Fully automatic liquid reagent adding equipment

Abstract

The present invention is a fully automatic liquid reagent adding device, comprising a workbench and a temporary storage device, a liquid adding device, a transfer device, a mixing device, a first manipulator and a second manipulator arranged on the workbench; the temporary storage device comprises at least one test tube rack for temporarily storing multiple test tubes, the liquid adding device comprises a liquid adding conveying line and multiple liquid adding ports, each of which is located directly above the liquid adding conveying line and 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 test tube on the test tube rack to the liquid adding conveying line, and can transfer the 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 clamping claw, the second clamping claw can transfer the test tube between the transfer device and the mixing device. The present invention can realize the fully automatic addition of multiple liquids, with a higher degree of automation and higher addition efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of reagent addition, and in particular to a fully automatic liquid reagent adding device. Background Art

[0002] During the pre-treatment process of the detection experiment, the experimenter needs 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 volume, and add the order correctly. Sometimes it is also necessary to add reagents according to the requirements of the reaction time 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 adding reagents or repeat adding them, 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. Summary of the invention

[0003] The object of the present invention is to provide a fully automatic liquid reagent adding device, which can realize the fully automatic adding of various liquids, has a higher degree of automation and a higher adding efficiency.

[0004] The objective of the present invention is achieved in this way. A fully automatic liquid reagent adding device comprises a workbench and a temporary storage device, a liquid adding device, a transfer device, a mixing device, a first manipulator and a second manipulator arranged on the workbench; the temporary storage device comprises at least one group of test tube racks for temporarily storing multiple test tubes, the liquid adding device comprises a liquid adding conveying line and a plurality of 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 clamping claw, the first clamping claw can transfer the test tube on the test tube rack to the liquid adding conveying line, and can transfer the 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 clamping claw, the second clamping claw can transfer the test tube between the transfer device for transferring and temporarily storing the test tube and the mixing device for mixing the liquid.

[0005] In a preferred embodiment of the present invention, at least one group of transmission components is further provided on the workbench, and each group of transmission components includes a transmission plate slidably provided on the workbench, and a first limiting portion and a positioning clamp provided above the workbench; a second limiting portion is provided at one end of the transmission plate, the test tube rack can be placed on the transmission plate, and the two ends of the test tube rack along the sliding direction of the transmission plate can respectively abut against the first limiting portion and the second limiting portion, and the two positioning claws of the positioning clamp can respectively clamp on both sides of the test tube rack along the sliding direction perpendicular to the transmission plate.

[0006] In a preferred embodiment of the present invention, a cover opening and closing device is further provided on the workbench, a tube cover is detachably mounted on the open end of the test tube, and the cover opening and closing device has a clamping portion that can clamp the test tube; the first clamping jaw can transfer the test tube on the test tube rack to the cover opening and closing device, and can remove the tube cover on the test tube, and transfer the test tube after the tube cover is removed to the liquid adding conveying line; the first clamping jaw can also transfer the test tube after liquid is added on the liquid adding conveying line to the cover opening and closing device, and can cover the tube cover on the test tube, and transfer the test tube after the tube cover is covered to the transfer device.

[0007] In a preferred embodiment of the present invention, the first manipulator includes a multi-degree-of-freedom manipulator arm, the first clamp is rotatably disposed at the end of the multi-degree-of-freedom manipulator arm, the tube cover is threadedly connected to the end of the test tube, and the first clamp can rotate to cover the tube cover on the test tube or remove the tube cover on the test tube.

[0008] In a preferred embodiment of the present invention, the 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 includes 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 a test tube.

[0009] In a preferred embodiment of the present invention, a storage chamber is provided below the workbench surface, at least one layer of storage plates for placing multiple liquid reagent bottles is placed in the storage chamber, and a weighing sensor is provided below the storage plates.

[0010] In a preferred embodiment of the present invention, the transfer device is a cylindrical seat with a groove on the top, and the test tube can be inserted into the groove; the mixing device is a vortex instrument.

[0011] In a preferred embodiment of the present invention, a pH value detection device is also provided on the workbench and located on one side of the liquid adding and conveying line. The pH value detection device includes a movable pH value sensor, and the pH value sensor can be inserted into a test tube on the liquid adding and conveying line.

[0012] In a preferred embodiment of the present invention, the pH value detection device also includes a cleaning device, and the pH value sensor can be inserted into the cleaning device; a cleaning liquid nozzle and a preservation liquid nozzle are provided on the side of the cleaning device, and an openable and closable liquid discharge port is provided at the bottom of the cleaning device.

