Incubation device and automatic analysis device

Abstract

The present invention relates to an incubation device and an automatic analysis device. The incubation device comprises: an incubation unit for incubating a reaction container containing a reactant or for caching a reaction container after cleaning and separation, the incubation unit comprises an incubation component and an incubation drive component, the incubation drive component is connected to the incubation component to drive the incubation component to move linearly along a third direction, and an incubation position for placing the reaction container is provided on the incubation component; and a transfer unit for moving the reaction container into or out of the incubation unit, the transfer unit comprises a gripping and releasing component and a gripping and releasing drive component, the gripping and releasing drive component is connected to the gripping and releasing component to drive the gripping and releasing component to move in a first direction and a second direction; wherein the gripping and releasing component can move to above the incubation component when moving in the first direction, and the gripping and releasing component moves in the second direction to move the reaction container into or out of the incubation position. The automatic analysis device comprises an incubation device.

Description

Technical Field

[0001] The present invention relates to the technical field of in vitro diagnosis of medical devices, and in particular to an incubation device and an automatic analysis device. Background Art

[0002] Automated immunoassay systems, such as chemiluminescence, electrochemiluminescence, and flow fluorescence immunoassays, use the principles of spontaneous or excited fluorescence and immune reaction to correlate light signals with the concentration of the substance to be tested, and analyze the content of the substance to be tested in the sample. They are gaining increasing applications due to their high sensitivity, specificity, and wide linear range. As the number of test specimens increases, clinical laboratories have higher and higher requirements for the volume (the smaller the better) and test throughput (the larger the better) of immunoassay systems. Test throughput can be understood as the number of test results output per unit time for the test specimen.

[0003] In traditional technology, an incubation tray or reaction tray is usually used as an incubation place for reaction containers containing reactants. In order to achieve high-throughput testing, the size of the incubation tray needs to be increased to increase the number of incubation positions. However, increasing the size of the incubation tray will lead to excessive control load and high difficulty in driving control technology, which will lead to slow test speed and inability to achieve high-throughput testing. On the other hand, the processing and manufacturing precision requirements are high and even difficult to achieve. Therefore, the existing technical solutions either cannot achieve high-throughput testing or result in large equipment size and high cost. Summary of the invention

[0004] According to various embodiments of the present invention, an incubation device and an automatic analysis device are provided.

[0005] An incubation device, comprising:

[0006] an incubation unit, for incubating a reaction container containing reactants, the incubation unit comprising an incubation component and an incubation drive component, the incubation drive component being connected to the incubation component to drive the incubation component to move linearly along a third direction, the incubation component being provided with an incubation position for mounting the reaction container; and

[0007] A transfer unit, used to move the reaction container into or out of the incubation unit, the transfer unit comprising a grab and place assembly and a grab and place drive assembly, the grab and place drive assembly being connected to the grab and place assembly to drive the grab and place assembly to move along a first direction and a second direction;

[0008] Wherein, the grab and place assembly can move to above the incubation assembly when moving along the first direction, and the grab and place assembly moves along the second direction to move the reaction container into or out of the incubation position.

[0009] An automatic analysis device comprises the above-mentioned incubation device.

[0010] An automatic analysis device, comprising:

[0011] An incubation unit, used for incubating a reaction container containing reactants or for caching a reaction container after washing and separation, wherein the sample and the reagent can be combined after incubation, wherein the incubation unit comprises an incubation component and an incubation drive component, wherein the incubation drive component is connected to the incubation component to drive the incubation component to move linearly along a third direction, and an incubation position for mounting the reaction container is provided on the incubation component;

[0012] a transfer unit, used to move the reaction container into or out of the incubation unit, the transfer unit comprising a grab and place assembly and a grab and place drive assembly, the grab and place drive assembly being connected to the grab and place assembly to drive the grab and place assembly to move along a first direction and a second direction; and

[0013] A washing and separation unit, which is non-nested with the incubation unit, is used to remove unbound samples and reagents in the reaction container;

[0014] Wherein, the grab and place assembly can move to above the incubation assembly when moving along the first direction, and the grab and place assembly moves along the second direction to move the reaction container into or out of the incubation position.

[0015] Beneficial effect: The incubation drive component is connected to the incubation component to drive the incubation component to move linearly along the third direction, which can reduce the driving load of the incubation drive component and facilitate the high-speed movement of the incubation component. The release drive component drives the grasping and releasing component to move only along the first direction and the second direction, which can simplify the transfer structure, reduce the driving load, and more efficiently transfer the reaction container. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of an incubation device in one embodiment of the present invention;

[0017] Figure 2 , Figure 3 and Figure 4 They are schematic diagrams of the structures of the grab-and-place components in three embodiments of the present invention respectively;

[0018] Figure 5 is a schematic structural diagram of an automatic analysis device in one embodiment of the present invention;

[0019] Figure 6 A schematic diagram of a one-step immunoassay process in one embodiment of the present invention;

[0020] Figure 7 It is a schematic diagram of the process of a delayed one-step method of an immunoassay test in one embodiment of the present invention;

[0021] Figure 8FIG. 1 is a schematic diagram of a two-step immunoassay test process in one embodiment of the present invention.

[0022] Figure numerals: 10, first direction; 20, second direction; 30, third direction; 110, transfer unit; 111, pick-and-place drive assembly; 111A, first drive member; 111A1, first lifting drive member; 111A2, second lifting drive member; 111A3, third lifting drive member; 111B, second drive member; 111C, first guide rail; 111C1, first lifting guide rail; 111C2, second lifting guide rail; 111C3, third lifting guide rail; 111D, second guide rail; 111E, first transmission assembly; 111E1, first lifting transmission assembly; 111E2, second lifting transmission assembly; 111E3, third lifting transmission assembly Component; 111J, second transmission component; 111G, fixed plate; 111H1, first adapter component; 111H2, second adapter component; 111H3, third adapter component; 111I, third driving component; 111F, third transmission component; 112, grab and release component; 112A, first gripper; 112B, second gripper; 112C, third gripper; 120, incubation unit; 121, incubation component; 1211, incubation position; 122, incubation drive component; 130, reaction container; 210, measuring unit; 220, measuring disk; 310, cleaning and separation unit; 311, rotating cleaning disk; 312, magnetic device; 313, cleaning and separation position. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] See also Figure 1 , Figure 1 It is a schematic diagram of the structure of an incubation device in one embodiment of the present invention, and the incubation device is used in the immunoassay test process.

[0025] Immunoassay testing is a quantitative or qualitative test of target substances, such as antigens and antibodies contained in blood samples. Immunoassay testing can be generally divided into one-step, delayed one-step and two-step methods according to the testing principle and mode.

[0026] like Figure 6 As shown, Figure 6 The one-step method is a schematic flow chart of an immunoassay test in one embodiment of the present invention. In the one-step method, the following steps are mainly included:

[0027] S11. Provide a reaction container 130.

[0028] S12, adding samples and reagents to the reaction container 130; wherein the added samples and reagents are selected according to different test items. Depending on the samples, reagents and test methods, some test items also require the samples and reagents in the reaction container 130 to be mixed.

[0029] S13, incubate the sample and reagent in the reaction container 130; incubation is usually a process of reacting the sample and reagent in the reaction container 130 under a stable temperature environment. After the reaction, the reaction container 130 usually contains magnetic particle complexes formed by the sample and reagent, and the reaction container 130 also contains unreacted sample and reagent. The incubation time is usually 3 to 60 minutes.

[0030] S14, washing and separating the incubated samples and reagents; washing and separation generally refers to capturing magnetic particles in the reaction container 130 with magnetic force, while removing the unreacted samples and reagents.

[0031] S16. Measure the amount of luminescence.

[0032] In some immunological tests, step S15 is further included between steps S14 and S16.

[0033] S15, add signal reagent or buffer to the reaction container 130. Some immunoassays need to be incubated after adding the signal reagent. The signal incubation is usually carried out for 1 to 10 minutes in a stable temperature environment. The signal incubation can enhance the luminescence or prepare for the generation of luminescent signals; some immunoassays first add the first signal reagent to prepare for signal generation, and then measure the luminescence when the second signal reagent is added in S16; some immunoassays add a buffer to recover the magnetic particle complex after washing and separation, and move the recovered magnetic particle complex to the measuring device for measurement. Among them, Figure 1 The incubation device shown is mainly used to complete step S13 in the one-step method. In some embodiments, the incubation device can also be used to cache the reaction container 130 after cleaning and separation. For example, it is used to cache the reaction container 130 after adding the signal reagent or buffer in step S15 in the one-step method.

