Motion system and fully automatic inspection instrument

Abstract

The application belongs to the technical field of full-automatic inspection equipment, and particularly relates to a motion system and a full-automatic inspection instrument. The motion system comprises a three-axis motion platform, a reagent injection structure, a sample injection structure and a waste liquid extraction structure. The three-axis motion platform comprises an X-axis module, a Y-axis module and a Z-axis module. The reagent injection structure is arranged on the Y-axis module and is arranged to move along the X direction under the action of the X-axis module, so as to inject reagents into a reaction tank. The sample injection structure is arranged on the Z-axis module and is arranged to move along the Z direction, the Y direction and the X direction under the action of the Z-axis module, the Y-axis module and the X-axis module, so as to extract samples from a sample tube and inject the samples into the reaction tank. The waste liquid extraction structure is arranged on the X-axis module and is arranged to move along the X direction under the action of the X-axis module, so as to extract waste liquid from the reaction tank. The motion system can realize automatic injection and extraction of liquid, improve efficiency and safety, and reduce work intensity.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of full-automatic inspection equipment, and particularly relates to a motion system and a full-automatic inspection instrument. BACKGROUND

[0002] Immunoblotting, also known as Western blotting, is a method for detecting a certain protein in a complex sample according to specific binding of antigen and antibody. It is a new immunobiochemical technology developed on the basis of gel electrophoresis and solid-phase immunoassay technology. Immunoblotting is often used to identify a certain protein and can perform qualitative and semi-quantitative analysis on the protein. Combined with chemiluminescence detection, the expression level differences of the same protein in multiple samples can be compared at the same time. Immunoblotting detects by specific immunoreaction between antibody and antigen epitope presented by target protein attached to solid support.

[0003] The detection method of the prior art immunoblotting instrument is generally manual or semi-automatic, different reagents need to be replaced, and frequent operation increases the working strength and time of the experimenter. In addition, manual operation is complicated and complex, there is more contact between people and potentially infected articles, and the detection safety is poor. SUMMARY

[0004] The present application provides a motion system and a full-automatic inspection instrument to solve the technical problems of low automation degree, low detection efficiency and poor safety in the prior art.

[0005] The present application provides a motion system and a full-automatic inspection instrument to solve the technical problems of low automation degree, low detection efficiency and poor safety in the prior art.

[0006] In the optional scheme of the present application, the X-axis module includes an X-axis guide rail, an X-axis sliding block, a moving vertical beam assembly and an X-axis power mechanism. The X-axis sliding block is slidingly connected to the X-axis guide rail, the moving vertical beam assembly is connected to the X-axis sliding block, and the X-axis power mechanism is connected to the moving vertical beam assembly and drives the moving vertical beam assembly and the X-axis sliding block to move along the X-axis guide rail. The Y-axis module and the waste liquid extraction structure are connected to the moving vertical beam assembly.

[0007] In an optional scheme of the present application, the X-axis power mechanism comprises an X-axis motor and a transmission belt, the transmission belt is connected to the X-axis motor and rotates under the action of the X-axis motor; the movable vertical beam assembly is connected to the transmission belt and moves along the X direction under the action of the transmission belt.

[0008] In an optional scheme of the present application, the Y-axis module comprises a Y-axis guide rail, a Y-axis sliding block, a Y-axis base and a Y-axis power mechanism, the Y-axis guide rail is arranged on the Y-axis base; the Y-axis sliding block is slidingly connected to the Y-axis guide rail, the Y-axis power mechanism is connected to the Y-axis sliding block and drives the Y-axis sliding block to move along the Y-axis guide rail; the Z-axis module is connected to the Y-axis sliding block, and the reagent injection structure is connected to one end of the Y-axis base close to the reaction tank.

[0009] In an optional scheme of the present application, the waste liquid extraction structure comprises a movable rod, a waste liquid needle and a baffle, one end of the movable rod is pivotally connected to the movable vertical beam assembly, the other end of the movable rod is connected to the waste liquid needle, and the baffle is connected to the movable rod and extends upward; the Y-axis sliding block is provided with a first blocking column extending downward, the first blocking column is arranged to be capable of abutting against the baffle during the movement of the Y-axis sliding block close to the baffle, and the movable vertical beam assembly is provided with a second blocking column; the movable rod is arranged to be pivoted and make the waste liquid needle enter the reaction tank in the case that the first blocking column abuts against the baffle; the movable rod is further arranged to be pivoted and abut against the second blocking column and make the waste liquid needle leave the reaction tank in the case that the first blocking column is separated from the baffle.

