An automated workstation for liquid reagents

Abstract

The application discloses an automatic workstation for liquid reagents, comprising a loading system, a motion system and a control system; the loading system comprises a loading rack, which is used for carrying the motion system and the control system; the motion system comprises a suction nozzle, a suction and exhaust mechanism and a multi-axis driving mechanism; the suction and exhaust mechanism is used for controlling the suction head loaded on the suction nozzle to perform a suction and exhaust action; the multi-axis driving mechanism is used for driving the suction nozzle to perform a suction and exhaust action and various movement actions; the control system comprises an upper computer and a servo controller in communication connection with the upper computer, and the servo controller controls the multi-axis driving mechanism to perform various movement actions in response to an instruction of the upper computer. The automatic workstation, in which the whole working process is mainly automatically completed by the workstation, greatly reduces manual operation, that is, greatly reduces the dependence of liquid reagent operation equipment on manual operation.

Description

Technical Field

[0001] This invention relates to the field of liquid reagent handling technology, and more particularly to an automated workstation for liquid reagents. Background Technology

[0002] With the continuous development of biotechnology, the production of reagents and pharmaceutical solutions is gradually becoming more automated. However, most current equipment for handling liquid reagents still relies heavily on manual labor, and many operational steps require manual operation.

[0003] In summary, how to solve the problem of the high degree of dependence on manual operation of liquid reagent handling equipment has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide an automated workstation for liquid reagents to solve the problem of high dependence on manual labor in liquid reagent handling equipment.

[0005] To achieve the above objectives, the present invention provides an automated workstation for liquid reagents, including a loading system, a motion system, and a control system;

[0006] The loading system includes a loader frame for mounting the motion system and the control system;

[0007] The motion system includes a suction nozzle, a suction and exhaust mechanism, and a multi-axis drive mechanism; the suction and exhaust mechanism is used to control the suction head mounted on the suction nozzle to perform suction and exhaust actions; the multi-axis drive mechanism is used to drive the suction nozzle to perform loading and unloading of suction heads and various displacement actions;

[0008] The control system includes a host computer and a servo controller that is communicatively connected to the host computer. The servo controller responds to the instructions of the host computer and controls the motion system to perform various displacement actions.

[0009] Preferably, the loader frame includes a base and an equipment frame disposed on the base. The equipment frame is used to carry the motion system and the control system. The base is also provided with a plate platform, on which multiple positioning plates are formed. The positioning plates are used to provide an operating platform for performing different experimental procedures on liquid reagents.

[0010] Preferably, the plate platform is fixed to the base by support columns, and at least some of the positioning plates are suction head box plates.

[0011] Preferably, the plate platform is equipped with a heating module, which is used to perform constant temperature heating on the sample in real time according to experimental requirements.

[0012] Preferably, the plate platform is provided with a reagent tank and a waste liquid tank, and the reagent tank has several independent compartments; the waste liquid tank is used to collect waste liquid produced in the experiment.

[0013] Preferably, at least some of the positioning plates are provided with an oscillation module.

[0014] Preferably, the plate platform is further provided with a magnetic rack, which is used to achieve magnetic bead adsorption and separation during sample static treatment.

[0015] Preferably, the plate platform is further provided with a number of well plate positions for obtaining samples after the experiment; the magnetic frame is provided with a number of inclined guide structures around its perimeter, the inclined guide structures being used to facilitate precise positioning with the well plate positions.

[0016] Preferably, the multi-axis drive mechanism includes an X-axis drive assembly, a Y-axis drive assembly, a Z-axis drive assembly, and an S-axis drive assembly. The X-axis drive assembly is fixed to the device frame and is used to drive the Y-axis drive assembly to move along the X-axis direction. The Y-axis drive assembly is used to drive the Z-axis drive assembly to move along the Y-axis direction. The Z-axis drive assembly is used to drive the S-axis drive assembly to move along the Z-axis direction. The S-axis drive assembly is used to drive the nozzle to perform loading and unloading of the suction head.

[0017] Preferably, the motion system further includes a robotic arm, and the multi-axis drive mechanism further includes a W-axis drive assembly and a T-axis drive assembly. The W-axis drive assembly is disposed on the moving part of the Z-axis drive assembly, and the T-axis drive assembly is disposed on the moving part of the W-axis drive assembly. The W-axis drive assembly is used to drive the T-axis drive assembly to move up and down. The robotic arm is disposed on the T-axis drive assembly, and the T-axis drive assembly is used to drive the robotic arm to perform a clamping action.

