Sample pretreatment system

Abstract

A sample pretreatment system (1), comprising a sample storage module (10), a sample transfer module (20), a lid removal and replacement module (30), a transmission module (40), a pipetting module (50) and a control module. The sample storage module (10) stores containers (2) loaded with biological samples. The sample transfer module (20) grabs the container (2) located in the sample storage module (10) and transfers it onto the transmission module (40). The transmission module (40) respectively transfers the container (2) to the lid removal and replacement module (30) and the pipetting module (50). The lid removal and replacement module (30) scans the identification code of the container (2) on the transmission module (40), and also separates the lid (202) of the container (2) from the container body (201). The pipetting module (50) aliquot the biological samples in the container (2) on the transmission module (40). After the biological samples are aliquoted, the lid removal and replacement module (30) also re - covers the grabbed lid (202) onto the container body (201) of the container (2) on the transmission module (40). After the lid (202) is re - covered, the sample transfer module (20) also transfers the container (2) on the transmission module (40) back to the sample storage module (10). The control module controls the coordinated operation of the sample transfer module (20), the lid removal and replacement module (30), the transmission module (40) and the pipetting module (50).

Description

Technical Field

[0001] This application relates to the field of biological monitoring, and particularly to a sample pretreatment system. Background Art

[0002] With the development of the epidemic, it is extremely urgent to improve the speed of nucleic acid testing for the novel coronavirus. For the collected human samples, before nucleic acid extraction, work such as inactivation, aliquoting and plate transfer is required. Among them, aliquoting and plate transfer requires a series of processes such as manual information verification, test tube lid opening, pipetting (i.e., transferring the sample in the test tube to a deep well plate), test tube lid closing and recycling. Manual operation greatly affects the speed of subsequent nucleic acid testing, and the huge number of samples greatly increases the labor intensity of the operators, making the aliquoting and plate transfer work prone to errors and affecting the accuracy of subsequent nucleic acid testing. Summary of the Invention

[0003] To solve the above deficiencies of the prior art, it is necessary to provide an efficient and automated sample pretreatment system.

[0004] This application provides a sample pretreatment system, which includes a sample storage module, a sample transfer module, a de-lidding module, a transmission module, a pipetting module and a control module. The sample storage module is used to store containers loaded with biological samples, and the containers include a container body and a lid covering the container body. The sample transfer module is used to grab the containers located in the sample storage module and transfer them onto the transmission module. The transmission module is used to respectively transfer the containers to the de-lidding module and the pipetting module. The de-lidding module is used to scan the identification code set on the containers on the transmission module, and is also used to separate the lid of the container from the container body. The pipetting module is used to aliquot the biological samples in the containers on the transmission module. The de-lidding module is also used to re-cover the grabbed lid onto the container body of the container on the transmission module after the biological samples are aliquoted. The sample transfer module is also used to transfer the container on the transmission module back to the sample storage module after the lid is re-covered. The control module is used to control the sample transfer module, the de-lidding module, the transmission module and the pipetting module to cooperate.

[0005] In some embodiments of this application, the sample storage module includes a container rack base and a container rack placed on the container rack base. The container rack includes a rack body and a bottom plate arranged at a distance. The bottom plate is located between the rack body and the container rack base, and a plurality of placement holes for placing the containers are provided in the rack body.

[0006] In some embodiments of the present application, a shrapnel structure is provided in each of the placement holes. The shrapnel structure includes a fixing ring and a plurality of shrapnels extending from the fixing ring towards the bottom plate. The diameter of the fixing ring is greater than the diameter of the container. The plurality of shrapnels together enclose a placement space for accommodating the container, and the end of the shrapnel away from the fixing ring is used to clamp the bottom of the container.

[0007] In some embodiments of the present application, the sample transfer module includes a scheduling robotic arm and a container gripper connected to the scheduling robotic arm. The scheduling robotic arm is used to drive the container gripper to move to the sample transfer module or the transfer module, so that the container gripper grabs the container located on the sample transfer module or the transfer module.

[0008] In some embodiments of the present application, the container gripper includes a driving motor and two electric fingers arranged oppositely. The driving motor is used to drive the two electric fingers to move and approach each other relatively, so that the container gripper can grab the container.

[0009] In some embodiments of the present application, the transfer module includes a horizontal transfer guide rail and a transfer component slidably arranged on the horizontal transfer guide rail. The transfer component includes a sliding block slidably arranged on the horizontal transfer guide rail, a container support plate fixed on the sliding block, and a container clamping unit arranged on the container support plate. The container clamping unit is used to clamp the container.

[0010] In some embodiments of the present application, the container clamping unit includes a fixed block, a clamping motor, and a moving block. The fixed block is fixed on the container support plate. The moving block is connected to the clamping motor and is arranged opposite to the fixed block. The clamping motor is used to drive the moving block to move towards the fixed block, so that the moving block and the fixed block jointly clamp the container body.

