A standby liquid system

Abstract

The application provides a liquid preparation system and relates to the field of medical equipment. The liquid preparation system comprises a workbench, a feeding assembly, a scheduling assembly, a dripping assembly, a purifying assembly and a discharging assembly. The workbench has a feeding station, a dripping station and a discharging station. The feeding assembly is connected with the workbench and is used for conveying a tray to the feeding station. The scheduling assembly is connected with the workbench and can grasp and drive the tray to move in a preset range. The dripping station, the feeding station and the discharging station are all located in the preset range. The dripping assembly is connected with the workbench and is used for sequentially dripping culture solution and culture oil to culture dishes on the tray located in the dripping station. The discharging assembly is connected with the workbench and is used for storing the tray located in the discharging station. The application can realize batch liquid preparation in multiple culture dishes by replacing manual operation with an automatic process, reduces the demand for manpower and ensures the stability and accuracy of the liquid preparation result.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a liquid preparation system. Background Technology

[0002] Preparation of reagents in the assisted reproductive laboratory is a crucial step in the in-vitro fertilization process. It involves various types of reagents and requires adherence to a series of standard operating procedures to ensure the quality and consistency of all reagents. The process involves numerous repetitive actions such as opening caps, pipetting, dispensing, closing caps, and changing dishes, making manual operation cumbersome and difficult to guarantee the stability and accuracy of reagent preparation. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a liquid preparation system that can realize automated liquid preparation, reduce manpower requirements, and ensure the stability and accuracy of liquid preparation results.

[0004] This invention provides the following technical solution:

[0005] This application provides a liquid preparation system, the liquid preparation system comprising:

[0006] The workbench has a loading station, a dripping station, and a unloading station;

[0007] A feeding assembly is connected to the worktable and is used to feed trays to the feeding station.

[0008] A scheduling component is connected to the workbench and is capable of grasping and driving the dish to move within a preset range; wherein the dripping station, the loading station, and the unloading station are all located within the preset range;

[0009] A dripping assembly is connected to the worktable and is used to sequentially drip culture medium and culture oil onto the culture dish located on the dish tray at the dripping station.

[0010] A feeding assembly is connected to the worktable and is used to store the dish located at the feeding station.

[0011] In some embodiments, there are multiple drip stations, and each drip station is individually equipped with a drip component.

[0012] In some embodiments, the feeding assembly includes:

[0013] A pallet sorting machine, wherein the lower end of the pallet sorting machine has a first inlet and outlet;

[0014] The loading platform and the first transfer mechanism are provided. The loading platform is used to carry the dish delivered from the first inlet / outlet. The first transfer mechanism is connected to the loading platform and can drive the loading platform to move. The loading station and the first inlet / outlet are located within the movement range of the loading platform.

[0015] In some embodiments, the feeding assembly includes:

[0016] A pallet sorting machine, wherein the lower end of the pallet sorting machine has a second inlet and outlet;

[0017] The unloading platform and the second transfer mechanism are provided. The unloading platform is used to carry the trays transported by the scheduling component. The second transfer mechanism is connected to the unloading platform and can drive the unloading platform to move. The unloading station and the second inlet / outlet are located within the movement range of the unloading platform.

[0018] In some embodiments, the workbench also has a transfer station;

[0019] The scheduling component includes:

[0020] The loading and unloading grippers are used to grip the dish;

[0021] A first driving mechanism is connected to the loading and unloading grippers, and the first driving mechanism is capable of driving the loading and unloading grippers to move in a first direction.

[0022] A second driving mechanism is connected to the first driving mechanism, and the second driving mechanism is capable of driving the loading and unloading grippers to move in a second direction; wherein the loading station and the transfer station are located within the movement range of the loading and unloading grippers;

[0023] A dropper stage, which is used to hold the dish;

[0024] The third driving mechanism is connected to the dripping material platform. The third driving mechanism can drive the dripping material platform to move in a third direction. The dripping station and the transfer station are located within the movement range of the dripping material platform.

[0025] Wherein, one of the first direction and the second direction is perpendicular to the horizontal plane, the other of the first direction and the second direction is parallel to the horizontal plane, and the third direction is parallel to the horizontal plane.

[0026] In some embodiments, the liquid preparation system further includes:

[0027] A waste bin is connected to the workbench. The waste bin has an open end located at the dripping station. An automatic sealing door is installed at the open end, and the dripping platform at the dripping station is located above the automatic sealing door.

[0028] In some embodiments, the droplet assembly includes:

[0029] A first pipette and a second pipette, wherein the first pipette is used for dispensing culture medium and the second pipette is used for dispensing culture oil;

[0030] A robotic arm, the end effector of which is connected to the first pipette and the second pipette respectively, the robotic arm being able to drive the first pipette and the second pipette to move, and the culture dish placed on the dish tray at the dispensing station being within the movement range of the first pipette and the second pipette.

[0031] In some embodiments, the droplet assembly further includes:

[0032] The fourth driving mechanism connects the first pipette to the end effector of the robotic arm. The fourth driving mechanism is used to drive the first pipette away from or towards the end effector of the robotic arm.

[0033] A fifth drive mechanism is provided, through which the second pipette is connected to the end effector of the robotic arm. The fifth drive mechanism is used to drive the second pipette away from or towards the end effector of the robotic arm.

[0034] In some embodiments, the droplet assembly further includes:

[0035] There are M lid-opening mechanisms, where M is a positive integer and M≥1; wherein the lid-opening mechanisms include:

[0036] A lid opener capable of gripping the lid of the culture dish;

[0037] A drive unit is provided, wherein the end effector of the robotic arm is connected to the cover opening component via the drive unit, and the drive unit is used to drive the cover opening component away from or towards the end effector of the robotic arm.

