Chip transfer device, station layout device, sequencing system and chip transfer method

Abstract

The invention discloses a chip transfer device, a station layout device, a sequencing system and a chip transfer method. The chip transfer device comprises a rack; the first direction movement mechanism is arranged on the rack; the second direction movement mechanism is connected with the first direction movement mechanism; the third direction movement mechanism is connected with the second direction movement mechanism; the chip grabbing mechanism is arranged on the third direction movement mechanism; the first direction movement mechanism, the second direction movement mechanism and the third direction movement mechanism drive the chip grabbing mechanism to move to achieve three-dimensional movement, so that the chip grabbing mechanism can grab chips at any station and place the chips at another station, multi-station multi-chip sequencing is achieved, and the sequencing efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of bioanalysis technology, and in particular to a chip transfer device, a station layout device, a sequencing system and a chip transfer method. Background Art

[0002] The subject matter discussed in this section should not be considered to be prior art simply because it is mentioned in this section. Similarly, technical problems mentioned in this section or associated with the subject matter provided as background technology should not be considered to have been previously recognized in the prior art.

[0003] As an important component of human whole genome sequencing, the throughput sequencer plays a vital role. At present, after the sequencing chip is placed inside the sequencer, it corresponds to a single biochemical reaction system and a single camera imaging system for sequence signal detection. It is impossible to set up multiple workstations to switch between multiple sequencing chips, resulting in low sequencing efficiency, which greatly restricts the development of the industry. Summary of the invention

[0004] In order to solve at least one of the above technical problems to at least a certain extent or to provide a practical commercial means, the embodiments of the present invention provide a chip transfer device, a workstation layout device, a sequencing system and a chip transfer method.

[0005] A chip transfer device according to an embodiment of the present invention is used in a sequencing system, and the chip transfer device comprises:

[0006] frame;

[0007] A first direction movement mechanism disposed on the frame;

[0008] A second direction movement mechanism connected to the first direction movement mechanism;

[0009] a third directional motion mechanism connected to the second directional motion mechanism; and

[0010] A chip grabbing mechanism disposed on the third directional motion mechanism;

[0011] The first direction motion mechanism, the second direction motion mechanism and the third direction motion mechanism drive the chip grabbing mechanism to move to achieve three-dimensional motion, so that the chip grabbing mechanism can grab the chip at any station and place the chip at another station.

[0012] In the chip transfer device provided in the embodiment of the present invention, the first direction motion mechanism, the second direction motion mechanism and the third direction motion mechanism drive the chip grabbing mechanism to move to realize three-dimensional motion, so that the chip grabbing mechanism can grab the chip at any station and place the chip at any other station, thereby realizing multi-station multi-chip sequencing, which can effectively improve the sequencing efficiency.

[0013] In some embodiments, the first direction movement mechanism includes:

[0014] a first driving member disposed on the frame;

[0015] a synchronous belt assembly connected to the first driving member; and

[0016] A moving plate moves under the drive of the synchronous belt assembly, and the second direction movement mechanism is arranged on the moving plate.

[0017] In certain embodiments, the synchronous belt assembly includes a first synchronous wheel and a second synchronous wheel disposed on the frame, and a synchronous belt wound around the first synchronous wheel and the second synchronous wheel, and the moving plate is disposed on the synchronous belt.

[0018] In some embodiments, the movable plate is provided with a first tooth portion, and the synchronous belt is provided with a second tooth portion that matches and connects with the first tooth portion.

[0019] In some embodiments, the first-direction movement mechanism also includes a first guide rail fixedly disposed on opposite sides of the frame and a first guide block disposed on the first guide rail, and one end of the movable plate is connected to the first guide block on one side of the frame, and the other end is connected to the first guide block on the other side of the frame.

[0020] In some embodiments, the second direction movement mechanism comprises:

[0021] A second driving member connected to the first direction movement mechanism; and

[0022] A first connecting component is connected to the second driving member, and the third directional motion mechanism is arranged on the first connecting component.

[0023] In some embodiments, the first connection component comprises:

[0024] A first connecting plate provided on the first direction movement mechanism and connected to the second driving member; and

[0025] A fixing plate is arranged on the first direction movement mechanism and fixedly connected to the first connecting plate, and the third direction movement mechanism is arranged on the fixing plate.

[0026] In some embodiments, the second direction movement mechanism also includes a first screw rod connected to the output shaft of the second driving member, the surface of the first screw rod is provided with a thread, the first connecting plate is provided with a threaded hole matching the first screw rod, the first screw rod passes through the threaded hole, and the thread is threadedly connected to the threaded hole.

[0027] In some embodiments, the second-direction movement mechanism further includes a second guide rail disposed on the first-direction movement mechanism and a second guide block disposed on the second guide rail, and the fixing plate is disposed on the second guide block.

[0028] In some embodiments, the third directional motion mechanism comprises:

[0029] a third driving member connected to the second direction movement mechanism; and

[0030] A second connecting component is connected to the third driving member, and the chip grabbing mechanism is arranged on the second connecting component.

[0031] In some embodiments, the second connection component comprises:

[0032] a second connecting plate connected to the third driving member; and

[0033] A movable seat is fixedly connected to the second connecting plate, and the chip grabbing mechanism is arranged on the movable seat.

[0034] In some embodiments, the second connecting assembly also includes a second screw rod connected to the output shaft of the third driving member, the second screw rod surface is provided with threads, the second connecting plate is provided with a threaded hole matching the second screw rod, the second screw rod passes through the threaded hole, and the thread is threadedly connected to the threaded hole.

[0035] In some embodiments, the third direction movement mechanism further includes a third guide rail disposed on the second direction movement mechanism and a third guide block disposed on the third guide rail, and the movable seat is disposed on the third guide block.

[0036] In some embodiments, the chip grabbing mechanism comprises:

[0037] A first clamping jaw driving member connected to the third directional motion mechanism; and

[0038] The first clamp is connected to the first clamp driving member, and the first clamp includes a first clamp member and a second clamp member that are arranged opposite to each other. Under the drive of the first clamp driving member, the first clamp member and the second clamp member move closer to or farther away from each other to grasp or place the chip.

[0039] In some embodiments, the first clamping jaw member and the second clamping jaw member are both provided with a first positioning pin, and when the first clamping jaw member and the second clamping jaw member approach or move away from each other, the first positioning pin contacts or moves away from the positioning groove of the chip.

[0040] In some embodiments, the chip grabbing mechanism further comprises:

[0041] A mounting seat connected to the third directional motion mechanism, wherein the first clamping jaw driving member is arranged on the mounting seat;

[0042] A second jaw driving member disposed on the mounting seat; and

[0043] The second clamp is connected to the second clamp driving member, and the second clamp includes a third clamp member and a fourth clamp member that are arranged opposite to each other. Under the drive of the second clamp driving member, the third clamp member and the fourth clamp member move closer to or farther away from each other to grasp or place the chip.

[0044] In some embodiments, the third clamping member and the fourth clamping member are both provided with a second positioning pin, and when the third clamping member and the fourth clamping member approach or move away from each other, the second positioning pin contacts or disengages from the positioning groove of the chip.

[0045] In some embodiments, the chip grabbing mechanism further comprises:

[0046] A first connecting block disposed on the first jaw driving member;

[0047] A first pressing plate disposed on the mounting seat; and

[0048] A first elastic member is disposed between the first connecting block and the first pressing plate.

[0049] In certain embodiments, the chip grabbing mechanism further includes a fourth guide rail disposed on the mounting seat and a fourth guide block disposed on the fourth guide rail, and the first connecting block is disposed between the first clamping jaw driving member and the fourth guide block.

[0050] In some embodiments, the chip grabbing mechanism further comprises:

[0051] a second connecting block disposed on the second jaw driving member;

[0052] A second pressing plate disposed on the mounting seat; and

[0053] A second elastic member is arranged between the second connecting block and the second pressing plate.

[0054] In some embodiments, the chip grabbing mechanism further includes a fifth guide rail disposed on the other side of the mounting seat and a fifth guide block disposed on the fifth guide rail, and the second connecting block is disposed between the second clamping jaw driving member and the fifth guide block.

[0055] In certain embodiments, the chip transfer device further includes a rotation mechanism connected to the third directional motion mechanism, and the chip grabbing mechanism is disposed on the rotation mechanism.

[0056] In some embodiments, the rotating mechanism comprises:

[0057] a rotary drive member connected to the third directional motion mechanism; and

[0058] A connection base is connected to the rotary drive member, and the chip grabbing mechanism is arranged on the connection base.

[0059] In certain embodiments, a driving gear is disposed on the output shaft of the rotary drive member, and the rotary mechanism further comprises a driven gear meshing with the driving gear and coaxially disposed with the connecting seat.

[0060] In certain embodiments, the rotating mechanism further includes a driving gear connected to the output shaft of the rotating drive member, and a driven gear meshing with the driving gear and coaxially arranged with the connecting seat.

[0061] A workstation layout device in an embodiment of the present invention cooperates with the chip transfer device described in any of the above embodiments, and the workstation layout device includes at least one first workstation, on which at least one biochemical position, at least one photographing position, at least one loading position and at least one cleaning position are arranged, and the workstation layout device also includes at least one second workstation or warehouse body, on which at least one recovery position is arranged.

[0062] In some embodiments, the biochemical sites are provided in plurality, and the biochemical sites and the photographing sites are arranged in sequence from left to right or from right to left along the first straight line.

[0063] In some embodiments, at least one emergency position is further provided on the first workstation.

[0064] In certain embodiments, the loading position and the recovery position are arranged in a second straight line, the cleaning position and the emergency position are arranged in a third straight line, the second straight line and the third straight line are separated on both sides of the first straight line, and the loading position and the recovery position are set at a position close to the door of the sequencing system.

[0065] A sequencing system according to an embodiment of the present invention includes the chip transfer device described in any of the above embodiments, or includes the workstation layout device described in any of the above embodiments.

[0066] A chip transfer method according to an embodiment of the present invention is used in the chip transfer device according to any of the above embodiments, and the chip transfer method comprises the following steps:

[0067] S1, the chip transfer device transfers the chip located at the loading position to the biochemical position;

[0068] S2, after the biochemical reaction is completed on the chip, the chip transfer device transfers the chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position;

[0069] S3. After the cleaning chip completes the cleaning at the station, the chip transfer device transfers the cleaning chip located at the biochemical station to the cleaning station, and after the chip completes sequencing and photographing, the chip transfer device transfers the chip located at the photographing station to the recovery station.

[0070] In certain embodiments, after the chip completes sequencing and photographing, the chip transfer device transfers the chip located at the photographing position to the recovery position, comprising the following steps:

[0071] S32, after the chip has completed sequencing and photographing and the cleaning chip located at the biochemical position has been transferred to the cleaning position, the chip transfer device transfers the chip located at the photographing position to the biochemical position;

[0072] S34, after the biochemical reaction on the chip is completed, the chip transfer device transfers the chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position;

[0073] S36, repeating S32 and S34 until the chip completes the last round of sequencing photography, and the chip transfer device transfers the chip located at the photography position to the recovery position.

[0074] In some embodiments, the chip is provided in plurality, or the chip is provided in plurality and the biochemical site is provided in plurality, and the chip transfer method further comprises the following steps:

[0075] S42, when the biochemical position is in an idle state, the chip transfer device transfers the next chip located at the loading position to the biochemical position;

[0076] S44, when the next chip completes the biochemical reaction and the photographing position is in an idle state, the chip transfer device transfers the next chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position;

[0077] S46, after the next chip completes sequencing and photographing, the chip transfer device transfers the next chip located at the photographing position to the recycling position;

[0078] S48, repeat S42, S44 and S46 until all chips are transferred to the recycling position.

[0079] In some embodiments, the chip grabbing mechanism is provided with two sets of grabbing mechanisms, through which the chips and / or cleaning chips can be grabbed successively and the chips and / or cleaning chips can be placed successively.

[0080] In some embodiments, the chip transfer device also includes a rotating mechanism arranged between the two sets of gripping mechanisms. After the two sets of gripping mechanisms successively grip the chip and / or the cleaning chip, the rotating mechanism can drive the two sets of gripping mechanisms to rotate with the rotating mechanism as the rotation center to achieve the exchange of the position of the chip and / or the cleaning chip.

[0081] Additional aspects and advantages of the embodiments of the present invention will be given in part in the following description and in part will become apparent from the following description or will be learned through the practice of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] The above and / or additional aspects and advantages of the embodiments of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0083] Figure 1 A schematic diagram of the structure of a chip transfer device and a workstation layout device provided in an embodiment of the present invention;

[0084] Figure 2 Based on the embodiments of the present invention Figure 1 A partial enlarged view of part A;

[0085] Figure 3 A schematic structural diagram of a chip transfer device and a workstation layout device from another perspective provided in an embodiment of the present invention;

[0086] Figure 4 Based on the embodiments of the present invention Figure 3 A partial enlarged view of part B;

[0087] Figure 5 A schematic diagram of the structure of a first direction movement mechanism and a second direction movement mechanism provided in an embodiment of the present invention;

[0088] Figure 6 A schematic diagram of the structure of a third directional motion mechanism, a rotation mechanism and a chip grabbing mechanism provided in an embodiment of the present invention;

[0089] Figure 7 A schematic diagram of the structure of a rotating mechanism and a chip grabbing mechanism provided in an embodiment of the present invention;

[0090] Figure 8 A schematic structural diagram of a first clamping jaw provided in an embodiment of the present invention;

[0091] Fig. 9 A schematic structural diagram of a first clamping jaw from another perspective provided in an embodiment of the present invention;

[0092] Fig.10 A schematic diagram of the structure of a chip provided in an embodiment of the present invention;

[0093] Fig.11 A schematic diagram of the structure of a first workstation provided in an embodiment of the present invention;

[0094] Fig.12 A schematic diagram of a workstation layout provided for an embodiment of the present invention;

[0095] Fig.13 A schematic flow chart of a chip transfer method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0096] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0097] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0098] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0099] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0100] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0101] Please refer to Figure 1 , a chip transfer device 1000 provided in an embodiment of the present invention is used in a sequencing system. The chip transfer device 1000 includes a frame 100, a first direction motion mechanism 200, a second direction motion mechanism 300, a third direction motion mechanism 400 and a chip grabbing mechanism 500, wherein the first direction motion mechanism 200 is arranged on the frame 100, the second direction motion mechanism 300 is connected to the first direction motion mechanism 200, the third direction motion mechanism 400 is connected to the second direction motion mechanism 300, and the chip grabbing mechanism 500 is arranged on the third direction motion mechanism 400.

