Device and method for detecting pesticide residues by enzyme inhibition ratio method

Abstract

The invention belongs to the technical field of inspection and detection, and discloses an enzyme inhibition ratio method pesticide residue detection device and method.The enzyme inhibition ratio method pesticide residue detection device comprises a first end effector, a second end effector and a third end effector, the first end effector comprises a liquid adding actuator, a centrifugal tube rotating gripper and a test tube gripper; the first truss manipulator is connected with the first end effector; the second end effector comprises a pipette and a cuvette gripper; the second truss manipulator is connected with the second end effector; the spectrophotometer is arranged in the moving range of the second end effector; the visual identification assembly and the oscillator are arranged in the moving range of the first end effector; and the constant-temperature shaking-up instrument is arranged in the moving range of the first end effector and the second end effector. The truss manipulator is used as a carrier and is automatically connected with instruments and equipment such as the oscillator, the constant-temperature shake-up instrument and the spectrophotometer, so that the automatic transfer operation in the whole enzyme inhibition rate pesticide residue detection process is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of inspection and detection, and specifically relates to a device and method for detecting pesticide residues using an enzyme inhibition rate method. Background Art

[0002] GB / T 5009.199-2003 Rapid Detection of Organophosphorus and Carbamate Pesticide Residues in Vegetables specifies a rapid test method for determining organophosphorus and carbamate pesticide residues in vegetables using enzyme inhibition. Under certain conditions, organophosphorus and carbamate pesticides inhibit the normal function of cholinesterase, and the inhibition rate is positively correlated with the concentration of the pesticide. Under normal circumstances, the enzyme catalyzes the hydrolysis of the neurotransmitter (acetylcholine), and its hydrolysis product reacts with the color developer to produce a yellow substance. The change in absorbance over time is measured at 412nm using a spectrophotometer, and the inhibition rate is calculated. The inhibition rate can be used to determine whether there is a high dose of organophosphorus or carbamate pesticides in the sample.

[0003] At present, the rapid detection technology of pesticide residues is mainly concentrated in the research and development of detection technology, such as the use of colloidal gold method, microfluidic control technology, etc. for pesticide residue detection; the enzyme inhibition rate method has the unique advantages of low detection cost and relatively simple experimental operation process, and is currently the most widely used rapid detection method for pesticide residues.

[0004] The optimization of enzyme inhibition rate mainly focuses on the optimization of environmental conditions, which effectively improves the sensitivity and accuracy of the enzyme inhibition rate method. However, the processes of adding liquid, oscillating, standing, pipetting, shaking, standing at a constant temperature, adding substrate, shaking, etc. in the sample pretreatment process are all performed manually. The time control of the detection process is controlled by a timer or stopwatch, and the time and speed of personnel actions cannot be unified. As a result, both the sample solution and the detection solution cannot complete the detection steps within the optimal time window. Human factors cause certain differences in the consistency of the test results. Summary of the invention

[0005] The present invention aims to solve the above technical problems at least to a certain extent. To this end, the present invention aims to provide a device and method for detecting pesticide residues by enzyme inhibition rate method.

[0006] The technical solution adopted by the present invention is:

[0007] An enzyme inhibition rate method pesticide residue detection device, comprising:

[0008] A first end effector, the first end effector comprising a liquid adding actuator, a centrifuge tube rotating gripper and a test tube gripper;

[0009] A first truss manipulator is connected to the first end effector and is used to realize the movement of the first end effector in three directions of X-axis, Y-axis and Z-axis;

[0010] a second end effector, the second end effector comprising a pipette and a cuvette gripper;

[0011] The second truss manipulator is connected to the second end effector and is used to realize the movement of the first end effector in three directions of X axis, Y axis and Z axis;

[0012] The spectrophotometer is disposed within the movement range of the second end effector;

[0013] The visual recognition component and the oscillator are arranged within the moving range of the first end effector;

[0014] The constant temperature shaker is arranged within the moving range of the first end effector and the second end effector.

