 124 is a structure to ensure that the reagent card 123 reaches the card output position in sequence and prevents the reagent card 123 from getting stuck in the falling process; after the reagent card 123 falls to the bottom position of the card bin, the reagent card 123 in each card bin is pushed out to the transmission track 21 by the push rod 133. In order to be on the same horizontal plane with the transmission track 21, the lower end of the card output assembly 1 is supported by the base. In this way, the card output assembly 1 is provided with three card bins, and each card bin can be taken out from the card output assembly 1 separately, ensuring that the device can load three types of reagent cards 123 at the same time, and the replacement and loading of the reagent cards 123 in the operation process, thereby improving the detection efficiency.

[0033] In the second embodiment of this embodiment:

[0034] See also Figure 1 , Figure 4 and Figure 5 The present invention provides a multi-item fluorescence quantitative detection device 100 based on mechanical arm gripping, comprising a card output component 1, a transmission component 2, a mechanical arm component 3, a detection component 4 and a waste collection component 5; the card output component 1 is fixedly connected to a bottom plate 6 and is located on a side of the bottom plate 6 close to the edge, and is used to store and load a reagent card 123; the transmission component 2 is fixedly connected to the bottom plate 6 through a bracket and is located on a side of the card output component 1 where the reagent card 123 pops out, and is used to transfer the loaded reagent card 123 to one end of the detection component 4; the mechanical arm component 3 is fixedly connected to the bottom plate 6 and is located on a side of the bottom plate 6 close to the edge of the bottom plate On one side of the card output component 1, and in the direction of the transmission component 2, the X and Y direction linkage and the reagent card 123 clamping action can be realized, and the reagent card 123 to be tested on the transmission component 2 can be clamped to the specified position to realize the sorting function of multi-project reagent cards. The detection component 4 is fixedly connected to the transmission component 2 through a bracket, and is located above the transmission component 2 and close to the side of the waste collection component 5, and is used for fluorescent quantitative detection of the reagent card 123. The waste collection component 5 is fixedly connected to the bottom plate 6 and is located below the end of the transmission component 2, and is used to collect the tested reagent cards 123.

[0035] Further, the robot arm assembly 3 includes a Y-axis translation member 31, an X-axis translation member 32 and a mechanical claw 33, the Y-axis translation member 31 is fixedly connected to the base plate 6 and is located on the side of the base plate 6 close to the transmission track 21, the X-axis translation member 32 is fixedly connected to the Y-axis translation member 31 through a bracket and is located on the side of the Y-axis translation member 31 away from the base plate 6, the mechanical claw 33 is fixedly connected to the X-axis translation member 32 through a bracket and is located on the side of the X-axis translation member 32 close to the transmission track 21; the Y-axis translation member 31 includes a Y-axis sliding member 32, a Y-axis sliding member 33, and a Y-axis sliding member 34. The Y-direction slide rail 311, the Y-direction synchronous belt 312, the Y-direction stepping motor 313 and the Y-direction support frame 314, the Y-direction slide rail 311 is fixedly connected to the base plate 6, the two slide rails 311 are placed in parallel and perpendicular to the direction of the transmission crawler 21, and are located on the side close to the transmission crawler 21, the Y-direction synchronous belt 312 is fixedly connected to the base plate 6 through a bracket, and is located between the two parallel slide rails 311 on the base plate 6, the Y-direction stepping motor 313 is fixedly connected to the base plate 6 through a bracket, and the output shaft cooperates with the Y-direction synchronous belt 312 to drive the Y-direction synchronous belt 312 to rotate, and the Y-direction support frame 314 is fixedly connected to the base plate 6 through a bracket, and the output shaft cooperates with the Y-direction synchronous belt 312 to drive the Y-direction synchronous belt 312 to rotate. 14 is slidably connected to the Y-direction slide rail 311, and is fixedly connected to the Y-direction synchronous belt 312 through a buckle, and is driven by the Y-direction synchronous belt 312 to realize Y-axis movement; the X-direction translation member 32 includes an X-direction support frame 321, an X-direction synchronous belt 322, an X-direction stepping motor 323, an X-direction slide rail 324 and an X-direction slider 325, the X-direction support frame 321 is fixedly connected to the Y-direction support frame 314, and is located on the side of the Y-direction translation member 31 away from the bottom plate 6, the X-direction synchronous belt 322 is fixedly connected to the X-direction support frame 321 through a bracket, and is located close to the transmission On one side of the moving track 21, the X-axis stepper motor 323 is fixedly connected to the X-axis support frame 321 through a bracket, and is located on a side close to the Y-axis stepper motor 313, and the output shaft cooperates with the X-axis synchronous belt 322 to drive the X-axis synchronous belt 322 to rotate, the X-axis slide rail 324 is fixedly connected to the X-axis support frame 321, and is located on a side close to the Y-axis stepper motor 313, the X-axis slider 325 is slidably connected to the X-axis slide rail 324, and is fixedly connected to the X-axis synchronous belt 322 through a buckle, and is driven by the X-axis synchronous belt 322 to realize X-axis movement.

