UPLC analysis apparatus and system

Abstract

This invention relates to the field of automated equipment technology, specifically disclosing a UPLC analysis device and system. The UPLC analysis device includes: a support platform; a UPLC analyzer mounted on the support platform; a robotic arm mounted on the support platform; a gripping device mounted on the robotic arm, the robotic arm driving the gripping device to move so that the gripping device can place a sample carrier containing experimental samples into the UPLC analyzer for analysis, and remove the analyzed sample carrier from the UPLC analyzer; and a solvent holding device mounted on the support platform, the solvent holding device being used to hold solvent, and the solvent holding device being connected to the UPLC analyzer so that the solvent in the solvent holding device can be introduced into the UPLC analyzer. This invention integrates the UPLC analyzer and robotic arm on the support platform, enabling automated analysis of experimental samples, reducing labor and time costs, and improving instrument utilization. Simultaneously, because the experimental analysis can be performed automatically, it also prevents harmful substances from causing harm to the human body.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically, to a UPLC analysis device and system. Background Technology

[0002] When conducting large-scale chemical experiments, a large number of chemical samples are generated. These samples often require UPLC (Ultra Performance Liquid Chromatography) for chemical analysis.

[0003] Currently, chemical analyses using UPLC are generally performed manually. This not only incurs significant labor costs, but also results in shortcomings in efficiency and quality, failing to meet the requirements for efficient and high-quality experiments. Summary of the Invention

[0004] In view of this, the present invention proposes a UPLC analysis device and system for automatic analysis of experimental samples.

[0005] In one aspect, the present invention provides a UPLC analysis device, comprising: a support platform; a UPLC analyzer disposed on the support platform; a robotic arm disposed on the support platform; a gripping device mounted on the robotic arm, wherein the robotic arm drives the gripping device to move so that the gripping device places a sample carrier containing an experimental sample into the UPLC analyzer for analysis, and removes the analyzed sample carrier from the UPLC analyzer; and a solvent holding device disposed on the support platform, wherein the solvent holding device is used to hold solvent and is connected to the UPLC analyzer so that the solvent in the solvent holding device is introduced into the UPLC analyzer.

[0006] Furthermore, in the aforementioned UPLC analysis equipment, the solvent holding device includes: a support plate, disposed on the support platform or the UPLC analyzer; a weighing unit, wherein there is at least one weighing unit and all of them are connected to the support plate, the weighing unit being used to hold the container holding the solvent and to detect the amount of solvent in the container in real time; and a processing unit, disposed on the support plate, the processing unit being electrically connected to the weighing unit and being used to obtain the amount of solvent in the container.

[0007] Furthermore, in the aforementioned UPLC analysis equipment, the weighing unit includes: a connecting plate connected to the support plate; a weighing sensor, including a fixing part and a load-bearing part, the fixing part being connected to the connecting plate; a support member connected to the load-bearing part, the support member being used to place the container, and the weighing sensor being used to detect the amount of solvent in the container in real time.

[0008] Furthermore, in the aforementioned UPLC analysis equipment, the solvent holding device further includes an alarm unit, which is disposed on the support plate and corresponds one-to-one with the weighing sensor. The alarm unit is electrically connected to the processing unit and is used to issue an alarm signal when the solvent quantity is lower than a preset value.

[0009] Furthermore, in the aforementioned UPLC analysis equipment, the UPLC analyzer includes: a main body; a door installed on the main body; and an automatic door opening and closing mechanism connected to the door for controlling the door to open or close automatically.

[0010] Furthermore, in the aforementioned UPLC analysis equipment, the automatic door opening and closing mechanism includes: a support body; a drive mechanism mounted on the support body; a transmission shaft, one end of which is connected to the output end of the drive mechanism, and the other end of which is rotatably connected to the support body; a connecting rod, one end of which is connected to the transmission shaft, and the other end of which is a free end. When the drive mechanism drives the transmission shaft to rotate, the transmission shaft can drive the connecting rod to rotate; and a floating joint, including a floating end and a fixed end. The floating end is slidably connected to the connecting rod, and the fixed end is used to connect to the door body. The connecting rod can drive the floating joint to move, and the floating joint can also slide along the connecting rod to open or close the door body.

[0011] Furthermore, in the aforementioned UPLC analysis device, the connecting rod has a guide groove along its length, and the floating end is slidably embedded in the guide groove; or, the connecting rod has a slide rail along its length, and the floating end can move along the slide rail via a slider.

[0012] Furthermore, in the aforementioned UPLC analysis device, the gripping device includes: a drive unit connected to the robotic arm; two grippers, both connected to the drive unit; each gripper includes a gripping arm and gripper fingers, the gripping arm is connected to the drive unit, the gripper fingers are buoyantly connected to the gripping arm, the gripper fingers have a gripping surface, the gripping surfaces of the gripper fingers of the two grippers are arranged opposite to each other, and the two gripper fingers move closer or further apart under the drive of the drive unit to drive the gripper fingers to grip or release the sample carrier device.

[0013] Furthermore, in the aforementioned UPLC analysis device, the gripping device further includes: an elastic pad disposed on the gripping surface of each gripper finger, for elastically abutting against the sample carrier when the gripper finger grips the sample carrier; the surface of the elastic pad that is in contact with the sample carrier is provided with an anti-slip portion.