[0015] Preferably, the enzyme inhibition rate method pesticide residue detection device also includes:

[0016] Test tube loading tray for storing unused test tubes;

[0017] Test tube offline tray, used to store used cuvettes;

[0018] Cuvette on-line tray for storing unused cuvettes;

[0019] Cuvette offline tray, used to store used cuvettes;

[0020] A centrifuge tube assembly for a sample to be tested, the centrifuge tube assembly for a sample to be tested comprises a plurality of centrifuge tubes;

[0021] Tip box for storing unused pipette tips.

[0022] Preferably, the test tube upper line tray, the test tube lower line tray and the centrifuge tube assembly of the sample to be tested are arranged within the moving range of the first end effector. The cuvette upper line tray and the cuvette lower line tray are arranged within the moving range of the second end effector.

[0023] Preferably, the pipette gun is provided with a pipette tip, and the pipette tip absorbs the sample liquid through vacuum negative pressure.

[0024] Preferably, the centrifuge tube rotating gripper comprises a rotating mechanism and a clamping mechanism connected to the rotating mechanism, and the clamping mechanism is used to clamp and grab the centrifuge tube for transportation or, when the centrifuge tube is clamped, clamp the centrifuge tube cover to complete opening or closing the centrifuge tube.

[0025] A detection method using the above-mentioned enzyme inhibition rate method pesticide residue detection device comprises:

[0026] The first truss manipulator drives the centrifuge tube rotating gripper on the first end effector to grab the centrifuge tube in the centrifuge tube assembly of the sample to be tested and place it on the visual recognition assembly for visual recognition;

[0027] The centrifuge tube rotary gripper screws on the cap to open the centrifuge tube, and the liquid adding actuator completes the addition of the extract in the centrifuge tube. After the centrifuge tube rotary gripper closes the cap, the centrifuge tube is placed on the oscillator for oscillation. After the oscillation is completed, the centrifuge tube is allowed to stand. After the standing time is up, the centrifuge tube rotary gripper opens the cap;

[0028] The first truss manipulator drives the test tube gripper on the first end effector to grab the test tube on the test tube online tray and place it in the constant temperature shaker;

[0029] The second truss manipulator drives the pipette on the second end effector to transfer the sample solution in the centrifuge tube to the test tube on the constant temperature shaker;

[0030] The constant temperature shaker shakes the test tube at a constant temperature, and the liquid adding actuator on the first end effector adds liquid to the test tube. After the sample solution in the test tube is mixed, it is kept still at a constant temperature on the constant temperature shaker, and then the substrate is added by the liquid adding actuator;

[0031] The cuvette gripper on the second end effector grabs the cuvette from the cuvette loading tray; the pipette pipettes the sample solution from the test tube on the constant temperature shaker into the cuvette; the cuvette gripper loads the cuvette containing the test solution into the spectrophotometer for spectrophotometric comparison;

[0032] After the spectrophotometer alignment is completed, the results are output.

[0033] Preferably, the detection method further comprises:

[0034] The test tube gripper on the first end effector grabs the used test tubes on the constant temperature shaker and unloads them to the test tube unloading tray;

[0035] The cuvette gripper on the second end effector unloads the used cuvettes on the spectrophotometer to the cuvette unloading tray.

[0036] The beneficial effects of the present invention are:

[0037] The present invention uses a truss manipulator as a carrier to automatically connect instruments and equipment such as oscillators, constant temperature shakers, and spectrophotometers, thereby realizing the automated transportation operation of the entire process of enzyme inhibition rate pesticide residue detection. It replaces the intermittent and unstable manual operation mode with a fully automatic process operation mode, eliminating the influence of human detection operations on the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of a pesticide residue detection device using an enzyme inhibition rate method according to the present invention.

[0039] Figure 2 It is a schematic diagram of another angle of the enzyme inhibition rate method pesticide residue detection device of the present invention.

[0040] Figure 3 This is a schematic diagram of another angle of the enzyme inhibition rate method pesticide residue detection device of the present invention.

[0041] Figure 4 Schematic diagram of the first end effector of the present invention.