[0036] Furthermore, the mechanical claw 33 includes a supporting plate 331, a hand claw 332 and a driver 333. The supporting plate 331 is fixedly connected to the X-axis slider 325 through a bracket, and slides along the X and Y directions under the drive of the X-axis synchronous belt 322 and the Y-axis synchronous belt 312, and toward the direction of the transmission belt 21; the hand claw 332 is slidingly connected to the supporting plate 331, and is located on the side of the supporting plate 331 close to the transmission belt 21; the driver 333 is fixedly connected to the supporting plate 331, and is rotationally connected to the hand claw 332, and drives the hand claw 332 to slide up and down to achieve clamping and releasing actions.

[0037] Furthermore, the driver 333 includes a small turntable 3331 and a servo 3332, the small turntable 3331 is rotatably connected to the gripper 332, and is located on the side of the supporting plate 331 close to the gripper 332, between the two grippers 332; the servo 3332 is fixedly connected to the supporting plate 331, and its output shaft cooperates with the small turntable 3331, and is located on the side of the supporting plate 331 away from the gripper 332.

[0038] In this embodiment, the robot arm assembly 3 is composed of the Y-direction translation component 31, the X-direction translation component 32 and the mechanical claw 33. Two Y-direction slide rails 311 are arranged on the bottom plate 6. The Y-direction synchronous belt 312 is driven by the Y-direction stepper motor 313 to realize the translation of the robot arm assembly 3 in the Y direction. The X-direction movement of the robot arm assembly 3 is realized by the X-direction stepper motor 323 driving the pulley and the X-direction synchronous belt 322. The X-direction translation component 32 is installed on the Y-direction translation component 31 through a connecting piece. Under the action of the linear slide rail and the slider, the operation of the Y-direction synchronous belt 312 and the X-direction synchronous belt 322 can realize the free movement of the robot arm assembly 3 in the X and Y directions; the mechanical claw 33 is fixed on the X-direction synchronous belt 322 through a connecting piece, so as to realize the clamping action of the mechanical claw 33 in the Z direction; the mechanical claw 33 The carrying plate 331, the gripper 332 and the driver 333 are composed of the carrying plate 331, the gripper 332 is driven by the steering gear 3332 connected to the small turntable 3331, and the turntable connectors arranged in parallel on the small turntable 3331 are used to connect the upper and lower grippers 332, and the steering gear 3332 drives the small turntable 3331 to rotate, so as to achieve the closing and separation of the upper and lower grippers 332, thereby achieving the purpose of clamping the reagent card 123, and the mechanical arm moves the X and Y axes according to the feedback signal under the action of the Y-direction stepping motor 313, the X-direction stepping motor 323 and the Y-direction synchronous belt 312 and the X-direction synchronous belt 322, and at the same time, under the clamping action of the mechanical gripper 33, the reagent cards 123 to be reacted are arranged on the transmission crawler 21 in the order of reaction time, and the first one to be finished is arranged to the position closest to the detection component 4.

[0039] In the third embodiment of this implementation:

[0040] See also Figure 1 and Figure 3The present invention provides a multi-item fluorescence quantitative detection device 100 based on mechanical arm gripping, comprising a card output component 1, a transmission component 2, a mechanical arm component 3, a detection component 4 and a waste collection component 5; the card output component 1 is fixedly connected to a bottom plate 6 and is located on a side of the bottom plate 6 close to the edge, and is used to store and load a reagent card 123; the transmission component 2 is fixedly connected to the bottom plate 6 through a bracket and is located on a side of the card output component 1 where the reagent card 123 pops out, and is used to transfer the loaded reagent card 123 to one end of the detection component 4; the mechanical arm component 3 is fixedly connected to the bottom plate 6 and is located on a side of the bottom plate 6 close to the edge of the bottom plate On one side of the card output component 1, and in the direction of the transmission component 2, the X and Y direction linkage and the reagent card 123 clamping action can be realized, and the reagent card 123 to be tested on the transmission component 2 can be clamped to the specified position to realize the sorting function of multi-project reagent cards. The detection component 4 is fixedly connected to the transmission component 2 through a bracket, and is located above the transmission component 2 and close to the side of the waste collection component 5, and is used for fluorescent quantitative detection of the reagent card 123. The waste collection component 5 is fixedly connected to the bottom plate 6 and is located below the end of the transmission component 2, and is used to collect the tested reagent cards 123.

