Sample preparation system

Abstract

The present invention is a sample pretreatment system, comprising: a fully automatic liquid reagent adding device, used to automatically and quantitatively add a variety of liquids into a plurality of test tubes; an integrated liquid collection and pipetting device, used to transfer part of the solution in one of the test tubes to another test tube; at least one impurity treatment device, used to remove impurities from the solution in the test tube after the liquid is transferred by the integrated liquid collection and pipetting device; and a sample conveying device, used to transport a plurality of test tubes between the fully automatic liquid reagent adding device, the integrated liquid collection and pipetting device, and the impurity treatment devices. The sample pretreatment system of the present invention can realize the circulation and transmission of samples between a plurality of devices, realize the continuous mechanical transmission operation of samples, realize the efficient pretreatment of sample detection, lower labor intensity, and higher operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of sample processing, and in particular to a sample pre-processing system. Background Art

[0002] In the detection experiment, before the analysis is carried out, the sample usually needs to be pre-treated to make it meet the final analysis or detection state. This process is usually called sample pretreatment. Sample pretreatment can usually include various steps such as liquid addition, nitrogen blowing, centrifugation, ultrasonic extraction, filtration, solid phase extraction, vortex mixing, etc. Experimenters need to carry out sample pretreatment according to the experimental steps in the corresponding standard method.

[0003] The execution of these pre-treatment steps usually requires the experimenter to transport the samples to be processed to the processing equipment (stations) placed in different locations in the laboratory, and then manually set the methods and parameters of the processing equipment, put the samples into the equipment, and perform pre-treatment operations (such as nitrogen blowing, ultrasonic extraction, etc.). Some pre-treatments need to be completed entirely by the experimenter manually (such as adding liquid, vortexing, etc.). The pre-treatment process of the entire detection experiment requires a lot of manual intervention, high labor intensity, and low operating efficiency. The specific manifestations are as follows:

[0004] (1) During the sample pretreatment process of the detection experiment, it is necessary to add a variety of reagents to the sample in order to complete the experimental reaction and obtain the components to be tested. When adding reagents, it is usually necessary to follow the prescribed method, mix the proportions, add the volumes, and add the order correctly. Sometimes it is also necessary to add the reagents according to the reaction time requirements and mix them in sequence to obtain the correct reaction products. When the test sample needs to add reagents, the experimenter must repeat the operation of taking liquids and adding liquids in different orders. Sometimes the experiment requires the addition of more than 20 types of reagents. At this time, it is very easy to make mistakes in the order, type or volume of reagent addition, or to miss or repeat the addition of reagents, which not only consumes manpower, but also has the risk of causing sample liquid contamination. At the same time, problems such as omissions can easily lead to deviations in subsequent experimental results. The existing liquid reagent addition process is mostly manual or semi-automatic operation with manual cooperation equipment, with a low degree of automation and low addition efficiency.

[0005] (2) During the sample pretreatment process of the detection experiment, it is necessary to mix the sample and the reagent. When encountering samples with high viscosity and easy to clump, general vortex, ultrasound and other operations cannot break up such sample clumps or sample blocks, so that the sample and reagent cannot be fully mixed. This operation is usually completed manually, with a mixer or an oscillator. In the prior art, manual oscillation is time-consuming and labor-intensive, the force of the mixer or oscillator on the sample is limited, and the test tube containing the sample is randomly swung. The start and stop positions of the swaying of the test tube are random, and manual identification is required before manual picking, which is very inconvenient and inefficient. In addition, the timeliness and accuracy of the process feedback are low, which is not conducive to the cooperation with the robot system to achieve intelligent grasping. The existing equipment is not intelligently controlled, and the entire experimental process has poor accuracy and low efficiency.

[0006] (3) During the sample pretreatment process of the detection experiment, a constant temperature water bath is required to treat the samples at a constant temperature. At present, the water bath of the samples is completely realized manually, and manual operation and manual timing will inevitably increase the uncertainty of the experiment. With the fully automatic constant temperature water bath working mode, the sample test tubes enter and exit the water bath, the opening and closing of the water bath lid, and the water bath timing are all completed automatically, and the experimental process is accurate. In the prior art, the top cover of the constant temperature water bath is provided with a protruding handle, which needs to be opened and closed manually, and the operation is cumbersome; a test tube shaking rack is set in the constant temperature water bath, and the swing angle of the existing shaking rack is in a disordered state, and the stop position of the test tube is uncertain. It cannot be matched with a high-precision manipulator system, which is not conducive to the realization of automatic intelligence; the existing constant temperature water bath function island is not intelligently controlled, and the entire experimental process has poor accuracy and low efficiency.

[0007] (4) During the sample pretreatment process of the detection experiment, the sample needs to be centrifuged (solid-liquid separation), which is usually completed by a centrifuge. Existing centrifuge equipment mainly uses manual placement of sample tubes, manual setting of instrument conditions and startup operations to complete the sample centrifugation step. In addition, before the test tubes are placed in the centrifuge, the test tubes placed in the centrifuge need to be manually weight-balanced to ensure the separation effect, reduce equipment wear and prevent safety accidents. In addition to the centrifugation process, steps such as weight balancing, placement of test tubes, equipment startup, and removal of test tubes after centrifugation are all completely dependent on manual labor.

[0008] At the same time, the centrifugal rotating bracket in the existing centrifuge has a random start and stop position, which is not conducive to the cooperation with the high-precision robot system to realize intelligent grasping; the default oblique placement of the test tube and the top cover opening of the centrifuge rotor are not suitable for robot feeding; and the current manual balancing operation method cannot be cooperated with the high-precision robot system to realize intelligent picking and placing; the entire centrifugal process has a low degree of automation and consumes labor.

[0009] (5) During the sample pretreatment process of the detection experiment, ultrasonic extraction of the sample is required. The ultrasonic treatment process is to homogenize the sample through ultrasound, and use the cavitation effect of ultrasound in the liquid to achieve the effect of uniform dispersion of the material. In the prior art, when ultrasonic homogenization is performed on the test tube containing the sample liquid, the test tubes are usually manually placed into the ultrasonic homogenizer one by one, and the homogenized test tubes are manually taken out of the ultrasonic homogenizer after the treatment is completed. The existing technology only allows the equipment to set the ultrasonic temperature and ultrasonic time, and the rest of the operations such as placing and taking out are completely dependent on manual completion. Therefore, the experimenter needs to frequently run to the vicinity of the equipment to check the completion status, or directly go to the equipment to check the progress after waiting for a long time. This method not only consumes a lot of manpower, but also has low efficiency, causes the detection process to lag, and easily causes the detection time to exceed.

[0010] (6) During the sample pretreatment process of the detection experiment, according to the detection method or detection standard requirements, it is necessary to quantitatively pipette and converge the sample solution, or quantitatively pipette and converge the specified liquid layer of the layered solution. Since the sample solution needs to be quantified, pipetted at a specified position, and taken as required, the steps are relatively complicated. Therefore, the pipetting and taking operations are usually completed manually. However, when manually pipetting liquids from a large number of samples, it is impossible to achieve completely consistent operations, and only one sample solution can be pipetted at a time, which is inefficient.

[0011] (7) During the sample pretreatment process of the detection experiment, the sample needs to be nitrogen-blown and concentrated. Nitrogen-blown concentration is a pretreatment step in which nitrogen is blown into the surface of the sample using equipment such as a nitrogen blow dryer (specifically, a nitrogen blow dryer, an automatic rapid concentrator, etc.) to rapidly evaporate and separate the water and organic reagents in the sample to be treated, thereby obtaining non-volatile highly concentrated components. The main purpose is to increase the concentration of the component to be tested, reduce the interference of the solvent on the analysis process, and improve the experimental efficiency. Usually after the nitrogen-blown concentration is completed (especially after the experimental steps require the sample solution to be nitrogen-blown and concentrated to dryness), another solvent is often used to re-dissolve the remaining components after concentration and mix them for subsequent processing and analysis.

[0012] In the prior art, when nitrogen blowing and concentrating the sample, it is usually necessary to manually open the sample cover and put it into the nitrogen blowing instrument or concentrator, and then take out the sample container, close the cover manually, and perform subsequent sample re-dissolution or other pre-treatment steps. However, the current technology can only perform nitrogen blowing and concentration, and opening, putting in, taking out, re-dissolving, and closing the cover must be done manually, and it is impossible to achieve full automation of the above process.

[0013] (8) During the sample pretreatment process of the detection experiment, solid phase extraction of the sample is required. Solid phase extraction is the process of passing the sample solution through a specific adsorption material to separate the components to be tested from other impurities in the sample solution. Usually, a finished pretreatment column is used, and the main processing steps include activation, sample loading, elution and washing of the solid phase extraction column.

[0014] In the prior art, when performing solid phase extraction on sample solutions, automated or semi-automated techniques are usually used: all steps are performed manually, or with the help of a solid phase extractor, sample loading and sample solution collection are performed manually. First, neither method can achieve fully automated processing, and second, when using a solid phase extractor, the sample solution will contact the internal structure of the device, with the risk of residue and cross contamination.

[0015] (9) Needle filtration is a microporous filtration method commonly used for sample pretreatment in detection experiments. The principle is to use a disposable syringe to pass the sample solution through a microporous filter membrane to filter out the tiny particle impurities in it, thereby avoiding affecting the subsequent analysis process of the sample solution.

[0016] At present, the needle filtration process in the pre-experimental treatment is basically operated manually, and usually only a single sample can be filtered at a time, which is labor-intensive, inefficient, and time-consuming. Therefore, there is an urgent need for a device that can achieve fully automated filtration processing.

[0017] (10) When conducting testing experiments, after the testing personnel have completed the sample weighing at the balance position, they need to use a trolley to transport the centrifuge tubes containing the samples to the location of the pre-treatment or testing equipment for subsequent processing or testing. After the test or processing, the testing personnel then use a trolley to transport the sample tubes to the next processing location, which is labor-intensive. In particular, when there are a large number of sample tubes to be transported, the manual transportation of samples by the testing personnel is labor-intensive and inefficient.

[0018] (11) During laboratory testing, a variety of consumables such as sample containers, filters, disposable syringes, extraction columns, etc. of different specifications are required. At present, laboratory consumables are generally taken from a centralized storage area by personnel at a certain step of the operation and brought to the laboratory workstation. However, this method is only applicable to fully manual testing experiments. If automated or semi-automated equipment is used, the experimental efficiency will be largely limited by the feeding efficiency of the consumables. In addition, relying on manual selection and picking of consumables cannot match the current trend of automated or semi-automated experiments. Summary of the invention

[0019] The object of the present invention is to provide a sample pretreatment system that can realize the circulation and transmission of samples between multiple devices, realize continuous mechanical transmission operations of samples, facilitate the processing of samples in various devices, realize efficient pretreatment of sample detection, reduce labor intensity and increase operating efficiency.

[0020] The objective of the present invention is achieved in this way. A sample pretreatment system comprises: a fully automatic liquid reagent adding device, used for automatically and quantitatively adding a plurality of liquids into a plurality of test tubes; an integrated liquid collection and pipetting device, used for transferring part of the solution in one of the test tubes into another test tube; at least one impurity treatment device, used for removing impurities from the solution in the test tube after the liquid is transferred by the integrated liquid collection and pipetting device; and a sample transport device, used for transporting a plurality of test tubes between the fully automatic liquid reagent adding device, the integrated liquid collection and pipetting device and the impurity treatment devices.

[0021] In a preferred embodiment of the present invention, the sample pretreatment system also includes: a liquid sample oscillation processing device for automatically oscillating and mixing the solution in the test tube; an automatic constant temperature water bath device for performing constant temperature water bath treatment on the solution in the test tube; an intelligent centrifugal processing device for performing centrifugal treatment on the solution in the test tube; and / or an automatic ultrasonic homogenization processing device for performing ultrasonic homogenization treatment on the solution in the test tube; wherein the sample transport device can also transfer multiple test tubes between the fully automatic liquid reagent addition device and the integrated pipetting device, as well as the liquid sample oscillation processing device, the automatic constant temperature water bath device, the intelligent centrifugal processing and / or the automatic ultrasonic homogenization processing device.

[0022] In a preferred embodiment of the present invention, the fully automatic liquid reagent adding equipment includes a reagent adding workbench and a temporary storage device, a sample adding device, a transfer device, a mixing device, a first manipulator and a second manipulator arranged on the reagent adding workbench; the temporary storage device includes at least one group of sample test tube racks for temporarily storing multiple sample test tubes, and the sample adding device includes a liquid adding conveying line and multiple liquid adding ports, each of which is located directly above the liquid adding conveying line and is arranged at intervals along the length direction of the liquid adding conveying line; the end of the first manipulator has a first clamp, and the first clamp can transfer the sample test tube on the sample test tube rack to the liquid adding conveying line, and can transfer the sample test tube after liquid addition on the liquid adding conveying line to the transfer device for temporary storage; the end of the second manipulator has a second clamp, and the second clamp can transfer the sample test tube between the transfer device for transferring and temporarily storing the sample test tube and the mixing device for mixing the liquid.

[0023] In a preferred embodiment of the present invention, the integrated liquid collection and pipetting equipment includes: a liquid collection and pipetting workbench; a pipetting unit, which is arranged on the liquid collection and pipetting workbench, the pipetting unit has a first station and a second station for fixing sample test tubes and pipetting test tubes respectively, and the pipetting unit has a mobile platform that can move between the first station and the second station, and the mobile platform is provided with a pipetting mechanism that can transfer the sample liquid in the sample test tube to the pipetting test tube; a liquid collection unit, which is arranged on the liquid collection and pipetting workbench, the liquid collection unit has a seventh manipulator, a fifth test tube temporary storage position and a pipetting test tube rack arranged on the liquid collection and pipetting workbench, a seventh clamp is provided at the end of the seventh manipulator, the fifth test tube temporary storage position is used to cache sample test tubes, and the pipetting test tube rack is used to temporarily store multiple pipetting test tubes, and the seventh clamp can transfer the sample test tube between the first station and the fifth test tube temporary storage position, and can transfer the pipetting test tube between the second station and the pipetting test tube rack.

[0024] In a preferred embodiment of the present invention, one of the impurity treatment equipment is an automatic nitrogen blowing concentration equipment, which includes a nitrogen blowing concentration workbench and a first cache station, an eighth manipulator, a ninth manipulator, a nitrogen blowing device and a re-dissolving and liquid adding device arranged on the table of the nitrogen blowing concentration workbench; the first cache station is located on one side of the nitrogen blowing device, and the first cache station is used to cache the nitrogen blowing test tube containing the sample; the eighth manipulator is located between the first cache station and the nitrogen blowing device, and the eighth manipulator has a maximum displacement of 1.5 m / s and can move between the first cache station and the nitrogen blowing device. There is one less eighth clamp, and the nitrogen-blown test tube located at the first cache station is transferred to the nitrogen-blown device through the eighth clamp; the nitrogen-blown device is used to nitrogen-blow and concentrate the sample in the nitrogen-blown test tube; the re-dissolution and liquid-adding device is located on one side of the nitrogen-blown device, and the re-dissolution and liquid-adding device is used to add re-dissolution liquid into the nitrogen-blown test tube that has passed through the nitrogen-blown device, so as to re-dissolve the sample after nitrogen-blown concentration; the moving end of the ninth manipulator is provided with a ninth clamp, and the ninth manipulator can at least drive the ninth clamp to transfer the nitrogen-blown test tube to the first cache station, and / or, transfer the nitrogen-blown test tube from the nitrogen-blown device to the re-dissolution and liquid-adding device.

[0025] In a preferred embodiment of the present invention, one of the impurity treatment devices is an automatic solid phase extraction device, which includes an extraction workbench and a first temporary storage bracket, a tenth manipulator, an extraction component, a transmission mechanism and a liquid adding component arranged on the table of the extraction workbench; the first temporary storage bracket has a test tube placement hole, and the test tube placement hole is used to place the test tube to be extracted containing the sample solution; the moving end of the tenth manipulator is provided with a tenth clamping claw, the tenth manipulator is located on one side of the first temporary storage bracket, and the tenth manipulator can at least drive the tenth clamping claw to transfer the test tube to be extracted to the first temporary storage bracket; the extraction component is arranged near the first temporary storage bracket, the extraction component includes an extraction column and a sampling needle, and the sampling needle can move between the test tube to be extracted and the extraction column to transfer the sample solution from the test tube to be extracted to the extraction column, and solid phase extraction is performed on the sample solution through the extraction column; the liquid adding component has a liquid adding port, the transmission mechanism is located between the extraction component and the liquid adding component, and the transmission mechanism is used to transfer the extraction column to the bottom of the liquid adding port of the liquid adding component, so as to add an activation solvent or an elution solvent into the extraction column through the liquid adding port.

[0026] In a preferred embodiment of the present invention, one of the impurity handling devices is an automatic needle filter device, which includes: a filtration workbench; a pipetting filtration unit, which is arranged on the filtration workbench, the pipetting filtration unit has a rotating platform, and a pipetting component is arranged on the rotating platform. The pipetting filtration unit has a first station and a second station, and the second station has a filtration structure that can cooperate with the pipetting component; a first pick-and-place unit, which is arranged on the filtration workbench and close to the first station, and the first pick-and-place unit has an eleventh manipulator and an eighth test tube temporary storage position, and the end of the eleventh manipulator has an eleventh clamp, and the The eight test tube temporary storage positions are used to cache the test tubes to be filtered, and the eleventh clamp can transfer the test tubes to be filtered between the eighth test tube temporary storage position and the first station; the second pick-and-place unit is arranged on the filtration workbench and close to the second station, the second pick-and-place unit has a twelfth manipulator and a sample bottle rack, the end of the twelfth manipulator has a twelfth clamp, and the sample bottle rack is placed on the sample bottle rack, and the twelfth clamp can transfer the sample bottle between the second station and the sample bottle rack; wherein the pipetting component can move between the first station and the second station to transfer the sample liquid in the test tube to be filtered through the filtration structure and then transfer it to the sample bottle.

[0027] As described above, the sample pretreatment system of the present invention utilizes a sample conveying device to realize the transfer of multiple test tubes between multiple devices. Multiple devices can be connected to realize continuous mechanical transmission of samples, facilitate the processing of samples in various devices, and realize efficient pretreatment of sample detection without the need for a large amount of manual intervention, with lower labor intensity and higher operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The following drawings are intended only to illustrate and explain the present invention, and do not limit the scope of the present invention.

[0029] Figure 1 : A schematic diagram of the structure of the sample pretreatment system provided by the present invention.

[0030] Figure 2 : Another structural schematic diagram of the sample pretreatment system provided by the present invention.

[0031] Figure 3 : A schematic diagram of the structure of the fully automatic liquid reagent adding device provided by the present invention.

[0032] Figure 4 : A partial enlarged view of the first conveying component of the fully automatic liquid reagent adding device provided by the present invention.

[0033] Figure 5 : A partial enlarged view of the first opening and closing cover device of the fully automatic liquid reagent adding device provided by the present invention.

[0034] Figure 6 : A partial enlarged view of the sample adding device of the fully automatic liquid reagent adding equipment provided by the present invention.

[0035] Figure 7 :Partial enlargement of the pH value detection device of the fully automatic liquid reagent adding device provided by the present invention Figure 1 .

[0036] Figure 8 :Partial enlargement of the pH value detection device of the fully automatic liquid reagent adding device provided by the present invention Figure 2 .

[0037] Fig. 9 : is a three-dimensional diagram of the liquid sample oscillation processing device of the present invention.

[0038] Fig.10 : A top view of the liquid sample oscillation processing device of the present invention.

[0039] Fig.11 : is a side view of the liquid sample oscillation processing device of the present invention.

[0040] Fig.12 : is a schematic diagram of a test tube flipping stand of the present invention.

[0041] Fig.13 : is the schematic diagram of automatic constant temperature water bath equipment of the present invention.

[0042] Fig.14 : It is a schematic diagram of the automatic constant temperature water bath device of the present invention after opening the top cover.

[0043] Fig.15 : is a stereogram of a thermostatic water bath of the present invention.

[0044] Fig.16 : is the side view of the thermostatic water bath of the present invention.

[0045] Fig.17 : is a schematic diagram of the intelligent centrifugal processing equipment of the present invention.

[0046] Fig.18 : It is a side view of the intelligent centrifugal processing equipment of the present invention.

[0047] Fig.19 : It is a top view of the intelligent centrifugal processing equipment of the present invention.

[0048] Fig. 20 : is a schematic diagram of the centrifugal rotating support of the present invention.

[0049] Fig.21 : It is an axonometric schematic diagram of the automatic ultrasonic homogenization processing equipment of the present invention.

[0050] Fig. 22 : It is an axonometric schematic diagram of the automatic ultrasonic homogenization processing equipment of the present invention.

[0051] Fig.23 : It is a top view schematic diagram of the automatic ultrasonic homogenization processing equipment of the present invention.

[0052] Fig.24 : It is a schematic diagram of the top view of the integrated liquid taking and pipetting device of the present invention.

[0053] Fig.25 : It is an axonometric schematic diagram of the integrated liquid taking and pipetting device of the present invention.

[0054] Fig.26 : is another axonometric schematic diagram of the integrated liquid taking and pipetting device of the present invention.

[0055] Fig. 27 : is a schematic structural diagram of the liquid transfer unit of the present invention.

[0056] Fig.28 : It is a schematic diagram of the top view of the structure of the liquid transfer unit of the present invention.

[0057] Fig.29 : is a schematic structural diagram of the second transmission component of the present invention.

[0058] Fig.30 : It is a schematic diagram of the top view of the structure of the second transmission component of the present invention.

[0059] Fig.31 : is a schematic diagram of the combined structure of the second transmission component and the first syringe rack of the present invention.

[0060] Fig.32 : It is one of the three-dimensional diagrams of the automatic nitrogen blowing concentration equipment of the present invention.

[0061] Fig.33 :for Fig.32 A partial enlarged view of the location of the nitrogen blowing device.

[0062] Fig.34 :for Fig.32 A partial enlarged view of position B in the middle.

[0063] Fig.35 : It is the second stereogram of the automatic nitrogen blowing concentration equipment of the present invention.

[0064] Fig.36 :for Fig.35 A partial enlarged view of position A in the middle.

[0065] Fig.37 : It is a structural schematic diagram of the oscillation device in the automatic nitrogen blowing concentration equipment of the present invention.

[0066] Fig.38 : is one of the stereograms of the automatic solid phase extraction device of the present invention.

[0067] Fig.39 : It is the second stereogram of the automatic solid phase extraction equipment of the present invention.

[0068] Fig.40 :for Fig.39 A partial enlarged view of the C position in the middle.

[0069] Fig.41 : It is the third stereogram of the automatic solid phase extraction equipment of the present invention.

[0070] Fig.42 :for Fig.41 A partial enlarged view of the D position in the middle.

[0071] Fig.43 : is a schematic structural diagram of the third opening and closing cover device in the automatic solid phase extraction equipment of the present invention.

[0072] Fig.44 : It is a schematic diagram of the top view of the automatic needle filter device of the present invention.

[0073] Fig.45 : It is an axonometric schematic diagram of the automatic needle filter device of the present invention.

[0074] Fig.46 : is another axonometric schematic diagram of the automatic needle filter device of the present invention.

[0075] Fig.47 : is a schematic structural diagram of a liquid transfer and filtration unit of the present invention.

[0076] Fig.48 : It is a schematic diagram of the top view of the structure of the liquid transfer and filtration unit of the present invention.

[0077] Fig.49 : It is a structural schematic diagram of the fourth transmission component of the present invention.

[0078] Fig.50 : It is a schematic diagram of the top view of the structure of the fourth transmission component of the present invention.

[0079] Fig.51 : is a schematic diagram of the combined structure of the fourth transmission component and the filter frame of the present invention.

[0080] Fig.52 : A schematic top view of the sample delivery device provided by the present invention.

[0081] Fig.53 :The three-dimensional structure of the first docking device provided by the present invention Figure 1 .

[0082] Fig.54 :The three-dimensional structure of the first docking device provided by the present invention Figure 2 .

[0083] Fig.55 :The third embodiment of the second docking device provided by the present invention Figure 1 .

[0084] Fig.56 :The third embodiment of the second docking device provided by the present invention Figure 2 .

[0085] Fig.57 : It is a front view schematic diagram of the transport robot of the present invention.

[0086] Fig.58 : is a three-dimensional schematic diagram of the transport robot of the present invention.

[0087] Fig.59 : Schematic diagram of the upper shell.

[0088] Fig.60 : Schematic diagram of the connection between the transport robot and the left vertical plate.

[0089] Fig.61 : Schematic diagram of the transport robot parts.

[0090] Fig.62 : Schematic diagram of the transport robot without the fork frame.

[0091] Fig.63 : Schematic diagram of the left and right driving mechanisms.

[0092] Fig.64 : Schematic diagram of the rear bearing and front bearing in the left and right drive mechanisms.

[0093] Fig.65: It is a schematic diagram of the upper connecting seat being connected to the rear rotating block through the rear bearing.

[0094] Fig.66 : Schematic diagram of the fork frame.

[0095] Fig.67 : is a schematic diagram of the main view of the consumable cabinet of the present invention.

[0096] Fig.68 : It is a left side schematic diagram of the consumable cabinet of the present invention.

[0097] Fig.69 : is a three-dimensional schematic diagram of the consumable cabinet of the present invention.

[0098] Fig.70 : It is the main view schematic diagram of the internal frame.

[0099] Fig.71 : A three-dimensional schematic diagram of the internal frame.

[0100] Fig.72 : A top view of the internal frame.

[0101] Fig.73 : Schematic diagram of the transport robot and rear frame.

[0102] Fig.74 : Schematic diagram of the left and right driving mechanism parts.

[0103] Fig.75 : It is a top view schematic diagram of the upper and lower driving mechanism parts.

[0104] Fig.76 : It is a bottom view schematic diagram of the upper and lower driving mechanism parts.

[0105] Fig.77 : Schematic diagram of moving the base up and down.

[0106] Fig.78 : Schematic diagram of the fork frame.

[0107] Description of Figure Numbers:

[0108] 100. Fully automatic liquid reagent adding equipment;

[0109] 101. reagent adding workbench; 1011. table; 1012. storage room; 10121. storage board; 1013. weighing sensor;

[0110] 102, first transmission assembly; 1021, first transmission plate; 10211, second position limiting portion; 1022, support frame; 10221, first position limiting portion; 1023, first positioning clamp; 10231, positioning clamp driving structure; 1024, moving guide rail;

[0111] 103. Temporary storage device; 1031. Sample test tube rack; 1032. Test tube stand;

[0112] 104, sample liquid adding device; 1041, liquid adding conveying line; 10411, conveying guide rail; 10412, moving block; 1042, liquid adding pump; 1043, liquid reagent bottle; 1044, liquid adding shell; 1045, pH value detection device; 10451, pH value sensor; 10452, sensor driving structure; 104521, lifting driving structure; 104522, horizontal plate; 104523, slider; 104524, horizontal driving structure; 10453, cleaning cylinder; 104531, cleaning liquid nozzle; 104532, preservation liquid nozzle; 104533, liquid discharge port; 10454, bracket;

[0113] 105. Transfer device;

[0114] 106. Mixing device;

[0115] 1071, first manipulator; 10711, first gripper; 1072, second manipulator; 10721, second gripper;

[0116] 108, first cover opening and closing device; 1081, first clamping part; 10811, claw driving structure; 1082, cover temporary storage unit;

[0117] 200. Liquid sample oscillation processing equipment;

[0118] 201. Shaking bed;

[0119] 202, third manipulator; 2021, third gripper;

[0120] 203, test tube turning seat; 2031, base; 2032, stopper plate; 2033, support bottom plate; 2034, support plate; 2035, reinforcing rib plate;

[0121] 204, second barcode scanner;

[0122] 205, first test tube temporary storage position;

[0123] 206. Oscillation treatment workbench;

[0124] 300. Automatic constant temperature water bath equipment;

[0125] 301, constant temperature water bath; 3011, water bath body; 3012, top cover; 30121, connecting seat; 3013, opening and closing power structure; 30131, supporting column; 30132, power reel; 30133, wire rope; 30134, power motor; 30135, connecting arm; 3014, test tube shaking rack;

[0126] 302, fourth manipulator; 3021, fourth gripper;

[0127] 303, the third barcode scanner;

[0128] 304, temporary storage position for the second test tube;

[0129] 305. Constant temperature water bath workbench;

[0130] 400. Intelligent centrifugal processing equipment;

[0131] 401, centrifuge; 4011, feed port; 4012, centrifugal rotating support;

[0132] 402, fifth manipulator; 4021, fifth gripper;

[0133] 403, test tube transfer structure; 4031, lateral transfer unit; 4032, test tube delivery unit;

[0134] 4041, weighing unit; 4042, counterweight unit;

[0135] 405, fourth scanner;

[0136] 406, temporary storage position for the third test tube;

[0137] 407. Centrifugal processing workbench;

[0138] 500. Automatic ultrasonic homogenization equipment;

[0139] 501, support frame; 5011, first support platform; 5012, second support platform; 5013, electric control cabinet; 5014, storage cabinet;

[0140] 502, sixth manipulator; 5021, manipulator base; 5022, sixth gripper;

[0141] 503, ultrasonic homogenizer; 5031, test tube placement rack; 50311, test tube placement hole;

[0142] 504, the fourth test tube temporary storage position;

[0143] 505, drying cylinder;

[0144] 506, the fifth scanner;

[0145] 600. Integrated equipment for taking and transferring liquid;

[0146] 601, pipetting workbench; 6011, support frame; 6012, table; 6013, electric control cabinet; 6014, collection box; 6015, consumables discard hole;

[0147] 602, liquid taking unit; 6021, seventh manipulator; 60211, seventh gripper; 6022, fifth test tube temporary storage position; 6023, transfer test tube rack; 6024, first syringe rack; 60241, limit column;

[0148] 603, liquid transfer unit; 6031, first station; 60311, first clamping mechanism; 60312, first clamping piece; 6032, second station; 60321, second clamping mechanism; 60322, second clamping piece; 6033, support seat; 6034, moving platform; 6035, liquid transfer mechanism; 60351, sliding seat; 60352, syringe fixing part; 60353, push part;

[0149] 604, first syringe; 6041, first needle;

[0150] 605, second transmission assembly; 6051, bottom plate; 6052, second transmission plate; 6053, guide rail; 6054, second positioning clamp;

[0151] 700. Automatic nitrogen blowing and concentration equipment;

[0152] 701, nitrogen blowing and concentration workbench; 7011, table top; 7012, legs; 7013, storage room; 7014, storage board; 7015, weight sensor;

[0153] 702, first cache station;

[0154] 703, the ninth manipulator; 7031, the ninth gripper;

[0155] 704, the eighth manipulator; 7041, the eighth gripper; 7042, the first translation slide rail; 7043, the first slider; 7044, the second column; 7045, the second lifting slide rail; 7046, the second horizontal mounting plate;

[0156] 705, nitrogen blowing device; 7051, fixed seat; 7052, nitrogen blowing assembly; 70521, first lifting slide rail; 70522, first horizontal mounting plate; 70523, nitrogen blowing tube; 70524, connecting plate; 70525, first column;

[0157] 706, second opening and closing cover device; 7061, second clamping part; 7062, driving element;

[0158] 707, the eighth scanner;

[0159] 708, re-dissolving and liquid adding device; 7081, liquid adding tank; 7082, second translation slide rail; 7083, second slide block; 7084, cartridge rack;

[0160] 709, oscillating device; 7091, bottom plate; 7092, third translation slide rail; 7093, third column; 7094, third lifting slide rail; 7095, third horizontal mounting plate; 7096, second chuck; 7097, oscillating element; 7098, second cache station;

[0161] 7010, test tube cover storage rack; 70101, groove;

[0162] 800. Automatic solid phase extraction equipment;

[0163] 801, extraction workbench; 8011, table top; 8012, storage room; 8013, storage board; 80131, positioning slot; 8014, weight sensor;

[0164] 802, transmission mechanism; 8021, first translation guide rail; 8022, translation slide plate; 8023, second translation guide rail; 8024, liquid receiving bracket; 80241, liquid receiving placement hole; 80242, liquid collecting tank; 8025, extraction column placement rack; 80251, extraction column placement hole;

[0165] 803, the tenth manipulator; 8031, the tenth gripper;

[0166] 804, extraction component; 8041, base; 8042, column; 80421, first lifting rail; 80422, second lifting rail; 8043, first motor; 8044, first lifting slide; 8045, sampling needle bracket; 8046, suction component; 8047, suction connector; 8048, second motor; 8049, second lifting slide; 80410, connecting plate; 80411, top column;

[0167] 805, liquid adding assembly; 8051, liquid adding bracket; 80511, liquid adding port; 8052, pumping device;

[0168] 806, the seventh test tube temporary storage position;

[0169] 807, third transmission assembly; 8071, third translation slide rail; 8072, third transmission plate; 8073, limiting protrusion; 8074, limiting plate;

[0170] 808, reagent bottle;

[0171] 809, extraction column;

[0172] 8010, sampling needle;

[0173] 80110, first temporary storage support; 801101, test tube placement hole;

[0174] 80120, receiving box; 801201, opening;

[0175] 80130, the ninth barcode scanner;

[0176] 80140, support frame;

[0177] 80150, third cover opening and closing device; 801501, third clamping portion; 801502, temporary storage position of cover body; 801503, driving element;

[0178] 900. Automatic needle filter equipment;

[0179] 901, filtering workbench; 9011, supporting frame; 9012, table; 9013, electric control cabinet; 9014, collecting box; 9015, tenth barcode scanner; 9016, eleventh barcode scanner;

[0180] 902, liquid transfer and filtration unit; 9021, rotating platform; 9022, liquid transfer assembly; 90221, syringe fixing part; 90222, push part; 9023, first station; 90231, test tube buffer seat to be filtered; 9024, second station; 90241, sample bottle buffer seat; 90242, filter membrane buffer seat; 9025, third station; 90251, needle removal box; 90252, needle slot; 9026, base; 9027, first guide rail;

[0181] 903, first pick-and-place unit; 9031, eleventh manipulator; 90311, eleventh clamping claw; 9032, eighth test tube temporary storage position; 9033, fourth cover opening and closing device; 90331, fourth clamping part; 9034, tube cover cache rack; 9035, second syringe rack;

[0182] 904, second pick-and-place unit; 9041, twelfth manipulator; 90411, twelfth gripper; 9042, injection bottle rack; 9043, fifth opening and closing cover device; 90431, fifth clamping part; 9044, bottle cap buffer rack; 9045, filter rack; 90451, limit column;

[0183] 905, injection bottle;

[0184] 906, needle filter;

[0185] 907, second syringe; 9071, second needle;

[0186] 908, fourth transmission assembly; 9081, bottom plate; 9082, fourth transmission plate; 9083, second guide rail; 9084, fourth positioning clamp;

[0187] 1000, sample conveying device; 1001, main conveying device; 1002, branch conveying device;

[0188] 1003, first docking device; 10031, first conveying device; 10032, first support frame; 100321, first base; 100322, first fixing plate; 10033, first lifting plate; 10034, rotating platform; 10035, first lifting drive mechanism; 10036, rotating drive mechanism;

[0189] 1004, second docking device; 10041, second conveying device; 10042, second support frame; 100421, second base; 100422, second fixing plate; 10043, second lifting plate; 10044, second lifting drive mechanism; 1005, stop plate; 10051, swing drive mechanism; 10052, notch;

[0190] 2000, transport robots;

[0191] 2001, upper housing; 2002, walking device; 2003, transport manipulator; 2004, storage rack; 2005, control unit; 2006, distance sensor;

[0192] 20011, left vertical board; 20012, lower horizontal board; 20013, right vertical board;

[0193] 20031. Up and down driving mechanism; 20032. Left and right driving mechanism; 20033. Front and back driving mechanism; 20034. Vertical rotation driving mechanism; 20035. Fork frame;

[0194] 200311, upper and lower driving unit; 200312, mounting base;

[0195] 200321, upper connecting seat; 200322, left and right driving units; 200323, lower connecting seat; 200324, rear rotating block; 200325, rear bearing; 200326, front rotating block; 200327, front sliding block; 200328, front sliding rail; 200329, front bearing;

[0196] 200331, bottom plate; 200332, front and rear drive units; 200333, top plate; 200334, slideway; 200335, upper slide block;

[0197] 200341, rotation drive unit; 200342, rotation transmission unit; 200343, rotating disk;

[0198] 200351, left frame pole; 200352, middle frame pole; 200353, right frame pole; 200354, ear plate.