[0042] Figure 5 Schematic diagram of the second end effector of the present invention. DETAILED DESCRIPTION

[0043] 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 intended to be used to explain the present invention, and are not to be construed as limiting the present invention. The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations.

[0044] In the description of the embodiments of the present invention, it should be noted that the indicated orientation or position relationship is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply 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 a limitation on the present invention. In addition, the terms "first" and "second" are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0045] In the present invention, unless otherwise clearly stipulated and limited, terms such as "installed", "connected", "connected", "fixed" and the like 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 or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements.

[0046] like Figures 1 to 5As shown, an enzyme inhibition rate method pesticide residue detection device of the present embodiment includes a workbench, on which a first truss manipulator 1 and a second truss manipulator 2 are provided, the first truss manipulator 1 is connected to a first end effector 11, and is used to realize the movement of the first end effector 11 in three directions of X-axis, Y-axis and Z-axis; the first end effector 11 includes a liquid adding actuator 3, a centrifuge tube rotating gripper 4 and a test tube gripper 5; the second truss manipulator 2 is connected to a second end effector 12, and is used to realize the movement of the first end effector 11 in three directions of X-axis, Y-axis and Z-axis; the second end effector 12 includes a pipette 6 and a cuvette gripper 7.

[0047] The pipette gun 6 is provided with a pipette tip, and the pipette tip can be automatically replaced, and the pipette tip absorbs the sample liquid through vacuum negative pressure. The centrifuge tube rotating gripper 4 includes a rotating mechanism and a clamping mechanism connected to the rotating mechanism, and the clamping mechanism is used to clamp and grasp the centrifuge tube for transportation or to clamp the centrifuge tube cover to open or close the centrifuge tube when the centrifuge tube is clamped, so as to realize the automatic opening and closing of the centrifuge tube and the automatic tube cover by automated means, and realize the automatic opening and closing of the cover operation in the whole process of enzyme inhibition rate pesticide residue detection.

[0048] The workbench is also provided with a spectrophotometer 8, a visual recognition component 9, an oscillator 10, a constant temperature shaker 13, a test tube online tray 14, a test tube offline tray 15, a cuvette online tray 16, a cuvette offline tray 17, a centrifuge tube assembly 18 for the sample to be tested and a tip box 19; the spectrophotometer 8 is arranged within the moving range of the second end effector 12; the visual recognition component 9 and the oscillator 10 are arranged within the moving range of the first end effector 11; the constant temperature shaker 13 is arranged within the moving range of the first end effector 11 and the second end effector 12.

[0049] The test tube upper line tray 14 is used to store unused test tubes; the test tube lower line tray 15 is used to store used cuvettes; the cuvette upper line tray 16 is used to store unused cuvettes; the cuvette lower line tray 17 is used to store used cuvettes; the sample centrifuge tube assembly 18 includes a plurality of centrifuge tubes; and the tip box 19 is used to store unused pipette tips. The test tube upper line tray 14, the test tube lower line tray 15 and the sample centrifuge tube assembly 18 are arranged within the moving range of the first end effector 11. The cuvette upper line tray 16 and the cuvette lower line tray 17 are arranged within the moving range of the second end effector 12.

[0050] The enzyme inhibition rate method pesticide residue detection device of this embodiment uses a truss manipulator as a carrier, and automatically connects instruments and equipment such as an oscillator, a constant temperature shaker, and a spectrophotometer, thereby realizing the automated transportation operation of the entire process of enzyme inhibition rate pesticide residue detection; standardizing the time and operation methods of each detection process step, replacing the intermittent and unstable manual operation mode with a fully automatic process operation mode, thereby eliminating the influence of human detection operations on the detection results.

[0051] A detection method using the above-mentioned enzyme inhibition rate method pesticide residue detection device comprises the following steps:

[0052] Place unused test tubes in the test tube online tray 14; place unused cuvettes in the cuvette online tray 16; place unused pipette tips in the tip box 19; after the test personnel complete the sample preparation according to the national standard requirements, place the sample into the centrifuge tube in the centrifuge tube assembly 18 of the sample to be tested.