[0010] In an optional scheme of the present application, the Z-axis module comprises a Z-axis guide rail, a Z-axis sliding block and a Z-axis power mechanism; the Z-axis sliding block is slidingly connected to the Z-axis guide rail, and the Z-axis power mechanism is connected to the Z-axis sliding block and drives the Z-axis sliding block to move along the Z-axis guide rail; the sample injection structure is connected to the Z-axis sliding block.

[0011] In an optional scheme of the present application, the motion system further comprises a cleaning pool, the cleaning pool is connected to the movable vertical beam assembly to be capable of moving along the X direction; the sample injection structure comprises a sample needle, and the sample injection structure is arranged to be capable of moving to the cleaning pool and the sample needle extends into the cleaning pool for cleaning.

[0012] In an optional scheme of the present application, the motion system further comprises a code scanning assembly, the code scanning assembly is connected to the movable vertical beam assembly to be capable of moving along the X direction; the code scanning assembly comprises a code scanner, a first reflecting mirror and a lever, the code scanner and the first reflecting mirror are arranged at intervals along the X direction, the first reflecting mirror is used for displaying the image of the sample tube, the code scanner is used for identifying the image in the first reflecting mirror, and the first reflecting mirror is arranged to be pivoted with the movement of the lever.

[0013] In an optional scheme of the present application, the motion system further comprises an image acquisition assembly, the image acquisition assembly is connected to the movable vertical beam assembly to be capable of moving along the X direction; the image acquisition assembly comprises a camera and a second reflecting mirror, the second reflecting mirror is used for displaying the image of the reaction tank, and the camera is used for identifying the image in the second reflecting mirror.

[0014] The second aspect of the present application provides a full-automatic detection instrument, which comprises the motion system.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] The motion system provided by the present application is based on a three-axis motion platform layout to meet the requirements of reagent injection operation, sample injection operation and waste liquid extraction operation in different motion directions, and to make the reagent injection structure, sample injection structure and waste liquid extraction structure not interfere with each other during operation, with high space utilization and high integration level. In this way, the motion system can at least realize automatic injection and extraction operation, improve efficiency, avoid manual reagent replacement, improve safety, and reduce work intensity. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0018] Figure 1 FIG. 1 is a schematic diagram of a full-automatic detection instrument according to one embodiment of the present application;

[0019] Figure 2 FIG. 2 is a schematic diagram of a motion system according to one embodiment of the present application;

[0020] Figure 3 FIG. 3 is a schematic diagram of the motion system in FIG. 2 in another state; Figure 2

[0021] FIG. 4 is a schematic diagram of the motion system in FIG. 2 in another perspective view; Figure 4 Figure 3 FIG. 5 is a partial enlarged view of A of the motion system in FIG. 2;

[0022] Figure 5 Figure 3 FIG. 6 is a partial enlarged view of B of the motion system in FIG. 2.

[0023] Figure 6 FIG. 7 is a partial enlarged view of C of the motion system in FIG. 2. Figure 4

[0024] Reference signs

[0025] 10, full-automatic detection instrument; 100, motion system; 200, reaction tank row; 300, sample tube row; 110, three-axis motion platform;

[0026] ​​​111, X-axis module; 1111, X-axis guide rail; 1112, X-axis slider; 1113, moving vertical beam assembly; 1114, X-axis motor; 1115, transmission belt;

[0027] 112, Y-axis module; 1121, Y-axis guide rail; 1122, Y-axis slider; 1123, Y-axis motor; 1124, rack; 1125, Y-axis base;

[0028] 113, Z-axis module; 1131, Z-axis guide rail; 1132, Z-axis slider; 1133, Z-axis motor; 1134, screw rod; 1135, Z-axis base;

[0029] 120, reagent injection structure; 121, needle rack; 122, reagent needle;

[0030] 130, sample injection structure; 131, sample needle;

[0031] 140, waste liquid extraction structure; 141, movable rod; 142, waste liquid needle; 143, baffle;

[0032] 150, code scanning assembly; 151, code scanner; 152, first reflector; 153, lever;

[0033] 160, image acquisition assembly; 161, camera; 162, second reflector;

[0034] 170, air drying assembly; 171, fan; 180, cleaning pool;

[0035] D1, first blocking column; D2, second blocking column; K, on-off component. DETAILED DESCRIPTION

[0036] In order to make the above and other features and advantages of the present application more apparent, the present application will be further described below with reference to the accompanying drawings. It should be understood that the specific examples given herein are for the purpose of explanation and are not to be construed as limiting.

