Nucleic acid extraction system based on high-degree-of-freedom mechanical arm and control method

Abstract

The invention provides a nucleic acid extraction system based on a high-degree-of-freedom mechanical arm, a pipettor is fixed on a flange plate at the tail end of the mechanical arm, and an integrated experiment table is arranged in a reachable space range at the tail end of the mechanical arm; the control unit judges whether a pipetting suction head of the pipettor exists or not, and controls the pipettor to withdraw from the suction head, suck liquid, discharge the liquid and blow and beat the liquid; and the control unit determines a movable area of the mechanical arm, calibrates space coordinates of the mechanical arm running to all the working point positions, controls the mechanical arm to move to the corresponding pose according to the experimental process sequence, and controls the mechanical arm to conduct pose calibration. According to the design of the nucleic acid extraction system, the structure of a conventional guide rail type three-axis pipetting device is changed, the nucleic acid extraction system has the advantages of being small in size, light in weight and flexible to use and can be compatible with experimental consumables of various specifications, the placement of the experimental materials is not limited to planar layout in the guide rail type pipetting device any more, and the space utilization efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of nucleic acid extraction systems, and in particular to a nucleic acid extraction system based on a high-freedom robotic arm and a control method thereof. Background Art

[0002] In recent years, with the development of automatic control technology and the improvement of software and hardware stability, automated pipetting devices can replace experimenters to complete some biochemical experimental operations. At present, the common automated nucleic acid extraction device in biochemical laboratories adopts a three-axis guide rail structure, which is a device that fixes the pipette on a driver that can move in three orthogonal directions. Through the combination of the driver and the pipette control command, the extraction, transfer, release, blowing and mixing of liquids between different containers in nucleic acid extraction are completed. However, this type of equipment is limited by the main structure of metal materials, with high volume and weight, and is often only compatible with SBS standard well plates and a small number of experimental procedures; the system has a low degree of freedom, the pipette can only move in three orthogonal directions, cannot adapt to complex spatial layouts and irregular shapes of experimental areas, and is difficult to integrate and coordinate with other types of laboratory equipment. Summary of the invention

[0003] In order to overcome the problems in the prior art, the present invention provides a nucleic acid extraction system and control method based on a high-degree-of-freedom robotic arm, which can give full play to the advantages of small size, light weight and high degree of freedom of the small robotic arm, thereby overcoming the defects of conventional guide-type three-axis pipetting devices.

[0004] The present invention provides the following technical solutions:

[0005] A nucleic acid extraction system based on a high-degree-of-freedom robotic arm, comprising an integrated laboratory table, a robotic arm, a pipette and a control unit mounted on a bottom plate, wherein the robotic arm has a total of 6 rotatable joints from the base to the end, the pipette is fixed on a flange at the end of the robotic arm, and the integrated laboratory table is placed within the reachable space at the end of the robotic arm;

[0006] The integrated experimental platform includes a sample tank, a pipette tip, an experimental tube, a product collection tube, and a waste box. A temperature control component is provided below the experimental tube and the product collection tube. The reagents required for nucleic acid extraction are pre-installed in the experimental tube, and a magnetic suction mechanism is provided below the experimental tube.

[0007] The control unit adjusts the temperature of the temperature control component of the integrated experimental table; the motor that drives the magnetic suction mechanism drives the bar magnet to move; the control unit determines whether the pipette tip of the pipette exists, controls the pipette to withdraw the tip, aspirate, discharge, and blow the liquid; the control unit determines the movable area of ​​the robotic arm, calibrates the spatial coordinates of the robotic arm to each working point, controls the robotic arm to move to the corresponding posture according to the experimental process sequence, and controls the robotic arm to perform posture calibration.

[0008] Furthermore, the sample slot of the integrated experimental bench is placed in the sample liquid collection area, the pipette tip is placed in the pipette tip area, the experimental tube is placed in the experimental area, the part of the experimental area that wraps the experimental tube is made of metal, the product collection tube is placed in the product collection area, the part of the product collection area that wraps the product collection tube is made of metal, and the waste box is placed in the waste collection area, wherein the pipette tip area, the experimental area, and the waste collection area are detachably assembled in the integrated experimental bench, and the experimental tubes include lysis solution tubes, magnetic bead solution tubes, washing solution tubes, elution solution tubes and empty tubes.

[0009] Furthermore, sliding rails are provided on both sides of the product collection area of ​​the integrated experimental table, and a sealing cover is mounted on the sliding rails, and a visual window is provided on the sealing cover.