[0014] Furthermore, in the aforementioned UPLC analysis device, the gripper finger includes: a first connecting part, which is rotatably and floatingly connected to the gripper arm; a second connecting part, which is connected to the first connecting part, and the gripping surface is located on the side of the second connecting part opposite to the gripper arm; and an elastic member, which is placed between the gripper arm and the second connecting part, with one end of the elastic member connected to the gripper arm and the other end abutting against the second connecting part.

[0015] Furthermore, the aforementioned UPLC analysis equipment also includes: an upper body, which is connected to the support platform and together with the support platform forms an accommodating space, in which the UPLC analyzer, the robotic arm, the gripping device, and the solvent holding device are placed; the upper body is provided with a switch door on the side corresponding to the solvent holding device, so as to interact with the outside world through the switch door; and a lower body, which is connected to the support platform and located below the support platform, in which the control equipment and electrical equipment of the robotic arm, the gripping device, and the UPLC analyzer are placed.

[0016] Furthermore, the aforementioned UPLC analysis equipment also includes: a three-axis calibration bracket connected to the outer wall of the upper body; the three-axis calibration bracket includes two mutually perpendicular X-axis connecting plates, a Y-axis connecting plate, and a Z-axis connecting plate; one end of the Y-axis connecting plate is connected to one end of the X-axis connecting plate, and the other end of the Y-axis connecting plate is connected to one end of the Z-axis connecting plate; three identification code calibration plates, two of which are respectively located at both ends of the X-axis connecting plate, and the third identification code calibration plate is located at the other end of the Z-axis connecting plate; wherein each identification code calibration plate has a built-in identification code, which is used to enable external devices to position the upper body.

[0017] Furthermore, the aforementioned UPLC analysis device also includes: a tray exchange chamber connected to the support platform and located on the side near the solvent holding device. The tray exchange chamber is used to exchange the sample holding device before and after analysis with the outside world. The robotic arm drives the gripping device to remove the sample holding device before analysis from the tray exchange chamber, and / or to place the sample holding device after analysis by the UPLC analyzer into the tray exchange chamber.

[0018] Furthermore, in the aforementioned UPLC analysis equipment, the tray exchange compartment includes: a support assembly connected to the support platform; a holding plate connected to the support assembly, the holding plate having at least one compartment for storing the sample carrying device; and a positioning member connected to the holding plate and corresponding to the compartment, the positioning member cooperating with a fixing part disposed at the bottom of the sample carrying device to limit the sample carrying device to the compartment.

[0019] This invention integrates a UPLC analyzer and a robotic arm onto a support platform, enabling automated analysis of experimental samples. This reduces labor and time costs, increases instrument utilization, and facilitates fully automated experimental operations. Furthermore, the automated analysis process prevents harmful substances from posing a risk to human health.

[0020] On the other hand, the present invention also proposes a UPLC analysis system, which includes a sample preparation device and any of the aforementioned UPLC analysis devices; wherein, the sample preparation device and the UPLC analysis device are arranged side by side, the sample preparation device is placed on the side near the robotic arm in the UPLC analysis device, or the sample preparation device is placed on the side of the UPLC analyzer in the UPLC analysis device; the space of the sample preparation device for experimental operation is connected to the accommodating space of the UPLC analysis device, the robotic arm of the UPLC analysis device removes a sample carrier containing the prepared experimental sample from the sample preparation device and places it into the UPLC analyzer for analysis, and / or, removes a sample carrier containing the analyzed experimental sample from the UPLC analyzer and places it into the sample preparation device for processing.

[0021] Furthermore, in the aforementioned UPLC analysis system, the UPLC analysis device's support platform is provided with a material storage rack on the side near the sample preparation device, or the sample preparation device is provided with the material storage rack on the side near the UPLC analysis device; the robotic arm on the sample preparation device places the sample carrier containing the prepared experimental sample into the material storage rack so that the robotic arm of the UPLC analysis device can remove it; and / or, the robotic arm of the UPLC analysis device places the sample carrier containing the analyzed experimental sample into the material storage rack so that the robotic arm on the sample preparation device can remove it.

[0022] Furthermore, in the above-mentioned UPLC analysis system, the sample carrying device includes: a substrate; a boss is formed on the upper surface of the substrate, the boss has a placement hole for placing a container for holding the experimental sample, and steps are formed between the two opposite ends of the boss and the substrate.

[0023] Furthermore, in the above-mentioned UPLC analysis system, both the substrate and the boss are square, and the other two opposite ends of the boss are flush with the substrate.

[0024] Furthermore, the above-mentioned UPLC analysis system also includes: a visual positioning mechanism, which is disposed on the side of the UPLC analysis device and close to the sample preparation device, or disposed on the side of the sample preparation device and close to the UPLC analysis device, the visual positioning mechanism being used to determine the positional state between the UPLC analysis device and the sample preparation device.

[0025] Furthermore, the above-mentioned UPLC analysis system also includes: a mobile robot, which is used to place the sample carrier device to be tested into the sample preparation equipment or the UPLC analysis equipment, and / or to remove the sample carrier device after the experiment from the sample preparation equipment or the UPLC analysis equipment.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0027] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0028] Figure 1 This is a three-dimensional structural diagram of the UPLC analysis device provided in an embodiment of the present invention;

[0029] Figure 2 This is another three-dimensional structural schematic diagram of the UPLC analysis device provided in the embodiment of the present invention;

[0030] Figure 3 This is a three-dimensional structural diagram of the UPLC analysis device with its door open in an embodiment of the present invention.