[0037] Figure 1 A schematic view of a fully automatic testing instrument 10 according to one embodiment of the present application.

[0038] The fully automatic testing instrument 10 can be a fully automatic immunoblotting instrument for immunoblotting test, of course, not limited to this, but also other types of testing instruments.

[0039] Please refer to Figure 1The full-automatic inspection instrument of the present application comprises a motion system 100, a reaction tank array 200 and a sample tube array 300. In a specific application, the reaction tank array 200 comprises a plurality of reaction tanks arranged along the X direction at intervals, and a test paper is arranged in each reaction tank for sensing. The sample tube array 300 comprises a plurality of sample tubes arranged along the X direction at intervals, and each sample tube is used for storing a sample to be detected.

[0040] Figure 2 A schematic view of the motion system 100 provided according to one embodiment of the present application, Figure 3 A schematic view of the motion system 100 in another state in the reaction tank array 200, Figure 2 A schematic view of the motion system 100 in another state in the reaction tank array 200, Figure 4 A schematic view of the motion system 100 in another state in the reaction tank array 200, Figure 3 A schematic view of the motion system 100 in another state in the reaction tank array 200. Please refer to Figures 1 to 3 In the present disclosure, the motion system comprises a three-axis motion platform 110, a reagent injection structure 120, a sample injection structure 130 and a waste liquid extraction structure 140. The three-axis motion platform 110 is used to drive the reagent injection structure 120, the sample injection structure 130 and the waste liquid extraction structure 140 to move, the reagent injection structure 120 is used to inject reagents into the reaction tank, the sample injection structure 130 is used to extract samples from the sample tube and inject the samples into the reaction tank, and the waste liquid extraction structure 140 is used to extract waste liquid from the reaction tank.

[0041] The three-axis motion platform 110 comprises an X-axis module 111, a Y-axis module 112 and a Z-axis module 113, and the X-axis module 111, the Y-axis module 112 and the Z-axis module 113 have X-direction, Y-direction and Z-direction degrees of freedom, respectively.

[0042] The Y-axis module 112 is connected to the X-axis module 111, so that the Y-axis module 112 can move along the X direction under the action of the X-axis module 111. The Z-axis module 113 is connected to the Y-axis module 112, so that the Z-axis module 113 can move along the X direction and the Y direction under the action of the X-axis module 111 and the Y-axis module 112. In this way, the X-axis module 111 has X-direction degree of freedom, the Y-axis module 112 has X-direction and Y-direction degrees of freedom, and the Z-axis module 113 has X-direction, Y-direction and Z-direction degrees of freedom.

[0043] In the present disclosure, the sample injection structure 130 is arranged on the Z-axis module 113 and has X-direction, Y-direction and Z-direction degrees of freedom. The reagent injection structure 120 is arranged on the Y-axis module 112 and has X-direction degree of freedom. The waste liquid extraction structure 140 is arranged on the X-axis module 111 and has only X-direction degree of freedom. In a specific application, the reagent injection structure 120 is first moved to the reaction tank to inject reagents, and then the sample injection structure 130 is moved to the reaction tank to inject samples. After the sample and the reagent in the reaction tank react sufficiently, the waste liquid extraction structure 140 is moved to the reaction tank to extract the reacted waste liquid.

[0044] It can be seen that, based on the three-axis motion platform 110 layout, the needs of reagent injection operation, sample injection operation and waste liquid extraction operation in different motion directions are met, and the reagent injection structure 120, the sample injection structure 130 and the waste liquid extraction structure 140 do not interfere with each other during operation, with high space utilization and high integration. In this way, the motion system 100 can at least realize automatic injection and extraction operation, improve efficiency, avoid manual reagent replacement, improve safety, and reduce work intensity.