[0013] In a preferred embodiment of the present invention, the temporary storage device also includes a test tube rack arranged on the workbench, and the test tube rack is provided with a plurality of slots for inserting the test tube holders. The first clamp can also transfer the test tube holder on the test tube rack and insert it into the transfer device, or transfer the test tube inserted in the transfer device and insert it into the test tube holder on the test tube rack.

[0014] As described above, the adding device of the present invention can automatically realize the transportation, liquid addition and mixing of test tubes through the cooperation of a temporary storage device, a liquid adding device, a transfer device, a mixing device and two groups of manipulators, and can realize automatic quantitative addition of multiple liquids without manual intervention, thereby realizing fully automatic addition of multiple liquids, with a higher degree of automation and higher addition efficiency, avoiding cross contamination, and also avoiding the influence of manual participation on the sample liquid. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The following drawings are intended only to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0016] Figure 1 : A schematic diagram of the structure of the fully automatic liquid reagent adding device provided by the present invention.

[0017] Figure 2 : A partial enlarged view of the conveying component of the fully automatic liquid reagent adding device provided by the present invention.

[0018] Figure 3 : A partial enlarged view of the opening and closing cover device of the fully automatic liquid reagent adding equipment provided by the present invention.

[0019] Figure 4 : A partial enlarged view of the liquid adding device of the fully automatic liquid reagent adding equipment provided by the present invention.

[0020] Figure 5 :Partial enlargement of the pH value detection device of the fully automatic liquid reagent adding device provided by the present invention Figure 1 .

[0021] Figure 6 :Partial enlargement of the pH value detection device of the fully automatic liquid reagent adding device provided by the present invention Figure 2 .

[0022] Description of Figure Numbers:

[0023] 1. Workbench; 11. Table; 12. Storage room; 121. Storage board; 13. Weighing sensor;

[0024] 2. Transmission assembly; 21. Transmission plate; 211. Second limiting portion; 22. Support frame; 221. First limiting portion; 23. Positioning clamp; 231. Positioning clamp driving structure; 24. Moving guide rail;

[0025] 3. Temporary storage device; 31. Test tube rack; 32. Test tube stand;

[0026] 4. Liquid adding device; 41. Liquid adding conveying line; 411. Conveying guide rail; 412. Moving block; 42. Liquid adding pump; 43. Liquid reagent bottle; 44. Liquid adding shell; 45. pH value detection device; 451. pH value sensor; 452. Sensor driving structure; 4521. Lifting driving structure; 4522. Horizontal plate; 4523. Sliding block; 4524. Horizontal driving structure; 453. Cleaning cylinder; 4531. Cleaning liquid nozzle; 4532. Preservation liquid nozzle; 4533. Liquid discharge port; 454. Bracket;

[0027] 5. Transfer device;

[0028] 6. Mixing device;

[0029] 71, first manipulator; 711, first gripper; 72, second manipulator; 721, second gripper;

[0030] 8. Cover opening and closing device; 81. Clamping part; 811. Hand claw driving structure; 82. Cover temporary storage unit;

[0031] 91. test tube; 911. tube cover; 92. test tube stand. DETAILED DESCRIPTION

[0032] 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.

[0033] like Figures 1 to 6 As shown, the present application provides a fully automatic liquid reagent adding device, including a workbench 1 and a temporary storage device 3, a liquid adding device 4, a transfer device 5, a mixing device 6, a first manipulator 71 and a second manipulator 72 arranged on the workbench 1; the temporary storage device 3 includes at least one group of test tube racks 31 for temporarily storing multiple test tubes 91, and the liquid adding device 4 includes a liquid adding conveying line 41 and multiple liquid adding ports, each of which is located directly above the liquid adding conveying line 41 and along the length of the liquid adding conveying line 41. The first manipulator 71 has a first gripper 711 at the end thereof, which can transfer the test tube 91 on the test tube rack 31 to the liquid adding conveying line 41, and can transfer the test tube 91 after liquid addition on the liquid adding conveying line 41 to the transfer device 5 for temporary storage; the second manipulator 72 has a second gripper 721 at the end thereof, which can transfer the test tube 91 between the transfer device 5 for transferring and temporarily storing the test tube 91 and the mixing device 6 for mixing the liquid.