[0031] Figure 4 This is a front view of the UPLC analysis device with its door open in an embodiment of the present invention;

[0032] Figure 5 This is a three-dimensional structural diagram of the solvent holding device in an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the weighing unit in the solvent holding device in an embodiment of the present invention;

[0034] Figure 7This is a schematic diagram of the structure of the sample-carrying device in an embodiment of the present invention.

[0035] Figure 8 This is another structural schematic diagram of the clamping device for clamping the sample carrying device in an embodiment of the present invention;

[0036] Figure 9 This is a three-dimensional structural diagram of the automatic door opening and closing mechanism in an embodiment of the present invention;

[0037] Figure 10 This is a three-dimensional structural diagram of the clamping device in an embodiment of the present invention;

[0038] Figure 11 This is a three-dimensional structural diagram of the triaxial calibration bracket in an embodiment of the present invention;

[0039] Figure 12 This is a three-dimensional structural diagram of the pallet exchange compartment in an embodiment of the present invention;

[0040] Figure 13 This is a three-dimensional structural diagram of the UPLC analysis system provided in an embodiment of the present invention;

[0041] Figure 14 This is a three-dimensional structural diagram of the sample carrying device in an embodiment of the present invention;

[0042] Figure 15 This is a top view of the sample carrier device in an embodiment of the present invention. Detailed Implementation

[0043] Preferred embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0044] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0045] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0046] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0047] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0049] See Figures 1 to 4 According to one embodiment of this application, a UPLC analysis device 100 includes: a support platform 110, a UPLC analyzer 120, a robotic arm 130, a gripping device 140, and a solvent holding device 150. The UPLC analyzer 120, robotic arm 130, gripping device 140, and solvent holding device 150 are all mounted on the support platform 110, which provides a level mounting surface for all the components. The UPLC analyzer 120 primarily performs chemical analysis on experimental samples.

[0050] In one specific implementation, see Figures 2 to 4The UPLC analysis equipment 100 may further include an upper body 160 and a lower body 170. A support platform 110 is connected to the lower body 170, and the upper body 160 is connected to the support platform 110, forming a receiving space together. The UPLC analyzer 120, robotic arm 130, gripping device 140, and solvent container 150 are all placed within this receiving space to avoid interference from the external environment. The upper body 160 may also have a door 161 on one side corresponding to the solvent container 150, allowing interaction with the outside world, such as adding solvent to the solvent container 150 or changing the solvent container. Specifically, the door 161 may be a nitrogen spring door, its main function being to prevent it from falling down when opened upwards, supported by the nitrogen spring. The upper body 160 is connected to the lower body 170, and an electrical control box may be installed inside the lower body 170. In a specific implementation, the bottom of the lower body 170 may also be provided with a movable part, such as a roller, to drive the lower body 170 and the upper body 160 to move.

[0051] The gripping device 140 is mounted on the robotic arm 130. The gripping device 140 is used to grip the sample carrier 180 containing the experimental sample. See [link / reference] Figure 7 and Figure 8 The robotic arm 130 moves the gripping device 140 so that the gripping device 140 can place the sample carrier 180 into the UPLC analyzer 120 for analysis, and remove the analyzed sample carrier 180 from the UPLC analyzer 120.

[0052] The solvent holding device 150 is used to hold solvent and is connected to the UPLC analyzer 120 to allow the solvent in the solvent holding device 150 to be introduced into the UPLC analyzer 120. Specifically, the solvent holding device 150 can be mounted on the support platform 110, or it can be mounted on the UPLC analyzer 120. Mounting the solvent holding device 150 on the UPLC analyzer 120 saves installation space and allows for a shorter connecting conduit between the solvent holding device 150 and the UPLC analyzer 120, resulting in a cleaner and more aesthetically pleasing design. The solvent holding device 150 can introduce solvent into the UPLC analyzer 120 through the conduit. Before the UPLC analyzer 120 analyzes the experimental sample, the sample is diluted with the solvent; after the analysis, the UPLC analyzer 120 can be cleaned with the solvent.

[0053] This embodiment integrates the UPLC analyzer 120 and robotic arm 130 onto the support platform 110, enabling automated analysis of experimental samples. This reduces labor and time costs and improves instrument utilization. Furthermore, the automated analysis also prevents harmful substances from posing a risk to human health.

[0054] In some embodiments, see Figure 5 The solvent holding device 150 includes a support plate 151, weighing units 152, and a processing unit. The support plate 151 is mounted on a support platform 110 or a UPLC analyzer 120. There is at least one weighing unit 152, all connected to the support plate 151. The weighing units 152 are used to hold the solvent container 153 and to detect the amount of solvent in the container 153 in real time. Specifically, the container 153 can be a solvent bottle, test tube, beaker, etc. The processing unit is mounted on the support plate 151 and is electrically connected to each weighing unit 152 to obtain the amount of solvent in the container 153.

[0055] In one specific implementation, see Figure 6 The weighing unit 152 includes a connecting plate 152a, a weighing sensor 152b, and a support member 152c. The connecting plate 152a is connected to the bearing plate 151. The weighing sensor 152b includes a fixing part and a load-bearing part, with the fixing part connected to the connecting plate 152a. The support member 152c is connected to the load-bearing part and is used to place a container 153 containing solvent. The weighing sensor 152b is used to detect the amount of solvent in the container 153 in real time.