[0045] Please refer to Figure 2 In the present disclosure, the X-axis module 111 includes an X-axis guide rail 1111, an X-axis sliding block 1112, a moving vertical beam assembly 1113 and an X-axis power mechanism. The X-axis guide rail 1111 is arranged along the X direction, the X-axis sliding block 1112 is slidingly connected to the X-axis guide rail 1111, the moving vertical beam assembly 1113 is connected to the X-axis sliding block 1112, and the X-axis power mechanism is connected to the moving vertical beam assembly 1113.

[0046] The X-axis power mechanism is used to provide X-direction movement power, and the moving vertical beam assembly 1113 moves along the X direction under the action of the X-axis power mechanism, and further drives the X-axis sliding block 1112 to move along the X-axis. It can be seen that the moving vertical beam assembly 1113 and the X-axis sliding block 1112 are driven by the X-axis power mechanism to move along the X-axis guide rail 1111. The Y-axis module 112 and the waste liquid extraction structure 140 are both connected to the moving vertical beam assembly 1113, and thus can move along the X direction with the moving vertical beam assembly 1113.

[0047] Please refer to Figure 3 Further, the X-axis power mechanism includes an X-axis motor 1114 and a transmission belt 1115, the transmission belt 1115 is arranged along the X direction, the transmission belt 1115 is connected to the X-axis motor 1114 and rotates under the action of the X-axis motor 1114. The moving vertical beam assembly 1113 is connected to the transmission belt 1115 and moves along the X direction under the action of the transmission belt 1115.

[0048] It can be seen that, in the present disclosure, the X-axis power mechanism is a belt transmission mechanism, which drives the transmission belt 1115 to move the moving vertical beam assembly 1113. In specific applications, the moving vertical beam assembly 1113 is assembled by a plurality of support columns in the up-down direction, two of the plurality of support columns are connected to the transmission belt 1115 and the X-axis sliding block 1112 respectively, so that the moving vertical beam assembly 1113 and the X-axis sliding block move along the X-axis guide rail 1111 synchronously under the action of the transmission belt 1115.

[0049] As can be seen from the above, the X-axis module 111 is a combination of a belt transmission mechanism and a linear guide rail slider mechanism, wherein the belt transmission mechanism is used to provide X-direction movement power, and the linear guide rail slider mechanism plays a guiding and supporting role. In specific applications, the transmission belt 1115 is preferably a synchronous belt, which has high transmission efficiency, compact structure and accurate transmission ratio. It should be noted that the X-axis power mechanism is not limited to this, and can also be a chain transmission mechanism.

[0050] Referring to Figure 3 In the present disclosure, the Y-axis module 112 includes a Y-axis guide rail 1121, a Y-axis slider 1122, a Y-axis base 1125 and a Y-axis power mechanism. The Y-axis base 1125 is connected to the movable vertical beam assembly 1113, the Y-axis guide rail 1121 is arranged along the Y direction and is provided on the Y-axis base 1125, and the Y-axis slider 1122 is slidingly connected to the Y-axis guide rail 1121.

[0051] The Y-axis power mechanism is used to provide Y-direction movement power, and the Y-axis power mechanism is connected to the Y-axis slider 1122 to drive the Y-axis slider 1122 to move along the Y-axis guide rail 1121. As described above, the Y-axis module 112 is connected to the movable vertical beam assembly 1113 and can move in the X direction, the Z-axis module 113 and the reagent injection structure 120 are connected to the Y-axis slider 1122 and can move in the X direction and the Y direction.

[0052] In specific applications, the Y-axis power mechanism is a gear and rack transmission mechanism, referring to Figure 3 , the Y-axis power mechanism includes a Y-axis motor 1123 and a rack 1124, the Y-axis motor 1123 is installed on the Y-axis slider 1122 and is engaged with the rack 1124 (not shown in the figure) through a gear. It can be seen that the Y-axis module 112 is a combination of a gear and rack transmission mechanism and a linear guide rail slider mechanism, so that the Y-axis module 112 has a certain carrying capacity and high transmission precision. Of course, the Y-axis power mechanism is not limited to this, for example, the Y-axis slider 1122 can also be driven by an electric push rod to realize Y-direction movement.

[0053] Referring to Figure 2 In the present disclosure, the Z-axis module 113 includes a Z-axis guide rail 1131, a Z-axis slider 1132 and a Z-axis power mechanism. The Z-axis slider 1132 is arranged along the Z-axis, and the Z-axis slider 1132 is slidingly connected to the Z-axis guide rail 1131.