[0011] In some embodiments of the present application, the lid detachment and combination module includes a fixed seat, a code scanning unit, and a lid detachment and combination component arranged on the fixed seat. The lid detachment and combination component includes a vertical guide rail fixed on the fixed seat, a lid gripper slidably connected to the vertical guide rail, and a rotating motor connected to the lid gripper. The lid gripper is used to grab the lid. The rotating motor is used to drive the lid gripper to rotate. The code scanning unit is used to scan the identification code on the container when the lid gripper rotates. The rotating motor is also used to cooperate with the transfer module to separate the lid from the container body.

[0012] In some embodiments of the present application, a sliding compensation mechanism is provided below the fixed seat. The sliding compensation mechanism is used to drive the fixed seat to move in a horizontal direction perpendicular to the vertical guide rail, so that the center line position of the cover gripper is adjustable.

[0013] In some embodiments of the present application, the sliding block includes a sliding block body and a sliding block frame fixed on the sliding block body. The container support plate is arranged on one side of the sliding block frame and above the sliding block body. An elastic member is provided between the bottom of the container support plate and the sliding block body.

[0014] In some embodiments of the present application, the pipetting module includes a consumable storage position, a first horizontal pipetting guide rail arranged adjacent to the consumable storage position, and a pipetting unit slidably arranged on the first horizontal pipetting guide rail. The consumable storage position is used to store disposable pipette tips and deep well plates. The pipetting unit includes a second horizontal pipetting guide rail slidably arranged on the first horizontal pipetting guide rail, a vertical pipetting guide rail arranged on the second horizontal pipetting guide rail, and a pipettor fixed on the vertical pipetting guide rail. The pipettor is used to pick up the disposable pipette tips located in the consumable storage position, aspirate the biological samples in the containers on the transfer module through the disposable pipette tips, and transfer the aspirated biological samples to the deep well plates in the consumable storage position.

[0015] In some embodiments of the present application, the sample pretreatment system further includes a housing. A partition is provided in the housing. The partition is used to divide the housing into an upper cavity and a lower cavity that are isolated from each other. The upper cavity is a sealed cavity and is used to accommodate the sample storage module, the sample transfer module, the lid detachment and combination module, the transfer module, the pipetting module, and the control module.

[0016] In some embodiments of the present application, a purification module is provided in the upper cavity. The purification module includes an intake air filtration unit and an exhaust air filtration unit. An air duct is further provided in the upper cavity. The intake end and the exhaust end of the air duct are respectively communicated with the intake air filtration unit and the exhaust air filtration unit. Both the intake air filtration unit and the exhaust air filtration unit include a fan and an air filter.

[0017] In some embodiments of the present application, the pipetting module further includes a pipette tip recycling bucket located in the lower cavity. The partition is provided with an opening at a position corresponding to the pipette tip recycling bucket. After aspirating the biological samples, the pipettor is further used to discard the used disposable pipette tips into the pipette tip recycling bucket through the opening.

[0018] The present application also provides a sample pretreatment system, including a sample storage module, a sample transfer module, a lid removal and closing module, a transmission module, a pipetting module, a container recycling bin, and a control module. The sample storage module is used to store containers loaded with biological samples, and the containers include a container body and a lid covering the container body. The sample transfer module is used to grab the containers located in the sample storage module and transfer them onto the transmission module. The transmission module is used to respectively transfer the containers to the lid removal and closing module and the pipetting module. The lid removal and closing module is used to scan the identification codes provided on the containers on the transmission module, and is also used to separate the lids of the containers from the container bodies. The pipetting module is used to dispense the biological samples in the containers on the transmission module into separate cups. The lid removal and closing module is also used to, after the biological samples are dispensed into separate cups, re-cover the grabbed lids onto the container bodies of the containers on the transmission module. The sample transfer module is also used to, after the lids are re-covered, discard the containers on the transmission module into the container recycling bin. The control module is used to control the sample transfer module, the lid removal and closing module, the transmission module, and the pipetting module to cooperate and operate.

[0019] Through the cooperative operation of the sample transfer module, the lid removal and closing module, the transmission module, and the pipetting module, the present application performs processes such as information verification, test tube lid opening, pipetting, test tube lid closing, and recycling, thereby realizing a one-stop automated plate transfer process, which is beneficial to improving the speed of subsequent nucleic acid detection; on the other hand, since human intervention is reduced, it is possible to avoid the situation where manual dispensing racks are prone to errors, which is beneficial to improving the accuracy of subsequent nucleic acid detection. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic diagram of the overall structure of the sample pretreatment system provided by an embodiment of the present application.

[0022] Figure 2 For Figure 1 It is a schematic diagram of the structure of the sample pretreatment system shown after removing part of the outer shell.

[0023] Figure 3 For Figure 2 It is a schematic diagram of the structures of the modules of the sample pretreatment system shown in the upper cavity of the outer shell.

[0024] Figure 4 ForFigure 3 Schematic structural diagram of the sample pretreatment system from another angle.

[0025] Figure 5 For Figure 3 Schematic structural diagram of the container rack of the sample pretreatment system shown.

[0026] Figure 6 For Figure 5 Schematic structural diagram of another angle of the rack body of the container rack shown.

[0027] Figure 7 For Figure 3 Schematic structural diagram of the sample transfer module of the sample pretreatment system shown.