[0034] like Figure 1 As shown, the incubation device includes an incubation unit 120 and a transfer unit 110. The transfer unit 110 is used to move the reaction container 130 into and out of the incubation unit 120, and the incubation unit 120 is used to incubate the reaction container 130 containing reactants, which usually include samples and reagents. In some embodiments, the incubation unit 120 can also be used to cache the reaction container 130 after washing and separation.

[0035] like Figure 1As shown, specifically, the incubation unit 120 includes an incubation component 121 and an incubation drive component 122, the incubation component 121 is connected to the incubation drive component 122, and the incubation drive component 122 drives the incubation component 121 to move linearly along the third direction 30. An incubation position 1211 is provided on the incubation component 121, and the reaction container 130 is placed in the incubation position 1211. The transfer unit 110 includes a grasping and releasing component 112 and a grasping and releasing drive component 111, the grasping and releasing drive component 111 is connected to the grasping and releasing component 112, and the grasping and releasing drive component 111 drives the grasping and releasing component 112 to move along the first direction 10 and the second direction 20. Among them, when the grasping and releasing component 112 moves along the first direction 10, it can move to the top of the incubation component 121, and when the grasping and releasing component 112 moves along the second direction 20, it can move the reaction container 130 into or out of the incubation position 1211.

[0036] It should be noted that the "and" in the grab-and-release drive component 111 driving the grab-and-release component 112 to move along the first direction 10 and the second direction 20 is not limited in time or order, that is, it does not mean that the two are "simultaneous", but refers to the functional relationship of "both... and...", that is, the grab-and-release drive component 111 can drive the grab-and-release component 112 to move along the first direction 10 and the second direction 20. Specifically, the grab-and-release drive component 111 can drive the grab-and-release component 112 to move along the first direction 10 first, and then along the second direction 20, such as when the grab-and-release component 112 moves a reaction container 130 into the incubation component 121; it can also move along the second direction 20 first, and then along the first direction 10, such as when the grab-and-release component 112 moves a reaction container 130 out of the incubation component 121; it can also move along the first direction 10 and the second direction 20 at the same time, such as when the grab-and-release drive component 111 is reset. Usually, the present application is the first two cases, that is, the two are executed sequentially. The first direction 10, the second direction 20 and the third direction 30 include positive and negative directions, and the components can move positively along the direction or negatively along the direction when they are moving. For example, the incubation drive component 122 drives the incubation component 121 to move linearly along the third direction 30, and the incubation component 121 can move linearly along the third direction 30 in a positive direction or negative direction.

[0037] like Figure 1 As shown, in one embodiment, the first direction 10 and the third direction 30 are horizontal directions, and the second direction 20 is a vertical direction. Specifically, the incubation drive assembly 122 drives the incubation assembly 121 to move linearly along the third direction 30, and the grab and release drive assembly 111 drives the grab and release assembly 112 to move linearly along the first direction 10. When the grab and release assembly 112 moves above the incubation assembly 121, the grab and release drive assembly 111 drives the grab and release assembly 112 to rise and fall along the second direction 20, thereby moving the reaction container 130 into or out of the incubation position 1211.

[0038] In one embodiment, the first direction 10 and the third direction 30 are horizontal directions, the second direction 20 is a vertical direction, and the first direction 10 is perpendicular to the second direction 20. For example, the first direction 10 is an X-axis direction, the third direction 30 is a Y-axis direction, and the second direction 20 is a Z-axis direction.

[0039] In one embodiment, the incubation positions 1211 are arranged in a matrix on the incubation assembly 121. That is, the arrangement is in the form of multiple rows and multiple columns. The incubation assembly 121 is a rectangular block structure. The incubation positions 1211 arranged along the third direction 30 of the present application constitute multiple rows, and the incubation positions 1211 arranged along the first direction 10 constitute multiple columns. Further, the difference between the number of rows and the number of columns of the incubation positions 1211 does not exceed 5. This can make the division of labor and cooperation between the incubation assembly 121 and the catch-and-release assembly 112 more reasonable, and avoid problems such as one of the components having a too long movement stroke in its direction of movement and the other component having a too short movement stroke in its direction of movement, thereby improving the transfer efficiency of the reaction vessel 130 as a whole, and on the other hand, can reduce the size of the transfer unit 110, the incubation unit 120 and the entire machine, and improve the reaction efficiency per unit area. The number of incubation positions 1211 is not less than 150, which can ensure the continuous testing of the incubation device of the present application. For example, the incubation positions 1211 are evenly arranged on the incubation assembly 121, and there are fifteen rows and fifteen columns of the incubation positions 1211 on the incubation assembly 121. Since the incubation positions 1211 are arranged in a matrix on the incubation assembly 121, the incubation assembly 121 can be evenly covered with the incubation positions 1211.

[0040] The incubation device is provided with at least one entry and exit station along the third direction 30, for the transfer unit 110 to move the reaction vessel 130 into the incubation assembly 121, and to move the reaction vessel 130 out of the incubation assembly 121. It should be noted that the entry and exit station is an absolute position, which is used to identify the absolute coordinate position of the component when it is working or performing a task, and does not move with the movement of the incubation unit 120 and the transfer unit 110. Specifically, the entry and exit station of the incubation device is located on a straight line where the motion trajectory of the grasping and releasing assembly 112 along the first direction 10 is located. Furthermore, the number of entry and exit stations of the incubation device is equal to the number of non-overlapping motion trajectories of the grasping and releasing assembly 112 along the first direction 10. Since the incubation positions 1211 are arranged in a matrix on the incubation assembly 121, that is, the incubation unit 120 is provided with a plurality of rows of incubation positions 1211 along the third direction 30, and a plurality of columns of incubation positions 1211 along the first direction 10. The movement trajectory of the transfer unit 110 along the first direction 10 at least covers the spacing between the first and last two rows of incubation positions 1211 on the incubation assembly 121 along the first direction 10. The incubation drive assembly 122 drives the incubation assembly 121 to move linearly along the third direction 30, and any row of incubation positions 1211 on the incubation assembly 121 can be transported to the entry and exit station. The grab and release drive assembly 111 drives the grab and release assembly 112 to move linearly along the first direction 10, and the grab and release assembly 112 can be driven to above any row of incubation positions 1211 on the incubation assembly 121 located at the entry and exit station, thereby traversing the incubation positions 1211 on the incubation assembly 121.

[0041] In one embodiment, the incubation assembly 121 is slidably connected to the incubation drive assembly 122. In this way, the driving load of the incubation drive assembly 122 can be reduced, which is conducive to achieving high-speed movement of the incubation assembly 121. In one embodiment, the incubation drive assembly 122 is located below the incubation assembly 121, which can make full use of the dimensions in the vertical direction and further reduce the dimensions of the incubation device in the horizontal direction, which is conducive to reducing the dimensions of the incubation device and the automatic analysis device. On the other hand, the incubation drive assembly 122 is located below the incubation assembly 121, and the incubation positions 1211 can be evenly distributed on the incubation assembly 121, thereby avoiding the problem in the prior art that the incubation positions on the incubation assembly cannot be fully distributed due to the installation of the drive assembly.

[0042] The pick-and-place drive component 111 of the present application drives the pick-and-place component 112 to move only along the first direction 10 and the second direction 20 but not along the third direction, so that the transfer structure can be simplified, the drive load can be reduced, and the reaction container 130 can be transferred more efficiently.

[0043] In the conventional technology, incubation positions 1211 are arranged in a ring shape around the periphery of the incubation tray, and the incubation tray is rotated around its own rotation axis to realize the taking and placing of the reaction containers 130 at the incubation positions 1211 at different positions. The incubation positions 1211 are usually only arranged on the outer ring, and the middle part of the incubation tray is usually vacant, which results in a small number of incubation positions 1211 on the incubation tray. In order to realize high-throughput testing, it is necessary to increase the size of the incubation tray to increase the number of incubation positions 1211, but increasing the size of the incubation tray will lead to excessive control load and high difficulty in driving control technology on the one hand, and on the other hand, the incubation positions 1211 of the incubation tray have high processing accuracy requirements, and the processing of the incubation tray is extremely challenging. In addition, in order to realize incubation, the size and accuracy requirements of the incubation pot wrapped around the incubation tray will also increase. It is difficult to process a large-sized pot body with the existing manufacturing process, and even if it can be manufactured, the cost is very high.

