Experimental consumable transfer device, pipetting workstation and related control method

Abstract

The invention discloses an experimental consumable transfer device, a pipetting workstation and a related control method, and relates to the technical field of biological detection equipment, the experimental consumable transfer device comprises a positioning block, a driving mechanism, a push plate, a push plate seat, a loading finger and a light shield, when the experimental consumable transfer device is driven by the mechanical arm to integrally move downwards, experimental consumables are inserted, and clamping connection with the experimental consumables is achieved; the positioning block is used for being assembled and connected with a driving part of a mechanical arm of the pipetting workstation; the driving mechanism is used for being assembled and connected with a driving part and pushing the push plate downwards to move relative to the push plate seat, so that the push plate downwards pushes the experimental consumables clamped on the loading fingers; and the light shield is positioned below the experimental consumable transfer device and is used for shielding external light from entering the fluorescent quantitative module after the experimental consumable transfer device moves the loaded experimental consumables into the fluorescent quantitative module. By adopting the scheme, the use efficiency of the pipetting workstation is improved.

Description

Technical Field

[0001] The present application relates to the technical field of biological detection equipment, and in particular to an experimental consumables transport device, a liquid transfer workstation and related control methods. Background Art

[0002] As a kind of detection equipment that can realize the automated operation of biological detection, the pipetting workstation is increasingly widely used in the field of biological detection technology.

[0003] At present, during the use of the pipetting workstation, it is often necessary to automatically transfer experimental consumables to the corresponding device to start subsequent biological detection tests, for example, automatically transfer PCR tube consumables to the fluorescence quantification module to start fluorescence detection.

[0004] The automatic transfer operation of experimental consumables can be carried out by controlling the robotic arm of the pipetting workstation to grab the experimental consumables for transfer.

[0005] In the prior art, it is necessary to install a pipette on a robotic arm and load specific accessories on the pipette. After completing the operations of grabbing and transporting experimental consumables, the specific accessories need to be unloaded. Frequent loading and carrying of specific accessories reduces the use efficiency of the pipetting workstation.

[0006] In actual applications, the specific accessories are usually disposable accessories that are discarded after use, resulting in increased usage costs. In addition, since the specific accessories are consumables, the staff needs to manually place the specific accessories on the fixed plate position of the pipetting workstation, which also reduces the efficiency of the use of the pipetting workstation. Summary of the invention

[0007] The embodiments of the present application provide an experimental consumables transport device, a liquid transfer workstation and related control methods, which are used to solve the problem of low efficiency in transporting and using experimental consumables by a liquid transfer workstation in the prior art.

[0008] The embodiment of the present application provides an experimental consumables transfer device, comprising: a positioning block 1, a driving mechanism 2, a push plate 3, a push plate seat 4, a loading finger 5 and a light shield 6, wherein:

[0009] The loading finger 5 is fixedly connected to the push plate seat 4, and is used to insert the experimental consumables when the experimental consumables transfer device is driven by the mechanical arm to move downward as a whole, so as to achieve the clamping connection with the experimental consumables and complete the loading of the experimental consumables;

[0010] The positioning block 1 is used to be assembled and connected with the driving component of the mechanical arm of the pipetting workstation;

[0011] The driving mechanism 2 is used to be assembled and connected with the driving component. Under the driving action of the driving component, the push plate 3 is pushed downward to move relative to the push plate seat 4, so that the push plate 3 pushes downward the experimental consumables clamped on the loading finger 5 to complete the unloading of the experimental consumables;

[0012] The light shield 6 is located below the experimental consumables transport device, and is used to block external light from entering the fluorescence quantification module after the experimental consumables transport device moves the loaded experimental consumables into the fluorescence quantification module.

[0013] Furthermore, the driving mechanism 2 comprises: a rotating block 21, a screw rod and a nut 22, and a push rod 23 connected to each other;

[0014] The rotating block 21 is located in the positioning block 1 and is used for being assembled and connected with the driving component. It rotates under the driving action of the driving component and drives the screw nut 22 and the push rod 23 to push the push plate 3 downward to move relative to the push plate seat 4.