[0041] Furthermore, the transmission component 2 includes a transmission belt 21, a QR code sensor 22 and a transmission drive member 23. The transmission belt 21 is rotatably connected to the transmission drive member 23 and is fixedly connected to the base plate 6 through a bracket and is located between the waste collection component 5 and the card output component 1. The transmission belt 21 is provided with a reagent card 123 slot, and the reagent card 123 can be inserted into the slot and transmitted to the position of the detection component 4; the QR code sensor 22 is fixed to the base plate 6 through a bracket, located above the initial slot of the transmission belt 12, and located on one side of the card output port of the storage card bin 12; the transmission drive member 23 is fixedly connected to the base plate 6 through a bracket, and is rotatably connected to the transmission belt 21, and drives the transmission belt 21 to rotate.

[0042] Furthermore, the transmission drive component 23 includes a driving motor 231, a rotating bearing 232 and a transmission track pulley 233. The driving motor 231 is fixedly connected to the base plate 6 through a bracket, and is located on a side close to the card output assembly 1, and the output shaft cooperates with the driving drive track pulley 233 to drive the transmission track 21 to rotate; the rotating bearing 232 is fixedly connected to the base plate 6 through a bracket, and cooperates with the driven drive track pulley 233 through a key connection, and is located on a side of the transmission track 21 away from the driving motor 231; the transmission track pulley 233 consists of a driving pulley and a driven pulley, the driving pulley is rotationally connected to the driving motor 231, the driven pulley is rotationally connected to the rotating bearing 232, and is rotationally connected to the transmission track 21, and is located on a side of the transmission track 21 away from the driving motor 231, and the driving drive track 21 realizes friction transmission.

[0043] In this embodiment, the transmission component 2 is composed of the driving motor 231, the transmission crawler 21, the rotating bearing 232 and the supporting bracket. The transmission crawler 21 is processed with a plurality of card slots for placing the reagent card 123 on the outer surface of the crawler, and a plurality of the two-dimensional code sensors 22 of model HOA6480 are threadedly installed above the transmission crawler 21. The two-dimensional code on the surface of the reagent card 123 is scanned and the information is read in the direction of the transmission crawler 21. The transmission crawler 21 is driven by the driving motor 231, and the rotating bearing 232 at the left end is used to cooperate with the rotation of the transmission crawler pulley 233 to complete the overall movement of the crawler and accurately control the movement rate of the crawler. The supporting bracket is used to carry and fix the driving motor 231 and the transmission crawler 21, and support the device connected to the base plate 6; the two-dimensional code sensor 22 is placed on the front edge of the transmission crawler 21 to detect the information of the reagent card 123. When the test starts, the card output component 1 transports the reagent card 123 to the transmission track 21, identifies the information of the reagent card 123 through the two-dimensional code sensor 22, stores it in the computer, and records the position of the reagent card 123; the driving motor 231 drives the transmission track 21 to transport slowly, and the reagent card 123 moves toward the direction of the detection component 4 along the transmission track 21; at this time, the reagent cards 123 are inserted into the waiting sequence of the transmission track 21 in sequence, and the computer calculates the optimal sequence of all the reagent cards 123 to be tested in the waiting queue according to the greedy algorithm, and feeds it back to the control system of the mechanical arm component 3; the mechanical arm component 3 moves the Y-axis stepping motor 313 according to the feedback signal. , the X-axis and Y-axis are moved under the action of the X-axis stepping motor 323 and the Y-axis synchronous belt 312, and the X-axis and Y-axis are moved. At the same time, under the clamping action of the mechanical claw 33, the reagent cards 123 to be tested are arranged on the transmission track 21 in the order of reaction time, and the first one to be finished is arranged in the card slot closest to the detection component 4; when the reagent card 123 moves to the detection position of the detection component 4 along the transmission track 21, the detection result is obtained by the fluorescence quantitative detection technology and stored in the computer; the detected reagent card 123 continues to move along the transmission track 21, and when it moves to the top of the waste collection component 5, it falls into the waste box due to gravity, and the sample detection is completed. In this way, the multi-item and expedited testing requirements of the fluorescent quantitative detection device can be met. The mechanical arm clamping structure adopted can optimize the sorting of the reagent cards 123 in the sequence to be detected, and determine its position in the detection sequence according to the reaction time of each item reagent card 123, so as to reduce the waiting time of the reagent card 123, realize fast and efficient acquisition of sample test results, and improve detection efficiency.