[0034] When in use, after the first clamp 711 of the first manipulator 71 transfers the test tube 91 on the test tube rack 31 to the first end of the liquid adding conveying line 41, according to the type of liquid additive to be added, the test tube 91 is transported from its first end to the second end along the length direction of the liquid adding conveying line 41, and stays at a corresponding position on the liquid adding conveying line 41, and the corresponding liquid is added to the test tube 91 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 test tube 91 is transported to the first end of the liquid adding conveying line 41, and the first clamp 711 transfers the test tube 91 after liquid addition to the transfer device 5 for temporary storage; thereafter, the second clamp 721 of the second manipulator 72 transfers the test tube 91 in the transfer device 5 to the mixing device 6 for mixing, and after mixing, the second clamp 721 transfers the test tube 91 to the transfer device 5 again, so that the first clamp 711 transfers the mixed test tube 91 to other positions outside the adding device.

[0035] Therefore, the adding device in this embodiment, through the cooperation of the temporary storage device 3, the liquid adding device 4, the transfer device 5, the mixing device 6 and the two groups of manipulators, can automatically realize the transportation, liquid addition and mixing of the test tube 91, 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 avoiding the influence of human participation on the sample liquid.

[0036] In actual work, the test tube rack 31 above the workbench 1 is generally removed by a corresponding transfer cart or other forms of robots (manual operation may also be used), and the test tube rack 31 containing the test tube 91 (the test tube 91 contains a sample) is transported to a predetermined position on the workbench 1. However, since robots such as transfer carts usually do not have the function of precise positioning and docking, when the test tube rack 31 containing the test tube 91 is transported to the workbench 1, it is difficult to accurately transport it to the preset position. Instead, there will be a certain deviation, which is not conducive to the precise clamping of the first clamp 711.

[0037] In order to realize the fixed-point positioning and transportation of the test tube rack 31, it is convenient to accurately transport the test tube rack 31 containing the test tube 91 to the predetermined position on the workbench 1. Figure 1 and Figure 2 At least one group of transmission components 2 is also provided on the workbench 1, and each group of transmission components 2 includes a transmission plate 21 that can be slidably arranged on the workbench 1, and a first limiting portion 221 and a positioning clamp 23 arranged above the workbench 1; a second limiting portion 211 is provided at one end of the transmission plate 21, and the test tube rack 31 can be placed on the transmission plate 21, and the two ends of the test tube rack 31 along the sliding direction of the transmission plate 21 can respectively abut against the first limiting portion 221 and the second limiting portion 211, and the two positioning claws of the positioning clamp 23 can respectively clamp on both sides of the test tube rack 31 along the sliding direction perpendicular to the transmission plate 21.

[0038] The number of transmission components 2 is the same as the number of test tube racks 31, and the transmission plate 21 of each transmission component 2 is used to place a test tube rack 31. The specific shapes of the test tube rack 31 and the transmission plate 21 can be determined as needed. For example, in this embodiment, the transmission plate 21 is a rectangular plate, and one end of the transmission plate 21 is provided with an upwardly bent edge, which constitutes a second limit portion 211. The test tube rack 31 is a frame structure composed of a rectangular plate, and has a plurality of jack spaces, which are arranged in a matrix form for inserting each test tube 91.

[0039] In order to facilitate the sliding of the transmission plate 21, a moving guide rail 24 and a transmission plate driving structure are provided on the workbench 1. The transmission plate 21 is slidably arranged on the moving guide rail 24, and the transmission plate driving structure is connected to the transmission plate 21 to drive the transmission plate 21 to slide. The transmission assembly 2 is generally arranged at a position close to the edge of the workbench 1, the first end of the moving guide rail 24 is close to the edge of the workbench 1, and a preset distance is provided between the first limit portion 221 and the first end of the moving guide rail 24.

[0040] In order to facilitate the installation of the positioning clamp 23, a support frame 22 is provided on the movable guide rail 24. The support frame 22 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 24. The top plate of the support frame 22 constitutes the above-mentioned first limiting portion 221; the positioning clamp 23 can be arranged on the support frame 22, and the positioning clamp 23 has two positioning clamps that are relatively arranged and can approach or move away from each other. A positioning clamp driving structure 231 is also provided on the support frame 22. The positioning clamp driving structure 231 is connected to the two clamps and can drive the two clamps to approach or move away from each other.