[0018] Preferably, the control system further includes a safety controller that is communicatively connected to the host computer, the safety controller being used to ensure the safe operation of the entire machine.

[0019] Compared to the background technology description, the aforementioned automated workstation for liquid reagents includes a loading system, a motion system, and a control system. The loading system includes a loading frame that carries the motion system and control system. The motion system includes pipette tips, a suction / exhaust mechanism, and a multi-axis drive mechanism. The suction / exhaust mechanism controls the pipette tips mounted on the pipette tips to perform suction and exhaust actions. The multi-axis drive mechanism drives the pipette tips to perform loading / unloading of pipette tips and various displacement actions. The control system includes a host computer and a servo controller connected to the host computer. The servo controller responds to commands from the host computer to control the multi-axis drive mechanism to perform various displacement actions. This automated workstation, through the control system responding to commands from the host computer, controls the multi-axis drive mechanism, pipette tips, and suction / exhaust mechanism of the motion system to perform various displacement actions, thereby realizing a series of experimental steps such as liquid reagent suction, drainage, and pipette tip loading / unloading. The entire process is mainly completed automatically by the workstation, greatly reducing manual operation and thus significantly lowering the dependence of liquid reagent handling equipment on human intervention. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the automated workstation provided in this embodiment of the invention;

[0021] Figure 2 This is a schematic diagram of the loading system provided in an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the plate platform provided in this embodiment of the invention without the test equipment loaded.

[0023] Figure 4 This is a schematic diagram of the structure of the plate-mounted platform loading test apparatus provided in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the motion system provided in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the Z-axis drive assembly provided in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of the S-axis drive assembly provided in an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of the W-axis drive assembly and the T-axis drive assembly provided in the embodiments of the present invention;

[0028] Figure 9 This is a schematic diagram of the control system provided in an embodiment of the present invention.

[0029] exist Figures 1-9 middle,

[0030] Loading System 1, Base 11, Equipment Frame 12, Plate Positioning Platform 13, Plate Positioning Platform Base 131, Support Column 1310, Positioning Plate 1311, Suction Head Box 132, Heating Module 133, Reagent Tank 134, Vibration Module 135, Magnetic Frame 136, Orifice Plate 137-138, Waste Liquid Tank 139, Motion System 2, X-Axis Drive Assembly 21, Y-Axis Drive Assembly 22, Z-Axis Drive Assembly 23, S-Axis Drive Assembly 24, Z-Axis Slider Fixing Plate 241, Suction Head Motor Mounting Plate 242, Linear Motor 243, Guide Block 24 4. Suction nozzle 245, Z-axis cable chain 246, suction head 247, W-axis drive assembly 25, W-axis turntable base 251, linear guide rail 252, W-axis motor mounting plate 253, W-axis motor 254, W-axis cable chain 255, T-axis drive assembly 26, turntable connecting block 261, clamping motor seat 262, motor 263, slide rail 264, robotic arm 265, suction and exhaust mechanism 27, control system 3, servo controller 31, mounting plate 311, power supply 312, servo driver 313, motion controller 314, safety controller 32. Detailed Implementation

[0031] The core of this invention is to provide an automated workstation for liquid reagents to solve the problem of high dependence on manual labor in liquid reagent handling equipment.

[0032] To enable those skilled in the art to better understand the technical solutions provided by this invention, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] like Figures 1-9 As shown, this embodiment of the invention provides an automated workstation for liquid reagents, including a loading system 1, a motion system 2, and a control system 3. The loading system 1 includes a loading frame for mounting the motion system 2 and the control system 3. The motion system 2 includes a suction nozzle 245, a suction / exhaust mechanism 27, and a multi-axis drive mechanism. The suction / exhaust mechanism 27 controls the pipette tip 247 mounted on the suction nozzle 245 to perform suction / exhaust actions. The multi-axis drive mechanism drives the suction nozzle 245 to perform loading / unloading of the pipette tip 247 and various displacement actions. The control system 3 includes a host computer and a servo controller communicatively connected to the host computer. The servo controller responds to the instructions of the host computer to control the motion system to perform various displacement actions.

[0034] This automated workstation, through a control system that responds to various instructions issued by the host computer, controls the multi-axis drive mechanism, pipette tip, and suction and exhaust mechanism of the motion system to perform various displacement actions, thereby realizing a series of experimental steps such as liquid reagent suction, liquid discharge, and pipette tip loading and unloading. The entire work process is mainly completed automatically by the workstation, which greatly reduces manual operation and significantly reduces the dependence of liquid reagent handling equipment on human intervention.