[0010] Furthermore, the temperature control component includes a heating temperature control component and a cooling temperature control component, the heating plate and cooling plate of the heating temperature control component and the cooling temperature control component are respectively abutted against the bottom of the experimental area and the product collection area, and are connected to the metal material part through thermal conductive silicone grease, the heating plate and the cooling plate are connected to the PID temperature controller, and the PID temperature controller communicates with the control unit; the magnetic bead liquid tube of the magnetic attraction mechanism is filled with magnetic beads, and a bar magnet is provided under the experimental area, the bar magnet corresponds to the empty tube position in the experimental tube, and the bar magnet is driven by a motor to abut against or away from the empty tube, and the motor communicates with the control unit.

[0011] Furthermore, the pipette is connected to the control unit via an external bus. The control unit sends instructions to the microcomputer of the pipette according to the experimental process. The microcomputer controls the movement of the stepper motor in the pipette to complete the corresponding instruction function of the pipette and feeds back the current pipetting volume to the control unit.

[0012] A control method for a mechanical arm and a pipette of a nucleic acid extraction system,

[0013] 1) The control unit determines the movable area of ​​the robotic arm, the visual sensor at the end of the robotic arm collects images of the integrated experimental platform, establishes a coordinate model in the control unit, and determines the inaccessible area of ​​the robotic arm;

[0014] 2) Calibrate the spatial coordinates of the robot arm at each working point, the robot arm drives the pipette to load the calibration tip, and drags the robot arm to the working points where the pipette is located above the reset point, sample liquid collection area, pipette tip area, experimental area, product collection area, and waste collection area; correct the posture of each joint of the robot arm at the working point, and the control unit records the spatial coordinates of the posture of the robot arm;

[0015] 3) Prepare the operation flow of the robot arm and pipette according to the experimental sequence of sample lysis, magnetic bead adsorption, first supernatant discarding, magnetic bead washing, second supernatant discarding, nucleic acid elution, and product collection;

[0016] 4) The control unit sends instructions to the robotic arm and the pipette, and the robotic arm and the pipette complete the loading of the pipette tips, aspirating the sample from the sample slot, draining the nucleic acid lysis solution tube, blowing the liquid, and aspirating the liquid, draining the magnetic bead solution tube, blowing the liquid, and aspirating the liquid, draining the empty tube, standing, and aspirating the liquid, draining the waste box, aspirating the washing solution tube, draining the empty tube, blowing the liquid, standing, and aspirating the liquid, draining the waste box, withdrawing the pipette tips from the waste box, loading the pipette tips, aspirating the elution solution tube, draining the empty tube, blowing the liquid, standing, and aspirating the liquid, draining the product collection tube, withdrawing the pipette tips from the waste box, and the instruction actions of spatial coordinate movement and motion during the resetting process.

[0017] Furthermore, it also includes step 5) controlling the robotic arm to perform posture calibration, and the control unit controls the robotic arm to drive the pipette at the end thereof to load the calibration tip, and manually drag it to the reset point; the control unit compares the spatial coordinates at this time with the recorded spatial coordinates of the reset point, and corrects the deviation to the spatial coordinates of each working point calibrated in step 2).

[0018] Furthermore, in step 2), each working point needs to be calibrated with two vertical positions, high and low. The high position enables the robot arm to move freely in the horizontal direction without obstacles, and the low position is the height of the pipette tip at the end of the robot arm to complete the suction and discharge of liquid.

[0019] Furthermore, during the operation of the robotic arm, the control unit controls the visual sensor at the end of the robotic arm to perform real-time imaging of the front of the robotic arm's motion path, and the control unit compares the image with the coordinate model in step 1), and triggers a warning signal when it is determined that there is an obstacle; the control unit performs collision judgment based on the real-time posture changes of the robotic arm, triggers a warning signal when it is determined that there is an obstacle, and terminates the experimental process in time after a collision occurs.

[0020] By adopting the above technical solution, the present invention has the following beneficial effects:

[0021] 1. The robot arm of the present invention uses a 6-DOF robot arm as an actuator to drive the pipette to move between various sites, thereby transferring liquids between different liquid containers and performing operations such as blowing and mixing. The design of the nucleic acid extraction system of the present invention changes the structure of the conventional rail-type three-axis pipetting device, has the advantages of small size, light weight, and flexible use, is compatible with various specifications of experimental consumables, and the placement of experimental materials is no longer limited to the planar layout in the rail-type pipetting device, and the space utilization efficiency is high.