[0044] In the embodiment of the present invention, the incubation positions 1211 are provided on the incubation unit 120 to mainly complete the incubation step in S13. Therefore, more incubation positions 1211 can be provided under the premise of ensuring that the volume of the incubation component 121 is small, so that the incubation device can be small in size. The incubation unit 120 and the transfer unit 110 can both move independently and have high flexibility of movement. By the incubation unit 120 moving linearly along the third direction 30, the transfer unit 110 only needs to move linearly along the first direction 10 to traverse all the incubation positions 1211 on the incubation component 121. The incubation unit 120 and the transfer unit 110 can divide the work and coordinate high-speed movement, thereby improving the efficiency of traversing all the incubation positions 1211 on the incubation component 121 and the reaction vessels 130 thereon, and realizing high-throughput testing. In contrast, if the incubation unit 120 is fixed and the transfer unit 110 moves linearly along the first direction 10 and the third direction 30 at the same time, although all the incubation positions 1211 on the incubation component 121 can be traversed, due to the large number of incubation positions and the limitation of the large motion range, complex drive and limited speed of the transfer unit 110, all the incubation positions 1211 on the incubation component 121 cannot be traversed at high speed, thereby failing to achieve high-throughput testing.

[0045] In the one-step method, the incubation component 121 moves linearly along the third direction 30 to transport a row of incubation positions where an empty incubation position 1211 is located to the entry and exit position of the incubation device, the grasping and releasing component 112 moves linearly along the first direction 10 to above the empty incubation position 1211, and the grasping and releasing component 112 is lifted and lowered along the second direction 20 to move the reaction container 130 filled with samples and reagents to the empty incubation position 1211; after the samples and reagents in the reaction container 130 are incubated for a set time at the incubation position 1211 on the incubation component 121, the incubation component 121 moves linearly along the third direction 30 to transport the reaction container 130 that needs to be cleaned and separated after the incubation set time to the entry and exit position of the incubation device, the grasping and releasing component 112 moves linearly along the first direction 10 to above the incubation position 1211 where the reaction container 130 is located, and the grasping and releasing component 112 is lifted and lowered along the second direction 20 to move out of the reaction container 130.

[0046] In some embodiments, the incubation component 121 can also be used to cache the reaction container 130 after cleaning and separation. The incubation component 121 moves linearly along the third direction 30 to transport a row of incubation positions where an empty incubation position 1211 is located to the entry and exit position of the incubation device, and the catch and release component 112 moves linearly along the first direction 10 to the top of the empty incubation position 1211, and the catch and release component 112 moves up and down along the second direction 20 to move the reaction container 130 filled with signal reagent or buffer after cleaning and separation to the incubation position 1211. If the reaction container 130 containing the signal reagent or buffer after cleaning and separation needs to be incubated, the reaction container 130 can also be incubated when it is cached on the incubation component 121. For example, after the reaction container 130 containing the signal reagent or buffer is buffered and incubated for a set time in the incubation component 121, the incubation component 121 moves linearly along the third party to transport the reaction container 130 containing the signal reagent whose luminescence amount needs to be measured to the entry and exit position of the incubation device, the grab and release component 112 moves linearly along the first direction 10 to above the incubation position 1211 where the reaction container 130 is located, and the grab and release component 112 is lifted and lowered along the second direction 20 to move out the reaction container 130. If the reaction container 130 containing the signal reagent or buffer does not need to be incubated, after the reaction container 130 is buffered in the incubation component 121, the incubation component 121 moves linearly along the third party to transport the reaction container 130 containing the signal reagent or buffer whose luminescence amount needs to be measured after cleaning and separation to the entry and exit position of the incubation device, and the transfer unit 110 moves out the reaction container 130. As can be seen from the above, for the reaction container 130 containing the signal reagent or buffer that does not need to be incubated, the incubation component 121 is used to transfer the reaction container 130.

[0047] like Figure 7 As shown, Figure 7The figure is a flow chart of the delayed one-step method of the immunoassay test in one embodiment of the present invention. The main difference between the delayed one-step method and the aforementioned one-step method is steps S22 to S25. Steps S22 to S25 are briefly described below. The remaining steps are the same or similar to the one-step method and will not be described in detail. Steps S22 to S25 of the delayed one-step method are as follows:

[0048] S22, adding a sample and a first reagent to the reaction container 130; wherein the added sample and the first reagent are selected according to different test items. Depending on the sample, the first reagent and the test method, some test items also require the sample and the first reagent in the reaction container 130 to be mixed.

[0049] S23, incubate the sample and the first reagent in the reaction container 130 for the first time; incubation is usually a process of reacting the sample and the first reagent in the reaction container 130 under a stable temperature environment. The incubation time is usually 3 to 60 minutes.

[0050] S24, adding a second reagent to the reaction container 130; wherein the second reagent added is selected according to different test items. Depending on the second reagent and the test method, some test items also require the reactants containing the second reagent in the reaction container 130 to be mixed.

[0051] S25 , incubate the reactant containing the second reagent in the reaction container 130 for the second time.

[0052] In the delayed one-step test, the incubation component 121 moves linearly along the third direction 30 to transport the empty incubation position 1211 to the entry and exit position of the incubation device, and the transfer unit 110 moves the reaction container 130 filled with the sample and the first reagent to the incubation position 1211; after the sample and the first reagent in the reaction container 130 are incubated for the first time for the set time, the incubation component 121 moves linearly along the third direction 30 to transport the reaction container 130 on the incubation position 1211 that needs to be filled with the second reagent to the entry and exit position of the incubation device, and the transfer unit 110 moves the reaction container 130 out of the reaction container. The incubation assembly 121 moves linearly along the third direction 30 to transport the empty incubation position 1211 to the inlet and outlet position of the incubation device, and the transfer unit 110 moves the reaction container 130 filled with the second reagent to the incubation position 1211; after the reactants containing the second reagent in the reaction container 130 are incubated for the second set time, the incubation assembly 121 moves linearly along the third direction 30 to transport the reaction container 130 that needs to be cleaned and separated for the second incubation set time to the inlet and outlet position of the incubation device, and the transfer unit 110 moves the reaction container 130 out. The subsequent steps of the delayed one-step test and the role and function of the incubation device in the subsequent steps are the same or similar to those of the one-step method, and will not be repeated here.

[0053] like Figure 8 As shown, Figure 8 The two-step method of immunoassay testing in one embodiment of the present invention is a flow chart. In the two-step method, the following steps are mainly included: The main difference between the two-step method and the aforementioned delayed one-step method is steps S34 to S37. Steps S34 to S37 are briefly introduced below. The remaining steps are the same or similar to the delayed one-step method and will not be repeated here. The process of steps S34 to S37 of the two-step method is as follows:

[0054] S34, performing a first cleaning and separation on the sample and the first reagent in the reaction container 130.

[0055] S35, adding a second reagent to the reaction container 130; wherein the second reagent added is selected according to different test items. Depending on the second reagent and the test method, some test items also require the reactants containing the second reagent in the reaction container 130 to be mixed.

[0056] S36 , incubate the reactant containing the second reagent in the reaction container 130 for the second time.

[0057] S37, performing a second cleaning and separation on the reactants in the reaction container 130 after incubation.