[0102] The first direction motion mechanism 200 , the second direction motion mechanism 300 and the third direction motion mechanism 400 drive the chip grabbing mechanism 500 to move to achieve three-dimensional motion, so that the chip grabbing mechanism 500 can grab the chip 2000 at any station 10 and place the chip 2000 at another station 10 .

[0103] The sequencing system may be a sequencer, which includes a control device, a liquid path mechanism and an optical mechanism. Under the control of the control device, the liquid path mechanism can pass DNA or RNA samples and biochemical reagents into the chip 2000, and the optical mechanism can take photos and images of the chip 2000. The control device performs sequencing according to the obtained photos to obtain sequencing results. Alternatively, the sequencing system may be an integral system combining a sequencer and a server, and the sequencer includes a control device, a communication device, a liquid path mechanism and an optical mechanism. Under the control of the control device, the liquid path mechanism can pass DNA or RNA samples and biochemical reagents into the chip 2000, and the optical mechanism can take photos and images of the chip 2000. The control device performs sequencing according to the obtained photos to obtain sequencing results. The control device then controls the communication device to send the sequencing data to the server, and the server stores and / or processes the sequencing data.

[0104] The first direction, the second direction and the third direction may be perpendicular to each other. For example, the first direction may be Figure 1 The positive and negative directions of the x-axis shown, the second direction can be Figure 1 The positive and negative directions of the y-axis are shown, and the third direction can be Figure 1 The positive and negative directions of the z-axis are shown. The first direction, the second direction and the third direction may also refer to other directions, but the first direction, the second direction and the third direction must be different directions.

[0105] The frame 100 provides support for the first direction movement mechanism 200 , the first direction movement mechanism 200 provides support for the second direction movement mechanism 300 , the second direction movement mechanism 300 provides support for the third direction movement mechanism 400 , and the third direction movement mechanism 400 provides support for the chip grabbing mechanism 500 .

[0106] Since the second direction motion mechanism 300 is connected to the first direction motion mechanism 200, the first direction motion mechanism 200 drives the second direction motion mechanism 300 to move in the first direction. Since the third direction motion mechanism 400 is connected to the second direction motion mechanism 300, the second direction motion mechanism 300 drives the third direction motion mechanism 400 to move in the first direction. Since the chip grabbing mechanism 500 is arranged on the third direction motion mechanism 400, the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the first direction. Since the third direction motion mechanism 400 is connected to the second direction motion mechanism 300, the second direction motion mechanism 300 drives the third direction motion mechanism 400 to move in the second direction. Since the chip grabbing mechanism 500 is arranged on the third direction motion mechanism 400, the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the second direction. Since the chip grabbing mechanism 500 is arranged on the third direction motion mechanism 400, the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction.

[0107] Under the movement of the first direction motion mechanism 200, the second direction motion mechanism 300 and the third direction motion mechanism 400, the chip grabbing mechanism 500 can be driven to move in the first direction, the second direction and the third direction, so as to realize the three-dimensional movement of the chip grabbing mechanism 500, thereby realizing that the chip grabbing mechanism 500 grabs the chip 2000 at any station 10 and places the chip 2000 at any other station 10. For example, the station 10 includes a loading station 13, a biochemical station 12, a photographing station 11, a cleaning station 15 and a recycling station 14. Multiple chips 2000 can be placed at the loading station 13, such as placing three chips 2000 at the loading station 13, and a cleaning chip 2000 can be placed at the cleaning station 15. The cleaning chip 2000 can be the same as the chip 2000, because the cleaning chip 2000 only plays a cleaning role and does not perform biochemical reactions and sequencing photography, so it is called a cleaning chip 2000. The chip grabbing mechanism 500 grabs the first chip 2000 at the loading position 13 and places it in the biochemical position 12, where the first chip 2000 undergoes a biochemical reaction. After the biochemical reaction is completed, the chip grabbing mechanism 500 grabs the first chip 2000 at the biochemical position 12 and places it in the photographing position 11, where the first chip 2000 undergoes sequencing and photographing at the photographing position 11. The chip grabbing mechanism 500 grabs the cleaning chip 2000 at the cleaning position 15 and places it in the biochemical position 12 to clean the components of the biochemical position 12 such as the liquid inlet and outlet. After the cleaning is completed, the chip grabbing mechanism 500 grabs the cleaning chip 2000 at the biochemical position 12 and places it in the cleaning position 15. The chip grabbing mechanism 500 grabs the second chip 2000 at the loading position 13 and places it in the biochemical position 12, where the second chip 2000 undergoes a biochemical reaction. Alternatively, the biochemical position 12 is not cleaned, and the chip grabbing mechanism 500 grabs the second chip 2000 at the loading position 13 and places it in the biochemical position 12, where the second chip 2000 undergoes a biochemical reaction. After the first chip 2000 at the photographing position 11 completes the sequencing and photographing, the chip grabbing mechanism 500 grabs the first chip 2000 at the photographing position 11 and places it in the recycling position 14. After the second chip 2000 at the biochemical position 12 completes the biochemical reaction, the chip grabbing mechanism 500 grabs the second chip 2000 at the biochemical position 12 and places it in the photographing position 11, where the second chip 2000 undergoes sequencing and photographing at the photographing position 11. The chip grabbing mechanism 500 grabs the cleaned chip 2000 at the cleaning position 15 and places it in the biochemical position 12. After cleaning is completed, the chip grabbing mechanism 500 grabs the cleaned chip 2000 at the biochemical position 12 and places it in the cleaning position 15. The chip grabbing mechanism 500 grabs the third chip 2000 at the loading position 13 and places it in the biochemical position 12, where the third chip 2000 undergoes a biochemical reaction.Alternatively, the biochemical position 12 is not cleaned, and the chip grabbing mechanism 500 grabs the third chip 2000 at the loading position 13 and places it in the biochemical position 12, where the third chip 2000 undergoes a biochemical reaction. After the second chip 2000 at the photographing position 11 completes the sequencing and photographing, the chip grabbing mechanism 500 grabs the second chip 2000 at the photographing position 11 and places it in the recycling position 14. After the third chip 2000 at the biochemical position 12 completes the biochemical reaction, the chip grabbing mechanism 500 grabs the third chip 2000 at the biochemical position 12 and places it in the photographing position 11. After the third chip 2000 at the photographing position 11 completes the sequencing and photographing, the chip grabbing mechanism 500 grabs the third chip 2000 at the photographing position 11 and places it in the recycling position 14. During the sequencing process of multiple chips 2000, the chips 2000 are transferred between different workstations 10 by the chip grabbing mechanism 500, so that the orderly transfer of each chip 2000 can be achieved. Since multiple workstations 10 are provided, multiple chips 2000 and multiple workstations 10 can work simultaneously, such as one chip 2000 is performing a biochemical reaction while another chip 2000 is performing sequencing and taking pictures at the same time, thereby effectively improving the sequencing efficiency.

[0108] Among them, after the chip 2000 completes the biochemical reaction at the biochemical position 12 and is transferred to the photographing position 11 to complete the sequencing and photographing process, there may be a situation where the complete sequencing has not been completed, such as only 1-10 cycles of sequencing have been performed, and 11-20 cycles of sequencing are required. The chip grabbing mechanism 500 needs to grab the cleaned chip 2000 from the cleaning position 15 and transfer it to the biochemical position 12 for cleaning, and then transfer the chip 2000 from the photographing position 11 to the biochemical position 12. Or, the biochemical position 12 is not cleaned, the chip 2000 is transferred from the photographing position 11 to the biochemical position 12, and then the biochemical reaction is performed, and after the biochemical reaction is completed, it is transferred to the photographing position 11 for sequencing and photographing. After the chip 2000 completes the complete sequencing, the chip grabbing mechanism 500 transfers the chip 2000 from the photographing position 11 to the recycling position 14. After the chip 2000 is transferred from the biochemical position 12 to the photographing position 11 for the last time, the chip grabbing mechanism 500 grabs the cleaned chip 2000 from the cleaning position 15 and transfers it to the biochemical position 12 for cleaning, and grabs the next chip 2000 from the loading position 13 and transfers it to the biochemical position.

[0109] Furthermore, a plurality of biochemical positions 12 may be provided, so that a plurality of chips 2000 can perform biochemical reactions on each biochemical position 12. Specifically, for a chip 2000 that needs to perform a biochemical reaction, when a biochemical position 12 is in an idle state (the biochemical position 12 does not have a chip 2000 that is performing a biochemical reaction), if the biochemical position 12 has not performed a biochemical reaction before, the chip grabbing mechanism 500 transfers the chip 2000 that needs to perform a biochemical reaction to the biochemical position 12 in an idle state to perform a biochemical reaction. If the biochemical position 12 has performed a biochemical reaction before, the chip grabbing mechanism 500 transfers the cleaning chip 2000 from the cleaning position 15 to the biochemical position 12, and after cleaning is completed, the chip 2000 that needs to perform a biochemical reaction is transferred to the biochemical position 12 to perform a biochemical reaction. Alternatively, the biochemical position 12 is not cleaned, and the chip 2000 that needs to perform a biochemical reaction is transferred to the biochemical position 12 to perform a biochemical reaction. There may be multiple photographing positions 11, so that multiple chips 2000 can be sequenced and photographed at each photographing position 11. Specifically, for a chip 2000 that needs to be sequenced and photographed, when a photographing position 11 is in an idle state (no chip 2000 is being sequenced and photographed at the photographing position 11), the chip grabbing mechanism 500 transfers the chip 2000 that needs to be sequenced and photographed to the photographing position 11 in an idle state to perform sequencing and photographing. A plurality of cleaning chips 2000 may be placed on the cleaning position 15. Alternatively, a plurality of cleaning positions 15 are provided, and a cleaning chip 2000 is placed in each cleaning position 15, so that the chip grabbing mechanism 500 transfers each cleaning chip 2000 to the biochemical position 12 that needs to be cleaned. Specifically, for a biochemical position 12 that needs to be cleaned, when there is a cleaning chip 2000 on the cleaning position 15, the chip grabbing mechanism 500 transfers the cleaning chip 2000 to the biochemical position 12 that needs to be cleaned, so as to clean the biochemical position 12. Through the above implementation scheme, more biochemical positions 12, and / or more photographing positions 11, and / or more cleaning chips 2000 are set, so that more sequencing processes can be performed simultaneously, such as multiple biochemical reaction processes, and / or multiple sequencing photographing processes, and / or multiple cleaning processes, thereby further improving the sequencing efficiency.

[0110] In this embodiment, an initial position can be set, such as setting the upper position of the loading position 13 as the initial position. After the chip grabbing mechanism 500 completes the operation of grabbing and placing the chip 2000, the chip grabbing mechanism 500 returns to the initial position, and waits for the next operation of grabbing and placing the chip 2000. The chip grabbing mechanism 500 starts from the initial position and performs the operation of grabbing and placing the chip 2000. Alternatively, after each operation of grabbing and placing the chip 2000, the third-direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as upward, and the chip grabbing mechanism 500 stops at this position, and waits for the next operation of grabbing and placing the chip 2000. The chip grabbing mechanism 500 starts from this position and performs the operation of grabbing and placing the chip 2000.

[0111] In some specific embodiments of the present invention, please refer to Figures 1 to 5 The first direction movement mechanism 200 includes a first driving member 210, a synchronous belt assembly 220 and a movable plate 230. The first driving member 210 is arranged on the frame 100. The synchronous belt assembly 220 is connected to the first driving member 210. The movable plate 230 moves driven by the synchronous belt assembly 220. The second direction movement mechanism 300 is arranged on the movable plate 230.

[0112] The synchronous belt assembly 220 is arranged on the frame 100, and the first driving member 210 can drive the synchronous belt assembly 220 to rotate. If the first driving member 210 is a motor, the output shaft of the motor is connected to the synchronous belt assembly 220, and when the motor is working, the synchronous belt assembly 220 is driven to rotate through the output shaft.

[0113] The movable plate 230 is arranged on the synchronous belt assembly 220. When the synchronous belt assembly 220 rotates, since the movable plate 230 is arranged on the synchronous belt assembly 220, the synchronous belt assembly 220 drives the movable plate 230 to move in the first direction. Since the second direction movement mechanism 300 is arranged on the movable plate 230, the movable plate 230 drives the second direction movement mechanism 300 to move in the first direction. Since the third direction movement mechanism 400 is connected to the second direction movement mechanism 300, the second direction movement mechanism 300 drives the third direction movement mechanism 400 to move in the first direction. Since the chip grasping mechanism 500 is arranged on the third direction movement mechanism 400, the third direction movement mechanism 400 drives the chip grasping mechanism 500 to move in the first direction.

[0114] In some specific embodiments of the present invention, please refer to Figures 1 to 3 , Figure 5 The synchronous belt assembly 220 includes a first synchronous wheel 224 and a second synchronous wheel disposed on the frame 100 , and a synchronous belt 221 wound around the first synchronous wheel 224 and the second synchronous wheel, and the moving plate 230 is disposed on the synchronous belt 221 .

[0115] The synchronous belt assembly 220 further includes a first fixing seat and a second fixing seat, which are arranged on the frame 100 and are respectively located on both sides of the same side of the frame 100. The first synchronous wheel 224 is arranged on the first fixing seat, and the first fixing seat provides support for the first synchronous wheel 224. The second synchronous wheel is arranged on the second fixing seat, and the second fixing seat provides support for the second synchronous wheel.