[0199] 3000, consumables cabinet;

[0200] 3001, external shell; 3002, internal frame; 3003, transport manipulator; 3004, experimental consumables;

[0201] 30011, front side panel; 30012, upper side panel; 30013, left side panel; 30014, right side panel; 30015, rear side panel; 30016, cabinet outlet; 30017, touch screen;

[0202] 30021, front frame; 30022, rear frame; 30023, consumables storage plate; 30024, connecting rod; 30025, wheels; 30031, left and right driving mechanism; 30032, up and down driving mechanism; 30033, front and back driving mechanism; 30034, fork frame; 300111, left cabinet door; 300112, right cabinet door;

[0203] 300231, cabinet exit position; 300232, consumables storage position; 300311, left and right drive units; 300312, left and right movable columns;

[0204] 300321, up and down driving unit; 300322, up and down moving base;

[0205] 300341, left plug rod; 300342, rear bottom rod; 300343, right plug rod;

[0206] 3003221, left guide rail; 3003222, lower base plate; 3003223, right guide rail.

[0207] 010, sample test tube; 020, transfer test tube; 030, nitrogen blowing test tube; 040, test tube to be extracted; 050, liquid receiving test tube; 060, test tube to be filtered; 070, test tube stand. DETAILED DESCRIPTION

[0208] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0209] like Figures 1 to 78 As shown, the present application provides a sample pre-treatment system, comprising:

[0210] The fully automatic liquid reagent adding device 100 is used to automatically and quantitatively add a plurality of liquids into a plurality of test tubes (which may be recorded as sample test tubes 010);

[0211] Take the integrated liquid transfer device 600, which is used to transfer part of the solution in one of the test tubes (i.e., the sample test tube 010) to another test tube (which can be recorded as the liquid transfer test tube 020);

[0212] At least one impurity treatment device, used to remove impurities from the solution in the test tube (i.e., the transfer tube 020) after the liquid is transferred by the integrated liquid extraction and transfer device 600;

[0213] The sample transport device 1000 is used to transport a plurality of test tubes (including sample test tubes 010 and pipetting test tubes 020 ) between the full-automatic liquid reagent adding device 100 , the integrated liquid collection and pipetting device 600 , and various impurity processing devices.

[0214] Therefore, the sample pretreatment system in this embodiment utilizes the sample conveying device 1000 to realize the transfer of multiple test tubes between multiple devices, and can connect multiple devices to realize continuous mechanical transmission of samples, facilitate the processing of samples in various devices, and realize efficient pretreatment of sample detection without a large amount of manual intervention, with lower labor intensity and higher operating efficiency.

[0215] In a specific implementation, the sample pretreatment system further includes:

[0216] The liquid sample oscillation processing device 200 is used to automatically oscillate and mix the solution in the test tube (i.e., the sample test tube 010); the automatic constant temperature water bath device 300 is used to perform constant temperature water bath treatment on the solution in the test tube (i.e., the sample test tube 010); the intelligent centrifugal processing device 400 is used to centrifuge the solution in the test tube (i.e., the sample test tube 010); and / or, the automatic ultrasonic homogenization processing device 500 is used to perform ultrasonic homogenization treatment on the solution in the test tube (i.e., the sample test tube 010); wherein, the sample transport device 1000 can also transfer multiple test tubes (here referring to the sample test tube 010) between the fully-automatic liquid reagent adding device 100 and the integrated liquid collection and pipetting device 600 and the liquid sample oscillation processing device 200, the automatic constant temperature water bath device 300, the intelligent centrifugal processing device 400 and / or the automatic ultrasonic homogenization processing device 500.

[0217] Furthermore, at least one impurity treatment device includes an automatic nitrogen blowing concentration device 700, an automatic solid phase extraction device 800 and / or an automatic needle filter device 900. The automatic nitrogen blowing concentration device 700 is used to perform nitrogen blowing concentration treatment on the solution in the test tube (which can be recorded as the nitrogen blowing test tube 030). The automatic solid phase extraction device 800 is used to solid phase extract the solution in one of the test tubes (which can be recorded as the test tube to be extracted 040) and transfer it to another test tube (which can be recorded as the liquid receiving test tube 050). The automatic needle filter device 900 is used to transfer the solution in one of the test tubes (which can be recorded as the test tube to be filtered 060) to the sampling bottle 905 after filtering.

[0218] In this embodiment, the sample conveying equipment 1000 includes a main conveying line and multiple branch conveying lines. The conveying direction of each branch conveying line is at an angle to the conveying direction of the main conveying line, and the above-mentioned devices are respectively arranged in the side area of ​​the corresponding branch conveying line; the main conveying line and at least one branch conveying line cooperate to realize the transfer of multiple test tubes between the fully automatic liquid reagent adding equipment 100, the liquid sample oscillation processing equipment 200, the automatic constant temperature water bath equipment 300, the intelligent centrifugal processing equipment 400, the automatic ultrasonic homogenization processing equipment 500 and the integrated liquid collection and pipetting equipment 600. Through the cooperation of the main conveying line and at least another branch conveying line, the transfer of multiple test tubes between the integrated liquid collection and pipetting equipment 600 and each impurity processing equipment can also be realized.

[0219] The specific structure and working process of each device in the sample pretreatment system of this application will be described in detail below, as follows:

[0220] 1. Fully automatic liquid reagent adding equipment

[0221] The fully automatic liquid reagent adding device 100 can realize fully automatic adding of a variety of liquids, with a higher degree of automation and higher adding efficiency.

[0222] like Figures 3 to 8 As shown, the fully automatic liquid reagent adding device 100 includes a reagent adding workbench 101 and a temporary storage device 103, a sample adding device 104, a transfer device 105, a mixing device 106, a first manipulator 1071 and a second manipulator 1072 arranged on the reagent adding workbench 101; the temporary storage device 103 includes at least one group of sample test tube racks 1031 for temporarily storing multiple sample test tubes 010, and the sample adding device 104 includes a liquid adding conveying line 1041 and multiple liquid adding ports, each of which is located directly above the liquid adding conveying line 1041 and along the length of the liquid adding conveying line 1041. The first manipulator 1071 has a first clamping jaw 10711 at the end thereof, which can transfer the sample tube 010 on the sample tube rack 1031 to the liquid adding conveying line 1041, and can transfer the sample tube 010 after liquid addition on the liquid adding conveying line 1041 to the transfer device 105 for temporary storage; the second manipulator 1072 has a second clamping jaw 10721 at the end thereof, which can transfer the sample tube 010 between the transfer device 105 for transferring and temporarily storing the sample tube 010 and the mixing device 106 for mixing the liquid.

[0223] When in use, after the first clamping claw 10711 of the first manipulator 1071 transfers the sample test tube 010 on the sample test tube rack 1031 to the first end of the liquid adding conveying line 1041, the sample test tube 010 is transported from the first end to the second end along the length direction of the liquid adding conveying line 1041 according to the type of liquid additive to be added, and stays at a corresponding position on the liquid adding conveying line 1041, and the corresponding liquid is added to the sample test tube 010 through the corresponding liquid adding port, and the adding time is controlled to control the adding amount; after the required liquids are added in sequence, the sample test tube 010 is Tube 010 is transported to the first end of the liquid adding conveying line 1041, and the first clamp 10711 transfers the sample tube 010 after liquid addition to the transfer device 105 for temporary storage; then the second clamp 10721 of the second manipulator 1072 transfers the sample tube 010 in the transfer device 105 to the mixing device 106 for mixing. After mixing, the second clamp 10721 transfers the sample tube 010 to the transfer device 105, so that the first clamp 10711 can transfer the mixed sample tube 010 to the corresponding position of the sample conveying device 1000.

[0224] The adding device in this embodiment can automatically realize the transportation, liquid addition and mixing of the sample test tube 010 through the cooperation of the temporary storage device 103, the sample liquid adding device 104, the transfer device 105, the mixing device 106 and the two groups of manipulators, and can realize the automatic quantitative addition of multiple liquids without human intervention, realizing the full-automatic addition of multiple liquids, with a higher degree of automation and higher addition efficiency, avoiding cross contamination, and also avoiding the influence of human intervention on the sample liquid.

[0225] In actual work, the sample test tube rack 1031 above the reagent addition workbench 101 is generally removed by a corresponding transfer cart or other forms of robots (for example, the transport robot 2000 described below can be used), and the sample test tube rack 1031 containing the sample test tube 010 (at this time, the sample test tube 010 contains a sample) is transported to a predetermined position on the reagent addition workbench 101. However, since robots such as transfer carts usually do not have the function of precise positioning and docking, when the sample test tube rack 1031 containing the sample test tube 010 is transported to the reagent addition workbench 101, it is difficult to accurately transport it to the preset position, and there will be a certain deviation, which is not conducive to the precise clamping of the first clamp 10711.

[0226] In order to realize the fixed-point positioning and transportation of the sample test tube rack 1031, it is convenient to accurately transport the sample test tube rack 1031 containing the sample test tube 010 to the predetermined position on the reagent adding workbench 101. Figure 3 and Figure 4At least one group of first transmission components 102 is also provided on the reagent adding workbench 101, and each group of first transmission components 102 includes a first transmission plate 1021 that can be slidably provided on the reagent adding workbench 101, and a first limiting portion 10221 and a first positioning clamp 1023 provided above the reagent adding workbench 101; a second limiting portion 10211 is provided at one end of the first transmission plate 1021, and the sample test tube rack 1031 can be placed on the first transmission plate 1021, and the two ends of the sample test tube rack 1031 along the sliding direction of the first transmission plate 1021 can respectively abut against the first limiting portion 10221 and the second limiting portion 10211, and the two positioning claws of the first positioning clamp 1023 can respectively clamp on both sides of the sample test tube rack 1031 along the sliding direction perpendicular to the first transmission plate 1021.

[0227] The number of the first transmission components 102 is the same as the number of the sample test tube racks 1031. The first transmission plate 1021 of each first transmission component 102 is used to place a sample test tube rack 1031. The shapes of the specific sample test tube rack 1031 and the first transmission plate 1021 can be determined as needed. For example, in this embodiment, the first transmission plate 1021 is a rectangular plate, and one end of the first transmission plate 1021 is provided with an upwardly bent edge, and the folded edge constitutes a second limit portion 10211. The sample test tube rack 1031 is a frame structure composed of a rectangular plate, and has a plurality of jack spaces, and the plurality of jack spaces are arranged in a matrix form for inserting each sample test tube 010.

[0228] In order to facilitate the sliding of the first transmission plate 1021, a moving guide rail 1024 and a transmission plate driving structure are provided on the reagent adding workbench 101. The first transmission plate 1021 is slidably arranged on the moving guide rail 1024, and the transmission plate driving structure is connected to the first transmission plate 1021 to drive the transmission plate to slide. The first transmission assembly 102 is generally arranged at a position close to the edge of the reagent adding workbench 101, the first end of the moving guide rail 1024 is close to the edge of the reagent adding workbench 101, and there is a preset distance between the first limit portion 10221 and the first end of the moving guide rail 1024.

[0229] In order to facilitate the installation of the first positioning clamp 1023, a support frame 1022 is provided on the movable guide rail 1024. The support frame 1022 can be, for example, a door-shaped frame composed of a top plate and two side plates, and is straddled on the movable guide rail 1024. The top plate of the support frame 1022 constitutes the above-mentioned first limiting portion 10221; the first positioning clamp 1023 can be arranged on the support frame 1022, and the first positioning clamp 1023 has two positioning clamps that are relatively arranged and can approach or move away from each other. A positioning clamp driving structure 10231 is also provided on the support frame 1022. The positioning clamp driving structure 10231 is connected to the two clamps and can drive the two clamps to approach or move away from each other.

[0230] When the transfer cart and other robots move close to the first transfer assembly 102, the first transfer plate 1021 of the first transfer assembly 102 extends, and one end of the first transfer plate 1021 provided with a second limiting portion 10211 extends out of the reagent adding workbench 101. After the transfer cart transfers the empty sample test tube rack 1031 to the transfer cart, the transfer cart places the sample test tube rack 1031 containing the sample test tube 010 on the first transfer plate 1021; then the first transfer plate 1021 retracts and moves along the moving guide rail 1024 until the sample test tube rack 1031 rests on the first limiting portion 10221. Due to the first limiting portion 10221 The second limiting portion 10211 is spaced apart along the length direction of the movable guide rail 1024, and the cooperation of the two limiting portions can realize the limitation of the test tube rack in the length direction of the movable guide rail 1024; then the two positioning claws are driven close to each other and clamped on both sides of the sample test tube rack 1031. Since the two clamping claws are distributed on both sides of the sample test tube rack 1031, the cooperation of the two clamping claws can realize the limitation of the sample test tube rack 1031 in the length direction perpendicular to the movable guide rail 1024; and then the sample test tube rack 1031 can be accurately positioned and accurately transported to the preset position, so that the first clamping claw 10711 can perform more accurate pick-up and placement operations.

[0231] In actual applications, the sample test tube 010 is a tubular structure with an open top and a closed bottom. In order to avoid contamination or spillage of the sample liquid, a tube cover is usually detachably installed on the open end of the sample test tube 010. When the above-mentioned transfer cart or other robots transfer the sample test tube rack 1031 containing the sample test tube 010 to the workbench, the sample test tubes 010 on the sample test tube rack 1031 are all covered with tube covers. Therefore, the sample test tubes 010 need to be opened before adding liquid, and the sample test tubes 010 need to be closed before mixing after adding liquid.

[0232] In order to facilitate the automatic opening and closing of the sample tube 010, refer to Figure 3 A first opening and closing cover device 108 is also provided on the reagent adding workbench 101. The open end of the sample test tube 010 is detachably provided with a tube cover. The first opening and closing cover device 108 has a first clamping portion 1081 that can clamp the sample test tube 010; the first clamping jaw 10711 can transfer the sample test tube 010 on the sample test tube rack 1031 to the first opening and closing cover device 108, and can remove the tube cover on the sample test tube 010, and transfer the sample test tube 010 after the tube cover is removed to the liquid adding conveying line 1041; the first clamping jaw 10711 can also transfer the sample test tube 010 after liquid is added on the liquid adding conveying line 1041 to the first opening and closing cover device 108, and can cover the tube cover on the sample test tube 010, and transfer the sample test tube 010 after the tube cover is covered to the transfer device 105.

[0233] Specifically, refer to Figure 5 The first clamping part 1081 of the first cover opening and closing device 108 has two grippers that are arranged opposite to each other and can move closer or farther from each other. The first cover opening and closing device 108 also includes a base and a gripper driving structure 10811 disposed on the base. The gripper driving structure 10811 is connected to the two grippers and can drive the two grippers to move closer or farther from each other to achieve the clamping or loosening of the sample test tube 010. The first cover opening and closing device 108 can also include a cover temporary storage unit 1082, the top surface of which has at least one placement slot, generally at least two placement slots are provided, and the sizes are different, for placing tube caps of different specifications and sizes.

[0234] Generally, the tube cap is a threaded opening, and the tube cap is threadedly connected to the open end of the sample test tube 010. The first manipulator 1071 includes a multi-degree-of-freedom robot arm, and the first clamp 10711 is rotatably disposed at the end of the multi-degree-of-freedom robot arm. The tube cap is threadedly connected to the end of the sample test tube 010, and the first clamp 10711 can be rotated to close the tube cap on the sample test tube 010 or remove the tube cap on the sample test tube 010.

[0235] The taking and placing operation of the sample test tube 010 on the first clamping part 1081 is realized by the first clamping jaw 10711. After the first clamping jaw 10711 places the sample test tube 010 on the first clamping part 1081, the first clamping part 1081 can fix the sample test tube 010, and then the tube cover can be rotated to be removed or screwed on by rotating the first clamping jaw 10711 to realize opening or closing the cover.

[0236] It can be understood that the above-mentioned sample test tube rack 1031, the first opening and closing cover device 108, the first end of the liquid adding conveying line 1041 and the transfer device 105 should be arranged in a range that the first clamping jaw 10711 can reach. The structure of the specific multi-freedom robotic arm can be realized in this way. The multi-freedom robotic arm includes a rotatable vertical arm, and the vertical arm is connected to a first horizontal arm that can move up and down. The end of the first horizontal arm is rotatably connected to a second horizontal arm, and the end of the second horizontal arm is provided with a first clamping jaw 10711, which can rotate and perform clamping operations. The first clamping jaw 10711 can have a variety of forms, as long as it can achieve the corresponding clamping function.

[0237] Further, see Figure 3 and Figure 6The sample liquid adding device 104 also includes a plurality of liquid adding pumps 1042 and a plurality of liquid reagent bottles 1043. Each liquid adding pump 1042 is arranged above the liquid adding conveying line 1041. One end of the liquid adding pump 1042 is connected to the corresponding liquid adding port, and the other end is connected to the corresponding liquid reagent bottle 1043 through a corresponding pipeline; the liquid adding conveying line 1041 includes a conveying guide rail 10411 and a moving block 10412 which can be slidably arranged on the conveying guide rail 10411, and the moving block 10412 is provided with at least one slot for inserting the sample test tube 010.

[0238] A plurality of liquid reagent bottles 1043 are respectively used to store different liquid additives and are generally placed under the table 1011 of the reagent adding workbench 101. The first transmission assembly 102, the temporary storage device 103, the first opening and closing cover device 108, the transfer device 105, the liquid adding conveying line 1041 and the two sets of manipulators are all arranged on the table 1011 of the reagent adding workbench 101. The sample adding device 104 also includes a liquid adding housing 1044, which is arranged on the table 1011 of the reagent adding workbench 101, each liquid adding port is arranged on the liquid adding housing 1044, and each liquid adding pump 1042 is arranged in the liquid adding housing 1044.

[0239] It can be understood that the liquid adding conveying line 1041 also includes a liquid adding driving structure, which is connected to the moving block 10412 and can drive the moving block 10412 to slide. The moving block 10412 is generally provided with at least two slots, and the sizes are different, for inserting sample tubes 010 of different specifications and sizes. The liquid adding pump 1042 here preferably adopts a high-precision pump to improve the accuracy of liquid addition.

[0240] Generally, a storage chamber 1012 is provided below the table 1011 of the reagent adding workbench 101 . At least one layer of placement plates 10121 for placing a plurality of liquid reagent bottles 1043 is placed in the storage chamber 1012 , and a weighing sensor 1013 is provided below the placement plates 10121 .

[0241] The storage chamber 1012 can be divided into a plurality of storage cavities, each placement plate 10121 is placed on the bottom surface of the corresponding storage cavity, and the weighing sensor 1013 below the placement plate 10121 is located between the placement plate 10121 and the bottom surface of the corresponding storage cavity for weighing. After initially placing each liquid reagent bottle 1043 with a certain amount of liquid added thereto into the storage chamber 1012, a secondary calibration can be performed using the data detected by each weighing sensor 1013.

[0242] The transfer device 105 mentioned above mainly serves to transfer and temporarily store the sample test tube 010. The transfer device 105 is a cylindrical seat with a groove on the top, and the sample test tube 010 can be inserted into the groove.

[0243] The mixing device 106 is mainly used to mix the various liquid additives added into the sample tube 010. The mixing device 106 may be a vortex machine, for example.

[0244] The second manipulator 1072 is mainly used for transporting the sample tube 010 between the transfer device 105 and the mixing device 106. Figure 3 The second manipulator 1072 may include, for example, a vertical arm that can move horizontally, a horizontal arm that can move up and down is connected to the vertical arm, a second clamp 10721 is fixedly provided at the end of the horizontal arm, the second clamp 10721 can perform a grasping operation, and the second clamp 10721 can be in any structure as long as it can achieve the corresponding clamping function. The line connecting the center of the transfer device 105 and the center of the mixing device 106 should be parallel to the horizontal movement direction of the vertical arm, so that the second clamp 10721 can be transferred between the transfer device 105 and the mixing device 106. The transfer device 105 and the mixing device 106 are generally arranged close to the first end of the liquid adding conveying line 1041, and the structure is more compact.

[0245] The first manipulator 1071 and the second manipulator 1072 are preferably high-precision manipulators to improve grasping accuracy.

[0246] Furthermore, a first code scanner is provided on the reagent adding workbench 101 for scanning the identification code on the sample test tube 010 to determine whether the current sample test tube 010 is the predetermined sample test tube 010 .

[0247] In order to avoid confusion between different sample test tubes 010, the sample test tubes 010 transferred by the transfer cart to the first transmission plate 1021 are all affixed with corresponding identification codes, and the first barcode scanner can read the above identification codes, and then send the corresponding test tube information to the host computer for verification, and then determine whether the current test tube is the predetermined test tube. After the first manipulator 1071 grabs the sample test tube 010 on the sample test tube rack 1031, it first moves to the position of the first barcode scanner for scanning and verification. If there is an abnormality (the current test tube is not the predetermined test tube), an alarm is triggered. If there is no abnormality, the subsequent transfer and uncapping operations continue.

[0248] More specifically, during operation, the transfer vehicle transfers the sample test tube rack 1031 containing the sample test tube 010 to the first transmission plate 1021 and moves it to the predetermined position of the reagent adding workbench 101. At this time, each sample test tube 010 contains a sample and is covered with a tube cap. The first manipulator 1071 clamps the sample test tube 010 and moves it to the first barcode scanner for scanning and verification. If there is no abnormality, the first clamping claw 10711 of the first manipulator 1071 clamps the tube cap on the sample test tube 010 and transfers the sample test tube 010 to the first opening and closing cover device 108. The first clamping part 1081 of the first opening and closing cover device 108 clamps and locks the sample test tube 010, and then the tube cap can be screwed off by rotating the first clamping claw 10711 and placed on the cover temporary storage unit 1082. The gripper driving structure 10811 then drives the two grippers of the clamping part to unlock, and the first gripper 10711 grips the sample tube 010 after the tube cover is removed, and transfers the sample tube 010 to the moving block 10412 of the liquid adding conveying line 1041. The moving block 10412 carries the sample tube 010 along the conveying guide rail 10411 from the first end to the second end of the liquid adding conveying line 1041. During this process, according to the type of liquid to be added, the sample tube 010 is stopped at the corresponding liquid adding port, and the corresponding liquid adding pump 1042 is turned on to add liquid.

[0249] After the required multiple liquids are added in sequence, the moving block 10412 moves the sample test tube 010 to the first end of the liquid adding conveying line 1041, the first clamping jaw 10711 clamps the sample test tube 010 after the liquid is added, and the sample test tube 010 is transferred to the first opening and closing cover device 108, the first clamping part 1081 clamps and locks the sample test tube 010, and then the first clamping jaw 10711 clamps the tube cover placed on the cover temporary storage unit 1082, and places it on the open end of the sample test tube 010, and the first clamping jaw 10711 is rotated to screw the tube cover on the sample test tube 010. After that, the first clamping jaw 10711 clamps the sample test tube 010 after the tube cover is installed, and transfers it to the transfer device 105 for temporary storage.

[0250] Next, through the horizontal movement and up and down lifting of the second clamp 10721, the second clamp 10721 moves to the position of the transfer device 105, clamps the test tube, and transfers it to the vortex instrument, and uses the vortex function of the vortex instrument to mix the various liquids added to the sample test tube 010 evenly (during the vortex process, the second clamp 10721 always keeps the test tube in a fixed clamping state). The mixed sample test tube 010 is then transferred to the transfer device 105 for temporary storage by the second clamp 10721, and the first clamp 10711 then clamps the mixed sample test tube 010 in the transfer device 105 to transfer the sample test tube 010 to the corresponding roller of the sample conveying device 1000, so as to transfer the sample test tube 010 after adding the liquid reagent to other corresponding stations for corresponding processing.

[0251] In an optional embodiment, in some process standard requirements, it is necessary to measure the pH value of the liquid in the sample test tube 010 after mixing. In this embodiment, refer to Figures 6 to 8 A pH value detection device 1045 is also provided on the reagent adding workbench 101 and located on one side of the liquid adding conveying line 1041 . The pH value detection device 1045 includes a movable pH value sensor 10451 . The pH value sensor 10451 can be inserted into the sample test tube 010 on the liquid adding conveying line 1041 .

[0252] Generally, the pH value detection device 1045 is arranged near the second end of the liquid adding conveying line 1041. It can be understood that a tube cover is also installed on the mixed sample tube 010. Therefore, if it is necessary to perform pH detection on the liquid in the mixed sample tube 010, the mixed sample tube 010 is transferred to the transfer device 105 for temporary storage by the second clamping jaw 10721, and the first clamping jaw 10711 should first clamp the mixed sample tube 010 and transfer it to the first opening and closing cover device 108 for opening the cover. Then, the first clamping jaw 10711 transfers the opened sample tube 010 to the moving block 10412 of the liquid adding conveying line 1041, and the moving block 10412 drives the sample tube 010 to be opened. The sample test tube 010 is moved to the position of the pH detection device 1045, and the pH sensor 10451 is moved to be inserted into the sample test tube 010, so that the pH value of the liquid in the sample test tube 010 can be detected; after the detection is completed, the moving block 10412 moves the sample test tube 010 to the first end of the liquid adding conveying line 1041, and uses the first clamping jaw 10711 to transfer it to the first opening and closing cover device 108 to install the tube cover, and then the first clamping jaw 10711 clamps the sample test tube 010 with the tube cover installed and transfers it to the corresponding roller of the sample conveying equipment 1000.

[0253] In order to facilitate the movement of the pH sensor 10451, refer to Figure 6 and Figure 7A sensor driving structure 10452 is provided on the reagent adding workbench 101 and near the second end of the liquid adding conveying line 1041, which includes a lifting driving structure 104521, a horizontal plate 104522, a slider 104523 and a horizontal driving structure 104524. The lifting driving structure 104521 is fixed on the table 1011 of the reagent adding workbench 101, and its upper end is connected to the bottom of the first end of the horizontal plate 104522, and is used to drive the horizontal plate 104522 to move up and down; the length direction of the horizontal plate 104522 is perpendicular to the liquid adding conveying line 1041. The pH sensor 10451 is arranged in the longitudinal direction of the line 1041 and its second end is located directly above the liquid adding delivery line 1041. The slider 104523 can be horizontally movably arranged on the horizontal plate 104522 and is arranged close to the second end of the horizontal plate 104522. The horizontal driving structure 104524 is arranged on the horizontal plate 104522 and connected to the slider 104523, and is used to drive the slider 104523 to move horizontally. The axial direction of the pH sensor 10451 is vertically arranged, which is located below the horizontal plate 104522, with its first end fixed to the slider 104523, and its second end is the detection end.

[0254] When in use, the pH sensor 10451 can be inserted into the sample tube 010 for corresponding detection by driving the slider 104523 to move up and down and horizontally through the lifting drive structure 104521 and the horizontal drive structure 104524. Of course, the movement of the pH sensor 10451 can also be achieved in other ways, and this embodiment is only an example.

[0255] Since the pH sensor 10451 needs to detect the liquids in multiple sample test tubes 010, in order to ensure the accuracy of the detection, the pH sensor 10451 needs to be cleaned after each detection. The pH detection device 1045 also includes a cleaner, and the pH sensor 10451 can also be inserted into the cleaner; a cleaning liquid nozzle 104531 is provided on the side of the cleaner, and a drain port 104533 that can be opened and closed is provided at the bottom of the cleaner.

[0256] Specifically, refer to Figures 6 to 8The cleaning device includes a cleaning cylinder 10453 with an opening at the top, which can be fixed on the table 1011 of the reagent adding workbench 101 or fixed on the side of the conveying guide rail 10411 through a corresponding bracket 10454. The horizontal plate 104522 is located above the cleaning cylinder 10453, and when the pH sensor 10451 is inserted into the cleaning cylinder 10453, the horizontal plate 104522 abuts against the top of the cleaning cylinder 10453. A cleaning liquid nozzle 104531 is provided on the side of the cleaning cylinder 10453, and a drain port 104533 is provided at the bottom of the cleaning cylinder 10453. The cleaning liquid nozzle 104531 is connected to the cleaning liquid storage container and the pumping device through corresponding pipelines, and the drain port 104533 is connected to the drain pipe; the pH sensor 10451 can be cleaned by spraying cleaning liquid into the cleaning cylinder 10453 through the cleaning liquid nozzle 104531, and the cleaning liquid in the cleaning cylinder 10453 is discharged through the drain port 104533.

[0257] After cleaning, the detection operation can be carried out directly. The sensor driving structure 10452 drives the moving block 10412 to drive the pH sensor 10451 to move upward first away from the cleaning cylinder 10453, then move horizontally to the top of the conveying guide rail 10411, and then move downward, so that it can be inserted into the corresponding sample test tube 010 to detect the pH value of the liquid. After the detection is completed, the sensor driving structure 10452 drives the moving block 10412 to drive the pH sensor 10451 to move upward first away from the sample test tube 010, then move horizontally to the top of the cleaning cylinder 10453, and then move downward to return to the cleaning cylinder 10453 for another cleaning operation.

[0258] Since the pH sensor 10451 needs to be kept moist when not in use for a long time, otherwise its accuracy cannot be guaranteed. Therefore, a preservation liquid nozzle 104532 is also provided on the side of the cleaning device. When the pH sensor 10451 is not in use for a long time, the drain port 104533 is closed, and the preservation liquid is injected into the cleaning cylinder 10453 using the preservation liquid nozzle 104532, so that the cleaning cylinder 10453 is filled with the preservation liquid, and the pH sensor 10451 is always placed in the preservation liquid and kept moist to ensure its accuracy. When the pH sensor 10451 needs to be used for detection next time, the drain port 104533 is opened to drain the preservation liquid.

[0259] Further, see Figure 3 and Figure 4The temporary storage device 103 also includes a test tube stand 1032 arranged on the reagent adding workbench 101, and the test tube stand 1032 is provided with a plurality of slots for inserting the test tube stand 070. The first clamp 10711 can also transfer the test tube stand 070 on the test tube stand 1032 and insert it into the transfer device 105, or transfer the test tube inserted in the transfer device 105 and insert it into the test tube stand 070 on the test tube stand 1032.

[0260] The test tube stand 1032 is used to temporarily store multiple test tube stands 070. The test tube stand 070 is a cylindrical stand with an open top and a closed bottom. After liquid addition and mixing are completed (or liquid addition, mixing, and pH testing are completed), the sample test tube 010 is transferred to the corresponding roller of the sample adding and conveying device 1000 using the first clamp 10711. In order to facilitate the sample test tube 010 to be placed on the roller more conveniently, the sample test tube 010 needs to be placed in a test tube stand 070 first. The test tube stand 1032 can be arranged close to one of the first transmission components 102 and is located between the first transmission component 102 and the first opening and closing cover device 108.

[0261] For processes that do not require pH testing, after the second clamp 10721 transfers the mixed sample tube 010 to the transfer device 105, the first clamp 10711 can clamp the mixed sample tube 010 in the transfer device 105, first insert the sample tube 010 into the corresponding test tube seat 070 of the test tube holder 1032, and then the first clamp 10711 clamps the test tube seat 070 to transfer the sample tube 010 to the corresponding roller of the sample conveying device 1000. Alternatively, the first clamp 10711 can also transfer the test tube holder 070 in the test tube holder rack 1032 in advance and insert it into the transfer device 105, and the second clamp 10721 can insert the mixed sample test tube 010 into the test tube holder 070 in the transfer device 105, and then the first clamp 10711 directly clamps the test tube holder 070 in the transfer device 105 to transfer the sample test tube 010 to the corresponding roller of the sample conveying equipment 1000.