[0028] Figure 8 For Figure 3 Schematic structural diagram of the transmission module of the sample pretreatment system shown.

[0029] Figure 9 For Figure 3 Schematic structural diagram of the lid detachment module of the sample pretreatment system shown.

[0030] Figure 10 For Figure 3 Schematic structural diagram of the pipetting module of the sample pretreatment system shown.

[0031] Figure 11 For Figure 3 Schematic structural diagram of the safety lock arranged in the upper cavity shown.

[0032] Figure 12 Schematic structural diagram of the container provided by an embodiment of the present application.

[0033] Description of main component symbols

[0034]

[0035] The following specific embodiments will further illustrate the present application in conjunction with the above drawings. Specific embodiments

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0037] It should be noted that when a component is considered to be "arranged on" another component, it can be directly arranged on the other component or there may be an intermediate component in between; when a component is considered to be "installed on" another component, it can be directly installed on the other component or there may be an intermediate component in between. The term "and / or" used in this article includes all and any combinations of one or more of the related listed items.

[0038] Please refer to Figure 1 shown in the figure, which is a schematic diagram of the whole machine of the sample pretreatment system 1 in an embodiment of the present application. The sample pretreatment system 1 is used to complete the sub-packaging and plate transfer of biological samples, including steps such as information verification, test tube lid opening, liquid transfer, test tube lid closing, and recovery. Among them, the biological sample can be a human blood sample, tissue sample, saliva sample, etc. Please also refer to Figures 2 to 4 The sample pretreatment system 1 includes a sample storage module 10, a sample transfer module 20, at least one de-capping module 30, at least one transfer module 40, a liquid transfer module 50, and a control module (not shown in the figure).

[0039] The sample storage module 10 is used to store the container 2 loaded with biological samples (shown in Figure 12 ). Among them, the container 2 can be a test tube or any other sealed container of any shape that can be used to load biological samples. As Figure 12 shown, the container 2 in this embodiment is a test tube. The container 2 includes a container body 201 and a lid 202 covering the container body 201. An identification code (such as a two-dimensional code or a bar code, etc., not shown in the figure) is attached to the container 2, and the identification code records the identification information of the corresponding biological sample, such as the name, age, test item, etc. of the test subject, for the tracking and management of biological samples.

[0040] The sample transfer module 20 is used to grab the container 2 located in the sample storage module 10 and transfer it to the transfer module 40.

[0041] The transfer module 40 can move between the de-capping module 30 and the liquid transfer module 50, so as to transfer the container 2 located on the transfer module 40 to the positions where the de-capping module 30 and the liquid transfer module 50 are located respectively.

[0042] The de-capping module 30 is used to scan the identification code provided on the container 2 on the transfer module 40 to obtain the corresponding identification information, and is also used to separate the lid 202 of the container 2 from the container body 201.

[0043] The pipetting module 50 is used to aliquot the biological sample in the container 2 on the transfer module 40 after the lid removal and closing module 30 separates the lid 202. The lid removal and closing module 30 is further used to re - cover the grabbed lid 202 onto the container body 201 on the transfer module 40 after the pipetting module 50 finishes aliquoting the biological sample. The sample transfer module 20 is further used to transfer the container 2 on the transfer module 40 back to the sample storage module 10 after the lid removal and closing module 30 re - covers the lid 202.

[0044] The control module is used to control the sample transfer module 20, the lid removal and closing module 30, the transfer module 40, and the pipetting module 50 to cooperate in operation.

[0045] Among them, as Figure 1 and Figure 2 shown, the sample pretreatment system 1 may further include a housing 60. A partition 61 is provided in the housing 60, and the partition 61 is used to divide the housing 60 into an upper cavity 601 and a lower cavity 602 that are isolated from each other. Both the upper cavity 601 and the lower cavity 602 are enclosed cavities. The upper cavity 601 is used to accommodate the sample storage module 10, the sample transfer module 20, the lid removal and closing module 30, the transfer module 40, the pipetting module 50, and the control module, thus avoiding environmental pollution and cross - contamination between biological samples.

[0046] In another embodiment, as Figure 2 shown, the sample pretreatment system 1 may further include a container recycling bin 80 located in the lower cavity 602. After the lid removal and closing module 30 re - covers the lid 202, the sample transfer module 20 can also discard the container 2 into the container recycling bin 80.

[0047] Through the cooperative operation of the sample transfer module 20, the lid removal and closing module 30, the transfer module 40, and the pipetting module 50 in this application, processes such as information verification, test tube lid opening, pipetting, test tube lid closing, and recycling are carried out, thereby realizing a one - stop automated plate transfer process, which is beneficial to improving the speed of subsequent nucleic acid detection; on the other hand, the entire process does not require the operator to directly contact the biological sample. Since human intervention is reduced, the situation where manual aliquoting and plate transfer are prone to errors can be avoided, which is beneficial to improving the accuracy of subsequent nucleic acid detection.