[0116] The synchronous belt assembly 220 also includes a first reduction wheel, a second reduction wheel 222, and a reduction belt 223 wound around the first reduction wheel and the second reduction wheel 222. The first reduction wheel is connected to and coaxially arranged with the first driving member 210, and the second reduction wheel 222 is connected to and coaxially arranged with the second synchronous wheel. The first driving member 210 transmits power to the second synchronous wheel through the first reduction wheel and the second reduction wheel 222, and the second synchronous wheel cooperates with the first synchronous wheel 224 to drive the synchronous belt 221 to rotate, which can better control the motion accuracy and avoid the situation where the synchronous belt 221 rotates too fast due to excessive power, and the moving plate 230 cannot move reliably.

[0117] The synchronous belt 221 is wound around the first synchronous wheel 224 and the second synchronous wheel, and the setting direction of the synchronous belt 221 is the same as the first direction. Specifically, when the synchronous belt 221 rotates forward and backward, the synchronous belt 221 drives the moving plate 230 to reciprocate in the first direction. When the synchronous belt 221 rotates, since the moving plate 230 is set on the synchronous belt 221, the synchronous belt 221 drives the moving plate 230 to move in the first direction, since the second direction motion mechanism 300 is set on the moving plate 230, the moving plate 230 drives the second direction motion mechanism 300 to move in the first direction, since the third direction motion mechanism 400 is connected to the second direction motion mechanism 300, the second direction motion mechanism 300 drives the third direction motion mechanism 400 to move in the first direction, and since the chip grabbing mechanism 500 is set on the third direction motion mechanism 400, the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the first direction. In this embodiment, the first direction motion mechanism 200 adopts the movement mode of the synchronous belt 221, which can meet the movement requirements of a long stroke, and at the same time has small space occupation, low cost and high movement reliability.

[0118] In some specific embodiments of the present invention, please refer to Figure 2 The moving plate 230 is provided with a first tooth portion, and the synchronous belt 221 is provided with a second tooth portion that matches and connects with the first tooth portion.

[0119] pass Figure 2It can be seen from the perspective view that the movable plate 230 is provided with a first tooth portion at the portion in contact with the synchronous belt 221. The inner ring of the synchronous belt 221 is in contact with the movable plate 230, so the inner ring of the synchronous belt 221 is provided with a second tooth portion, and the outer ring of the synchronous belt 221 does not contact the movable plate 230, so the second tooth portion may not be provided. It is also achievable that the outer ring of the synchronous belt 221 is in contact with the movable plate 230, so the outer ring of the synchronous belt 221 is provided with a second tooth portion, and the inner ring of the synchronous belt 221 does not contact the movable plate 230, so the second tooth portion may not be provided. When the synchronous belt 221 rotates, the synchronous belt 221 drives the movable plate 230 to move through the cooperation between the first tooth portion and the second tooth portion.

[0120] For example, the first tooth portion is a triangular protrusion, and the second tooth portion is a triangular protrusion. Alternatively, the first tooth portion is a right trapezoidal protrusion, and the second tooth portion is a right trapezoidal protrusion. Alternatively, the first tooth portion is a protrusion with a narrow portion close to the synchronous belt 221 and a wide portion away from the synchronous belt 221, and the second tooth portion is a protrusion with a narrow portion close to the moving plate 230 and a wide portion away from the moving plate 230.

[0121] In some specific embodiments of the present invention, please refer to Figures 1 to 3 , Figure 5 The first direction movement mechanism 200 also includes a first guide rail 240 fixedly arranged on opposite sides of the frame 100 and a first guide block 250 arranged on the first guide rail 240. One end of the movable plate 230 is connected to the first guide block 250 on one side of the frame, and the other end is connected to the first guide block 250 on the other side of the frame.

[0122] The setting direction of the first guide rail 240 is the same as the first direction. During the movement of the moving plate 230, the moving plate 230 drives the first guide block 250 to move on the first guide rail 240, and the first guide block 250 cooperates with the first guide rail 240 to provide a guiding effect for the moving plate 230, thereby ensuring the moving accuracy of the moving plate 230. In addition, by setting the first guide block 250 and the first guide rail 240, the moving plate 230 is set on the first guide block 250, which can provide a better support effect for the moving plate 230, ensuring that the moving plate 230 can move smoothly.

[0123] In some specific embodiments of the present invention, please refer to Figure 1 , Figures 3 to 5 The second direction movement mechanism 300 includes a second driving member 310 and a first connecting assembly. The second driving member 310 is connected to the first direction movement mechanism 200. The first connecting assembly is connected to the second driving member 310. The third direction movement mechanism 400 is arranged on the first connecting assembly.

[0124] Specifically, the second driving member 310 is disposed on the moving plate 230 of the first direction moving mechanism 200 .

[0125] The first connecting assembly is disposed on the moving plate 230, and the second driving member 310 can drive the first connecting assembly to move. If the second driving member 310 is a motor, the output shaft of the motor is connected to the first connecting assembly, and when the motor is working, the output shaft drives the first connecting assembly to move in the second direction.

[0126] When the first connecting component moves, since the third directional motion mechanism 400 is set on the first connecting component, the first connecting component drives the third directional motion mechanism 400 to move in the second direction, and since the chip grasping mechanism 500 is set on the third directional motion mechanism 400, the third directional motion mechanism 400 drives the chip grasping mechanism 500 to move in the second direction.

[0127] In some specific embodiments of the present invention, please refer to Figure 1 , Figures 3 to 5 The first connecting component includes a first connecting plate 321 and a fixed plate 322. The first connecting plate 321 is arranged on the first direction movement mechanism 200 and is connected to the second driving member 310. The fixed plate 322 is arranged on the first direction movement mechanism 200 and is fixedly connected to the first connecting plate 321. The third direction movement mechanism 400 is arranged on the fixed plate 322.

[0128] Specifically, the first connecting plate 321 is disposed on the moving plate 230 of the first direction movement mechanism 200 , and the fixing liquid 322 is disposed on the moving plate 230 of the first direction movement mechanism 200 .

[0129] The second driving member 310 drives the first connecting plate 321 to move in the second direction. Since the fixed plate 322 is fixedly connected to the first connecting plate 321, the first connecting plate 321 drives the fixed plate 322 to move in the second direction. Since the third directional motion mechanism 400 is arranged on the fixed plate 322, the fixed plate 322 drives the third directional motion mechanism 400 to move in the second direction. Since the chip grabbing mechanism 500 is arranged on the third directional motion mechanism 400, the third directional motion mechanism 400 drives the chip grabbing mechanism 500 to move in the second direction. The third directional motion mechanism 400 is arranged on the fixed plate 322, not on the first connecting plate 321. When the second driving member 310 drives the first connecting plate 321 to move, the first connecting plate 321 does not directly drive the third directional motion mechanism 400 to move, but indirectly drives the third directional motion mechanism 400 to move through the fixed plate 322. The power transmission is more reliable, thereby achieving more precise movement accuracy.

[0130] In some specific embodiments of the present invention, please refer to Figures 1 to 3 , Figure 5The second direction movement mechanism 300 also includes a first screw rod 331 connected to the output shaft of the second driving member 310. The surface of the first screw rod 331 is provided with threads. The first connecting plate 321 is provided with a threaded hole matching the first screw rod 331. The first screw rod 331 is penetrated by the threaded hole, and the thread is threadedly connected with the threaded hole.

[0131] The setting direction of the first screw rod 331 is the same as the second direction. The second driving member 310 drives the first screw rod 331 to rotate, and the first screw rod 331 drives the first connecting plate 321 to move in the second direction through the thread on the first screw rod 331 and the threaded hole on the first connecting plate 321. Specifically, when the first screw rod 331 rotates positively and negatively, the first screw rod 331 drives the first connecting plate 321 to reciprocate in the second direction. When the first screw rod 331 drives the first connecting plate 321 to move in the second direction, since the fixed plate 322 is fixedly connected to the first connecting plate 321, the first connecting plate 321 drives the fixed plate 322 to move in the second direction, and since the third directional motion mechanism 400 is set on the fixed plate 322, the fixed plate 322 drives the third directional motion mechanism 400 to move in the second direction, and since the chip grabbing mechanism 500 is set on the third directional motion mechanism 400, the third directional motion mechanism 400 drives the chip grabbing mechanism 500 to move in the second direction.

[0132] Furthermore, the second direction movement mechanism 300 further includes a third fixing seat 332, one end of the first screw rod 331 is connected to the output shaft of the second driving member 310, and the other end of the first screw rod 331 is connected to the third fixing seat 332, and the third fixing seat 332 provides support for the first screw rod 331, so that both ends of the first screw rod 331 are supported. When the first screw rod 331 drives the first connecting plate 321 to move, even if it is used for a long time, it is not easy to cause the first screw rod 331 to rotate and deviate, so that the first connecting plate 321 can be moved for a long time and reliably.

[0133] In some specific embodiments of the present invention, please refer to Figure 1 , Figures 3 to 5 The second direction movement mechanism 300 further includes a second guide rail 340 disposed on the first direction movement mechanism 200 and a second guide block 350 disposed on the second guide rail 340 , and the fixing plate 322 is disposed on the second guide block 350 .

[0134] Specifically, the second guide rail 340 is disposed on the moving plate 230 of the first direction moving mechanism 200 .

[0135] The setting direction of the second guide rail 340 is the same as the second direction. During the movement of the fixed plate 322, the fixed plate 322 drives the second guide block 350 to move on the second guide rail 340, and the second guide block 350 cooperates with the second guide rail 340 to provide a guide for the fixed plate 322, thereby ensuring the movement accuracy of the fixed plate 322. In addition, by setting the second guide block 350 and the second guide rail 340, the fixed plate 322 is set on the second guide block 350, which can provide a better support for the fixed plate 322 and ensure that the fixed plate 322 can move smoothly.

[0136] In some specific embodiments of the present invention, please refer to Figure 1 and Figure 6 The third direction motion mechanism 400 includes a third driving member 410 and a second connecting component. The third driving member 410 is connected to the second direction motion mechanism. The second connecting component is connected to the third driving member 410. The chip grabbing mechanism 500 is arranged on the second connecting component.

[0137] Specifically, the third driving member 410 is disposed on the first connecting component of the second direction movement mechanism 300 .

[0138] The third driving member 410 is disposed on the first connecting assembly, specifically, the third driving member 410 is disposed on the fixing plate 322. The second driving member 310 drives the first connecting plate 321 to move in the second direction, the first connecting plate 321 drives the fixing plate 322 to move in the second direction, and the fixing plate 322 drives the third driving member 410 to move in the second direction.

[0139] The second connecting assembly is arranged on the first connecting assembly, specifically, the second connecting assembly is arranged on the fixing plate 322. The second driving member 310 drives the first connecting plate 321 to move in the second direction, the first connecting plate 321 drives the fixing plate 322 to move in the second direction, and the fixing plate 322 drives the second connecting assembly to move in the second direction.

[0140] The third driving member 410 can drive the second connecting component to move. If the third driving member 410 is a motor, the driving shaft of the motor is connected to the second connecting component, and when the motor is working, the output shaft drives the second connecting component to move in the third direction.

[0141] When the second connecting component moves, since the chip grabbing mechanism 500 is disposed on the second connecting component, the second connecting component drives the chip grabbing mechanism 500 to move in the third direction.

[0142] In some specific embodiments of the present invention, please refer to Figure 1 and Figure 6The second connecting assembly includes a second connecting plate 421 and a movable seat 422 . The second connecting plate 421 is connected to the third driving member 410 . The movable seat 422 is fixedly connected to the second connecting plate 421 . The chip grabbing mechanism 500 is disposed on the movable seat 422 .

[0143] The movable seat 422 is disposed on the first connecting assembly, specifically, the movable seat 422 is disposed on the fixed plate 322. The second driving member 310 drives the first connecting plate 321 to move in the second direction, the first connecting plate 321 drives the fixed plate 322 to move in the second direction, the fixed plate 322 drives the movable seat 422 to move in the second direction, and the movable seat 422 drives the second connecting plate 421 to move in the second direction.

[0144] The third driving member 410 drives the second connecting plate 421 to move in the third direction. Since the movable seat 422 is fixedly connected to the second connecting plate 421, the second connecting plate 421 drives the movable seat 422 to move in the third direction. Since the chip grabbing mechanism 500 is arranged on the movable seat 422, the movable seat 422 drives the chip grabbing mechanism 500 to move in the third direction. The chip grabbing mechanism 500 is arranged on the movable seat 422, rather than on the second connecting plate 421. When the third driving member 410 drives the second connecting plate 421 to move, the second connecting plate 421 does not directly drive the chip grabbing mechanism 500 to move, but indirectly drives the chip grabbing mechanism 500 to move through the movable seat 422. The power transmission is more reliable, thereby achieving more precise movement accuracy.

[0145] In some specific embodiments of the present invention, please refer to Figure 1 and Figure 6 The second connecting component also includes a second screw connected to the output shaft of the third driving member 410, the surface of the second screw is provided with threads, the second connecting plate 421 is provided with a threaded hole matching the second screw, the second screw is passed through the threaded hole, and the thread is threadedly connected to the threaded hole.

[0146] The setting direction of the second screw is the same as the third direction. The third driving member 410 drives the second screw to rotate, and the second screw drives the second connecting plate 421 to move in the third direction through the thread on the second screw cooperating with the threaded hole on the second connecting plate 421. Specifically, when the second screw rotates positively and negatively, the second screw drives the second connecting plate 421 to reciprocate in the third direction. When the second screw drives the second connecting plate 421 to move in the third direction, since the movable seat 422 is fixedly connected to the second connecting plate 421, the second connecting plate 421 drives the movable seat 422 to move in the third direction, and since the chip grabbing mechanism 500 is set on the movable seat 422, the movable seat 422 drives the chip grabbing mechanism 500 to move in the third direction.

[0147] In some specific embodiments of the present invention, please refer to Figure 1 and Figure 6 The third direction movement mechanism 400 further includes a third guide rail 430 disposed on the second direction movement mechanism and a third guide block 440 disposed on the third guide rail 430 , and the movable seat 422 is disposed on the third guide block 440 .