[0058] In the two-step method, the incubation component 121 moves linearly along the third direction 30 to transport the empty incubation position 1211 to the entry and exit position of the incubation device, and the transfer unit 110 moves the reaction container 130 filled with the sample and the first reagent to the incubation position 1211; after the reactants in the reaction container 130 are incubated for the first time for a set time, the incubation component 121 moves linearly along the third direction 30 to transport the reaction container 130 that needs to be cleaned and separated for the first time after the set incubation time to the entry and exit position of the incubation device, and the transfer unit 110 moves the reaction container 130 out. When the grab and release component 112 includes only one gripper, the reaction container 130 that is cleaned and separated for the first time can be directly transferred by the transfer unit 110 to be filled with the sample and the second reagent. When the grab and release component 112 includes at least two grippers, the reaction container 130 that needs to be filled with the second reagent after the first cleaning and separation can be transferred via the incubation component 121 buffer. Transferring through the incubation component 121 can reduce the movement stroke of each gripper along the first direction 10, and can also make the spatial setting and working time of each gripper more flexible. When transferring through the incubation component 121 cache, the incubation component 121 moves linearly along the third direction 30, transports the empty incubation position 1211 to the entry and exit position of the incubation device, and a gripper of the transfer unit 110 moves the cleaned reaction container 130 to the incubation position 1211. The incubation component 121 moves linearly along the third direction 30, transports the reaction container 130 on the incubation position 1211 that needs to be filled with the second reagent to the entry and exit position of the incubation device, and another gripper of the transfer unit 110 moves the reaction container 130 out. The incubation assembly 121 moves linearly along the third direction 30, transports the empty incubation position 1211 to the entry and exit position of the incubation device, and the transfer unit 110 moves the reaction container 130 filled with the second reagent to the incubation position 1211; after the reactants in the reaction container 130 are incubated for the second set time, the incubation assembly 121 moves linearly along the third direction 30, transports the reaction container 130 that needs to be cleaned and separated for the second time after the incubation set time to the entry and exit position of the incubation device, and the transfer unit 110 moves out the reaction container 130. The subsequent steps of the two-step test and the role and function of the incubation device in the subsequent steps are the same or similar to those of the delayed one-step method, and will not be repeated here.

[0059] Figure 2 , Figure 3 and Figure 4 They are schematic diagrams of the structures of the pick-and-place assembly 112 in three embodiments of the present application respectively.

[0060] In one embodiment, Figure 1 and Figure 2As shown, the pick-and-place assembly 112 includes a first gripper 112A, the pick-and-place drive assembly 111 is connected to the first gripper 112A, and the pick-and-place drive assembly 111 drives the first gripper 112A to move along the first direction 10 and the second direction 20. The pick-and-place drive assembly 111 includes a fixing plate 111G, a first guide rail 111C, a first drive member 111A and a first transmission assembly 111E, as well as a first adapter assembly 111H1, a first lifting guide rail 111C1, a first lifting drive member 111A1 and a first lifting transmission assembly 111E1.

[0061] The first guide rail 111C is fixedly connected to the fixing plate 111G and extends along the first direction 10. The first adapter assembly 111H1 is slidably connected to the first guide rail 111C. The first driving member 111A is fixedly connected to the fixing plate 111G and can be a motor.

[0062] The first transmission assembly 111E is respectively connected to the output end of the first driving member 111A and the first adapter assembly 111H1, so that the first driving member 111A drives the first adapter assembly 111H1 to slide along the first guide rail 111C.

[0063] The first lifting rail 111C1 is fixedly connected to the first adapter assembly 111H1, and the first lifting rail 111C1 extends along the second direction 20, and the first gripper 112A is slidably connected to the first lifting rail 111C1. The first lifting drive member 111A1 is fixedly connected to the first adapter assembly 111H1, and the first lifting drive member 111A1 can be a motor. The first lifting transmission assembly 111E1 is arranged on the first adapter assembly 111H1. The first lifting transmission assembly 111E1 is respectively connected to the output end of the first lifting drive member 111A1 and the first gripper 112A.

[0064] In one embodiment, Figure 3 As shown, the pick-and-place assembly 112 includes a first gripper 112A and a second gripper 112B. The pick-and-place drive assembly 111 includes a fixed plate 111G, a first guide rail 111C, a first drive member 111A, a second drive member 111B, a first transmission assembly 111E, a second transmission assembly 111J, a first adapter assembly 111H1, a second adapter assembly 111H2, a first lifting guide rail 111C1, a second lifting guide rail 111C2, a first lifting drive member 111A1, a second lifting drive member 111A2, a first lifting transmission assembly 111E1, and a second lifting transmission assembly 111E2.

[0065] The first adapter assembly 111H1 is slidably connected to the first guide rail 111C, and the second adapter assembly 111H2 is also slidably connected to the first guide rail 111C.

[0066] The first transmission assembly 111E is disposed on the fixed plate 111G, and the first transmission assembly 111E is respectively connected to the output end of the first driving member 111A and the first adapter assembly 111H1, so that the first driving member 111A drives the first adapter assembly 111H1 to slide along the first guide rail 111C.

[0067] The second transmission assembly 111J and the second driving member 111B are both disposed on the fixed plate 111G. The second transmission assembly 111J is respectively connected to the output end of the second driving member 111B and the second adapter assembly 111H2, so that the second driving member 111B drives the second adapter assembly 111H2 to slide along the first guide rail 111C.

[0068] The first lifting rail 111C1 is fixedly connected to the first adapter assembly 111H1, and the first lifting rail 111C1 extends along the second direction 20, and the first gripper 112A is slidably connected to the first lifting rail 111C1. The first lifting drive member 111A1 is fixedly connected to the first adapter assembly 111H1, and the first lifting drive member 111A1 can be a motor. The first lifting transmission assembly 111E1 is arranged on the first adapter assembly 111H1. The first lifting transmission assembly 111E1 is respectively connected to the output end of the first lifting drive member 111A1 and the first gripper 112A.

[0069] The second lifting rail 111C2 is fixedly connected to the second adapter assembly 111H2, and the second lifting rail 111C2 extends along the second direction 20, and the second gripper 112C is slidably connected to the second lifting rail 111C2. The second lifting drive member 111A2 is fixedly connected to the second adapter assembly 111H2, and the second lifting drive member 111A2 can be a motor. The second lifting transmission assembly 111E2 is arranged on the second adapter assembly 111H2. The second lifting transmission assembly 111E2 is respectively connected to the output end of the second lifting drive member 111A2 and the second gripper 112B.

[0070] exist Figure 3 In the illustrated embodiment, the first adapter assembly 111H1 and the second adapter assembly 111H2 both slide along the first guide rail 111C, and their trajectories overlap at least in a section, so that the first gripper 112A and the second gripper 112B can both move to above the incubation assembly 121. Furthermore, the movement trajectories of the first gripper 112A and the second gripper 112B overlap at least in a section between the first and last rows of incubation positions of the incubation assembly 121. Specifically, Figure 1As shown, the incubation component 121 moves along the third direction 30, and the incubation component 121 is provided with incubation positions 1211 arranged in a matrix, that is, a plurality of incubation positions 1211 are arranged along the first direction 10 (referred to as columns), and a plurality of incubation positions 1211 are arranged along the third direction 30 (referred to as rows), and the incubation component 121 moves linearly along the third direction 30 and the first gripper 112A moves along the first direction 10, and can move to above all the incubation positions 1211 arranged along the first direction 10 on the incubation component 121; the incubation component 121 moves linearly along the third direction 30 and the second gripper 112B moves along the first direction 10, and can move to above all the incubation positions 1211 arranged along the first direction 10 on the incubation component 121. In this embodiment, the straight lines where the trajectories of the first gripper 112A and the second gripper 112B are located coincide with each other. Since the number of entry and exit positions of the incubation device is equal to the number of non-overlapping motion trajectories of the gripping and releasing component 112 along the first direction 10, the number of entry and exit positions of the incubation device in this embodiment is one. That is, in this embodiment, the incubation device is provided with one entry and exit position. In this embodiment, the incubation component 121 only needs to move along the third direction 30 and does not need to move along the first direction 10, and the gripping and releasing component 112 does not need to move along the third direction 30, so that the first gripper 112A and the second gripper 112B can take and place the reaction vessels 130 in all the incubation positions 1211 on the incubation component 121. In addition, the incubation device is provided with only one entry and exit position, and the incubation component 121 does not need to move to multiple entry and exit positions when moving along the third direction 30, which further reduces the operating stroke of the incubation component 121, improves the efficiency of the incubation component 121 in processing the reaction vessel 130, saves the operating space of the incubation component 121, and reduces the size of the whole machine.