[0262] For processes that require pH testing, after the pH value of the mixed sample tube 010 is tested and the tube cover is covered by the first opening and closing cover device 108, the first clamp 10711 can first insert the sample tube 010 into the corresponding test tube seat 070 of the test tube holder 1032, and then the first clamp 10711 clamps the test tube seat 070 to transfer the sample tube 010 to the corresponding roller of the sample conveying device 1000. Alternatively, the first clamp 10711 can also transfer the test tube holder 070 in the test tube holder rack 1032 in advance and insert it into the transfer device 105. After the pH value of the mixed sample test tube 010 is tested and the tube cover is covered with the first opening and closing cover device 108, the first clamp 10711 can first insert the sample test tube 010 into the test tube holder 070 of the transfer device 105, and then the first clamp 10711 clamps the test tube holder 070 to transfer the sample test tube 010 to the corresponding roller of the sample conveying equipment 1000.

[0263] Of course, the specific working sequence can be set according to actual needs, and this embodiment is only an example.

[0264] Furthermore, an electric control cabinet is provided under the table 1011 of the reagent adding workbench 101, and a control system is provided in the electric control cabinet, which is used to be electrically connected with the driving structure in the first transmission component 102 arranged on the table 1011, the gripper driving structure 10811 of the first opening and closing cover device 108, the liquid adding driving structure and the liquid adding pump 1042 of the sample adding device 104, the power structure of the mixing device 106, the driving structure of the two manipulators, the sensor driving structure 10452 of the pH value detection device 1045, and the pH value sensor 10451 and the weighing sensor 1013 under the table 1011, so as to control the action of each component and collect sensor detection data.

[0265] (II) Liquid sample oscillation processing equipment 200

[0266] The liquid sample oscillation processing device 200 can overcome the problems of low sample oscillation processing efficiency, poor accuracy and low intelligence level existing in the prior art.

[0267] like Figures 9 to 12 As shown, the liquid sample oscillation processing device 200 includes:

[0268] A shaking table 201, in which a roller for shaking and oscillating the sample test tube 010 is arranged, and a servo power system for driving the roller to shake and stopping the sample test tube 010 at a set position is connected to the shaking table 201; the start and stop positions of the roller are precisely controlled by the servo power system, and the sample test tube 010 is placed at a fixed angle each time, and the third manipulator 202 can precisely place or take away the sample test tube 010;

[0269] A third manipulator 202 for grabbing and transporting the sample tube 010;

[0270] A test tube flipping seat 203 for flipping the sample test tube 010;

[0271] The control unit, the servo power system, and the third manipulator 202 are all connected to the control unit by electrical signals. The control unit can be set in the overall control system of the entire sample pretreatment system, supports device terminal control and system remote control, and has a friendly human-computer interaction interface, can operate the liquid sample oscillation processing device 200, display the status of the liquid sample oscillation processing device 200, and provide operation information, operation prompts, etc.

[0272] Among them, the sample test tube 010 in the liquid sample oscillation processing equipment 200 is a sample test tube 010 that is transported after being processed by the fully automatic liquid reagent adding equipment 100, the automatic constant temperature water bath equipment 300, the intelligent centrifugal processing equipment 400 or the automatic ultrasonic homogenization processing equipment 500.

[0273] In the liquid sample oscillation processing equipment 200, the servo power system controls the position of the sample test tube 010 in the shaking table 201 to be controllable, and can stop the sample test tube 010 from the set position, so that the third manipulator 202 can accurately grab the sample test tube 010 from the shaking table 201; the third manipulator 202 realizes the transportation of the sample test tube 010 in the liquid sample oscillation processing equipment 200 and to the main transmission line (i.e., the sample conveying equipment 1000), and the grabbing is stable and the placement is accurate, which is convenient for automatic control; the test tube flip seat 203 overcomes the problem that the manipulator cannot accurately adjust the placement angle of the sample test tube 010 due to limited space, and assists the third manipulator 202 to complete the flipping and conversion of the sample test tube 010 before the upper shaking table 201; the control unit controls the actions of various functional components in the liquid sample oscillation processing equipment 200, and realizes the fully automatic oscillation and mixing of the liquid sample in the experiment, thereby improving the full automatic intelligence of the overall sample pre-treatment system.

[0274] The third manipulator 202 is preferably a high-precision manipulator to improve grasping accuracy.

[0275] Further, if Fig. 9 , Fig.10 As shown, the liquid sample oscillation processing device 200 also includes a second barcode scanner 204 for scanning and checking the sample tube 010, and the second barcode scanner 204 is connected to the control unit by electrical signals. A label is attached to the sample tube 010, and the second barcode scanner 204 scans and accurately records the sample tube 010. The scanning information is transmitted to the control unit, and the control unit checks whether the scanned object is the operation object to ensure the accuracy of the automated operation.

[0276] Further, if Fig. 9 , Fig.12 As shown, the test tube flip seat 203 includes a base 2031, on which a test tube support body for horizontally supporting the sample test tube 010 is arranged, and a displacement stop plate 2032 for stopping the bottom end when the sample test tube 010 is flipped to a horizontal position is arranged on one side of the test tube support body.

[0277] Further, if Fig.12 As shown, the test tube support body includes a support bottom plate 2033 and at least two support vertical plates 2034 arranged at intervals, and a V-shaped groove is arranged on the support vertical plates 2034 from the top to the bottom.

[0278] Further, if Fig.12 As shown, the base 2031 is configured as an L-shaped folded plate, and a reinforcing rib plate 2035 is connected to the L-shaped folded plate.

[0279] Due to the requirement of compact layout of the whole sample pre-treatment system, the space of each device is limited, so the motion track and action space of the third manipulator 202 are limited. When the sample test tube 010 is transferred from the system transportation line (i.e., the sample conveying device 1000), it is in a vertical state, and the sample test tube 010 needs to be swung and oscillated in a horizontal state in the shaking table 201. Therefore, the sample test tube 010 needs to be flipped from a vertical state to a horizontal state. The third manipulator 202 can first transport the sample test tube 010 to the test tube flip seat 203. After the bottom end of the test tube flip seat 203 abuts against the transposition stop plate 2032, the third manipulator 202 releases the sample test tube 010, and the sample test tube 010 is flipped and placed flat on the test tube support body, completing the flipping of the sample test tube 010 to the horizontal position, and then the horizontal sample test tube 010 is transported to the shaking table 201 by the third manipulator 202.

[0280] Further, if Fig. 9 , Fig.10 As shown, the liquid sample oscillating processing device 200 further includes a first test tube temporary storage position 205 for caching the sample test tube 010 , and a second barcode scanner 204 is disposed between the first test tube temporary storage position 205 and the shaking table 201 .

[0281] Furthermore, at least one slot for vertically inserting the test tube holder 070 is provided on the first test tube temporary storage position 205, and the third manipulator 202 can also transfer the test tube holder 070 containing the sample test tube 010 or the empty test tube holder 070 between the sample conveying device 1000 and the first test tube temporary storage position 205. The first test tube temporary storage position 205 is used for intermediate temporary storage of the sample test tube 010 to be processed from the system transportation line, or the sample test tube 010 after being shaken and oscillated by the shaking table 201.

[0282] Since the sample test tube 010 is generally inserted into the test tube holder 070 and then transported on the sample transport device 1000 when being transported on the roller conveyor of the sample transport device 1000, when the sample test tube 010 is transferred to the oscillation processing device, the test tube holder 070 and the sample test tube 010 can be transferred together as a whole, and the third clamping claw 2021 of the third manipulator 202 is used to clamp the test tube holder 070, so as to transfer the sample test tube 010 processed in the previous process from the sample transport device 1000 to the first test tube temporary storage position 205 of the liquid sample oscillation processing device 200 for temporary storage. After the sample test tube 010 is swung and shaken by the shaking table 201, the third manipulator 202 clamps the sample test tube 010 and transfers it to the test tube holder 070, and then clamps the test tube holder 070 to transfer the sample test tube 010 to the roller conveyor of the sample transport device 1000 again, and then transfers it to the next process for processing.

[0283] In actual operation, the test tube holder 070 in the entire sample pretreatment system can be reused, so the third manipulator 202 transfers the test tube holder 070 and the sample test tube 010 from the sample conveying device 1000 to the first test tube temporary storage position 205 for temporary storage, and after clamping the sample test tube 010 to the shaking table 201, the empty test tube holder 070 can be first transferred to the sample conveying device 1000, and then transferred to other positions where the test tube holder 070 is needed. When the first test tube temporary storage position 205 needs the test tube holder 070 again, the test tube holder 070 on the sample conveying device 1000 is transferred. Of course, the third manipulator 202 can also directly grab the sample test tube 010 in the test tube holder 070 from the sample conveying device 1000, shake and oscillate the sample test tube 010, and then directly clamp and place the sample test tube 010 on the test tube holder 070 of the sample conveying device 1000. The specific operation process depends on actual needs, and this embodiment is only an example.

[0284] Further, if Fig. 9 , Fig.10 , Fig.11 As shown, the liquid sample oscillation processing device 200 also includes an oscillation processing workbench 206 for supporting a fixed shaking table 201 , a third manipulator 202 , a test tube turning seat 203 , a second barcode scanner, and a first test tube temporary storage position 205 .

[0285] Further, if Fig. 9 , Fig.10 , Fig.11As shown, the structure of the third manipulator 202 can, for example, adopt the same structure as the above-mentioned first manipulator 1071, which is also a multi-degree-of-freedom manipulator, including a rotatable vertical arm, to which is connected a first horizontal arm that can move up and down, the end of the first horizontal arm is rotatably connected to a second horizontal arm, and the end of the second horizontal arm is provided with a third gripper 2021 of the third manipulator 202, and the third gripper 2021 can rotate and can perform clamping operations.

[0286] Furthermore, the servo power system includes a servo motor, which drives each sample tube 010 to rotate controllably at the start and stop positions. The start and stop positions are controllable, which can ensure that when the sample tube 010 is at the stop position, the visual unit (label, etc.) on the bottle body is in a visible state for easy identification.

[0287] (III) Automatic constant temperature water bath equipment 300

[0288] like Figures 13 to 16 As shown, the automatic constant temperature water bath device 300 includes:

[0289] The constant temperature water bath 301 comprises a water bath body 3011 capable of performing a constant temperature water bath, a top cover 3012 capable of being opened and closed is arranged on the top of the water bath body 3011, and the top cover 3012 is connected to an opening and closing power structure 3013; a test tube shaking rack 3014 for supporting and shaking the sample test tube 010 is arranged in the water bath body 3011, and the test tube shaking rack 3014 is connected to a servo power system capable of driving the test tube 010 to swing and stop the sample test tube 010 from swinging at a set position;

[0290] A fourth manipulator 302 for grabbing and transporting the sample tube 010;

[0291] The control unit, the opening and closing power structure 3013, the servo power system, and the fourth manipulator 302 are all connected to the control unit via electrical signals.

[0292] The control unit can be set in the overall control system of the entire sample pretreatment system, supports equipment terminal control and system remote control, and has a friendly human-computer interaction interface, can operate the automatic constant temperature water bath equipment 300, display the status of the automatic constant temperature water bath equipment 300, and provide operation information, operation prompts, etc.

[0293] Among them, the sample test tube 010 in the automatic constant temperature water bath device 300 is the sample test tube 010 that is transported after being processed by the fully automatic liquid reagent adding device 100, the liquid sample oscillating processing device 200, the intelligent centrifugal processing device 400 or the automatic ultrasonic homogenization processing device 500.

[0294] In the automatic constant temperature water bath equipment 300, the servo power system controls the position of the sample test tube 010 on the test tube shaking rack 3014 in the water bath body 3011 to be controllable in swinging, and can stop the sample test tube 010 from the set position, so that the fourth manipulator 302 can accurately grab the sample test tube 010 from the water bath body 3011; the fourth manipulator 302 realizes the transportation of the sample test tube 010 in the automatic constant temperature water bath equipment 300 and to the main transmission line (i.e., the sample conveying equipment 1000), and the grabbing is stable and the placement is accurate, which is convenient for automatic control; the top cover 3012 of the constant temperature water bath equipment 301 is controlled to open or close by a dedicated opening and closing power structure 3013, the top cover 3012 opens smoothly and reliably, and realizes the intelligent control of the opening and closing of the top cover 3012; the action of each functional component in the automatic constant temperature water bath equipment 300 is controlled by the control unit, so as to improve the full automatic intelligence of the overall sample pretreatment system.

[0295] The fourth manipulator 302 is preferably a high-precision manipulator to improve grasping accuracy.

[0296] Further, if Fig.13 , Fig.14 As shown, the automatic constant temperature water bath device 300 also includes a third barcode scanner 303 for scanning and checking the sample test tube 010, and the third barcode scanner 303 is connected to the control unit via an electrical signal.

[0297] A third barcode scanner 303 is provided in the device to accurately record the sample test tubes 010 in the constant temperature water bath. The control unit can control the opening and closing power structure 3013 to open the top cover 3012 according to the water bath time of each sample test tube 010. The fourth manipulator 302 takes out the sample test tube 010 that needs to be taken out of the water bath, and after scanning and verification by the third barcode scanner 303, it is transmitted back to the production line (i.e., the sample conveying device 1000) or placed on the storage rack (i.e., the second test tube temporary storage position 304 described below), thereby accurately controlling the water bath time of each sample test tube 010.

[0298] Further, if Fig.13 , Fig.15 , Fig.16 As shown, the opening and closing power structure 3013 includes a support column 30131, a power drum 30132 is arranged on the support column 30131, a steel wire rope 30133 is wound around the power drum 30132, and the free end of the steel wire rope 30133 is connected to the top cover 3012. The opening and closing power structure 3013 can also adopt other power structure forms to meet the requirements of automatically controlling the opening and closing of the top cover 3012.

[0299] Further, if Fig.13 , Fig.15 , Fig.16As shown, the power reel 30132 is connected to a power motor 30134, and the power motor 30134 is electrically connected to the control unit.

[0300] Further, if Fig.13 , Fig.15 , Fig.16 As shown, a connecting seat 30121 is provided on the top cover 3012 , and a free end of the steel wire rope 30133 is connected to the connecting seat 30121 .

[0301] Further, if Fig.13 , Fig.15 , Fig.16 As shown, a connecting arm 30135 is hinged on the supporting column 30131 , and one end of the connecting arm 30135 away from the supporting column 30131 is connected to one side of the top cover 3012 .

[0302] Furthermore, the automatic constant temperature water bath device 300 also includes a second test tube temporary storage position 304 for caching the sample test tube 010 .

[0303] At least one slot for vertically inserting the test tube holder 070 is provided on the second test tube temporary storage position 304 . The fourth manipulator 302 can also transfer the test tube holder 070 containing the sample test tube 010 or the empty test tube holder 070 between the sample conveying device 1000 and the second test tube temporary storage position 304 .

[0304] Similar to the function of the first test tube temporary storage position 205 mentioned above, when working, the fourth manipulator 302 can transfer the test tube holder 070 and the sample test tube 010 transported from the sample conveying device 1000 together, so as to transfer the sample test tube 010 processed in the previous process from the sample conveying device 1000 to the second test tube temporary storage position 304 of the automatic constant temperature water bath device 300 for temporary storage; after the fourth manipulator 302 clamps the sample test tube 010 to the water bath instrument body 3011, the test tube holder 070 can continue to stay in the second test tube temporary storage position 304, and the empty test tube holder 070 can also be transferred to the sample conveying device 1000; after the sample test tube 010 is processed in the water bath instrument body 3011, the fourth manipulator 302 clamps the sample test tube 010 to the test tube holder 070 of the second test tube temporary storage position 304 and transfers the whole to the sample conveying device 1000. Alternatively, the fourth manipulator 302 may directly grab the sample test tube 010 in the test tube holder 070 from the sample transport device 1000 , process the sample test tube 010 , and then directly clamp and place the sample test tube 010 on the test tube holder 070 of the sample transport device 1000 .

[0305] In addition, since the water bath time of the water bath instrument body 3011 is relatively long, each sample test tube 010 can be put into the water bath instrument body 3011 one by one at a time, and it is not necessary to put all the sample test tubes 010 into the water bath instrument body 3011 before starting the water bath, so as to improve efficiency. The specific operation process depends on actual needs, and this embodiment is only for illustration.

[0306] Further, if Fig.13 , Fig.14 As shown, the automatic constant temperature water bath equipment 300 also includes a constant temperature water bath workbench 305 for supporting and fixing the constant temperature water bath instrument 301 , the fourth manipulator 302 , and the third barcode scanner 303 .

[0307] Further, if Fig.13 , Fig.14 As shown, the structure of the fourth manipulator 302 can, for example, adopt the same structure as the above-mentioned first manipulator 1071, which is also a multi-degree-of-freedom manipulator, including a rotatable vertical arm, to which is connected a first horizontal arm that can move up and down, the end of the first horizontal arm is rotatably connected to a second horizontal arm, and the end of the second horizontal arm is provided with a fourth clamp 3021 of the fourth manipulator 302, and the fourth clamp 3021 can rotate and can perform clamping operations.

[0308] Furthermore, the servo power system includes a servo motor, which drives the start and stop positions of the test tube shaking rack 3014 to swing controllably. The test tube shaking rack 3014 is connected to the servo power system, and the start and stop positions of the shaking of the test tube rack are accurately controlled by the servo power system. Each time the sample test tube 010 is placed on the test tube shaking rack 3014 at a fixed angle, the fourth manipulator 302 can accurately place or remove the sample test tube 010.

[0309] (IV) Intelligent centrifugal processing equipment 400

[0310] like Figures 17 to 20 As shown, the intelligent centrifugal processing device 400 includes:

[0311] A centrifuge 401 for centrifugally rotating the separation medium, with a feed port 4011 that can be opened and closed being provided at the top of the centrifuge 401; a centrifugal rotating support 4012 for supporting a sample test tube 010 is provided below the feed port 4011 in the centrifuge 401; the centrifugal rotating support 4012 is connected to a servo power system that can control the start and stop positions of its rotation; the start and stop positions of the centrifugal rotating support 4012 are precisely controlled by the servo power system, and the test tube is placed at a fixed angle each time, and the fifth manipulator 402 can accurately place or remove the test tube;

[0312] A fifth manipulator 402 for grabbing and transporting the sample tube 010;

[0313] The test tube transfer structure 403 is used to place the sample test tube 010 brought by the fifth manipulator 402 into the centrifugal rotating bracket 4012. The test tube transfer structure 403 is connected to a transfer power motor. In order to ensure the sealing of the centrifuge 401, the opening of the feed port 4011 is generally small. The fifth manipulator 402 is limited in angle and space and cannot meet the precise placement of the sample test tube 010. A special test tube transfer structure 403 is required to cooperate with the fifth manipulator 402 to complete the placement of the sample test tube 010 in the centrifugal rotating bracket 4012.

[0314] A counterweight structure for balancing the weight of the sample tube 010 on the centrifugal rotating support 4012;

[0315] The control unit, the servo power system, the fifth manipulator 402, and the power transmission motor are all connected to the control unit by electrical signals. The control unit can be set in the overall control system of the entire sample pretreatment system, supports equipment terminal control and system remote control, and has a friendly human-computer interaction interface, can operate the intelligent centrifugal processing device 400, display the status of the intelligent centrifugal processing device 400, and provide operation information, operation prompts, etc.

[0316] Among them, the sample test tube 010 in the intelligent centrifugal processing equipment 400 is a sample test tube 010 that is transported after being processed by the fully automatic liquid reagent adding equipment 100, the liquid sample oscillating processing equipment 200, the automatic constant temperature water bath equipment 300 or the automatic ultrasonic homogenization processing equipment 500.

[0317] In the intelligent centrifugal processing equipment 400, the servo power system controls the position of the centrifugal rotation of the sample test tube 010 in the centrifugal rotating bracket 4012 to be controllable, and can stop the sample test tube 010 from the set position, so that the fifth manipulator 402 can accurately grab the sample test tube 010 from the centrifuge 401; the fifth manipulator 402 realizes the transportation of the sample test tube 010 in the intelligent centrifugal processing equipment 400 and to the main transmission line (i.e., the sample conveying equipment 1000), and the grabbing is stable and the placement is accurate, which is convenient for automatic control; the test tube transfer structure 403 overcomes the problem that the manipulator cannot accurately place the sample test tube 010 on the centrifugal rotating bracket 4012 due to angle and space limitations, and assists the fifth manipulator 402 to complete the transfer and placement of the sample test tube 010 before entering the centrifuge 401; the control unit controls the actions of various functional components in the intelligent centrifugal processing equipment 400, and realizes the fully automatic centrifugal separation of liquid samples in the experiment, thereby improving the full automatic intelligence of the overall sample pre-treatment system.

[0318] The fifth manipulator 402 is preferably a high-precision manipulator to improve grasping accuracy.

[0319] Further, if Fig.17 , Fig.19As shown, the intelligent centrifugal processing device 400 also includes a fourth barcode scanner 405 for scanning and checking the sample tube 010, and the fourth barcode scanner 405 is connected to the control unit via an electrical signal.

[0320] A label is attached to the sample tube 010, and the fourth barcode scanner 405 scans the sample tube 010 and records it accurately. The scanning information is transmitted to the control unit, and the control unit checks whether the scanned object is the operation object to ensure the accuracy of the automated operation.

[0321] Further, if Fig.17 , Fig.18 , Fig.19 As shown, the test tube transfer structure 403 includes a lateral transfer portion 4031 and a test tube delivery portion 4032;

[0322] The transverse transfer part 4031 includes a transverse guide rail, on which a transverse block is movably arranged, and on which an openable and closable transverse clamp is arranged, and the transverse clamp is used to receive and clamp the sample tube 010 from the fifth manipulator 402;

[0323] The test tube delivery part 4032 includes an oblique guide rail, which is supported on an oblique support and inclined at a set angle to the vertical direction, and the angle can be adjusted according to actual needs; an oblique block is movably provided on the oblique guide rail, and an openable and closable oblique clamp is provided on the oblique block; the transverse clamp is inclined at a certain angle so that the sample test tube 010 clamped by it is inclined and has the same inclination angle as the oblique guide rail; the oblique clamp is used to receive and clamp the sample test tube 010 from the transverse transfer part 4031, and is obliquely moved under the drive of the oblique block to transfer the sample test tube 010 to the centrifugal rotating bracket 4012.

[0324] Further, the power transmission motor includes a lateral movement motor and an oblique movement motor; the lateral movement motor and the oblique movement motor are electrically connected to the control unit;

[0325] The transverse motor is connected to the transverse guide rail; the transverse guide rail is a first screw rod, a first nut is arranged on the transverse block, and the transverse motor drives the transverse guide rail to rotate so that the first nut moves along the first screw rod;

[0326] The skew motor is connected with the skew guide rail; the skew guide rail is a second screw rod, a second nut is arranged on the skew block, and the skew motor drives the skew guide rail to rotate so that the second nut moves along the second screw rod.

[0327] Furthermore, the transverse clamp and the oblique clamp are provided with opening and closing sensors, and the opening and closing sensors are electrically connected to the control unit.

[0328] Due to the requirement for compact layout of the entire sample pretreatment system and limited space for each device, the motion trajectory and action space of the fifth manipulator 402 are limited. When the sample tube 010 is transferred from the system transport line (i.e., the sample transport device 1000), it is in a vertical state, and the slot for placing the sample tube 010 on the centrifugal rotating bracket 4012 in the centrifuge 401 is inclined. Therefore, the sample tube 010 needs to be inserted into the centrifugal rotating bracket 4012 from an inclined state.

[0329] The fifth manipulator 402 can first transport the sample test tube 010 to the transverse transfer part 4031, and the transverse clamp clamps (completes the action under the drive of its opening and closing sensor) the sample test tube 010. The control part controls to start the transverse motor, drives the transverse guide rail to rotate so that the transverse block and transverse clamp connected thereto move to the test tube delivery part 4032, and the oblique clamp of the test tube delivery part 4032 receives and clamps the sample test tube 010. The control part controls to start the oblique motor, drives the oblique guide rail to rotate so that the oblique block and oblique clamp connected thereto move obliquely downward, and places the sample test tube 010 on the centrifugal rotating bracket 4012.

[0330] Further, if Fig.17 , Fig.18 , Fig.19 As shown, the counterweight structure includes a weighing unit 4041 and a counterweight unit 4042 . The weighing unit 4041 is used to weigh the mass of the counterweight that needs to be balanced; the counterweight unit 4042 is used to be installed in the centrifugal rotating bracket 4012 to balance the weight of the sample test tube 010 .

[0331] The counterweight unit 4042 adopts a standard block structure to facilitate grasping by the fifth manipulator 402 .

[0332] Further, if Fig.17 , Fig.18 , Fig.19 As shown, the intelligent centrifugal processing device 400 also includes a third test tube temporary storage position 406 for caching the sample test tube 010 .

[0333] At least one slot for vertically inserting the test tube holder 070 is provided on the third test tube temporary storage position 406 , and the fifth manipulator 402 can also transfer the test tube holder 070 containing the sample test tube 010 or the empty test tube holder 070 between the sample conveying device 1000 and the third test tube temporary storage position 406 .

[0334] Similar to the function of the first test tube temporary storage position 205 mentioned above, when working, the fifth manipulator 402 can transfer the test tube holder 070 and the sample test tube 010 transported from the sample conveying device 1000 together, so as to transfer the sample test tube 010 processed in the previous process from the sample conveying device 1000 to the third test tube temporary storage position 406 of the intelligent centrifugal processing device 400 for temporary storage; after the fifth manipulator 402 clamps the sample test tube 010 to the centrifuge 401, the test tube holder 070 can continue to stay in the third test tube temporary storage position 406, and the empty test tube holder 070 can also be transferred to the sample conveying device 1000; after the sample test tube 010 is processed in the centrifuge 401, the fifth manipulator 402 clamps the sample test tube 010 to the test tube holder 070 of the third test tube temporary storage position 406 and transfers the whole to the sample conveying device 1000. Alternatively, the fifth manipulator 402 can also directly grab the sample tube 010 in the tube holder 070 from the sample delivery device 1000, process the sample tube 010, and then directly grab and place the sample tube 010 on the tube holder 070 of the sample delivery device 1000. The specific operation process depends on actual needs, and this embodiment is only for illustration.

[0335] Further, if Fig.17 , Fig.18 , Fig.19 As shown, the intelligent centrifugal processing equipment 400 also includes a centrifugal processing workbench 407 for supporting a fixed centrifuge 401, a fifth manipulator 402, a test tube transfer structure 403, a counterweight structure, a fourth barcode scanner 405, and a third test tube temporary storage position 406.

[0336] Further, if Fig.17 As shown, the structure of the fifth manipulator 402 can, for example, adopt the same structure as the above-mentioned first manipulator 1071, which is also a multi-degree-of-freedom manipulator, including a rotatable vertical arm, to which is connected a first horizontal arm that can move up and down, the end of the first horizontal arm is rotatably connected to a second horizontal arm, and the end of the second horizontal arm is provided with a fifth clamp 4021 of the fifth manipulator 402, which can rotate and can perform clamping operations.

[0337] Furthermore, the servo power system includes a servo motor, which drives the centrifugal rotating bracket 4012 to rotate controllably between the start and stop positions.

[0338] In a specific embodiment of the present invention, Fig. 20 As shown, the centrifugal rotating support 4012 can support and place three large-diameter test tubes and three small-diameter test tubes, and the large-diameter test tubes and the small-diameter test tubes are arranged alternately.

[0339] A sliding cover is provided at the feed port 4011 of the centrifuge 401 , and an opening and closing driving structure is connected to the sliding cover, and the opening and closing driving structure is electrically connected to the control unit.

[0340] (V) Automatic ultrasonic homogenization equipment 500

[0341] The automatic ultrasonic homogenization processing equipment 500 can realize fully automatic ultrasonic homogenization processing of the sample liquid, avoid excessive manual participation, save manpower and improve the ultrasonic homogenization processing efficiency of the sample liquid.

[0342] like Figure 21 to Figure 23 As shown, the automatic ultrasonic homogenization processing equipment 500 includes:

[0343] A support frame 501, wherein a first support platform 5011 is disposed on the top of the support frame 501, and a second support platform 5012 is disposed inside the support frame 501, wherein the height of the second support platform 5012 is lower than the height of the first support platform 5011;

[0344] The sixth manipulator 502 is disposed on the first support platform 5011. The end of the sixth manipulator 502 has a sixth clamping claw 5022. A fourth test tube temporary storage position 504 for caching the sample test tube 010 is disposed within the reach of the sixth clamping claw 5022 on the first support platform 5011.

[0345] The ultrasonic homogenizer 503 is arranged on the second support platform 5012. The ultrasonic homogenizer 503 has a box body and a cover body connected to the box body that can be opened and closed. A test tube rack 5031 is arranged in the box body. The sixth clamp 5022 can transfer the sample test tube 010 between the test tube rack 5031 and the fourth test tube temporary storage position 504.

[0346] Among them, the sample test tube 010 in the automatic ultrasonic homogenization processing equipment 500 is a sample test tube 010 that is transported after being processed by the full-automatic liquid reagent adding equipment 100, the liquid sample oscillation processing equipment 200, the automatic constant temperature water bath equipment 300 or the intelligent centrifugal processing equipment 400.

[0347] The automatic ultrasonic homogenization processing equipment 500 is provided with a sixth manipulator 502 which can automatically take and place test tubes on one side of the ultrasonic homogenizer 503. The sixth clamping jaw 5022 on the sixth manipulator 502 realizes the automation of placing the test tube into the ultrasonic homogenizer 503 and taking the test tube out of the ultrasonic homogenizer 503, thereby realizing fully automatic ultrasonic homogenization processing of the sample liquid, avoiding the influence of human participation on the sample liquid, and improving the ultrasonic homogenization processing efficiency of the sample liquid.

[0348] The specific structure of each part of the automatic ultrasonic homogenization processing equipment 500, as well as the position and linkage relationship between the parts will be described in detail below.

[0349] like Fig.21 and Fig. 22As shown, the automatic ultrasonic homogenization processing equipment 500 has a support frame 501, which serves as the main frame structure of the entire equipment and provides support for the sixth manipulator 502 and the ultrasonic homogenizer 503; the support frame 501 can be assembled and spliced ​​with standard industrial aluminum profiles to form an overall cubic frame structure.

[0350] Furthermore, a first support platform 5011 is provided on the top of the support frame 501, and the first support platform 5011 is a rectangular flat steel plate; the first support platform 5011 only covers a part of the top area of ​​the support frame 501; in this embodiment, the first support platform 5011 is fixed on one side of the top surface of the support frame 501, and the other side of the top surface of the support frame 501 is used to place the ultrasonic homogenizer 503. A second support platform 5012 is provided inside the support frame 501, and the second support platform 5012 is also a rectangular flat steel plate; the position on the top surface of the support frame 501 where the first support platform 5011 is not provided is opposite to the second support platform 5012 in vertical direction, and the second support platform 5012 is parallel to the first support platform 5011, and the height of the first support platform 5011 is higher than the height of the second support platform 5012.

[0351] like Figure 21 to Figure 23 As shown, the automatic ultrasonic homogenization processing equipment 500 also has a sixth manipulator 502, which is fixed on the first support platform 5011. The sixth manipulator 502 has at least three degrees of freedom. The end of the sixth manipulator 502 has a sixth clamp 5022, and the sixth clamp 5022 can be opened and closed to achieve the clamping operation of the product. The multi-freedom manipulator is a relatively conventional and mature technology in the industry, and the detailed structure and driving principle of the sixth manipulator 502 will not be further explained here.

[0352] In this embodiment, if Fig.21 As shown, the structure of the sixth manipulator 502 can, for example, adopt the same structure as the above-mentioned first manipulator 1071, which is also a multi-degree-of-freedom manipulator. The sixth manipulator 502 also includes a vertical arm, a first horizontal arm and a second horizontal arm. The vertical arm is rotatably connected to the first support platform 5011, one end of the first horizontal arm is slidably connected to the vertical arm, the other end of the first horizontal arm is rotatably connected to the second horizontal arm, and the sixth clamp 5022 is rotatably connected to the end of the second horizontal arm; the relative movement between the multiple arms can enable the sixth clamp 5022 to reach any position within a certain range of space.

[0353] The sixth manipulator 502 and all the manipulators mentioned in this document are preferably high-precision manipulators to improve grasping accuracy.

[0354] Better, such as Fig.21As shown, a manipulator base 5021 is provided between the vertical arm and the first support platform 5011, and the vertical arm can be rotatably provided on the manipulator base 5021. The manipulator base 5021 can increase the overall height of the sixth manipulator 502, ensuring that the sixth gripper 5022 can perform the test tube transfer operation within a suitable space range.

[0355] A fourth test tube temporary storage position 504 is provided within the reachable range of the sixth clamping jaw 5022 of the sixth manipulator 502. The fourth test tube temporary storage position 504 is provided on the first support platform 5011. At least one slot for vertically inserting a test tube holder 070 is provided on the fourth test tube temporary storage position 504. The test tube holder 070 is used to place a sample test tube 010. The sample test tube 010 contains a sample liquid processed in the previous process. The sixth manipulator 502 can also transfer the test tube holder 070 containing the sample test tube 010 or an empty test tube holder 070 between the sample conveying device 1000 and the fourth test tube temporary storage position 504.

[0356] Better, such as Fig. 22 As shown, the multiple slots of the fourth test tube temporary storage position 504 are arranged in a matrix form, so that each test tube holder 070 has a relatively fixed position on the first support platform 5011 and is arranged in a fixed pattern, thereby simplifying the programming process of the sixth clamp 5022 clamping the test tube at the corresponding position.