[0056] Specifically, see Figure 6 The load cell 152b can be a single-point load cell, with one end of the single-point load cell ( Figure 6 The left end of the load cell 152b is connected to the connecting plate 152a, and a first pad 152d is provided at the connection point to create a gap between the bottom plane of the load cell 152b and the connecting plate 152a. The other end of the load cell 152b (shown on the left) is connected to the connecting plate 152a, and a first pad 152d is provided at the connection point to create a gap between the bottom plane of the load cell 152b and the connecting plate 152a. Figure 6 The right end shown is connected to the support member 152c, and a second pad 152e is provided at the connection point to create a gap between the weighing sensor 152b and the support member 152c. A groove may be formed on the upper surface of the support member 152c, and the bottom of the solvent container 153 may be embedded in this groove.

[0057] In a specific implementation, the processing unit can be a transmitter, which integrates each weighing unit 152 on the carrier plate 151. The transmitter supplies power to the weighing sensors 152b on each weighing unit 152 and receives the amount of solvent in the container 153 detected by each weighing sensor 152b.

[0058] This embodiment utilizes the weighing principle of a single-point weighing sensor to determine the solvent capacity in container 153 on support 152c by using the weight data sensed by the single-point weighing sensor. Multiple single-point weighing sensors are integrated together, and the obtained sensor data is transmitted to the system control terminal through a transmitter to detect changes in the solution in container 153 at any time.

[0059] This embodiment can promptly acquire information on changes in liquid level and automatically detect the amount of solvent in container 153 online, greatly improving the efficiency of the automated experimental process, and its structure is simple and reliable. Furthermore, since it can promptly acquire data on the solvent level in container 153, it can also provide data support for decision-making at the system control end.

[0060] Furthermore, the solvent holding device 150 may also include an alarm unit. The alarm unit is disposed on the support plate 151 and is electrically connected to the processing unit. It is used to issue an alarm signal when the solvent level is lower than a preset value, prompting the operator to add solvent to the container 153 in a timely manner. It should be noted that, in specific implementations, this preset value can be determined according to actual conditions, and this embodiment does not impose any limitations on it.

[0061] In some embodiments, see continue to see Figure 1 The UPLC analyzer 120 includes a body 121, a door 122, and an automatic door opening / closing mechanism 123. The door 122 is slewably mounted on the body 121, and the automatic door opening / closing mechanism 123 can be mounted on the body 121 or on the support platform 110. The automatic door opening / closing mechanism 123 is connected to the door 122 and is used to control the automatic opening or closing of the door 122.

[0062] In one specific implementation, see Figure 9 The automatic door opening and closing mechanism 123 may include: a support body 123a, a drive mechanism 123b, a transmission shaft 123c, a connecting rod 123d, and a floating joint 123e. The support body 123a may include a top plate 123f, a bottom plate 123g, and a vertical plate 123h connecting the top plate 123f and the bottom plate 123g. The drive mechanism 123b is mounted on the top plate 123f of the support body 123a. One end of the transmission shaft 123c is connected to the output end of the drive mechanism 123b, and the other end is rotatably connected to the bottom plate 123g of the support body 123a. One end of the connecting rod 123d is connected to the transmission shaft 123c, and the other end is a free end. When the drive mechanism 123b drives the transmission shaft 123c to rotate, the transmission shaft 123c can drive the connecting rod 123d to rotate. The floating joint 123e includes a floating end and a fixed end. The floating end is slidably connected to the connecting rod 123d, and the fixed end is used to connect to the door body 122. The connecting rod 123d can drive the floating joint 123e to move, and the floating joint 123e can also slide along the connecting rod 123d to open or close the door body 122.

[0063] Specifically, the connecting rod 123d has a guide groove 123i along its length, and the floating end is slidably embedded in the guide groove 123i. Alternatively, the connecting rod 123d is provided with a slide rail along its length, and the floating end can move along the slide rail by means of a slider.

[0064] This embodiment realizes the automatic opening and closing function of the door 122, which not only provides the prerequisite for the full automation of the UPLC analyzer 120, but also greatly reduces labor and time costs and prevents harmful substances from harming the operators.

[0065] In some embodiments, see Figure 10 The gripping device 140 includes a drive unit 141 and two grippers 142. The drive unit 141, which may be an electric gripper or similar device, is detachably connected to the robotic arm 130 via a quick-change connector 143. Both grippers 142 are connected to the drive unit 141. Each gripper 142 includes a gripping arm 142a and gripper fingers 142b. The gripping arm 142a is connected to the drive unit 141, and the gripper fingers 142b are buoyantly connected to the gripping arm 142a. Each gripper finger 142b has a gripping surface 142e. The gripping surfaces 142e of the gripper fingers 142b in the two grippers 142 are arranged opposite each other. Under the drive of the drive unit 141, the two gripper fingers 142b move closer or further apart to grip or release the sample carrier 180 through the gripping surfaces 142e.