[0071] During operation, each time the incubation component 121 is moved straight along the third direction 30 to the entry and exit position and stops, only one gripper moves in and out of the reaction container 130. The first gripper 112A and the second gripper 112B divide the work and time to move the reaction container 130 in and out of the incubation component 121. Specifically, the first gripper 112A moves the reactor that needs to be cleaned and separated from the incubation component 121, and moves the reaction container that has been cleaned and separated into the incubation component 121; the second gripper 112B moves the reactor that needs to be filled with the second reagent from the incubation component 121, moves the reaction container that needs to be incubated after the reagent is added into the incubation component 121, and moves the reactor that needs to be measured after the incubation component 121 is removed from the cache. The first gripper 112A and the second gripper 112B move in and out of the reaction container 130 in staggered time periods, that is, each time the corresponding incubation component 121 is linearly transported to the entry and exit position along the third direction 30, only one gripper moves in and out of the reaction container 130.

[0072] In one embodiment, Figure 4As shown, the pick-and-place assembly 112 includes a first gripper 112A, a second gripper 112B and a third gripper 112C. The pick-and-place drive assembly 111 includes a fixed plate 111G, a first guide rail 111C, a second guide rail 111D, a first drive member 111A, a second drive member 111B, a third drive member 111I, a first transmission assembly 111E, a second transmission assembly 111J, a third transmission assembly 111F, a first adapter assembly 111H1, a second adapter assembly 111H2, a third adapter assembly 111H3, a first lifting guide rail 111C1, a second lifting guide rail 111C2, a third lifting guide rail 111C3, a first lifting drive member 111A1, a second lifting drive member 111A2, a third lifting drive member 111A3, a first lifting transmission assembly 111E1, a second lifting transmission assembly 111E2 and a third lifting transmission assembly 111E3.

[0073] The first guide rail 111C is parallel to the second guide rail 111D.

[0074] The first adapter assembly 111H1 is slidably connected to the first guide rail 111C, the second adapter assembly 111H2 is also slidably connected to the first guide rail 111C, and the third adapter assembly 111H3 is slidably connected to the second guide rail 111D.

[0075] The first transmission assembly 111E is disposed on the fixed plate 111G, and the first transmission assembly 111E is respectively connected to the output end of the first driving member 111A and the first adapter assembly 111H1, so that the first driving member 111A drives the first adapter assembly 111H1 to slide along the first guide rail 111C.

[0076] The second transmission assembly 111J and the second driving member 111B are both disposed on the fixed plate 111G. The second transmission assembly 111J is respectively connected to the output end of the second driving member 111B and the second adapter assembly 111H2, so that the second driving member 111B drives the second adapter assembly 111H2 to slide along the first guide rail 111C.

[0077] The third transmission assembly 111F and the third driving member 111I are both arranged on the fixed plate 111G. The third transmission assembly 111F is respectively connected to the output end of the third driving member 111I and the third adapter assembly 111H3, so that the third driving member 111I drives the third adapter assembly 111H3 to slide along the first guide rail 111C.

[0078] The first lifting rail 111C1 is fixedly connected to the first adapter assembly 111H1, and the first lifting rail 111C1 extends along the second direction 20, and the first gripper 112A is slidably connected to the first lifting rail 111C1. The first lifting drive member 111A1 is fixedly connected to the first adapter assembly 111H1, and the first lifting drive member 111A1 can be a motor. The first lifting transmission assembly 111E1 is arranged on the first adapter assembly 111H1. The first lifting transmission assembly 111E1 is respectively connected to the output end of the first lifting drive member 111A1 and the first gripper 112A.

[0079] The second lifting rail 111C2 is fixedly connected to the second adapter assembly 111H2, and the second lifting rail 111C2 extends along the second direction 20, and the second gripper 112B is slidably connected to the second lifting rail 111C2. The second lifting drive member 111A2 is fixedly connected to the second adapter assembly 111H2, and the second lifting drive member 111A2 can be a motor. The second lifting transmission assembly 111E2 is arranged on the second adapter assembly 111H2. The second lifting transmission assembly 111E2 is respectively connected to the output end of the second lifting drive member 111A2 and the second gripper 112B.

[0080] The third lifting rail 111C3 is fixedly connected to the third adapter assembly 111H3, and the third lifting rail 111C3 extends along the second direction 20, and the third gripper 112C is slidably connected to the third lifting rail 111C3. The third lifting drive member 111A3 is fixedly connected to the third adapter assembly 111H3, and the third lifting drive member 111A3 can be a motor. The third lifting transmission assembly 111E3 is arranged on the third adapter assembly 111H3. The third lifting transmission assembly 111E3 is respectively connected to the output end of the third lifting drive member 111A3 and the third gripper 112C.

[0081] In this embodiment, the straight line where the trajectories of the first gripper 112A and the second gripper 112B are located coincides, and the third gripper 112A is parallel to the straight line where the trajectories of the first gripper 112A and the second gripper 112B are located. Since the number of entry and exit stations of the incubation device is equal to the number of non-overlapping motion trajectories of the grasping and releasing component 112 along the first direction 10, the number of entry and exit stations of the incubation device in this embodiment is two. That is, in this embodiment, the incubation device is provided with two entry and exit stations, namely the first entry and exit station and the second entry and exit station. The first gripper 112A and the second gripper 112B move the reaction vessel 130 into or out of the incubation component 121 at the first entry and exit station, and the third gripper 112C moves the reaction vessel 130 into or out of the incubation component 121 at the second entry and exit station.

[0082] During operation, each time the incubation component 121 is linearly transported along the third direction 30 to the entry and exit position and stops, only one gripper moves in and out of the reaction container 130. The first gripper 112A, the second gripper 112B and the third gripper 112C divide the work and time to move the reaction container 130 in and out of the incubation component 121. Specifically, each time the incubation component 121 is linearly transported to the first entry and exit position and stops, the first gripper 112A removes the reactor that needs to be cleaned and separated from the incubation component 121, and moves the reaction container that has been cleaned and separated into the incubation component 121; the second gripper 112B removes the reactor that needs to be filled with the second reagent from the incubation component 121, and moves the reaction container that needs to be incubated after the reagent is added into the incubation component 121. Each time the incubation component 121 is linearly transported along the third direction 30 to the second entry and exit position and stops, the third gripper 112C removes the reactor that needs to be measured after the incubation component 121 is moved out of the cache from the incubation component 121. The first gripper 112A, the second gripper 112B and the third gripper 112C are moved in and out of the reaction container 130 in staggered time periods, that is, each time the corresponding incubation component 121 is linearly transported to the entry and exit position, only one gripper moves in and out of the reaction container 130 .

[0083] like Figure 5 As shown, the automatic analysis device further includes a cleaning and separation unit 310, which is non-nested with the incubation unit 120, that is, the cleaning and separation unit 310 and the incubation unit 120 are independently arranged to remove unbound samples and reagents in the reaction container 130. Specifically, the cleaning and separation unit 310 is used to clean and separate the reaction container 130 entering the cleaning and separation unit 310, and remove unbound samples and reagents in the reaction container 130.

[0084] In one embodiment, the cleaning and separation unit 310 includes a rotating cleaning disk 311, and the rotating cleaning disk 311 is provided with a cleaning and separation position 313 for carrying the reaction container 130 that needs to be cleaned and separated. The cleaning and separation positions 313 are arranged in a ring on the cleaning disk 311. There are at least 30 cleaning and separation positions 313. In this way, the processing efficiency of the cleaning and separation unit can be guaranteed. During operation, the cleaning disk 311 advances a cleaning and separation position 313 each time it rotates. A moving-out station and a moving-in station are provided on the cleaning and separation unit 310, and the moving-out station is for moving the reaction container 130 on the cleaning and separation position 313 out, and the moving-in station is for moving the reaction container 130 into the cleaning and separation position 313. It should be noted that, similar to the in-and-out position of the aforementioned incubation device, the moving-out station and the moving-in station provided on the cleaning and separation unit 310 are also absolute positions, which are used to identify the absolute coordinate position relationship of the cleaning and separation positions 313 on the cleaning disk 311 when it is working or performing a task, and do not move with the rotation of the cleaning disk 311. The cleaning disc 311 can rotate to position the reaction container 130 on each cleaning and separation position 313 to a moving-out position and a moving-in position. The moving-out position and the moving-in position are located under the motion trajectory of the first direction 10 of the catch and place assembly 112. Further, the moving-out position and the moving-in position are arranged adjacent to each other. Along the rotation direction of the rotating cleaning disc 311, the moving-in position is located upstream of the moving-out position. Specifically, along the rotation direction of the cleaning disc 311, the moving-out position is in front, and the moving-in position follows the moving-out position. The cleaning disk 311 rotates forward to a cleaning and separation position 313, and positions the reaction container 130 on the target cleaning and separation position 313 to the removal position. The pick-and-place assembly 112 moves along the first direction 10 to the top of the removal position, and removes the reaction container 130 on the target cleaning and separation position 313 at the removal position. After the reaction container 130 is removed, the target cleaning and separation position 313 is vacant. Then, the cleaning disk 311 rotates forward to a cleaning and separation position 313, and positions the vacant target cleaning and separation position 313 to the moving-in position. The pick-and-place assembly 112 moves along the first direction 10 to the top of the moving-in position, and moves another reaction container 130 to the target cleaning and separation position 313 at the moving-in position. In this way, the movement stroke of the pick-and-place assembly 112 along the first direction 10 can be saved, which is conducive to the compactness of the analysis device and improves the pick-and-place efficiency of the pick-and-place assembly 112.