[0015] Furthermore, the upper end of the rotating block 21 has a protruding straight handle 211, which is assembled and connected with the groove at the lower end of the driving component.

[0016] Furthermore, the positioning block 1 has a positioning ring 11, a locking groove 12 and a positioning pin hole 13;

[0017] The positioning ring 11 is located around the positioning block 1 and is used to ensure that the positioning block 1 and the driving component are coaxial when the positioning block 1 is assembled on the driving component;

[0018] The locking groove 12 cooperates with the locking steel ball inside the driving component to lock the positioning block 1;

[0019] The positioning pin hole 13 is matched and connected with the positioning pin at the lower end of the driving component.

[0020] Furthermore, it also includes: a guide rod 7;

[0021] The guide rod 7 is used to limit the position of the driving mechanism 2 moving up and down, so that the driving mechanism 2 can move vertically up and down in a straight line.

[0022] Furthermore, it also includes: an upper photoelectric switch 8 and a baffle 9;

[0023] The baffle 9 is mounted on the driving mechanism 2 and moves up and down with the driving mechanism 2;

[0024] When the blocking piece 9 moves upward with the driving mechanism 2 and returns to the initial position, it blocks the upper photoelectric switch 8, triggering the upper photoelectric switch 8 to generate a signal indicating that the driving mechanism is at the zero position.

[0025] Furthermore, it also includes: a lower photoelectric switch 10, a sensing rod 11 and a first return spring 12;

[0026] The sensing rod 11 is used to be lifted up after the loading finger 5 is loaded with the experimental consumables, shielding the lower photoelectric switch 10, triggering the lower photoelectric switch 10 to generate a signal indicating that the experimental consumables have been loaded, and at the same time the first reset spring 12 is compressed;

[0027] When the experimental consumables are unloaded or dropped, the first reset spring 12 is reset and drives the sensing rod 11 to fall back, and the lower photoelectric switch 10 is not blocked, triggering the lower photoelectric switch 10 to generate a signal indicating that the experimental consumables have been unloaded or dropped.

[0028] Furthermore, the loading finger 5 has a sealing ring 51;

[0029] The sealing ring 51 is used to engage with the consumable opening of the experimental consumable.

[0030] Furthermore, it also includes: a second return spring 13 connected to the push plate 3;

[0031] When the push plate 3 is pushed downward by the driving mechanism 2 to unload the experimental consumables, the second return spring 13 is compressed;

[0032] After the driving mechanism 2 moves upward and separates from the push plate 3, the second reset spring 13 is reset and drives the push plate 3 to move upward to achieve reset.

[0033] An embodiment of the present application also provides a pipetting workstation, comprising: a robotic arm and any of the above-mentioned experimental consumables transport devices.

[0034] The present application also provides a method for controlling the transfer of experimental consumables based on any of the above experimental consumables transfer devices, including:

[0035] Controlling the mechanical arm of the pipetting workstation to assemble the experimental consumables transport device;

[0036] Control the robotic arm to drive the experimental consumables transfer device to move above the experimental consumables warehouse, and move downward to load the experimental consumables through the loading fingers;

[0037] Control the mechanical arm to drive the experimental consumables transport device to move above the fluorescence quantitative module, and move the loaded experimental consumables into the fluorescence quantitative module, wherein the light shield of the experimental consumables transport device blocks external light from entering the fluorescence quantitative module;

[0038] After the fluorescence detection is completed, the mechanical arm is controlled to drive the experimental consumables transfer device to move the loaded experimental consumables out of the fluorescence quantification module;

[0039] The robotic arm is controlled to drive the experimental consumables transfer device to move above the experimental consumables warehouse, and the driving component is controlled to drive the driving mechanism to push the push plate downward to move relative to the push plate seat, so that the push plate pushes downward the experimental consumables clamped on the loading finger to complete the unloading of the experimental consumables.