[0053] The first truss manipulator 1 drives the centrifuge tube rotating gripper 4 on the first end effector 11 to grab the centrifuge tube in the centrifuge tube assembly 18 of the sample to be tested, and places the centrifuge tube on the visual recognition component 9 for visual recognition; the visual recognition component 9 automatically recognizes the centrifuge tube barcode based on the visual recognition technology, and associates it with the test results one by one, so as to realize the traceability closed loop of the whole process of enzyme inhibition rate method pesticide residue detection; relying on the visual recognition technology, it automatically recognizes the liquid level height of samples of different densities in the centrifuge tube after adding the extraction solvent, and determines the automatic pipetting suction height based on the liquid level height, and accurately and precisely pipettes quantitatively;

[0054] The centrifuge tube rotating gripper 4 screws the cap to complete the opening of the centrifuge tube, and the liquid adding actuator 3 completes the addition of the extract in the centrifuge tube. After the centrifuge tube rotating gripper 4 closes the cap, the centrifuge tube is placed on the oscillator 10 for oscillation. After the oscillation is completed, it is allowed to stand. After the standing time is up, the centrifuge tube rotating gripper 4 is used to open the cap.

[0055] The first truss manipulator 1 drives the test tube gripper 5 on the first end effector 11 to grab the test tube on the test tube online tray 14 and place it on the constant temperature shaker 13; the second truss manipulator 2 drives the pipette 6 on the second end effector 12 to transfer the sample solution in the centrifuge tube to the test tube on the constant temperature shaker 13.

[0056] The constant temperature shaker 13 shakes the test tube at a constant temperature, and the liquid adding actuator 3 on the first end effector 11 adds liquid to the test tube. After the sample solution in the test tube is mixed, it is kept at a constant temperature on the constant temperature shaker 13 for 15 minutes, and then the substrate is added by the liquid adding actuator 3.

[0057] The cuvette gripper 7 on the second end effector 12 grabs the cuvette from the cuvette loading tray 16; the pipette 6 pipettes the sample solution from the test tube on the constant temperature shaker 13 into the cuvette; the cuvette gripper 7 loads the cuvette containing the test solution into the spectrophotometer 8 for spectrophotometric comparison. After the comparison is completed, the spectrophotometer 8 outputs the result.

[0058] The test tube gripper 5 on the first end effector 11 grabs the used test tubes on the constant temperature shaker 13 and unloads them to the test tube offline tray 15 ; the cuvette gripper 7 on the second end effector 12 unloads the used cuvettes on the spectrophotometer 8 to the cuvette offline tray 17 .

[0059] The detection method of this embodiment is controllable throughout the detection process. The human only needs to put the sample into the centrifuge tube to be tested. During the detection process, the detection processes such as adding liquid, pipetting, oscillation, shaking, and spectroscopic detection are all automated, and the detection results are automatically given. At the same time, the torque data of the centrifuge tube cover opening and closing, the oscillation acceleration curve, the constant temperature shaking heating curve frequency and other equipment data are fully collected. All time nodes in the detection process are strictly collected and controlled, the detection process is fully perceived, and the historical detection data is fully traceable, which lays a solid data foundation for creating detection big data.

[0060] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A pesticide residue detection device using enzyme inhibition rate method, characterized in that: include: A first end effector (11), the first end effector (11) comprising a liquid adding actuator (3), a centrifuge tube rotating gripper (4) and a test tube gripper (5); A first truss manipulator (1) is connected to the first end effector (11) and is used to realize movement of the first end effector (11) in three directions: an X-axis, a Y-axis and a Z-axis; A second end effector (12), the second end effector (12) comprising a pipette (6) and a cuvette gripper (7); A second truss manipulator (2) is connected to the second end effector (12) and is used to realize the movement of the first end effector (11) in three directions of X-axis, Y-axis and Z-axis; The spectrophotometer (8) is arranged within the moving range of the second end effector (12); The visual recognition component (9) and the oscillator (10) are arranged within the moving range of the first end effector (11); The constant temperature shaker (13) is arranged within the moving range of the first end effector (11) and the second end effector (12).