[0041] When the transfer trolley or other robot moves close to the transfer assembly 2, the transfer plate 21 of the transfer assembly 2 extends, and one end of the transfer plate 21 provided with the second limiting portion 211 extends out of the workbench 1. After the transfer trolley transfers the empty test tube rack 31 to the transfer trolley, the transfer trolley places the test tube rack 31 with the test tube 91 on the transfer plate 21; then the transfer plate 21 retracts and moves along the moving guide rail 24 until the test tube rack 31 abuts against the first limiting portion 221. Since the first limiting portion 221 and the second limiting portion 211 are moved along the moving guide rail 2 4 is spaced apart in the length direction, and the cooperation of the two limiting parts can realize the limitation of the test tube rack 31 in the length direction of the movable guide rail 24; then the two positioning claws are driven to approach each other and clamped on both sides of the test tube rack 31. Since the two clamping claws are distributed on both sides of the test tube rack 31, the cooperation of the two clamping claws can realize the limitation of the test tube rack 31 in the length direction perpendicular to the movable guide rail 24; thus, the test tube rack 31 can be accurately positioned and accurately transported to the preset position, so that the first clamping claw 711 can perform the pick-up and placement operation more accurately.

[0042] In actual applications, the test tube 91 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 911 is usually detachably installed on the open end of the test tube 91. When the above-mentioned transfer cart or other robots transfer the test tube rack 31 containing the test tube 91 to the workbench 1, the test tubes 91 on the test tube rack 31 are all covered with tube covers 911. Therefore, the test tubes 91 need to be opened before adding liquid, and the test tubes 91 need to be closed before mixing after adding liquid.

[0043] In order to facilitate the automatic opening and closing of the test tube 91, refer to Figure 1 A cover opening and closing device 8 is also provided on the workbench 1, and the cover opening and closing device 8 has a clamping portion 81 that can clamp the test tube 91; the first clamping jaw 711 can transfer the test tube 91 on the test tube rack 31 to the cover opening and closing device 8, and can remove the tube cover 911 on the test tube 91, and transfer the test tube 91 after the tube cover 911 is removed to the liquid adding conveying line 41; the first clamping jaw 711 can also transfer the test tube 91 after liquid is added on the liquid adding conveying line 41 to the cover opening and closing device 8, and can cover the tube cover 911 on the test tube 91, and transfer the test tube 91 after the tube cover 911 is covered to the transfer device 5.

[0044] Specifically, refer to Figure 3 The clamping part 81 of the cover opening and closing device 8 has two claws arranged opposite to each other and can move closer or farther from each other. The cover opening and closing device 8 also includes a base and a claw driving structure 811 arranged on the base. The claw driving structure 811 is connected to the two claws and can drive the two claws to move closer or farther from each other to achieve the clamping or loosening of the test tube 91. The cover opening and closing device 8 can also include a cover temporary storage unit 82, the top surface of which has at least one placement groove, generally at least two placement grooves are provided, and the sizes are different, for placing tube covers 911 of different specifications and sizes.

[0045] Generally, the tube cover 911 is a threaded opening, and the tube cover 911 is threadedly connected to the open end of the test tube 91. The first manipulator 71 includes a multi-degree-of-freedom robot arm, and the first clamping jaw 711 is rotatably disposed at the end of the multi-degree-of-freedom robot arm. The tube cover 911 is threadedly connected to the end of the test tube 91, and the first clamping jaw 711 can be rotated to cover the tube cover 911 on the test tube 91 or remove the tube cover 911 on the test tube 91.

[0046] The taking and placing operation of the test tube 91 on the clamping portion 81 is realized by the first clamping jaw 711. After the first clamping jaw 711 places the test tube 91 on the clamping portion 81, the clamping portion 81 can fix the test tube 91, and then the tube cover 911 can be rotated to be removed or screwed on by rotating the first clamping jaw 711 to realize opening or closing the cover.

[0047] It can be understood that the above-mentioned test tube rack 31, the opening and closing cover device 8, the first end of the liquid adding conveying line 41 and the transfer device 5 should all be arranged within the reach of the first clamp 711. The structure of the specific multi-freedom robot arm can be realized in this way. The multi-freedom robot 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 clamp 711. The first clamp 711 can rotate and can perform a clamping operation. The first clamp 711 can have a variety of forms, as long as it can achieve the corresponding clamping function.

[0048] Further, see Figure 1 and Figure 4 The liquid adding device 4 also includes a plurality of liquid adding pumps 42 and a plurality of liquid reagent bottles 43. Each liquid adding pump 42 is arranged above the liquid adding conveying line 41. One end of the liquid adding pump 42 is connected to the corresponding liquid adding port, and the other end is connected to the corresponding liquid reagent bottle 43 through a corresponding pipeline; the liquid adding conveying line 41 includes a conveying guide rail 411 and a moving block 412 slidably arranged on the conveying guide rail 411, and the moving block 412 is provided with at least one slot for inserting the test tube 91.