[0035] It should be noted that the servo controller 31 may specifically include a mounting plate 311, a power supply 312, a servo driver 313, and a motion controller 314. The control system 3 is fixed on the equipment frame 12, the mounting plate 311 is fixed on the equipment frame 12, and the power supply 312, servo driver 313, and motion controller 314 are fixedly connected to the mounting plate 311.

[0036] In some specific implementations, the aforementioned loader frame may include a base 11 and an equipment frame 12 mounted on the base 11. The equipment frame 12 is used to mount the motion system 2 and the control system 3. A platform 13 is also provided on the base 11, and multiple positioning positions 1311 are formed on the platform 13. The positioning positions 1311 provide an operating platform for performing different experimental procedures on liquid reagents. The base and equipment frame provide a rigid and stable foundation for the entire equipment, thereby ensuring the stable and reliable operation of the workstation. By setting the positioning positions, an operating platform can be provided for performing different experimental procedures on liquid reagents, and functional areas can be flexibly configured to meet diverse experimental procedure requirements. For example, 13 precise positioning positions can be provided. Of course, this number is only a preferred example of this embodiment of the invention; in actual applications, the configuration can be selected according to specific needs.

[0037] In some specific implementations, the aforementioned plate platform 13 can be fixed to the base 11 by support columns 1310, and at least some of the multiple positioning plates 1311 are nozzle box plates. By setting the nozzle box plates, nozzle boxes 132 can be placed in these plates, and nozzle boxes 132 of different specifications can be set at any position among the multiple nozzle box plates as needed, making testing convenient and flexible. For example, the plate platform can be set with 6 nozzle box plates, and nozzle boxes of different specifications can be arranged arbitrarily in the 6 plates. Of course, it is understood that more nozzle box plates can be arranged, or even fewer than 6, depending on the actual application and configuration according to actual needs.

[0038] In some more specific implementations, the aforementioned plate platform 13 may also be equipped with a heating module 133, which is used to perform constant-temperature heating of the sample in real time according to experimental requirements. By arranging the heating module, the automated workstation can perform constant-temperature heating of the sample in real time according to experimental requirements during actual use, which helps to make the experimental test data of the automated workstation more accurate and standardized.

[0039] In a further implementation, the aforementioned plate platform 13 may also be equipped with a reagent tank 134 and a waste liquid tank 139. Specifically, the reagent tank 134 may have several independent compartments, which can simultaneously pre-fill several reagents. For example, the reagent tank may have four independent compartments, which can simultaneously pre-fill 1-4 reagents to meet diverse experimental needs. The waste liquid tank 139 is mainly used to collect waste liquid produced in the experiment. Generally, it is designed with a large capacity to collect waste liquid generated during the experiment in real time, effectively preventing pollution.

[0040] In some specific implementations, at least some of the positioning plates 1311 are provided with oscillation modules 135. The oscillation modules 135 are positioned relatively independently and do not affect other experimental steps when performing oscillation operations. Specifically, the oscillation module 135 may be equipped with a motor and an oscillation mechanism. The motor drives the oscillation mechanism to oscillate smoothly and at high speed, which can achieve rapid oscillation and mixing of liquid reagents.

[0041] In some more specific embodiments, a magnetic rack 136 may also be provided on the plate platform 13. This magnetic rack 136 is mainly used to achieve magnetic bead adsorption and separation during sample static processing. Since the magnetic rack 136 is equipped with a magnetic system, static separation of DNA bound to magnetic beads can be achieved.

[0042] In a further implementation scheme, the plate platform 13 may also be provided with several well plate positions for obtaining samples after the experiment. By designing the well plate positions, it is more convenient to obtain samples after the experiment. For example, well plates 137-138 (PCR plates, deep well plates, shallow well plates, etc.) can be placed according to experimental needs, which facilitates the placement and transfer of products. In addition, several inclined guide structures may be provided around the magnetic rack 136. For example, four inclined guide structures may be provided around the magnetic rack. The inclined guide structures make the well plate positioning more accurate and convenient.