[0038] In some embodiments, the liquid preparation system further includes:

[0039] A cold compartment has an open end, which is detachably connected to a support portion. The support portion has multiple placement slots for accommodating reagent bottles, and the reagent bottles placed in the placement slots are within the movement range of the first pipette and the second pipette.

[0040] A temperature regulating component is connected to the cold compartment, and the temperature regulating component is capable of regulating the temperature of the cold compartment.

[0041] In some embodiments, the temperature regulating element includes:

[0042] A semiconductor cooler having a heat-conducting end connected to the cold chamber;

[0043] A power commutator electrically connected to the thermoelectric cooler, the power commutator being configured to at least regulate the current direction of the current supplied to the thermoelectric cooler.

[0044] In some embodiments, the liquid preparation system further includes:

[0045] A first identification component is connected to the workbench, which has a detection station. The first identification component is capable of acquiring and verifying the bottle information of the reagent bottle located at the detection station. The bottle information includes one or more of the following: reagent type, batch number, and expiration date.

[0046] A second identification component is located above the loading station. The second identification component is capable of acquiring and verifying the dish body information of the culture dish located in the loading station; wherein, the dish body information includes the engraving information and droplet information of the culture dish.

[0047] The third identification component is connected to the workbench and is located above the workbench. The third identification component is used to acquire images and videos at the workbench. The images are used to determine the presence and quantity of consumables, and the videos are used to trace the dripping and capping process later.

[0048] The fourth identification component is located above the unloading station. The fourth identification component is used to identify the engraving information and dripping information of the culture dish after the dripping cap is placed in the unloading station, and to determine whether the dripping effect is consistent with the expectation through a visual algorithm.

[0049] The embodiments of the present invention have the following advantages:

[0050] Using the liquid preparation system provided by this invention, the process is as follows: In the loading stage, the loading component automatically or manually delivers the trays containing culture dishes from an external storage or supply area to the loading station. In the transfer to the dispensing station stage, the scheduling component is activated, precisely grasping the trays from the loading station using a sophisticated robotic arm or suction cup and transferring them to the dispensing station. In the culture medium and oil dispensing stage, the dispensing component at the dispensing station begins operation, typically including a precision dropper, capable of accurately dispensing a pre-set amount of culture medium and oil into each culture dish according to a set program and volume. In the unloading stage, after dispensing, the scheduling component grasps the processed trays from the dispensing station and places them at the unloading station.

[0051] Clearly, this system replaces manual operation with automated processes, reducing manpower requirements. Furthermore, the automated dispensing and transfer processes avoid inconsistencies inherent in human operation, ensuring the accuracy of culture medium and oil addition, and improving the stability and accuracy of experimental results. In addition, each step is strictly executed according to preset parameters, ensuring standardized experimental procedures, which is beneficial for the comparability and statistical analysis of research data. Automation also reduces human intervention, lowering the possibility of external contamination and providing a cleaner and more stable environment for the samples in the petri dishes.

[0052] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This diagram shows a schematic view of a liquid preparation system provided by an embodiment of the present invention.

[0055] Figure 2 The diagram shows a schematic view of the assembly structure of a scheduling component, a dripping component, and a scheduling component in a liquid preparation system according to an embodiment of the present invention.

[0056] Figure 3 This illustration shows a schematic diagram of the assembly structure of a scheduling component, a dripping component, and another perspective of the scheduling component in a liquid preparation system provided by an embodiment of the present invention.

[0057] Figure 4 A schematic diagram of the structure of a workbench in a liquid preparation system provided by an embodiment of the present invention is shown;

[0058] Figure 5 This diagram illustrates a structural schematic of a liquid preparation system provided by an embodiment of the present invention from another perspective.

[0059] Figure 6 A schematic diagram of the structure of a dripping component in a liquid preparation system provided by an embodiment of the present invention is shown.

[0060] Explanation of key component symbols:

[0061] 100 - Pallet sorting machine; 200 - Feeding assembly; 210 - First transfer mechanism; 220 - Feeding platform; 300 - Feeding station; 400 - Drip assembly; 410 - Robotic arm; 420 - First pipette; 430 - Second pipette; 440 - Fourth drive mechanism; 450 - Fifth drive mechanism; 460 - Drive component; 470 - Opening component; 500 - Workbench; 600 - Scheduling assembly; 610 - Drip platform; 620 - Third drive mechanism Mechanism; 630-Second drive mechanism; 640-First drive mechanism; 650-Loading / unloading gripper; 700-Cold compartment; 710-Placement slot; 800-Transfer station; 900-Unloading station; 1000-Unloading pallet sorting machine; 1100-Dishes; 1200-Cultural dish; 1300-Waste compartment; 1400-Unloading assembly; 1500-Second identification assembly; 1600-Fourth identification assembly; X-Second direction; Y-Third direction; Z-First direction. Detailed Implementation

[0062] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0063] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0067] In related technologies, repetitive operational steps in assisted reproductive laboratory fluid preparation include: 1) Manual marking: Technicians use marking tools to mark the bottom or side of the culture dish for subsequent identification and tracking. Markings may include the experiment date, sample number, patient information, etc., ensuring the uniqueness of each culture dish and the accuracy of experimental records. 2) Manual pipetting: Technicians use pipettes or other tools to precisely add various reagents to the culture dish. These reagents may include culture medium, washing solution, thawing solution, etc., used for the processing and culture of eggs, sperm, and embryos. 3) Manual covering with oil: Technicians use pipettes or specialized tools to carefully add and spread a covering solution on the surface of the culture medium, ensuring it is uniform and does not affect embryo development.

[0068] In the process of pipetting and oil dispensing, the culture dishes are usually pipetted and oil dispensed one by one and then immediately transferred to the incubator. This manual operation is cumbersome and it is not easy to ensure the stability and accuracy of the solution preparation.