[0049] A plurality of liquid reagent bottles 43 are respectively used to store different liquid additives and are generally placed under the table 11 of the workbench 1. The above-mentioned transmission assembly 2, temporary storage device 3, opening and closing cover device 8, transfer device 5, liquid adding conveying line 41 and two sets of manipulators are all arranged on the table 11 of the workbench 1. The liquid adding device 4 also includes a liquid adding housing 44, which is arranged on the table 11 of the workbench 1, each liquid adding port is arranged on the liquid adding housing 44, and each liquid adding pump 42 is arranged in the liquid adding housing 44.

[0050] It can be understood that the liquid adding conveying line 41 also includes a liquid adding driving structure, which is connected to the moving block 412 and can drive the moving block 412 to slide. The moving block 412 is generally provided with at least two slots, and the sizes are different, for inserting test tubes 91 of different specifications and sizes. The liquid adding pump 42 here preferably adopts a high-precision pump to improve the accuracy of liquid addition.

[0051] Generally, a storage chamber 12 is provided below the tabletop 11 of the workbench 1 . At least one layer of placement plates 121 for placing a plurality of liquid reagent bottles 43 is placed in the storage chamber 12 , and a weighing sensor 13 is provided below the placement plates 121 .

[0052] The storage chamber 12 can be divided into a plurality of storage cavities, each placement plate 121 is placed on the bottom surface of the corresponding storage cavity, and the weighing sensor 13 below the placement plate 121 is located between the placement plate 121 and the bottom surface of the corresponding storage cavity for weighing. After each liquid reagent bottle 43 with a certain amount of liquid reagent is initially placed in the storage chamber 12, a secondary calibration can be performed using the data detected by each weighing sensor 13.

[0053] The transfer device 5 mentioned above mainly serves to transfer and temporarily store the test tube 91. The transfer device 5 is a cylindrical seat with a groove on the top, and the test tube 91 can be inserted into the groove.

[0054] The mixing device 6 is mainly used to mix the various liquid additives added into the test tube 91. The mixing device 6 may be a vortex machine, for example.

[0055] The second manipulator 72 is mainly used for transporting the test tube 91 between the transfer device 5 and the mixing device 6. Figure 1 The second manipulator 72 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 721 is fixed at the end of the horizontal arm, and the second clamp 721 can perform a grasping operation. The second clamp 721 can be in any structure as long as it can achieve the corresponding clamping function. The line connecting the center of the transfer device 5 and the center of the mixing device 6 should be parallel to the horizontal movement direction of the vertical arm, so that the second clamp 721 can be transferred between the transfer device 5 and the mixing device 6. The transfer device 5 and the mixing device 6 are generally arranged close to the first end of the liquid adding conveying line 41, and the structure is more compact.

[0056] The first manipulator 71 and the second manipulator 72 are preferably high-precision manipulators to improve grasping accuracy.

[0057] Furthermore, a barcode scanner is provided on the workbench 1 for scanning the identification code on the test tube 91 to determine whether the current test tube 91 is the predetermined test tube 91 .

[0058] In order to avoid confusion between different test tubes 91, the test tubes 91 transported by the transport trolley to the transmission plate 21 are all affixed with corresponding identification codes, and the 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 71 grabs the test tube 91 on the test tube rack 31, it first moves to the position of the 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.

[0059] In more detail, during operation, the transfer vehicle transfers the test tube rack 31 containing the test tube 91 to the transmission plate 21 and moves it to the predetermined position of the workbench 1. At this time, each test tube 91 contains a sample and is covered with a tube cover 911. The first manipulator 71 clamps the test tube 91 and moves it to the barcode scanner for scanning and verification. If there is no abnormality, the first clamping claw 711 of the first manipulator 71 clamps the tube cover 911 on the test tube 91, and transfers the test tube 91 to the opening and closing cover device 8. The clamping part 81 of the opening and closing cover device 8 clamps and locks the test tube 91, and then the tube cover 911 can be screwed off by rotating the first clamping claw 711 and placed on the temporary storage unit 82 of the cover body. The gripper driving structure 811 then drives the two grippers of the gripper 81 to unlock, and the first clamping claw 711 clamps the test tube 91 after the tube cover 911 is removed, and transfers the test tube 91 to the moving block 412 of the liquid adding conveying line 41. The moving block 412 carries the test tube 91 along the conveying guide rail 411 from the first end to the second end of the liquid adding conveying line 41. During this process, according to the type of liquid to be added, the test tube 91 is stopped at the corresponding liquid adding port, and the corresponding liquid adding pump 42 is turned on to add liquid.