[0085] The cleaning and separation unit 310 also includes a magnetic device 312. The magnetic device 312 provides magnetic force to collect the magnetic particles in the reaction container 130 to the inner wall of the reaction container 130. Due to factors such as the response time, moving distance and resistance in the magnetic field, it takes a certain amount of time for the magnetic particles to be collected to the inner wall of the reaction container 130, usually ranging from a few seconds to tens of seconds. In this way, before each waste liquid (including unbound samples and reagent components) is drawn, the reaction container 130 needs to pass through the magnetic field for a period of time. In this embodiment, the magnetic device 312 can be directly installed or fixed near the reaction container 130 of the rotating cleaning disk 311, so that the magnetic device 312 is closer to the reaction container 130, reducing the adsorption time of the magnetic particles and improving the cleaning and separation efficiency.

[0086] The cleaning and separation unit 310 also includes a flushing mechanism. The flushing mechanism is arranged above the cleaning and separation position 313, and includes a liquid suction part suitable for sucking liquid, such as a liquid suction needle, a liquid suction tube or a liquid suction nozzle. The liquid suction part can be driven in and out of the reaction container 130 on the reaction container 130 by the driving mechanism, and suck the unbound sample and reagent in the reaction container 130. The flushing mechanism includes a liquid injection part suitable for discharging liquid, such as a liquid injection needle, a tube, and a mouth, and injects a cleaning buffer into the reaction container 130 after suction. Each flushing includes a liquid suction and a cleaning buffer injection process, generally flushing three or four times, that is, three or four flushings are performed, and of course the number of flushings can also be flexible. In order to make the cleaning more thorough and less residual, a mixer can also be set at the liquid injection position to mix the reaction container 130 or use the impact force during the liquid injection to resuspend the magnetic particles and evenly disperse them in the cleaning buffer while or after injecting the cleaning buffer.

[0087] In addition, the cleaning and separation unit 310 can be further coupled to a signal reagent filling mechanism. After the reaction container 130 completes cleaning and separation, the signal reagent filling mechanism fills all or part of the signal reagent into the reaction container 130 through the cleaning and separation unit 310, such as filling all of the first and second signal reagents, etc., or only filling the first signal reagent, etc. The remaining signal reagent can be added during measurement.

[0088] like Figure 5As shown, the automatic analysis device also includes a measuring unit 210. In one embodiment, the measuring unit 210 includes a rotating measuring disk 220, and a measuring position is set on the rotating measuring disk 220 to carry the reaction container 130 to be measured. There are at least 3 measuring positions. An entry and exit station is set on the measuring unit 210 for the transfer unit 110 to move in and out of the reaction container 130. The entry and exit station on the measuring unit 210 is located under the motion trajectory of the first direction 10 of the grab and place component 112. The measuring disk 220 can rotate to position the reaction container 130 on each measuring position to the entry and exit position of the measuring unit 210. It should be noted that, similar to the removal position and the movement position on the aforementioned cleaning and separation unit 310, the entry and exit position set on the measuring unit 210 is also an absolute position, which is used to identify the absolute coordinate position relationship of the measurement position on the measuring disk 220 when it is working or performing a task, and does not move with the rotation of the measuring disk 220. The measuring unit 210 also includes a pot body assembly, a pot cover assembly, a measuring assembly, etc. The measuring component includes a weak light detector photomultiplier tube (PMT) or other sensitive photoelectric sensing devices, which can convert the measured light signal into an electrical signal and transmit it to the control center. In addition, in order to improve the measurement efficiency and ensure the measurement consistency, the measuring component may further include optical structures such as light signal collection and calibration. The measuring unit 210 component is connected or installed to the pot body component in a common manner, such as directly fixed on the pot body component or installed on the pot body component through an optical fiber connection. The position where the measuring component is installed on the measuring unit 210 is the signal reading position, and the reaction container containing the signal reagent completes the reading of the light signal at the measurement position. In one embodiment, the measuring unit 210 also includes a temperature control component. The temperature control component includes insulation materials, heaters, temperature sensors, etc., to provide a stable temperature environment for the measuring unit 210.

[0089] In another embodiment, the measuring unit 210 includes a linear drive mechanism, a carrying block is slidably connected to the linear drive mechanism, and at least one measuring position is set on the carrying block for carrying the reaction vessel 130 to be measured. The measuring position has at least two working positions, namely a first position and a second position. The first position is for the transfer unit 110 to move in and out of the reaction vessel 130, and the second position is used for measurement. The two positions of the measuring unit 210 here are similar to the aforementioned position definitions and are not repeated here. The measuring component includes a weak light detector photomultiplier tube (PMT) or other sensitive photoelectric sensing devices, which can convert the measured light signal into an electrical signal and transmit it to the control center. In addition, in order to improve the measurement efficiency and ensure the measurement consistency, the measuring component may further include optical structures such as light signal collection and calibration.

[0090] In one embodiment, the cleaning and separation unit 310 and the measuring unit 210 are located on the same side of the incubation unit 120. In this way, the space on one side of the incubation unit 120 can be fully utilized, making the structure of the automatic analysis device more compact. The rotation center of the rotating cleaning disk 311 of the cleaning and separation unit 310 and the rotation center of the rotating measuring disk 220 of the measuring unit 210 are respectively located on both sides of a motion track of the grab and place assembly of the transfer unit 110 along the first direction 10. Specifically, the rotation center of the rotating cleaning disk 311 of the cleaning and separation unit 310 and the rotation center of the rotating measuring disk 220 of the measuring unit 210 are respectively located on both sides of the motion track of the first gripper 112A of the transfer unit 110 along the first direction 10. In this way, on the one hand, the motion stroke of the transfer unit 110 along the first direction 10 can be shortened, and on the other hand, the space on both sides of the first direction 10 can be fully utilized, making the structure of the automatic analysis device more compact and having higher space utilization.

[0091] The following uses the two-step method as an example to explain the working process of the automatic analysis device. Figure 3 As shown, the pick-and-place assembly 112 includes a first gripper 112A and a second gripper 112B as an example.

[0092] like Figure 5 As shown, the incubation component 121 is linearly transported to the inlet and outlet position of the incubation device along the third direction 30, and the empty incubation position 1211 is transported to the inlet and outlet position of the incubation device. The second gripper 112B moves along the first direction 10 to the top of the incubation component 121 (specifically, above the inlet and outlet position of the incubation device, the same below, no further description), and moves the reaction container 130 containing the sample and the first reagent into the incubation position 1211 of the incubation unit 120 by lifting along the second direction 20. The sample and the first reagent in the reaction container 130 are incubated for the first time on the incubation component 121 for a set time. Usually, after the first reaction, the reaction container 130 contains a magnetic particle complex formed by the combination of the sample and the first reagent. The first incubation time is usually 3 to 60 minutes.

[0093] The incubation component 121 is transported in a straight line along the third direction 30 to the entry and exit position of the incubation device, and the reaction container 130 that needs the first cleaning and separation after the first incubation set time is transported to the entry and exit position of the incubation device. The first gripper 112A moves along the first direction 10 to above the incubation component 121, and is lifted and lowered along the second direction 20 to move the reaction container 130 out. The first gripper 112A moves along the first direction 10 to above the moving-in station on the cleaning and separation unit 310, and the cleaning tray 311 rotates forward to a cleaning and separation position 313, and positions the empty cleaning and separation position 313 to the moving-in station, and the first gripper 112A is lifted and lowered along the second direction 20 to move the reaction container 130 into the cleaning and separation position 313.