[0043] In some more specific embodiments, the aforementioned multi-axis drive mechanism may specifically include an X-axis drive assembly 21, a Y-axis drive assembly 22, a Z-axis drive assembly 23, and an S-axis drive assembly 24. The X-axis drive assembly 21 is fixed to the equipment frame 12 and is used to drive the Y-axis drive assembly 22 to move along the X-axis direction; the Y-axis drive assembly 22 is used to drive the Z-axis drive assembly 23 to move along the Y-axis direction; the Z-axis drive assembly 23 is used to drive the S-axis drive assembly 24 to move along the Z-axis direction; and the S-axis drive assembly 24 is used to drive the suction nozzle 245 to perform the loading and unloading of the suction head 247. Specifically, the S-axis drive assembly 24 may include a Z-axis slider fixing plate 241, a suction head motor mounting plate 242, a linear motor 243, a guide block 244, and a Z-axis cable chain 246 disposed on the Z-axis drive assembly. The S-axis drive assembly 24 is fixed to the guide rail slider of the Z-axis drive assembly 23 via the Z-axis slider fixing plate 241. The movement of the Z-axis drive assembly drives the S-axis drive assembly 24 to move in the Z-axis (vertical) direction. The linear motor 243 is fixedly connected to the Z-axis slider fixing plate 241 via the suction head motor mounting plate 242. The guide block 244 is fixed on the suction head motor mounting plate 242 to guide the suction nozzle 245. The suction nozzle 245 is fixed on the suction head motor mounting plate 242 (this invention provides a set of 8 suction heads, the number is taken as an example, but is not limited to this). The suction head 247 is inserted into the suction nozzle 245.

[0044] It should be noted that the linear motor is merely an example of a linear drive mechanism in this embodiment of the invention. In actual applications, other linear drive mechanisms commonly used by those skilled in the art can also be used, such as a motor-driven lead screw mechanism, etc., without further specific limitations. In addition, the S-axis drive assembly 24 is mounted on the Z-axis drive assembly and adopts a modular design for easy disassembly and maintenance. Specifically, the S-axis drive assembly 24 may include multiple suction head loading and unloading structures (e.g., 8) to realize the loading and unloading of suction heads of different specifications and adapt to different liquid volume requirements. By setting the suction and exhaust mechanism on the moving part of the Y-axis drive assembly, the air path system can move horizontally with the X and Y axis systems. During the implementation of the air path, the shortest air path system can be achieved. The air path system includes a high-precision syringe pump, ultimately achieving high-precision liquid suction and discharge.

[0045] In a further embodiment, the motion system 2 may also include a robotic arm 265, and the multi-axis drive mechanism may further include a W-axis drive assembly 25 and a T-axis drive assembly 26. The W-axis drive assembly 25 is mounted on the moving part of the Z-axis drive assembly 23, and the T-axis drive assembly 26 is mounted on the moving part of the W-axis drive assembly 25. The W-axis drive assembly 25 is used to drive the T-axis drive assembly 26 to move up and down. The robotic arm 265 is mounted on the T-axis drive assembly 26, and the T-axis drive assembly 26 is used to drive the robotic arm 265 to perform gripping actions. By designing the W-axis drive assembly 25 and the T-axis drive assembly 26, the functions of gripping, releasing, and rotating the test plate can be realized, greatly improving the comprehensiveness of the automation functions of the automated workstation. Specifically, the W-axis drive assembly 25 may include a W-axis rotating plate base 251, a linear guide rail 252, a W-axis motor mounting plate 253, a W-axis motor 254, and a W-axis cable chain 255. The W-axis drive assembly 25 is fixed to the mounting base of the Z-axis drive assembly via the W-axis rotary plate base 251. The W-axis motor mounting plate 253 and linear guide rail 252 are fixed to the W-axis rotary plate base 251, and the W-axis motor 254 is fixed to the W-axis motor mounting plate 253. This structure enables lifting and lowering during the rotation process. The T-axis drive assembly 26 includes a rotary plate connecting block 261, a clamping motor seat 262, a motor 263, and a slide rail 264. The rotary plate connecting block 261 is fixedly connected to the guide rail slider of the W-axis drive assembly 25. The clamping motor seat 262 is fixedly connected to the rotary plate connecting block 261. The motor 263 and slide rail 264 are fixedly connected to the clamping motor seat 262. The robotic arm 265 is fixedly connected to the slide rail 264. This structure enables gripping and releasing functions.

[0046] In addition, it should be noted that the control system 3 may also include a safety controller 32 that communicates with the host computer. The safety controller 32 is used to ensure the safe operation of the entire machine. Specifically, the safety controller 32 can adopt multiple safety protection schemes, such as a software identification safety control module, a photoelectric limit safety control module, a light curtain foreign object triggering safety control module, and an emergency stop switch module, providing multiple safety guarantees for the safe operation of the equipment. Furthermore, it should be noted that the host computer may be loaded with an application software system. This application software system may include modular algorithms and normalization algorithms. The application software system achieves liquid aspiration and dissipation through a combination of step-by-step and normalization calculations, and performs compensation algorithms for each of the multi-channel liquid paths to achieve high-precision liquid aspiration and dissipation. Through modular algorithms, various experimental procedures can be flexibly combined, making instrument operation more convenient.