[0048] Please also refer to Figure 3 、 Figure 5 and Figure 6 , in one embodiment, the sample storage module 10 includes a container rack base 11 and a container rack 12 placed on the container rack base 11. The container 2 is placed on the container rack 12. The number of container racks 12 that can be placed on the container rack base 11 is not limited. As Figure 3As shown, in one embodiment, the sample storage module 10 includes two container rack bases 11, and three container racks 12 can be placed on each container rack base 11, that is, the sample storage module 10 can place six container racks 12 at a time.

[0049] Among them, the container rack 12 includes a rack body 120 and a bottom plate 121 arranged at a distance, and the bottom plate 121 is located between the rack body 120 and the container rack base 11. A plurality of placement holes 1200 for placing the container 2 are formed in the rack body 120, and the plurality of placement holes 1200 can be arranged in a matrix. A preset distance can be provided between different placement holes 1200. A spring piece structure 122 is provided in each placement hole 1200. The spring piece structure 122 includes a fixing ring 1220 and a plurality of spring pieces 1221 extending from the fixing ring 1220 toward the bottom plate 121. The diameter of the fixing ring 1220 is larger than the diameter of the container 2 itself. The plurality of spring pieces 1221 jointly enclose a placement space 1222 for accommodating the container 2. Among them, when the spring pieces 1221 do not undergo elastic deformation, the diameter of the placement space 1222 gradually decreases from the side close to the fixing ring 1220 to the side far from the fixing ring 1220. When the container 2 is placed in the placement space 1222, the ends of the spring pieces 1221 far from the fixing ring 1220 jointly clamp the bottom of the container 2, thereby fixing the container 2. It can be understood that since the spring pieces 1221 can undergo elastic deformation, when containers 2 with different diameters are placed in the placement space 1222, the container 2 can be quickly positioned in the container rack 12 due to the clamping action of the spring pieces 1221, that is, the container rack 12 can be compatible with a variety of containers 2 of different sizes. Furthermore, setting the diameter of the fixing ring 1220 to be larger than the diameter of the container 2 itself enables the subsequent sample transfer module 20 to transfer the container 2 back into the container rack 12. Even if the central axis of the container 2 is offset from the center of the fixing ring 1220, it can still be smoothly placed into the placement space 1222, that is, the container 2 has a high tolerance rate when placed.

[0050] Furthermore, a slide rail (not shown in the figure) can be provided on the container rack base 11. A chute 1210 matching the guide rail can be provided on the bottom plate 121 of the container rack 12. Before the biological sample is subpackaged and transferred to a plate, the operator can place the container rack 12 filled with the container 2 on the container rack base 11 through the cooperation of the chute 1210 and the slide rail. Among them, the shapes of the slide rail and the chute 1210 match. For example, the cross-sections of the slide rail and the chute 1210 can both be T-shaped. Further, a ball plunger (not shown in the figure) is provided on the container rack base 11, and a positioning hole (not shown in the figure) corresponding to the ball plunger can be provided on the bottom plate 121 of the container rack 12. The container rack 12 can be further positioned on the container rack base 11 through the cooperation of the ball plunger and the positioning hole.

[0051] Please refer to Figure 7, in one embodiment, the sample transfer module 20 includes a scheduling robotic arm 21 and a container gripper 22 connected to the scheduling robotic arm 21. The scheduling robotic arm 21 is configured to move in the horizontal and vertical directions, thereby driving the container gripper 22 to move to the position where the sample storage module 10 or the transfer module 40 is located. The container gripper 22 includes a driving motor 220 and two electric fingers 221 disposed opposite to each other. The driving motor 220 is used to drive the two electric fingers 221 to move and approach each other, so that the container gripper 22 can grasp the container 2 located in the sample storage module 10 and transfer it to the transfer module 40 (and, grasp the container 2 located on the transfer module 40 and transfer it to the sample storage module 10). Since the two electric fingers 221 can approach each other, the container gripper 22 can also be compatible with containers 2 of various different diameters. In one embodiment, the scheduling robotic arm 21 is a horizontal multi-joint robotic arm.

[0052] Please refer to Figure 8 , in one embodiment, the transfer module 40 includes a horizontal transfer rail 41 and a transfer assembly 42 slidably disposed on the horizontal transfer rail 41. The transfer assembly 42 includes a sliding block 420 slidably disposed on the horizontal transfer rail 41, a container support plate 421 fixed to the sliding block 420, and at least one set of container clamping units 422 disposed on the container support plate 421. Each set of container clamping units 422 is configured to clamp the container 2. The horizontal transfer rail 41 extends from the disengaging cover module 30 to the pipetting module 50, so that the container clamping units 422 can move between the disengaging cover module 30 and the pipetting module 50. In one embodiment, each set of container clamping units 422 includes a fixed block 4220, a clamping motor 4221, and a moving block 4222. The fixed block 4220 is fixed to the container support plate 421. The moving block 4222 is connected to the clamping motor 4221 and is disposed opposite to the fixed block 4220. The clamping motor 4221 is used to drive the moving block 4222 to move toward the fixed block 4220, so that the moving block 4222 and the fixed block 4220 can jointly position and clamp the container 2 (the clamped part in this application is the container body 201). In one embodiment, the surface of the fixed block 4220 facing the moving block 4222 is provided with a first opening 4223. The surface of the moving block 4222 facing the fixed block 4220 is provided with a second opening 4224. The first opening 4223 and the second opening 4224 jointly form a container slot (not shown in the figure) for accommodating the container 2. Among them, a sensor (not shown in the figure) may be provided in the accommodating slot of the container clamping unit 422 for sensing whether the container 2 is successfully picked up or placed.