[0069] like Figure 1 and Figure 5As shown, in order to solve the above-mentioned technical problems, this application provides a liquid preparation system, which includes a workbench 500, a feeding component 200, a scheduling component 600, a dripping component 400, and a discharging component 1400. The workbench 500 has a feeding station 300, a dripping station, and a discharging station 900; the feeding component 200 is connected to the workbench 500 and is used to convey a tray 1100 to the feeding station 300; the scheduling component 600 is connected to the workbench 500. The scheduling component 600 can grasp and drive the dish 1100 to move within a preset range; wherein, the dripping station, the loading station 300 and the unloading station 900 are all located within the preset range; the dripping component 400 is connected to the worktable 500, and the dripping component 400 is used to sequentially drip culture medium and culture oil onto the culture dish 1200 located on the dish 1100 at the dripping station; the unloading component 1400 is connected to the worktable 500, and the unloading component 1400 is used to store the dish 1100 located at the unloading station 900.

[0070] In these embodiments, the terms "culture medium" and "culture oil" should be interpreted broadly to include all different types of reagents used in assisted reproductive laboratory fluid preparation. The working process of this fluid preparation system includes the following stages:

[0071] Loading stage: The loading component 200 is responsible for automatically conveying blank or pre-treated dishes 1100 from the outside (such as the storage area) to the loading station 300 of the workbench 500. For example, the loading component 200 is equipped with a conveyor belt; of course, in other embodiments, the loading component 200 is equipped with a robot or the like to replace manual handling and reduce repetitive manual work.

[0072] Moving to the drip station: The scheduling component 600 is activated, using a robotic arm 410 or a suction cup to precisely grasp the dish 1100 from the loading station 300 and smoothly move it to the drip station. The use of the robotic arm ensures the accuracy and safety of the moving process, avoiding errors and damage that may be introduced by manual operation.

[0073] The culture medium and culture oil dispensing stage: The dispensing assembly 400, located at the dispensing station, is one of the core components of the system. Through a precisely controlled pumping system or titration device, it sequentially adds preset amounts of culture medium and culture oil to each culture dish 1200. This automated dispensing process ensures the uniformity of each sample processing, which is crucial for the stability and accuracy of experimental results.

[0074] In the unloading stage: the scheduling component 600 moves the processed dish 1100 from the dripping station to the unloading station 900, which is usually close to the subsequent processing equipment. Alternatively, the dish 1100s at the unloading station 900 can be transferred in batches for rapid transfer to subsequent operations. This process ensures that the processed dish 1100 can quickly enter the next experimental stage, reducing waiting time and accelerating the experimental process.

[0075] The liquid preparation system provided in this application significantly accelerates the processing speed of Petri dishes 1200 through automated operation, making it suitable for batch processing and greatly improving the automation level of the laboratory. Specifically, automated dispensing and transfer reduce the variables of human operation, improving the stability and accuracy of experimental results. Furthermore, the automated process reduces manual labor for laboratory personnel, alleviating their workload. In addition, each step is strictly executed according to preset parameters, ensuring the standardization and consistency of experimental operations, which is beneficial for the comparability and statistical analysis of research data. Automation also reduces the possibility of external contamination, providing a cleaner and more stable environment for the samples in Petri dishes 1200.

[0076] like Figure 1 and Figure 4 As shown, in some embodiments, there are multiple drip stations, and each drip station is individually equipped with a drip assembly 400.

[0077] In these embodiments, by setting up multiple independent drip stations in the liquid preparation system, each station is equipped with an independent drip component 400, enabling the entire system to have parallel processing capabilities and further improving work efficiency.

[0078] In other words, because each dispensing station can operate independently, this means the system can simultaneously dispense multiple dishes 1100. This greatly improves processing efficiency and is particularly suitable for laboratory or production environments that require processing large numbers of samples in a short time.

[0079] Furthermore, multiple dispensing stations offer operational flexibility. The number of stations in use can be adjusted according to actual needs, handling both large-scale sample processing during peak hours and smaller-scale operations during off-peak periods, thus optimizing resource allocation. Clearly, if one dispensing unit 400 fails, other stations can still operate normally, preventing the entire system from shutting down due to a single point of failure and ensuring operational continuity. Simultaneously, independent configuration allows for targeted maintenance and repairs without affecting the normal operation of other stations.

[0080] Each dripping assembly is independently controlled (400), allowing for personalized settings to meet the needs of different types of experiments or samples, such as adjusting the drip volume and dripping speed, ensuring that the dripping operation at each station achieves the best results and improving the stability and accuracy of experimental results.

[0081] For example, there are 2 drip stations; of course, in other embodiments, there are 3, 4, 5, 6, 7, 8, etc.

[0082] like Figure 1 and Figure 4 As shown, in some embodiments, the feeding assembly 200 includes a feeding pallet sorting machine 100, a feeding platform 220, and a first transfer mechanism 210. The lower end of the feeding pallet sorting machine 100 has a first inlet / outlet. The feeding platform 220 is used to carry the dish 1100 sent out from the first inlet / outlet. The first transfer mechanism 210 is connected to the feeding platform 220, and the first transfer mechanism 210 can drive the feeding platform 220 to move. The feeding station 300 and the first inlet / outlet are located within the movement range of the feeding platform 220.

[0083] In these embodiments, the pallet sorting machine 100 serves as the starting point of the loading process. The pallet sorting machine 100 stores multiple trays 1100 and is responsible for sorting and arranging the trays 1100 to be loaded, ensuring they are ready to enter the system in a predetermined order and direction. Since the pallet sorting machine 100 is prior art, its working principle and structure will not be described in detail.