[0148] Specifically, the third guide rail 430 is disposed on the first connecting component of the second direction movement mechanism 300 .

[0149] The third guide rail 430 is disposed on the first connecting assembly, specifically, the third guide rail 430 is disposed on the fixed plate 322. The second driving member 310 drives the first connecting plate 321 to move in the second direction, the first connecting plate 321 drives the fixed plate 322 to move in the second direction, the fixed plate 322 drives the third guide rail 430 to move in the second direction, and since the movable seat 422 is disposed on the third guide block 440 located on the third guide rail 430, the movable seat 422 moves in the second direction, and the movable seat 422 drives the second connecting plate 421 to move in the second direction.

[0150] The setting direction of the third guide rail 430 is the same as the third direction. During the movement of the movable seat 422 in the third direction, the movable seat 422 drives the third guide block 440 to move on the third guide rail 430, and the third guide block 440 cooperates with the third guide rail 430 to provide a guide for the movable seat 422, thereby ensuring the movement accuracy of the movable seat 422. In addition, by setting the third guide block 440 and the third guide rail 430, the movable seat 422 is set on the third guide block 440, which can provide a better support for the movable seat 422 and ensure that the movable seat 422 can move smoothly.

[0151] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 The chip grabbing mechanism 500 includes a first clamp driving member 510 and a first clamp, the first clamp driving member 510 is connected to the third directional motion mechanism, the first clamp is connected to the first clamp driving member 510, the first clamp includes a first clamp member 521 and a second clamp member 522 arranged opposite to each other, under the drive of the first clamp driving member 510, the first clamp member 521 and the second clamp member 522 are moved closer to or away from each other to achieve the purpose of grabbing or placing the chip 2000.

[0152] Specifically, the first clamping jaw driving member 510 is disposed on the second connecting component of the third directional motion mechanism.

[0153] The first jaw driving member 510 is disposed on the second connecting assembly, specifically, the first jaw driving member 510 is disposed on the movable seat 422. The third driving member 410 drives the second connecting plate 421 to move in the third direction, the second connecting plate 421 drives the movable seat 422 to move in the third direction, and the movable seat 422 drives the first jaw driving member 510 to move in the third direction.

[0154] The first clamping jaw 521 is provided with a first claw tip 5211 bent inwardly, and the second clamping jaw 522 is provided with a second claw tip 5221 bent inwardly. Driven by the first clamping jaw driving member 510, the first clamping jaw 521 and the second clamping jaw 522 are close to each other, and the chip 2000 can be grasped by the first claw tip 5211 and the second claw tip 5221.

[0155] Driven by the first direction motion mechanism 200 and the second direction motion mechanism 300, the chip grabbing mechanism 500 moves to the upper position of the chip 2000 to be grabbed, and the first clamping claw driving member 510 drives the first clamping claw member 521 and the second clamping claw member 522 to move away from each other. Then, the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping claw driving member 510 drives the first clamping claw member 521 and the second clamping claw member 522 to move closer to each other, and the chip grabbing mechanism 500 is grabbed by the first claw tip 5211 and the second claw tip 5221. Take the chip 2000, and then the third-directional motion mechanism 400 drives the chip grasping mechanism 500 to move in the third direction, such as moving upward. Driven by the first-direction motion mechanism 200 and the second-direction motion mechanism 300, the chip grasping mechanism 500 moves to the upper position where the chip 2000 needs to be placed. Then the third-directional motion mechanism 400 drives the chip grasping mechanism 500 to move in the third direction, such as moving downward. The first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move away from each other to place the chip 2000.

[0156] The working process of the chip grabbing mechanism 500 is described in conjunction with the workstation 10 .

[0157] For example, if the chip 2000 of the loading position 13 needs to be transferred to the biochemical position 12, the chip grabbing mechanism 500 is moved to the upper position of the loading position 13 by the first direction motion mechanism 200 and the second direction motion mechanism 300, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move away from each other. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move closer to each other, and grabs the chip 2000 by the first claw tip 5211 and the second claw tip 5221. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as upward, and the chip grabbing mechanism 500 is moved to the upper part of the biochemical position 12 by the first direction motion mechanism 200 and the second direction motion mechanism 300. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move away from each other, so as to place the chip 2000 on the biochemical site 12 .

[0158] For example, if the chip 2000 of the biochemical position 12 needs to be transferred to the photographing position 11, the chip grabbing mechanism 500 is moved to the upper position of the biochemical position 12 by the first direction motion mechanism 200 and the second direction motion mechanism 300, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move away from each other. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move closer to each other, and grabs the chip 2000 by the first claw tip 5211 and the second claw tip 5221. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as upward, and the chip grabbing mechanism 500 is moved to the upper position of the photographing position 11 by the first direction motion mechanism 200 and the second direction motion mechanism 300. Then the third-direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move away from each other, so as to place the chip 2000 on the photographing position 11.

[0159] For example, if the chip 2000 at the photographing position 11 needs to be transferred to the recycling position 14, the chip grabbing mechanism 500 is moved to the upper position of the photographing position 11 by the first direction motion mechanism 200 and the second direction motion mechanism 300, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move away from each other. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move closer to each other, and grabs the chip 2000 by the first claw tip 5211 and the second claw tip 5221. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as upward, and the chip grabbing mechanism 500 is moved to the upper position of the recycling position 14 by the first direction motion mechanism 200 and the second direction motion mechanism 300. Then the third-direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move away from each other, so as to place the chip 2000 on the recovery position 14 .

[0160] For example, if the cleaning chip 2000 of the cleaning position 15 needs to be transferred to the biochemical position 12, the chip grabbing mechanism 500 is moved to the upper position of the cleaning position 15 by the first direction motion mechanism 200 and the second direction motion mechanism 300, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move away from each other. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 to move closer to each other, and grabs the cleaning chip 2000 by the first claw tip 5211 and the second claw tip 5221. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as upward, and the chip grabbing mechanism 500 is moved to the upper position of the biochemical position 12 by the first direction motion mechanism 200 and the second direction motion mechanism 300. Then the third direction motion mechanism 400 drives the chip grabbing mechanism 500 to move in the third direction, such as downward, and the first clamping jaw driving member 510 drives the first clamping jaw member 521 and the second clamping jaw member 522 away from each other to place the cleaning chip 2000 on the biochemical position 12.

[0161] In some specific embodiments of the present invention, please refer to Figure 8 and Fig. 9 The first clamping jaw 521 and the second clamping jaw 522 are both provided with a first positioning pin 523 . When the first clamping jaw 521 and the second clamping jaw 522 approach or move away from each other, the first positioning pin 523 contacts or moves away from the positioning groove 2100 of the chip 2000 .

[0162] In the first clamping jaw 521, the first positioning pin 523 is arranged on the first claw tip 5211, and in the second clamping jaw 522, the first positioning pin 523 is arranged on the second claw tip 5221. When the first clamping jaw driving member 510 drives the first clamping jaw 521 and the second clamping jaw 522 to approach each other, the first positioning pin 523 contacts the positioning groove 2100 of the chip 2000, and the first claw tip 5211 and the second claw tip 5221 drag the chip 2000, thereby achieving the capture of the chip 2000. When the first clamping jaw driving member 510 drives the first clamping jaw 521 and the second clamping jaw 522 to move away from each other, the first positioning pin 523 is separated from the positioning groove 2100 of the chip 2000, thereby achieving the placement of the chip 2000. By providing the first positioning pin 523, the accuracy requirement of capturing the chip 2000 is met, and the chip 2000 can be prevented from falling due to power failure.

[0163] In some specific embodiments of the present invention, please refer to Fig.10 , the chip 2000 is provided with a plurality of positioning grooves 2100, and the plurality of positioning grooves 2100 respectively have a first shape and a second shape, and the first shape and the second shape are different. For example, the chip 2000 is provided with positioning grooves 2100 at its four ends, wherein the positioning grooves 2100 located at both ends of the long side of one side of the chip 2000 are respectively a rectangular groove and a triangular groove, and the positioning grooves 2100 located at both ends of the long side of the other side of the chip 2000 are respectively a rectangular groove and a triangular groove, the two rectangular grooves are opposite to each other, and the two triangular grooves are opposite to each other. By providing a plurality of positioning grooves 2100 with different shapes, the accuracy of grabbing the chip 2000 can be further improved.

[0164] In some specific embodiments of the present invention, please refer to Fig.10 , positioning holes 2200 and foolproof holes 2300 are provided at both ends of the chip 2000. Please refer to Fig.11 The workstation 10 is provided with a workstation table, on which a positioning shaft 730 cooperating with the positioning hole 2200 and an anti-fool shaft 740 cooperating with the anti-fool hole 2300 are provided. When the chip 2000 is placed on the workstation 10, the positioning shaft 730 is inserted into the positioning hole 2200 to achieve positioning of the chip 2000, and the anti-fool shaft 740 is inserted into the anti-fool hole 2300 to achieve anti-fool of the chip 2000.

[0165] Alternatively, a positioning shaft and an anti-foolproof shaft are provided at both ends of the chip 2000. A station table is provided on the station 10, and a positioning hole that cooperates with the positioning shaft and an anti-foolproof hole that cooperates with the anti-foolproof shaft are provided on the station table. When the chip 2000 is placed on the station 10, the positioning shaft is inserted into the positioning hole to achieve positioning of the chip 2000, and the anti-foolproof shaft is inserted into the anti-foolproof hole to achieve anti-foolproof of the chip 2000.

[0166] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 The chip grasping mechanism 500 also includes a mounting seat 530, a second clamping jaw driving member 540 and a second clamping jaw. The mounting seat 530 is connected to the third directional motion mechanism 400. The first clamping jaw driving member 510 is arranged on the mounting seat 530. The second clamping jaw driving member 540 is arranged on the mounting seat 530. The second clamping jaw is connected to the second clamping jaw driving member 540. The second clamping jaw includes a third clamping jaw member 551 and a fourth clamping jaw member 552 arranged opposite to each other. Under the drive of the second clamping jaw driving member 540, the third clamping jaw member 551 and the fourth clamping jaw member 552 are moved closer to or away from each other to grasp or place the chip 2000.

[0167] Specifically, the mounting seat 530 is connected to the second connecting component of the third directional motion mechanism 400 .

[0168] Specifically, the first clamping jaw driving member 510 is disposed on one side of the mounting seat 530 , and the second clamping jaw driving member 540 is disposed on the other side of the mounting seat 530 .

[0169] The mounting seat 530 is connected to the second connecting assembly, specifically, the mounting seat 530 is connected to the movable seat 422. The third driving member 410 drives the second connecting plate 421 to move in the third direction, the second connecting plate 421 drives the movable seat 422 to move in the third direction, the movable seat 422 drives the mounting seat 530 to move in the third direction, and the mounting seat 530 drives the first clamping jaw driving member 510 and the second clamping jaw driving member 540 to move in the third direction.

[0170] The third jaw member 551 is provided with a third claw tip bent inwardly, and the fourth jaw member 552 is provided with a fourth claw tip bent inwardly. Driven by the second jaw driving member 540, the third jaw member 551 and the fourth jaw member 552 approach each other, and the chip 2000 can be grasped through the first claw tip 5211 and the second claw tip 5221.

[0171] Driven by the first direction motion mechanism 200 and the second direction motion mechanism 300, the second gripper driving member 540 moves to the upper position of the chip 2000 to be grasped, and the second gripper driving member 540 drives the third gripper member 551 and the fourth gripper member 552 to move away from each other, and then the third direction motion mechanism 400 drives the second gripper driving member 540 to move in the third direction, such as downward, and the second gripper driving member 540 drives the third gripper member 551 and the fourth gripper member 552 to move closer to each other, and the chip 2000 is grasped by the third claw tip and the fourth claw tip. 00, and then the third-direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as moving upward. Driven by the first-direction motion mechanism 200 and the second-direction motion mechanism 300, the second clamping jaw driving member 540 moves to the upper position where the chip 2000 needs to be placed. Then the third-direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as moving downward. The second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to move away from each other to place the chip 2000.

[0172] The working process of the second clamping jaw driving member 540 and the second clamping jaw will be described in conjunction with the work station 10 .

[0173] For example, if the chip 2000 of the loading position 13 needs to be transferred to the biochemical position 12, the second clamping jaw driving member 540 is moved to the upper position of the loading position 13 by the first direction motion mechanism 200 and the second direction motion mechanism 300, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to move away from each other. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as downward, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to approach each other, and the chip 2000 is grasped by the third claw tip and the fourth claw tip. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as upward, and the second clamping jaw driving member 540 is moved to the upper part of the biochemical position 12 by the first direction motion mechanism 200 and the second direction motion mechanism 300. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as downward, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to move away from each other, so as to place the chip 2000 on the biochemical site 12 .

[0174] For example, if the chip 2000 of the biochemical position 12 needs to be transferred to the photographing position 11, the second clamping jaw driving member 540 is moved to the upper position of the biochemical position 12 by the first direction motion mechanism 200 and the second direction motion mechanism 300, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to move away from each other. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as downward, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to approach each other, and the chip 2000 is grasped by the third claw tip and the fourth claw tip. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as upward, and the second clamping jaw driving member 540 is moved to the upper position of the photographing position 11 by the first direction motion mechanism 200 and the second direction motion mechanism 300. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as downward, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to move away from each other, so as to place the chip 2000 on the photographing position 11.

[0175] For example, if the chip 2000 at the photographing position 11 needs to be transferred to the recycling position 14, the second clamping jaw driving member 540 is moved to the upper position of the photographing position 11 by the first direction motion mechanism 200 and the second direction motion mechanism 300, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to move away from each other. Then, the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as downward, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to approach each other, and the chip 2000 is grasped by the third claw tip and the fourth claw tip. Then, the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as upward, and the second clamping jaw driving member 540 is moved to the upper position of the recycling position 14 by the first direction motion mechanism 200 and the second direction motion mechanism 300. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as downward, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 away from each other to place the chip 2000 on the recovery position 14 .