[0357] Similar to the function of the first test tube temporary storage position 205 mentioned above, when working, the sixth manipulator 502 can transfer the test tube holder 070 and the sample test tube 010 transported from the sample conveying device 1000 together, so as to transfer the sample test tube 010 processed in the previous process from the sample conveying device 1000 to the fourth test tube temporary storage position 504 of the automatic ultrasonic homogenization processing equipment 500 for temporary storage; after the sixth manipulator 502 clamps the sample test tube 010 to the ultrasonic homogenizer 503, the test tube holder 070 can continue to stay in the fourth test tube temporary storage position 504, and the empty test tube holder 070 can also be transferred to the sample conveying device 1000; after the sample test tube 010 is processed by the ultrasonic homogenizer 503, the sixth manipulator 502 clamps the sample test tube 010 to the test tube holder 070 of the fourth test tube temporary storage position 504 and transfers the whole to the sample conveying device 1000. Alternatively, the sixth manipulator 502 may also directly grab the sample test tube 010 in the test tube holder 070 from the sample conveying device 1000, process the sample test tube 010, and then directly clamp and place the sample test tube 010 on the test tube holder 070 of the sample conveying device 1000. In addition, during operation, after multiple sample test tubes 010 are placed in the test tube placement rack 5031, the ultrasonic homogenizer 503 then performs ultrasonic homogenization on these sample test tubes 010 together; or, each sample test tube 010 may also be placed into the ultrasonic homogenizer 503 one by one at a time. The specific operation process depends on actual needs, and this embodiment is only for illustration.

[0358] like Figure 21 to Figure 23 As shown, the automatic ultrasonic homogenization processing equipment 500 also has an ultrasonic homogenizer 503, which is fixed on the second support platform 5012. The ultrasonic homogenizer 503 can perform ultrasonic homogenization on the sample liquid placed therein, and utilize the cavitation effect of ultrasonic waves in the liquid to achieve the effect of uniform dispersion of the material. The ultrasonic homogenizer 503 is a relatively mature equipment in the field of ultrasonic processing, and its specific internal structure and working principle will not be further explained here.

[0359] In this embodiment, the ultrasonic homogenizer 503 has a connected box and a cover (the structure of the cover is not shown in the drawings for convenience of display), and the cover is rotatably connected to the edge of the top of the box, and the cover is automatically opened and closed under the drive of the motor. The box has a storage space inside, and a test tube placement rack 5031 is placed in the storage space. The test tube placement rack 5031 has a plurality of test tube placement holes 50311, and the plurality of test tube placement holes 50311 can be arranged in a matrix, and the sample test tube 010 can be placed in the test tube placement hole 50311 for ultrasonic homogenization.

[0360] Better, such as Fig. 22As shown, the multiple test tube placement holes 50311 are arranged in a matrix form, and the multiple test tube placement holes 50311 are arranged in a fixed pattern on the test tube placement rack 5031, which can simplify the programming process of the sixth clamping jaw 5022 clamping the test tube at the corresponding position.

[0361] In summary, the automated operation process of the automatic ultrasonic homogenization processing equipment 500 is as follows:

[0362] First, open the upper cover of the ultrasonic homogenizer 503, and then start the sixth manipulator 502. The sixth manipulator 502 clamps the sample test tube 010 containing the sample liquid on the test tube holder 070 to the test tube placement rack 5031 in the box through the sixth clamping jaw 5022. Repeat the above clamping operation until a sample test tube 010 is placed in each test tube placement hole 50311 on the test tube placement rack 5031. Close the cover of the ultrasonic homogenizer 503, and start the ultrasonic homogenizer 503 to perform ultrasonic homogenization on the sample liquid therein. After the treatment is completed, the sample test tube 010 after the ultrasonic homogenization treatment is clamped to the test tube holder 070 by the sixth clamping jaw 5022 and then transported to the sample conveying device 1000 or directly clamped into the test tube holder 070 on the sample conveying device 1000.

[0363] The structure and technical effects of the preferred embodiment of the automatic ultrasonic homogenization processing equipment 500 will be further described in detail below.

[0364] According to one embodiment of the present invention, Figure 21 to Figure 23 As shown, a drying cylinder 505 is also provided on the first support platform 5011. Before placing the sample test tube 010 into the test tube placement rack 5031, the sixth clamping jaw 5022 can transfer the sample test tube 010 into the drying cylinder 505 to remove the liquid droplets adsorbed on the outer side of the sample test tube 010. Before the sample test tube 010 is subjected to ultrasonic homogenization treatment, the liquid droplets adsorbed on the outer side wall of the sample test tube 010 are treated by the drying cylinder 505 to prevent the liquid droplets from affecting the ultrasonic homogenization treatment process of the sample liquid in the sample test tube 010.

[0365] Furthermore, a sponge is provided in the drying cylinder 505, and the sponge capable of absorbing water droplets is provided in the drying cylinder 505 to achieve the drying of the test tube, which has a simple structure and low cost. Of course, other water-absorbing materials can also be provided in the drying cylinder 505, or the drying of the test tube can be achieved by passing high-temperature air.

[0366] According to one embodiment of the present invention, Figure 21 to Figure 23As shown, a fifth barcode scanner 506 is also provided on the first support platform 5011, and an identification code is attached to the sample test tube 010. Before placing the sample test tube 010 into the test tube placement rack 5031, the sixth clamp 5022 can transfer the sample test tube 010 to the fifth barcode scanner 506 for scanning and verification to confirm whether the current test tube is the predetermined test tube. The fifth barcode scanner 506 can scan and verify the sample test tube 010, obtain the identity information of each sample test tube 010 (the identity information is usually the number of the test tube), avoid confusion between the sample test tubes 010, and ensure that each sample test tube 010 is smoothly taken and placed as scheduled.

[0367] After the sixth robot 502 grabs the sample test tube 010 on the test tube holder 070, it first moves to the fifth barcode scanner 506 to scan and verify. If there is an abnormality (the current test tube is not the predetermined test tube), an alarm is triggered. If there is no abnormality, subsequent drying or ultrasonic homogenization operations are continued.

[0368] According to one embodiment of the present invention, Fig.23 As shown, an electric control cabinet 5013 is also provided in the support frame 501 , and a control unit is placed in the electric control cabinet 5013 . The control unit is electrically connected to the sixth manipulator 502 and the ultrasonic homogenizer 503 to control the movement of the sixth manipulator 502 or the ultrasonic homogenizer 503 .

[0369] Further, such as Fig.23 As shown, a storage cabinet 5014 is also provided in the support frame 501, and the storage cabinet 5014 is used to store consumables used in the ultrasonic homogenization process and parts that are often damaged and need to be frequently replaced.

[0370] (VI) Liquid collection and transfer equipment 600

[0371] The integrated liquid extraction and transfer device 600 can realize the fully automatic extraction and transfer of the sample liquid, avoiding the influence of human intervention on the sample liquid, and at the same time improving the liquid transfer efficiency of the sample liquid and improving the consistency of the liquid transfer operation.

[0372] like Figure 24 to Figure 26 As shown, the integrated liquid collection and transfer device 600 includes:

[0373] Take the pipetting workbench 601;

[0374] The liquid transfer unit 603 is disposed on the liquid transfer workbench 601. The liquid transfer unit 603 has a first station 6031 and a second station 6032 for fixing the sample test tube 010 and the liquid transfer test tube 020 respectively. The liquid transfer unit 603 has a movable platform 6034 that can move between the first station 6031 and the second station 6032. The movable platform 6034 is provided with a liquid transfer mechanism 6035 that can transfer the sample liquid in the sample test tube 010 to the liquid transfer test tube 020.

[0375] The liquid taking unit 602 is arranged on the taking and pipetting workbench 601. The liquid taking unit 602 has a seventh manipulator 6021, a fifth test tube temporary storage position 6022 and a pipetting test tube rack 6023 which are arranged on the taking and pipetting workbench 601. The end of the seventh manipulator 6021 is provided with a seventh clamp 60211. The fifth test tube temporary storage position 6022 is used to cache sample test tubes 010. The pipetting test tube rack 6023 is used to temporarily store multiple pipetting test tubes 020. The seventh clamp 60211 can transfer the sample test tube 010 between the first station 6031 and the fifth test tube temporary storage position 6022, and can transfer the pipetting test tube 020 between the second station 6032 and the pipetting test tube rack 6023.

[0376] Among them, the sample test tube 010 in the integrated liquid taking and pipetting device 600 is the sample test tube 010 that is transported after being processed by the fully automatic liquid reagent adding device 100, the liquid sample oscillating processing device 200, the automatic constant temperature water bath device 300, the intelligent centrifugal processing device 400 or the automatic ultrasonic homogenization processing device 500.

[0377] The integrated liquid collection and pipetting device 600, through the cooperation between the liquid collection unit 602 and the pipetting unit 603, can transfer part of the sample liquid in the same sample test tube 010 to the same pipetting test tube 020 after a single transfer or multiple centrifugal treatments, that is, it can realize the automated operation of converging the sample liquid from one test tube to another test tube; the mutual cooperation of the seventh manipulator 6021 and the mobile platform 6034 can automatically realize the transfer of the sample test tube 010, the transfer of the pipetting test tube 020, the extraction and transfer of the sample liquid, and thus realize the fully automatic liquid transfer operation of the sample liquid, avoid the influence of human participation on the sample liquid, and at the same time improve the pipetting efficiency of the sample liquid.

[0378] The specific structure of each part of the integrated liquid collection and pipetting device 600 and the position linkage relationship between the parts will be described in detail below.

[0379] like Figure 24 to Figure 26 As shown, the integrated liquid collection and pipetting device 600 has a liquid collection and pipetting workbench 601, which serves as a supporting platform for the entire device. The liquid collection and pipetting workbench 601 includes a support frame 6011 and a table top 6012 arranged on the support frame 6011. The support frame 6011 can adopt a cubic frame structure composed of standard industrial aluminum profiles. The table top 6012 is a rectangular flat steel plate, which is fixed on the top of the support frame 6011, thereby forming a stable liquid collection and pipetting workbench 601.

[0380] Furthermore, an electric control cabinet 6013 is provided in the support frame 6011, and the electric control cabinet 6013 is used to be connected to multiple motors arranged on the table 6012, so as to control the movement or rotation of each component; a collection box 6014 is also provided in the support frame 6011, and the collection box 6014 is used to collect used disposable consumables (the first syringe 604, etc.) on the table 6012.

[0381] like Figure 24 to Figure 26 As shown, the integrated liquid collection and pipetting device 600 also has a liquid collection unit 602. The liquid collection unit 602 uses a seventh manipulator 6021 with multiple degrees of freedom as a core operating component to realize the automation of operations such as transfer, opening and closing of the sample test tube 010 and the pipetting test tube 020.

[0382] Specifically, Fig.24 As shown, the liquid collection unit 602 has a seventh manipulator 6021 disposed on the table 6012, the seventh manipulator 6021 has at least three degrees of freedom, and the end of the seventh manipulator 6021 has a seventh clamp 60211, and the seventh clamp 60211 can be opened and closed to achieve the clamping operation of the product. Multi-freedom manipulators are relatively conventional and mature technologies in the industry, and the specific structure and principle of the seventh manipulator 6021 will not be described in detail here.

[0383] In this embodiment, if Fig.25 and Fig.26 As shown, the structure of the seventh manipulator 6021 can adopt the same structure as the first manipulator 1071, which is also a multi-degree-of-freedom manipulator. The seventh manipulator 6021 has a rotatable vertical arm, which is connected to a first horizontal arm that can move up and down, and the end of the first horizontal arm is rotatably connected to a second horizontal arm, and the end of the second horizontal arm is provided with a seventh clamp 60211, which can rotate and perform clamping operations, wherein the seventh clamp 60211 can have a variety of forms, as long as it can achieve the corresponding clamping function. As mentioned above, the seventh clamp 60211 on the seventh manipulator 6021 can reach any position within a certain range of space.

[0384] Further, such as Fig.24 and Fig.25As shown, a fifth test tube temporary storage position 6022 is provided within the reach of the seventh clamp 60211, and the fifth test tube temporary storage position 6022 is provided on the table 6012. At least one slot for vertically inserting a test tube holder 070 is provided on the fifth test tube temporary storage position 6022, and the test tube holder 070 is used to place a sample test tube 010, and the sample test tube 010 contains a sample liquid that has been processed in the previous process (usually centrifugal processing); the seventh manipulator 6021 can also transfer the test tube holder 070 containing the sample test tube 010 or an empty test tube holder 070 between the sample conveying device 1000 and the fifth test tube temporary storage position 6022.

[0385] In this embodiment, two groups of the fifth test tube temporary storage positions 6022 can be provided, which are respectively located on both sides of the seventh manipulator 6021. The multiple slots of each group of the fifth test tube temporary storage positions 6022 are arranged in a matrix form, so that each test tube holder 070 has a relatively fixed position on the table 6012, thereby simplifying the programming process of the seventh clamping jaw 60211 to clamp the sample test tube 010 at the corresponding position.

[0386] Similar to the function of the first test tube temporary storage position 205 described above, when working, the seventh manipulator 6021 can transfer the test tube holder 070 and the sample test tube 010 transported from the sample conveying device 1000 together, so as to transfer the sample test tube 010 processed in the previous process from the sample conveying device 1000 to the fifth test tube temporary storage position 6022 of the integrated liquid collection and pipetting device 600 for temporary storage; after the seventh manipulator 6021 clamps the sample test tube 010 to the first station 6031, the test tube holder 070 can continue to stay at the fifth test tube temporary storage position 6022, the empty test tube holder 070 can also be transferred to the sample conveying device 1000; after the first station 6031 of the sample test tube 010 completes the transfer of part of the sample liquid, the seventh manipulator 6021 clamps the sample test tube 010 into the test tube holder 070 of the fifth test tube temporary storage position 6022 and transfers the whole to the sample conveying device 1000 to be transported to the corresponding position for disposal, or the seventh manipulator 6021 can directly discard the sample test tube 010 through the following consumables discarding hole 6015 set on the table 6012. Alternatively, the seventh manipulator 6021 can also directly grab the sample test tube 010 in the test tube holder 070 from the sample conveying device 1000, perform liquid transfer on the sample test tube 010, and then directly clamp and place the sample test tube 010 on the test tube holder 070 of the sample conveying device 1000 to be transported to the corresponding position for disposal, or directly discarded through the consumables discarding hole 6015. The specific operation process depends on actual needs, and this embodiment is only an example.

[0387] Furthermore, Fig.24 and Fig.26As shown, a pipette test tube rack 6023 is provided within the reach of the seventh clamping jaw 60211. The pipette test tube rack 6023 is provided, for example, according to Fig.24 There are two groups of settings shown in FIG. 6 , where a pipette test tube rack 6023 is set on the table 6012 , and the pipette test tube rack 6023 is used to place the pipette test tube 020 , and the pipette test tube 020 placed in the pipette test tube rack 6023 is a clean empty test tube.

[0388] When the liquid taking unit 602 is working, the seventh manipulator 6021 is started, and the sample test tube 010 on the test tube holder 070 is clamped and transferred to the first station 6031 (which will be described in detail below) on the pipetting unit 603 by the seventh clamp 60211, and then the transfer test tube 020 on the transfer test tube rack 6023 is clamped and transferred to the second station 6032 (which will be described in detail below) by the seventh clamp 60211; if the sample test tube 010 and the transfer test tube 020 are both covered with tube caps, the seventh clamp 60211 unscrews the tube cap on the sample test tube 010 after placing the sample test tube 010 on the first station 6031, and the seventh clamp 60211 unscrews the tube cap of the transfer test tube 020 after placing the transfer test tube 020 on the second station 6032.

[0389] like Figure 24 to Figure 26 As shown, the integrated liquid extraction and pipetting device 600 also has a pipetting unit 603. The pipetting unit 603 uses a mobile platform 6034 as a core operating component to realize automation of operations such as extraction, transfer and injection of sample liquid.

[0390] Specifically, Fig.24 , Fig. 27 and Fig.28 As shown, the pipetting unit 603 has a movable platform 6034 arranged on the table 6012. The movable platform 6034 is a column that can slide in a straight line direction relative to the table 6012. The sliding direction of the column is parallel to the table 6012. A pipetting mechanism 6035 is arranged on the column. The pipetting mechanism 6035 can realize the extraction and injection of the sample liquid. It can take a variety of forms, such as using a disposable syringe or a separately set vacuum adsorption tube, etc., which is not specifically limited here.

[0391] The liquid transfer mechanism 6035 can move on the table 6012 along with the mobile platform 6034. A first station 6031 and a second station 6032 are respectively formed at two different positions in the moving direction of the mobile platform 6034, wherein the first station 6031 and the second station 6032 are arranged adjacent to each other, thereby reducing the displacement of the mobile platform 6034 during the liquid transfer process. When the mobile platform 6034 moves to the first station 6031, the liquid transfer mechanism 6035 can extract part of the sample liquid in the sample tube 010 at the first station 6031; when the mobile platform 6034 moves to the second station 6032, the liquid transfer mechanism 6035 can inject the sample liquid extracted at the first station 6031 into the liquid transfer tube 020 at the second station 6032.

[0392] In summary, the automated operation process of the integrated liquid collection and pipetting device 600 is as follows:

[0393] The seventh manipulator 6021 is started. The seventh manipulator 6021 clamps the sample test tube 010 containing the sample liquid on the test tube holder 070 to the first station 6031 through the seventh clamping jaw 60211. If the sample test tube 010 needs to be opened, the tube cover on the sample test tube 010 is screwed off by the seventh clamping jaw 60211. Then, the seventh manipulator 6021 clamps the transfer test tube 020 on the transfer test tube rack 6023 to the second station 6032 through the seventh clamping jaw 60211. If The pipette tube 020 needs to be opened, and then the tube cover on the pipette tube 020 is unscrewed by the seventh clamp 60211; then the mobile platform 6034 in the pipetting unit 603 is started, driving the pipetting mechanism 6035 to move to the first station 6031, and extract part of the sample liquid in the sample tube 010. After the extraction is completed, it moves to the second station 6032, and the pipetting mechanism 6035 injects the extracted sample liquid into the pipette tube 020; in this way, a sample liquid transfer operation is completed.

[0394] If it is necessary to transfer the sample liquid in the same sample test tube 010 to the same transfer tube 020 after multiple centrifugation, after completing the above operation, the sample test tube 010 that has been transferred once on the first station 6031 is transferred to the sample conveying device 1000 through the seventh clamping jaw 60211, and transported to the above-mentioned intelligent centrifugal processing device 400 for centrifugation. After the centrifugation is completed, it is transported to the integrated device 600 for taking and pipetting through the sample conveying device 1000, and the sample test tube 010 is clamped to the first station 6031 through the seventh clamping jaw 60211, and the operation of the above-mentioned transfer unit 603 is repeated to complete the re-transfer operation of part of the sample liquid in the sample test tube 010. Repeat this operation until the part of the sample in the sample test tube 010 is transferred to the same transfer tube 020 after multiple centrifugation. After completing the transfer, the sample test tube 010 can be discarded.

[0395] The structure and technical effects of the preferred embodiment of the integrated liquid collection and pipetting device 600 will be further described in detail below.

[0396] According to one embodiment of the present invention, Figure 24 to Figure 28 As shown, a first clamping mechanism 60311 fixed on the pipetting workbench 601 is provided at the first station 6031, and the first clamping mechanism 60311 has a first clamping piece 60312 capable of clamping the sample test tube 010; and / or a second clamping mechanism 60321 fixed on the pipetting workbench 601 is provided at the second station 6032, and the second clamping mechanism 60321 has a second clamping piece 60322 capable of clamping the pipetting test tube 020.

[0397] The first clamping mechanism 60311 and the second clamping mechanism 60321 can clamp and lock the sample test tube 010 and the transfer test tube 020 respectively, thereby facilitating the seventh manipulator 6021 to unscrew the tube caps of the sample test tube 010 and the transfer test tube 020, and also facilitating the transfer mechanism 6035 to extract and inject the sample liquid.

[0398] Specifically, Fig.24As shown, the first clamping mechanism 60311 at the first station 6031 is arranged on the table 6012 and is within the reach of the seventh clamping jaw 60211; the first clamping mechanism 60311 is similar in structure to the first cover opening and closing device 108, and the first clamping mechanism 60311 has a first clamping member 60312, and the first clamping member 60312 has two claws arranged opposite to each other, and the two claws can move closer to or away from each other under the drive of the motor, thereby realizing the locking or loosening of the sample tube 010. When the sample tube 010 is locked by the first clamping member 60312, the sample tube 010 can be kept in an upright state and cannot rotate, thereby facilitating the seventh clamping jaw 60211 to open the cover of the sample tube 010, and facilitating the liquid transfer mechanism 6035 to extract the sample liquid in the sample tube 010.

[0399] Further, such as Fig.24 As shown, the second clamping mechanism 60321 at the second station 6032 is arranged on the table 6012 and is within the reach of the seventh clamping jaw 60211; the structure of the second clamping mechanism 60321 is the same as that of the first clamping mechanism 60311, and will not be described in detail here. When the second clamping member 60322 is used to lock the pipette tube 020, the pipette tube 020 can be kept in an upright state and cannot rotate, thereby facilitating the seventh clamping jaw 60211 to open the cover of the pipette tube 020, and facilitating the pipette mechanism 6035 to inject the sample liquid into the pipette tube 020.

[0400] According to one embodiment of the present invention, Figure 25 to Figure 28 As shown, the pipetting unit 603 has a support base 6033 arranged on the pipetting workbench 601, the mobile platform 6034 is slidably connected to the support base 6033, the pipetting mechanism 6035 is slidably connected to the mobile platform 6034, and the sliding direction of the mobile platform 6034 is perpendicular to the sliding direction of the pipetting mechanism 6035.

[0401] The sliding setting of the mobile platform 6034 on the support seat 6033 enables it to move and switch between the first station 6031 and the second station 6032. The up and down sliding setting of the pipetting mechanism 6035 on the mobile platform 6034 enables it to move toward or away from the pipetting workbench 601, thereby realizing the extraction of sample liquid in the sample test tube 010 or the injection of sample liquid into the pipetting test tube 020.

[0402] Further, such as Fig. 27 and Fig.28As shown, the pipetting mechanism 6035 has a sliding seat 60351, a syringe fixing portion 60352 and a pushing portion 60353. The sliding seat 60351 is slidably connected to the moving platform 6034. The syringe fixing portion 60352 is fixed on the sliding seat 60351. A first syringe 604 with a first needle 6041 is clamped on the syringe fixing portion 60352. The pushing portion 60353 is connected to the first syringe 604 and can move away from or toward the syringe fixing portion 60352 to realize the extraction or injection operation of the first syringe 604.

[0403] The transfer of the sample liquid is achieved through the first syringe 604 on the pipetting mechanism 6035. The syringe fixing portion 60352 is used to fix the first syringe 604 with the first needle 6041, and the pushing portion 60353 is used to apply a pulling force or a pushing force to the piston rod of the first syringe 604, thereby achieving the extraction or injection of the sample liquid.

[0404] Specifically, the support seat 6033 is fixed on the table 6012, and has a guide rail 6053 on the top. The mobile platform 6034 is slidably connected to the guide rail 6053, and the mobile platform 6034 can slide on the support seat 6033 under the drive of the driving assembly composed of a motor and a ball screw. The mobile platform 6034 is slidably connected to a liquid transfer mechanism 6035, and the liquid transfer mechanism 6035 can slide under the drive of the driving assembly composed of a motor and a ball screw. The pipetting mechanism 6035 has a sliding seat 60351, which is slidably connected to the moving platform 6034. A syringe fixing portion 60352 is provided at the lower part of the sliding seat 60351, and a first syringe 604 with a first needle 6041 is fixed on the syringe fixing portion 60352, and the first needle 6041 of the first syringe 604 is arranged to face downward; a pushing portion 60353 is provided above the first syringe 604, and the pushing portion 60353 can move up and down relative to the sliding seat 60351, and the pushing portion 60353 is connected to the piston rod of the first syringe 604, thereby pushing or pulling the piston rod of the first syringe 604 to realize the injection or extraction operation of the sample liquid.

[0405] When the above-mentioned pipetting mechanism 6035 is working, first, the mobile platform 6034 drives the pipetting mechanism 6035 to slide to the first station 6031, and then the sliding seat 60351 drives the first syringe 604 to move downward until the needle of the first syringe 604 is inserted into the predetermined liquid layer in the sample test tube 010 on the first station 6031, and then the pushing part 60353 moves upward, that is, the pushing part 60353 drives the piston rod away from the syringe fixing part 60352, and the first syringe 604 extracts the sample liquid in the predetermined liquid layer in the sample test tube 010. After the extraction is completed, the sliding seat 60351 drives the first syringe 604 to move upward, and the first needle 6041 of the first syringe 604 is taken out from the sample test tube 010.

[0406] Afterwards, the movable platform 6034 drives the pipetting mechanism 6035 to slide to the second station 6032, and then the sliding seat 60351 drives the first syringe 604 to move downward until the first needle 6041 of the first syringe 604 is inserted into the pipetting tube 020 on the second station 6032, and then the pushing part 60353 moves downward, that is, the pushing part 60353 drives the piston rod to move toward the syringe fixing part 60352, and the first syringe 604 squeezes the sample liquid therein into the pipetting tube 020.

[0407] According to one embodiment of the present invention, Fig.24 and Fig.26 As shown, the liquid collection unit 602 further has a first syringe rack 6024 on which a first syringe 604 with a first needle 6041 is placed, and the seventh clamping jaw 60211 can transfer the first syringe 604 on the first syringe rack 6024 to the syringe fixing portion 60352 .

[0408] The first syringe 604 is a disposable consumable and needs to be replaced after one use. Therefore, a corresponding first syringe rack 6024 is set on the pipetting workbench 601 to provide disposable first syringes 604 to be replaced. The first syringe rack 6024 is located within the reach of the seventh clamp 60211. Therefore, the seventh clamp 60211 can realize the automated operation of replacing the first syringe 604.

[0409] According to one embodiment of the present invention, Fig.26 , Figure 29 to Figure 31 As shown, a plurality of second transmission components 605 are provided on the pipetting workbench 601, and the pipetting test tube rack 6023 and the first syringe rack 6024 can be transferred from the consumables transport device to each second transmission component 605; the second transmission component 605 includes:

[0410] A bottom plate 6051 is arranged on the liquid handling workbench 601, and the bottom plate 6051 is slidably connected to a second transmission plate 6052 via a guide rail 6053. The second transmission plate 6052 can slide along the guide rail 6053 and extend out of the liquid handling workbench 601 to receive the liquid handling test tube rack 6023 or the first syringe rack 6024;

[0411] The second positioning clamp 6054 is connected to the bottom plate 6051 , and can clamp the pipette test tube rack 6023 or the first syringe rack 6024 to adjust its position in a direction perpendicular to the guide rail 6053 .

[0412] The second transmission component 605 can smoothly transfer the pipette test tube rack 6023 and the first syringe rack 6024 on the consumables transfer device (for example, the transport robot 2000 described below can be used, or other forms of robots or transfer carts can be used) to the pipetting workbench 601, and can adjust the positions of the above-mentioned disposable consumables racks (i.e., the pipette test tube rack 6023 and the first syringe rack 6024) so ​​that they can be accurately transferred to a fixed position on the pipetting workbench 601, thereby facilitating the seventh clamp 60211 to accurately perform pick-up and placement operations.

[0413] The pipette test tube 020 on the pipette test tube rack 6023 and the first syringe 604 on the first syringe rack 6024 are both disposable consumables, which need to be replaced after use. In this embodiment, the replacement operation of the pipette test tube rack 6023 and the first syringe rack 6024 is achieved by cooperating with the consumable transport device. Since the consumable transport device usually does not have a precise positioning and docking function, it will be difficult to accurately transport the replaced pipette test tube rack 6023 and the first syringe rack 6024 to the predetermined position without manual intervention (the position of each placement needs to be a preset position to ensure the precise clamping of the seventh clamp 60211). The above-mentioned second transmission component 605 can adjust the position of the disposable consumable rack so that it can be accurately transported to the predetermined position.

[0414] Specifically, Figure 29 to Figure 31 As shown, the second transmission component 605 has a bottom plate 6051 arranged on the table 6012, which is actually a sliding base for docking. The sliding base is usually also provided with a plurality of side plates, which are connected to the bottom plate 6051 to form a groove structure; the second transmission plate 6052 is slidably connected to the bottom plate 6051 through a guide rail 6053, and the pipette test tube rack 6023 or the first syringe rack 6024 can be placed on the second transmission plate 6052.

[0415] like Fig.31As shown, the receiving and replacing process of the first syringe rack 6024 is taken as an example for explanation. A limiting column 60241 is provided at the bottom of the first syringe rack 6024 to limit the position of the first syringe rack 6024. However, a certain gap is usually provided between the limiting column 60241 and the second transmission plate 6052 to facilitate the receiving of the first syringe rack 6024. Therefore, a second positioning claw 6054 is also provided on the sliding base, which includes two positioning claws arranged relatively to each other. The two positioning claws are respectively located on both sides of the first syringe rack 6024. The two positioning claws can approach or move away from each other under the drive of the motor, thereby adjusting the position of the first syringe rack 6024 in a direction perpendicular to the guide rail 6053 to a predetermined position.

[0416] When replacing the first syringe rack 6024, after the consumable transfer device moves to the position of the second transfer assembly 605, the second transfer plate 6052 of the second transfer assembly 605 extends out to transfer the empty first syringe rack 6024 to the consumable transfer device, and then the consumable transfer device places the new first syringe rack 6024 on the second transfer plate 6052, and then the second transfer plate 6052 retracts. After the second transfer plate 6052 retracts into place, the two positioning claws on the second positioning clamp 6054 are activated to fine-tune the position of the first syringe rack 6024.

[0417] According to one embodiment of the present invention, Fig.24 and Fig.26 As shown, at least two groups of fifth test tube temporary storage positions 6022 are provided on the pipetting workbench 601, and the test tube holders 070 placed in each fifth test tube temporary storage position 6022 can hold sample test tubes 010 of different capacities; and / or, at least two groups of pipetting test tube racks 6023 are provided on the pipetting workbench 601, and each pipetting test tube rack 6023 can hold pipetting test tubes 020 of different capacities.

[0418] At least two test tube holders 070 of different sizes and two test tube racks 6023 of different sizes are arranged on the liquid collection and pipetting workbench 601, which are used to place sample test tubes 010 and pipetting test tubes 020 of different volumes, respectively, thereby improving the application range of the integrated liquid collection and pipetting device 600.

[0419] In this embodiment, if Fig.24As shown, two groups of fifth test tube temporary storage positions 6022 are provided on the table 6012, one group of the fifth test tube temporary storage positions 6022 is used to place a plurality of test tube holders 070 of the first specification arranged in a matrix, the test tube holders 070 are used to place sample test tubes 010 with a capacity of 15 mL, and the other group of the fifth test tube temporary storage positions 6022 is used to place a plurality of test tube holders 070 of the second specification arranged in a matrix, the test tube holders 070 are used to place sample test tubes 010 with a capacity of 50 mL. Two groups of pipetting test tube racks 6023 of different specifications are provided on the table 6012 through the second transmission component 605, one group of the pipetting test tube racks 6023 is used to place pipetting test tubes 020 with a capacity of 15 mL, and the other group of the pipetting test tube racks 6023 is used to place pipetting test tubes 020 with a capacity of 50 mL.

[0420] According to one embodiment of the present invention, Fig.24 and Fig.26 As shown, a consumables discarding hole 6015 is provided on the pipetting workbench 601 , and a collection box 6014 is provided below the consumables discarding hole 6015 . The seventh clamping jaw 60211 can discard the used sample tube 010 and the first syringe 604 into the collection box 6014 through the consumables discarding hole 6015 .

[0421] The first syringe 604 and the sample tube 010 are both disposable consumables and need to be discarded after use. Therefore, the consumable discarding hole 6015 is provided on the pipetting workbench 601 for discarding the consumables through the seventh robot 6021 .

[0422] According to one embodiment of the present invention, the liquid taking unit 602 also has a sixth barcode scanner and / or a seventh barcode scanner arranged on the liquid taking and pipetting workbench 601, the sixth barcode scanner is used to scan the identification code on the sample test tube 010 to confirm whether the current sample test tube 010 is the predetermined sample test tube 010, and the seventh barcode scanner is used to scan the identification code on the pipetting test tube 020 to confirm whether the current pipetting test tube 020 is the predetermined pipetting test tube 020.

[0423] In order to avoid confusion between different sample liquids, each sample test tube 010 and / or transfer test tube 020 is affixed with a corresponding identification code. The sixth scanner and the seventh scanner can read the above identification code and then send the corresponding test tube information to the host computer for verification, thereby confirming whether the current test tube is the predetermined test tube.

[0424] After the seventh robot 6021 grabs the sample test tube 010 on the test tube holder 070, it first moves to the sixth barcode scanner position to scan and verify. If there is an abnormality (the current sample test tube 010 is not the predetermined sample test tube 010), an alarm is triggered. If there is no abnormality, the subsequent transfer and lid opening operations continue.

[0425] After the seventh robot 6021 grabs the pipette test tube 020 on the pipette test tube rack 6023, it first moves to the seventh barcode scanner position to scan the barcode for verification. If there is an abnormality (the current pipette test tube 020 is not the predetermined pipette test tube 020), an alarm is triggered. If there is no abnormality, the subsequent transfer and lid opening operations continue.

[0426] Of course, as needed, only one barcode scanner may be provided on the pipetting workbench to scan and verify the sample test tube 010 and the pipetting test tube 020 .

[0427] (VII) Automatic nitrogen blowing concentration equipment 700

[0428] The automatic nitrogen blowing concentration equipment 700 can realize the full process automatic control of sample nitrogen blowing concentration, improve the automation degree of nitrogen blowing concentration, and has the function of redissolution and mixing after nitrogen blowing concentration. It can realize the two pre-treatment steps of nitrogen blowing and redissolution at the same time, and has a higher degree of integration.