[0084] The first inlet / outlet at the lower end of the pallet sorting machine 100 is the channel through which the trays 1100 enter the subsequent processes. The design must ensure that the trays 1100 can be delivered smoothly and accurately. The loading platform 220 serves a dual role as both a carrier and a transport carrier; the pallet sorting machine 100 is used to carry the trays 1100 delivered from the loading platform 100. The structure of the loading platform 220 needs to be stable, capable of safely supporting and moving the loaded trays 1100, while ensuring that the position of the trays 1100 remains unchanged throughout the movement to prevent tipping or collision.

[0085] For example, one end of the loading platform 220 that carries the tray 1100 is a planar structure and is in a horizontal state.

[0086] The first transfer mechanism 210 is connected to the loading platform 220, and the first transfer mechanism 210 provides power to enable the loading platform 220 to move on a predetermined track. For example, the first transfer mechanism 210 includes a motor drive, a guide rail system or other forms of drive device to ensure precise control and smoothness of movement, and is a key component for realizing automated loading.

[0087] The loading station 300 and the first inlet / outlet are located within the moving range of the loading platform 220. This means that the loading platform 220 can directly receive the trays 1100 from the loading pallet sorting machine 100 and transport them to the loading station 300 without additional complicated operations, reducing intermediate steps, simplifying the operation process, and improving efficiency.

[0088] Clearly, automation and continuous material flow significantly reduce the need for manual operation, accelerate the material loading process, and improve the level of automation. Furthermore, automated processes reduce human intervention, lower the risk of operational errors and tray breakage, and enhance the stability of experimental or production processes.

[0089] For example, the first transfer mechanism 210 includes a first vertical lifting module and a first horizontal linear movement module. The first horizontal linear movement module is connected to the loading platform 220 through the first vertical lifting module. The first vertical lifting module is used to drive the loading platform 220 to move vertically, and the first horizontal linear movement module is used to drive the loading platform 220 to move horizontally. During operation, the first horizontal linear movement module can drive the loading platform 220 to the area below the first inlet / outlet, and then the first vertical lifting module can raise the loading platform 220 to contact the dish 1100 located at the first inlet / outlet, thereby completing the docking.

[0090] like Figure 1 and Figure 4 As shown, in some embodiments, the unloading assembly 1400 includes an unloading pallet sorting machine 1000, an unloading platform, and a second transfer mechanism. The lower end of the unloading pallet sorting machine 1000 has a second inlet / outlet. The unloading platform is used to carry the trays 1100 conveyed by the scheduling assembly 600. The second transfer mechanism is connected to the unloading platform and can drive the unloading platform to move. The unloading station 900 and the second inlet / outlet are located within the movement range of the unloading platform.

[0091] In these embodiments, the unloading tray sorting machine 1000 is located at the end of the process and is responsible for receiving the drip-treated dishes 1100 and sorting and stacking them for use or storage in subsequent steps. Its lower second inlet / outlet is designed for smooth feeding of the dishes 1100, ensuring that the processed dishes 1100 can be stacked and stored.

[0092] The unloading platform is similar to the loading platform 220, also bearing the trays 1100. However, here it receives the processed trays 1100 from the dripping station and transferred by the scheduling component 600. The unloading platform needs to have sufficient stability and load-bearing capacity.

[0093] The second transfer mechanism serves as the power source for moving the unloading platform. It is connected to the unloading platform to ensure that the platform carrying the trays 1100 can be accurately moved to the second inlet / outlet of the unloading pallet sorting machine 1000 to complete the final delivery, stacking, and storage steps.

[0094] Among them, the unloading station 900 and the second inlet / outlet are arranged within the moving range of the unloading platform. This layout design makes the entire unloading process seamless, reduces unnecessary operation steps and time, and improves work efficiency and space utilization.

[0095] Clearly, the automated process reduces human intervention and speeds up the processing and transfer of samples using the 1100 tray, especially when handling large numbers of samples. Automated transport reduces the risk of physical damage to the 1100 tray during processing and transfer, thus better protecting sample safety.

[0096] For example, the second transfer mechanism includes a second vertical lifting module and a second horizontal linear movement module. The second horizontal linear movement module is connected to the unloading platform via the second vertical lifting module. The second vertical lifting module drives the unloading platform to move vertically, and the second horizontal linear movement module drives the unloading platform to move horizontally. During operation, the second horizontal linear movement module can drive the unloading platform below the second inlet / outlet, and then the second vertical lifting module raises the unloading platform to push the tray 1100 into the first inlet / outlet, thereby completing the docking.

[0097] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the workbench 500 also has a transfer station 800;

[0098] The scheduling component 600 includes a loading / unloading gripper 650, a first drive mechanism 640, a second drive mechanism 630, a dripping platform 610, and a third drive mechanism 620. The loading / unloading gripper 650 is used to grip the dish 1100. The first drive mechanism 640 is connected to the loading / unloading gripper 650 and can drive the loading / unloading gripper 650 to move in the first direction Z. The second drive mechanism 630 is connected to the first drive mechanism 640 and can drive the loading / unloading gripper 650 to move in the second direction X. The loading station 30... The 0 and transfer station 800 are located within the moving range of the loading and unloading grippers 650; the dripping station 610 is used to carry the dish 1100; the third drive mechanism 620 is connected to the dripping station 610, and the third drive mechanism 620 can drive the dripping station 610 to move along the third direction Y, and the dripping station and transfer station 800 are located within the moving range of the dripping station 610; wherein, one of the first direction Z and the second direction X is perpendicular to the horizontal plane, the other of the first direction Z and the second direction X is parallel to the horizontal plane, and the third direction Y is parallel to the horizontal plane.

[0099] In these embodiments, the workbench 500 and its integrated scheduling component 600 and drip loading platform 610 constitute a highly automated and flexible material handling and processing system.