[0040] The beneficial effects of this application include:

[0041] The experimental consumables transfer device provided in the embodiment of the present application includes: a positioning block 1, a driving mechanism 2, a push plate 3, a push plate seat 4, a loading finger 5 and a light shield 6, wherein the loading finger 5 is fixedly connected to the push plate seat 4, and is used to insert the experimental consumables when the experimental consumables transfer device is driven by the robotic arm to move downward as a whole, to achieve engagement with the experimental consumables, and to complete the loading of the experimental consumables; the positioning block 1 is used to be assembled and connected with the driving component of the robotic arm of the pipetting workstation; the driving mechanism 2 is used to be assembled and connected with the driving component, and under the driving action of the driving component, the push plate 3 is pushed downward to move relative to the push plate seat 4, so that the push plate 3 pushes downward the experimental consumables engaged on the loading finger 5, and completes the unloading of the experimental consumables; the light shield 6 is located below the experimental consumables transfer device, and is used to block external light from entering the fluorescent quantification module after the experimental consumables transfer device moves the loaded experimental consumables to the fluorescent quantification module. By using the experimental consumables transfer device, no additional specific accessories are required, and the experimental consumables can be directly loaded and unloaded. Moreover, after the experimental consumables are transferred to the fluorescence quantification module, a light shield can be used to block external light from entering the fluorescence quantification module, and then the fluorescence reaction in the fluorescence quantification module can be started. After the fluorescence reaction is completed, the experimental consumables can be moved out of the fluorescence quantification module through the experimental consumables transfer device. Compared with the existing technology, the number of moving operations of the robotic arm on the experimental consumables transfer device is reduced, and the utilization efficiency of the pipetting workstation is improved.

[0042] Other features and advantages of the present application will be described in the subsequent description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0044] Figure 1One of the structural schematic diagrams of the experimental consumables transfer device provided in the embodiment of the present application;

[0045] Figure 2 The second structural schematic diagram of the experimental consumables transfer device provided in the embodiment of the present application;

[0046] Figure 3 The third structural schematic diagram of the experimental consumables transfer device provided in the embodiment of the present application;

[0047] Figure 4 A partial enlarged view of the experimental consumables transfer device provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of a combination of an experimental consumables transfer device and a robotic arm provided in an embodiment of the present application;

[0049] Figure 6 A flow chart of the experimental consumables transport control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to provide a solution for improving the efficiency of the use of a liquid transfer workstation, the embodiments of the present application provide a laboratory consumables transfer device, a liquid transfer workstation, and a related control method. The preferred embodiments of the present application are described below in conjunction with the drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other if there is no conflict.

[0051] The present application embodiment provides a device for transferring experimental consumables, such as Figure 1-Figure 3 , including: a positioning block 1, a driving mechanism 2, a push plate 3, a push plate seat 4, a loading finger 5 and a light shield 6, wherein:

[0052] The loading finger 5 is fixedly connected to the push plate seat 4, and is used to insert the experimental consumables when the experimental consumables transfer device is driven by the mechanical arm to move downward as a whole, realize the card connection with the experimental consumables, and complete the loading of the experimental consumables;

[0053] The positioning block 1 is used for assembly and connection with the driving component of the mechanical arm of the liquid transfer workstation;

[0054] The driving mechanism 2 is used to be assembled and connected with the driving component. Under the driving action of the driving component, the push plate 3 is pushed downward to move relative to the push plate seat 4, so that the push plate 3 pushes downward the experimental consumables clamped on the loading finger 5 to complete the unloading of the experimental consumables;

[0055] The light shield 6 is located below the experimental consumables transport device, and is used to block external light from entering the fluorescence quantification module after the experimental consumables transport device moves the loaded experimental consumables into the fluorescence quantification module.