[0094] The cleaning disk 311 rotates, driving the reaction container 130 to move forward in the cleaning and separation unit 310, performing the first cleaning and separation on the reaction container 130, and removing the unbound samples and reagents in the reaction container 130. The cleaning disk 311 rotates to position the reaction container 130 after the first cleaning and separation to the removal station on the cleaning and separation unit 310. The first gripper 112A moves along the first direction 10 to the top of the removal station on the cleaning and separation unit 310, and moves up and down along the second direction 20 to remove the reaction container 130.

[0095] The incubation assembly 121 is linearly transported to the inlet and outlet position of the incubation device along the third direction 30, and the empty incubation position 1211 is transported to the inlet and outlet position of the incubation device. The first gripper 112A moves to the top of the incubation assembly 121 along the first direction 10, and moves up and down along the second direction 20 to move the reaction container 130 after the first cleaning and separation into the incubation position 1211 of the incubation unit 120. The reaction container 130 after the first cleaning and separation is cached on the incubation position 1211 of the incubation unit 120.

[0096] The incubation component 121 is transported to the entry and exit position of the incubation device in a straight line along the third direction 30. The reaction container 130 that needs to be added with the second reagent after the first cleaning and separation is transported to the entry and exit position of the incubation device. The second gripper 112B moves to the top of the incubation component 121 along the first direction 10, and the reaction container 130 is lifted and lowered along the second direction 20 to move out of the incubation position 1211 of the incubation unit 120. Add the second reagent to the reaction container 130. Among them, the added second reagent is selected according to different test items. Depending on the second reagent and the test method, some test items also require the reactants containing the second reagent in the reaction container 130 to be mixed.

[0097] The incubation component 121 is moved to the inlet and outlet position of the incubation device in a straight line along the third direction 30, and the empty incubation position 1211 is transported to the inlet and outlet position of the incubation device. The second gripper 112B moves to the top of the incubation component 121 along the first direction 10, and moves the reaction container 130 to which the second reagent has been added into the incubation position 1211 of the incubation unit 120 by lifting and lowering along the second direction 20. The magnetic particle complex and the second reagent in the reaction container 130 after the first washing and separation are incubated for a second time on the incubation component 121 for a set time, and usually after the second reaction, the reaction container 130 is combined to form a new magnetic particle complex. The second incubation time is usually 3 to 60 minutes.

[0098] The incubation component 121 is transported in a straight line along the third direction 30 to the entry and exit position of the incubation device, and the reaction container 130 that needs a second cleaning and separation after the second incubation set time is transported to the entry and exit position of the incubation device. The first gripper 112A moves along the first direction 10 to above the incubation component 121, and is lifted and lowered along the second direction 20 to move the reaction container 130 out. The first gripper 112A moves along the first direction 10 to above the moving-in station on the cleaning and separation unit 310, and the cleaning tray 311 rotates forward to a cleaning and separation position 313, and positions the empty cleaning and separation position 313 to the moving-in station, and the first gripper 112A is lifted and lowered along the second direction 20 to move the reaction container 130 into the cleaning and separation position 313.

[0099] The cleaning disk 311 rotates, driving the reaction container 130 to move forward in the cleaning and separation unit 310, performing a second cleaning and separation on the reaction container 130, and removing the unbound second reagent in the reaction container 130. After the reaction container 130 completes the second cleaning and separation, the signal reagent filling mechanism fills all or part of the signal reagent into the reaction container 130 through the cleaning and separation unit 310. The cleaning disk 311 rotates to position the reaction container 130 after the second cleaning and separation to the removal station on the cleaning and separation unit 310. The first gripper 112A moves along the first direction 10 to the top of the removal station on the cleaning and separation unit 310, and moves the reaction container 130 out of the cleaning and separation unit 310 by lifting along the second direction 20.

[0100] The incubation component 121 is linearly transported to the inlet and outlet position of the incubation device along the third direction 30, and the empty incubation position 1211 is transported to the inlet and outlet position of the incubation device. The first gripper 112A moves to the top of the incubation component 121 along the first direction 10, and moves up and down along the second direction 20 to move the reaction container 130 filled with the signal reagent after the second cleaning and separation into the incubation position 1211 of the incubation unit 120. The reaction container 130 filled with the signal reagent after the second cleaning and separation is cached on the incubation position 1211 of the incubation unit 120. If the reaction container 130 needs signal incubation, the signal incubation time can be set on the incubation position 1211 of the incubation unit 120.

[0101] The incubation component 121 is transported in a straight line along the third direction 30 to the entry and exit position of the incubation device. After the second cleaning and separation, the reaction container 130 that needs to be measured is transported to the entry and exit position of the incubation device. The second gripper 112B moves along the first direction 10 to above the incubation component 121, and is lifted and lowered along the second direction 20 to move the reaction container 130 out of the incubation position 1211 of the incubation unit 120.

[0102] The second gripper 112B moves along the first direction 10 to above the entry and exit position of the measuring unit 210, and moves the reaction container 130 along the second direction 20 to the measuring position on the measuring disk 220. The measuring disk 220 rotates to position the reaction container 130 to the signal reading position, and the measuring component reads the optical signal in the reaction container 130.

[0103] It can be known from the working process of the above automatic analysis device that the transfer unit 110 of the present invention is used to move the reaction container 130 into and out of the incubation unit 120, and the incubation unit 120 is used to incubate the reaction container 130 containing the reactant or cache the reaction container 130 after cleaning and separation. The incubation component 121 moves linearly along the third direction 30 to transport the target incubation position 1211 to the entry and exit position of the incubation device. The grab and release drive component 111 drives the grab and release component 112 to move along the first direction 10 and the second direction 20, and moves the reaction container 130 into or out of the incubation position 1211 at the entry and exit position of the incubation device. The rotation center of the rotating cleaning disk 311 of the cleaning and separation unit 310 and the rotation center of the rotating measuring disk 220 of the measuring unit 210 are respectively located on both sides of the motion trajectory of the grab and release component 112 of the transfer unit 110 along the first direction 10. The automatic analysis device of the present application has a compact structure and low manufacturing cost, and can efficiently realize high-throughput continuous testing.

[0104] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0105] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0106] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0107] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0108] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0109] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above-described embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims. Although the preferred embodiments of the present invention are described in detail above, it should be understood that many variations and modifications of the basic inventive concept described herein that are obvious to those skilled in the art fall within the spirit and scope of the present invention as defined by the attached claims.

Claims

1. An incubation device, comprising: An incubation unit (120) is used for incubating a reaction container (130) containing reactants or for caching a reaction container (130) after cleaning and separation. The incubation unit (120) comprises an incubation component (121) and an incubation drive component (122). The incubation component (121) is provided with an incubation position (1211) for placing the reaction container (130). The incubation drive component (122) is connected to the incubation component (121) to drive the incubation component (121) to move linearly along a third direction (30). as well as A transfer unit (110) is used to move the reaction container (130) into or out of the incubation unit (120), the transfer unit (110) comprising a grab and place component (112) and a grab and place drive component (111), the grab and place drive component (111) being connected to the grab and place component (112) to drive the grab and place component (112) to move along a first direction (10) and a second direction (20); Wherein, the grasping and placing component (112) is capable of moving to above the incubation component (121) when moving along the first direction (10), and the grasping and placing component (112) moves along the second direction (20) to move the reaction container (130) into or out of the incubation position (1211); the grasping and placing component (112) comprises a first gripper (112A) and a second gripper (112B), the first gripper (112A) and the second gripper (112B) being used to take and place the reaction container (130), and the movement trajectories of the first gripper (112A) and the second gripper (112B) at least overlap in a section between the first and last rows of the incubation positions (1211) of the incubation component (121); The incubation device is provided with entry and exit stations along the third direction (30), and the entry and exit stations are located on the straight line where the movement trajectory of the grasping and releasing component (112) along the first direction (10) is located; the number of the entry and exit stations is equal to the number of non-overlapping movement trajectories of the grasping and releasing component (112) along the first direction (10).

2. The incubation device according to claim 1, characterized in that: The first direction (10) and the third direction (30) are perpendicular.

3. The incubation device according to claim 2, characterized in that: The first direction (10) and the second direction (20) are perpendicular.