[0100] The workbench 500 not only has a loading station 300, a dripping station, and a unloading station 900, but also an intermediate station 800. The loading / unloading grippers 650 of the scheduling component 600 directly contact the dish 1100, ensuring the safe handling of the dish 1100 through precise gripping actions. The combination of the first drive mechanism 640 and the second drive mechanism 630 enables the loading / unloading grippers 650 to move in a vertical direction (first direction Z) and a horizontal direction (second direction X), covering the loading station 300 and the intermediate station 800. This two-dimensional movement capability allows the loading process to be completed efficiently and accurately, whether the dish 1100 needs to be moved horizontally or lifted or lowered vertically.

[0101] The dripping platform 610 is used to carry the dish 1100 at the dripping station, receiving the dish 1100 from the loading robot, and moves horizontally under the action of the third drive mechanism 620. This ensures that the dish 1100 can be stably transported before and after the dripping operation, and that both the dripping station and the transfer station 800 are within the movable range of the dripping platform 610, meaning that the dish 1100 can be moved between the dripping station and the transfer station 800. The vertical and horizontal movement of the first drive mechanism 640 and the second drive mechanism 630 cooperates to enable the loading robot to perform precise positioning in all directions on the worktable 500. The horizontal movement of the third drive mechanism 620 of the dripping platform 610 enables the dripping platform 610 to move between the dripping station and the transfer station 800, completing the movement of the dish 1100 between the dripping station and the transfer station 800.

[0102] For example, the first drive mechanism 640 is configured as a vertical linear motion module. Of course, the first linear motion mechanism can also be an electric push rod, a pneumatic cylinder, a hydraulic cylinder, etc.

[0103] For example, the second drive mechanism 630 is configured as a horizontal linear motion module. Of course, the second linear motion mechanism can also be an electric push rod, a pneumatic cylinder, a hydraulic cylinder, etc.

[0104] For example, the third drive mechanism 620 is configured as a horizontal linear motion module. Of course, the third linear motion mechanism can also be an electric actuator, a pneumatic cylinder, a hydraulic cylinder, etc.

[0105] For example, the angle between the third direction Y and the second direction X is set to 90°; of course, in other embodiments, the angle between the third direction Y and the second direction X is set to 40°, 50°, 60°, 70°, 80°, etc.

[0106] like Figure 1 and Figure 4 As shown, in some embodiments, the liquid preparation system further includes a waste bin 1300, which is connected to the workbench 500. The waste bin 1300 has an open end located at the dripping station. An automatic sealing door is installed at the open end, and the dripping platform 610 located at the dripping station is above the automatic sealing door.

[0107] In these embodiments, the waste container 1300 is primarily designed to collect waste that may be generated during the dripping process, such as excess culture medium, dripping culture oil, or replaced pipette tips. This helps maintain a clean working environment, reduces the spread of contaminants, and is crucial for laboratory hygiene standards and safety.

[0108] The waste bin 1300 has its opening located at the drip station, ensuring that waste can be directly removed from the drip station by the drip loading platform 610 and then automatically sealed by the door before falling into the waste bin 1300. This layout optimizes space utilization, saves space, and is highly efficient. When the drip loading platform 610 is at the drip station, it can be temporarily positioned above the opening of the waste bin 1300. This ingenious design maintains the openness of the work area during non-waste collection periods (such as when dripping is in progress), preventing the waste bin 1300 from interfering with or affecting the operation.

[0109] like Figure 2 and Figure 6 As shown, in some embodiments, the dispensing assembly 400 includes a first pipette 420, a second pipette 430, and a robotic arm 410. The first pipette 420 is used to dispense culture medium, and the second pipette 430 is used to dispense culture oil. The end effector of the robotic arm 410 is connected to the first pipette 420 and the second pipette 430, respectively. The robotic arm 410 can drive the first pipette 420 and the second pipette 430 to move, and the culture dish 1200 placed on the dish tray 1100 at the dispensing station is within the movement range of the first pipette 420 and the second pipette 430.

[0110] In these embodiments, by configuring the first pipette 420 and the second pipette 430, the system can independently and precisely control the dripping process of culture medium and culture oil. This design avoids the risk of cross-contamination caused by frequent liquid changes with a single pipette, while improving the continuity and efficiency of operation.

[0111] The robotic arm 410, as the core actuator, has its end effector connected to the first pipette 420 and the second pipette 430, enabling precise control over their positioning and movement in three-dimensional space. This design allows the dripping process to go beyond simple linear movement, adapting to different layouts and positions of the petri dish 1200 within the dish tray 1100, thus improving operational flexibility and adaptability.

[0112] For example, the robotic arm 410 is a six-axis robotic arm 410; of course, in other embodiments, the robotic arm 410 may also be configured as a seven-axis robotic arm 410, an eight-axis robotic arm 410, etc.

[0113] Furthermore, careful layout ensures that each culture dish 1200 at the dispensing station is within the movement range of the first pipette 420 and the second pipette 430, allowing for accurate dispensing regardless of the arrangement of the culture dishes 1200 on the dish tray 1100. This requires the robotic arm 410 to have high-precision positioning capabilities, and the pipette head design to accommodate culture dishes 1200 of different diameters and depths.

[0114] In operation, the robotic arm 410 first precisely moves the first pipette 420 above the target culture dish 1200 according to a preset program or real-time command to complete the dispensing of culture medium. Then, it switches or moves the second pipette 430 to the same or different culture dishes 1200 to dispense culture oil. The entire process is fast, continuous, and automated, significantly improving work efficiency when processing large numbers of samples.

[0115] It should be noted that in actual use, the number of first pipettes 420 is not limited to one; multiple pipettes can be set according to the actual usage scenario. For example, when it is necessary to drip multiple different liquids into the same culture dish 1200, multiple first pipettes 420 can be set up to drip multiple different liquids, which is more meaningful in actual dripping scenarios.

[0116] Clearly, this highly automated and precisely controlled design virtually eliminates errors that might be introduced by manual operation, such as inaccurate volume or droplet position deviation. This is crucial for ensuring the stability and accuracy of experimental results, especially in fields such as biomedicine and cell culture.