[0044] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A multi-item fluorescence quantitative detection device based on mechanical arm clamping, characterized in that: It includes a card output component, a transmission component, a mechanical arm component, a detection component and a waste collection component; the card output component is fixedly connected to the bottom plate and is located on a side of the bottom plate close to the edge, and is used to store and load reagent cards; the transmission component is fixedly connected to the bottom plate through a bracket and is located on a side of the reagent card of the card output component that pops out, and is used to transfer the loaded reagent card to one end of the detection component; the mechanical arm component is fixedly connected to the bottom plate and is located on a side of the bottom plate close to the card output component, and is oriented in the direction of the transmission component, and can realize X, Y direction linkage and reagent card clamping action, and realize the sorting function of multi-project reagent cards; the detection component is fixedly connected to the transmission component through a bracket, and is located above the transmission component close to one side of the waste collection component, and is used for fluorescent quantitative detection of reagent cards; the waste collection component is fixedly connected to the bottom plate and is located below the end of the transmission component, and is used to collect the detected reagent cards; The transmission assembly includes a transmission crawler, a two-dimensional code sensor and a transmission drive component, and the card output assembly includes a card output box bracket, a storage card bin and an automatic card output device. The card output box bracket is fixedly connected to the bottom plate and is located on a side of the bottom plate close to the transmission assembly, and is located on a side of the transmission assembly away from the detection assembly; the storage card bin is fixedly connected to the card output box bracket through a buckle and is located on a side close to the transmission crawler; the automatic card output device is fixedly connected to the bottom plate through the card output box bracket and is located on a side close to the storage card bin; The transmission crawler is rotatably connected to the transmission drive member, fixedly connected to the bottom plate through a bracket and located between the waste collection assembly and the card output assembly, and a reagent card slot is provided on the transmission crawler, and the reagent card can be inserted into the card slot and transmitted to the detection assembly position; the two-dimensional code sensor is fixed to the base through a bracket, and is located above the initial card slot of the transmission crawler and located on one side of the card output port of the storage card bin; the transmission drive member is fixedly connected to the bottom plate through a bracket, and is rotatably connected to the transmission crawler, and drives the transmission crawler to rotate; The robot arm assembly includes a Y-axis translation component, an X-axis translation component and a mechanical claw, wherein the Y-axis translation component is fixedly connected to the base plate and is located on a side of the base plate close to the transmission track, the X-axis translation component is fixedly connected to the Y-axis translation component through a bracket and is located on a side of the Y-axis translation component away from the base plate, the mechanical claw is fixedly connected to the X-axis translation component through a bracket and is located on a side of the X-axis translation component close to the transmission track; the Y-axis translation component includes a Y-axis slide rail, a Y-axis synchronous belt, a Y-axis stepping motor and a Y-axis support frame, the Y-axis slide rail is fixedly connected to the base plate, the two slide rails are placed in parallel and perpendicular to the direction of the transmission track, and are located on a side close to the transmission track, the Y-axis synchronous belt is fixedly connected to the base plate through a bracket and is located between two parallel slide rails on the base plate, the Y-axis stepping motor is fixedly connected to the base plate through a bracket, and the output shaft cooperates with the Y-axis synchronous belt to drive the Y-axis synchronous belt to rotate, and the Y-axis support frame The support frame is slidably connected to the Y-axis slide rail, and is fixedly connected to the Y-axis synchronous belt through a buckle, and is driven by the Y-axis synchronous belt to realize Y-axis movement; the X-axis translation component includes an X-axis support frame, an X-axis synchronous belt, an X-axis stepping motor, an X-axis slide rail and an X-axis slider, the X-axis support frame is fixedly connected to the Y-axis support frame, and is located on the side of the Y-axis translation component away from the bottom plate, the X-axis synchronous belt is fixedly connected to the X-axis support frame through a bracket, and is located on the side close to the transmission crawler, the X-axis stepping motor is fixedly connected to the X-axis support frame through a bracket, and is located on the side close to the Y-axis stepping motor, and the output shaft cooperates with the X-axis synchronous belt to drive the X-axis synchronous belt to rotate, the X-axis slide rail is fixedly connected to the X-axis support frame, and is located on the side close to the Y-axis stepping motor, the X-axis slider is slidably connected to the X-axis slide rail, and is fixedly connected to the X-axis synchronous belt through a buckle, and is driven by the X-axis synchronous belt to realize X-axis movement; The reagent card is pushed out from the card output assembly onto the drive track, and a card position is left empty between every other reagent card to facilitate the insertion and sorting of multi-project reagent cards. After identifying the information of each reagent card on the track, the optimal sequence of the reagent cards is calculated by an algorithm, and the signal is fed back to the mechanical claw after it is obtained. The mechanical claw clamps the reagent card by moving up and down, first moves toward the Y axis to take the reagent card out of the card slot, then moves to a specified position on the X axis, and then moves toward the Y axis to insert the reagent card into a new card slot, and releases the mechanical claw to adjust the position of the reagent card, and then adds samples, transmits and detects. In this way, the position of each project reagent card in the detection sequence is determined according to its reaction time, thereby reducing the waiting time of the reagent card.