[0054] The Z-axis power mechanism is used to provide Z-direction movement power, and the Z-axis power mechanism is connected to the Z-axis slider 1132 to drive the Z-axis slider 1132 to move along the Z-axis guide rail 1131. As described above, the Z-axis module 113 can move in the X direction and the Y direction, and the sample injection structure 130 is connected to the Z-axis slider 1132 and can move in the X direction, the Y direction and the Z direction.

[0055] In a specific application, the Z-axis power mechanism is a screw-nut transmission mechanism, please refer to Figure 2 The Z-axis module 113 includes a Z-axis base 1135, the Z-axis power mechanism includes a Z-axis motor 1133 and a screw rod 1134, the Z-axis guide rail 1131 and the Z-axis motor 1133 are both mounted on the Z-axis base 1135, the screw rod 1134 is connected with a nut seat (not shown in the figure), the Z-axis slider 1132 is connected to the nut seat, the Z-axis motor 1133 drives the screw rod 1134 to rotate, and the nut seat converts the rotation into linear movement, thereby driving the Z-axis slider 1132 to move.

[0056] It can be seen that the Z-axis module 113 is a combination of a screw-nut mechanism and a linear guide rail slider mechanism, of course, the Z-axis power mechanism is not limited to this, for example, it can also be a ball screw structure.

[0057] From the above, in the present disclosure, the X-axis module 111 adopts a belt transmission mechanism, the Y-axis module adopts a gear and rack transmission mechanism, and the Z-axis module adopts a screw-nut transmission mechanism, and the three adopt different transmission mechanisms according to the needs, of course, the three can also adopt the same transmission mechanism, for example, the three modules are all linear motor modules.

[0058] It should be noted that the X-axis module 111, the Y-axis module 112 and the Z-axis module 113 can be multi-axis linkage or single-axis movement, which can be realized by a control program, and the specific implementation is not limited.

[0059] Figure 6 For Figure 4 a partial enlarged view of B of the motion system 100. Please refer to Figure 6 In the present disclosure, the waste liquid extraction structure 140 includes a movable rod 141, a waste liquid needle 142 and a baffle 143. Among them, one end of the movable rod 141 is pivotally connected to the movable vertical beam assembly 1113, the other end of the movable rod 141 is connected to the waste liquid needle 142, and the baffle 143 is connected to the movable rod 141 and extends upward. In a specific application, the movable rod 141 is pivotally connected to the movable vertical beam assembly 1113 through a rotating shaft, and a torsion spring is installed on the rotating shaft to reset when the movable rod 141 is not forced.

[0060] Further, the Y-axis slider 1122 is provided with a first blocking column D1 extending downward, and the moving vertical beam assembly 1113 is provided with a second blocking column D2. It should be noted that the first blocking column D1 can move along the Y direction with the Y-axis slider 1122, and in the process of moving the Y-axis slider 1122 close to the blocking piece 143, the first blocking column D1 can abut against the blocking piece 143 to act on the movable rod 141, thereby driving the movable rod 141 to pivot to make the waste liquid needle 142 enter the reaction tank. When the first blocking column D1 is separated from the blocking piece 143, the acting force of the first blocking column D1 on the blocking piece 143 disappears, the movable rod 141 is reset, and until the movable rod 141 is stopped by the second blocking column D2 to stop pivoting, thereby driving the waste liquid needle 142 to leave the reaction tank.

[0061] In a specific application, a switching component K is arranged on the moving vertical beam assembly 1113, and when the movable rod 141 pivots and makes the waste liquid needle 142 enter the reaction tank, the end of the movable rod 141 close to the moving vertical beam assembly 1113 blocks the switching component K, and the switching component K sends a switching signal to trigger the liquid pumping operation. When the movable rod 141 is reset and makes the waste liquid needle 142 leave the reaction tank, the end of the movable rod 141 close to the moving vertical beam assembly 1113 is away from the switching component K, and the switching component K stops sending the switching signal to stop the liquid pumping operation. It should be noted that the switching component K includes, for example, a photoelectric switch, a proximity switch, etc.