[0117] like Figure 6 As shown, in some embodiments, the dispensing assembly 400 further includes a fourth driving mechanism 440 and a fifth driving mechanism 450: a first pipette 420 is connected to the end effector of the robotic arm 410 via the fourth driving mechanism 440, the fourth driving mechanism 440 being used to drive the first pipette 420 away from or near the end effector of the robotic arm 410; a second pipette 430 is connected to the end effector of the robotic arm 410 via the fifth driving mechanism 450, the fifth driving mechanism 450 being used to drive the second pipette 430 away from or near the end effector of the robotic arm 410.

[0118] In other words, during the dripping process, the fourth driving mechanism 440 can drive the first pipette 420 to move closer to or further away from the culture dish 1200 located at the dripping station; and the fifth driving mechanism 450 can drive the second pipette 430 to move closer to or further away from the culture dish 1200 located at the dripping station, so that the first pipette 420 and the second pipette 430 can drip culture medium and culture oil sequentially, and can avoid any obstruction to their movement.

[0119] For example, when dripping culture medium, the fourth driving mechanism 440 drives the first pipette 420 closer to the culture dish 1200, and the fifth driving mechanism 450 drives the second pipette 430 away from the culture dish 1200, thereby dripping culture medium; when dripping culture oil, the fourth driving mechanism 440 drives the first pipette 420 away from the culture dish 1200, and the fifth driving mechanism 450 drives the second pipette 430 closer to the culture dish 1200, thereby dripping culture oil.

[0120] For example, the fourth drive mechanism 440 is configured as a horizontal linear motion module. In this embodiment, the fourth drive mechanism 440 includes a first rack, a first gear, and a first motor, which can drive the first gear using the first motor, thereby driving the first pipette 420 connected to the first rack to move up and down. Of course, in other embodiments, the fourth linear motion mechanism can also be an electric actuator, a pneumatic cylinder, a hydraulic cylinder, etc.

[0121] For example, the fifth drive mechanism 450 is configured as a horizontal linear motion module. In this embodiment, the fifth drive mechanism 450 includes a second rack, a second gear, and a second motor, which can drive the second gear using the second motor, thereby raising and lowering the second pipette 430 connected to the second rack. Of course, in other embodiments, the fifth linear motion mechanism can also be an electric push rod, a pneumatic cylinder, a hydraulic cylinder, etc.

[0122] like Figure 6 As shown, in some embodiments, the dripping assembly 400 further includes M capping mechanisms, where M is a positive integer and M≥1; wherein, the capping mechanism includes a capping component 470 and a driving component 460, the capping component 470 being able to grasp the cap of the culture dish 1200; the end effector of the robotic arm 410 is connected to the capping component 470 via the driving component 460, and the driving component 460 is used to drive the capping component 470 away from or near the end effector of the robotic arm 410.

[0123] In this embodiment, the dripping assembly 400 is equipped with a single cap-opening mechanism. That is, by utilizing the cap-opening mechanism, the cap of the culture dish 1200 can be placed or removed, allowing the culture dish 1200 to be opened for dripping before the liquid is dispensed, and the cap to be closed after the dripping is complete. Of course, in other embodiments, the number of cap-opening mechanisms can be increased according to the actual application scenario, for example, by using two cap-opening mechanisms.

[0124] It is easy to understand that, for example, the specific working process includes the following steps:

[0125] Step 1: Place the dish 1100 filled with 1200 culture dishes into the dropper station;

[0126] Step 2: Drive component 460 drives lid opener 470 to move to contact target culture dish 1200, and uses lid opener 470 to grab the dish lid and move the dish lid.

[0127] Step 3: Use the first pipette 420 and the second pipette 430 to drip culture medium and culture oil into the culture dish 1200, and then cover the dish with the lid.

[0128] For example, the drive element 460 is a linear motion mechanism, such as an electric actuator, a pneumatic cylinder, a hydraulic cylinder, etc.

[0129] For example, in this embodiment, the cover opening component 470 is a negative pressure suction cup. Of course, in other embodiments, it can also be set as an electric gripper, etc.

[0130] In some embodiments, the liquid preparation system further includes a cold chamber 700 and a temperature regulating component. The cold chamber 700 has an open end, and a support portion is detachably connected to the open end. The support portion has a plurality of placement slots 710 for accommodating reagent bottles, and the reagent bottles placed in the placement slots 710 are within the movement range of the first pipette 420 and the second pipette 430. The cold chamber 700 is connected to the temperature regulating component, which is capable of adjusting the temperature of the cold chamber 700.

[0131] In these embodiments, the preparation system further enhances the management and handling capabilities for temperature-sensitive reagents by integrating a cold chamber 700 and a temperature regulator. The cold chamber 700 is primarily designed to store and maintain reagent bottles in a low-temperature environment, especially for reagents requiring cryopreservation to maintain stability (such as enzyme preparations and antibody solutions). In this embodiment, the reagent bottles are used to store culture media and culture oils separately. The cold chamber 700 is detachably connected to a support unit with multiple placement slots 710, which can orderly accommodate various reagent bottles, facilitating categorized storage and rapid retrieval while maintaining a clean and organized laboratory work surface. The temperature regulator, connected to the cold chamber 700, precisely regulates the internal temperature of the cold chamber 700, ensuring reagents are stored under optimal conditions and preventing loss of activity or deterioration due to temperature fluctuations. This is crucial for maintaining the chemical stability and biological activity of reagents, as well as ensuring the stability and accuracy of experimental results. Furthermore, the placement slots 710 feature an independent modular design, allowing for customized support unit designs based on container shape, size, and quantity, enabling quick disassembly and replacement, and broadening the applicability.