[0053] Please refer to Figure 9, in one embodiment, the lid detachment module 30 includes a fixed seat 31, at least one code scanning unit 32, and at least one set of lid detachment components 35. Each code scanning unit 32 and each set of lid detachment components 35 are disposed on the fixed seat 31. Each set of lid detachment components 35 includes a vertical guide rail 350 fixed to the fixed seat 31, a lid gripper 351 slidably connected to the vertical guide rail 350, and a rotary motor 352 connected to the lid gripper 351. The lid gripper 351 is configured to descend along the vertical guide rail 350 and grasp the lid 202 of the container 2 located on the transfer module 40. At this time, the transfer module 40 does not clamp the container 2, and the lid 202 is not separated from the container body 201, so that the lid gripper 351 can drive the entire container 2 to ascend along the vertical guide rail 350 until the container 2 reaches the position where the code scanning unit 32 is located. The rotary motor 352 is used to drive the lid gripper 351 to rotate, so that the container 2 rotates a certain angle (such as one full rotation), facilitating the code scanning unit 32 to scan the identification code on the container 2 to obtain the identification information corresponding to the identification code. Among them, as Figure 12 shown, the lid 202 is provided with first anti-slip lines 2020. The lid gripper 351 may be provided with second anti-slip lines (not shown in the figure) that match the first anti-slip lines 2020. Therefore, the lid gripper 351 can rotate the lid 202 through the cooperation of the first anti-slip lines 2020 and the second anti-slip lines.

[0054] After the identification code scanning is completed, the vertical guide rail 350 is further configured to drive the lid gripper 351 to drive the entire container 2 to descend vertically, so that the container 2 is placed back on the transfer module 40. The rotary motor 352 drives the lid gripper 351 to rotate again, so that the lid gripper 351 rotates the grasped lid 202, and at the same time the transfer module 40 clamps the container body 201, thereby separating the lid 202 from the container body 201. In one embodiment, the lid detachment module 30 further includes a sliding compensation mechanism 33 located below the fixed seat 31. The sliding compensation mechanism 33 is configured to drive the fixed seat 31 to move in a horizontal direction perpendicular to the vertical guide rail 350, so that the center line position of the lid gripper 351 is adjustable, that is, the center line of the lid gripper 351 can coincide with the central axis of containers 2 with different diameters, that is, the lid gripper 351 can be compatible with containers 2 with different diameters. In one embodiment, the sliding compensation mechanism 33 includes a fixed seat support plate 330 and a chute 331 disposed on the fixed seat support plate 330. The chute 331 extends in a horizontal direction perpendicular to the vertical guide rail 350. Correspondingly, a slide rail (not shown in the figure) that cooperates with the chute 331 is provided at the bottom of the fixed seat 31. The fixed seat 31 can slide in a horizontal direction perpendicular to the vertical guide rail 350 through the cooperation of the slide rail and the chute 331, thereby adjusting the center line position of the lid gripper 351.

[0055] Please refer to again Figure 8, in one embodiment, the sliding block 420 includes a sliding block body 4200 and a sliding block frame 4201 vertically fixed on the sliding block body 4200. The container support plate 421 is disposed on one side of the sliding block frame 4201 and above the sliding block body 4200. Among them, an elastic member 423 (such as a helical spring) is provided between the bottom of the container support plate 421 and the sliding block body 4200. Since when the lid gripper 351 grabs the container 2, the container 2 is likely to be hit by the lid gripper 351 due to the height difference of different containers 2. The elastic member 423 is used to provide a buffering force to relieve the impact on the container 2 and prevent the biological sample in the container 2 from splashing out. At the same time, the elastic member 423 can also relieve the impact on the container 2 when the lid gripper 351 places the container 2 back on the transfer module 40.

[0056] On the other hand, during the lid removal process, when the rotation motor 352 drives the lid gripper 351 to rotate so that the lid gripper 351 rotates the grabbed lid 202, the transfer module 40 clamps the container body 201, and at the same time the elastic member 423 is compressed, causing the container body 201 to descend, so that the lid 202 can be separated from the container body 201.

[0057] Among them, as Figure 9 shown, the lid detachment and attachment module 30 may further include at least one lid detector 34. The lid detector 34 is used to detect whether the container 2 on the transfer module 40 is provided with a lid 202, so as to prevent the lid gripper 351 from repeatedly grabbing the container 2 that has been lid-removed.