[0056] The experimental consumables transfer device provided in the embodiment of the present application does not require additional specific accessories and can directly load and unload experimental consumables. Moreover, after the experimental consumables are transferred to the fluorescence quantification module, a light shield can be used to block external light from entering the fluorescence quantification module. Then, the fluorescence reaction in the fluorescence quantification module can be started, and after the fluorescence reaction is completed, the experimental consumables can be moved out of the fluorescence quantification module through the experimental consumables transfer device. Compared with the prior art, the number of moving operations of the robotic arm on the experimental consumables transfer device is reduced, thereby improving the utilization efficiency of the pipetting workstation.

[0057] In the embodiment of the present application, the transported experimental consumables can be the consumables required for various experiments, and it is only necessary to match the loading fingers 5 with the beginning of the experimental consumables. For example, the experimental consumables can be PCR tube consumables, and the common PCR tube consumables can be 8-row PCR tube consumables. Accordingly, the loading fingers 5 can be one, two, or more than two. The number of loading fingers 5 can be flexibly set based on actual needs. The larger the number, the more secure the loading is and it is not easy to fall.

[0058] In one embodiment of the present application, Figure 1-3 As shown, the driving mechanism 2 may include: a rotating block 21, a screw rod and a nut 22, and a push rod 23 connected to each other;

[0059] The rotating block 21 can be located in the positioning block 1, and is used to be assembled and connected with the driving component of the robot arm. It rotates under the driving action of the driving component, and drives the screw nut 22 to push the push rod 23 downward, so that the push rod 23 pushes the push plate 3 downward to move relative to the push plate seat 4.

[0060] Furthermore, the upper end of the rotating block 21 has a raised straight handle 211, which is assembled and connected with the groove at the lower end of the driving component to provide rotational power for the experimental consumables transfer device.

[0061] In the embodiment of the present application, the driving component of the robot arm can adopt a W-axis driving component, and the W-axis driving component is assembled and connected with the rotating block 21 to realize driving the rotation of the rotating block 21.

[0062] In one embodiment of the present application, Figure 1-3 As shown, the positioning block 1 may have a positioning ring 11, a locking groove 12 and a positioning pin hole 13;

[0063] The positioning ring 11 is located around the positioning block 1, and is used to ensure that the positioning block 1 and the driving component are coaxial when the positioning block 1 is assembled on the driving component; in practical applications, the driving component may also have a positioning block that matches the positioning block 1 on the experimental consumables rotating device, and the two can be assembled and connected;

[0064] The locking groove 12 can cooperate with the locking steel ball inside the driving component to lock the positioning block 1;

[0065] The positioning pin hole 13 can be connected with the positioning pin at the lower end of the driving component to ensure that when the rotating block rotates, the experimental consumables transfer device as a whole does not rotate.

[0066] In one embodiment of the present application, Figure 1 and 3 As shown, the experimental consumables transport device may further include: a guide rod 7, which may be located inside the driving mechanism;

[0067] When the driving mechanism 2 moves up and down, the guide rod 7 is used to limit the position of the driving mechanism 2 moving up and down, so that the driving mechanism 2 moves vertically up and down in a straight line.

[0068] In one embodiment of the present application, Figure 1 and 3 As shown, the experimental consumables transfer device may further include: an upper photoelectric switch 8 and a baffle 9;

[0069] The baffle 9 can be installed on the driving mechanism 2 and move up and down with the driving mechanism 2;

[0070] When the baffle 9 moves upward with the drive mechanism 2 and returns to the initial position, it blocks the upper photoelectric switch 8, triggering the upper photoelectric switch 8 to generate a signal indicating that the drive mechanism is at the zero position, which can be used to control the up and down movement of the drive mechanism 2.