[0132] It should be noted that the position of the reagent bottle placed in the cold chamber 700 is designed within the movement range of the first pipette 420 and the second pipette 430. This means that when needed, the robotic arm 410 can directly take out the required reagent from the cold chamber 700 for pipetting operations without human intervention, which ensures the sterility of the operation, improves experimental efficiency, and reduces operational errors.

[0133] Clearly, through precise temperature control, the Cold Chamber 700 can operate efficiently, reducing energy waste. At the same time, the automated temperature control system can prevent temperature overshoot or undercooling caused by improper manual operation, ensuring the chemical stability and biological activity of reagents.

[0134] In some embodiments, the temperature regulating device includes a thermoelectric cooler and a power commutator. The thermoelectric cooler has a heat-conducting end connected to the cold compartment 700. The power commutator is electrically connected to the thermoelectric cooler and is configured to at least regulate the current direction of the current supplied to the thermoelectric cooler.

[0135] In these embodiments, a thermoelectric cooler serves as the core component, used for temperature regulation of the cold chamber 700. It has a heat-conducting end that directly contacts the interior of the cold chamber 700, generating thermal changes upon energization through the Peltier effect, thereby cooling or heating the internal environment of the cold chamber 700. This design allows the cold chamber 700 to provide a stable low-temperature or specific temperature environment for reagent bottles placed inside, ensuring the stability and activity of the reagents. The power commutator, electrically connected to the thermoelectric cooler, is a key control unit. The thermoelectric cooler can control its cooling or heating mode by changing the direction of the current. This means that the cold chamber 700 can not only maintain a low-temperature environment but also provide heating functionality when necessary, adapting to a wider range of application needs and environmental changes, greatly enhancing the system's flexibility and applicability.

[0136] Through intelligent adjustment of the power commutator, the semiconductor cooler can respond quickly to temperature settings and precisely control the temperature of the cold chamber 700. This instant temperature regulation capability is crucial for maintaining optimal storage conditions for sensitive reagents, helping to improve the stability and accuracy of experimental results.

[0137] In some embodiments, the liquid preparation system further includes a first identification component connected to the workbench 500, the workbench 500 having a detection station, and the first identification component being able to acquire and verify the bottle information of the reagent bottle located at the detection station; wherein, the bottle information includes one or more of the following: reagent type, batch number, and expiration date.

[0138] In these embodiments, before placing the reagent bottles into the cold chamber 700, the type of reagent bottle (i.e., the liquid contained in the reagent bottle) and production batch information are identified by taking photos. The position of the aforementioned placement slot 710 is defined, specifically, reagent bottles containing culture medium and reagent bottles containing culture oil are placed in designated placement slots 710, thereby ensuring that the first pipette 420 can accurately aspirate the culture medium and the second pipette 430 can accurately aspirate the culture oil.

[0139] Therefore, after the first identification component identifies the type of reagent bottle, the third identification component works together to obtain and confirm whether the reagent bottle is placed in the correct position and in the correct open state. If it is not placed correctly, an alert component will be used to remind the user.

[0140] For example, the first identification component and the third identification component are electrically connected to the controller, and the warning component is electrically connected to the controller. The first identification component can be a camera module, the third identification component can be a camera module, and the warning component can be a speaker, or of course, an alarm light.

[0141] In some embodiments, the liquid preparation system further includes a second identification component 1500, which is connected to the workbench 500 and disposed above the loading station 300. The second identification component 1500 is capable of acquiring and verifying the dish information of the culture dish 1200 located in the loading station 300; wherein, the dish information includes the engraving information and the liquid drop information of the culture dish 1200.

[0142] During the liquid dispensing process, the second identification component 1500 identifies and verifies the engraving information of the culture dish 1200 and records it. Then, the controller controls the dispensing of the corresponding liquid into the culture dish 1200. During the feeding process of the culture dish 1200, the quality of the prepared liquid is photographed and identified to confirm whether there are defects such as leakage, insufficient dispensing, incorrect dispensing, or continuous dispensing.

[0143] For example, the second identification component 1500 is electrically connected to the droplet component 400 via a controller.

[0144] For example, the second identification component 1500 may be a camera module.

[0145] It should be noted that the second identification component 1500 is connected to a drive module, which can drive the second identification component 1500 to move in a plane parallel to the dish 1100, thereby more accurately acquiring information from each culture dish 1200.

[0146] Alternatively, in other embodiments, the field of view of the second recognition component 1500 can be configured to cover the entire loading station 300, in which case there is no need to set up a drive module.

[0147] In some embodiments, the liquid preparation system further includes a third identification component connected to the workbench 500 and located above the workbench 500. The third identification component is used to acquire images and videos at the workbench 500. The images are used to determine the presence and quantity of consumables, and the videos are used for subsequent tracing of the liquid dripping and capping process.

[0148] Similarly, the third identification component is located above the workbench 500, enabling global monitoring. It can monitor the liquid preparation process and the availability of consumables in real time, and retain information about the entire liquid preparation process. Of course, the third identification component can also provide prompts through warning components, such as voice prompts.

[0149] For example, the third recognition component may be a camera module with a field of view covering the entire workbench 500.

[0150] In some embodiments, the liquid preparation system further includes a fourth identification component 1600, which is located above the unloading station 900. The fourth identification component 1600 is used to identify the engraving information and liquid information of the culture dish 1200 after the liquid is dripped and capped in the unloading station 900, and to determine whether the liquid dripping effect is consistent with the expectation through a visual algorithm.

[0151] In other words, it can identify the marking information and drop information of the culture dish 1200 after the droplet is capped with oil, and use the algorithm to identify the droplet shape to obtain the quality of the droplet capping oil.

[0152] For example, the fourth identification component 1600 may be a camera module.