[0062] Figure 5 For Figure 3 A partial enlarged view of the motion system 100 at A. Please refer to Figure 5 In the present disclosure, the reagent injection structure 120 includes a needle rack 121 and a plurality of reagent needles 122, the plurality of reagent needles 122 are arranged in the Y direction at intervals in the needle rack 121, and the needle rack 121 is connected to the Y-axis base 1125, so that the reagent needles 122 only have X direction freedom. It can be understood that a plurality of reagents are added at a time by the plurality of reagent needles 122, different reagents correspond to the use of different reagent needles 122, and cross contamination of reagents is avoided.

[0063] In the present disclosure, the motion system 100 further includes a cleaning tank 180 connected to the moving vertical beam assembly 1113 to be movable in the X direction. It should be noted that the cleaning tank 180 circulates a cleaning agent.

[0064] The sample injection structure 130 includes a sample needle 131, and the sample injection structure 130 is arranged to be movable to the cleaning tank 180 and to extend the sample needle 131 into the cleaning tank 180 for cleaning. In Figure 2 In the embodiment shown, the sample needle 131 extends into the cleaning tank 180, and in Figure 3In the shown embodiment, the sample needle 131 is out of the cleaning pool 180. It is appreciated that the sample needle 131 can clean the outer peripheral wall when it is in the cleaning pool 180. Further, the sample needle 131 can draw the cleaning agent to clean the inner peripheral wall of the sample needle 131. Thus, the inner and outer peripheral walls of the sample needle 131 can be cleaned, thereby avoiding cross-infection of different sample tubes.

[0065] It is noted that the fully-automatic inspection instrument 10 can detect multiple samples at one time. Therefore, multiple reaction slots correspond to multiple samples. In a specific application, the multiple samples and reaction slots are arranged along the X direction. When the sample needle 131 draws the sample in the sample tube at the next position, the X direction position needs to be adjusted. The needle tip of the sample needle 131 needs to be cleaned each time the sample is drawn. Therefore, the cleaning pool 180 also needs to move along the X direction to avoid the sample injection structure 130 moving along the X direction for cleaning. It is appreciated that the cleaning pool 180 can clean the needle tip of the sample needle 131. The insertion depth is generally about 20 mm to 30 mm.

[0066] Please refer to Figure 2 In the present disclosure, the motion system 100 further comprises a code scanning assembly 150 connected to the moving vertical beam assembly 1113. Therefore, the code scanning assembly 150 moves along the X direction with the moving vertical beam assembly 1113. The code scanning assembly 150 is used to identify the sample tube. In a specific application, the outer peripheral wall of the sample tube is pasted with a bar code. The bar code is identified by the code scanning assembly 150 to distinguish different sample tubes.

[0067] The code scanning assembly 150 comprises a code scanner 151, a first reflector 152, and a lever 153. The code scanner 151 and the first reflector 152 are arranged along the X direction. The first reflector 152 is used to display the image of the sample tube, so that the bar code on the sample tube can be displayed. The code scanner 151 is used to identify the image in the first reflector 152, so that the bar code on the sample tube can be identified.

[0068] In actual application, the number of the sample tube rows 300 is two. The two sample tube rows 300 are arranged along the Y direction. The code scanner 151 and the first reflector 152 are located between the two sample tube rows 300. In the present disclosure, the first reflector 152 is rotated by pushing the lever 153, so that the first reflector 152 switches to display the two sample tube rows 300. Thus, the first reflector 152 and the lever 153 are combined to provide different directions of the sample tube image for the code scanner 151, so that the code scanner 151 can identify more sample tubes. Thus, the number of the identified sample tubes is ensured without additional code scanners 151, the cost is reduced, and the structure of the motion system 100 is more compact.

[0069] Please refer to Figure 2In a specific application, the mobile vertical beam assembly 1113 is provided with a mounting platform extending towards the Y direction, the code scanner 151 and the first reflector 152 are arranged on the mounting platform, and the mounting platform is connected with the X-axis drag chain, so that the X-axis drag chain can move with the mobile vertical beam assembly 1113. Various cables and pipelines are arranged in the X-axis drag chain, which will not be described in detail here.

[0070] It should be noted that the full-automatic inspection instrument 10 further comprises a lever triggering structure, which acts on the lever 153 to drive the first reflector 152 to pivot when the code scanning assembly 150 moves to the allowed limit position in the X direction.

[0071] In the present disclosure, the motion system 100 further comprises a air-drying assembly 170 connected to the mobile vertical beam assembly 1113 to be movable in the X direction, and the air-drying assembly 170 is used for air-drying the reaction tank.