4. The incubation device according to claim 1, characterized in that: The incubation positions (1211) are arranged in a matrix on the incubation component (121); the difference between the number of rows and the number of columns of the incubation positions (1211) does not exceed 5.

5. The incubation device according to claim 1, characterized in that: The catch-and-release drive assembly (111) comprises: Fixed plate (111G); A first guide rail (111C) is fixedly connected to the fixing plate (111G) and extends along a first direction (10); the first gripper (112A) is slidably connected to the first guide rail (111C); A first driving member (111A) fixedly connected to the fixing plate (111G); and A first transmission assembly (111E) is arranged on the fixed plate (111G), and the first transmission assembly (111E) is respectively connected to the output end of the first driving member (111A) and the first gripper (112A), so that the first driving member (111A) drives the first gripper (112A) to slide along the first guide rail (111C).

6. The incubation device according to claim 5, characterized in that: The second gripper (112B) is slidably connected to the first guide rail (111C), and the pick-and-place drive assembly (111) comprises: A second driving member (111B) is fixedly connected to the fixing plate (111G); and A second transmission assembly (111J) is arranged on the fixed plate (111G), and the second transmission assembly (111J) is respectively connected to the output end of the second driving member (111B) and the second gripper (112B), so that the second driving member (111B) drives the second gripper (112B) to slide along the first guide rail (111C).

7. The incubation device according to claim 6, characterized in that: The grab and release assembly (112) comprises a third gripper (112C); The catch-and-release drive assembly (111) comprises: A second guide rail (111D) is fixedly connected to the fixed plate (111G), the second guide rail (111D) is parallel to the first guide rail (111C), and the third gripper (112C) is slidably connected to the second guide rail (111D); A third driving member (111I) is fixedly connected to the fixing plate (111G); and A third transmission assembly (111F) is arranged on the fixed plate (111G), and the third transmission assembly (111F) is respectively connected to the output end of the third driving member (111I) and the third gripper (112C), so that the third driving member (111I) drives the third gripper (112C) to slide along the second guide rail (111D).

8. The incubation device according to claim 6, characterized in that: There are multiple incubation positions (1211) and they are arranged at least along the first direction (10); the incubation component (121) moves linearly along the third direction (30) and the first gripper (112A) can move along the first direction (10) to above all incubation positions (1211) arranged along the first direction (10); the incubation component (121) moves linearly along the third direction (30) and the second gripper (112B) can move along the first direction (10) to above all incubation positions (1211) arranged along the first direction (10).

9. An automatic analysis device, comprising the incubation device according to any one of claims 1 to 8.

10. An automatic analysis device comprising: An incubation unit (120) is used to incubate a reaction container (130) containing a reactant or to cache a reaction container (130) after cleaning and separation. The sample and the reagent can be combined after incubation. The incubation unit (120) comprises an incubation component (121) and an incubation drive component (122). The incubation component (121) is provided with an incubation position (1211) for placing the reaction container (130). The incubation drive component (122) is connected to the incubation component (121) to drive the incubation component (121) to move linearly along a third direction (30). a transfer unit (110) for moving the reaction container (130) into or out of the incubation unit (120), the transfer unit (110) comprising a grab-and-place component (112) and a grab-and-place drive component (111), the grab-and-place drive component (111) being connected to the grab-and-place component (112) to drive the grab-and-place component (112) to move along a first direction (10) or a second direction (20); and A washing and separation unit (310), which is non-nested with the incubation unit (120), is used to remove unbound samples and reagents in the reaction container (130); Wherein, the grasping and releasing component (112) can move to above the incubation component (121) when moving along the first direction (10), and the grasping and releasing component (112) moves along the second direction (20) to move the reaction container (130) into or out of the incubation position (1211); entry and exit stations are provided along the third direction (30), and the entry and exit stations are located on the straight line where the movement trajectory of the grasping and releasing component (112) along the first direction (10) is located; the number of the entry and exit stations is equal to the number of non-overlapping movement trajectories of the grasping and releasing component (112) along the first direction (10).

11. The automatic analysis device according to claim 10, characterized in that: The cleaning and separation unit (310) comprises a rotating cleaning disk (311), on which cleaning and separation positions (313) for carrying reaction containers (130) to be cleaned and separated are arranged, and the cleaning and separation positions (313) are arranged in a ring shape on the cleaning disk (311).

12. The automatic analysis device according to claim 11, characterized in that: The grab-and-place assembly (112) is capable of moving to a move-in position and a move-out position when moving along the first direction (10), and the cleaning and separation positions (313) arranged in a ring shape on the cleaning disk (311) are capable of moving to corresponding move-in positions and move-out positions, so that the grab-and-place assembly (112) moves the reaction container (130) into one of the cleaning and separation positions (313) at the move-in position, and moves the reaction container (130) out of the other cleaning and separation position (313) at the move-out position.

13. The automatic analysis device according to claim 12, characterized in that: The moving-in station and the moving-out station are arranged adjacent to each other; along the rotation direction of the rotating cleaning disc (311), the moving-in station is located upstream of the moving-out station.

14. The automatic analysis device according to claim 11, characterized in that: The cleaning and separation unit (310) further comprises a magnetic device (312) for providing magnetic force so that the magnetic particles in the reaction container (130) in the cleaning and separation position (313) are collected onto the inner wall of the reaction container (130).

15. The automatic analysis device according to claim 11, characterized in that: The cleaning and separation unit (310) further comprises a flushing mechanism, wherein the flushing mechanism comprises: A liquid suction part, used for entering and exiting the reaction container (130) to aspirate unbound samples and reagents; and The liquid injection part is used to inject the washing buffer into the reaction container (130).

16. The automatic analysis device according to claim 11, characterized in that: The device further comprises a measuring unit (210), wherein the measuring unit (210) is non-nested with the incubation unit (120) and the cleaning and separation unit (310), and the measuring unit (210) comprises a measuring position for carrying a reaction container (130) to be measured; and an entry and exit position for moving the reaction container (130) in and out is arranged on the measuring unit (210).

17. The automatic analysis device according to claim 16, characterized in that: The measuring unit (210) comprises a rotating measuring disk (220), and the measuring position is arranged on the rotating measuring disk (220).

18. The automatic analysis device according to claim 17, characterized in that: The pick-and-place assembly (112) can move to an entry and exit position when moving along a first direction (10), and the measuring positions on the rotating measuring disk (220) can all move corresponding to the entry and exit positions, so that the pick-and-place assembly (112) can move into or out of a reaction container (130) at the measuring positions.

19. The automatic analysis device according to claim 17, characterized in that: The grab and place assembly (112) comprises a first gripper (112A), and the grab and place drive assembly (111) comprises: Fixed plate (111G); A first guide rail (111C) is fixedly connected to the fixing plate (111G) and extends along a first direction (10); the first gripper (112A) is slidably connected to the first guide rail (111C); A first driving member (111A) fixedly connected to the fixing plate (111G); and A first transmission assembly (111E) is arranged on the fixed plate (111G), and the first transmission assembly (111E) is respectively connected to the output end of the first driving member (111A) and the first gripper (112A), so that the first driving member (111A) drives the first gripper (112A) to slide along the first guide rail (111C).

20. The automatic analysis device according to claim 19, characterized in that The rotation center of the rotating measuring disk (220) and the rotation center of the rotating cleaning disk (311) are respectively located on two sides of the movement trajectory of the first gripper (112A) along the first direction (10).

21. The automatic analysis device according to claim 19, characterized in that: The grab and place assembly (112) comprises a second gripper (112B) slidably connected to the first guide rail (111C), and the grab and place drive assembly (111) comprises: A second driving member (111B) is fixedly connected to the fixing plate (111G); and A second transmission assembly (111J) is arranged on the fixed plate (111G), and the second transmission assembly (111J) is respectively connected to the output end of the second driving member (111B) and the second gripper (112B), so that the second driving member (111B) drives the second gripper (112B) to slide along the first guide rail (111C).

22. The automatic analysis device according to claim 21, characterized in that: The rotation center of the rotating measuring disk (220) and the rotation center of the rotating cleaning disk (311) are respectively located on two sides of a motion track of the pick-and-place assembly (112) along the first direction (10).

23. The automatic analysis device according to claim 21, characterized in that The rotation center of the rotating measuring disk (220) and the rotation center of the rotating cleaning disk (311) are located on the same side of the incubation component (121).

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