[0066] In one specific implementation, see Figure 10 The clamping arm 142a includes: a third connecting portion 142c and a fourth connecting portion 142d, the first end of the third connecting portion 142c ( Figure 10 The rear end shown is connected to the drive unit 141, and the second end of the third connection unit 142c ( Figure 10 The front end shown) and the first end of the fourth connecting part 142d ( Figure 10 The second end of the fourth connecting part 142d (as shown in the diagram) is connected to the rear end of the fourth connecting part 142d. Figure 10 The front end shown is the free end, and the gripper finger 142b is connected to the fourth connecting part 142d.

[0067] In one specific implementation, see [link to relevant documentation]. Figure 10 The gripper finger 142b includes a first connecting portion 142g and a second connecting portion 142h. The first connecting portion 142g is rotatably and floatingly connected to the fourth connecting portion 142d of the gripper arm 142a. The second connecting portion 142h is connected to the first connecting portion 142g, and the gripping surface 142e is located on the side of the second connecting portion 142h facing away from the fourth connecting portion 142d of the gripper arm 142a. An elastic element is placed between the fourth connecting portion 142d of the gripper arm 142a and the second connecting portion 142h of the gripper finger 142b. One end of the elastic element is connected to the fourth connecting portion 142d, and the other end abuts against the second connecting portion 142h. In a specific implementation, the elastic element can be a spring, a sheet, a rubber block, etc.

[0068] In this embodiment, by levitatingly connecting the gripper finger 142b to the gripper arm 142a, when the gripping surface of the gripper finger 142b is slightly non-parallel to the sample carrier device 180, the gripper finger 142b can automatically adjust the gripping direction to successfully grip the sample carrier device 180, so that the sample carrier device 180 will not fall off during gripping and transfer.

[0069] In this embodiment, the gripping device 140 further includes an elastic pad 142f, disposed on the gripping surface 142e of each gripper finger 142b, for elastically contacting the sample carrier 180 when the gripper finger 142b grips the sample carrier 180. Specifically, the elastic pad 142f can be a foamed silicone pad, a rubber pad, etc. Compared with related technologies, under the same gripping pressure, the friction between the elastic pad 142f and the sample carrier 180 in this embodiment is significantly increased, effectively preventing the risk of the sample carrier 180 slipping. Furthermore, because the elastic pad 142f is made of a soft material, it will not wear down the sample carrier 180 when gripping it.

[0070] Furthermore, the elastic pad 142f has an anti-slip portion on the surface that contacts the sample carrier 180 to further increase friction. The anti-slip portion can be anti-slip textures, anti-slip raised particles, etc., provided on the elastic pad 142f.

[0071] In some embodiments, see Figure 2 and Figure 11 It also includes: a three-axis calibration bracket 191 and three identification code calibration plates 192. The three-axis calibration bracket 191 is connected to the outer wall of the upper body 160, and includes two mutually perpendicular X-axis connecting plates 191a, Y-axis connecting plates 191b, and Z-axis connecting plates 191c. One end of the Y-axis connecting plate 191b is connected to one end of the X-axis connecting plate 191a, and the other end of the Y-axis connecting plate 191b is connected to one end of the Z-axis connecting plate 191c. Two of the three identification code calibration plates 192 are located at opposite ends of the X-axis connecting plate 191a, and the third is located at the other end of the Z-axis connecting plate 191c. Each identification code calibration plate 192 contains an identification code used to position an external device (such as an external mobile robot) on the upper body 160. The X-axis connecting plate 191a is parallel to the support platform 110. The identification code can be a QR code, barcode, character code, etc.

[0072] This embodiment enables external devices such as robots to locate the upper body 160 by reading the identification code arranged in three-dimensional space, thereby determining the position of the UPLC analysis equipment and improving the positioning accuracy.

[0073] In some embodiments, see Figure 11It also includes a tray exchange compartment 190. The tray exchange compartment 190 is connected to the support platform 110 and is located on the side near the solvent holding device 150, so that a person or mobile robot can add solvent and pick up and put away the sample carrier 180 on this side. The tray exchange compartment 190 is used to exchange the sample carrier 180 before and after analysis with the outside world. The robotic arm 130 drives the gripping device 140 to remove the sample carrier 180 before analysis from the tray exchange compartment 190, and / or put the sample carrier 180 after analysis by the UPLC analyzer 120 into the tray exchange compartment 190.

[0074] In some embodiments, see Figure 12 The pallet exchange compartment 190 includes a support assembly, a holding plate 193, and a positioning element 194. The support assembly is connected to the support platform 110. Specifically, the support assembly includes a base plate 195 and side plates 196. The base plate 195 corresponds to the holding plate 193, and the base plate 195 is connected to the holding plate 193 via the side plates 196. The base plate 195 and / or the side plates 196 are connected to the support platform 110. The holding plate 193 has at least one compartment for storing a sample carrying device 180. The positioning element 194 is connected to the holding plate 193 and corresponds to the compartment. The positioning element 194 cooperates with a fixing part provided at the bottom of the sample carrying device 180 to limit the sample carrying device 180 within the compartment.

[0075] In this embodiment, when storing the sample carrier 180, the positioning member 194 on the holding plate 193 cooperates with the fixing part at the bottom of the sample carrier 180 to better position the sample carrier 180 and improve storage and retrieval efficiency. Furthermore, the cooperation between the positioning member 194 and the fixing part can also limit the sample carrier 180 to the compartment of the holding plate 193, thereby fixing the sample carrier 180 and solving the problem of the sample carrier 180 easily slipping off.