[0071] In one embodiment of the present application, Figure 1 , Figure 3 and Figure 4 As shown, the experimental consumables transfer device may further include: a lower photoelectric switch 10, a sensing rod 11 and a first return spring 12;

[0072] The sensing rod 11 is used to be lifted up after the loading finger 5 loads the experimental consumables, shielding the lower photoelectric switch 10, triggering the lower photoelectric switch 10 to generate a signal indicating that the experimental consumables have been loaded, and at the same time the first reset spring 12 is compressed;

[0073] When the experimental consumables are unloaded or dropped, the first reset spring 12 resets and drives the sensing rod 11 to fall back, and the lower photoelectric switch 10 is not blocked, triggering the lower photoelectric switch 10 to generate a signal indicating that the experimental consumables have been unloaded or dropped.

[0074] in, Figure 1 and Figure 3 This is a schematic diagram of the structure without experimental consumables. Figure 4 The schematic diagram of the structure of the loading finger 5 loaded with experimental consumables shows that: Figure 1 and Figure 3 The relative position between the middle sensing rod 11 and the lower photoelectric switch 10 is Figure 4 The relative positions between the middle sensing rod 11 and the lower photoelectric switch 10 are different.

[0075] When the experimental consumables transfer device is controlled to unload the experimental consumables, the signal is received, indicating that the experimental consumables have been unloaded. When the experimental consumables are loaded and transferred, the signal is received, indicating that the experimental consumables have fallen, and an alarm can be further issued to prompt the experimenter to handle it.

[0076] In one embodiment of the present application, Figure 4 As shown, it is a schematic diagram of the structure of the loading finger 5 loaded with experimental consumables. The loading finger 5 may have a sealing ring 51, which may also be called a sealing line, which may be understood as a circle of protrusions around the loading finger 5, or may be understood as the position of a circle with the largest diameter around the loading finger 5;

[0077] The sealing ring 51 can be used to engage with the consumable opening of the experimental consumables. For example, the loading finger 5 is inserted into the PCR tube consumable, and the sealing ring 51 engages with the tube opening of the PCR tube consumable to achieve loading of the PCR tube consumable.

[0078] In one embodiment of the present application, Figure 3 As shown, the experimental consumables transfer device may further include: a second return spring 13 connected to the push plate 3;

[0079] When the push plate 3 is pushed downward by the driving mechanism 2 to unload the experimental consumables, the second return spring 13 is compressed;

[0080] After the driving mechanism 2 moves upward and separates from the push plate 3, the second reset spring 13 is reset and drives the push plate 3 to move upward to achieve reset.

[0081] like Figure 3 As shown, in one embodiment of the present application, the push plate 3 may include a vertical portion located in the middle of the push plate seat and a flat plate portion below. The push rod 23 moves downward, and after contacting the vertical portion, it continues to move downward, pushing the push plate 3 to move downward, and the push plate seat 4 and the fixedly connected loading finger 5 do not move, so that the flat plate portion of the push plate 3 pushes the loaded experimental consumables to complete the unloading of the experimental consumables.

[0082] In the present application embodiment, Figure 1 and 3 As shown, it may also include: a photoelectric sensor PCB board 14, which is used to be connected to the upper photoelectric switch 8 and the lower photoelectric switch 10 respectively, and is used to receive the signals generated by the upper photoelectric switch 8 and the lower photoelectric switch 10.

[0083] The various components included in the above-mentioned experimental consumables transfer device provided in the embodiment of the present application can be installed on the device frame, and the specific installation position can be flexibly set based on actual needs.

[0084] Based on the above experimental consumables transport device provided in the embodiment of the present application, the embodiment of the present application also provides a liquid transfer workstation, such as Figure 5 As shown, it includes: a robotic arm and any of the above-mentioned experimental consumables transfer devices.