[0153] It should be noted that the fourth identification component 1600 is connected to a drive module, which can drive the fourth identification component 1600 to move in a plane parallel to the dish 1100, thereby more accurately acquiring information from each culture dish 1200.

[0154] Alternatively, in other embodiments, the field of view of the fourth identification component 1600 can be configured to cover the entire unloading station 900, in which case there is no need to set up a drive module.

[0155] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0156] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0157] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A liquid preparation system, characterized in that, The liquid preparation system includes: The workbench has a loading station, a dripping station, and a unloading station; A feeding assembly is connected to the worktable and is used to feed trays to the feeding station. A scheduling component is connected to the workbench and is capable of grasping and driving the dish to move within a preset range; wherein the dripping station, the loading station, and the unloading station are all located within the preset range; A dripping assembly, connected to the worktable, is used to sequentially drip culture medium and culture oil onto a culture dish located on the dripping station's tray; the dripping assembly includes: A first pipette and a second pipette, wherein the first pipette is used for dispensing culture medium and the second pipette is used for dispensing culture oil; A feeding assembly is connected to the worktable and is used to store the dish located at the feeding station; The liquid preparation system also includes: A cold compartment has an open end, which is detachably connected to a support portion. The support portion has multiple placement slots for accommodating reagent bottles, and the reagent bottles placed in the placement slots are within the movement range of the first pipette and the second pipette. A temperature regulating component is connected to the cold compartment, and the temperature regulating component is capable of regulating the temperature of the cold compartment; the temperature regulating component includes: A semiconductor cooler having a heat-conducting end connected to the cold chamber; A power commutator, electrically connected to the thermoelectric cooler, the power commutator being configured to at least regulate the direction of the current supplied to the thermoelectric cooler; The liquid preparation system also includes: A first identification component is connected to the workbench, which has a detection station. The first identification component is capable of acquiring and verifying the bottle information of the reagent bottle located at the detection station. The bottle information includes one or more of the following: reagent type, batch number, and expiration date. A second identification component is located above the loading station. The second identification component is capable of acquiring and verifying the dish body information of the culture dish located in the loading station; wherein, the dish body information includes the engraving information and droplet information of the culture dish. The third identification component is connected to the workbench and is located above the workbench. The third identification component is used to acquire images and videos at the workbench. The images are used to determine the presence and quantity of consumables, and the videos are used to trace the dripping and capping process later. The fourth identification component is located above the unloading station. The fourth identification component is used to identify the engraving information and dripping information of the culture dish after the dripping cap is placed in the unloading station, and to determine whether the dripping effect is consistent with the expectation through a visual algorithm. The workbench also has a transfer station; The scheduling component includes: The loading and unloading grippers are used to grip the dish; A first driving mechanism is connected to the loading and unloading grippers, and the first driving mechanism is capable of driving the loading and unloading grippers to move in a first direction. The second drive mechanism is connected to the first drive mechanism and can drive the loading and unloading grippers to move in a second direction; wherein the loading station, the transfer station and the unloading station are all located within the movement range of the loading and unloading grippers. A dropper stage, which is used to hold the dish; The third driving mechanism is connected to the dripping material platform. The third driving mechanism can drive the dripping material platform to move in a third direction. The dripping station and the transfer station are located within the movement range of the dripping material platform. Wherein, one of the first direction and the second direction is perpendicular to the horizontal plane, the other of the first direction and the second direction is parallel to the horizontal plane, and the third direction is parallel to the horizontal plane; There are multiple drip stations, and each drip station is individually equipped with a drip component.

2. The liquid preparation system according to claim 1, characterized in that, The feeding assembly includes: A pallet sorting machine, wherein the lower end of the pallet sorting machine has a first inlet and outlet; The loading platform and the first transfer mechanism are provided. The loading platform is used to carry the dish delivered from the first inlet / outlet. The first transfer mechanism is connected to the loading platform and can drive the loading platform to move. The loading station and the first inlet / outlet are located within the movement range of the loading platform.

3. The liquid preparation system according to claim 1, characterized in that, The feeding assembly includes: A pallet sorting machine, wherein the lower end of the pallet sorting machine has a second inlet and outlet; The unloading platform and the second transfer mechanism are provided. The unloading platform is used to carry the trays transported by the scheduling component. The second transfer mechanism is connected to the unloading platform and can drive the unloading platform to move. The unloading station and the second inlet / outlet are located within the movement range of the unloading platform.

4. The liquid preparation system according to claim 1, characterized in that, The liquid preparation system also includes: A waste bin is connected to the workbench. The waste bin has an open end located at the dripping station. An automatic sealing door is installed at the open end, and the dripping platform at the dripping station is located above the automatic sealing door.

5. The liquid preparation system according to claim 1, characterized in that, The droplet assembly further includes: A robotic arm, the end effector of which is connected to the first pipette and the second pipette respectively, the robotic arm being able to drive the first pipette and the second pipette to move, and the culture dish placed on the dish tray at the dispensing station being within the movement range of the first pipette and the second pipette.

6. The liquid preparation system according to claim 5, characterized in that, The droplet assembly further includes: The fourth driving mechanism connects the first pipette to the end effector of the robotic arm. The fourth driving mechanism is used to drive the first pipette away from or towards the end effector of the robotic arm. A fifth drive mechanism is provided, through which the second pipette is connected to the end effector of the robotic arm. The fifth drive mechanism is used to drive the second pipette away from or towards the end effector of the robotic arm.

7. The liquid preparation system according to claim 6, characterized in that, The droplet assembly further includes: There are M lid-opening mechanisms, where M is a positive integer and M≥1; wherein the lid-opening mechanisms include: A lid opener capable of gripping the lid of the culture dish; A drive unit is provided, wherein the end effector of the robotic arm is connected to the cover opening component via the drive unit, and the drive unit is used to drive the cover opening component away from or towards the end effector of the robotic arm.

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