[0058] Please refer to Figure 10, in one embodiment, the pipetting module 50 includes a consumable storage position 51, a first horizontal pipetting guide rail 52 disposed adjacent to the consumable storage position 51, and at least one set of pipetting units 53 slidably disposed on the first horizontal pipetting guide rail 52. The consumable storage position 51 is used to store the consumables required for pipetting. The above-mentioned consumables may be, but are not limited to, disposable tips 3, deep well plates 4, etc. Each set of pipetting units 53 includes a second horizontal pipetting guide rail 530 slidably disposed on the first horizontal pipetting guide rail 52, a vertical pipetting guide rail 531 disposed on the second horizontal pipetting guide rail 530, and a pipettor 532 fixed to the vertical pipetting guide rail 531. The second horizontal pipetting guide rail 530 is perpendicular to the first horizontal pipetting guide rail 52. Therefore, the pipettor 532 can move horizontally and vertically to the consumable storage position 51 to pick up and load the disposable tip 3 located at the consumable storage position 51, and then suck the biological sample in the container 2 on the transfer module 40 through the disposable tip 3, and transfer the sucked biological sample to the deep well plate 4 at the consumable storage position 51. In one embodiment, the pipetting module 50 includes two sets of pipetting units 53. Since in the two sets of pipetting units 53, the two pipettors 532 move independently on different second horizontal pipetting guide rails 530 and different vertical pipetting guide rails 531 respectively, the distance between the two pipettors 532 is adjustable. In one embodiment, the pipetting module 50 further includes a tip collection bucket 54 located in the lower cavity 602 (shown in Figure 2 ), and the partition 61 is provided with an opening (not shown in the figure) at the position corresponding to the tip collection bucket 54. After sucking the biological sample, the pipettor 532 can also move above the tip collection bucket 54 and discard the used disposable tip 3 through the opening into the tip collection bucket 54.

[0059] As Figure 9 shown, in one embodiment, each lid detachment and attachment module 30 includes two sets of lid detachment and attachment assemblies 35 and two code scanning units 32. The two sets of lid detachment and attachment assemblies 35 operate independently, and the two code scanning units 32 cooperate with the two sets of lid detachment and attachment assemblies 35 respectively. Correspondingly, as Figure 8 shown, each transfer module 40 includes two sets of container clamping units 422, and the two sets of container clamping units 422 cooperate with the two sets of lid detachment and attachment assemblies 35 respectively. Therefore, it is beneficial to improve the efficiency of code scanning and lid detachment and attachment of the container 2. At the same time, the two sets of pipetting units 53 of the pipetting module 50 cooperate with the two sets of container clamping units 422 respectively, which is beneficial to improve the pipetting efficiency. Of course, in other embodiments, the number of lid detachment and attachment assemblies 35 and code scanning units 32 of each lid detachment and attachment module 30, and the number of container clamping units 422 of each transfer module 40 are not limited and can be set according to actual needs.

[0060] Further, as Figure 3 and Figure 4As shown, the number of the lid detachment and combination modules 30 is two, and the number of the transfer modules 40 is also two. The lid detachment and combination modules 30 operate in parallel, and the two transfer modules 40 operate in parallel and cooperate with the two lid detachment and combination modules 30 respectively, so as to further improve the efficiency of code scanning and lid detachment and combination of the container 2. Of course, in other embodiments, the numbers of the lid detachment and combination modules 30 and the transfer modules 40 are not limited and can be set according to actual requirements.

[0061] Please refer to again Figure 1 and Figure 2 In an embodiment, a purification module 70 is provided in the upper cavity 601. The purification module 70 includes an intake air filtration unit 701 and an exhaust air filtration unit 702. In an embodiment, the intake air filtration unit 701 and the exhaust air filtration unit 702 are located on the top plate of the housing 60. A air duct (not shown in the figure) is further provided in the upper cavity 601, and the intake end and the exhaust end of the air duct are communicated with the intake air filtration unit 701 and the exhaust air filtration unit 702 respectively. Among them, both the intake air filtration unit 701 and the exhaust air filtration unit 702 include a fan and an air filter. When the outside air enters the upper cavity 601 through the intake air filtration unit 701, it can be filtered by the air filter of the intake air filtration unit 701, and then discharged through the exhaust air filtration unit 702 after passing through the air duct, and the air filter of the exhaust air filtration unit 702 can filter the air again to prevent environmental pollution during the exhaust process. In an embodiment, the fan flow rate of the intake air filtration unit 701 is a fixed value. The fan of the exhaust air filtration unit 702 is in an infinitely variable speed mode to maintain the pressure in the upper cavity 601 at a fixed value. The purification module 70 may further include an ultraviolet disinfection lamp (not shown in the figure) located in the upper cavity 601 for surface disinfection of each module inside.

[0062] Please refer to together Figure 1 and Figure 11 In an embodiment, the housing 60 is provided with an openable and closable protective door 62. A safety lock 620 for locking the protective door 62 is provided in the upper cavity 601 to ensure the safety during the operation of the system. An adjustable bracket 63 may be further provided outside the housing 60, and a display screen 64 is installed on the adjustable bracket 63. In this way, the operator can monitor the operation conditions of each module inside the housing 60 through the display screen 64, so as to facilitate manual intervention in time when an operation abnormality occurs.

[0063] In an embodiment, the control module includes a control program for controlling the coordinated operation of the sample transfer module 20, the lid detachment and combination module 30, the transfer module 40, and the pipetting module 50. When the control program runs, it is used to execute the following method:

[0064] Step 1: The sample transfer module 20 grabs the container 2 located in the sample storage module 10 and transfers it onto the transfer module 40.