[0176] For example, if the cleaning chip 2000 of the cleaning position 15 needs to be transferred to the biochemical position 12, the second clamping jaw driving member 540 is moved to the upper position of the cleaning position 15 by the first direction motion mechanism 200 and the second direction motion mechanism 300, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to move away from each other. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as downward, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to approach each other, and grabs the cleaning chip 2000 by the third claw tip and the fourth claw tip. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as upward, and the second clamping jaw driving member 540 is moved to the upper position of the biochemical position 12 by the first direction motion mechanism 200 and the second direction motion mechanism 300. Then the third direction motion mechanism 400 drives the second clamping jaw driving member 540 to move in the third direction, such as downward, and the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 away from each other to place the cleaning chip 2000 on the biochemical position 12 .

[0177] In this embodiment, the chip grasping mechanism 500 is provided with two sets of clamping mechanisms, which expands the usage scenarios. For example, one set of clamping mechanisms can grasp the chip 2000, and the other set of clamping mechanisms can place the chip 2000, or the two sets of clamping mechanisms can first grasp the chip 2000, and then place the chip 2000 in sequence, and so on. This can shorten the moving path of the chip grasping mechanism 500, reduce the time for grasping the chip 2000 and placing the chip 2000, and greatly improve efficiency.

[0178] In some specific embodiments of the present invention, the third clamping member 551 and the fourth clamping member 552 are both provided with a second positioning pin, and when the third clamping member 551 and the fourth clamping member 552 approach or move away from each other, the second positioning pin contacts or disengages from the positioning groove 2100 of the chip 2000.

[0179] In the third clamping jaw member 551, the second positioning pin is arranged on the third claw tip, and in the fourth clamping jaw member 552, the second positioning pin is arranged on the fourth claw tip. When the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to approach each other, the second positioning pin contacts the positioning groove 2100 of the chip 2000, and the third claw tip and the fourth claw tip drag the chip 2000, thereby achieving the capture of the chip 2000. When the second clamping jaw driving member 540 drives the third clamping jaw member 551 and the fourth clamping jaw member 552 to move away from each other, the second positioning pin is disengaged from the positioning groove 2100 of the chip 2000, thereby achieving the placement of the chip 2000. By setting the second positioning pin, the accuracy requirement of capturing the chip 2000 is met, and the chip 2000 can be prevented from falling due to power failure.

[0180] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 The chip grabbing mechanism 500 also includes a first connecting block 571, a first pressing plate 572 and a first elastic member 573. The first connecting block 571 is arranged on the first clamp driving member 510, the first pressing plate 572 is arranged on the mounting seat 530, and the first elastic member 573 is arranged between the first connecting block 571 and the first pressing plate 572.

[0181] The first elastic member 573 may include but is not limited to a spring, a spring, a rubber ring, and a rubber sheet.

[0182] The third direction movement mechanism 400 drives the mounting seat 530 to move in the third direction, and the mounting seat 530 drives the first clamping jaw driving member 510, the first connecting block 571, the first pressing plate 572 and the first elastic member 573 to move in the third direction at the same time. The first clamping jaw driving member 510, the first connecting block 571, the first pressing plate 572 and the first elastic member 573 are relatively stationary during the movement process. Then the first clamping jaw driving member 510 drives the first clamping jaw to contact the chip 2000, and the first elastic member 573 provides an elastic margin to realize the floating pressing of the first clamping jaw driving member 510 and the first clamping jaw on the chip 2000, thereby avoiding damage to the chip 2000.

[0183] In one embodiment, after the chip grabbing mechanism 500 places the chip 2000 on the workstation 10, the chip 2000 is adsorbed on the workstation 10 by vacuum adsorption. For example, an adsorption table is provided on the workstation 10, and the adsorption table is connected to a vacuum pump. After the chip 2000 is placed on the adsorption table, the vacuum pump extracts the air from the adsorption table so that the chip 2000 is adsorbed on the adsorption table. By providing a first connecting block 571, a first pressing plate 572, and a first elastic member 573 provided between the first connecting block 571 and the first pressing plate 572, the floating pressing of the chip 2000 by the first clamping jaw driving member 510 and the first clamping jaw is achieved, which ensures that the chip 2000 is not damaged and is more conducive to the first clamping jaw to smoothly grasp the chip 2000.

[0184] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 The chip grabbing mechanism 500 further includes a fourth guide rail 561 disposed on the mounting seat 530 and a fourth guide block 562 disposed on the fourth guide rail 561 , and a first connecting block 571 is disposed between the first clamp driving member 510 and the fourth guide block 562 .

[0185] The setting direction of the fourth guide rail 561 is the same as the third direction. After the first clamping jaw driving member 510 drives the first clamping jaw to contact the chip 2000, the first elastic member 573 provides elastic margin, and the first clamping jaw driving member 510 moves in the direction away from the chip 2000. The first clamping jaw driving member 510 drives the fourth guide block 562 to move on the fourth guide rail 561 through the first connecting block 571. The fourth guide block 562 cooperates with the fourth guide rail 561 to provide a guiding effect for the first clamping jaw driving member 510, thereby ensuring the movement accuracy of the first clamping jaw driving member 510. In addition, by setting the fourth guide block 562 and the fourth guide rail 561, it can be ensured that the first clamping jaw driving member 510, the first clamping jaw and the first connecting block 571 float in the third direction, and the fourth guide rail 561 is set on the mounting seat 530. The fourth guide rail 561 can provide a better support effect for the first clamping jaw driving member 510, the first clamping jaw and the first connecting block 571 through the fourth guide block 562.

[0186] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 The chip grabbing mechanism 500 also includes a second connecting block 591, a second pressing plate 592 and a second elastic member 593. The second connecting block 591 is arranged on the second clamping jaw driving member 540, the second pressing plate 592 is arranged on the mounting seat 530, and the second elastic member 593 is arranged between the second connecting block 591 and the second pressing plate 592.

[0187] Specifically, the first pressing plate 572 is disposed on one side of the mounting seat 530 , and the second pressing plate 592 is disposed on the other side of the mounting seat 530 .

[0188] The second elastic member 593 may include but is not limited to a spring, a spring, a rubber ring, and a rubber sheet.

[0189] The third direction movement mechanism 400 drives the mounting seat 530 to move in the third direction, and the mounting seat 530 drives the second clamping jaw driving member 540, the second connecting block 591, the second pressing plate 592 and the second elastic member 593 to move in the third direction at the same time. The second clamping jaw driving member 540, the second connecting block 591, the second pressing plate 592 and the second elastic member 593 are relatively stationary during the movement process. Then the second clamping jaw driving member 540 drives the second clamping jaw to contact the chip 2000, and the second elastic member 593 provides an elastic margin to realize the floating pressing of the second clamping jaw driving member 540 and the second clamping jaw on the chip 2000, thereby avoiding damage to the chip 2000.

[0190] In one embodiment, after the chip grabbing mechanism 500 places the chip 2000 on the workstation 10, the chip 2000 is adsorbed on the workstation 10 by vacuum adsorption. For example, an adsorption table is provided on the workstation 10, and the adsorption table is connected to a vacuum pump. After the chip 2000 is placed on the adsorption table, the vacuum pump extracts the air from the adsorption table so that the chip 2000 is adsorbed on the adsorption table. By providing a second connecting block 591, a second pressing plate 592, and a second elastic member 593 provided between the second connecting block 591 and the second pressing plate 592, the floating pressing of the chip 2000 by the second clamping jaw driving member 540 and the second clamping jaw is achieved, which ensures that the chip 2000 is not damaged and is more conducive to the second clamping jaw to smoothly grasp the chip 2000.

[0191] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 The chip grabbing mechanism 500 further includes a fifth guide rail 581 disposed on the other side of the mounting seat 530 and a fifth guide block 582 disposed on the fifth guide rail 581 , and a second connecting block 591 is disposed between the second clamping jaw driving member 540 and the fifth guide block 582 .

[0192] The setting direction of the fifth guide rail 581 is the same as the third direction. After the second clamping jaw driving member 540 drives the second clamping jaw to contact the chip 2000, the second elastic member 593 provides elastic margin, and the second clamping jaw driving member 540 moves in the direction away from the chip 2000. The second clamping jaw driving member 540 drives the fifth guide block 582 to move on the fifth guide rail 581 through the second connecting block 591. The fifth guide block 582 cooperates with the fifth guide rail 581 to provide a guiding effect for the second clamping jaw driving member 540, thereby ensuring the movement accuracy of the second clamping jaw driving member 540. In addition, by setting the fifth guide block 582 and the fifth guide rail 581, it can be ensured that the second clamping jaw driving member 540, the second clamping jaw and the second connecting block 591 float in the third direction, and the fifth guide rail 581 is set on the mounting seat 530. The fifth guide rail 581 can provide a better support effect for the second clamping jaw driving member 540, the second clamping jaw and the second connecting block 591 through the fifth guide block 582.

[0193] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 The chip transfer device 1000 further includes a rotating mechanism 600 connected to the third directional motion mechanism 400 , and the chip grabbing mechanism 500 is disposed on the rotating mechanism 600 .

[0194] Since the second direction motion mechanism 300 is connected to the first direction motion mechanism 200, the first direction motion mechanism 200 drives the second direction motion mechanism 300 to move in the first direction. Since the third direction motion mechanism 400 is connected to the second direction motion mechanism 300, the second direction motion mechanism 300 drives the third direction motion mechanism 400 to move in the first direction. Since the rotating mechanism 600 is connected to the third direction motion mechanism 400, the third direction motion mechanism 400 drives the rotating mechanism 600 to move in the first direction. Since the chip grabbing mechanism 500 is arranged on the rotating mechanism 600, the rotating mechanism 600 drives the chip grabbing mechanism 500 to move in the first direction. Since the third direction motion mechanism 400 is connected to the second direction motion mechanism 300, the second direction motion mechanism 300 drives the third direction motion mechanism 400 to move in the second direction. Since the rotating mechanism 600 is connected to the third direction motion mechanism 400, the third direction motion mechanism 400 drives the rotating mechanism 600 to move in the second direction. Since the chip grabbing mechanism 500 is arranged on the rotating mechanism 600, the rotating mechanism 600 drives the chip grabbing mechanism 500 to move in the second direction. Since the rotating mechanism 600 is disposed on the third-direction motion mechanism 400, the third-direction motion mechanism 400 drives the rotating mechanism 600 to move in the third direction, and since the chip grabbing mechanism 500 is disposed on the rotating mechanism 600, the rotating mechanism 600 drives the chip grabbing mechanism 500 to move in the third direction. Since the chip grabbing mechanism 500 is disposed on the rotating mechanism 600, the rotating mechanism 600 drives the chip grabbing mechanism 500 to rotate.

[0195] Under the movement of the first direction movement mechanism 200, the second direction movement mechanism 300, the third direction movement mechanism 400 and the rotating mechanism 600, the chip grasping mechanism 500 can be driven to move in the first direction, the second direction and the third direction, and the chip grasping mechanism 500 can be driven to rotate, so as to realize the multi-dimensional movement of the chip grasping mechanism 500, thereby realizing the chip grasping mechanism 500 grasping the chip 2000 at any workstation 10 and placing the chip 2000 at any other workstation 10. In addition, it can meet some scenarios, such as grasping the chip 2000 at a certain workstation 10 and placing the chip 2000 after rotating the direction of the chip 2000 at another workstation 10, or grasping the chip 2000 after rotating the direction of a certain workstation 10 and placing the chip 2000 at another workstation 10.

[0196] Furthermore, when the chip grabbing mechanism 500 adopts two sets of clamping mechanisms, the mounting seat 530 is arranged on the rotating mechanism 600. When the rotating mechanism 600 rotates, the rotating mechanism 600 drives the mounting seat 530 to rotate, and the mounting seat 530 drives the two sets of clamping mechanisms to rotate with it as the center, so that the two sets of clamping mechanisms are more flexible, and can further shorten the moving path, reduce the time of grabbing the chip 2000 and placing the chip 2000, and greatly improve the efficiency.

[0197] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 The rotating mechanism 600 includes a rotating driving member 610 and a connecting seat 620 . The rotating driving member 610 is connected to the third directional motion mechanism 400 . The connecting seat 620 is connected to the rotating driving member 610 . The chip grabbing mechanism 500 is disposed on the connecting seat 620 .

[0198] The rotating drive member 610 is connected to the third directional motion mechanism 400 . Specifically, the movable seat 422 is a square structure that penetrates from top to bottom, enclosing the rotating drive member 610 . The movable seat 422 provides support for the rotating drive member 610 and can provide a certain degree of protection for the rotating drive member 610 .

[0199] The rotary drive member 610 can rotate with the connection seat 620. If the rotary drive member 610 is a rotary motor, the output shaft of the rotary motor is connected to the connection seat 620, and when the rotary motor is working, the connection seat 620 is driven to rotate through the output shaft.

[0200] When the connection base 620 rotates, since the chip grabbing mechanism 500 is disposed on the connection base 620 , the connection base 620 drives the chip grabbing mechanism 500 to rotate.

[0201] Furthermore, when the chip grabbing mechanism 500 adopts two sets of clamping mechanisms, the mounting seat 530 is arranged on the connecting seat 620. When the rotating driving member 610 and the connecting seat 620 rotate, the connecting seat 620 drives the mounting seat 530 to rotate, and the mounting seat 530 drives the two sets of clamping mechanisms to rotate with it as the center, so that the two sets of clamping mechanisms are more flexible, and can further shorten the moving path, reduce the time of grabbing the chip 2000 and placing the chip 2000, and greatly improve the efficiency.

[0202] In some specific embodiments of the present invention, please refer to Figure 1 , Figure 6 and Figure 7 A driving gear 631 is disposed on the output shaft of the rotating driving member 610 , and the rotating mechanism 600 further includes a driven gear 632 meshing with the driving gear 631 and coaxially disposed with the connecting seat 620 .