[0085] Based on the above experimental consumables transfer device provided in the embodiment of the present application, the embodiment of the present application also provides an experimental consumables transfer control method, such as Figure 6 As shown, including:

[0086] Step 61, controlling the mechanical arm of the liquid transfer workstation to assemble the experimental consumables transfer device;

[0087] Step 62: Control the robotic arm to drive the experimental consumables transfer device to move to the top of the experimental consumables warehouse, and move downward to load the experimental consumables through the loading fingers;

[0088] Step 63, control the robotic arm to drive the experimental consumables transport device to move above the fluorescence quantitative module, and move the loaded experimental consumables into the fluorescence quantitative module, and the light shield of the experimental consumables transport device blocks external light from entering the fluorescence quantitative module;

[0089] Step 64: After the fluorescence detection is completed, the robotic arm is controlled to drive the experimental consumables transfer device to move the loaded experimental consumables out of the fluorescence quantitative module;

[0090] Step 65, control the robotic arm to drive the experimental consumables transfer device to move above the experimental consumables warehouse, and control the driving component to drive the driving mechanism to push the push plate downward to move relative to the push plate seat, so that the push plate pushes downward the experimental consumables clamped on the loading finger to complete the unloading of the experimental consumables.

[0091] By adopting the above-mentioned experimental consumables transfer control method provided in the embodiment of the present application, on the pipetting workstation, by controlling the robotic arm and the driving components of the robotic arm, the experimental consumables transfer device can be automatically assembled, and the experimental consumables can be automatically loaded, transferred and unloaded. In addition, fluorescence detection can be performed while keeping the experimental consumables loaded. Compared with the existing technology, the number of movement operations of the robotic arm on the experimental consumables transfer device is reduced, and the number of loading and unloading of experimental consumables is also reduced, thereby improving the utilization efficiency of the pipetting workstation.

[0092] Based on the above Figure 1 and Figure 3 The experimental consumables transfer device shown is used to describe in detail the experimental consumables transfer control method provided in the embodiment of the present application.

[0093] In actual applications, a transfer device carrier can be placed on the fixed plate position of the pipetting workstation, and the experimental consumables transfer device can be placed on the transfer device carrier. In addition, magnets can be provided on the device frame of the experimental consumables transfer device and the transfer device carrier so that the magnets of the two can be attracted to each other, thereby keeping the experimental consumables transfer device stably placed on the transfer device carrier.

[0094] An experimental consumables library may also be placed on the fixed plate position of the pipetting workstation, and the experimental consumables may be placed on the experimental consumables library, for example, 8-row PCR tube consumables may be placed on the PCR tube consumables library.

[0095] With respect to the above step 61, the robot arm of the liquid handling workstation is controlled to move to the top of the experimental consumables transport device on the transport device carrier, and the positioning block of the driving component of the robot arm is matched with the fixed block of the experimental consumables transport device to achieve assembly connection;

[0096] After assembling the experimental consumables transfer device, the internal reset operation of the transfer device is performed, and the upper photoelectric switch is blocked by the blocking sheet, generating an electrical signal indicating that it has been reset, that is, the electrical signal changes from 1 to 0.

[0097] For the above step 62, control the robotic arm to drive the experimental consumables transfer device to move above the experimental consumables warehouse, align the loading finger with the opening of the experimental consumables, control the robotic arm to drive the experimental consumables transfer device to move vertically downward, insert the loading finger into the opening of the experimental consumables, complete the clamping connection between the loading finger and the beginning of the experimental consumables, and realize the loading of experimental consumables through the loading finger.

[0098] After the loading finger loads the experimental consumables, the sensing rod is lifted up, the lower photoelectric switch is blocked, and an electrical signal is generated indicating that the experimental consumables have been loaded, that is, the electrical signal changes from 1 to 0.

[0099] At this time, the first return spring connected to the sensing rod is compressed.

[0100] With respect to the above step 63, after the loading of the experimental consumables is completed, the robot arm is controlled to drive the experimental consumables transport device to move to the top of the fluorescence quantitative module, and the robot arm is controlled to move the loaded experimental consumables downward into the fluorescence quantitative module. At this time, the light shield of the experimental consumables transport device covers the fluorescence quantitative module to block external light from entering the fluorescence quantitative module;

[0101] After the light shield is placed on the fluorescence quantitative module, the fluorescence detection experiment can be started.