[0429] like Figure 32 to Figure 37 As shown, the automatic nitrogen blowing concentration equipment 700 includes a nitrogen blowing concentration workbench 701 and a first buffer station 702, an eighth manipulator 704, a ninth manipulator 703, a nitrogen blowing device 705 and a re-dissolving and liquid adding device 708 arranged on the table 7011 of the nitrogen blowing concentration workbench 701; the first buffer station 702 is located on one side of the nitrogen blowing device 705, and the first buffer station 702 is used to buffer the nitrogen blowing test tube 030 containing the sample; the eighth manipulator 704 is located between the first buffer station 702 and the nitrogen blowing device 705, and the eighth manipulator 704 has at least one eighth clamping jaw 7041 that can move between the first buffer station 702 and the nitrogen blowing device 705, through the eighth clamping jaw 70 41 transfers the nitrogen blown test tube 030 located at the first buffer station 702 to the nitrogen blown device 705; the nitrogen blown device 705 is used to carry out nitrogen blown concentration on the sample in the nitrogen blown test tube 030; the re-dissolution and liquid adding device 708 is located on one side of the nitrogen blown device 705, and the re-dissolution and liquid adding device 708 is used to add re-dissolution liquid into the nitrogen blown test tube 030 passing through the nitrogen blown device 705, so as to re-dissolve the sample after nitrogen blown concentration; the moving end of the ninth manipulator 703 is provided with a ninth clamp 7031, and the ninth manipulator 703 can at least drive the ninth clamp 7031 to transfer the nitrogen blown test tube 030 to the first buffer station 702, and / or, transfer the nitrogen blown test tube 030 from the nitrogen blown device 705 to the re-dissolution and liquid adding device 708.

[0430] The nitrogen blowing test tube 030 in the automatic nitrogen blowing concentration device 700 is the transfer tube 020 that has been processed by the integrated liquid extraction and pipetting device 600, or is the liquid receiving test tube 050 that has been processed by the automatic solid phase extraction device 800.

[0431] The equipment can realize automatic nitrogen blowing and concentration of samples contained in nitrogen blowing test tube 030 by cooperating with the first buffer station 702, the eighth manipulator 704, the ninth manipulator 703, the nitrogen blowing device 705 and the re-dissolution and liquid adding device 708. It is suitable for nitrogen blowing and concentration operations of large quantities of samples. The whole process greatly reduces manual intervention, improves the degree of automation of nitrogen blowing and concentration treatment of samples, is more efficient, avoids cross contamination, and avoids the influence of excessive manual participation on samples, thereby ensuring the accuracy of detection; in addition, the automatic nitrogen blowing and concentration equipment 700 also has a sample re-dissolution function. After the nitrogen blowing and concentration operation, the sample can be re-dissolved, thereby realizing the two operation processes of nitrogen blowing and re-dissolution on one device, with a higher degree of integration.

[0432] The sample subjected to nitrogen blowing concentration treatment in the present invention may be, but not limited to, food and beverage (such as milk, wine, etc.), and may also be other food pre-mixed in a liquid (such as water). In the present application, the reconstitution liquid used for reconstitution of the sample after nitrogen blowing concentration treatment may be selected according to the sample that actually needs to be reconstituted, such as the reconstitution liquid may be, but not limited to, pure water.

[0433] In an optional embodiment of the present invention, Fig.32 , Fig.35 As shown, the ninth manipulator 703 includes a multi-degree-of-freedom manipulator, the bottom end of the ninth manipulator 703 is its fixed end, the end of the ninth manipulator 703 is a mobile end, the fixed end of the ninth manipulator 703 is fixedly arranged on the table 7011 of the nitrogen blowing concentration workbench 701, and the ninth clamping jaw 7031 can be rotatably arranged at the mobile end of the ninth manipulator 703. Among them, the structure of the ninth manipulator 703 can adopt the same structure as the first manipulator 1071 mentioned above, for example, the multi-degree-of-freedom manipulator includes a rotatable vertical arm, the vertical arm is connected to a first horizontal arm that can move up and down, the end of the first horizontal arm is rotatably connected to a second horizontal arm, and the end of the second horizontal arm is provided with a ninth clamping jaw 7031, and the ninth clamping jaw 7031 can rotate and can perform a clamping operation. The multi-degree-of-freedom manipulator and the ninth clamping jaw 7031 can have a variety of forms, as long as they can realize the corresponding transport and clamping functions, and the specific structure of the multi-degree-of-freedom manipulator and the ninth clamping jaw 7031 is not limited here.

[0434] In an optional embodiment of the present invention, Fig.32 , Fig.35 , Fig.36As shown, a second opening and closing cover device 706 is also provided on the table top 7011 of the nitrogen blowing concentration workbench 701, and the second opening and closing cover device 706 has a second clamping portion 7061, and the second clamping portion 7061 is used to clamp the lower part of the nitrogen blowing test tube 030, and a tube cover is threadedly connected at the top opening of the nitrogen blowing test tube 030. The ninth clamping jaw 7031 can clamp the tube cover and remove the tube cover from the nitrogen blowing test tube 030 or cover the tube cover on the top opening of the nitrogen blowing test tube 030 by rotating.

[0435] The taking and placing operation of the nitrogen blown test tube 030 on the second clamping part 7061 is realized by the ninth clamping jaw 7031. After the ninth clamping jaw 7031 places the nitrogen blown test tube 030 on the second clamping part 7061, the second clamping part 7061 can fix and clamp the nitrogen blown test tube 030, and then the tube cover can be rotated to be removed or screwed on by rotating the ninth clamping jaw 7031 to realize opening or closing the cover.

[0436] Specifically, Fig.36 As shown, the second cover opening and closing device 706 is similar in structure to the first cover opening and closing device 108 described above. The second clamping portion 7061 of the second cover opening and closing device 706 has two grippers that are arranged opposite to each other and can move closer or farther away from each other. The second cover opening and closing device 706 also includes a seat body and a driving element 7062 disposed on the seat body for driving the two grippers to move in a direction of moving away from or closer to each other. The driving element 7062 is connected to the two grippers and can drive the two grippers to move closer or farther away from each other to achieve the clamping or loosening of the nitrogen blowing test tube 030. The second cover opening and closing device 706 can also include a temporary storage position for the cover body (not shown). The top surface of the temporary storage position for the cover body has at least one placement groove. Generally, at least two placement grooves are provided, and have different sizes for placing tube covers of different specifications and sizes.

[0437] In an optional embodiment of the present invention, Fig.32 , Fig.33 , Fig.35 As shown, the nitrogen blowing device 705 includes a plurality of fixed seats 7051 arranged in an array and a plurality of nitrogen blowing components 7052 corresponding to the fixed seats 7051; Fig.33 As shown, the fixing seat 7051 is a rectangular strip structure, and the fixing seat 7051 can be divided into two rows, front and back, and the two fixing seats 7051 in each row are arranged at intervals, and the top of each fixing seat 7051 is arranged side by side and at intervals along its length direction. A plurality of placement holes are arranged side by side and at intervals, and the plurality of placement holes are used to place the nitrogen blowing test tube 030; wherein, the aperture of the placement hole matches the outer diameter of the corresponding nitrogen blowing test tube 030, so as to ensure that the nitrogen blowing test tube 030 can be stably placed in the placement hole, and the nitrogen blowing test tube 030 will not shake during the nitrogen blowing concentration process. The aperture of the placement hole of each fixing seat 7051 can be different to be suitable for nitrogen blowing test tubes 030 of different capacities.

[0438] In this embodiment, if Fig.33 As shown, the nitrogen blowing assembly 7052 includes a first column 70525 located on one side of the fixed seat 7051, the bottom end of the first column 70525 is fixed on the table 7011 of the nitrogen blowing concentration workbench 701, the first column 70525 is provided with a first lifting rail 70521 extending vertically, and the first lifting rail 70521 is slidably provided with a connecting plate 70524, the connecting plate 70524 extends horizontally toward one side of the fixed seat 7051 and is connected to the first horizontal mounting plate 70522, and the first horizontal mounting plate 70522 is located above the fixed seat 7051 and can move up and down along the first lifting rail 70521. The projection of the first horizontal mounting plate 70522 on the table 7011 vertically can cover the fixed seats 7051 in the front and rear rows at the corresponding positions, so that the demand for nitrogen blowing and concentration of samples in test tubes placed at any position can be met during the working process.

[0439] The first lifting rail 70521 may include a first lead screw arranged vertically, one end of the first lead screw is connected to the output shaft of the first motor, a first connection block is screwed on the first lead screw, and the connection plate 70524 is connected to the first connection block. Since the first connection block is circumferentially limited (how to achieve circumferential limitation of the first connection block is already an existing technology and will not be described again here), when the first motor drives the first lead screw to rotate, the first connection block only moves along the first lead screw without circumferential rotation, thereby driving the connection plate 70524 to move vertically along the first lifting rail 70521. Of course, other vertical slide rail structures may also be used, and the specific structure of the first lifting rail 70521 and its sliding connection method with the connection plate 70524 are not limited here.

[0440] Further, such as Fig.33 As shown, a plurality of nitrogen blowpipes 70523 are arranged on the first horizontal mounting plate 70522, and the plurality of nitrogen blowpipes 70523 correspond to the plurality of placement holes one by one in the vertical direction, and the gas inlets of the plurality of nitrogen blowpipes 70523 (i.e., the top interfaces of the nitrogen blowpipes 70523) are all located on the top surface of the first horizontal mounting plate 70522 and are respectively connected to the nitrogen delivery pipelines, and the gas outlets of the plurality of nitrogen blowpipes 70523 (i.e., the bottom openings of the nitrogen blowpipes 70523) pass through the first horizontal mounting plate 705 22 and extends to the bottom of the first horizontal mounting plate 70522. When nitrogen blowing and concentrating the liquid in the nitrogen blowing test tube 030, it is necessary to slide downward along the first lifting rail 70521 through the connecting plate 70524, thereby driving the first horizontal mounting plate 70522 and the nitrogen blowing pipe 70523 thereon to move downward, so that the nitrogen blowing pipe 70523 moves downward to the point where the gas outlet is at a preset nitrogen blowing distance from the liquid surface in the nitrogen blowing test tube 030, and then nitrogen is blown in to achieve the purpose of nitrogen blowing and concentrating the sample. The preset nitrogen blowing distance may be greater than 0 and less than or equal to 1 cm.

[0441] Furthermore, a heating element (not shown) is provided on the fixing seat 7051, and the heating element is used to heat the nitrogen blowing test tube 030 during the nitrogen blowing concentration process, thereby increasing the speed of nitrogen blowing concentration and improving work efficiency. The heating element may be, but is not limited to, a temperature-adjustable heating rod or a heating resistance wire, which can provide a preset heating temperature.

[0442] Furthermore, a laser sensor (not shown) is provided on the fixing seat 7051, and the laser sensor is used to detect the liquid level in the nitrogen blowing test tube 030 during the nitrogen blowing concentration process. When the liquid level in the nitrogen blowing test tube 030 is lower than the preset threshold value, the blowing is suspended; or a reminder signal is sent to the staff so that the staff can pay attention to the nitrogen blowing test tube 030 in time, and stop blowing when the sample is blown to nearly dry. When the liquid level in all nitrogen blowing test tubes 030 is lower than the preset threshold value, all blowing is suspended, and the staff is called to check in time until the samples in all nitrogen blowing test tubes 030 are blown to nearly dry. Among them, the nearly dry state of the sample can be set by the staff, and different samples can have different water contents in the nearly dry state.

[0443] In an optional embodiment of the present invention, Fig.32 , Fig.33 , Fig.35 As shown, the eighth manipulator 704 includes a first translational slide 7042 arranged on the table top 7011 of the nitrogen blowing concentration workbench 701, and the first translational slide 7042 extends in the horizontal direction at least from the front side of the first buffer station 702 to the front side of the nitrogen blowing device 705. A first slider 7043 is slidably arranged on the first translational slide 7042, and a second column 7044 is arranged on the top of the first slider 7043. The bottom end of the second column 7044 is fixed to the top of the first slider 7043, and a second lifting slide 7045 extending vertically is arranged on the second column 7044. A second horizontal mounting plate 7046 is slidably arranged on the second lifting slide 7045, and the eighth clamp 7041 is arranged on the bottom surface of the second horizontal mounting plate 7046.

[0444] During the working process, the ninth clamp 7031 of the ninth manipulator 703 can place the opened nitrogen blowing test tube 030 in the first cache station 702, and then the first slider 7043 slides along the first translation slide rail 7042 to the eighth clamp 7041 located directly above the nitrogen blowing test tube 030 in the first cache station 702, and then moves downward along the second lifting slide rail 7045 through the second horizontal mounting plate 7046 to the eighth clamp 7041 to clamp the upper part of the nitrogen blowing test tube 030, and then moves upward along the second lifting slide rail 7045 through the second horizontal mounting plate 7046 to lift the nitrogen blowing test tube 030, and then the first slider 7043 slides along the first translation slide rail 7042 to the position where the nitrogen blowing test tube 030 is vertically opposite to the placement hole at the preset position in the fixed seat 7051, and then the nitrogen blowing test tube 030 is lowered into the placement hole to complete the nitrogen blowing concentration loading operation.

[0445] The first translation rail 7042 may include a second lead screw arranged in the horizontal direction, one end of the second lead screw is connected to the output shaft of the second motor, a second connection block is screwed on the second lead screw, and the first slider 7043 is connected to the second connection block. Since the second connection block is circumferentially limited (how to achieve circumferential limitation of the second connection block is already an existing technology and will not be described again here), when the second motor drives the second lead screw to rotate, the second connection block only moves along the second lead screw without circumferential rotation, thereby driving the first slider 7043 to move in the horizontal direction along the first translation rail 7042. Of course, other vertical slide rail structures may also be used, and the specific structure of the first translation rail 7042 and its sliding connection method with the first slider 7043 are not limited here.

[0446] The second lifting rail 7045 may include a third lead screw arranged vertically, one end of the third lead screw is connected to the output shaft of the third motor, a third connecting block is screwed on the third lead screw, and one end of the second horizontal mounting plate 7046 is connected to the third connecting block. Since the third connecting block is circumferentially limited (how to achieve circumferential limitation of the third connecting block is already an existing technology and will not be described again here), when the third motor drives the third lead screw to rotate, the third connecting block only moves along the third lead screw without circumferential rotation, thereby driving the second horizontal mounting plate 7046 to move vertically along the second lifting rail 7045. Of course, other vertical rail structures may also be used, and the specific structure of the second lifting rail 7045 and its sliding connection method with the second horizontal mounting plate 7046 are not limited here.

[0447] Further, such as Fig.33 As shown, the eighth clamping jaw 7041 is a pneumatic clamping head. The eighth clamping jaw 7041 is an existing standard part, and the specific structure of the eighth clamping jaw 7041 is not limited here.

[0448] In an optional embodiment of the present invention, Fig.32, Fig.34 , Fig.35 As shown, the reconstitution liquid adding device 708 includes a liquid adding box 7081 arranged on the table 7011 of the nitrogen blowing concentration workbench 701, the interior of the liquid adding box 7081 is filled with the reconstitution liquid or the liquid adding box 7081 is connected to a reagent bottle containing the reconstitution liquid, and the top of the liquid adding box 7081 has a liquid outlet for downward discharge; in addition, a second translation slide rail 7082 is horizontally arranged on the table 7011 and below the liquid outlet, and a second slider is slidably arranged on the second translation slide rail 7082 7083, a cartridge rack 7084 capable of placing the nitrogen blowing test tube 030 is arranged on the top of the second slider 7083 (the cartridge rack 7084 is a cylindrical structure with an opening at the top, and the inner diameter of the cartridge rack 7084 matches the outer diameter of the corresponding nitrogen blowing test tube 030). During operation, the second slider 7083 can slide along the second translation rail 7082, thereby sliding the nitrogen blowing test tube 030 along the second translation rail 7082 to below the liquid outlet, so as to add the reconstitution liquid into the nitrogen blowing test tube 030 through the liquid outlet. Among them, a pumping device can be arranged in the liquid adding tank 7081 or on the pipeline for conveying the reconstitution liquid, so as to accurately control the output of the reconstitution liquid (the repeatability error reaches 0.3%-0.5%), greatly improving the reconstitution effect of the sample.

[0449] Among them, the second translational slide rail 7082 may include a fourth lead screw arranged in the horizontal direction, one end of the fourth lead screw is connected to the output shaft of the fourth motor, a fourth connecting block is screwed on the fourth lead screw, and the second slider 7083 is connected to the fourth connecting block. Since the fourth connecting block is circumferentially limited (how to achieve the circumferential limitation of the fourth connecting block is already an existing technology and is not described here), when the fourth motor drives the fourth lead screw to rotate, the fourth connecting block only moves along the fourth lead screw without circumferential rotation, thereby driving the second slider 7083 to move in the horizontal direction along the second translational slide rail 7082. Of course, other vertical slide rail structures can also be used, and the specific structure of the second translational slide rail 7082 and its sliding connection method with the second slider 7083 are not limited here.

[0450] In an optional embodiment of the present invention, Fig.32 , Fig.35 , Fig.37As shown, the automatic nitrogen blowing concentration equipment 700 also includes an oscillating device 709 arranged on the table 7011. The oscillating device 709 includes a bottom plate 7091 fixed on the table 7011 of the nitrogen blowing concentration workbench 701, a third translation slide rail 7092 (extending in the horizontal direction) is arranged on (the top surface of) the bottom plate 7091, a third column 7093 is slidably arranged on the third translation slide rail 7092, a third lifting slide rail 7094 extending in the vertical direction is arranged on the third column 7093, a third horizontal mounting plate 7095 is slidably arranged on the third lifting slide rail 7094, and a second chuck 7096 that can be used to clamp the upper part of the nitrogen blowing test tube 030 is arranged on the bottom surface of the third horizontal mounting plate 7095; An oscillating element 7097 is provided on one side of the transfer slide rail 7092, and the second chuck 7096 can clamp the nitrogen blowing test tube 030 and drive the nitrogen blowing test tube 030 to move. During operation, the nitrogen blowing test tube 030 clamped by the second chuck 7096 can be moved along the third translation slide rail 7092 through the third column 7093 to be located directly above the oscillating element 7097, and then moved downward along the third lifting slide rail 7094 through the third horizontal mounting plate 7095, so that the nitrogen blowing test tube 030 can be accurately placed in the oscillating element 7097, and then the oscillating element 7097 is started to oscillate the nitrogen blowing test tube 030 added with the re-dissolving liquid, so as to accelerate the re-dissolution of the sample in the nitrogen blowing test tube 030.

[0451] In the above embodiment, the oscillating element 7097 may be, but is not limited to, a vortex oscillator.

[0452] The third translation rail 7092 and the third lifting rail 7094 used in this embodiment can also be implemented by the above-mentioned screw transmission method, which will not be repeated here. Of course, the third translation rail 7092 and the third lifting rail 7094 can also adopt other rail structures, and the specific structure of the third translation rail 7092 and the third lifting rail 7094 and the sliding connection method between the third translation rail 7092 and the third column 7093, and the third lifting rail 7094 and the third horizontal mounting plate 7095 are not limited here.

[0453] Further, such as Fig.34 As shown, a second cache station 7098 is arranged on the table top 7011 of the nitrogen blowing concentration workbench 701 and on one side of the oscillation device 709. The top of the second cache station 7098 has a slot for placing the nitrogen blowing test tube 030. Before the nitrogen blowing test tube 030 is subjected to oscillation treatment, it is necessary to first cover the tube cover at the top opening of the nitrogen blowing test tube 030 through the ninth clamp 7031 of the ninth manipulator 703 in cooperation with the second opening and closing cover device 706, and then transfer the nitrogen blowing test tube 030 through the ninth clamp 7031 of the ninth manipulator 703 and temporarily place it in the second cache station 7098 to wait for subsequent oscillation treatment.

[0454] Further, such as Fig.37 As shown, the second clamp 7096 has the same structure as the eighth clamp 7041. That is, the second clamp 7096 is an existing standard part, and the specific structure of the second clamp 7096 is not limited here.

[0455] In an optional embodiment of the present invention, Fig.32 , Fig.34 As shown, a test tube cap storage rack 7010 is provided on the table top 7011 of the nitrogen blowing concentration workbench 701. The test tube cap storage rack 7010 has a plurality of grooves 70101 for placing tube caps. During the actual working process, the tube caps can be temporarily placed in the grooves 70101 after being removed.

[0456] In an optional embodiment of the present invention, Fig.32 , Fig.35 , Fig.36 As shown, an eighth barcode scanner 707 is provided on the table 7011 of the nitrogen blowing concentration workbench 701, and the eighth barcode scanner 707 is used to scan the identification code pre-attached on the nitrogen blowing test tube 030. Different identification codes may correspond to different samples, so that the sample in the nitrogen blowing test tube 030 can be identified by scanning the code.

[0457] In order to avoid confusion between different samples, a corresponding identification code may be affixed to each nitrogen blowing test tube 030, and the eighth barcode scanner 707 can read the identification code and then send the information of the sample in the corresponding nitrogen blowing test tube 030 to the host computer for verification to confirm whether the current nitrogen blowing test tube 030 is the nitrogen blowing test tube 030 that needs to be processed. In the actual working process, after the ninth clamp 7031 clamps the nitrogen blowing test tube 030, it first drives the nitrogen blowing test tube 030 to move to the eighth barcode scanner 707 through the ninth manipulator 703 for scanning and verification. If there is an abnormality (the current nitrogen blowing test tube 030 is not the predetermined nitrogen blowing test tube 030 that needs to be processed), an alarm is triggered. If there is no abnormality, the subsequent transportation and opening operations are continued.

[0458] In an optional embodiment of the present invention, Fig.32 , Fig.35As shown, the nitrogen blowing concentration workbench 701 has a table top 7011 extending in the horizontal direction, and the nitrogen blowing concentration workbench 701 also includes a leg 7012, and the leg 7012 is arranged below the table top 7011 and connected to the top of the leg 7012 and the bottom surface of the table top 7011, and the bottom end of the leg 7012 is supported on the horizontal work surface, and a storage chamber 7013 is arranged below the table top 7011 and on the inner side of the leg 7012, and at least one layer of storage plates 7014 is placed in the storage chamber 7013, and a plurality of positioning grooves are arranged on the storage plate 7014, and the positioning grooves can be used for placing reagent bottles (not shown) storing reconstitution liquids to facilitate the addition of reconstitution liquids.

[0459] Further, such as Fig.32 As shown, a weight sensor 7015 is provided below the placement plate 7014, and the weight sensor 7015 can be used to weigh the weight of the reagent bottle, and then the weight of the reconstituted liquid in the reagent bottle can be known. Specifically, the storage chamber 7013 can be divided into a plurality of storage cavities, each storage cavity can be provided with a placement plate 7014, and the above-mentioned weight sensor 7015 is provided between each placement plate 7014 and the bottom surface of the corresponding storage cavity for weighing.

[0460] In an optional embodiment, a sixth test tube temporary storage position may be further provided on the table top 7011 of the nitrogen blowing concentration workbench 701, and at least one slot for vertically inserting the test tube holder 070 may be provided on the sixth test tube temporary storage position. The ninth manipulator 703 may also transfer the test tube holder 070 containing the nitrogen blowing test tube 030 or the empty test tube holder 070 between the sample conveying device 1000 and the sixth test tube temporary storage position.

[0461] Similar to the function of the first test tube temporary storage position 205 mentioned above, when working, the ninth manipulator 703 can transport the test tube holder 070 and the nitrogen blowing test tube 030 transported from the sample conveying device 1000 together, so as to transport the test tube processed in the previous process from the sample conveying device 1000 to the sixth test tube temporary storage position of the automatic nitrogen blowing concentration device 700 for temporary storage; after the ninth manipulator 703 clamps the nitrogen blowing test tube 030 to the first buffer station 702, the test tube holder 070 can continue to stay in the sixth test tube temporary storage position, and the empty test tube holder 070 can also be transported to the sample conveying device 1000; after the nitrogen blowing test tube 030 completes nitrogen blowing concentration, redissolution and shock, the ninth manipulator 703 clamps the nitrogen blowing test tube 030 to the test tube holder 070 of the sixth test tube temporary storage position and transports the whole to the sample conveying device 1000. Alternatively, it can be carried out according to Fig.32The sixth test tube temporary storage position is not provided in the figure, and the ninth manipulator 703 can also directly grab the nitrogen-blown test tube 030 in the test tube holder 070 from the sample conveying device 1000, scan the code and open the cover to place it in the first buffer station 702, and after the processing is completed, the nitrogen-blown test tube 030 is directly clamped and placed on the test tube holder 070 of the sample conveying device 1000. The specific operation process depends on actual needs, and this embodiment is only for example.

[0462] Taking the case where the sixth test tube temporary storage position is not provided as an example, the working process of the automatic nitrogen blowing concentration equipment 700 is as follows:

[0463] The nitrogen blowing test tube 030 is transferred from the previous process to the automatic nitrogen blowing concentration equipment 700. Before the sample in the nitrogen blowing test tube 030 is subjected to nitrogen blowing concentration treatment, the nitrogen blowing test tube 030 is clamped by the ninth clamp 7031 on the ninth manipulator 703 and transferred to the position of the eighth barcode scanner 707. The nitrogen blowing test tube 030 is scanned and confirmed by the eighth barcode scanner 707. After confirmation, the nitrogen blowing test tube 030 is clamped by the ninth clamp 7031 on the ninth manipulator 703. 030 is transferred to the position of the second opening and closing cover device 706, the second clamping part 7061 of the second opening and closing cover device 706 clamps the lower part of the nitrogen blowing test tube 030, and the ninth clamping jaw 7031 clamps the tube cover and removes the tube cover from the nitrogen blowing test tube 030 by rotation; thereafter, the ninth clamping jaw 7031 on the ninth manipulator 703 clamps the nitrogen blowing test tube 030 and transfers it to the first cache station 702, waiting for the sample in the nitrogen blowing test tube 030 to be nitrogen blown and concentrated. The eighth clamp 7041 of the eighth manipulator 704 is controlled to move to the first cache station 702 and clamp the nitrogen blown test tube 030, and the nitrogen blown test tube 030 is transferred to the placement hole at the preset position in the fixed seat 7051. Then, the first horizontal mounting plate 70522 is controlled to move downward, and after the nitrogen blown tube 70523 moves downward to the point where the air outlet is at a preset nitrogen blown distance from the liquid surface in the nitrogen blown test tube 030, nitrogen is blown into the nitrogen blown test tube 030 to achieve nitrogen blown concentration treatment of the sample.

[0464] During the nitrogen blowing process, the test tube is heated by the heating element to increase the speed of nitrogen blowing concentration; at the same time, the laser sensor detects the liquid level in the nitrogen blowing test tube 030. When the liquid level in the nitrogen blowing test tube 030 is lower than the preset threshold, the blowing is suspended; or a reminder signal is sent to the staff so that the staff can pay attention to the nitrogen blowing test tube 030 in time, and stop blowing when the sample is blown to nearly dry. When the liquid level in all nitrogen blowing test tubes 030 is lower than the preset threshold, all blowing is suspended, and the staff is called to check in time until the samples in all nitrogen blowing test tubes 030 are blown to nearly dry.

[0465] After the nitrogen blowing concentration treatment of the sample is completed, the sample can be sampled and tested. The other samples in the nitrogen blowing test tube 030 can enter the re-dissolution step, that is, the nitrogen blowing test tube 030 (without the tube cover) is transferred to the cylinder rack 7084 in the re-dissolution and liquid adding device 708 by the ninth clamping claw 7031 of the ninth manipulator 703, and the position of the nitrogen blowing test tube 030 on the second translation slide rail 7082 is adjusted to move the nitrogen blowing test tube 030 to the bottom of the liquid outlet of the liquid adding box 7081, and the re-dissolution liquid is added into the nitrogen blowing test tube 030 through the liquid outlet to achieve the re-dissolution of the sample. Of course, after adding the re-dissolving liquid, the nitrogen-blown test tube 030 can be transferred to the position of the second opening and closing cover device 706 by the ninth clamp 7031 of the ninth manipulator 703, and the tube cover can be set on the top opening of the nitrogen-blown test tube 030 by the ninth clamp 7031 of the ninth manipulator 703 and the second opening and closing cover device 706, and then the nitrogen-blown test tube 030 can be transferred to the second cache station 7098 by the ninth clamp 7031 of the ninth manipulator 703, and then the nitrogen-blown test tube 030 covered with the tube cover can be clamped by the second chuck 7096 in the oscillation device 709 and placed in the oscillation element 7097 for oscillation treatment to achieve the preset re-dissolution effect. After the sample re-dissolution is completed, the nitrogen-blown test tube 030 can be transferred to the next process.

[0466] The characteristics and advantages of the automatic nitrogen blowing concentration equipment 700 are:

[0467] (1) The self-controlled nitrogen blowing concentration equipment 700 can realize automatic nitrogen blowing concentration of samples contained in the nitrogen blowing test tube 030, and is suitable for nitrogen blowing concentration operations of large quantities of samples. The entire process greatly reduces manual intervention, improves the degree of automation of nitrogen blowing concentration treatment for samples, is more efficient, avoids cross contamination, and avoids the influence of excessive manual participation on samples, thereby ensuring the accuracy of detection.

[0468] (2) The self-controlled nitrogen blowing concentration device 700 has a sample re-dissolving function. After the nitrogen blowing concentration operation, the sample can be re-dissolved, thereby realizing the two operation processes of nitrogen blowing and re-dissolving on one device, with a higher degree of integration.

[0469] (VIII) Automatic solid phase extraction equipment 800

[0470] The automatic solid phase extraction device 800 can realize automatic solid phase extraction of sample solution, greatly improving the automation level of solid phase extraction operation and making it more efficient. During the extraction process, except for the collection container, the sample solution does not contact the internal structure of the device and is not easily contaminated, thus ensuring the accuracy of the detection.

[0471] In the description of the automatic solid phase extraction device 800 in the present invention, the words "upper", "lower", "top", "bottom", "front", "back" and the like indicating direction may be used to refer to the following: Figures 38 to 40 The directions of "upper", "lower", "top", "bottom", "front", "back" and so on in the paper are used as the reference, wherein the outer side relative to the paper surface is defined as the front, and the inner side relative to the paper surface is defined as the back, which are explained together here. It is intended to describe the structure of each component in the automatic solid phase extraction of the present invention more clearly and specifically for easy understanding, rather than limiting the specific direction.

[0472] like Figures 38 to 43 As shown, the automatic solid phase extraction equipment 800 includes an extraction workbench 801 and a first temporary storage bracket 80110, a tenth manipulator 803, an extraction component 804, a transmission mechanism 802 and a liquid adding component 805 arranged on the table 8011 of the extraction workbench 801; the first temporary storage bracket 80110 has a test tube placement hole 801101, and the test tube placement hole 801101 is used to place the test tube 040 to be extracted containing the sample solution; the moving end of the tenth manipulator 803 is provided with a tenth clamping jaw 8031, the tenth manipulator 803 is located on one side of the first temporary storage bracket 80110, and the tenth manipulator 803 can at least drive the tenth clamping jaw 8031 ​​to transfer the test tube 040 to be extracted to the test tube placement hole 801101 on the first temporary storage bracket 80110; the extraction component 804 is close to the first temporary storage bracket 80110. A temporary storage bracket 80110 is provided, and the extraction component 804 includes an extraction column 809 and a sampling needle 8010. The sampling needle 8010 can move between the test tube 040 to be extracted located in the test tube placement hole 801101 and the extraction column 809 to transfer the sample solution from the test tube 040 to be extracted to the extraction column 809, and perform solid phase extraction on the sample solution through the extraction column 809; the liquid adding component 805 has a liquid adding port 80511, and the transmission mechanism 802 is located between the extraction component 804 and the liquid adding component 805. The transmission mechanism 802 is used to transport the extraction column 809 to the bottom of the liquid adding port 80511 of the liquid adding component 805, so as to add an activation solvent or an elution solvent into the extraction column 809 through the liquid adding port 80511, thereby completing the activation and elution operations of the extraction column 10 in turn and obtaining an eluent.

[0473] The test tube to be extracted 040 in the automatic solid phase extraction device 800 is the transfer tube 020 processed by the integrated liquid extraction and pipetting device 600, or is the test tube transferred by the automatic nitrogen blowing and concentration device 700.

[0474] The device can realize the transportation of the test tube 040 to be extracted and the solid phase extraction operation of the sample solution in the test tube 040 to be extracted by cooperating with the first temporary storage bracket 80110, the tenth manipulator 803, the extraction component 804, the transmission mechanism 802 and the liquid adding component 805. In addition, in the solid phase extraction process, the activation solvent and the elution solvent can be added successively to obtain the eluent, so as to detect the target substances (such as pesticide residues, additives and other substances) in the sample solution. The whole process does not require human intervention, which greatly improves the degree of automation of solid phase extraction of the sample solution and is more efficient. During the extraction process, except for the collection container, the sample solution does not contact the internal structure of the device, is not easily contaminated, and cross contamination is avoided. It also avoids the influence of human intervention on the sample solution, thereby ensuring the accuracy of the detection.

[0475] In an optional implementation of the present invention, Fig.38 , Fig.39 , Fig.41 As shown, the automatic solid phase extraction device 800 also includes a third transmission component 807, which includes a third translation rail 8071 and a third transmission plate 8072. The third translation rail 8071 extends in a direction close to the tenth manipulator 803, and the third transmission plate 8072 is slidably arranged on the third translation rail 8071. The third transmission plate 8072 is used to place consumables. The third transmission plate 8072 can carry the consumables to a position close to the tenth manipulator 803, so that the consumables The tenth clamp 8031 ​​of the tenth manipulator 803 is within the range that can be clamped, and the consumables are transferred between the third transmission component 807 and the extraction component 804 through the tenth clamp 8031; in this embodiment, the consumables include an extraction column 809, a sampling needle 8010 and / or a liquid receiving tube 050, wherein the liquid receiving tube 050 is used to receive the eluent containing the target substance discharged from the bottom opening of the extraction column 809, and the specific structure and setting position of the liquid receiving tube 050 are described below.

[0476] In addition, in this embodiment, the third translation slide 8071 may include a lead screw arranged in the horizontal direction, one end of which is connected to the output shaft of the driving motor, a connecting block is screwed on the lead screw, and the bottom of the third transmission plate 8072 is connected to the connecting block. Since the connecting block is circumferentially limited (how to achieve circumferential limitation of the connecting block is an existing technology and will not be described again here), when the driving motor drives the lead screw to rotate, the connecting block only moves along the lead screw without circumferential rotation, thereby driving the third transmission plate 8072 to move in the horizontal direction along the third translation slide 8071. Of course, the movement of the third transmission plate 8072 on the third translation slide 8071 can also be achieved by using a roller and a slideway, and the specific structure of the third translation slide 8071 and the sliding connection method between the third transmission plate 8072 and the third transmission plate 8072 are not limited here.