[0065] Step 2: The transfer component 42 of the transfer module 40 drives the container 2 to move along the horizontal transfer guide rail 41 to the position below the lid detachment / attachment module 30.

[0066] Step 3: The lid gripper 351 of the lid detachment / attachment module 30 grabs the lid 202 of the container 2 located on the transfer module 40, and drives the entire container 2 to move to the position where the barcode scanning unit 32 is located through the lid 202. The rotation motor 352 drives the lid gripper 351 to rotate, and at the same time, the barcode scanning unit 32 scans the identification code on the container 2 to obtain the identification information corresponding to the identification code.

[0067] Step 4: The lid gripper 351 of the lid detachment / attachment module 30 places the container 2 back on the transfer module 40, and the rotation motor 352 drives the lid gripper 351 to rotate again, so that the lid gripper 351 rotates the grabbed lid 202, and at the same time, the container clamping unit 422 of the transfer module 40 clamps the container body 201, so as to separate the lid 202 from the container body 201.

[0068] Step 5: The transfer component 42 of the transfer module 40 drives the lid-removed container 2 to move along the horizontal transfer guide rail 41 to the position below the pipetting module 50.

[0069] Step 6: The pipetting module 50 loads and unloads the disposable pipette tip 3 located at the consumable storage position 51, then sucks the biological sample in the container 2 on the transfer module 40 through the disposable pipette tip 3, and transfers the sucked biological sample to the deep well plate 4 at the consumable storage position 51, and then discards the used disposable pipette tip 3 into the pipette tip recycling bin.

[0070] Step 7: The transfer component 42 of the transfer module 40 drives the lid-removed container 2 to move along the horizontal transfer guide rail 41 to the position below the lid detachment / attachment module 30.

[0071] Step 8: The lid gripper 351 of the lid detachment / attachment module 30 re-lids the grabbed lid 202 onto the container body 201 of the container 2.

[0072] Step 9: The sample transfer module 20 transfers the container 2 back to the sample storage module 10 or discards it into the container recycling bin 80.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit. Although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A sample pretreatment system, characterized in that, it includes a sample storage module, a sample transfer module, a lid removal and combination module, a transmission module, a pipetting module and a control module; the sample storage module is used to store containers loaded with biological samples, and the containers include a container body and a lid covering the container body; the sample transfer module is used to grab the container located in the sample storage module and transfer it onto the transmission module; the transmission module is used to transfer the container to the lid removal and combination module and the pipetting module respectively; the lid removal and combination module is used to scan the identification code provided on the container on the transmission module, and is also used to separate the lid of the container from the container body; the pipetting module is used to dispense the biological samples in the container on the transmission module into multiple cups. The lid removal and combination module is also used to re-cover the grabbed lid onto the container body on the transmission module after the biological samples are dispensed into multiple cups. The sample transfer module is also used to transfer the container on the transmission module back to the sample storage module after the lid is re-covered; the control module is used to control the sample transfer module, the lid removal and combination module, the transmission module and the pipetting module to cooperate; the lid removal and combination module includes a fixed seat and a code scanning unit and a lid removal and combination component arranged on the fixed seat. The lid removal and combination component includes a vertical guide rail fixed to the fixed seat, a lid gripper slidably connected to the vertical guide rail, and a rotary motor connecting the lid gripper. The lid gripper is used to grab the lid, the rotary motor is used to drive the lid gripper to rotate, the code scanning unit is used to scan the identification code on the container when the lid gripper rotates, and the rotary motor is also used to cooperate with the transmission module to separate the lid from the container body; a sliding compensation mechanism is arranged below the fixed seat. The sliding compensation mechanism includes a fixed seat support plate and a chute arranged on the fixed seat support plate. The chute extends in a horizontal direction perpendicular to the vertical guide rail. A slide rail is arranged at the bottom of the fixed seat. The fixed seat is used to slide along the horizontal direction through the cooperation of the slide rail and the chute, so as to adjust the center line position of the lid gripper.

2. The sample pretreatment system according to claim 1, characterized in that, the sample storage module includes a container rack base and a container rack placed on the container rack base. The container rack includes a rack body and a bottom plate arranged at a distance. The bottom plate is located between the rack body and the container rack base. Multiple placement holes for placing the containers are provided in the rack body.

3. The sample pretreatment system according to claim 2, characterized in that, a shrapnel structure is arranged in each of the placement holes. The shrapnel structure includes a fixing ring and multiple shrapnel extending from the fixing ring towards the bottom plate. The diameter of the fixing ring is larger than the diameter of the container. The multiple shrapnel jointly enclose a placement space for accommodating the container. The end of the shrapnel away from the fixing ring is used to clamp the bottom of the container.

4. The sample pretreatment system according to claim 1, characterized in that the sample transfer module includes a scheduling robotic arm and a container gripper connected to the scheduling robotic arm, and the scheduling robotic arm is used to drive the container gripper to move to the sample transfer module or the transfer module, so that the container gripper grabs the container located on the sample transfer module or the transfer module.