2. The multi-item fluorescence quantitative detection device based on mechanical arm gripping as claimed in claim 1, characterized in that: The storage card bin comprises a bin cover, a bin box, a reagent card and a pressing piece, wherein the bin cover is located at the top of the storage card bin and can be separated from the bin to facilitate the addition of reagent cards; the bin box is fixed to the card output box bracket by a buckle lock, and is located at the slot notch at the bottom near one side of the transmission track, so that the automatic card ejector can extend into the interior of the storage card bin and push the reagent card into the card slot of the transmission track; the reagent card is placed in the bin box, and a QR code is provided on the reagent card to facilitate reading and recording the reagent card information; the pressing piece is slidably connected to the bin box slide rail, and is located inside the bin box, and partially extends out of the surface of the bin box.

3. The multi-item fluorescence quantitative detection device based on mechanical arm clamping as claimed in claim 2, characterized in that: The automatic card ejector includes a motor, a screw-nut structure and a push rod. The motor is fixed on the card ejector box bracket and is located on a side away from the transmission track. The screw-nut structure cooperates with the motor and is located between the motor and the push rod. The screw of the screw-nut structure is connected to the motor output shaft and drives the screw to rotate. The nut of the screw-nut structure is spirally cooperated with the screw and makes a linear motion on the rotating screw. The push rod is fixedly connected to the screw-nut structure, is located below the card magazine box, and is flush with the bottom slot notch. It can reciprocate along the slot to realize a cyclic card pushing action.

4. The multi-item fluorescence quantitative detection device based on mechanical arm gripping as claimed in claim 3, characterized in that: The storage card bin and the automatic card ejector have one to three modules respectively, which correspond one to one in position. Each storage card bin can be taken out separately, and each storage card bin can store different types of reagent cards, which is convenient for carrying out multi-project reagent card testing. The push rod of the corresponding automatic card ejector can be extended into the bottom slot of the corresponding storage card bin to complete the card pushing action.

5. The multi-item fluorescence quantitative detection device based on mechanical arm gripping as claimed in claim 1, characterized in that: The transmission driving component includes a driving motor, a rotating bearing and a transmission track pulley, the driving motor is fixedly connected to the base plate through a bracket, and is located on a side close to the card output assembly, and the output shaft cooperates with the driving track pulley to drive the transmission track to rotate; the rotating bearing is fixedly connected to the base plate through a bracket, and cooperates with the driven track pulley of the transmission track through a key connection, and is located on a side of the transmission track away from the driving motor; the transmission track pulley consists of a driving pulley and a driven pulley, the driving pulley is rotationally connected to the driving motor, the driven pulley is rotationally connected to the rotating bearing, and is rotationally connected to the transmission track, and is located on a side of the transmission track away from the driving motor, driving the transmission track to achieve friction transmission.

6. The multi-item fluorescence quantitative detection device based on mechanical arm gripping as claimed in claim 1, characterized in that: The mechanical claw includes a carrying plate, a hand claw and a driver. The carrying plate is fixedly connected to the X-direction slider through a bracket, and slides along the X and Y directions and toward the direction of the transmission track under the drive of the X-direction synchronous belt and the Y-direction synchronous belt; the hand claw is slidably connected to the carrying plate and is located on a side of the carrying plate close to the transmission track; the driver is fixedly connected to the carrying plate and is rotationally connected to the hand claw, and drives the hand claw to slide up and down to achieve clamping and releasing actions.

7. The multi-item fluorescence quantitative detection device based on mechanical arm gripping as claimed in claim 6, characterized in that: The driver includes a small turntable and a servo, wherein the small turntable is rotatably connected to the grippers and is located on a side of the carrier plate close to the grippers and between the two grippers; the servo is fixedly connected to the carrier plate, and its output shaft cooperates with the small turntable and is located on a side of the carrier plate away from the grippers.

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