[0060] After the multiple liquids to be added are added in sequence, the moving block 412 moves the test tube 91 to the first end of the liquid adding conveying line 41, the first clamping jaw 711 clamps the test tube 91 after adding liquid, and transfers the test tube 91 to the opening and closing cover device 8, the clamping part 81 clamps and locks the test tube 91, and then the first clamping jaw 711 clamps the tube cover 911 placed on the cover temporary storage unit 82, and places it on the open end of the test tube 91, and the first clamping jaw 711 is rotated to screw the tube cover 911 on the test tube 91. After that, the first clamping jaw 711 clamps the test tube 91 after the tube cover 911 is installed, and transfers it to the transfer device 5 for temporary storage.

[0061] Next, through the coordination of the horizontal movement and the up-and-down lifting of the second clamp 721, the second clamp 721 moves to the position of the transfer device 5, clamps the test tube 91, and then transfers it to the vortex instrument, and uses the vortex function of the vortex instrument to evenly mix the various liquids added to the test tube 91 (during the vortex process, the second clamp 721 always maintains a fixed clamping state for the test tube 91). The mixed test tube 91 is then transferred to the transfer device 5 for temporary storage by the second clamp 721, and the first clamp 711 then clamps the mixed test tube 91 in the transfer device 5 to transfer the test tube 91 to the corresponding roller outside the adding device, so as to transfer the test tube 91 after adding the liquid reagent to other corresponding stations for corresponding processing.

[0062] In an optional embodiment, in some process standard requirements, it is necessary to measure the pH value of the liquid in the test tube 91 after mixing. In this embodiment, refer to Figures 4 to 6A pH value detection device 45 is also provided on the workbench 1 and located on one side of the liquid adding and conveying line 41 . The pH value detection device 45 includes a movable pH value sensor 451 . The pH value sensor 451 can be inserted into the test tube 91 on the liquid adding and conveying line 41 .

[0063] Generally, the pH value detection device 45 is arranged near the second end of the liquid adding conveying line 41. It can be understood that the test tube 91 after mixing is also equipped with a tube cover 911. Therefore, if it is necessary to perform pH detection on the liquid in the test tube 91 after mixing, the test tube 91 after mixing is transferred to the transfer device 5 for temporary storage by the second clamping jaw 721, and the first clamping jaw 711 should first clamp the test tube 91 after mixing and transfer it to the cover opening and closing device 8 for opening. After that, the first clamping jaw 711 transfers the opened test tube 91 to the moving block 412 of the liquid adding conveying line 41, and the moving block 412 drives the test tube 91 to move to the moving block 412. The tube 91 is moved to the position of the pH value detection device 45, and the pH sensor 451 is moved to be inserted into the test tube 91, so that the pH value of the liquid in the test tube 91 can be detected; after the detection is completed, the moving block 412 moves the test tube 91 to the first end of the liquid adding conveying line 41, and uses the first clamping jaw 711 to transfer it to the opening and closing cover device 8 to install the tube cover 911. The first clamping jaw 711 then clamps the test tube 91 with the tube cover 911 installed and transfers it to the corresponding roller outside the adding equipment.

[0064] In order to facilitate the movement of the pH sensor 451, refer to Figure 4 and Figure 5 A sensor driving structure 452 is provided on the workbench 1 and near the second end of the liquid adding conveying line 41, which includes a lifting driving structure 4521, a horizontal plate 4522, a slider 4523 and a horizontal driving structure 4524. The lifting driving structure 4521 is fixed on the table 11 of the workbench 1, and its upper end is connected to the bottom of the first end of the horizontal plate 4522, and is used to drive the horizontal plate 4522 to move up and down; the length direction of the horizontal plate 4522 is perpendicular to the length direction of the liquid adding conveying line 41 and its second end is located directly above the liquid adding conveying line 41, the slider 4523 is horizontally movably provided on the horizontal plate 4522 and arranged near the second end of the horizontal plate 4522, and the horizontal driving structure 4524 is provided on the horizontal plate 4522 and connected to the slider 4523, and is used to drive the slider 4523 to move horizontally; the axial direction of the pH value sensor 451 is vertically arranged, which is located below the horizontal plate 4522, its first end is fixed to the slider 4523, and its second end is the detection end.