5. The sample pretreatment system according to claim 4, characterized in that the container gripper includes a driving motor and two electric fingers arranged oppositely, and the driving motor is used to drive the two electric fingers to move and approach each other relatively, so that the container gripper can grab the container.

6. The sample pretreatment system according to claim 1, characterized in that the transfer module includes a horizontal transfer guide rail and a transfer component slidably arranged on the horizontal transfer guide rail, and the transfer component includes a sliding block slidably arranged on the horizontal transfer guide rail, a container support plate fixed on the sliding block, and a container clamping unit arranged on the container support plate, and the container clamping unit is used to clamp the container.

7. The sample pretreatment system according to claim 6, characterized in that the container clamping unit includes a fixed block, a clamping motor and a moving block, the fixed block is fixed on the container support plate, the moving block is connected to the clamping motor and is arranged oppositely to the fixed block, and the clamping motor is used to drive the moving block to move towards the fixed block, so that the moving block and the fixed block jointly clamp the container body.

8. The sample pretreatment system according to claim 6, characterized in that the sliding block includes a sliding block body and a sliding block frame fixed on the sliding block body, the container support plate is arranged on one side of the sliding block frame and above the sliding block body, and an elastic member is arranged between the bottom of the container support plate and the sliding block body.

9. The sample pretreatment system according to claim 1, characterized in that the pipetting module includes a consumable storage position, a first horizontal pipetting guide rail arranged adjacent to the consumable storage position, and a pipetting unit slidably arranged on the first horizontal pipetting guide rail, the consumable storage position is used to store disposable pipette tips and deep well plates, the pipetting unit includes a second horizontal pipetting guide rail slidably arranged on the first horizontal pipetting guide rail, a vertical pipetting guide rail arranged on the second horizontal pipetting guide rail, and a pipettor fixed on the vertical pipetting guide rail, and the pipettor is used to pick up the disposable pipette tips located in the consumable storage position, suck the biological samples in the containers on the transfer module through the disposable pipette tips, and transfer the sucked biological samples to the deep well plates in the consumable storage position.

10. The sample pretreatment system according to claim 9, characterized in that It further includes a housing, in which a partition is provided. The partition is used to divide the housing into an upper cavity and a lower cavity that are isolated from each other. The upper cavity is a sealed cavity and is used to accommodate the sample storage module, the sample transfer module, the lid detachment / attachment module, the transmission module, the pipetting module, and the control module.

11. The sample pretreatment system according to claim 10, characterized in that a purification module is provided in the upper cavity. The purification module includes an intake air filtration unit and an exhaust air filtration unit. A wind channel is further provided in the upper cavity. The intake end and the exhaust end of the wind channel are respectively communicated with the intake air filtration unit and the exhaust air filtration unit. Both the intake air filtration unit and the exhaust air filtration unit include a fan and an air filter.

12. The sample pretreatment system according to claim 10, characterized in that the pipetting module further includes a tip collection bucket located in the lower cavity. The partition is provided with an opening at a position corresponding to the tip collection bucket. After the pipette aspirates the biological sample, it is further used to discard the used disposable tip into the tip collection bucket through the opening.

13. A sample pretreatment system, characterized in that it includes a sample storage module, a sample transfer module, a lid detachment / attachment module, a transmission module, a pipetting module, a container collection bucket, and a control module; the sample storage module is used to store containers loaded with biological samples. The container includes a container body and a lid covering the container body; the sample transfer module is used to grasp the container located in the sample storage module and transfer it onto the transmission module; the transmission module is used to respectively transfer the container to the lid detachment / attachment module and the pipetting module; the lid detachment / attachment module is used to scan the identification code provided on the container on the transmission module, and is further used to separate the lid of the container from the container body; the pipetting module is used to dispense the biological sample in the container on the transmission module into multiple cups. The lid detachment / attachment module is further used to, after the biological sample is dispensed into multiple cups, re-cover the grasped lid onto the container body on the transmission module. The sample transfer module is further used to, after the lid is re-covered, discard the container on the transmission module into the container collection bucket; the control module is used to control the sample transfer module, the lid detachment / attachment module, the transmission module, and the pipetting module to cooperate and operate; the lid detachment / attachment module includes a fixed seat and a code scanning unit and a lid detachment / attachment assembly provided on the fixed seat. The lid detachment / attachment assembly includes a vertical guide rail fixed to the fixed seat, a lid gripper slidably connected to the vertical guide rail, and a rotary motor connecting the lid gripper. The lid gripper is used to grasp the lid. The rotary motor is used to drive the lid gripper to rotate. The code scanning unit is used to scan the identification code on the container when the lid gripper rotates. The rotary motor is further used to cooperate with the transmission module to separate the lid from the container body; A sliding compensation mechanism is provided below the fixed seat. The sliding compensation mechanism includes a fixed seat support plate and a chute provided on the fixed seat support plate. The chute extends in a horizontal direction perpendicular to the vertical guide rail. A slide rail is provided at the bottom of the fixed seat. The fixed seat is configured to slide along the horizontal direction through the cooperation of the slide rail and the chute, so as to adjust the center line position of the cover gripper.

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