[0076] In addition, the pallet exchange compartment 190 may also include sensors connected to the holding plate 193 and corresponding to the compartment positions. Each compartment may be equipped with at least one sensor to sense whether a sample carrier 180 is placed in that compartment. Accordingly, the pallet exchange compartment 190 also includes a control unit electrically connected to the sensors to acquire the sensor signals and, when a sample carrier 180 is sensed in a compartment, to notify the robotic arm 130 to remove it.

[0077] This invention also provides a UPLC analysis system, see [link to relevant documentation]. Figure 13The system includes a sample preparation device 200 and any of the aforementioned UPLC analysis devices 100. The sample preparation device 200 and the UPLC analysis device 100 are arranged side-by-side, with the sample preparation device 200 positioned near the robotic arm 130 within the UPLC analysis device 100, or the sample preparation device 200 positioned to the side of the UPLC analyzer 120 within the UPLC analysis device 100.

[0078] The space for experimental operations in the sample preparation device 200 is connected to the accommodating space of the UPLC analysis device 100. The robotic arm 130 of the UPLC analysis device 100 takes out the sample carrier 180 containing the prepared experimental sample from the sample preparation device 200 and puts it into the UPLC analyzer 120 for analysis, and / or takes out the sample carrier 180 containing the analyzed experimental sample from the UPLC analyzer 120 and puts it into the sample preparation device 200 for processing.

[0079] The working principle of this embodiment is as follows: The automatic door opening and closing mechanism 123 opens the door 122, and the robotic arm 130 uses the gripping device 140 to grasp the sample carrier 180 containing the reagent to be tested from the sample preparation equipment 200. The sample carrier 180 is placed into the UPLC analyzer 120, and then the automatic door opening and closing mechanism 123 closes the door 122, and the UPLC analyzer 120 begins detection and analysis. When the reagent detection and analysis in the UPLC analyzer 120 is completed, the automatic door opening and closing mechanism 123 opens the door 122, and the robotic arm 130 uses the gripper device 140 to grasp the sample carrier 180 that has completed detection and analysis in the UPLC analyzer 120, and puts the sample carrier 180 back into the sample preparation equipment 200. This cycle repeats. When the solvent level in the solvent container 150 is lower than the lower limit, the alarm unit will give a solvent shortage warning. At this time, the nitrogen spring door needs to be opened manually to add solvent to the container. After adding solvent, the workstation continues to operate.

[0080] This embodiment combines the UPLC analyzer 120 with the sample preparation equipment, which can simultaneously realize the automatic preparation and analysis of samples, reduce intermediate transfer links, effectively improve work efficiency, and has a compact layout, which can save space.

[0081] In some embodiments, the support platform 110 of the UPLC analysis device 100 is provided with a material storage rack on the side near the sample preparation device 200, or the sample preparation device 200 is provided with a material storage rack on the side near the UPLC analysis device 100.

[0082] The robotic arm on the sample preparation device 200 places the sample carrier 180 containing the prepared experimental sample into the material storage rack so that the robotic arm 130 of the UPLC analysis device 100 can remove it. And / or, the robotic arm 120 of the UPLC analysis device 100 places the sample carrier 180 containing the analyzed experimental sample into the material storage rack so that the robotic arm on the sample preparation device 200 can remove it.

[0083] In this embodiment, a material storage rack is provided on the sample preparation device 200 or the UPLC analysis device 100 to enable experimental sample interaction between the UPLC analysis device 100 and the sample preparation device 200.

[0084] It is understood that the UPLC analysis device 100 can obtain the experimental sample to be analyzed from the sample preparation device 200, or it can obtain the experimental sample to be analyzed from the outside through the tray interaction compartment 190; this is not limited here. The UPLC analysis device 100 can place the analyzed experimental sample into the sample preparation device 200 for further processing, or it can transfer the analyzed experimental sample to the outside through the tray interaction compartment 190; this is not limited here.

[0085] In some embodiments, see Figure 14 and Figure 15 The sample carrying device 180 includes: a base 181 and a boss 182 formed on the upper surface of the base 181. The boss 182 has a placement hole 182a for placing a container for holding an experimental sample. Steps are formed between the opposite ends of the boss 182 and the base 181. In a specific implementation, both the base 181 and the boss 182 can be square. The other opposite ends of the boss 182 are flush with the base 181, that is, the upper and lower sides of the base 181 and the boss 182 are flush (relative to the base 181 and the upper and lower sides of the boss 182). Figure 15 (As shown in the diagram). The boss 182 may have 24 placement holes 182a arranged in a square for placing containers, such as 2ml test tubes, reagent bottles, etc. Both the base 181 and the boss 182 can be machined from PPS material.

[0086] In this embodiment, the sample carrier 180 is configured with a stepped structure, which can be adapted to different usage scenarios. For example, the sample carrier 180 can be placed vertically inside the sample preparation device 200 and horizontally inside the UPLC analyzer 120. When the gripping device 140 removes the sample carrier 180 from the sample preparation device 200, the gripping device 140 grasps both sides of the length of the substrate 181. Figure 8 As shown. When the gripping device 140 removes or places the sample carrier 180 from the UPLC analyzer 120, the gripping device 140 grasps both sides of the length of the step 182, as shown. Figure 7 As shown.

[0087] In some embodiments, an identification code, such as a QR code or graphic code, is provided on the sample carrier 180. By scanning the identification code, information about the chemical reagents in the containers on each placement hole of the sample carrier 180 can be obtained.