[0065] When in use, the slider 4523 is driven to move up and down and horizontally by the lifting drive structure 4521 and the horizontal drive structure 4524, so that the pH sensor 451 can be inserted into the test tube 91 for corresponding detection. Of course, the movement of the pH sensor 451 can also be achieved in other ways, and this embodiment is only an example.

[0066] Since the pH sensor 451 needs to detect the liquids in multiple test tubes 91, in order to ensure the accuracy of the detection, the pH sensor 451 needs to be cleaned after each detection. The pH detection device 45 also includes a cleaner, and the pH sensor 451 can also be inserted into the cleaner; a cleaning liquid nozzle 4531 is provided on the side of the cleaner, and an openable and closable drain port 4533 is provided at the bottom of the cleaner.

[0067] Specifically, refer to Figures 4 to 6 The cleaning device includes a cleaning cylinder 453 with an opening at the top. The cleaning cylinder 453 can be fixed on the table 11 of the workbench 1 or fixed on the side of the conveying guide rail 411 through a corresponding bracket 454. The horizontal plate 4522 is located above the cleaning cylinder 453. When the pH value sensor 451 is inserted into the cleaning cylinder 453, the horizontal plate 4522 abuts against the top of the cleaning cylinder 453. A cleaning liquid nozzle 4531 is provided on the side of the cleaning cylinder 453, and a liquid discharge port 4533 is provided at the bottom of the cleaning cylinder 453. The cleaning liquid nozzle 4531 is connected to the cleaning liquid storage container and the pumping device through a corresponding pipeline, and the liquid discharge port 4533 is connected to the liquid discharge pipe; the pH value sensor 451 can be cleaned by spraying cleaning liquid into the cleaning cylinder 453 through the cleaning liquid nozzle 4531, and the cleaning liquid in the cleaning cylinder 453 is discharged through the liquid discharge port 4533.

[0068] After cleaning, the detection operation can be directly carried out. The sensor driving structure 452 drives the moving block 412 to drive the pH sensor 451 to move upward first away from the cleaning cylinder 453, then move horizontally to the top of the conveying guide rail 411, and then move downward, so that it can be inserted into the corresponding test tube 91 to detect the pH value of the liquid. After the detection is completed, the sensor driving structure 452 drives the moving block 412 to drive the pH sensor 451 to move upward first away from the test tube 91, then move horizontally to the top of the cleaning cylinder 453, and then move downward to return to the cleaning cylinder 453 for another cleaning operation.

[0069] Since the pH sensor 451 needs to be kept moist when not used for a long time, otherwise its accuracy cannot be guaranteed. Therefore, a preservation liquid nozzle 4532 is also provided on the side of the cleaning device. When the pH sensor 451 is not used for a long time, the drain port 4533 is closed, and the preservation liquid is injected into the cleaning cylinder 453 using the preservation liquid nozzle 4532, so that the cleaning cylinder 453 is filled with the preservation liquid, and the pH sensor 451 is always placed in the preservation liquid and kept moist to ensure its accuracy. When the pH sensor 451 needs to be used for detection next time, the drain port 4533 is opened to drain the preservation liquid.

[0070] Further, see Figure 1 and Figure 2The temporary storage device 3 also includes a test tube stand 32 arranged on the workbench 1, and the test tube stand 32 is provided with a plurality of slots for inserting the test tube stand 92. The first clamp 711 can also transfer the test tube stand 92 on the test tube stand 32 and insert it into the transfer device 5, or transfer the test tube 91 inserted in the transfer device 5 and insert it into the test tube stand 92 on the test tube stand 32.

[0071] The test tube stand 32 is used to temporarily store multiple test tube stands 92. The test tube stand 92 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 test tube 91 is transferred to the corresponding roller outside the adding equipment using the first clamp 711. In order to facilitate the test tube 91 to be placed on the roller more conveniently, the test tube 91 needs to be placed in a test tube stand 92 first. The test tube stand 32 can be arranged close to one of the transmission components 2 and is located between the transmission component 2 and the opening and closing cover device 8.

[0072] For processes that do not require pH testing, after the second clamp 721 transfers the mixed test tube 91 to the transfer device 5, the first clamp 711 can clamp the mixed test tube 91 in the transfer device 5, first insert the test tube 91 into the corresponding test tube seat 92 of the test tube holder 32, and then the first clamp 711 clamps the test tube seat 92 to transfer the test tube 91 to the corresponding roller. Alternatively, the first clamp 711 can also transfer the test tube seat 92 in the test tube holder 32 in advance and insert it into the transfer device 5, the second clamp 721 can insert the mixed test tube 91 into the test tube seat 92 in the transfer device 5, and then the first clamp 711 directly clamps the test tube seat 92 in the transfer device 5 to transfer the test tube 91 to the corresponding roller.