[0072] In a specific application, the air-drying assembly 170 comprises a fan 171 connected to the mobile vertical beam assembly 1113 through a connecting plate (not shown in the figure), and the fan 171 can move with the mobile vertical beam assembly 1113 in the X direction, so that the fan 171 blows air towards the reaction tank to dry the reaction tank after the waste liquid is removed.

[0073] Please refer to Figure 3 In the present disclosure, the motion system 100 further comprises an image acquisition assembly 160 connected to the mobile vertical beam assembly 1113 to be movable in the X direction. Specifically, the image acquisition assembly 160 comprises a camera 161 and a second reflector 162. The second reflector 162 is used to display the image of the reaction tank, and the camera 161 is used to identify the image in the second reflector 162, i.e. to identify the image of the reaction tank.

[0074] As mentioned above, in a specific application, a test paper for sensing is arranged in the reaction tank, and the test paper will display a pattern after sensing is completed. The second reflector 162 can refract the image to the camera 161 for shooting, and the sensing result can be automatically identified by the camera 161 for feedback. It should be noted that the second reflector 162 is connected to the mobile vertical beam assembly 1113 through a connecting plate (not shown in the figure).

[0075] It can be understood that, in the absence of the second reflector 162, the camera 161 needs to be arranged directly above the reaction tank to capture the image of the reaction tank, and thus the installation height of the camera 161 needs to be ensured to cover the recognition range of the reaction tank, so that the occupied space of the motion system 100 is large. In a specific application, the second reflector 162 is arranged above the reaction tank and is arranged at an angle of 45°, so that the image of the reaction tank is reflected horizontally. The camera 161 is arranged horizontally towards the second reflector 162, so as to reduce the installation height and the occupied space of the motion system 100, and the structure is more compact.

[0076] It should be noted that the camera 161 is an industrial camera, including, for example, a CCD camera, a CMOS camera, etc. Secondly, the image acquisition assembly 160 further includes other constituent components, such as a light source, etc., which are not described in detail here.

[0077] In summary, the motion system 100 is based on the three-axis motion platform 110, and the reagent injection structure 120, the sample injection structure 130, the waste liquid extraction structure 140, the code scanning assembly 150, the image acquisition assembly 160, the air drying assembly 170, and the cleaning pool 180 are integrated on different motion modules of the three-axis motion platform 110, so as to realize various actions required by liquid injection and extraction, code scanning and identification, and image identification, and greatly improve the automation degree. Accordingly, the full-automatic inspection instrument 10 with the motion system 100 has a high degree of automation, and can reduce the risk of human contamination of the sample, reduce the labor intensity, and ensure the detection efficiency. Of course, the full-automatic inspection instrument 10 further includes other constituent components, which are not described in detail here.

[0078] Further, those skilled in the art should understand that, if all or part of the sub-modules involved in the products provided by the embodiments of the present application are combined, replaced, transformed, etc. by means of fusion, simple change, mutual transformation, etc., such as the movement of the positions of the components; or the products are integrally arranged; or the products are designed to be detachable; as long as the combined components can form a device / apparatus / system with a specific function, the device / apparatus / system can replace the corresponding components of the present application, and still falls within the protection scope of the present application.

[0079] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0080] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A motion system characterized by, The motion system comprises a three-axis motion platform (110), a reagent injection structure (120), a sample injection structure (130) and a waste liquid extraction structure (140); The three-axis motion platform (110) comprises an X-axis module (111), a Y-axis module (112) and a Z-axis module (113), the X-axis module (111) comprises a movable vertical beam assembly (1113) capable of moving in the X direction, the Y-axis module (112) comprises a Y-axis base (1125) and a Y-axis slider (1122) capable of moving in the Y direction relative to the Y-axis base (1125), the Y-axis module (112) is connected to the movable vertical beam assembly (1113), and the Z-axis module (113) is connected to the Y-axis slider (1122). The reagent injection structure (120) is connected to one end of the Y-axis base (1125) close to the reaction tank and is arranged to move in the X direction under the action of the X-axis module (111) to inject reagents into the reaction tank. The sample injection structure (130) is arranged on the Z-axis module (113) and is arranged to move in the Z direction, the Y direction and the X direction under the action of the Z-axis module (113), the Y-axis module (112) and the X-axis module (111) to extract samples from a sample tube and inject the samples into the reaction tank. The waste liquid extraction structure (140) comprises a movable rod (141), a waste liquid needle (142) and a baffle (143), one end of the movable rod (141) is pivotally connected to the movable vertical beam assembly (1113), the other end of the movable rod (141) is connected to the waste liquid needle (142), and the baffle (143) is connected to the movable rod (141) and extends upward. The Y-axis slider (1122) is provided with a first blocking column (D1) extending downward, the first blocking column (D1) is arranged to abut against the baffle (143) during movement of the Y-axis slider (1122) close to the baffle (143), and the movable vertical beam assembly (1113) is provided with a second blocking column (D2). The movable rod (141) is arranged to pivot and make the waste liquid needle (142) enter the reaction tank when the first blocking column (D1) abuts against the baffle (143). The movable rod (141) is further arranged to pivot and abut against the second blocking column (D2) and make the waste liquid needle (142) leave the reaction tank when the first blocking column (D1) is separated from the baffle (143).