[0203] When the rotating driving member 610 is working, the rotating driving member 610 drives the driven gear 632 to rotate through the driving gear 631. Since the connecting seat 620 is set on the driven gear 632, the driven gear 632 drives the connecting seat 620 to rotate. Since the chip grabbing mechanism 500 is set on the connecting seat 620, the connecting seat 620 drives the chip grabbing mechanism 500 to rotate.

[0204] In some specific embodiments of the present invention, the rotating mechanism 600 further includes a driving gear connected to the output shaft of the rotating driving member 610 , and a driven gear 632 meshing with the driving gear and coaxially arranged with the connecting seat 620 .

[0205] When the rotating driving member 610 is working, the rotating driving member 610 drives the driving gear to rotate. Since the driving gear and the driven gear 632 are meshed with each other, the driving gear drives the driven gear 632 to rotate. Since the connecting seat 620 is set on the driven gear 632, the driven gear 632 drives the connecting seat 620 to rotate. Since the chip grabbing mechanism 500 is set on the connecting seat 620, the connecting seat 620 drives the chip grabbing mechanism 500 to rotate.

[0206] Please refer to Figure 1 , Fig.11 and Fig.12 , a station layout device provided in an embodiment of the present invention cooperates with the chip transfer device 1000 described in any of the above embodiments. The station layout device includes at least one first station platform, on which at least one biochemical station 12, at least one photographing station 11, at least one loading station 13 and at least one cleaning station 15 are arranged, and the station layout device also includes at least one second station platform or warehouse body, on which at least one recovery station 14 is arranged.

[0207] The first work station can be provided with one, at least one biochemical position 12, at least one photographing position 11, at least one loading position 13 and at least one cleaning position 15 are all arranged on the first work station.

[0208] There may be multiple first workstations, and the number of the first workstations is consistent with the sum of the number of biochemical stations 12, photographing stations 11, loading stations 13, and cleaning stations 15. At least one biochemical station 12, at least one photographing station 11, at least one loading station 13, and at least one cleaning station 15 are respectively arranged on the first workstation. Alternatively, there may be multiple first workstations, and the sum of the number of the first workstations and the number of the biochemical stations 12, photographing stations 11, loading stations 13, and cleaning stations 15 are not consistent with each other, wherein some of the multiple workstations 10 are arranged on a single first workstation, and some of the single workstations 10 are arranged on a single first workstation.

[0209] The recovery position 14 can be arranged on the second work station. The second work station can be provided with one, and at least one recovery position 14 is arranged on the second work station. The second work station can be provided with multiple, and the number of the second work station and the recovery position 14 is consistent with each other, and the multiple recovery positions 14 are respectively arranged on the second work station. Or the second work station can be provided with multiple, and the number of the second work station and the recovery position 14 is not consistent with each other, wherein at least one recovery position 14 is arranged on a single second work station.

[0210] The recycling position 14 can be set on the warehouse body. The warehouse body can be provided with one, and the recycling position 14 is set on the warehouse body. The recycling position 14 is set on the warehouse body, and the chip grabbing mechanism 500 can grab the old chip 2000, move to the top of the warehouse body, release the old chip 2000, and discard the old chip 2000 into the warehouse body.

[0211] The first workstation may include a first contact station 710 and a first support foot 720 disposed below the first contact station 710; the first contact station 710 has a first table 711, and the first table 711 is used to place the chip 2000; the first support foot 720 provides support for the first contact station 710, and can raise the first contact station 710, so that when the chip transfer device 1000 needs to grab or place the chip 2000 on the first contact station 710, the stroke can be effectively shortened. Alternatively, the first workstation is only provided with the first contact station 710; the first contact station 710 has a first table 711, and the first table 711 is used to place the chip 2000.

[0212] The second workstation may include a second contact table and a second support foot disposed below the second contact table; the second contact table has a second table top, and the second table top is used to place the chip 2000; the second support foot provides support for the second contact table and can raise the second contact table, so that when the chip transfer device 1000 needs to grab or place the chip 2000 on the second contact table, the stroke can be effectively shortened. Alternatively, the second workstation is only provided with the second contact table; the second contact table has a second table top, and the second table top is used to place the chip 2000.

[0213] The bin body may include a cavity, and when the chip grabbing mechanism 500 discards the old chip 2000 , the old chip 2000 may fall into the cavity.

[0214] The first workstation and the second workstation can be independently arranged workstations, or can be integrally designed workstations.

[0215] In this embodiment, multiple chips 2000 can be placed in the loading position 13, such as three chips 2000, and the cleaning chip 2000 can be placed in the cleaning position 15. The chip grabbing mechanism 500 grabs the first chip 2000 at the loading position 13 and places it in the biochemical position 12, and the first chip 2000 performs a biochemical reaction in the biochemical position 12. After the biochemical reaction is completed, the chip grabbing mechanism 500 grabs the first chip 2000 at the biochemical position 12 and places it in the photographing position 11. The first chip 2000 performs sequencing photography at the photographing position 11. The chip grabbing mechanism 500 grabs the cleaning chip 2000 at the washing position 15 and places it in the biochemical position 12 to clean the components of the biochemical position 12 such as the liquid inlet and outlet. After the cleaning is completed, the chip grabbing mechanism 500 grabs the cleaning chip 2000 at the biochemical position 12 and places it in the cleaning position 15. The chip grabbing mechanism 500 grabs the second chip 2000 at the loading position 13 and places it in the biochemical position 12, where the second chip 2000 undergoes a biochemical reaction. Alternatively, the biochemical position 12 is not cleaned, and the chip grabbing mechanism 500 grabs the second chip 2000 at the loading position 13 and places it in the biochemical position 12, where the second chip 2000 undergoes a biochemical reaction. After the first chip 2000 at the photographing position 11 completes the sequencing and photographing, the chip grabbing mechanism 500 grabs the first chip 2000 at the photographing position 11 and places it in the recycling position 14. After the second chip 2000 at the biochemical position 12 completes the biochemical reaction, the chip grabbing mechanism 500 grabs the second chip 2000 at the biochemical position 12 and places it in the photographing position 11, where the second chip 2000 undergoes a sequencing and photographing at the photographing position 11. The chip grabbing mechanism 500 grabs the cleaning chip 2000 at the cleaning position 15 and places it in the biochemical position 12. After the cleaning is completed, the chip grabbing mechanism 500 grabs the cleaning chip 2000 at the biochemical position 12 and places it in the cleaning position 15. The chip grabbing mechanism 500 grabs the third chip 2000 at the loading position 13 and places it in the biochemical position 12, and the third chip 2000 undergoes a biochemical reaction at the biochemical position 12. Alternatively, the biochemical position 12 is not cleaned, and the chip grabbing mechanism 500 grabs the third chip 2000 at the loading position 13 and places it in the biochemical position 12, and the third chip 2000 undergoes a biochemical reaction at the biochemical position 12. After the second chip 2000 at the photographing position 11 completes the sequencing and photographing, the chip grabbing mechanism 500 grabs the second chip 2000 at the photographing position 11 and places it in the recycling position 14. After the third chip 2000 at the biochemical position 12 completes the biochemical reaction, the chip grabbing mechanism 500 grabs the third chip 2000 at the biochemical position 12 and places it at the photographing position 11. After the third chip 2000 at the photographing position 11 completes the sequencing photographing, the chip grabbing mechanism 500 grabs the third chip 2000 at the photographing position 11 and places it at the recycling position 14.During the sequencing process of multiple chips 2000, the chips 2000 are transferred between different workstations 10 by the chip grabbing mechanism 500, so that the orderly transfer of each chip 2000 can be achieved. Since multiple workstations 10 are provided, multiple chips 2000 and multiple workstations 10 can work simultaneously, such as one chip 2000 is performing a biochemical reaction while another chip 2000 is performing sequencing and taking pictures at the same time, thereby effectively improving the sequencing efficiency.

[0216] Among them, after the chip 2000 completes the biochemical reaction at the biochemical position 12 and is transferred to the photographing position 11 to complete the sequencing and photographing process, there may be a situation where the complete sequencing has not been completed, such as only 1-10 cycles of sequencing have been performed, and 11-20 cycles of sequencing are required. The chip grabbing mechanism 500 needs to grab the cleaned chip 2000 from the cleaning position 15 and transfer it to the biochemical position 12 for cleaning, and then transfer the chip 2000 from the photographing position 11 to the biochemical position 12. Or, the biochemical position 12 is not cleaned, the chip 2000 is transferred from the photographing position 11 to the biochemical position 12, and then the biochemical reaction is performed, and after the biochemical reaction is completed, it is transferred to the photographing position 11 for sequencing and photographing. After the chip 2000 completes the complete sequencing, the chip grabbing mechanism 500 transfers the chip 2000 from the photographing position 11 to the recycling position 14. After the chip 2000 is transferred from the biochemical position 12 to the photographing position 11 for the last time, the chip grabbing mechanism 500 grabs the cleaned chip 2000 from the cleaning position 15 and transfers it to the biochemical position 12 for cleaning, and grabs the next chip 2000 from the loading position 13 and transfers it to the biochemical position.

[0217] Furthermore, a plurality of biochemical positions 12 may be provided, so that a plurality of chips 2000 can perform biochemical reactions on each biochemical position 12. Specifically, for a chip 2000 that needs to perform a biochemical reaction, when a biochemical position 12 is in an idle state (the biochemical position 12 does not have a chip 2000 that is performing a biochemical reaction), if the biochemical position 12 has not performed a biochemical reaction before, the chip grabbing mechanism 500 transfers the chip 2000 that needs to perform a biochemical reaction to the biochemical position 12 in an idle state to perform a biochemical reaction. If the biochemical position 12 has performed a biochemical reaction before, the chip grabbing mechanism 500 transfers the cleaning chip 2000 from the cleaning position 15 to the biochemical position 12, and after cleaning is completed, the chip 2000 that needs to perform a biochemical reaction is transferred to the biochemical position 12 to perform a biochemical reaction. Alternatively, the biochemical position 12 is not cleaned, and the chip 2000 that needs to perform a biochemical reaction is transferred to the biochemical position 12 to perform a biochemical reaction. There may be multiple photographing positions 11, so that multiple chips 2000 can be sequenced and photographed at each photographing position 11. Specifically, for a chip 2000 that needs to be sequenced and photographed, when a photographing position 11 is in an idle state (no chip 2000 is being sequenced and photographed at the photographing position 11), the chip grabbing mechanism 500 transfers the chip 2000 that needs to be sequenced and photographed to the photographing position 11 in an idle state to perform sequencing and photographing. A plurality of cleaning chips 2000 may be placed on the cleaning position 15. Alternatively, a plurality of cleaning positions 15 are provided, and a cleaning chip 2000 is placed in each cleaning position 15, so that the chip grabbing mechanism 500 transfers each cleaning chip 2000 to the biochemical position 12 that needs to be cleaned. Specifically, for a biochemical position 12 that needs to be cleaned, when there is a cleaning chip 2000 on the cleaning position 15, the chip grabbing mechanism 500 transfers the cleaning chip 2000 to the biochemical position 12 that needs to be cleaned, so as to clean the biochemical position 12. Through the above implementation scheme, more biochemical positions 12, and / or more photographing positions 11, and / or more cleaning chips 2000 are set, so that more sequencing processes can be performed simultaneously, such as multiple biochemical reaction processes, and / or multiple sequencing photographing processes, and / or multiple cleaning processes, thereby further improving the sequencing efficiency.

[0218] In some specific embodiments of the present invention, please refer to Figure 1 and Fig.12 At least one emergency position 16 is also provided on the first workstation.

[0219] By setting the emergency position 16, in case of special circumstances, such as a problem with the chip 2000 performing a biochemical reaction in the biochemical position 12, which makes it impossible to perform the biochemical reaction smoothly, the chip 2000 can be transferred from the biochemical position 12 to the emergency position 16 through the chip grabbing mechanism 500. After troubleshooting, the chip 2000 can be transferred from the emergency position 16 to the biochemical position 12 through the chip grabbing mechanism 500, or the biochemical position 12 can be abandoned first, and after the sequencing of the batch of chips 2000 is completed, the biochemical position 12 can be troubleshooted.

[0220] In some specific embodiments of the present invention, please refer to Figure 1 and Fig.12 There are multiple biochemical positions 12, and each biochemical position 12 and the photographing position 11 are arranged in sequence from left to right or from right to left along the first straight line.

[0221] By providing a plurality of biochemical positions 12, the requirement of simultaneously performing biochemical reactions on a plurality of chips 2000 can be met, each position 10 can be fully utilized to avoid waste of resources, and efficiency can be effectively improved.