[0022] 2. The control method of the robot arm and the pipette of the nucleic acid extraction system of the present invention utilizes the visual sensor at the end of the robot arm to collect images of the integrated experimental table and establish a coordinate model to determine the inaccessible area of ​​the robot arm. During the operation of the robot arm, the control unit controls the visual sensor at the end of the robot arm to perform real-time imaging in front of the movement path of the robot arm. The control unit compares the image with the coordinate model and triggers a warning signal when it is determined that there is an obstacle, which has high safety; it has the functions of posture calibration and deviation correction, simple maintenance operation, and good long-term operation stability.

[0023] 3. The control unit of the present invention drives the motor of the magnetic attraction mechanism to drive the bar magnet to reciprocate, controls the magnetic beads in the liquid container to be in a dispersed or aggregated state, and thus improves the mixing and separation efficiency of the magnetic beads and the liquid. The temperature control component of the present invention is integrated below the experimental position and the product collection position, and the product collection position is provided with a sealing cover. The independent heating and cooling module is omitted, the overall structure is simple and compact, the experimental product can be stored at low temperature for a long time, and water vapor condensation and aerosol pollution can be prevented. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the nucleic acid extraction system of the present invention;

[0025] Figure 2 The present invention is a flowchart of a method for controlling a robotic arm and a pipette of a nucleic acid extraction system.

[0026] Among them, 1. Robotic arm; 2. Bottom plate; 3. Pipette; 4. Sample liquid collection area; 5. Pipette tip area; 6. Experimental area; 7. Heating temperature control component; 8. Magnetic suction mechanism; 9. Sealing cover; 10. Product collection area; 11. Refrigeration temperature control component; 12. Sliding guide rail; 13. Waste collection area; 14. Integrated experimental table. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the structural diagrams and specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] Example 1

[0029] The present invention provides a nucleic acid extraction system based on a high degree of freedom robotic arm, such as Figure 1 As shown, it includes an integrated experimental table 14 loaded on a base plate 2, a robotic arm 1, a pipette 3 and a control unit. The robotic arm has a total of 6 rotatable joints from the base to the end. The pipette is fixed on the flange at the end of the robotic arm, and the integrated experimental table is placed within the accessible space at the end of the robotic arm.

[0030] The integrated experimental table 14 includes a sample tank, a pipette tip, an experimental tube, a product collection tube, and a waste box. A temperature control component is provided below the experimental tube and the product collection tube. The reagents required for nucleic acid extraction are pre-installed in the experimental tube, and a magnetic suction mechanism is provided below the experimental tube;

[0031] The control unit adjusts the temperature of the temperature control component of the integrated experimental table; the motor that drives the magnetic suction mechanism drives the bar magnet to move; the control unit determines whether the pipette tip exists, controls the pipette to load and eject the tip, aspirate, discharge, and blow the liquid; the control unit determines the movable area of ​​the robotic arm, calibrates the spatial coordinates of the robotic arm to each working point, controls the robotic arm to move to the corresponding posture according to the experimental process sequence, and controls the robotic arm to perform posture calibration.

[0032] The integrated experimental table 14 is divided into the following functions: a sample liquid collection area 4, which is suitable for placing and fixing a sample trough, and the sample trough is suitable for adding the experimental sample to be tested. A pipette tip area 5, which is suitable for placing and fixing a pipette tip, and the type and range of the pipette tip match the pipette. An experimental area 6, which is suitable for placing and fixing liquid containers required for the experiment, including lysis liquid tubes, magnetic bead liquid tubes, washing liquid tubes, eluent tubes and empty tubes, and the part of the experimental area that wraps the experimental tube is made of metal. A product collection area 10 is suitable for placing and fixing a product collection tube, and the part of the product collection area that wraps the product collection tube is made of metal. A waste collection area 13, which is suitable for placing and fixing a waste box, is used to collect waste liquid generated during the experiment and used disposable pipette tip consumables. The partition design of the above-mentioned integrated experimental table is conducive to reducing the large swing during the operation of the robotic arm and improving the stability of the system; the product collection area is located at the far end to avoid the risk of contamination.

[0033] The sample collection area 4 and the product collection area 10 are fixed structures, and the sample troughs and product collection tubes placed thereon contain the samples and products to be tested, and need to be placed separately when in use; the pipette tip area 5, the experimental area 6, and the waste collection area 13 are detachable structures, which are convenient for quick replacement and simplify the experimental preparation process.