2. The motion system according to claim 1, wherein The X-axis module (111) comprises an X-axis guide rail (1111), an X-axis slider (1112) and an X-axis power mechanism. The X-axis slider (1112) is slidingly connected to the X-axis guide rail (1111), the movable vertical beam assembly (1113) is connected to the X-axis slider (1112), and the X-axis power mechanism is connected to the movable vertical beam assembly (1113) and drives the movable vertical beam assembly (1113) and the X-axis slider (1112) to move along the X-axis guide rail (1111).

3. The motion system of claim 2, wherein the X-axis power mechanism comprises an X-axis motor (1114) and a transmission belt (1115), the transmission belt (1115) being connected to the X-axis motor (1114) and rotating under the action of the X-axis motor (1114); the movable vertical beam assembly (1113) being connected to the transmission belt (1115) and moving along the X-axis under the action of the transmission belt (1115).

4. The motion system of claim 1, wherein the Y-axis module (112) comprises a Y-axis guide rail (1121) and a Y-axis power mechanism, the Y-axis guide rail (1121) being arranged on the Y-axis base (1125); the Y-axis slider (1122) being slidingly connected to the Y-axis guide rail (1121), the Y-axis power mechanism being connected to the Y-axis slider (1122) and driving the Y-axis slider (1122) to move along the Y-axis guide rail (1121).

5. The motion system of claim 1, wherein the Z-axis module (113) comprises a Z-axis guide rail (1131), a Z-axis slider (1132) and a Z-axis power mechanism; the Z-axis slider (1132) being slidingly connected to the Z-axis guide rail (1131), the Z-axis power mechanism being connected to the Z-axis slider (1132) and driving the Z-axis slider (1132) to move along the Z-axis guide rail (1131); the sample injection structure (130) being connected to the Z-axis slider (1132).

6. The motion system of claim 2, wherein the motion system (100) further comprises a cleaning pool (180), the cleaning pool (180) being connected to the movable vertical beam assembly (1113) to be movable along the X-axis; the sample injection structure (130) comprising a sample needle (131), the sample injection structure (130) being arranged to be movable to the cleaning pool (180) and the sample needle (131) being extended into the cleaning pool (180) to be cleaned.

7. The motion system of claim 2, wherein the motion system further comprises a code scanning assembly (150), the code scanning assembly (150) being connected to the movable vertical beam assembly (1113) to be movable along the X-axis; the code scanning assembly (150) comprising a code scanner (151), a first reflector (152) and a lever (153), the code scanner (151) and the first reflector (152) being arranged along the X-axis with a spacing, the first reflector (152) being used to display an image of the sample tube, the code scanner (151) being used to identify the image in the first reflector (152), the first reflector (152) being arranged to pivot with the lever (153).

8. The motion system of claim 2, wherein the motion system (100) further comprises an image acquisition assembly (160), the image acquisition assembly (160) being connected to the movable vertical beam assembly (1113) to be movable along the X-axis. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The image acquisition component (160) comprises a camera (161) and a second mirror (162), the second mirror (162) being used to display the image of the reaction tank, and the camera (161) being used to identify the image in the second mirror (162).

9. A fully automated inspection instrument, characterized in that, The fully automatic testing instrument comprises the movement system (100) according to any one of claims 1 to 8.

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