[0477] Furthermore, the structure of the third transmission component 807 is similar to the structure of the first transmission component 102. Fig.38 , Fig.39 , Fig.41 As shown, the third transmission plate 8072 is a rectangular flat plate structure arranged in the horizontal direction, and the front two vertex positions of the third transmission plate 8072 are respectively provided with a limiting protrusion 8073, and the rear end of the third transmission plate 8072 is provided with two limiting plates 8074, and the two limiting plates 8074 are arranged opposite to each other and can be close to or away from each other. When the two limiting plates 8074 move to a position away from each other, the shelf storing the consumables can be placed on the third transmission plate 8072; then the two limiting plates 8074 are controlled to move to a position close to each other, so that the two limiting protrusions 8073 and the two limiting plates 8074 cooperate with the edge of the shelf where the consumables are placed, thereby positioning the position of the consumables on the third transmission plate 8072 to ensure the stability of the consumables during the transportation process. Among them, the two limiting plates 8074 can be driven by cylinders respectively to drive the two limiting plates 8074 to move in the horizontal direction in the direction of approaching or moving away from each other. Of course, other driving methods can also be used for the limit plates 8074, which can achieve the two limit plates 8074 moving towards or away from each other in the horizontal direction. The specific driving method and structure are not limited here.

[0478] Further, such as Fig.38 , Fig.39 , Fig.41 As shown, there are three third transmission components 807, which are arranged side by side and spaced apart on the table 8011. The extraction column 809, the sampling needle 8010 and the liquid receiving test tube 050 are respectively placed on the third transmission plate 8072 of the corresponding third transmission component 807 to realize the separate transportation and transfer of different consumables to avoid cross contamination. The extraction column 809, the sampling needle 8010 and the liquid receiving test tube 050 can be transferred from the consumable transfer device (for example, the transport robot 2000 described below can be used, or other forms of robots or transfer carts can be used) to each third transmission component 807.

[0479] In an optional embodiment of the present invention, Fig.38 , Fig.39 , Fig.41As shown, the tenth manipulator 803 includes a multi-degree-of-freedom manipulator, the bottom end of the tenth manipulator 803 is its fixed end, the end of the tenth manipulator 803 is a mobile end, the fixed end of the tenth manipulator 803 is fixedly arranged on the table 8011 of the workbench, and the tenth clamping jaw 8031 ​​is rotatably arranged at the mobile end of the tenth manipulator 803. Among them, the structure of the tenth manipulator 803 can adopt the same structure as the first manipulator 1071 mentioned above, for example, the multi-degree-of-freedom manipulator includes a rotatable vertical arm, the vertical arm is connected to a first horizontal arm that can move up and down, the end of the first horizontal arm is rotatably connected to a second horizontal arm, and the end of the second horizontal arm is provided with a tenth clamping jaw 8031, and the tenth clamping jaw 8031 ​​can rotate and can perform a clamping operation. The multi-degree-of-freedom manipulator and the tenth clamping jaw 8031 ​​can have a variety of forms, as long as they can realize the corresponding transport and clamping functions, and the specific structure of the multi-degree-of-freedom manipulator and the tenth clamping jaw 8031 ​​is not limited here.

[0480] In an optional embodiment of the present invention, Fig.43 As shown, a third opening and closing cover device 80150 is provided on the table top 8011 of the extraction workbench 801, and the third opening and closing cover device 80150 has a third clamping portion 801501, and the third clamping portion 801501 is used to clamp the test tube (the lower part of the test tube to be extracted 040 or the liquid receiving test tube 050), and a tube cover is threadedly connected at the top opening of the test tube. The tenth clamping jaw 8031 ​​can clamp the tube cover and remove the tube cover from the test tube or cover the tube cover on the top opening of the test tube by rotating.

[0481] The operation of taking and placing the test tube to be extracted 040 or the test tube receiving liquid 050 on the third clamping part 801501 is realized by the tenth clamping jaw 8031. After the tenth clamping jaw 8031 ​​places the test tube to be extracted 040 or the test tube receiving liquid 050 on the third clamping part 801501, the third clamping part 801501 can fix the test tube, and then the tube cover can be rotated to be removed or screwed on by rotating the tenth clamping jaw 8031 ​​to realize opening or closing the cover.

[0482] Specifically, Fig.43As shown, the third cover opening and closing device 80150 is similar in structure to the first cover opening and closing device 108 described above. The third clamping portion 801501 of the third cover opening and closing device 80150 has two grippers that are arranged opposite to each other and can move closer or farther away from each other. The third cover opening and closing device 80150 also includes a seat and a driving element 801503 disposed on the seat for driving the two grippers to move in a direction of moving away from or closer to each other. The driving element 801503 is connected to the two grippers and can drive the two grippers to move closer or farther away from each other to achieve clamping or loosening of the test tube. The third cover opening and closing device 80150 can also include a temporary storage position 801502 for the cover body. The top surface of the temporary storage position 801502 for the cover body has at least one placement groove. Generally, at least two placement grooves are provided and have different sizes for placing tube caps of different specifications and sizes.

[0483] In an optional embodiment of the present invention, Figures 38 to 42 As shown, the transmission mechanism 802 includes a first translation guide rail 8021, which is arranged on the table 8011 of the extraction workbench 801 and extends from the front of the extraction component 804 to the front of the liquid adding component 805. A translation slide 8022 is slidably arranged on the first translation guide rail 8021, and an extraction column placement rack 8025 for placing the extraction column 809 is arranged on the top surface of the translation slide 8022. The top of the extraction column placement rack 8025 has a 809 has a plurality of extraction column placement holes 80251, which are arranged side by side and spaced apart. In actual use, along the extension direction of the first translation guide rail 8021, the extraction column placement rack 8025 can move with the translation slide 8022 from below the sampling needle 8010 in the extraction component 804 to below the liquid addition port 80511 in the liquid addition component 805, so that the liquid addition port 80511 is vertically opposite to the top opening of the extraction column 809, thereby completing the liquid addition operation. In actual use, the activation solvent can be first added to the extraction column 809 through the liquid addition port 80511 to activate the extraction column 809. After the sample solution is added to the extraction column 809, the extraction column 809 is moved to below the liquid addition port 80511, and the elution solvent is added to the extraction column 809 through the liquid addition port 80511, thereby completing the activation and elution operations of the extraction column 809 in turn.

[0484] Further, such as Figures 38 to 40As shown, a second translation guide rail 8023 is provided on the top surface of the translation slide 8022, a liquid receiving bracket 8024 is slidably provided on the second translation guide rail 8023, a plurality of liquid receiving placement holes 80241 are arranged side by side and at intervals on the liquid receiving bracket 8024, and the tenth manipulator 803 can clamp the liquid receiving test tube 050 located on the third transmission plate 8072 in the third transmission component 807 through the tenth clamping jaw 8031 ​​and transfer it to the liquid receiving placement hole 80241; wherein, the second translation guide rail 8023 and the first translation guide rail 8021 both extend in the horizontal direction, and the extension direction of the second translation guide rail 8023 is perpendicular to the extension direction of the first translation guide rail 8021 (that is, the first translation guide rail 8021 extends in the left-right direction, and the second translation guide rail 8023 extends in the right-left direction, and the second translation guide rail 8023 extends in the left-right direction. The extraction column placement rack 8025 extends in the front-to-back direction, and the lower middle position of the extraction column placement rack 8025 has a hollow area, and the second translation guide rail 8023 is located in the hollow area, so that the liquid receiving bracket 8024 can pass through the hollow area and move to the bottom of the extraction column placement rack 8025. Since the extraction column placement hole 80251 is a through hole and the bottom of the extraction column 809 has an opening, the liquid receiving bracket 8024 can be moved to the bottom of the extraction column placement rack 8025 during the elution process of the extraction column 809, and the liquid receiving test tube 050 corresponds to the extraction column 809 one by one in the vertical direction, so that the eluate flowing out of the bottom opening of the extraction column 809 is just collected by the liquid receiving test tube 050, so that the eluate containing the target substance discharged from the extraction column 809 is received by the liquid receiving test tube 050.

[0485] In a specific embodiment of the present invention, Figures 38 to 42 As shown, the extraction assembly 804 includes a vertically arranged column 8042, a base 8041 is fixedly arranged on the table 8011 of the extraction workbench 801, and the bottom end of the column 8042 is rotatably connected to the top of the base 8041. A driving motor can be arranged on the base 8041, and the output shaft of the driving motor is connected to the column 8042, so that the column 8042 can be driven to rotate along its own central axis by the driving motor. A first lifting guide rail 80421 is vertically arranged on the column 8042, and a first lifting slide 8044 that can move along the first lifting guide rail 80421 is arranged on the first lifting guide rail 80421. A sampling needle bracket 8045 that can move forward and backward is arranged on the plate surface of the first lifting slide 8044 and the side facing away from the first lifting guide rail 80421, and the sampling needle 8010 is detachably arranged on the sampling needle bracket 8045.

[0486] The first lifting guide rail 80421 may include a first lead screw arranged vertically, one end of the first lead screw is connected to the output shaft of the first motor 8043, a first connection block is screwed on the first lead screw, and the first lifting slide plate 8044 is connected to the first connection block. Since the first connection block is circumferentially limited (how to achieve circumferential limitation of the first connection block is an existing technology and will not be described again here), when the first motor 8043 drives the first lead screw to rotate, the first connection block only moves along the first lead screw without circumferential rotation, thereby driving the first lifting slide plate 8044 to move vertically along the first lifting guide rail 80421 to achieve the purpose of controlling the sampling needle 8010 to move in the vertical direction. Of course, other vertical slide rail structures may also be used, and the specific structure of the first lifting guide rail 80421 and its sliding connection method with the first lifting slide plate 8044 are not limited here.

[0487] In a specific embodiment of the invention, a movable suction assembly 8046 is provided on the first lifting guide rail 80421, and the suction assembly 8046 is located above the sampling needle bracket 8045. A cylindrical sampling suction column (not shown) is provided at the bottom of the suction assembly 8046. The number and diameter of the sampling suction columns match the number of sampling needles 8010 and the inner diameter of the sampling tube of the sampling needle 8010, respectively. By adjusting the position of the suction assembly 8046 in the vertical direction, at least part of the sampling suction column can be inserted into the sampling tube of the sampling needle 8010 from the top opening of the sampling needle 8010 vertically opposite thereto. By adjusting the suction assembly 8046 on the first lifting guide rail 80421 The position of the component 8046 is adjusted to achieve the purpose of vertically adjusting the position of the sampling and suction column, so that the sampling and suction column can move up and down relative to the sampling needle 8010. When the sampling and suction column moves upward relative to the sampling needle 8010, negative pressure is formed in the sampling tube of the sampling needle 8010. At this time, the sample solution in the test tube 040 to be extracted can be sucked into the sampling tube of the sampling needle 8010 through the bottom needle of the sampling needle 8010; when the sampling and suction column moves downward relative to the sampling needle 8010, positive pressure is formed in the sampling tube of the sampling needle 8010. At this time, the sample solution in the sampling tube of the sampling needle 8010 is added to the extraction column 809 through the bottom needle of the sampling needle 8010. This method is the same as the principle of injection. At least part of the sampling and suction column will always be inserted into the sampling tube of the sampling needle 8010. The sampling and pulling action of the sampling and suction column can realize the operation of sampling the sample solution and pushing out the sample solution for addition.

[0488] In another specific embodiment of the present invention, Fig.40As shown, a suction assembly 8046 that can move along the first lifting guide rail 80421 is also provided on the first lifting guide rail 80421. The suction assembly 8046 is located above the sampling needle bracket 8045. A suction connector 8047 is provided at the bottom of the suction assembly 8046. The suction connector 8047 is connected to the suction air pipeline through the suction assembly 8046. The position of the suction assembly 8046 is adjusted vertically to make the suction connector 8047 and the top opening of the sampling needle 8010 aligned and connected. The first lifting guide rail 80421 may also include a second lead screw arranged vertically, one end of the second lead screw is connected to the output shaft of the second motor 8048, a second connecting block is screwed on the second lead screw, and the suction assembly 8046 is connected to the second connecting block. Since the second connecting block is circumferentially limited (how to achieve circumferential limitation of the second connecting block is already an existing technology and will not be described again here), when the second motor 8048 drives the second lead screw to rotate, the second connecting block only moves along the second lead screw without circumferential rotation, thereby driving the suction assembly 8046 to move vertically along the second lifting guide rail 80422. Of course, other vertical slide rail structures may also be used, and the specific structure of the second lifting guide rail 80422 and its sliding connection method with the suction assembly 8046 are not limited here.

[0489] In the present invention, the suction assembly 8046 can be a rectangular block structure, and a plurality of channels are provided in the suction assembly 8046, and the plurality of channels are respectively used to connect a plurality of suction air pipelines with the suction interfaces on the suction joint 8047 to realize suction or exhaust operation. In the specific use process, by adjusting the position of the suction assembly 8046, the bottom needle of the sampling needle 8010 is inserted into the test tube 040 to be extracted. When the suction air pipeline is in the suction state, the sampling needle 8010 sucks the sample solution in the test tube 040 to be extracted into the sampling tube of the sampling needle 8010 through the bottom needle; in addition, by adjusting the position of the suction assembly 8046, the bottom needle of the sampling needle 8010 is inserted into the extraction column 809 or a position close to the top opening of the extraction column 809. When the suction air pipeline is in the exhaust state, the sampling needle 8010 adds the sample solution in the sampling tube of the sampling needle 8010 into the extraction column 809 through the bottom needle.

[0490] Among them, the above-mentioned sampling needle 8010 can be the following structure: the sampling needle 8010 includes a vertically arranged sampling tube and a bottom needle, the sampling tube is a cylindrical structure with an open top, and the bottom needle is detachably arranged at the bottom of the sampling tube and connected to the interior of the sampling tube.

[0491] It should be noted that before sampling, it is necessary to control the rotation of the column 8042 until the sampling needle bracket 8045 and the suction assembly 8046 are both located above the first temporary storage bracket 80110, so that the multiple sampling needles 8010 correspond one by one to the test tube 040 containing the sample solution to be extracted in the vertical direction, and then control the multiple sampling needles 8010 to move downward along the first lifting guide rail 80421 until the bottom needle of the sampling needle 8010 is inserted into the test tube 040 to be extracted and is located below the liquid surface of the sample solution, and then the sample solution is sucked into the sampling tube of the sampling needle 8010. After sampling is completed, , control the multiple sampling needles 8010 to move upward along the first lifting guide rail 80421 until they are out of the test tube, and then control the column 8042 to rotate in the opposite direction until the multiple sampling needles 8010 correspond one by one to the multiple extraction columns 809 in the vertical direction, and then control the multiple sampling needles 8010 to move downward along the first lifting guide rail 80421 until the bottom needle head of the sampling needle 8010 extends into the interior of the extraction column 809 or close to the top opening of the extraction column 809, and finally, the sample solution in the sampling needle 8010 is pressed out from the bottom needle head of the sampling needle 8010 into the extraction column 809 to complete the loading operation.

[0492] In a specific embodiment of the present invention, Fig.41 , Fig.42 As shown, a second lifting guide rail 80422 is vertically arranged on the column 8042, and a second lifting slide plate 8049 that can move along the second lifting guide rail 80422 is arranged on the second lifting guide rail 80422. The second lifting slide plate 8049 and the first lifting slide plate 8044 are arranged on both sides of the column 8042 relatively. A connecting plate 80410 is arranged on the plate surface of the second lifting slide plate 8049 and the side facing away from the second lifting guide rail 80422. A vertically extending top column 80411 is arranged at the bottom of the connecting plate 80410, and the diameter of the top column 80411 is adapted to the inner diameter of the extraction column 809. After the sample solution is added into the extraction column 809 through the sampling needle 8010, the column 8042 can be controlled to move. 042 is rotated 180° to rotate the top column 80411 to the top of the extraction column 809 (i.e., the top column 80411 is rotated from the back to the front), and multiple top columns 80411 correspond to multiple extraction columns 809 one by one in the vertical direction, and then the connecting plate 80410 is controlled to drive the top column 80411 to move downward along the second lifting guide rail 80422, until multiple top columns 80411 are respectively extended into the extraction column 809 from the top openings of the corresponding extraction columns 809, so as to push the sample solution in the extraction column 809 through the top column 80411, and by applying pressure to the sample solution so that it can pass through the extraction column 809 smoothly, thereby achieving the purpose of adsorbing the target substance in the sample solution on the filler in the extraction column 809.

[0493] Further, such as Fig.41 , Fig.42As shown, a support frame 80140 is disposed on the table top 8011 of the extraction workbench 801, and a receiving box 80120 is disposed on the top of the support frame 80140. The receiving box 80120 and the transmission mechanism 802 are disposed on both sides of the column 8042 opposite to each other, and the receiving box 80120 is close to the column 8042. When the column 8042 is not rotated 180° (i.e., the top column 80411 is located behind the column 8042 at this time), The accommodating box 80120 is located below the column 8042. Since the top of the accommodating box 80120 has an opening 801201, and the opening 801201 is just below the top column 80411, the top column 80411 can be extended into the accommodating box 80120 through the opening 801201 by controlling the connecting plate 80410 to move downward along the second lifting guide rail 80422, thereby preventing the top column 80411 from being contaminated.

[0494] In an optional embodiment of the present invention, a liquid collecting trough 80242 is provided at the top of the liquid receiving bracket 8024 and at the front or rear side of the liquid receiving placement hole 80241. During the process of activating the extraction column 809 or extracting the target substance in the sample solution, the position of the liquid receiving bracket 8024 can be adjusted by the second translation guide rail 8023, so that the liquid collecting trough 80242 is vertically opposite to the multiple extraction columns 809, so that the liquid flowing out of the bottom opening of the extraction column 809 can be directly collected by the liquid collecting trough 80242 and concentrated for subsequent processing.

[0495] In an optional embodiment of the present invention, Fig.38 , Fig.39 , Fig.41As shown, the liquid adding component 805 includes a liquid adding bracket 8051, a first reagent bottle 808 for storing an activation solvent, and a second reagent bottle 808 for storing an elution solvent. The number of the first reagent bottle 808 and the second reagent bottle 808 can be multiple. The first reagent bottle 808 and the second reagent bottle 808 can be arranged inside the liquid adding bracket 8051, and can also be arranged outside the liquid adding bracket 8051. The liquid adding port 80511 is located on the liquid adding bracket 8051. The number of the liquid adding ports 80511 is multiple, and the multiple liquid adding ports 80511 are arranged side by side and at intervals. The multiple liquid adding ports 80511 are respectively connected to the bottle mouths of the corresponding first reagent bottle 808 and the second reagent bottle 808 through different liquid adding pipelines, so as to discharge the activation solvent and the elution solvent through different liquid adding ports 80511 according to different stages. Among them, both the activation solvent and the elution solvent can be existing solvents. The activation solvent can be selected according to the different fillers of the extraction column 809, and can remove impurities in the fillers to create a suitable environment for extraction; and the elution solvent can be selected according to the fillers of the extraction column 809 and the target substances to be collected, and can elute the target substances from the extraction column 809 through the elution solvent. The specific types of the activation solvent and the elution solvent are not limited in this application.

[0496] Further, such as Fig.38 , Fig.39 , Fig.41 As shown, a plurality of pumping devices 8052 are disposed on the top of the liquid adding bracket 8051, and the plurality of pumping devices 8052 are respectively connected to corresponding liquid adding pipelines to drive the activation solvent in the first reagent bottle 808 or the elution solvent in the second reagent bottle 808 to be discharged from the liquid adding port 80511. The pumping device 8052 may be, but is not limited to, a driving pump.

[0497] Since the test tube 040 to be extracted, the extraction column 809 and the sampling needle 8010 are all disposable consumables, they need to be discarded after use. In one embodiment, a consumables discarding hole is provided on the table 8011 of the extraction workbench 801, and a collection box is provided below the consumables discarding hole, and the tenth manipulator 803 can discard the used test tube 040 to be extracted, the extraction column 809 and the sampling needle 8010 into the collection box through the consumables discarding hole.

[0498] In an optional embodiment of the present invention, Fig.38 , Fig.39 , Fig.41As shown, a seventh test tube temporary storage position 806 is provided on the table top 8011 of the extraction workbench 801, and at least one slot for vertically inserting a test tube holder 070 is provided on the seventh test tube temporary storage position 806. The tenth manipulator 803 can also transfer a test tube holder 070 containing a test tube to be extracted 040, an empty test tube holder 070, or a test tube holder 070 containing a liquid receiving test tube 050 between the sample transport device 1000 and the seventh test tube temporary storage position 806.

[0499] The multiple slots on the seventh test tube temporary storage position 806 can be arranged in an array on the seventh temporary storage rack. Similar to the function of the first test tube temporary storage position 205 described above, when working, the tenth manipulator 803 can transfer the test tube holder 070 and the test tube to be extracted 040 from the sample conveying device 1000 together, so as to transfer the test tube processed in the previous process from the sample conveying device 1000 to the seventh test tube temporary storage position 806 of the automatic solid phase extraction device 800 for temporary storage; after the tenth manipulator 803 clamps the test tube to be extracted 040 to the first temporary storage rack 80110, the test tube holder 070 can continue to stay in the seventh test tube temporary storage position 806, the empty test tube holder 070 can also be transferred to the sample conveying device 1000; after the sample liquid in the test tube 040 to be extracted is sucked by the sampling needle 8010, the tenth manipulator 803 can clamp the test tube 040 to be extracted into the test tube holder 070 of the seventh test tube temporary storage position 806 and transfer the whole to the sample conveying device 1000 to be transported to the corresponding position for disposal, or the tenth manipulator 803 can directly discard the test tube 040 to be extracted through the consumables disposal hole set on the table 8011. Alternatively, the tenth manipulator 803 can also directly grab the test tube 040 to be extracted in the test tube holder 070 from the sample conveying device 1000, scan the code and open the cover and place it on the first temporary storage bracket 80110. After being sucked by the sampling needle 8010, the test tube 040 to be extracted is directly clamped and placed on the test tube holder 070 of the sample conveying device 1000 to be transported to the corresponding location for disposal, or directly discarded through the consumables discard hole.

[0500] After the liquid-receiving test tube 050 is covered with liquid, the tenth manipulator 803 can clamp the liquid-receiving test tube 050 into the test tube holder 070 of the seventh test tube temporary storage position 806 and transfer the whole to the sample conveying device 1000. Alternatively, the tenth manipulator 803 can directly clamp the liquid-receiving test tube 050 and place it on the test tube holder 070 of the sample conveying device 1000 for the next process. The specific operation process depends on actual needs, and this embodiment is only for example.

[0501] In an optional embodiment of the present invention, Fig.41 , Fig.42As shown, a ninth barcode scanner 80130 is provided on the table 8011 of the extraction workbench 801, and the ninth barcode scanner 80130 is used to scan the identification code pre-attached on the test tube to be extracted 040 and / or the liquid receiving test tube 050. Different identification codes may correspond to different sample solutions, so that the sample solution in the test tube to be extracted 040 can be identified by scanning the code, and the solution in the test tube to be extracted 040 can be extracted and collected into the corresponding liquid receiving test tube 050.

[0502] In order to avoid confusion between different sample solutions, each test tube to be extracted 040 and the liquid receiving test tube 050 may be affixed with a corresponding identification code. The ninth barcode scanner 80130 can read the above identification code and then send the information of the sample solution in the corresponding test tube 040 to be extracted to the host computer for verification to confirm whether the current test tube 040 to be extracted is the predetermined test tube 040 to be processed; it can also read the above identification code and then send the information of the corresponding liquid receiving test tube 050 to the host computer to determine whether the current liquid receiving test tube 050 is the predetermined liquid receiving test tube 050.

[0503] In the actual working process, after the tenth clamp 8031 ​​clamps the test tube 040 to be extracted at the seventh test tube temporary storage position 806 or directly takes the test tube 040 to be extracted from the sample conveying device 1000, the tenth manipulator 803 first drives the test tube 040 to be extracted to move to the ninth barcode scanner 80130 for scanning and verification. If there is an abnormality (the current test tube 040 to be extracted is not the predetermined test tube 040 to be extracted that needs to be processed), an alarm is triggered. If there is no abnormality, subsequent transportation and opening operations are continued. Before the tenth clamp 8031 ​​transfers the liquid receiving test tube 050 from the third transmission component 807 to the liquid receiving bracket 8024, the tenth manipulator 803 first drives the liquid receiving test tube 050 to move to the ninth barcode scanner 80130 for scanning and verification. If there is an abnormality (the current liquid receiving test tube 050 is not the predetermined liquid receiving test tube 050), an alarm is triggered. If there is no abnormality, subsequent operations are continued, and the liquid receiving test tube 050 is transferred to the third opening and closing cover device 80150 to open the cover and then transferred to the liquid receiving bracket 8024.

[0504] In an optional embodiment of the present invention, Fig.38 , Fig.39 As shown, the extraction workbench 801 has a table top 8011 extending in the horizontal direction, and a storage chamber 8012 is arranged below the table top 8011. At least one layer of storage plates 8013 is placed in the storage chamber 8012, and a plurality of positioning grooves 80131 are arranged on the storage plate 8013. The plurality of positioning grooves 80131 can be used to place and store reagent bottles 808 (i.e., the first reagent bottle 808 and / or the second reagent bottle 808), so that the reagent bottles 808 can be stored.

[0505] Further, such as Fig.38 , Fig.39 As shown, a weight sensor 8014 is provided below the placement plate 8013, and the weight sensor 8014 can be used to weigh the weight of the reagent bottle 808 (i.e., the first reagent bottle 808 and / or the second reagent bottle 808), and then the weight of the activation solvent or the elution solvent in the reagent bottle 808 can be obtained. Specifically, the storage chamber 8012 can be divided into a plurality of storage cavities, and a placement plate 8013 can be provided in each storage cavity, and the above-mentioned weight sensor 8014 is provided between each placement plate 8013 and the bottom surface of the corresponding storage cavity for weighing.

[0506] One of the working processes of this device is:

[0507] The extraction column 809, the sampling needle 8010, the liquid receiving test tube 050 and other consumables can be placed on the third transmission plate 8072 of the third transmission component 807 in advance, and the extraction column 809, the sampling needle 8010 and the liquid receiving test tube 050 are respectively transferred to the extraction column placement rack 8025, the sampling needle support 8045 and the liquid receiving support 8024 by the tenth clamping claw 8031 ​​on the tenth manipulator 803. The first translation guide rail 8021 moves to the position of the liquid adding assembly 805, the top opening of the extraction column 809 is vertically aligned with the liquid adding port 80511 of the liquid adding assembly 805, the pumping device 8052 pumps the activation solvent in the first reagent bottle 808 out from the liquid adding port 80511, and adds the activation solvent into the extraction column 809 to activate the extraction column 809; thereafter, the extraction column placement rack 8025 returns to its original position along the first translation guide rail 8021.

[0508] Afterwards, the tenth gripper 8031 ​​of the tenth manipulator 803 grips the test tube 040 containing the sample solution in the previous process and transfers it to the first temporary storage rack 80110 for storage; or the tenth gripper 8031 ​​of the tenth manipulator 803 grips the test tube 040 to be extracted and transfers it to the location of the ninth barcode scanner 80130, and the ninth barcode scanner 80130 scans the test tube 040 to be extracted for confirmation. After confirmation, the tenth gripper 8031 ​​of the tenth manipulator 803 grips the test tube 040 to be extracted and transfers it to the location of the ninth barcode scanner 80130. 31 The test tube is transferred to the position of the third opening and closing cover device 80150, the third clamping portion 801501 of the third opening and closing cover device 80150 clamps the lower part of the test tube 040 to be extracted, and the tenth clamping jaw 8031 ​​clamps the tube cover and removes the tube cover from the test tube 040 to be extracted by rotation; then, the tenth clamping jaw 8031 ​​on the tenth manipulator 803 clamps the test tube 040 to be extracted and transfers it to the first temporary storage bracket 80110 for storage, waiting for sampling of the sample solution in the test tube 040 to be extracted.

[0509] The column 8042 is controlled to rotate until the sampling needle support 8045 is located above the first temporary storage support 80110, so that the multiple sampling needles 8010 correspond one by one to the test tube 040 containing the sample solution to be extracted in the vertical direction, and then the multiple sampling needles 8010 are controlled to move downward along the first lifting guide rail 80421 until the bottom needle of the sampling needle 8010 is inserted into the test tube 040 to be extracted and is located below the liquid surface of the sample solution, and then the sample solution is sucked into the sampling tube of the sampling needle 8010. After the sampling is completed, the multiple sampling needles 8010 are controlled to move along the first lifting guide rail 80421. 1 moves upward to be separated from the test tube to be extracted 040, and then controls the column 8042 to rotate in the opposite direction to reset, until the multiple sampling needles 8010 correspond to the multiple extraction columns 809 one by one in the vertical direction, and then controls the multiple sampling needles 8010 to move downward along the first lifting guide rail 80421 until the bottom needle head of the sampling needle 8010 extends into the interior of the extraction column 809 or close to the top opening of the extraction column 809, and finally the sample solution in the sampling needle 8010 is pressed out from the bottom needle head of the sampling needle 8010 into the extraction column 809, completing the sample solution loading operation into the extraction column 809.

[0510] Afterwards, the sampling needle support 8045 and the suction assembly 8046 are controlled to move upward and return to their original positions, and the top column 80411 is rotated to the top of the extraction column 809 by controlling the rotation of the column 8042, and then the connecting plate 80410 is controlled to drive the top column 80411 to move downward until the top column 80411 extends into the extraction column 809 through the top opening of the extraction column 809, and the sample solution in the extraction column 809 is pushed by the top column 80411, and pressure is applied to the sample solution so that it can pass through the extraction column 809 smoothly, so that the target substance in the sample solution can be adsorbed on the filler in the extraction column 809, and the loading operation is completed. After completion, the column 8042 can rotate and drive the top column 80411 to return to its original position.

[0511] Afterwards, the extraction column placement rack 8025 moves along the first translation guide rail 8021 to the position of the liquid adding component 805, the top opening of the extraction column 809 is vertically aligned with the liquid adding port 80511 of the liquid adding component 805, the pumping device 8052 pumps the elution solvent in the second reagent bottle 808 to be discharged from the liquid adding port 80511, and the elution solvent is added to the extraction column 809. During the elution process of the extraction column 809, the liquid receiving bracket 8024 is moved to the bottom of the extraction column placement rack 8025, and the liquid receiving test tube 050 corresponds to the extraction column 809 one by one in the vertical direction, so that the eluent flowing out of the bottom opening of the extraction column 809 is just collected by the liquid receiving test tube 050, so that the eluent containing the target substance discharged from the extraction column 809 is received by the liquid receiving test tube 050.

[0512] After completing the above operations, each device can be restored to its original position and wait for the next round of solid phase extraction operation.

[0513] In the above process, the liquid-receiving test tube 050 after receiving the liquid can be clamped again by the tenth clamping jaw 8031 ​​on the tenth manipulator 803 and transported to the location of the third opening and closing cover device 80150. The tube cover is screwed and covered on the top opening of the liquid-receiving test tube 050 by the cooperation of the tenth clamping jaw 8031 ​​and the third opening and closing cover device 80150. After that, the liquid-receiving test tube 050 can be transported to the test tube holder 070 on the seventh test tube temporary storage for temporary storage, so as to wait for the next process. After the sample liquid is sampled, the test tube to be extracted 040 is transferred to the sample conveying device 1000 for corresponding disposal, or directly discarded from the consumables disposal hole on the table 8011.

[0514] The features and advantages of the automatic solid phase extraction equipment 800 are:

[0515] The automatic solid phase extraction device can realize the transportation of the test tube 040 to be extracted and the solid phase extraction operation of the sample solution in the test tube 040 to be extracted, and in the solid phase extraction process, the extraction column 809 can be activated and eluted (that is, the activation solvent and the elution solvent are added in sequence), and the eluent is obtained to achieve the detection of target substances (such as pesticide residues, additives and other substances) in the sample solution. The whole process does not require human intervention, which greatly improves the degree of automation of solid phase extraction of sample solutions, is more efficient, avoids cross contamination, and avoids the influence of human intervention on the sample solution, thereby ensuring the accuracy of the detection.

[0516] (IX) Automatic needle filter equipment 900

[0517] The automatic needle filter device 900 realizes fully automatic needle filtering operation of the sample liquid, avoiding the influence of human participation on the sample liquid, and improving the filtering efficiency of the sample liquid.

[0518] like Figures 44 to 46 As shown, the automatic needle filter device 900 includes:

[0519] Filter workbench 901;

[0520] The liquid transfer and filtration unit 902 is disposed on the filtration workbench 901. The liquid transfer and filtration unit 902 has a rotating platform 9021. The rotating platform 9021 is provided with a liquid transfer component 9022. The liquid transfer and filtration unit 902 has a first station 9023 and a second station 9024. The second station 9024 has a filtration structure that can cooperate with the liquid transfer component 9022.

[0521] The first pick-and-place unit 903 is arranged on the filtering workbench 901 and close to the first station 9023. The first pick-and-place unit 903 has an eleventh manipulator 9031 and an eighth test tube temporary storage position 9032. The end of the eleventh manipulator 9031 has an eleventh clamping claw 90311. The eighth test tube temporary storage position 9032 is used to cache the test tube 060 to be filtered. The eleventh clamping claw 90311 can transfer the test tube 060 to be filtered between the eighth test tube temporary storage position 9032 and the first station 9023.

[0522] The second pick-and-place unit 904 is disposed on the filtering workbench 901 and is arranged near the second station 9024. The second pick-and-place unit 904 has a twelfth manipulator 9041 and a sample bottle rack 9042. The end of the twelfth manipulator 9041 has a twelfth gripper 90411. The sample bottle rack 9042 has a sample bottle 905 placed thereon. The twelfth gripper 90411 can transfer the sample bottle 905 between the second station 9024 and the sample bottle rack 9042.