[0088] In practical implementation, a pin hole or a pointed step pin can be provided at the bottom of the sample carrier 180 to cooperate with the pointed step pin or pin hole provided on the preparation platform of the sample preparation equipment 200 or the carrier platform of the UPLC analysis equipment 100. This allows the sample carrier 180 to automatically correct itself by its own weight when the positional deviation is within 2mm. During operation, the clamping device 140 vertically lowers the test tube into the corresponding placement hole directly above the sample carrier 180. When the test tube reaches about 1mm below the bottom plane of the hole in the sample carrier 180, the clamping device 140 releases the test tube, and the test tube falls to the bottom of the hole under gravity. Because the top of the hole has a chamfer, even if there is a slight deviation between the axis of the cap and the axis of the hole, it can be automatically corrected.

[0089] In some embodiments, a visual positioning mechanism is further included. The visual positioning mechanism is disposed on the side of the UPLC analysis device 100 and close to the sample preparation device 200, or on the side of the sample preparation device 200 and close to the UPLC analysis device 100. The visual positioning mechanism is used to determine the positional state between the UPLC analysis device 100 and the sample preparation device 200. Specifically, the visual positioning mechanism can be disposed on the support platform 110 or on the upper body 160.

[0090] In some embodiments, a mobile robot is also included, which is used to place the sample carrier 180 containing the sample to be tested into the sample preparation device 200 or the UPLC analysis device 100, or to remove the sample carrier 180 after the experiment from the sample preparation device 200 or the UPLC analysis device 100. The mobile robot can locate the UPLC analysis device 100 and / or the sample preparation device 200 using identification codes on three identification code calibration plates.

[0091] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A UPLC analysis device, characterized in that, include: Platform; A UPLC analyzer is mounted on the support platform. The UPLC analyzer includes a body, a door, and an automatic door opening / closing mechanism. The door is mounted on the body, and the automatic door opening / closing mechanism is connected to the door and controls the door to open or close automatically. The automatic door opening / closing mechanism includes a support body, a drive mechanism, a transmission shaft, a connecting rod, and a floating joint. The drive mechanism is mounted on the support body. One end of the transmission shaft is connected to the output end of the drive mechanism, and the other end is rotatably connected to the support body. One end of the connecting rod is connected to the transmission shaft, and the other end is... At the free end, when the drive mechanism drives the transmission shaft to rotate, the transmission shaft can drive the connecting rod to rotate; the floating joint includes a floating end and a fixed end, the floating end is slidably connected to the connecting rod, the fixed end is used to connect to the door body, the connecting rod can drive the floating joint to move, and the floating joint can also slide along the connecting rod to open or close the door body; the connecting rod has a guide groove along its length, and the floating end is slidably embedded in the guide groove; or, the connecting rod has a slide rail along its length, and the floating end can move along the slide rail via a slider; A robotic arm mounted on the support platform; The gripping device is installed on the robotic arm. The robotic arm drives the gripping device to move so that after the door is opened, the gripping device puts the sample carrier containing the experimental sample into the UPLC analyzer for analysis, and takes the analyzed sample carrier out of the UPLC analyzer. A solvent holding device is installed on the support platform. The solvent holding device is used to hold solvent and is connected to the UPLC analyzer so that the solvent in the solvent holding device is introduced into the UPLC analyzer.

2. The UPLC analysis device according to claim 1, characterized in that, The solvent holding device includes: A support plate is mounted on the support platform or the UPLC analyzer; A weighing unit, wherein there is at least one weighing unit and all of them are connected to the support plate, the weighing unit is used to support the container holding the solvent and to detect the amount of solvent in the container in real time; A processing unit is disposed on the support plate and is electrically connected to the weighing unit for obtaining the amount of solvent in the container.

3. The UPLC analysis device according to claim 2, characterized in that, The weighing unit includes: A connecting plate connected to the support plate; The weighing sensor includes a fixed part and a load-bearing part, wherein the fixed part is connected to the connecting plate; A support member is connected to the load-bearing part. The support member is used to place the container. The weighing sensor is used to detect the amount of solvent in the container in real time.

4. The UPLC analysis apparatus according to claim 3, characterized in that, The solvent holding device further includes: An alarm unit is installed on the support plate and corresponds one-to-one with the weighing sensor. The alarm unit is electrically connected to the processing unit and is used to issue an alarm signal when the solvent content is lower than a preset value.

5. The UPLC analysis apparatus according to claim 1, characterized in that, The clamping device includes: The drive unit is connected to the robotic arm; Two grippers are connected to the drive unit. Each gripper includes a gripping arm and gripping fingers. The gripping arm is connected to the drive unit, and the gripping fingers are buoyantly connected to the gripping arm. Each gripping finger has a gripping surface. The gripping surfaces of the gripping fingers of the two grippers are arranged opposite to each other. The two gripping fingers move closer or further apart under the drive of the drive unit to grip or release the sample carrier device.

6. The UPLC analysis apparatus according to claim 5, characterized in that, The clamping device further includes: An elastic pad is provided on the gripping surface of each of the gripper fingers, for elastically abutting against the sample carrier device when the gripper fingers grip the sample carrier device; The elastic pad has an anti-slip part on the surface that is in contact with the sample carrier.