2. The enzyme inhibition rate method pesticide residue detection device according to claim 1, characterized in that: Also includes: A test tube loading tray (14) for storing unused test tubes; A test tube offline tray (15) for storing used cuvettes; A cuvette on-line tray (16) for storing unused cuvettes; A cuvette offline tray (17) for storing used cuvettes; A centrifuge tube assembly (18) for a sample to be tested, the centrifuge tube assembly (18) for a sample to be tested comprising a plurality of centrifuge tubes; The tip box (19) is used to store unused pipette tips.

3. The enzyme inhibition rate method pesticide residue detection device as claimed in claim 2, characterized in that: The test tube upper line tray (14), the test tube lower line tray (15) and the test sample centrifuge tube assembly (18) are arranged within the moving range of the first end effector (11).

4. The enzyme inhibition rate method pesticide residue detection device as claimed in claim 2, characterized in that: The cuvette upper line tray (16) and the cuvette lower line tray (17) are arranged within the moving range of the second end effector (12).

5. The enzyme inhibition rate method pesticide residue detection device as claimed in claim 1, characterized in that: The pipette gun (6) is provided with a pipette tip, and the pipette tip absorbs the sample liquid through vacuum negative pressure.

6. The enzyme inhibition rate method pesticide residue detection device as claimed in claim 1, characterized in that: The centrifuge tube rotating gripper (4) comprises a rotating mechanism and a clamping mechanism connected to the rotating mechanism. The clamping mechanism is used to clamp and grasp the centrifuge tube for transportation or, when the centrifuge tube is clamped, to clamp the centrifuge tube cover to open or close the centrifuge tube.

7. A detection method using the enzyme inhibition rate method pesticide residue detection device as described in any one of claims 1 to 6, characterized in that: include: The first truss manipulator (1) drives the centrifuge tube rotating gripper (4) on the first end effector (11) to grab the centrifuge tube in the centrifuge tube assembly (18) of the sample to be tested and place it on the visual recognition assembly (9) for visual recognition; The centrifuge tube rotary gripper (4) screws the cap to open the centrifuge tube, and the liquid adding actuator (3) completes the addition of the extract in the centrifuge tube. After the centrifuge tube rotary gripper (4) closes the cap, the centrifuge tube is placed on an oscillator (10) for oscillation. After the oscillation is completed, the centrifuge tube is allowed to stand. After the standing time is up, the centrifuge tube rotary gripper (4) is used to open the cap. The first truss manipulator (1) drives the test tube gripper (5) on the first end effector (11) to grab the test tube on the test tube on-line tray (14) and place it in the constant temperature shaker (13); The second truss manipulator (2) drives the pipette gun (6) on the second end effector (12) to transfer the sample solution in the centrifuge tube to the test tube on the constant temperature shaker (13); The constant temperature shaker (13) shakes the test tube at a constant temperature, and the liquid adding actuator (3) on the first end actuator (11) adds liquid to the test tube. After the sample solution in the test tube is mixed, it is kept at a constant temperature on the constant temperature shaker (13), and then the substrate is added by the liquid adding actuator (3); The cuvette gripper (7) on the second end effector (12) grabs the cuvette from the cuvette on-line tray (16); the pipette (6) transfers the sample solution from the test tube on the constant temperature shaker (13) into the cuvette; the cuvette gripper (7) loads the cuvette containing the test solution into the spectrophotometer (8) for spectrophotometric comparison; After the spectrophotometer (8) completes the comparison, it outputs the result.

8. The detection method according to claim 7, characterized in that Also includes: The test tube gripper (5) on the first end effector (11) grabs the used test tubes on the constant temperature shaker (13) and unloads them to the test tube unloading tray (15); The cuvette gripper (7) on the second end effector (12) unloads the used cuvettes on the spectrophotometer (8) to the cuvette offline tray (17).

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