[0102] With respect to the above step 64, after the fluorescence detection is completed, the robot arm is controlled to drive the experimental consumables transfer device to lift up, and the loaded experimental consumables are moved out of the fluorescence quantification module.

[0103] For the above step 65, control the robotic arm to drive the experimental consumables transfer device to move above the experimental consumables warehouse, align the experimental consumables with the storage position on the experimental consumables warehouse, and control the driving component to drive the driving mechanism. For example, control the W-axis driving component to drive the driving mechanism of the experimental consumables transfer device to push the push plate downward to move relative to the push plate seat, so that the push plate pushes downward the experimental consumables clamped on the loading finger to complete the unloading of the experimental consumables.

[0104] At this time, after the experimental consumables are unloaded, the first reset spring is reset, driving the sensing rod 11 to fall back, and the lower photoelectric switch is not blocked, generating a signal indicating that the experimental consumables have been unloaded.

[0105] Furthermore, during the process of loading and transporting the experimental consumables, if the experimental consumables fall, the first reset spring will also reset, driving the sensing rod 11 to fall back, and the lower photoelectric switch will not be blocked, generating a signal indicating that the experimental consumables have fallen.

[0106] During the process of the push plate being pushed downward, the second reset spring connected to the push plate is compressed. After the unloading of the experimental consumables is completed, the driving component of the control robot arm drives the driving mechanism of the transfer device to move upward. After separating from the push plate, the second reset spring is reset, driving the push plate to move upward to achieve reset.

[0107] When it is necessary to continue fluorescence detection, the control process of loading, transferring, fluorescence detection, transferring and unloading the next experimental consumable can be started. When it is not necessary to continue fluorescence detection, the control robot arm moves the assembled experimental consumable transfer device to the transfer device carrier.

[0108] In summary, compared with the prior art, the above-mentioned experimental consumables transfer device, pipetting workstation and experimental consumables transfer control method provided in the embodiments of the present application reduce the number of movement operations of the robotic arm on the experimental consumables transfer device, and also reduce the number of loading and unloading of experimental consumables, thereby improving the use efficiency of the pipetting workstation.

[0109] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0110] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0111] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0113] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A device for transferring experimental consumables, characterized in that: include: A positioning block (1), a driving mechanism (2), a push plate (3), a push plate seat (4), a loading finger (5) and a light shield (6), wherein: The loading finger (5) is fixedly connected to the push plate seat (4) and is used to insert the experimental consumables when the experimental consumables transfer device is driven by the mechanical arm to move downward as a whole, so as to achieve engagement with the experimental consumables and complete loading of the experimental consumables; The positioning block (1) is used for assembly and connection with the driving component of the mechanical arm of the liquid transfer workstation; The driving mechanism (2) is used to be assembled and connected with the driving component, and under the driving action of the driving component, the push plate (3) is pushed downward to move relative to the push plate seat (4), so that the push plate (3) pushes downward the experimental consumables clamped on the loading finger (5), thereby completing the unloading of the experimental consumables; The light shield (6) is located below the experimental consumables transport device and is used to block external light from entering the fluorescence quantification module after the experimental consumables transport device moves the loaded experimental consumables into the fluorescence quantification module.

2. The experimental consumables transfer device according to claim 1, characterized in that: The driving mechanism (2) comprises: a rotating block (21), a screw rod and a nut (22) and a push rod (23) which are connected to each other; The rotating block (21) is located in the positioning block (1) and is used for being assembled and connected with the driving component. Under the driving action of the driving component, it rotates and drives the screw nut (22) and the push rod (23) to push the push plate (3) downward to move relative to the push plate seat (4).