[0222] Exemplarily, there are four biochemical positions 12, and one photographing position 11, and the four biochemical positions 12 and the one photographing position 11 are arranged in a first straight line, and the four biochemical positions 12 are arranged from right to left, namely, biochemical position 12a, biochemical position 12b, biochemical position 12c, and biochemical position 12d, and the one photographing position 11 is located on one side of the biochemical position 12a. The chip grabbing mechanism 500 first transfers the four chips 2000 located at the loading position 13 to the biochemical position 12a, biochemical position 12b, biochemical position 12c, and biochemical position 12d in sequence. After the chip 2000 at the biochemical position 12a completes the biochemical reaction, the chip 2000 at the biochemical position 12a is transferred to the photographing position 11, and the biochemical position 12a is in an idle state. After the chip 2000 at the photographing position 11 completes the sequencing and photographing, the chip 2000 at the photographing position 11 is transferred to the recycling position 14, and after the chip 2000 at the biochemical position 12b completes the biochemical reaction, the chip 2000 at the biochemical position 12b is transferred to the photographing position 11, and the biochemical position 12b is in an idle state. After the chip 2000 at the photographing position 11 completes the sequencing and photographing, the chip 2000 at the photographing position 11 is transferred to the recycling position 14, and after the chip 2000 at the biochemical position 12c completes the biochemical reaction, the chip 2000 at the biochemical position 12c is transferred to the photographing position 11, and the biochemical position 12c is in an idle state. After the chip 2000 at the photographing position 11 is completed for sequencing and photographing, the chip 2000 at the photographing position 11 is transferred to the recycling position 14, and after the chip 2000 at the biochemical position 12d is completed for biochemical reaction, the chip 2000 at the biochemical position 12d is transferred to the photographing position 11, and the biochemical position 12d is in an idle state. After the chip 2000 at the photographing position 11 is completed for sequencing and photographing, the chip 2000 at the photographing position 11 is transferred to the recycling position 14. Finally, the sequencing of all the chips 2000 is completed. In this process, each station 10 can be fully utilized to avoid waste of resources and effectively improve efficiency. Among them, if the chip 2000 at the photographing position 11 has completed the sequencing and photographing, but the chip 2000 has not completed the complete sequencing, and one of the biochemical positions 12a, 12b, 12c, and 12d is in an idle state, then the chip 2000 at the photographing position 11 is transferred to the biochemical position 12 after cleaning, and then the biochemical reaction is continued, and after the biochemical reaction is completed, it is transferred to the photographing position 11 for sequencing and photographing. Alternatively, the biochemical position 12 is not cleaned, and the chip 2000 at the photographing position 11 is transferred to the biochemical position 12, and then the biochemical reaction is continued, and after the biochemical reaction is completed, it is transferred to the photographing position 11 for sequencing and photographing. If the chip 2000 at the photographing position 11 has completed the sequencing and photographing, the chip 200 has completed the complete sequencing, and the chip grabbing mechanism 500 transfers the chip 2000 from the photographing position 11 to the recycling position 14.

[0223] Since the chip 2000 usually needs to be sequenced and photographed after the biochemical reaction, the biochemical position 12 and the photographing position 11 are arranged in the first straight line, which can effectively shorten the moving path of the chip grabbing mechanism 500. In addition, the photographing position 11 is arranged at the edge of the first straight line. Compared with the photographing position 11 being arranged in the middle of the first straight line, it can avoid that the chip grabbing mechanism 500 needs to move to the biochemical position 12 at the edge to grab the chip 2000, and then move to the photographing position 11 in the middle to place the chip 2000, which can further shorten the moving path of the chip grabbing mechanism 500, and is helpful for the layout of the biochemical system for performing biochemical reactions on the chip 2000, and the layout of the imaging system for performing sequencing and photographing on the chip 2000. In summary, the biochemical position 12 and the photographing position 11 are arranged in a first straight line, and the photographing position 11 is set at the edge of the first straight line. The layout of the workstation 10 is more reasonable, which can shorten the moving path of the chip grabbing mechanism 500 and save the transfer time of the chip 2000, and is helpful for the layout of peripheral systems such as the biochemical system and the imaging system.

[0224] In some specific embodiments of the present invention, please refer to Figure 1 and Fig.12 The loading position 13 and the recovery position 14 are arranged in a second straight line, the cleaning position 15 and the emergency position 16 are arranged in a third straight line, the second straight line and the third straight line are separated on both sides of the first straight line, and the loading position 13 and the recovery position 14 are set at a position close to the door of the sequencing system.

[0225] It should be noted that although Figure 1 and Figure 3 The rack 100 shown is through-connected on all sides. In actual scenarios, a hood will be set around the rack 100 to prevent the external environment from affecting the internal environment. Exemplarily, a door that can be opened and closed automatically or manually is provided on the hood. After the door is opened, new chips 2000 can be added to the loading position 13, and old chips 2000 can be recycled at the recycling position 14. Therefore, the loading position 13 and the recycling position 14 are set near the door, which is helpful for adding chips 2000 and recycling chips 2000.

[0226] The loading position 13 and the recycling position 14 are arranged in a second straight line, and the cleaning position 15 and the emergency position 16 are arranged in a third straight line. The second straight line and the third straight line are separated on both sides of the first straight line. Compared with setting all the workstations 10 in a straight line, it can save the occupied space of the workstations 10 and avoid the whole machine from being too large. Usually, the surroundings of the loading position 13, the recycling position 14, the cleaning position 15 and the emergency position 16 do not need to be arranged with a peripheral system, but the surroundings of the biochemical position 12 and the photographing position 11 need to be arranged with a peripheral system. In this case, the biochemical system can be arranged on one side or both sides of the biochemical position 12, and the imaging system can be arranged on one side or both sides of the photographing position 11. The layout of the workstations 10 is more reasonable and can make full use of the space of the internal environment.

[0227] Furthermore, when the chip grabbing mechanism 500 adopts two sets of clamping mechanisms, the loading position 13 and the recovery position 14, the cleaning position 15 and the emergency position 16 are separated on both sides of the biochemical position 12 and the photographing position 11. After the chip grabbing mechanism 500 grabs the chip 2000 at the biochemical position 12 or the photographing position 11, it only moves in a certain dimension such as the first direction, and can grab the chip 2000 at the loading position 13, the recovery position 14, the cleaning position 15 or the emergency position 16. When a rotating mechanism 600 is also provided, the movement of the chip grabbing mechanism 500 can be more flexible. For example, after the chip grabbing mechanism 500 grabs the chip 2000 at the biochemical position 12 or the photographing position 11, if another set of clamping mechanisms is located on the second straight line where the loading position 13 and the recovery position 14 are located, but needs to be moved to the cleaning position 15 to grab the cleaning chip 2000, the rotating mechanism 600 only needs to drive the chip grabbing mechanism 500 to rotate 180°, and then move in a certain dimension such as the first direction, so that the cleaning chip 2000 can be grabbed at the cleaning position 15.

[0228] In this embodiment, since the emergency position 16 can be used in fewer cases, the emergency position 16 is farther away from the biochemical position 12 and the photographing position 11 than the cleaning position 15. It can be understood that the emergency position 16 is located in the corner of all workstations 10. This arrangement helps the chip grasping mechanism 500 to grasp and place the cleaning chip 2000 at the cleaning position 15, and can further shorten the moving path of the chip grasping mechanism 500.

[0229] An embodiment of the present invention provides a sequencing system, including the chip transfer device 1000 described in any one of the above embodiments, or including the workstation layout device described in any one of the above embodiments.

[0230] The sequencing system may be a sequencer, which includes a control device, a liquid path mechanism and an optical mechanism. Under the control of the control device, the liquid path mechanism can pass DNA or RNA samples and biochemical reagents into the chip 2000, and the optical mechanism can take photos and images of the chip 2000. The control device performs sequencing according to the obtained photos to obtain sequencing results. Alternatively, the sequencing system may be an integral system combining a sequencer and a server, and the sequencer includes a control device, a communication device, a liquid path mechanism and an optical mechanism. Under the control of the control device, the liquid path mechanism can pass DNA or RNA samples and biochemical reagents into the chip 2000, and the optical mechanism can take photos and images of the chip 2000. The control device performs sequencing according to the obtained photos to obtain sequencing results. The control device then controls the communication device to send the sequencing data to the server, and the server stores and / or processes the sequencing data.

[0231] In the chip transfer device 1000 provided in the embodiment of the present invention, the movement of the first direction movement mechanism 200, the second direction movement mechanism 300 and the third direction movement mechanism 400 can drive the chip grasping mechanism 500 to move in the first direction, the second direction and the third direction, thereby realizing the three-dimensional movement of the chip grasping mechanism 500. The chip grasping mechanism 500 can grasp the chip 2000 at any station 10 and place the chip 2000 at any other station 10, thereby realizing multi-chip 2000 sequencing at multiple stations 10, which can effectively improve the sequencing efficiency.

[0232] In the workstation layout device provided in the embodiment of the present invention, the workstation layout device cooperates with the chip transfer device 1000. During the sequencing process of multiple chips 2000, the chips 2000 are transferred between different workstations 10 by the chip grabbing mechanism 500, so that the orderly transfer of each chip 2000 can be achieved. Since multiple workstations 10 are provided, multiple chips 2000 and multiple workstations 10 can work simultaneously, such as one chip 2000 performs biochemical reaction while another chip 2000 performs sequencing and photography at the same time, thereby effectively improving the sequencing efficiency.

[0233] Please refer to Fig.13 A chip transfer method provided in an embodiment of the present invention is used for a chip transfer device of any of the above-mentioned embodiments, and the chip transfer method includes the following steps: S1, the chip transfer device transfers the chip located at the loading position to the biochemical position; S2, after the chip completes the biochemical reaction, the chip transfer device transfers the chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position; S3, after the cleaning chip completes the station cleaning, the chip transfer device transfers the cleaning chip located at the biochemical position to the cleaning position, and after the chip completes sequencing and photographing, the chip transfer device transfers the chip located at the photographing position to the recovery position.

[0234] In this embodiment, after the chip 2000 is placed in the loading position 13 and the cleaning chip 2000 is placed in the cleaning position 15, the chip transfer device 1000 transfers the chip 2000 located in the loading position 13 to the biochemical position 12, and the chip 2000 performs a biochemical reaction in the biochemical position 12. After the biochemical reaction is completed, the chip transfer device 1000 transfers the chip 2000 located in the biochemical position 12 to the photographing position 11, and the chip 2000 performs sequencing and photographing in the photographing position 11. At this time, the biochemical position 12 is in an idle state, and the chip transfer device 1000 transfers the cleaning chip 2000 located in the cleaning position 15 to the biochemical position 12 to clean the components of the biochemical position 12 such as the liquid inlet and outlet. After the cleaning chip 2000 completes the station cleaning, the chip transfer device 1000 transfers the cleaning chip 2000 located in the biochemical position 12 to the cleaning position 15. After the chip 2000 completes the sequencing and photographing, the chip transfer device 1000 transfers the chip 2000 located at the photographing position 11 to the recycling position 14 .

[0235] In some specific embodiments of the present invention, after the chip completes sequencing and photographing, the chip transfer device transfers the chip located at the photographing position to the recovery position, including the following steps: S32, after the chip completes sequencing and photographing and the cleaning chip located at the biochemical position has been transferred to the cleaning position, the chip transfer device transfers the chip located at the photographing position to the biochemical position; S34, after the chip completes the biochemical reaction, the chip transfer device transfers the chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position; S36, repeat S32 and S34 until the chip completes the last round of sequencing and photographing, and the chip transfer device transfers the chip located at the photographing position to the recovery position.

[0236] In this embodiment, after the chip 2000 completes a biochemical reaction at the biochemical position 12 and is transferred to the photographing position 11 to complete the sequencing and photographing process, it may not be completely sequenced. For example, only 1 cycle to 10 cycle sequencing has been performed, and 11 cycle to 20 cycle sequencing is required. In this case, after the chip 2000 completes the sequencing and photographing, the chip transfer device 1000 does not transfer the chip 2000 at the photographing position 11 to the recovery position 14. Instead, after determining that the cleaning chip 2000 at the biochemical position 12 has been transferred to the cleaning position 15, the chip 2000 at the photographing position 11 is transferred to the biochemical position 12. Then, the process of completing the biochemical position 12 at the biochemical position 12 and completing the sequencing and photographing at the photographing position 11 is repeated. After each biochemical reaction at the biochemical position 12 is completed, the chip transfer device 1000 transfers the cleaning chip 2000 to the biochemical position 12 to clean the biochemical position 12. Until the chip 2000 completes the last round of sequencing photography, the chip transfer device 1000 transfers the chip 2000 located at the photography position 11 to the recycling position 14 .

[0237] In some specific embodiments of the present invention, there are multiple chips 2000, or there are multiple chips 2000 and there are multiple biochemical positions 12, and the chip transfer method also includes the following steps: S42, when the biochemical position is in an idle state, the chip transfer device transfers the next chip located at the loading position to the biochemical position; S44, when the next chip completes the biochemical reaction and the photographing position is in an idle state, the chip transfer device transfers the next chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position; S46, after the next chip completes sequencing and photographing, the chip transfer device transfers the next chip located at the photographing position to the recovery position; S48, repeat S42, S44 and S46 until all chips are transferred to the recovery position.

[0238] There are multiple chips 2000 and one biochemical position 12. For example, after the chip transfer device 1000 transfers the current chip 2000 from the biochemical position 12 to the photographing position 11, the biochemical position 12 is in an idle state, and the chip transfer device 1000 then transfers the next chip 2000 located at the loading position 13 to the biochemical position 12, so that the next chip 2000 can perform a biochemical reaction at the biochemical position 12. After the chip transfer device 1000 transfers the current chip 2000 from the photographing position 11 to the recycling position 14, the photographing position 11 is in an idle state, and after the next chip 2000 completes the biochemical reaction, the chip transfer device 1000 transfers the next chip 2000 from the biochemical position 12 to the photographing position 11, so that the next chip 2000 can be sequenced and photographed at the photographing position 11. At this time, the biochemical position 12 is in an idle state, and the chip transfer device 1000 transfers the cleaning chip 2000 located at the cleaning position 15 to the biochemical position 12 to perform station cleaning on the biochemical position 12. After the next chip 2000 completes the sequencing and photographing, the chip transfer device 1000 transfers the next chip 2000 located at the photographing position 11 to the recycling position 14. Repeat the above steps until all chips 2000 are transferred to the recycling position 14.