[0523] The liquid transfer component 9022 can move between the first station 9023 and the second station 9024 to transfer the sample liquid in the test tube 060 to be filtered into the injection bottle 905 after filtering through the filtering structure. The test tube 060 to be filtered in the automatic needle filtering device 900 is the liquid transfer test tube 020 transported after being processed by the integrated liquid extraction and liquid transfer device 600, or the test tube transported after being processed by the automatic nitrogen blowing and concentration device 700, or the liquid receiving test tube 050 transported after being processed by the automatic solid phase extraction device 800.

[0524] The automatic needle filter device 900, through the cooperation between the first pick-up and placement unit 903, the pipetting and filtering unit 902 and the second pick-up and placement unit 904, can transfer the sample liquid in the test tube 060 to be filtered to the injection bottle 905 after filtration. The mutual cooperation between the eleventh clamping jaw 90311, the twelfth clamping jaw 90411 and the rotating platform 9021 can automatically realize the transfer of the test tube 060 to be filtered, the extraction of the sample liquid, the filtration of the sample liquid and the transfer of the injection bottle 905, thereby realizing the fully automatic filtration operation of the sample liquid, avoiding the influence of human participation on the sample liquid, and improving the filtration efficiency of the sample liquid.

[0525] The specific structure of each part of the automatic needle filter device 900, as well as the position and linkage relationship between the parts will be described in detail below.

[0526] like Figures 44 to 46As shown, the automatic needle filter device 900 has a filter workbench 901, which serves as a supporting platform for the entire device. The filter workbench 901 includes a support frame 9011 and a table top 9012 arranged on the support frame 9011. The support frame 9011 can adopt a cubic frame structure composed of standard industrial aluminum profiles. The table top 9012 is a rectangular flat steel plate, which is fixed on the top of the support frame 9011, thereby forming a stable filter workbench 901.

[0527] Furthermore, an electric control cabinet 9013 is provided in the support frame 9011, and the electric control cabinet 9013 is used to be connected to multiple motors arranged on the table 9012, so as to control the movement or rotation of each component; a collection box 9014 is also provided in the support frame 9011, and the collection box 9014 is used to collect used disposable consumables (second syringe 907, needle filter 906, etc.) on the table 9012.

[0528] like Figures 44 to 46 As shown, the automatic needle filter device 900 also has a first pick-and-place unit 903. The first pick-and-place unit 903 uses an eleventh manipulator 9031 with multiple degrees of freedom as a core operating component to realize the automation of operations such as transfer, opening and closing of the test tube 060 to be filtered.

[0529] Specifically, Fig.44 As shown, the first pick-and-place unit 903 has an eleventh manipulator 9031 disposed on the table 9012. The eleventh manipulator 9031 has at least three degrees of freedom. The end of the eleventh manipulator 9031 has an eleventh clamp 90311. The eleventh clamp 90311 can be opened and closed to achieve a product clamping operation. Multi-freedom manipulators are relatively conventional and mature technologies in the industry, and the specific structure and principle of the eleventh manipulator 9031 will not be described in detail here.

[0530] In this embodiment, if Fig.45 As shown, the structure of the eleventh manipulator 9031 can be the same as the structure of the first manipulator 1071, which is also a multi-degree-of-freedom manipulator. The eleventh manipulator 9031 has a rotatable vertical arm, which is connected to a first horizontal arm that can move up and down, and the end of the first horizontal arm is rotatably connected to a second horizontal arm, and the end of the second horizontal arm is provided with an eleventh clamp 90311, which can rotate and perform clamping operations, wherein the eleventh clamp 90311 can have a variety of forms, as long as it can achieve the corresponding clamping function. As mentioned above, the eleventh clamp 90311 on the eleventh manipulator 9031 can reach any position within a certain range of space.

[0531] Further, such as Fig.44 and Fig.45As shown, an eighth test tube temporary storage position 9032 is arranged within the reachable range of the eleventh clamp 90311, and the eighth test tube temporary storage position 9032 is arranged on the table 9012. At least one slot for vertically inserting a test tube holder 070 is arranged on the eighth test tube temporary storage position 9032, and the test tube holder 070 is used to place a test tube to be filtered 060, and the test tube to be filtered 060 contains a sample liquid processed by the previous process; the eleventh manipulator 9031 can also transfer the test tube holder 070 containing the test tube to be filtered 060 or an empty test tube holder 070 between the sample conveying device 1000 and the eighth test tube temporary storage position 9032.

[0532] In this embodiment, the multiple slots of the eighth test tube temporary storage position 9032 are arranged in a matrix form, so that each test tube holder 070 has a relatively fixed position, thereby simplifying the programming process of the eleventh clamping jaw 90311 to clamp the test tube 060 to be filtered at the corresponding position.

[0533] Similar to the function of the first test tube temporary storage position 205 described above, when working, the eleventh manipulator 9031 can transfer the test tube holder 070 and the test tube to be filtered 060 transported from the sample conveying device 1000 together, so as to transfer the test tube to be filtered 060 processed in the previous process from the sample conveying device 1000 to the eighth test tube temporary storage position 9032 of the automatic needle filter device 900 for temporary storage; after the eleventh manipulator 9031 clamps the test tube to be filtered 060 to the first station 9023, the test tube holder 070 can continue to stop. The empty test tube holder 070 can also be transferred to the sample conveying device 1000 after the sample liquid in the test tube 060 to be filtered is extracted. The eleventh manipulator 9031 then clamps the sample test tube to the test tube holder 070 of the eighth test tube temporary storage position 9032 and transfers the whole to the sample conveying device 1000 to be transported to the corresponding position for disposal. Alternatively, the eleventh manipulator 9031 can directly discard the test tube 060 to be filtered through the following consumables discarding hole set on the table 9012. Alternatively, the eleventh manipulator 9031 can also directly grab the test tube 060 to be filtered in the test tube holder 070 from the sample conveying device 1000, extract the liquid from the test tube 060, and then directly clamp the test tube 060 to be filtered and place it on the test tube holder 070 of the sample conveying device 1000 to be transported to the corresponding position for disposal, or directly discard it through the consumables discarding hole. The specific operation process depends on actual needs, and this embodiment is only an example.

[0534] When the first pick-and-place unit 903 is working, the eleventh manipulator 9031 is started, and the test tube 060 to be filtered cached on the eighth test tube temporary storage position 9032 is clamped to the first station 9023 (which will be described in detail below) on the pipetting filtration unit 902 through the eleventh clamp 90311. At the same time, the test tube 060 to be filtered that has been emptied on the first station 9023 can also be clamped to the top of the discard hole on the table 9012, and the used test tube 060 to be filtered can be discarded into the collection box 9014 through the discard hole.

[0535] like Figures 44 to 46 As shown, the automatic needle filtration device 900 also has a liquid transfer and filtration unit 902. The liquid transfer and filtration unit 902 uses a rotating platform 9021 as a core operating component to realize the automation of operations such as extraction, transfer, and filtration of the sample liquid.

[0536] Specifically, Fig.44 , Fig.47 and Fig.48 As shown, the pipetting filtration unit 902 has a rotating platform 9021 arranged on the table 9012. The rotating platform 9021 is a column that can rotate relative to the table 9012 with the vertical direction as the axis. A pipetting component 9022 is arranged on the column. The pipetting component 9022 can realize the extraction and injection of liquid. It can take a variety of forms, such as using a disposable second syringe 907 or separately setting a vacuum adsorption tube, etc., which is not specifically limited here.

[0537] The pipetting component 9022 can rotate with the rotating platform 9021, and a first station 9023 is formed in the direction close to the first pick-and-place unit 903. When the rotating platform 9021 rotates to the first station 9023, the pipetting component 9022 can extract the sample liquid in the test tube 060 to be filtered placed at the first station 9023; a second station 9024 is formed in the direction close to the second pick-and-place unit 904 (which will be described in detail below), and a filtering structure and a sample injection bottle 905 placed there at the second pick-and-place unit 904 are arranged on the second station 9024. When the rotating platform 9021 rotates to the second station 9024, the pipetting component 9022 can cooperate with the filtering structure, and the sample liquid extracted by the pipetting component 9022 at the first station 9023 is filtered by the filtering structure and then injected into the sample injection bottle 905.

[0538] like Figures 44 to 46 As shown, the automatic needle filter device 900 also has a second pick-and-place unit 904 , which uses a twelfth manipulator 9041 with multiple degrees of freedom as a core operating component to realize automation of operations such as transfer, opening and closing of the sample injection bottle 905 .

[0539] Specifically, the second pick-and-place unit 904 has a twelfth manipulator 9041 disposed on the table 9012, the twelfth manipulator 9041 has at least three degrees of freedom, and the end of the twelfth manipulator 9041 has a twelfth jaw 90411. The twelfth jaw 90411 on the twelfth manipulator 9041 can reach any position within a certain range of space, and the twelfth jaw 90411 can be opened and closed to achieve the clamping operation of the product. The structure of the twelfth manipulator 9041 is basically the same as the structure of the eleventh manipulator 9031, and will not be repeated here.

[0540] Further, such as Fig.44 and Fig.46 As shown, a sample injection bottle rack 9042 is provided within the reachable range of the twelfth clamp 90411, and the sample injection bottle rack 9042 is provided on the table 9012, and a plurality of sample injection bottles 905 are placed in the sample injection bottle rack 9042; wherein, the sample injection bottle rack 9042 is transported to the table 9012 by a disposable consumables trolley (such as the transport robot 2000 described below), and the sample injection bottle rack 9042 is a reagent bottle placement rack composed of rectangular plates, on which a plurality of sample injection bottle holes arranged in a matrix are provided.

[0541] When the second pick-and-place unit 904 is working, the twelfth manipulator 9041 is started, and the sampling bottle 905 on the sampling bottle rack 9042 is clamped to the second station 9024 on the pipetting and filtration unit 902 by the twelfth clamp 90411. At the same time, the sampling bottle 905 containing the filtered sample liquid on the second station 9024 can also be transferred to the sampling bottle rack 9042.

[0542] In summary, the automated operation process of the automatic needle filter device 900 is as follows:

[0543] At the same time, the eleventh manipulator 9031 and the twelfth manipulator 9041 are started. The eleventh manipulator 9031 clamps the test tube 060 containing the sample liquid to be filtered on the eighth test tube temporary storage position 9032 to the first station 9023 through the eleventh clamping jaw 90311. At the same time, the twelfth manipulator 9041 clamps the empty sample injection bottle 905 on the sample injection bottle rack 9042 to the second station 9024 through the twelfth clamping jaw 90411. Then, the rotating platform 9021 is driven to drive the pipetting component 9022 to rotate to the first station 9023 to extract the first sample. After the sample liquid in the test tube 060 to be filtered on the position 9023 is extracted, it is rotated to the second station 9024, and the liquid transfer component 9022 cooperates with the filtering structure on the second station 9024 to transfer the sample liquid to the injection bottle 905 after filtering; then the twelfth manipulator 9041 clamps the injection bottle 905 containing the sample liquid to the injection bottle rack 9042 through the twelfth clamp 90411, and at the same time, the eleventh manipulator 9031 discards the used test tube 060 to be filtered on the first station 9023 through the eleventh clamp 90311. The above is the automatic filtering operation of the sample liquid. By repeating the above process, the continuous automatic filtering operation of the injection bottle 905 can be realized.

[0544] The structure and technical effects of the preferred embodiment of the automatic needle filter device 900 will be further described in detail below.

[0545] According to one embodiment of the present invention, Figures 44 to 46 As shown, the first pick-and-place unit 903 also has a fourth opening and closing cover device 9033 arranged on the filtration workbench 901, the test tube 060 to be filtered has a tube cover, the fourth opening and closing cover device 9033 has a fourth clamping portion 90331 that can clamp the test tube 060 to be filtered, and the eleventh clamping jaw 90311 can remove the tube cover of the test tube 060 to be filtered placed on the fourth opening and closing cover device 9033; and / or the second pick-and-place unit 904 also has a fifth opening and closing cover device 9043 arranged on the filtration workbench 901, the sample injection bottle 905 has a bottle cover, the fifth opening and closing cover device 9043 has a fifth clamping portion 90431 that can clamp the sample injection bottle 905, and the twelfth clamping jaw 90411 can remove or cover the bottle cover of the sample injection bottle 905 placed on the fifth opening and closing cover device 9043.

[0546] In order to avoid contamination or spillage of the sample liquid, a cover is usually provided on the test tube to be filtered 060 and the injection bottle 905. Therefore, in order to realize the transfer and filtration of the sample liquid, it is necessary to automatically open the cover of the test tube to be filtered 060 and the injection bottle 905. The clamping part on the opening and closing cover device can fix the test tube to be filtered 060 or the injection bottle 905, and then perform the cover opening operation through the eleventh clamping jaw 90311 or the twelfth clamping jaw 90411, wherein the taking and placing operation of the test tube to be filtered 060 or the injection bottle 905 on the clamping part is realized by the eleventh clamping jaw 90311 or the twelfth clamping jaw 90411.

[0547] Specifically, Fig.44 and Fig.45 As shown, a fourth opening and closing cover device 9033 is provided within the reach of the eleventh clamping jaw 90311. The fourth opening and closing cover device 9033 is similar in structure to the first opening and closing cover device 108. The fourth opening and closing cover device 9033 is fixed on the table 9012, and the fourth opening and closing cover device 9033 is located between the eighth test tube temporary storage position 9032 and the first station 9023, thereby reducing the moving path of the eleventh clamping jaw 90311. The fourth opening and closing cover device 9033 has a fourth clamping portion 90331, and the fourth clamping portion 90331 has two claws arranged opposite to each other, and the two claws can be driven by a motor to move closer to or farther from each other, thereby realizing the locking or loosening of the test tube 060 to be filtered.

[0548] Before the eleventh manipulator 9031 clamps the test tube 060 to be filtered on the eighth test tube temporary storage position 9032 to the first station 9023, it is necessary to first open the cover of the test tube 060 to be filtered, that is, it is necessary to first clamp the test tube 060 to be filtered to the fourth opening and closing cover device 9033, and then the fourth clamping part 90331 clamps and locks the test tube 060 to be filtered under the action of the motor, and then the tube cover is screwed off from the test tube 060 to be filtered by the eleventh clamping jaw 90311. After removing the tube cover, the motor is started to unlock the test tube 060 to be filtered, and then the test tube 060 to be filtered is transferred to the first station 9023 by the eleventh clamping jaw 90311. Of course, the closing operation can also be performed on the fourth opening and closing cover device 9033, that is, the tube cover is set on the test tube 060 to be filtered.

[0549] Further, such as Fig.44 and Fig.45 As shown, a fifth opening and closing cover device 9043 is provided within the reachable range of the twelfth clamping jaw 90411, and the fifth opening and closing cover device 9043 is fixed on the table top 9012. The structure of the fifth opening and closing cover device 9043 is the same as that of the fourth opening and closing cover device 9033, and will not be repeated here.

[0550] Before the twelfth manipulator 9041 clamps the injection bottle 905 on the injection bottle rack 9042 to the second station 9024, it is necessary to first open the cover of the injection bottle 905, that is, it is necessary to first clamp the injection bottle 905 to the fifth opening and closing cover device 9043, and then the fifth clamping part 90431 clamps and locks the injection bottle 905 under the action of the motor, and then the bottle cap is screwed off from the injection bottle 905 by the twelfth clamping jaw 90411, and after the bottle cap is removed, the motor is started to unlock the injection bottle 905, and then the injection bottle 905 is transferred to the second station 9024 by the twelfth clamping jaw 90411. After the corresponding sample liquid is received in the injection bottle 905, the injection bottle 905 is transferred to the fifth opening and closing cover device 9043 again by the twelfth clamping jaw 90411 for closing the cover, that is, the bottle cap is re-covered on the injection bottle 905.

[0551] Better, such as Fig.44 As shown, the first picking and placing unit 903 also has a tube cap cache rack 9034 for placing tube caps, and the tube cap cache rack 9034 is arranged on the filtering workbench 901; and / or, the second picking and placing unit 904 also has a bottle cap cache rack 9044 for placing bottle caps, and the bottle cap cache rack 9044 is arranged on the filtering workbench 901.

[0552] The tube cap cache rack 9034 and the bottle cap cache rack 9044 are used to temporarily place the tube caps and the bottle caps, respectively, to facilitate the subsequent closing operation of the uncapped test tube 060 and the injection bottle 905.

[0553] According to one embodiment of the present invention, Fig.44 , Fig.47 and Fig.48 As shown, the first station 9023 has a test tube cache seat 90231 for placing the test tube 060 to be filtered after the cover is opened; and / or, the second station 9024 has a sample bottle cache seat 90241 for placing the sample bottle 905 after the cover is opened, and the filtering structure has a filter membrane cache seat 90242 arranged above the sample bottle cache seat 90241, and a needle filter 906 with a filter membrane is placed on the filter membrane cache seat 90242, and the needle filter 906 on the filter membrane cache seat 90242 is opposite to the sample bottle 905 on the sample bottle cache seat 90241.

[0554] The first station 9023 temporarily places the test tube 060 to be filtered after the cover is opened, and the second station 9024 temporarily places the injection bottle 905 and the needle filter 906 after the cover is opened. By rotating the pipetting component 9022 between the first station 9023 and the second station 9024, the sample liquid in the test tube 060 to be filtered is automatically extracted at the first station 9023, and the sample liquid is automatically filtered at the second station 9024, and the filtered sample liquid is stored in the injection bottle 905.

[0555] Specifically, Fig.47 and Fig.48 As shown, the liquid transfer and filtration unit 902 has a base 9026 disposed on the filtration workbench 901, and a test tube buffer seat 90231 to be filtered, a sample injection bottle buffer seat 90241 and a filter membrane buffer seat 90242 are all disposed on the base 9026. The test tube buffer seat 90231 to be filtered and the sample injection bottle buffer seat 90241 are respectively located on opposite sides of the rotating platform 9021; the test tube buffer seat 90231 to be filtered is provided with a plurality of placement slots for placing the test tubes 060 to be filtered, and correspondingly, the sample injection bottle buffer seat 90241 is also provided with the same number of placement slots for placing the sample injection bottles 905, and the filter membrane buffer seat 90242 is also provided with a corresponding number of needle filters 906, and the transfer and filtration operations of multiple groups of sample liquids are simultaneously realized through the liquid transfer component 9022.

[0556] Preferably, a first guide rail 9027 is provided between the base 9026 and the sample bottle cache seat 90241, and the sample bottle cache seat 90241 can slide along the first guide rail 9027 to stagger the position with the filter membrane cache seat 90242. Since the filter membrane cache seat 90242 and the sample bottle cache seat 90241 need to be arranged relative to each other up and down, in order to facilitate the twelfth clamping jaw 90411 to take and place the sample bottle 905 on the sample bottle cache seat 90241, the first guide rail 9027 is used to realize the sliding setting of the sample bottle cache seat 90241, so that the sample bottle cache seat 90241 and the filter membrane cache seat 90242 can stagger the position.

[0557] When it is necessary to clamp the sampling bottle 905 onto the sampling bottle cache seat 90241 or to remove the sampling bottle 905 from the sampling bottle cache seat 90241, the corresponding motor is started to drive the sampling bottle cache seat 90241 to slide out from under the filter membrane cache seat 90242 along the direction of the first guide rail 9027; when performing a filtering operation, the corresponding motor is started to drive the sampling bottle cache seat 90241 to move along the direction of the first guide rail 9027 to directly below the filter membrane cache seat 90242.

[0558] According to one embodiment of the present invention, Fig.47 and Fig.48 As shown, the pipetting component 9022 can be slidably connected to the rotating platform 9021 up and down, and the pipetting component 9022 has a syringe fixing part 90221 and a pushing part 90222. A second syringe 907 with a second needle 9071 is clamped on the syringe fixing part 90221. The pushing part 90222 is connected to the second syringe 907 and can move away from or toward the syringe fixing part 90221 to realize the extraction or injection operation of the second syringe 907.

[0559] The transfer of the sample liquid is achieved through the second syringe 907 on the pipetting component 9022. The syringe fixing portion 90221 is used to fix the second syringe 907 with the second needle 9071, and the pushing portion 90222 is used to apply a pulling force or a pushing force to the piston rod of the second syringe 907, thereby achieving the extraction or injection of the sample liquid.

[0560] Specifically, Fig.47 As shown, the pipetting component 9022 is a movable platform that can realize the fixing, suction and injection operations of the disposable second syringe 907. It has a sliding platform that can slide along the up and down directions of the rotating platform 9021, and the lower part of the sliding platform has a plurality of syringe fixing parts 90221 arranged side by side, and each syringe fixing part 90221 is fixed with a second syringe 907 with a second needle 9071, and the second needle 9071 of the second syringe 907 is arranged to face downward; a pushing part 90222 is arranged above the second syringe 907, and the pushing part 90222 can move up and down relative to the sliding platform, and the pushing part 90222 is connected to the piston rod of the second syringe 907, thereby pushing or pulling the piston rod of the second syringe 907 to realize the injection or extraction operation of the sample liquid.

[0561] In this embodiment, the number of the push portions 90222 is the same as the number of the second syringes 907. Fig.47 and Fig.48 For the sake of clarity, only one pushing portion 90222 is schematically shown; and the number of second syringes 907 is the same as the number of test tubes 060 to be filtered in the test tube cache seat 90231 to be filtered on the first station 9023; in the present embodiment, the above numbers are all 4. Of course, in other embodiments of the present invention, other numbers can also be set according to actual needs.

[0562] When the above-mentioned pipetting component 9022 is working, first, the rotating platform 9021 drives the pipetting component 9022 to rotate to the first station 9023, and then the sliding platform drives the second syringe 907 to move downward until the second needle 9071 of the second syringe 907 is inserted into the test tube 060 to be filtered on the first station 9023, and then the pushing part 90222 moves upward, that is, the pushing part 90222 drives the piston rod away from the syringe fixing part 90221, and the second syringe 907 extracts the sample liquid in the test tube 060 to be filtered. After the extraction is completed, the sliding platform drives the second syringe 907 to move upward, and the second needle 9071 of the second syringe 907 is taken out from the test tube 060 to be filtered.

[0563] Afterwards, the rotating platform 9021 drives the pipetting assembly 9022 to rotate to the second station 9024, and then the sliding platform drives the second syringe 907 to move downward until the second syringe 907 cooperates with the needle filter 906 in the second station 9024, and the pushing part 90222 moves downward, that is, the pushing part 90222 drives the piston rod to move toward the syringe fixing part 90221, and the second syringe 907 squeezes out the sample liquid therein and allows the sample liquid to pass through the filter membrane and then drip into the sampling bottle 905.

[0564] The pipetting assembly 9022 also has a driving unit that can sense the pushing force in the second syringe 907, and the driving unit is connected to the pushing unit 90222 to drive the pushing unit 90222 to move; wherein, when the driving unit monitors that the pushing force in the second syringe 907 is about to exceed the rated limit pressure of the filter membrane, the driving unit stops providing power to the pushing unit 90222 and issues an alarm to avoid rupture of the filter membrane.

[0565] Furthermore, the driving unit includes:

[0566] A servo motor is provided on the rotating platform 9021;

[0567] A ball screw mechanism, the rotating end of the ball screw mechanism is connected to the servo motor, and the moving end of the ball screw mechanism is connected to the push part 90222.

[0568] Preferably, the up and down movement of the push portion 90222 is achieved through the cooperation of a servo motor and a ball screw, and the servo motor has a certain pressure sensing function; when performing a filtering operation, if the pressure of the sample liquid is too high (usually caused by a viscous sample), it will cause the filter membrane in the needle filter 906 to rupture. The servo motor can obtain the thrust of the syringe on the sample liquid based on the torque fed back in real time from the output end. When the filter membrane is about to rupture, an alarm signal is issued to remind the operator. At this time, the sample will no longer be forcibly filtered, and the sample will be taken out separately and placed in a designated position to avoid rupture of the filter membrane during filtration.

[0569] According to one embodiment of the present invention, Fig.44 , Fig.47 and Fig.48 As shown, the pipetting filtration unit 902 also has a third station 9025, which is located between the first station 9023 and the second station 9024. The third station 9025 has a syringe removal box 90251 arranged on the filtration workbench 901, and a syringe clamping groove 90252 is provided on the top of the syringe removal box 90251. When the second needle 9071 of the second syringe 907 is clamped in the needle clamping groove 90252 and the pipetting assembly 9022 moves upward, the second needle 9071 can be separated from the second syringe 907 and fall into the syringe removal box 90251.

[0570] When the pipetting and filtering unit 902 is in the first station 9023 and the pushing part 90222 moves away from the syringe fixing part 90221, the second syringe 907 extracts the sample liquid in the test tube 060 to be filtered; when the pipetting and filtering unit 902 is in the second station 9024, the bottom interface of the second syringe 907 without the second needle 9071 is connected to the needle filter 906, and when the pushing part 90222 moves toward the syringe fixing part 90221, the sample liquid in the second syringe 907 passes through the filter membrane and drips into the injection bottle 905 after the cover is opened.

[0571] At the first station 9023, the extraction of the sample liquid requires a second syringe 907 with a second needle 9071, while at the second station 9024, the filtering operation of the sample liquid requires the second syringe 907 without the second needle 9071; therefore, it is necessary to set a third station 9025 for automatically removing the second needle 9071 between the first station 9023 and the second station 9024, and the needle removal box 90251 set on the third station 9025 can clamp the second needle 9071 on the second syringe 907 off and drop it into the needle removal box 90251.

[0572] After completing the automatic extraction of the sample liquid at the first station 9023, the pipetting assembly 9022 is first driven to rotate to the third station 9025 by the rotating platform 9021. Then, the sliding platform drives the second syringe 907 to move downward until the second needle 9071 of the second syringe 907 is clamped in the needle clamping slot 90252 of the syringe removal box 90251. Then, the sliding platform drives the second syringe 907 to move upward. Under the action of the needle clamping slot 90252, the second needle 9071 on the second syringe 907 falls off from the second syringe 907 and falls into the syringe removal box 90251. After completing the operation of removing the second needle 9071, the rotating platform 9021 drives the pipetting assembly 9022 to rotate to the second station 9024.

[0573] According to one embodiment of the present invention, Fig.44 As shown, the first picking and placing unit 903 also has a second syringe rack 9035 on which a second syringe 907 with a second needle 9071 is placed, and the eleventh clamp 90311 can transfer the second syringe 907 on the second syringe rack 9035 to the syringe fixing portion 90221; and / or, the second picking and placing unit 904 also has a filter rack 9045 on which a needle filter 906 is placed, and the twelfth clamp 90411 can transfer the needle filter 906 on the filter rack 9045 to the filter membrane cache seat 90242.

[0574] The second syringe 907 and the needle filter 906 are both disposable consumables and need to be replaced after one use. Therefore, a corresponding second syringe rack 9035 and a filter rack 9045 are set on the filtration workbench 901 to provide disposable consumables to be replaced, and the automated operation of disposable consumable replacement is realized through the eleventh clamp 90311 or the twelfth clamp 90411.

[0575] According to one embodiment of the present invention, Fig.44 , Figures 49 to 51 As shown, a plurality of fourth transmission components 908 are provided on the filtering workbench 901, and the injection bottle rack 9042, the second syringe rack 9035 and the filter rack 9045 can all be transferred from the consumables transport device to each fourth transmission component 908; the fourth transmission component 908 includes:

[0576] A bottom plate 9081 is provided on the filtering workbench 901, and a fourth transmission plate 9082 is slidably provided on the bottom plate 9081 through a second guide rail 9083. The fourth transmission plate 9082 can slide along the second guide rail 9083 and extend out of the filtering workbench 901 to receive the injection bottle rack 9042, the syringe rack or the filter rack 9045;

[0577] The fourth positioning clamp 9084 is connected to the bottom plate 9081 , and can clamp the injection bottle rack 9042 , the second syringe rack 9035 or the filter rack 9045 to adjust their positions in a direction perpendicular to the second guide rail 9083 .

[0578] The fourth transmission component 908 can smoothly receive the sample bottle rack 9042, the second syringe rack 9035 and the filter rack 9045 on the consumables transport device (for example, the transport robot 2000 described below can be used, or other forms of robots or consumables transport carts can be used) onto the table 9012, and can adjust the position of the above-mentioned disposable consumables rack so that it can be accurately transported to a fixed position on the table 9012, thereby facilitating the eleventh clamp 90311 and the twelfth clamp 90411 to accurately perform pick-up and placement operations.

[0579] The injection bottle 905 on the injection bottle rack 9042, the second syringe 907 on the second syringe 907, and the needle filter 906 on the filter rack 9045 are all disposable consumables, which need to be replaced after use. In this embodiment, the replacement operation of the injection bottle rack 9042, the second syringe rack 9035 or the filter rack 9045 is achieved by cooperating with the consumable transport trolley. Since the consumable transport trolley usually does not have a precise positioning and docking function, without manual intervention, it will be difficult to accurately transport the replaced injection bottle rack 9042, the second syringe rack 9035 or the filter rack 9045 to the predetermined position (the position of each placement needs to be a preset position to ensure the accurate clamping of the clamping claws), and the fourth transmission component 908 can adjust the position of the disposable consumable rack so that it can be accurately transported to the predetermined position.

[0580] Specifically, Figures 49 to 51 As shown, the fourth transmission component 908 has a bottom plate 9081 arranged on the table 9012, which is actually a sliding base for docking. The sliding base is usually also provided with a plurality of side plates, which are connected to the bottom plate 9081 to form a groove structure; the fourth transmission plate 9082 is slidably connected to the bottom plate 9081 through the second guide rail 9083, and the fourth transmission plate 9082 is actually a docking seat for docking. The docking seat is also provided with a plurality of side plates, and the fourth transmission plate 9082 is connected to the side plates to form a groove structure, and the sample bottle rack 9042, the second syringe rack 9035 or the filter rack 9045 can be placed on the docking seat.

[0581] like Fig.51 As shown, the receiving and replacing process of the filter rack 9045 is taken as an example to illustrate. A limiting column 90451 is set at the bottom of the filter rack 9045 to limit the position of the filter rack 9045, but a certain gap is usually set between the limiting column 90451 and the docking seat to facilitate the receiving of the filter rack 9045. Therefore, a positioning clamp is also provided on the sliding base, which includes two positioning claws arranged relatively to each other. The two positioning claws are respectively located on both sides of the filter rack 9045. The two positioning claws can approach or move away from each other under the drive of the motor, thereby adjusting the position of the filter rack 9045 in a direction perpendicular to the second guide rail 9083 to a predetermined position.

[0582] When replacing the filter rack 9045, after the consumables transfer cart moves to the position of the fourth transfer assembly 908, the fourth transfer plate 9082 of the fourth transfer assembly 908 extends out to transfer the empty filter rack 9045 to the consumables transfer cart, and then the consumables transfer cart places the new filter rack 9045 on the fourth transfer plate 9082, and then the fourth transfer plate 9082 retracts. After the fourth transfer plate 9082 retracts into place, the two positioning claws on the fourth positioning clamp 9084 are activated to fine-tune the position of the filter rack 9045.

[0583] According to one embodiment of the present invention, Fig.44 and Fig.45 As shown, the first pick-and-place unit 903 also has a tenth barcode scanner 9015 disposed on the filtering workbench 901, which is used to scan the identification code on the test tube 060 to be filtered to confirm whether the current test tube 060 to be filtered is the predetermined test tube 060 to be filtered; the second pick-and-place unit 904 also has an eleventh barcode scanner 9016 disposed on the filtering workbench 901, which is used to scan the identification code on the sample bottle 905 to confirm whether the current sample bottle 905 is the predetermined sample bottle 905.

[0584] After the eleventh robot 9031 grabs the test tube 060 to be filtered on the eighth test tube temporary storage position 9032, it first moves to the position of the tenth barcode scanner 9015 to scan and verify. If there is an abnormality (the current test tube 060 to be filtered is not the predetermined test tube 060 to be filtered), an alarm is triggered. If there is no abnormality, the subsequent cover opening and transfer operation continues.

[0585] After the twelfth robot 9041 grabs the sampling bottle 905 on the sampling bottle rack 9042, it first moves to the position of the eleventh barcode scanner 9016 to scan the barcode for verification. If there is an abnormality (the current sampling bottle 905 is not the predetermined sampling bottle 905), an alarm is triggered. If there is no abnormality, the subsequent opening and transfer operations are continued.

[0586] Of course, as needed, only one barcode scanner may be provided on the filtration workbench 901 to scan and verify the test tube 060 to be filtered and the injection bottle 905 .

[0587] It should be noted that the sample transport device 1000 mentioned in this embodiment can transport multiple test tubes including three types of test tubes, namely, multiple sample test tubes 010, multiple pipetting test tubes 020 and multiple receiving test tubes 050. The sample test tubes 010 containing samples are transported to the first transmission component 102 of the full-automatic liquid reagent adding equipment 100 by the corresponding transport trolley (such as the transport robot 2000 described below), the empty pipetting test tubes 020 are transported to the second transmission component 605 of the integrated pipetting and taking equipment 600 by the transport trolley, and the empty receiving test tubes 050 are transported to the third transmission component 807 of the automatic solid phase extraction equipment 800 by the transport trolley.

[0588] After the sample test tube 010 containing the sample is transferred to the fully automatic liquid reagent adding device 100 and processed, it can be directly transferred to the integrated liquid collection and pipetting device 600 for processing via the sample conveying device 1000; or, it can also be first transferred to at least one of the four devices including the liquid sample oscillation processing device 200, the automatic constant temperature water bath device 300, the intelligent centrifugal processing device 400 and the automatic ultrasonic homogenization processing device 500 for processing, and then transferred to the integrated liquid collection and pipetting device 600 for processing.

[0589] At the integrated liquid collection and pipetting device 600, part of the solution in the sample test tube 010 transferred after the previous process can be transferred to an empty pipette test tube 020. After the pipetting is completed, the pipette test tube 020 can be transferred via the sample conveying device 1000 to at least one of the three devices, namely, the automatic nitrogen blowing concentration device 700, the automatic solid phase extraction device 800 and the automatic needle filter device 900, for processing.