3. The experimental consumables transfer device according to claim 2, characterized in that: The upper end of the rotating block (21) is provided with a protruding straight handle (211) which is assembled and connected with the groove at the lower end of the driving component.

4. The experimental consumables transfer device according to claim 1, characterized in that: The positioning block (1) comprises a positioning ring (11), a locking groove (12) and a positioning pin hole (13); The positioning ring (11) is located around the positioning block (1) and is used to ensure that the positioning block (1) and the driving component are coaxial when the positioning block (1) is assembled on the driving component; The locking groove (12) cooperates with the locking steel ball inside the driving component to lock the positioning block (1); The positioning pin hole (13) is matched and connected with the positioning pin at the lower end of the driving component.

5. The experimental consumables transfer device according to claim 1, characterized in that: Also includes: Guide rod (7); The guide rod (7) is used to limit the position of the up and down movement of the driving mechanism (2), so that the driving mechanism (2) moves vertically up and down in a straight line.

6. The experimental consumables transfer device according to claim 1, characterized in that: Also includes: An upper photoelectric switch (8) and a baffle (9); The baffle (9) is mounted on the driving mechanism (2) and moves up and down along with the driving mechanism (2); When the blocking piece (9) moves upward with the driving mechanism (2) and returns to the initial position, it blocks the upper photoelectric switch (8), triggering the upper photoelectric switch (8) to generate a signal indicating that the driving mechanism is at the zero position.

7. The experimental consumables transfer device according to claim 1, characterized in that: Also includes: A lower photoelectric switch (10), a sensing rod (11) and a first return spring (12); The sensing rod (11) is used to be lifted up after the loading finger (5) loads the experimental consumables, shielding the lower photoelectric switch (10), triggering the lower photoelectric switch (10) to generate a signal indicating that the experimental consumables have been loaded, and at the same time the first reset spring (12) is compressed; When the experimental consumables are unloaded or dropped, the first reset spring (12) is reset and drives the sensing rod (11) to fall back, and the lower photoelectric switch (10) is not blocked, triggering the lower photoelectric switch (10) to generate a signal indicating that the experimental consumables have been unloaded or dropped.

8. The experimental consumables transfer device according to claim 1, characterized in that: The loading finger (5) has a sealing ring (51); The sealing ring (51) is used for engaging with the consumable opening of the experimental consumable.

9. The experimental consumables transfer device according to claim 1, characterized in that: It also includes: a second return spring (13) connected to the push plate (3); When the push plate (3) is pushed downward by the driving mechanism (2) to unload the experimental consumables, the second return spring (13) is compressed; After the driving mechanism (2) moves upward and separates from the push plate (3), the second reset spring (13) resets and drives the push plate (3) to move upward to achieve reset.

10. A liquid transfer workstation, characterized in that: include: A robotic arm and an experimental consumables transfer device as described in any one of claims 1 to 9.

11. A method for controlling the transfer of experimental consumables based on the experimental consumables transfer device according to any one of claims 1 to 9, characterized in that: include: Controlling the mechanical arm of the pipetting workstation to assemble the experimental consumables transport device; Control the robotic arm to drive the experimental consumables transfer device to move above the experimental consumables warehouse, and move downward to load the experimental consumables through the loading fingers; Control the mechanical arm to drive the experimental consumables transport device to move above the fluorescence quantitative module, and move the loaded experimental consumables into the fluorescence quantitative module, wherein the light shield of the experimental consumables transport device blocks external light from entering the fluorescence quantitative module; After the fluorescence detection is completed, the mechanical arm is controlled to drive the experimental consumables transfer device to move the loaded experimental consumables out of the fluorescence quantification module; The robotic arm is controlled to drive the experimental consumables transfer device to move above the experimental consumables warehouse, and the driving component is controlled to drive the driving mechanism to push the push plate downward to move relative to the push plate seat, so that the push plate pushes downward the experimental consumables clamped on the loading finger to complete the unloading of the experimental consumables.

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