[0239] Alternatively, there are multiple chips 2000 and multiple biochemical positions 12. To give an achievable example, after the chip transfer device 1000 transfers a chip 2000, such as the first chip 2000, from the biochemical position 12 to the photographing position 11, when a biochemical position 12 is idle, the chip transfer device 1000 transfers a chip 2000, such as the second chip 2000, from the loading position 13 to the biochemical position 12, so that the second chip 2000 performs a biochemical reaction at the biochemical position 12. At this time, since there are multiple biochemical positions 12, there are still biochemical positions 12 that are idle, and the chip transfer device 1000 transfers a chip 2000, such as the third chip 2000, from the loading position 13 to the biochemical position 12, so that the third chip 2000 performs a biochemical reaction at the biochemical position 12. After the chip transfer device 1000 transfers the first chip 2000 from the photographing position 11 to the recycling position 14, the photographing position 11 is in an idle state, and after the second chip 2000 completes the biochemical reaction, the chip transfer device 1000 transfers the second chip 2000 from the biochemical position 12 to the photographing position 11, so that the second chip 2000 is sequenced and photographed at the photographing position 11. After the second chip 2000 completes the sequencing and photographing, the chip transfer device 1000 transfers the second chip 2000 from the photographing position 11 to the recycling position 14, and the photographing position 11 is in an idle state. If the third chip 2000 completes the biochemical reaction at this time, the chip transfer device 1000 transfers the third chip 2000 from the biochemical position 12 to the photographing position 11, so that the third chip 2000 is sequenced and photographed at the photographing position 11. After the third chip 2000 completes the sequencing and photographing, the chip transfer device 1000 transfers the third chip 2000 from the photographing position 11 to the recycling position 14. If there are more chips 2000, such as the fourth chip 2000, the fifth chip 2000, etc., after the biochemical position 12 is idle and has been cleaned, the chip transfer device 1000 transfers the chip 2000 to the biochemical position 12. After the photographing position 11 is idle, the chip transfer device 1000 transfers the chip 2000 that has completed the biochemical reaction to the photographing position 11. After the chip 2000 completes sequencing and photographing, the chip transfer device 1000 transfers the chip 2000 that has completed sequencing and photographing to the recycling position 14. This is repeated until all chips 2000 are transferred to the recycling position 14.

[0240] Furthermore, if the chip 2000 that has completed the sequencing and photographing at the photographing position 11 has not yet completed the complete sequencing, the chip transfer device 1000 can transfer the chip 2000 from the photographing position 11 to the biochemical position 12 after the biochemical position 12 is in an idle state and has been cleaned, so that the chip 2000 can continue to perform a biochemical reaction. After the photographing position 11 is in an idle state and the chip 2000 has completed the biochemical reaction, the chip transfer device 1000 transfers the chip 2000 from the biochemical position 12 to the photographing position 11. Until the chip 2000 completes the last round of sequencing and photographing, the chip transfer device 1000 transfers the chip 2000 located at the photographing position 11 to the recycling position 14.

[0241] In some specific embodiments of the present invention, the chip grabbing mechanism 500 is provided with two sets of grabbing mechanisms, through which the chips 2000 and / or cleaning chips 2000 can be grabbed successively, and the chips 2000 and / or cleaning chips 2000 can be placed successively.

[0242] One set of the two sets of gripping mechanisms can be set on one side of the mounting base 530 described in any of the above-mentioned embodiments, including a first clamping jaw driving member 510, a first clamping jaw, a first connecting block 571, a first pressing plate 572, a first elastic member 573, a fourth guide rail 561, and a fourth guide block 562; the other set of the two sets of gripping mechanisms can be set on the other side of the mounting base 530, including a second clamping jaw driving member 540, a second clamping jaw, a second connecting block 591, a second pressing plate 592, a second elastic member 593, a fifth guide rail 581, and a fifth guide block 582.

[0243] In this embodiment, two sets of grasping mechanisms can successively grasp the chip 2000 and / or clean the chip 2000. After the chip transfer device 1000 moves, the two sets of grasping mechanisms can successively place the chip 2000 and / or clean the chip 2000, thereby shortening the moving path of the chip grasping mechanism 500, reducing the time for grasping and placing the chip 2000 and / or cleaning the chip 2000, and greatly improving efficiency.

[0244] In some specific embodiments of the present invention, the chip transfer device 1000 also includes a rotating mechanism 600 arranged between two sets of grasping mechanisms. After the two sets of grasping mechanisms successively grasp the chip 2000 and / or the cleaning chip 2000, the rotating mechanism 600 can drive the two sets of grasping mechanisms to rotate with the rotating mechanism 600 as the rotation center to achieve the replacement of the position of the chip 2000 and / or the cleaning chip 2000.

[0245] The rotating mechanism 600 may be the same as the rotating mechanism 600 described in any of the above embodiments, including a rotating driving member 610 , a connecting seat 620 , a driving gear 631 and a driven gear 632 , or including a rotating driving member 610 , a connecting seat 620 , a driving gear and a driven gear 632 .

[0246] In this embodiment, the rotating mechanism 600 can drive the two sets of grasping mechanisms to rotate, and the two sets of grasping mechanisms drive the grasped chips 2000 and / or cleaning chips 2000 to rotate, thereby making the two sets of grasping mechanisms more flexible, further shortening the moving path, reducing the time for grasping and placing chips 2000 and / or cleaning chips 2000, and greatly improving efficiency.

[0247] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "certain examples", "specific examples" or "embodiments" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0248] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A chip transfer device, characterized in that: For use in a sequencing system, the chip transfer device comprises: frame; A first direction movement mechanism disposed on the frame; A second direction movement mechanism connected to the first direction movement mechanism; a third directional motion mechanism connected to the second directional motion mechanism; and A chip grabbing mechanism disposed on the third directional motion mechanism; The first direction motion mechanism, the second direction motion mechanism and the third direction motion mechanism drive the chip grabbing mechanism to move to achieve three-dimensional motion, so that the chip grabbing mechanism can grab the chip at any station and place the chip at another station.

2. The chip transfer device according to claim 1, characterized in that: The first direction movement mechanism comprises: A first driving member disposed on the frame; a synchronous belt assembly connected to the first driving member; and A moving plate that moves under the drive of the synchronous belt assembly, wherein the second direction movement mechanism is arranged on the moving plate; Optionally, the synchronous belt assembly includes a first synchronous wheel, a second synchronous wheel and a synchronous belt wound around the first synchronous wheel and the second synchronous wheel, and the movable plate is arranged on the synchronous belt; Optionally, the movable plate is provided with a first tooth portion, and the synchronous belt is provided with a second tooth portion matched and connected with the first tooth portion; Optionally, the first direction movement mechanism further includes first guide rails fixedly arranged on opposite sides of the frame and first guide blocks arranged on the first guide rails, and one end of the movable plate is connected to the first guide block on one side of the frame, and the other end is connected to the first guide block on the other side of the frame.

3. The chip transfer device according to claim 1 or 2, characterized in that: The second direction movement mechanism comprises: A second driving member connected to the first direction movement mechanism; and a first connecting assembly connected to the second driving member, wherein the third directional motion mechanism is arranged on the first connecting assembly; Optionally, the first connection component comprises: A first connecting plate provided on the first direction movement mechanism and connected to the second driving member; and A fixing plate disposed on the first direction movement mechanism and fixedly connected to the first connecting plate, wherein the third direction movement mechanism is disposed on the fixing plate; Optionally, the second direction movement mechanism further comprises a first screw connected to the output shaft of the second driving member, the surface of the first screw is provided with threads, the first connecting plate is provided with a threaded hole matching the first screw, the first screw passes through the threaded hole, and the threads are threadedly connected to the threaded hole; Optionally, the second-direction movement mechanism further includes a second guide rail arranged on the first-direction movement mechanism and a second guide block arranged on the second guide rail, and the fixing plate is arranged on the second guide block.

4. The chip transfer device according to any one of claims 1 to 3, characterized in that: The third directional motion mechanism comprises: a third driving member connected to the second direction movement mechanism; and a second connecting component connected to the third driving member, the chip grabbing mechanism being arranged on the second connecting component; Optionally, the second connection component comprises: a second connecting plate connected to the third driving member; and A movable seat fixedly connected to the second connecting plate, wherein the chip grabbing mechanism is arranged on the movable seat; Optionally, the second connecting assembly further comprises a second screw connected to the output shaft of the third driving member, the surface of the second screw is provided with threads, the second connecting plate is provided with a threaded hole matching the second screw, the second screw passes through the threaded hole, and the threads are threadedly connected to the threaded hole; Optionally, the third direction movement mechanism further includes a third guide rail arranged on the second direction movement mechanism and a third guide block arranged on the third guide rail, and the movable seat is arranged on the third guide block.

5. The chip transfer device according to any one of claims 1 to 4, characterized in that: The chip grabbing mechanism comprises: A first clamping jaw driving member connected to the third directional motion mechanism; and A first clamp connected to the first clamp driving member, the first clamp comprising a first clamp member and a second clamp member that are oppositely arranged, and under the driving of the first clamp driving member, the first clamp member and the second clamp member move closer to or farther from each other to grasp or place the chip; Optionally, the first clamping jaw member and the second clamping jaw member are both provided with a first positioning pin, and when the first clamping jaw member and the second clamping jaw member are close to or away from each other, the first positioning pin contacts or moves away from the positioning groove of the chip; Optionally, the chip grabbing mechanism further comprises: A mounting seat connected to the third directional motion mechanism, wherein the first clamping jaw driving member is arranged on the mounting seat; A second jaw driving member disposed on the mounting seat; and A second clamp connected to the second clamp driving member, the second clamp comprising a third clamp member and a fourth clamp member that are arranged opposite to each other, and under the driving of the second clamp driving member, the third clamp member and the fourth clamp member move closer to or farther from each other to grasp or place the chip; Optionally, the third clamping jaw member and the fourth clamping jaw member are both provided with a second positioning pin, and when the third clamping jaw member and the fourth clamping jaw member are moved closer to or farther away from each other, the second positioning pin contacts or disengages from the positioning groove of the chip; Optionally, the chip grabbing mechanism further comprises: A first connecting block disposed on the first jaw driving member; A first pressing plate disposed on the mounting seat; and a first elastic member disposed between the first connecting block and the first pressing plate; Optionally, the chip grabbing mechanism further comprises a fourth guide rail disposed on the mounting seat and a fourth guide block disposed on the fourth guide rail, and the first connecting block is disposed between the first clamping jaw driving member and the fourth guide block; Optionally, the chip grabbing mechanism further comprises: a second connecting block disposed on the second jaw driving member; A second pressing plate disposed on the mounting seat; and a second elastic member disposed between the second connecting block and the second pressing plate; Optionally, the chip grabbing mechanism further comprises a fifth guide rail disposed on the other side of the mounting seat and a fifth guide block disposed on the fifth guide rail, and the second connecting block is disposed between the second clamping jaw driving member and the fifth guide block; Optionally, the chip transfer device further comprises a rotating mechanism connected to the third directional motion mechanism, and the chip grabbing mechanism is arranged on the rotating mechanism; Optionally, the rotating mechanism comprises: a rotary drive member connected to the third directional motion mechanism; and A connection seat connected to the rotary drive member, the chip grabbing mechanism being arranged on the connection seat; Optionally, the output shaft of the rotary drive member is provided with driving gear teeth, and the rotary mechanism further comprises a driven gear meshing with the driving gear teeth and coaxially arranged with the connecting seat; Optionally, the rotating mechanism further comprises a driving gear connected to the output shaft of the rotating drive member, and a driven gear meshing with the driving gear and coaxially arranged with the connecting seat.

6. A workstation layout device, characterized in that: In conjunction with the chip transfer device described in any one of claims 1 to 5, the work station layout device includes at least one first work station, on which at least one biochemical position, at least one photographing position, at least one loading position and at least one cleaning position are arranged, and the work station layout device also includes at least one second work station or warehouse body, on which at least one recovery position is arranged.

7. The workstation layout device according to claim 6, characterized in that: There are multiple biochemical positions, and the biochemical positions and the photographing positions are arranged in sequence from left to right or from right to left along the first straight line; Optionally, at least one emergency position is further provided on the first workstation; Optionally, the loading position and the recovery position are arranged in a second straight line, the cleaning position and the emergency position are arranged in a third straight line, the second straight line and the third straight line are separated on both sides of the first straight line, and the loading position and the recovery position are set at a position close to the door of the sequencing system.

8. A sequencing system, characterized in that: It comprises the chip transfer device according to any one of claims 1 to 5, or comprises the workstation layout device according to claim 6 or 7.

9. A chip transfer method, characterized in that: For use in the chip transfer device according to any one of claims 1 to 5, the chip transfer method comprises the following steps: S1, the chip transfer device transfers the chip located at the loading position to the biochemical position; S2, after the biochemical reaction is completed on the chip, the chip transfer device transfers the chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position; S3. After the cleaning chip completes the cleaning at the station, the chip transfer device transfers the cleaning chip located at the biochemical station to the cleaning station, and after the chip completes sequencing and photographing, the chip transfer device transfers the chip located at the photographing station to the recovery station.

10. The chip transfer method according to claim 9, characterized in that: After the chip completes sequencing and photographing, the chip transfer device transfers the chip located at the photographing position to the recycling position, including the following steps: S32, after the chip has completed sequencing and photographing and the cleaning chip located at the biochemical position has been transferred to the cleaning position, the chip transfer device transfers the chip located at the photographing position to the biochemical position; S34, after the biochemical reaction on the chip is completed, the chip transfer device transfers the chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position; S36, repeating S32 and S34 until the chip completes the last round of sequencing photography, and the chip transfer device transfers the chip located at the photography position to the recovery position; Optionally, the chip is provided in plurality, or the chip is provided in plurality and the biochemical position is provided in plurality, and the chip transfer method further comprises the following steps: S42, when the biochemical position is in an idle state, the chip transfer device transfers the next chip located at the loading position to the biochemical position; S44, when the next chip completes the biochemical reaction and the photographing position is in an idle state, the chip transfer device transfers the next chip located at the biochemical position to the photographing position, and transfers the cleaning chip located at the cleaning position to the biochemical position; S46, after the next chip completes sequencing and photographing, the chip transfer device transfers the next chip located at the photographing position to the recycling position; S48, repeat S42, S44 and S46 until all chips are transferred to the recycling position; Optionally, the chip grabbing mechanism is provided with two sets of grabbing mechanisms, through which the chips and / or cleaning chips can be grabbed successively, and the chips and / or cleaning chips can be placed successively; Optionally, the chip transfer device also includes a rotating mechanism arranged between the two sets of grasping mechanisms. After the two sets of grasping mechanisms successively grasp the chip and / or the cleaning chip, the rotating mechanism can drive the two sets of grasping mechanisms to rotate with the rotating mechanism as the rotation center to achieve the exchange of the position of the chip and / or the cleaning chip.

Images