[0047] The automated workstation for liquid reagents provided by this invention has been described in detail above. It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably.

[0048] It should also be noted that, in this document, terms such as “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the article or device that includes the aforementioned element.

[0049] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An automated workstation for liquid reagents, characterized in that, The device comprises a loading system (1), a motion system (2) and a control system (3); The loading system (1) comprises a loading rack for carrying the motion system (2) and the control system (3); The motion system (2) comprises a suction nozzle (245), a suction and exhaust mechanism (27), a mechanical hand (265) and a multi-axis driving mechanism; the suction and exhaust mechanism (27) is used for controlling the suction head (247) loaded on the suction nozzle (245) to perform a suction and exhaust action; the multi-axis driving mechanism is used for driving the suction nozzle (245) to perform a loading and unloading action of the suction head (247) and various movement actions; The control system (3) comprises a host computer and a servo controller (31) in communication connection with the host computer; the servo controller (31) controls the motion system (2) to perform various movement actions in response to an instruction of the host computer; The multi-axis driving mechanism comprises an X-axis driving assembly (21), a Y-axis driving assembly (22), a Z-axis driving assembly (23), an S-axis driving assembly (24), a W-axis driving assembly (25) and a T-axis driving assembly (26); the X-axis driving assembly (21) is fixed to the equipment frame (12) and is used for driving the Y-axis driving assembly (22) to move along the X-axis direction; the Y-axis driving assembly (22) is used for driving the Z-axis driving assembly (23) to move along the Y-axis direction; the Z-axis driving assembly (23) is used for driving the S-axis driving assembly (24) to move along the Z-axis direction; the S-axis driving assembly (24) is used for driving the suction nozzle (245) to perform a loading and unloading operation of the suction head (247); and the suction and exhaust mechanism (27) is arranged on a moving part of the Y-axis driving assembly (22); The W-axis driving assembly (25) is arranged on a moving part of the Z-axis driving assembly (23); the T-axis driving assembly (26) is arranged on a moving part of the W-axis driving assembly (25); the W-axis driving assembly (25) is used for driving the T-axis driving assembly (26) to lift and lower; and the mechanical hand (265) is arranged on the T-axis driving assembly (26); the T-axis driving assembly (26) is used for driving the mechanical hand (265) to perform a clamping action.

2. An automated workstation for liquid reagents as claimed in claim 1, characterized in that, The loading rack comprises a base (11) and an equipment frame (12) arranged on the base (11); the equipment frame (12) is used for carrying the motion system (2) and the control system (3); and a plate site platform (13) is further arranged on the base (11); a plurality of positioning plate sites (1311) are formed on the plate site platform (13); and the positioning plate sites (1311) are used for providing an operation platform for performing different experimental processes of liquid reagents.

3. An automated workstation for liquid reagents as claimed in claim 2, characterized in that, The plate site platform (13) is fixed to the base (11) through a support column (1310); at least part of the plurality of positioning plate sites (1311) are suction head box plate sites.

4. An automated workstation for liquid reagents as claimed in claim 2, characterized in that, A heating module (133) is arranged on the plate site platform (13); the heating module (133) is used for performing constant temperature heating treatment on a sample in real time according to experimental requirements.

5. An automated workstation for liquid reagents as claimed in claim 2, characterized in that, A reagent groove (134) and a waste liquid groove (139) are arranged on the plate site platform (13); a plurality of independent compartments are formed on the reagent groove (134); and the waste liquid groove (139) is used for collecting waste liquid generated in experiments.

6. An automated workstation for liquid reagents as claimed in claim 2, characterized in that, An oscillation module (135) is arranged on at least part of the positioning plate sites (1311).

7. An automated workstation for liquid reagents as defined in claim 2, wherein, The plate position platform (13) is further provided with a magnetic frame (136), which is used for realizing magnetic bead adsorption separation during sample static treatment.

8. An automated workstation for liquid reagents as claimed in claim 7, characterized in that, The plate position platform (13) is further provided with a plurality of well plate positions for obtaining samples after experiment completion; the periphery of the magnetic frame (136) is provided with a plurality of inclined surface guide structures, which are used for facilitating accurate positioning with the well plate positions.

9. An automated workstation for liquid reagents as claimed in any one of claims 1 to 8, characterised in that, The control system (3) further comprises a safety controller (32) in communication connection with the upper computer, and the safety controller (32) is used for guaranteeing safe operation of the whole machine.

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