[0590] If the pipetting test tube 020 is directly transferred to the automatic nitrogen blowing concentration device 700 after the pipetting is completed, the processing can be completed after the automatic nitrogen blowing concentration device 700 is processed, or it can be transferred to the automatic needle filter device 900 for processing. If the pipetting test tube 020 is directly transferred to the automatic solid phase extraction device 800 after the pipetting is completed, the solution in the pipetting test tube 020 will be solid phase extracted into the empty liquid receiving test tube 050 after the automatic solid phase extraction device 800 is processed, and the processing can be completed at this time, or the liquid receiving test tube 050 containing the solution can be transferred to the automatic nitrogen blowing concentration device 700 or the automatic needle filter device 900. If the pipetting test tube 020 is directly transferred to the automatic needle filter device 900 after the pipetting is completed, the automatic needle filter device 900 will filter the solution and transfer it to the injection bottle 905, then the processing is completed and it will not be transferred to other equipment for processing.

[0591] In the case where the processing can be completed after being processed by the automatic nitrogen blowing concentration equipment 700, the automatic solid phase extraction equipment 800 and the automatic needle filtration equipment 900, the test tube / bottle containing the solution can be first placed in the corresponding consumable rack (test tube rack / bottle rack), and then transported to the designated location by the corresponding transfer vehicle (such as the transport robot 2000).

[0592] (X) Sample delivery equipment 1000

[0593] The sample conveying device 1000 can realize the circulation and transmission of samples between multiple functional stations with lower labor intensity and higher operating efficiency.

[0594] like Figure 52 to Figure 56 As shown, this embodiment provides a sample delivery device 1000, comprising:

[0595] A plurality of first docking devices 1003 arranged at intervals;

[0596] A plurality of main conveying devices 1001 are respectively arranged between two adjacent first docking devices 1003; each main conveying device 1001 comprises an upper main conveying line and a lower main conveying line wh...

Claims

1. A sample pretreatment system, characterized in that: include: Fully automatic liquid reagent adding equipment, used to automatically and quantitatively add a variety of liquids into multiple test tubes; An integrated liquid transfer device is used to transfer part of the solution in one test tube to another test tube; At least one impurity treatment device, used for removing impurities from the solution in the test tube after the liquid is transferred by the integrated liquid extraction and pipetting device; A sample transport device, used for transporting a plurality of test tubes between the fully automatic liquid reagent adding device, the integrated liquid taking and pipetting device and each of the impurity treatment devices; Wherein, the fully automatic liquid reagent adding equipment comprises a reagent adding workbench and a temporary storage device, a sample adding device, a transfer device, a mixing device, a first manipulator and a second manipulator arranged on the reagent adding workbench; the temporary storage device comprises at least one group of sample test tube racks for temporarily storing multiple sample test tubes, the sample adding device comprises a liquid adding conveying line and multiple liquid adding ports, each of the liquid adding ports is located directly above the liquid adding conveying line and is arranged at intervals along the length direction of the liquid adding conveying line; the end of the first manipulator has a first clamping claw, the first clamping claw can transfer the sample test tube on the sample test tube rack to the liquid adding conveying line, and can transfer the sample test tube after adding liquid on the liquid adding conveying line to the transfer device for temporary storage; the end of the second manipulator has a second clamping claw, the second clamping claw can transfer the sample test tube between the transfer device for transferring and temporarily storing the sample test tube and the mixing device for mixing liquid; One of the impurity treatment devices is an automatic solid phase extraction device, which includes an extraction workbench and a first temporary storage bracket, a tenth manipulator, an extraction component, a transmission mechanism and a liquid adding component arranged on the table of the extraction workbench; The first temporary storage support has a test tube placement hole, and the test tube placement hole is used to place the test tube to be extracted containing the sample solution; the moving end of the tenth manipulator is provided with a tenth clamping claw, and the tenth manipulator is located on one side of the first temporary storage support, and the tenth manipulator can at least drive the tenth clamping claw to transfer the test tube to be extracted to the first temporary storage support; the extraction component is arranged close to the first temporary storage support, and the extraction component includes an extraction column and a sampling needle, and the sampling needle can move between the test tube to be extracted and the extraction column to transfer the sample solution from the test tube to be extracted to the extraction column, and perform solid phase extraction on the sample solution through the extraction column; the liquid adding component has a liquid adding port, and the transmission mechanism is located between the extraction component and the liquid adding component, and the transmission mechanism is used to transfer the extraction column to the bottom of the liquid adding port of the liquid adding component, so as to add an activation solvent or an elution solvent into the extraction column through the liquid adding port; The sample delivery device comprises: A plurality of first docking devices arranged at intervals; A plurality of main conveying devices are respectively arranged between two adjacent first docking devices; each main conveying device comprises an upper main conveying line and a lower main conveying line which are arranged in an upper and lower interval and have opposite conveying directions, and each of the upper main conveying lines is located in the same straight line direction, and each of the lower main conveying lines is located in the same straight line direction; A plurality of branch conveying devices are respectively located on one side of the main conveying device; each branch conveying device comprises an upper branch conveying line and a lower branch conveying line which are arranged in an upper and lower interval and have opposite conveying directions, and the conveying direction of the upper branch conveying line is at an angle with the conveying direction of the upper main conveying line; the first end of the branch conveying device is arranged close to the corresponding first docking device, and the first docking device can be docked with the corresponding upper main conveying line, lower main conveying line, upper branch conveying line or lower branch conveying line; A plurality of second docking devices are respectively arranged near the second end of each of the branch conveying devices, and the second docking devices can be docked with the corresponding upper branch conveying line or lower branch conveying line.

2. The sample pretreatment system according to claim 1, characterized in that: The sample pre-treatment system also includes: Liquid sample oscillation processing equipment, used to automatically oscillate and mix the solution in the test tube; Automatic constant temperature water bath equipment, used to treat the solution in the test tube with a constant temperature water bath; Intelligent centrifugal processing equipment, used to centrifuge the solution in the test tube; and / or, an automatic ultrasonic homogenization device for ultrasonically homogenizing the solution in the test tube; Among them, the sample transport device can also transfer multiple test tubes between the fully automatic liquid reagent adding device and the integrated liquid collection and pipetting device, as well as the liquid sample oscillation processing device, the automatic constant temperature water bath device, the intelligent centrifugal processing and / or the automatic ultrasonic homogenization processing device.

3. The sample pretreatment system according to claim 1, characterized in that: At least one set of first transmission components is also provided on the reagent adding workbench, and each set of the first transmission components includes a first transmission plate slidably provided on the reagent adding workbench, and a first limiting portion and a first positioning clamp provided above the reagent adding workbench; A second limiting portion is provided at one end of the first transmission plate, the sample test tube rack can be placed on the first transmission plate, and both ends of the sample test tube rack along the sliding direction of the first transmission plate can respectively abut against the first limiting portion and the second limiting portion, and the two positioning claws of the first positioning clamp can respectively clamp the two sides of the sample test tube rack along the sliding direction perpendicular to the first transmission plate.

4. The sample pretreatment system according to claim 1, characterized in that: A first opening and closing cover device is also provided on the reagent adding workbench, a tube cover is detachably installed on the open end of the sample test tube, and the first opening and closing cover device has a first clamping portion that can clamp the sample test tube; The first clamp can transfer the sample test tube on the sample test tube rack to the first cover opening and closing device, remove the tube cover on the sample test tube, and transfer the sample test tube after the tube cover is removed to the liquid adding conveying line; the first clamp can also transfer the sample test tube after liquid is added on the liquid adding conveying line to the first cover opening and closing device, close the tube cover on the sample test tube, and transfer the sample test tube after the tube cover is closed to the transfer device.

5. The sample pretreatment system according to claim 1, characterized in that: The sample liquid adding device also includes a plurality of liquid adding pumps and a plurality of liquid reagent bottles, each of the liquid adding pumps is arranged above the liquid adding conveying line, one end of the liquid adding pump is connected to the corresponding liquid adding port, and the other end is connected to the corresponding liquid reagent bottle through a corresponding pipeline; The liquid adding conveying line comprises a conveying guide rail and a moving block slidably arranged on the conveying guide rail, and the moving block is provided with at least one slot for inserting the sample test tube.

6. The sample pretreatment system according to claim 1, characterized in that: A pH value detection device is also provided on the reagent adding workbench and on one side of the liquid adding conveying line, wherein the pH value detection device comprises a movable pH value sensor, and the pH value sensor can be inserted into the sample test tube on the liquid adding conveying line; The pH value detection device also includes a cleaning device, and the pH value sensor can be inserted in the cleaning device; a cleaning liquid nozzle and a preservation liquid nozzle are arranged on the side of the cleaning device, and an openable and closable liquid discharge port is arranged at the bottom of the cleaning device.

7. The sample pretreatment system according to claim 1, characterized in that: The temporary storage device also includes a test tube stand arranged on the reagent adding workbench, and the test tube stand is provided with a plurality of slots for inserting the test tube stand, and the first clamping claw can also transfer the test tube stand on the test tube stand and insert it into the transfer device, or transfer the test tube inserted in the transfer device and insert it into the test tube stand on the test tube stand; A first code scanner is also provided on the reagent adding workbench for scanning the identification code on the sample test tube to determine whether the current sample test tube is a predetermined sample test tube.

8. The sample pretreatment system according to claim 2, characterized in that: The liquid sample oscillation processing device comprises: A shaking table, wherein a roller for shaking and oscillating the sample test tube is arranged inside the shaking table, and a servo power system is connected to the shaking table to drive the roller to shake and to stop the sample test tube from shaking at a set position; A third manipulator for grabbing and transporting the sample tube; A test tube turning seat for turning over the sample test tube; The control unit, the servo power system and the third manipulator are all connected to the control unit via electrical signals.

9. The sample pretreatment system according to claim 8, characterized in that: The test tube flip seat comprises a base, on which a test tube support body for horizontally supporting the sample test tube is arranged, and one side of the test tube support body is provided with a displacement stopper vertical plate for stopping the bottom end of the sample test tube when flipping to a horizontal position.

10. The sample pretreatment system according to claim 8, characterized in that: The liquid sample oscillation processing device further comprises a second barcode scanner for scanning and checking the sample tube, and the second barcode scanner is connected to the control unit by electrical signals; The liquid sample oscillation processing device also includes a first test tube temporary storage position for caching the sample test tube, and the second barcode scanner is arranged between the first test tube temporary storage position and the shaking table.

11. The sample pretreatment system according to claim 2, characterized in that: The automatic constant temperature water bath equipment comprises: A constant temperature water bath, comprising a water bath body capable of performing a constant temperature water bath, a top cover capable of being opened and closed is arranged on the top of the water bath body, and the top cover is connected to an opening and closing power structure; a test tube shaking rack for supporting and shaking a sample test tube is arranged in the water bath body, and the test tube shaking rack is connected to a servo power system capable of driving the test tube to swing and stopping the sample test tube from swinging at a set position; A fourth manipulator for grabbing and transporting the sample tube; The control unit, the opening and closing power structure, the servo power system, and the fourth manipulator are all connected to the control unit via electrical signals.

12. The sample pretreatment system according to claim 11, characterized in that: The opening and closing power structure comprises a supporting column, a power drum is arranged on the supporting column, a steel wire rope is wound around the power drum, and the free end of the steel wire rope is connected to the top cover.

13. The sample pretreatment system according to claim 11, characterized in that: The automatic constant temperature water bath device also includes a third barcode scanner for scanning and checking the sample test tube, and the third barcode scanner is connected to the control unit by electrical signals; The automatic constant temperature water bath equipment also includes a second test tube temporary storage position for caching the sample test tube.

14. The sample pretreatment system according to claim 2, characterized in that: The intelligent centrifugal processing equipment comprises: A centrifuge for centrifugally rotating a separation medium, wherein a feed port that can be opened and closed is disposed at the top of the centrifuge; a centrifugal rotating support for supporting a sample test tube is disposed below the feed port in the centrifuge; and the centrifugal rotating support is connected to a servo power system that can control the start and stop position of its rotation; A fifth manipulator for grabbing and transporting sample tubes; A test tube transfer structure for placing the sample test tube brought by the fifth manipulator into the centrifugal rotating support, wherein the test tube transfer structure is connected to a transfer power motor; A counterweight structure for balancing the weight of the sample tube on the centrifugal rotating support; The control unit, the servo power system, the fifth manipulator, and the power transmission motor are all connected to the control unit via electrical signals.

15. The sample pretreatment system according to claim 14, characterized in that: The test tube transfer structure includes a lateral transfer portion and a test tube delivery portion; The transverse transfer part comprises a transverse guide rail, a transverse block is movably arranged on the transverse guide rail, an openable and closable transverse clamp is arranged on the transverse block, and the transverse clamp is used to receive and clamp the sample tube from the fifth manipulator; The test tube delivery part includes an oblique guide rail, which is supported on an oblique support and inclined at a set angle to the vertical direction; an oblique block is movably provided on the oblique guide rail, and an openable and closable oblique clamp is provided on the oblique block; the oblique clamp is used to receive and clamp the sample test tube from the transverse transfer part, and is obliquely moved under the drive of the oblique block to transfer the sample test tube to the centrifugal rotating bracket.

16. The sample pretreatment system according to claim 14, characterized in that: The intelligent centrifugal processing equipment further comprises a fourth barcode scanner for scanning and checking the sample tube, and the fourth barcode scanner is connected to the control unit by electrical signals; The intelligent centrifugal processing equipment also includes a third test tube temporary storage position for caching the sample test tube.

17. The sample pretreatment system according to claim 2, characterized in that: The automatic ultrasonic homogenization processing equipment comprises: A support frame, wherein a first support platform is provided on the top of the support frame, and a second support platform is provided inside the support frame, wherein the height of the second support platform is lower than the height of the first support platform; a sixth manipulator, disposed on the first support platform, the end of the sixth manipulator having a sixth clamping claw, and a fourth test tube temporary storage position for caching sample test tubes being provided within the reach of the sixth clamping claw on the first support platform; An ultrasonic homogenizer is arranged on the second support platform. The ultrasonic homogenizer has a box body and a cover body connected to the box body and can be opened and closed. A test tube rack is arranged in the box body. The sixth clamp can transfer the sample test tube between the test tube rack and the fourth test tube temporary storage position.

18. The sample pretreatment system according to claim 17, characterized in that: The first support platform is also provided with a drying cylinder. Before placing the sample test tube into the test tube placement rack, the sixth clamping jaw can transfer the sample test tube into the drying cylinder to remove droplets adsorbed on the outside of the sample test tube.

19. The sample pretreatment system according to claim 17, characterized in that: A fifth barcode scanner is also provided on the first support platform, and an identification code is affixed to the sample test tube. Before placing the sample test tube into the test tube placement rack, the sixth clamp can transfer the sample test tube to the fifth barcode scanner for scanning and verification to confirm whether the current test tube is the predetermined test tube.

20. The sample pretreatment system according to claim 1, characterized in that: The integrated liquid collection and transfer device comprises: Get a pipetting station; A pipetting unit is arranged on the pipetting workbench, the pipetting unit has a first station and a second station for fixing the sample tube and the pipetting tube respectively, the pipetting unit has a movable platform that can move between the first station and the second station, and the movable platform is provided with a pipetting mechanism that can transfer the sample liquid in the sample tube to the pipetting tube; A liquid taking unit is arranged on the liquid taking and pipetting workbench, and the liquid taking unit has a seventh manipulator, a fifth test tube temporary storage position and a pipetting test tube rack arranged on the liquid taking and pipetting workbench, a seventh clamp is provided at the end of the seventh manipulator, the fifth test tube temporary storage position is used to cache the sample test tube, and the pipetting test tube rack is used to temporarily store a plurality of the pipetting test tubes, and the seventh clamp can transfer the sample test tube between the first station and the fifth test tube temporary storage position, and can transfer the pipetting test tube between the second station and the pipetting test tube rack.

21. The sample pretreatment system according to claim 20, characterized in that: The first station is provided with a first clamping mechanism fixed to the liquid taking and pipetting workbench, the first clamping mechanism having a first clamping member capable of clamping the sample test tube; and / or The second station is provided with a second clamping mechanism fixed on the liquid taking and pipetting workbench, and the second clamping mechanism has a second clamping piece capable of clamping the liquid taking and pipetting test tube.

22. The sample pretreatment system according to claim 20, characterized in that: The pipetting unit has a support seat arranged on the pipetting workbench, the mobile platform is slidably connected to the support seat, the pipetting mechanism is slidably connected to the mobile platform, and the sliding direction of the mobile platform is perpendicular to the sliding direction of the pipetting mechanism; The pipetting mechanism comprises a sliding seat, a syringe fixing part and a pushing part, the sliding seat is slidably connected to the moving platform, the syringe fixing part is fixed on the sliding seat, a first syringe with a first needle is clamped on the syringe fixing part, and the pushing part is connected to the first syringe and can move away from or toward the syringe fixing part to realize the extraction or injection operation of the first syringe.

23. The sample pretreatment system according to claim 22, characterized in that: The pipetting workbench is provided with a plurality of second transmission components, and the pipetting test tube rack and the first syringe rack for placing the first syringe can be transferred from the consumables transport device to each of the second transmission components; The second transmission component comprises: A bottom plate provided on the liquid taking and pipetting workbench, the bottom plate being slidably connected to a second transmission plate via a guide rail, the second transmission plate being able to slide along the guide rail and extend out of the liquid taking and pipetting workbench to receive the liquid taking and pipetting test tube rack or the first syringe rack; The second positioning clamp is connected to the bottom plate, and the second positioning clamp can clamp the pipette test tube rack or the first syringe rack to adjust the position thereof in a direction perpendicular to the guide rail.

24. The sample pretreatment system according to claim 20, characterized in that: The liquid taking unit also has a sixth barcode scanner and / or a seventh barcode scanner arranged on the liquid taking and pipetting workbench. The sixth barcode scanner is used to scan the identification code on the sample test tube to confirm whether the current sample test tube is a predetermined sample test tube, and the seventh barcode scanner is used to scan the identification code on the pipetting test tube to confirm whether the current pipetting test tube is a predetermined pipetting test tube.

25. The sample pretreatment system according to claim 1, characterized in that: One of the impurity treatment equipment is an automatic nitrogen blowing concentration equipment, which includes a nitrogen blowing concentration workbench and a first buffer station, an eighth manipulator, a ninth manipulator, a nitrogen blowing device and a re-dissolving and liquid adding device arranged on the table of the nitrogen blowing concentration workbench; The first buffer station is located at one side of the nitrogen blowing device, and the first buffer station is used to buffer the nitrogen blowing test tube containing the sample; The eighth manipulator is located between the first buffer station and the nitrogen blowing device, and the eighth manipulator has at least one eighth clamping jaw that can move between the first buffer station and the nitrogen blowing device, and the nitrogen blowing test tube located at the first buffer station is transferred to the nitrogen blowing device through the eighth clamping jaw; The nitrogen blowing device is used to carry out nitrogen blowing concentration on the sample in the nitrogen blowing test tube; The re-dissolving and liquid adding device is located at one side of the nitrogen blowing device, and the re-dissolving and liquid adding device is used to add re-dissolving liquid into the nitrogen blowing test tube passing through the nitrogen blowing device, so as to re-dissolve the sample concentrated by nitrogen blowing; The movable end of the ninth manipulator is provided with a ninth gripper, and the ninth manipulator can at least drive the ninth gripper to transfer the nitrogen-blown test tube to the first cache station, and / or transfer the nitrogen-blown test tube from the nitrogen-blowing device to the re-dissolution and liquid-adding device.

26. The sample pretreatment system according to claim 25, characterized in that: The nitrogen blowing device comprises a plurality of fixing seats arranged in an array and a plurality of nitrogen blowing components corresponding to the fixing seats; A plurality of placement holes are arranged side by side and at intervals on the top of the fixing seat, and the plurality of placement holes are used to place the nitrogen blowing test tube; The nitrogen blowing assembly includes a first column located at one side of the fixed seat, the bottom end of the first column is fixed to the table top of the nitrogen blowing concentration workbench, the first column is provided with a first lifting rail extending vertically, the first lifting rail is slidably provided with a connecting plate, the connecting plate extends horizontally toward one side of the fixed seat and is connected to a first horizontal mounting plate, the first horizontal mounting plate is located above the fixed seat and can move up and down along the first lifting rail; A plurality of nitrogen blowpipes are arranged on the first horizontal mounting plate, and the plurality of nitrogen blowpipes correspond one by one to the plurality of placement holes in the vertical direction. The air inlets of the plurality of nitrogen blowpipes are all located on the top surface of the first horizontal mounting plate and are respectively connected to the nitrogen delivery pipeline. The air outlets of the plurality of nitrogen blowpipes pass through the first horizontal mounting plate and extend to the bottom of the first horizontal mounting plate. When the liquid in the nitrogen blow test tube is nitrogen-blown and concentrated, the nitrogen blowpipe moves down to the air outlet and is at a preset nitrogen blow distance from the liquid surface in the nitrogen blow test tube.

27. The sample pretreatment system according to claim 25, characterized in that: The reconstitution liquid adding device comprises a liquid adding box arranged on the table of the nitrogen blowing and concentrating workbench, the reconstitution liquid is contained in the liquid adding box or the liquid adding box is connected to a reagent bottle containing the reconstitution liquid, and the liquid adding box has a liquid outlet for discharging liquid downwards; A second translational slide is provided on the table and below the liquid outlet, a second slider is slidably provided on the second translational slide, a tube rack capable of placing the nitrogen blowing test tube is provided on the top of the second slider, and the nitrogen blowing test tube can slide along the second translational slide to below the liquid outlet so as to add the reconstituted liquid into the nitrogen blowing test tube through the liquid outlet.

28. The sample pretreatment system according to claim 25, characterized in that: The automatic nitrogen blowing concentration equipment further comprises an oscillating device arranged on the table; The oscillation device comprises a bottom plate fixed on the table top of the nitrogen blowing concentration workbench, the bottom plate is provided with a third translation slide rail, the third translation slide rail is slidably provided with a third column, the third column is provided with a third lifting slide rail extending vertically, the third lifting slide rail is slidably provided with a third horizontal mounting plate, and the bottom surface of the third horizontal mounting plate is provided with a second chuck that can be used to clamp the upper part of the nitrogen blowing test tube; An oscillating element is provided on the bottom plate and on one side of the third translation slide rail. The second chuck can clamp the nitrogen-blown test tube and drive the nitrogen-blown test tube to move until the nitrogen-blown test tube is placed in the oscillating element. The oscillating element is used to oscillate the nitrogen-blown test tube added with the re-dissolution liquid to accelerate the re-dissolution of the sample in the nitrogen-blown test tube.

29. The sample pretreatment system according to claim 25, characterized in that: The ninth manipulator comprises a multi-degree-of-freedom manipulator, and the ninth gripper is rotatably disposed at a moving end of the ninth manipulator; A second opening and closing cover device is also provided on the table of the nitrogen blowing concentration workbench, and the second opening and closing cover device has a second clamping part, and the second clamping part is used to clamp the nitrogen blowing test tube, and a tube cover is threadedly connected at the top opening of the nitrogen blowing test tube, and the ninth clamping jaw can clamp the tube cover and remove the tube cover from the nitrogen blowing test tube or cover the tube cover on the top opening of the nitrogen blowing test tube by rotating; An eighth barcode scanner is arranged on the table of the nitrogen blowing concentration workbench, and the eighth barcode scanner is used to scan the identification code pre-attached on the nitrogen blowing test tube.

30. The sample pretreatment system according to claim 1, characterized in that: The transmission mechanism comprises a first translation guide rail, which is arranged on the table of the extraction workbench and extends from the front of the extraction component to the front of the liquid adding component. A translation slide is slidably arranged on the first translation guide rail, and an extraction column placement rack for placing the extraction column is arranged on the top surface of the translation slide. The extraction column placement rack can move with the translation slide to below the liquid adding port in the liquid adding component, so that the liquid adding port is vertically opposite to the top opening of the extraction column. A second translation guide rail is arranged on the top surface of the translation slide, and a liquid receiving bracket is slidably arranged on the second translation guide rail. The tenth manipulator can clamp the liquid receiving test tube through the tenth clamp and transfer it to the liquid receiving bracket; the liquid receiving bracket can move along the second translation guide rail to a position below the extraction column placement rack and vertically opposite to the bottom opening of the extraction column, so as to receive the eluate containing the target substance discharged from the extraction column through the liquid receiving test tube.

31. The sample pretreatment system according to claim 30, characterized in that: The automatic solid phase extraction equipment also includes a third transmission component, which includes a third translation slide and a third transmission plate. The third translation slide extends in a direction close to the tenth manipulator. The third transmission plate can be slidably arranged on the third translation slide. The third transmission plate is used to place consumables so as to transfer the consumables between the third transmission component and the extraction component through the tenth clamp of the tenth manipulator; the consumables include the extraction column, the sampling needle and / or the liquid receiving test tube.

32. The sample pretreatment system according to claim 30, characterized in that: The extraction assembly comprises a column, a base is arranged on the table top of the extraction workbench, the bottom end of the column is rotatably connected to the top of the base, a first lifting guide rail is vertically arranged on the column, a movable first lifting slide is arranged on the first lifting guide rail, a sampling needle holder that can move forward and backward is arranged on the first lifting slide, and the sampling needle is detachably arranged on the sampling needle holder; A movable suction component is provided on the first lifting guide rail, and the suction component is rotated to make at least part of the bottom needle head of the sampling needle extend into the test tube to be extracted on the first temporary storage bracket. A sampling suction column is provided at the bottom of the suction component, and the position of the suction component is adjusted so that at least part of the sampling suction column can be inserted into the sampling tube of the sampling needle through the top opening of the sampling needle. By adjusting the sampling suction column to move upward relative to the sampling needle, the sampling needle sucks the sample solution in the test tube to be extracted into the sampling tube of the sampling needle through the bottom needle head; the position of the suction component is adjusted so that at least part of the bottom needle head of the sampling needle extends into the extraction column. By adjusting the sampling suction column to move downward relative to the sampling needle, the sampling needle adds the sample solution in the sampling tube of the sampling needle into the extraction column through the bottom needle head.

33. The sample pretreatment system according to claim 1, characterized in that: The liquid adding assembly comprises a liquid adding bracket, a first reagent bottle for storing an activation solvent, and a second reagent bottle for storing an elution solvent, wherein the liquid adding port is located on the liquid adding bracket, and the liquid adding port is connected to the bottle mouth of the first reagent bottle and the bottle mouth of the second reagent bottle through a liquid adding pipeline respectively; The liquid adding bracket is provided with a pumping device, and the pumping device is connected to each of the liquid adding pipelines to drive the activation solvent in the first reagent bottle or the elution solvent in the second reagent bottle to be discharged from the liquid adding port.

34. The sample pretreatment system according to claim 30, characterized in that: The tenth manipulator comprises a multi-degree-of-freedom manipulator, and the tenth gripper is rotatably disposed at a moving end of the tenth manipulator; A third opening and closing cover device is provided on the table of the extraction workbench, and the third opening and closing cover device has a third clamping part, and the third clamping part is used to clamp the test tube, and a tube cover is threadedly connected at the top opening of the test tube, and the tenth clamping claw can clamp the tube cover and remove the tube cover from the test tube or cover the top opening of the test tube by rotating; A ninth barcode scanner is arranged on the table of the extraction workbench, and the ninth barcode scanner is used to scan the identification code pre-attached on the test tube to be extracted and / or the liquid receiving test tube.

35. The sample pretreatment system according to claim 1, characterized in that: One of the impurity treatment devices is an automatic needle filter device, and the automatic needle filter device comprises: Filtration bench; A liquid transfer and filtration unit is arranged on the filtering workbench, the liquid transfer and filtration unit has a rotating platform, a liquid transfer component is arranged on the rotating platform, the liquid transfer and filtration unit has a first station and a second station, and the second station has a filtration structure that can cooperate with the liquid transfer component; a first pick-and-place unit, arranged on the filtering workbench and close to the first station, the first pick-and-place unit having an eleventh manipulator and an eighth test tube temporary storage position, the end of the eleventh manipulator having an eleventh gripper, the eighth test tube temporary storage position being used to cache the test tube to be filtered, and the eleventh gripper being able to transfer the test tube to be filtered between the eighth test tube temporary storage position and the first station; A second pick-and-place unit is provided on the filtering workbench and close to the second station, the second pick-and-place unit comprises a twelfth manipulator and a sample bottle rack, the end of the twelfth manipulator comprises a twelfth gripper, a sample bottle is placed on the sample bottle rack, and the twelfth gripper can transfer the sample bottle between the second station and the sample bottle rack; The liquid transfer assembly can move between the first station and the second station to filter the sample liquid in the test tube to be filtered through the filtering structure and then transfer it to the injection bottle.

36. The sample pretreatment system according to claim 35, characterized in that: The first placing and taking unit further comprises a fourth opening and closing cover device provided on the filtering workbench, the test tube to be filtered comprises a tube cover, the fourth opening and closing cover device comprises a fourth clamping portion capable of clamping the test tube to be filtered, and the eleventh clamping claw can remove the tube cover of the test tube to be filtered placed on the fourth opening and closing cover device; and / or The second picking and placing unit also has a fifth opening and closing cover device arranged on the filtering workbench, the sampling bottle has a bottle cap, the fifth opening and closing cover device has a fifth clamping part that can clamp the sampling bottle, and the twelfth clamping jaw can remove or cover the bottle cap of the sampling bottle placed on the fifth opening and closing cover device.

37. The sample pretreatment system according to claim 36, characterized in that: The liquid transfer filtration unit comprises a base arranged on the filtration workbench, a test tube cache seat for placing the test tube to be filtered after the cover is opened, a sample injection bottle cache seat for placing the sample injection bottle after the cover is opened, and a filter membrane cache seat arranged above the sample injection bottle cache seat are all arranged on the base; a first guide rail is arranged between the base and the sample injection bottle cache seat, and the sample injection bottle cache seat can slide along the first guide rail to stagger the position with the filter membrane cache seat; The pipetting assembly can be slidably connected to the rotating platform up and down, and the pipetting assembly has a syringe fixing part and a pushing part. A second syringe with a second needle is clamped on the syringe fixing part. The pushing part is connected to the second syringe and can move away from or toward the syringe fixing part to realize the extraction or injection operation of the second syringe.

38. The sample pretreatment system according to claim 37, characterized in that: The pipetting filtration unit also has a third workstation, which is located between the first workstation and the second workstation. The third workstation has a syringe needle removal box arranged on the filtration workbench, and a syringe needle slot is provided on the top of the syringe needle removal box. When the second needle of the second syringe is clamped in the needle slot and the pipetting assembly moves upward, the second needle can be separated from the second syringe and fall into the syringe needle removal box.

39. The sample pretreatment system according to claim 37, characterized in that: The filtering workbench is provided with a plurality of fourth transmission components, and the injection bottle rack, the second syringe rack for placing the second syringe with the second needle, and the filter rack for placing the needle filter can all be transferred from the consumables transport device to each of the fourth transmission components; The fourth transmission component comprises: A bottom plate provided on the filtering workbench, the bottom plate being provided with a fourth transmission plate slidingly arranged on the second guide rail, the fourth transmission plate being able to slide along the second guide rail and extend out of the filtering workbench to receive the injection bottle rack, the syringe rack or the filter rack; A fourth positioning clamp is connected to the base plate, and the fourth positioning clamp can clamp the injection bottle rack, the second syringe rack or the filter rack to adjust their positions along a direction perpendicular to the second guide rail.

40. The sample pretreatment system according to claim 35, characterized in that: The first picking and placing unit also has a tenth code scanner arranged on the filtering workbench, which is used to scan the identification code on the test tube to be filtered to confirm whether the current test tube to be filtered is the predetermined test tube to be filtered; the second picking and placing unit also has an eleventh code scanner arranged on the filtering workbench, which is used to scan the identification code on the sample bottle to confirm whether the current sample bottle is the predetermined sample bottle.

41. The sample pretreatment system according to claim 1, characterized in that: The first docking device includes a first conveying device that can be lifted up and down and rotated. The first conveying device can rotate so that its conveying direction is parallel to the conveying direction of the upper main conveying line or the upper branch conveying line, and can also be lifted and lowered to dock with the corresponding upper main conveying line, the lower main conveying line, the upper branch conveying line or the lower branch conveying line.

42. The sample pretreatment system according to claim 41, characterized in that: The second docking device includes a second conveying device that can be raised and lowered, and the second conveying device can be docked with the corresponding upper branch conveying line or lower branch conveying line through lifting and lowering.

43. The sample pretreatment system according to claim 42, characterized in that: The first conveying device and the second conveying device are both provided with swingable stop plates, and the stop plates can swing to a horizontal position when the sample is transferred to a preset stop position.

44. The sample pretreatment system according to claim 1, characterized in that: The sample pretreatment system also includes a transport robot, which includes an upper shell and a walking device arranged up and down, a transport manipulator and a storage rack are connected in the upper shell, and the transport manipulator contains an up and down driving mechanism, a left and right driving mechanism, a front and back driving mechanism, an upright rotation driving mechanism and a fork frame connected in sequence, the up and down driving mechanism can move the fork frame up and down, the left and right driving mechanism can move the fork frame left and right, the front and back driving mechanism can move the fork frame forward and backward, and the upright rotation driving mechanism can rotate the fork frame around a first axis, and the first axis is parallel to the up and down direction.

45. The sample pretreatment system according to claim 44, characterized in that: The upper shell includes a left vertical plate, a lower horizontal plate and a right vertical plate arranged in sequence from left to right. The transport robot is connected to the left vertical plate, and the storage rack is connected to the right vertical plate. The transport robot can place the sample to be tested on the storage rack.

46. ​​The sample pretreatment system according to claim 1, characterized in that: The sample pretreatment system also includes a consumable cabinet for placing consumables; the consumable cabinet includes an external shell and an internal frame, the external shell includes a front side panel, and a cabinet outlet is arranged on the front side panel; the internal frame includes a front frame and a rear frame arranged at a front and rear interval; the front frame is connected to a plurality of consumable storage boards, and a cabinet outlet position is arranged on a consumable storage board, and the cabinet outlet corresponds to the cabinet outlet position front and back; the rear frame is connected to a transport robot, and the transport robot can transport the experimental consumables stored on the consumable storage board to the cabinet outlet position.

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