[0073] For processes that require pH testing, after the pH value of the mixed test tube 91 is tested and the tube cover 911 is covered by the opening and closing cover device 8, the first clamp 711 can first insert the test tube 91 into the corresponding test tube seat 92 of the test tube stand 32, and then the first clamp 711 can clamp the test tube seat 92 to transfer the test tube 91 to the corresponding roller. Alternatively, the first clamp 711 can also transfer the test tube seat 92 in the test tube stand 32 in advance and insert it into the transfer device 5. After the pH value of the mixed test tube 91 is tested and the tube cover 911 is covered by the opening and closing cover device 8, the first clamp 711 can first insert the test tube 91 into the test tube seat 92 of the transfer device 5, and then the first clamp 711 can clamp the test tube seat 92 to transfer the test tube 91 to the corresponding roller.

[0074] Of course, the specific working sequence can be set according to actual needs, and this embodiment is only an example.

[0075] Furthermore, an electric control cabinet is provided under the table top 11 of the workbench 1, and a control system is provided in the electric control cabinet, which is used to electrically connect with the driving structure in the transmission component 2 arranged on the table top 11, the gripper driving structure 811 of the opening and closing cover device 8, the liquid adding driving structure and the liquid adding pump 42 of the liquid adding device 4, the power structure of the mixing device 6, the driving structure of the two manipulators, the sensor driving structure 452 of the pH value detection device 45, and the pH value sensor 451 and the weighing sensor 13 under the table top 11, so as to control the action of each component and collect the sensor detection data.

[0076] The above are only exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A fully automatic liquid reagent adding device, characterized in that: It includes a workbench and a temporary storage device, a liquid adding device, a transfer device, a mixing device, a first manipulator and a second manipulator arranged on the workbench; The temporary storage device includes at least one test tube rack for temporarily storing a plurality of test tubes, and the liquid adding device includes a liquid adding conveying line and a plurality of liquid adding ports, each of which is located directly above the liquid adding conveying line and arranged at intervals along the length direction of the liquid adding conveying line; the end of the first manipulator has a first clamping claw, and the first clamping claw can transfer the test tube on the test tube rack to the liquid adding conveying line, and can transfer the 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, and the second clamping claw can transfer the test tube between the transfer device for transferring and temporarily storing the test tube and the mixing device for mixing liquid; The 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 includes a conveying guide rail, a moving block slidably arranged on the conveying guide rail, and a liquid adding drive structure, the moving block is provided with at least one slot for inserting the test tube, the liquid adding drive structure is connected to the moving block and can drive the moving block to slide; an electric control cabinet is also provided under the table top of the workbench, and a control system is provided in the electric control cabinet, which is used to be electrically connected to the liquid adding drive structure, the liquid adding pump, the power structure of the mixing device, and the drive structures of the first manipulator and the second manipulator to control the actions of each component.

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

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

4. The fully automatic liquid reagent adding device according to claim 3, characterized in that: The first manipulator includes a multi-degree-of-freedom manipulator arm, the first clamping jaw is rotatably disposed at the end of the multi-degree-of-freedom manipulator arm, the tube cover is threadedly connected to the end of the test tube, and the first clamping jaw can rotate to cover the tube cover on the test tube or remove the tube cover from the test tube.

5. The fully automatic liquid reagent adding device according to claim 1, characterized in that: A storage chamber is provided below the tabletop of the workbench, in which at least one layer of placement plates for placing a plurality of the liquid reagent bottles is placed, and a weighing sensor is provided below the placement plates.

6. The fully automatic liquid reagent adding device according to claim 1, characterized in that: The transfer device is a cylindrical seat with a groove on the top, and the test tube can be inserted into the groove; the mixing device is a vortex instrument.

7. The fully automatic liquid reagent adding device according to claim 1, characterized in that: A pH value detection device is also provided on the workbench and located at one side of the liquid adding and conveying line. The pH value detection device comprises a movable pH value sensor. The pH value sensor can be inserted into the test tube on the liquid adding and conveying line.

8. The fully automatic liquid reagent adding device according to claim 7, characterized in that: 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.

9. The fully automatic liquid reagent adding device according to claim 1, characterized in that: The temporary storage device also includes a test tube stand arranged on the workbench, and the test tube stand is provided with a plurality of slots for inserting test tube stands. The first clamp 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.

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