7. The UPLC analysis apparatus according to claim 5, characterized in that, The gripper fingers include: A first connecting part is rotatably and floatingly connected to the clamping arm; The second connecting part is connected to the first connecting part, and the clamping surface is located on the side of the second connecting part opposite to the clamping arm; An elastic element is placed between the clamping arm and the second connecting part, with one end of the elastic element connected to the clamping arm and the other end abutting against the second connecting part.

8. The UPLC analysis apparatus according to claim 1, characterized in that, Also includes: The upper body is connected to the support platform and together with the support platform, forms an accommodating space. The UPLC analyzer, the robotic arm, the gripping device, and the solvent holding device are placed within the accommodating space. The upper body is provided with a switch door on the side corresponding to the solvent holding device, so as to interact with the outside world through the switch door. The lower body is connected to and located below the support platform. The lower body contains the robotic arm, the gripping device, and the control and electrical equipment of the UPLC analyzer.

9. The UPLC analysis apparatus according to claim 8, characterized in that, Also includes: A three-axis calibration bracket is connected to the outer wall of the upper body. The three-axis calibration bracket includes an X-axis connecting plate, a Y-axis connecting plate and a Z-axis connecting plate arranged perpendicularly to each other. One end of the Y-axis connecting plate is connected to one end of the X-axis connecting plate, and the other end of the Y-axis connecting plate is connected to one end of the Z-axis connecting plate. Three identification code calibration plates, two of which are respectively disposed at both ends of the X-direction connecting plate, and the other identification code calibration plate is disposed at the other end of the Z-direction connecting plate; Each of the identification code calibration boards has a built-in identification code, which is used to enable external devices to locate the upper body.

10. The UPLC analysis apparatus according to any one of claims 1 to 9, characterized in that, Also includes: A tray exchange compartment is connected to the support platform and is located on the side near the solvent holding device. The tray exchange compartment is used to exchange the sample support device before and after analysis with the outside world. The robotic arm drives the gripping device to remove the sample support device before analysis from the tray exchange compartment, and / or put the sample support device after analysis by the UPLC analyzer into the tray exchange compartment.

11. The UPLC analysis apparatus according to claim 10, characterized in that, The pallet exchange compartment includes: Support components are connected to the support platform; A holding plate, the holding plate being connected to the support assembly, the holding plate being provided with at least one compartment for storing the sample carrying device; A positioning element is connected to the holding plate and corresponds to the compartment. The positioning element is used to cooperate with a fixing part provided at the bottom of the sample carrying device to limit the sample carrying device to the compartment.

12. The UPLC analysis apparatus according to claim 11, characterized in that, The pallet exchange compartment also includes: A sensor is connected to the holding plate and corresponds to the compartment. Each compartment is provided with at least one sensor to sense whether the sample carrier is placed on the compartment. The pallet exchange compartment also includes a control unit, which is electrically connected to the sensor and the robotic arm. The control unit is used to acquire the sensing signal from the sensor and notify the robotic arm to remove the sample carrier when the sample carrier is detected in the compartment.

13. A UPLC analysis system, characterized in that, Includes sample preparation equipment and UPLC analysis equipment as described in any one of claims 1 to 12; wherein, The sample preparation device is arranged side by side with the UPLC analysis device, and the sample preparation device is placed on the side of the robotic arm in the UPLC analysis device, or the sample preparation device is placed on the side of the UPLC analyzer in the UPLC analysis device; The space for experimental operations in the sample preparation equipment is connected to the accommodating space of the UPLC analysis equipment. The robotic arm of the UPLC analysis equipment removes a sample carrier containing the prepared experimental sample from the sample preparation equipment and places it into the UPLC analyzer for analysis, and / or removes a sample carrier containing the analyzed experimental sample from the UPLC analyzer and places it into the sample preparation equipment for processing.

14. The UPLC analysis system according to claim 13, characterized in that, The UPLC analysis equipment has a material storage rack on the side of the support platform closer to the sample preparation equipment, or the sample preparation equipment has the material storage rack on the side of the UPLC analysis equipment. The robotic arm on the sample preparation device places the sample carrier containing the prepared experimental sample into the material storage rack so that the robotic arm of the UPLC analysis device can remove it; and / or, the robotic arm of the UPLC analysis device places the sample carrier containing the analyzed experimental sample into the material storage rack so that the robotic arm of the sample preparation device can remove it.

15. The UPLC analysis system according to claim 13, characterized in that, The sample carrier includes: Base; A boss is formed on the upper surface of the substrate, and the boss has a placement hole for placing a container for holding experimental samples. Steps are formed between the two opposite ends of the boss and the substrate.

16. The UPLC analysis system according to claim 15, characterized in that, Both the base and the boss are square, and the other two opposite ends of the boss are flush with the base.

17. The UPLC analysis system according to any one of claims 13 to 16, characterized in that, Also includes: A visual positioning mechanism is disposed on the side of the UPLC analysis device and close to the sample preparation device, or disposed on the side of the sample preparation device and close to the UPLC analysis device, the visual positioning mechanism being used to determine the positional state between the UPLC analysis device and the sample preparation device.

18. The UPLC analysis system according to any one of claims 13 to 16, characterized in that, Also includes: A mobile robot is used to place the sample carrier device to be tested into the sample preparation equipment or the UPLC analysis equipment, and / or to remove the sample carrier device after the experiment from the sample preparation equipment or the UPLC analysis equipment.

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