[0034] Preferably, sliding rails 12 are provided on both sides of the product collection area of ​​the integrated experimental table, and a sealing cover 9 is mounted on the sliding rails, and a visual window is provided on the sealing cover. After the experimental process is completed, the sealing cover 9 is moved by the end of the pipette 3 to slide along the sliding rails 12, and the product collection area 10 is sealed to form an airtight state, so as to prevent the product collection tube below from contacting the air, and to prevent the condensation of water vapor and aerosol contamination generated when the product is stored at low temperature for a long time.

[0035] The temperature control assembly includes a heating temperature control assembly 7 and a cooling temperature control assembly 11. The heating plate of the heating temperature control assembly 7 and the cooling plate of the cooling temperature control assembly 11 are respectively placed under the experimental area and the product collection area, and connected to the metal material part through thermal conductive silicone grease. The heating plate and the cooling plate are connected to the PID temperature controller, and the PID temperature controller communicates with the control unit. At the same time, the position fixation and temperature control of the experimental tube and the product collection tube are realized.

[0036] The magnetic attraction mechanism 8 includes magnetic beads, a bar magnet and a motor. The magnetic beads are placed in the magnetic bead liquid tube in the experimental tube, and a bar magnet is provided below the experimental area. The bar magnet corresponds to the position of the empty tube in the experimental tube, and is used to gather the magnetic beads in the experimental tube to the inner wall of the tube bottom, thereby separating the magnetic beads and the liquid, and then removing the liquid in the experimental tube while retaining the magnetic beads. The motor drives the bar magnet to abut against or away from the empty tube, thereby controlling the magnetic beads in the experimental tube to be in a dispersed or aggregated state, thereby improving the mixing efficiency of the magnetic beads and the liquid, and the motor communicates with the control unit.

[0037] The pipette is connected to the control unit through an external bus. The control unit sends instructions to the microcomputer of the pipette according to the experimental process. The microcomputer controls the movement of the stepper motor in the pipette to complete the corresponding instruction function of the pipette and feeds back the current pipetting volume to the control unit.

[0038] Example 2

[0039] The present invention provides a control method for a robot arm and a pipette of a nucleic acid extraction system. Figure 2 As shown, the steps are as follows:

[0040] 1) The control unit determines the movable area of ​​the robot arm. The visual sensor at the end of the robot arm collects images of the integrated experimental platform. A coordinate model is established in the control unit to determine the inaccessible area of ​​the robot arm. During the experimental process, the position and posture of the robot arm are adjusted to avoid the above-mentioned area.

[0041] 2) Calibrate the spatial coordinates of the robot arm at each working point. The robot arm drives the pipette to load the calibration tip, and drags the robot arm to the working points where the pipette is located above the reset point, sample liquid collection area, pipette tip area, experimental area, product collection area, and waste collection area; correct the posture of each joint of the robot arm at the working point, correct the posture of the 1st to 5th joints of the robot arm (the joint number is counted from the base of the robot arm to the end, and 6 is the total number of joints) to ensure that the robot arm can move freely within the movable area; step fine-tune the position of the pipette at the end of the robot arm, and the control unit records the spatial coordinates of the posture of the robot arm;

[0042] 3) The control unit compiles the operation process of the robotic arm and the pipette in accordance with the experimental sequence of sample lysis, magnetic bead adsorption, first discarding of supernatant, magnetic bead washing, second discarding of supernatant, nucleic acid elution, and product collection;

[0043] 4) The control unit sends instructions to the robot arm and the pipette, and the robot arm and the pipette complete the loading of the pipette tip, the sample tank absorbs the sample, the nucleic acid lysis liquid tube drains, blows the liquid, and absorbs the liquid, the magnetic bead liquid tube drains, blows the liquid, and absorbs the liquid, the empty tube drains, stands, and absorbs the liquid, the waste box drains the liquid, the washing liquid tube absorbs the liquid, the empty tube drains, blows the liquid, stands, and absorbs the liquid, the waste box drains the liquid, the waste box withdraws the pipette tip, the pipette tip is loaded, the elution liquid tube absorbs the liquid, the empty tube drains, blows the liquid, stands, and absorbs the liquid, the product collection tube drains the liquid, the waste box withdraws the pipette tip, and the spatial coordinate movement and motion instructions during the reset process. When running the experimental process, the control unit first issues the robot arm movement command, and determines in real time whether it has reached the specified position during its movement process. After the judgment is passed, the pipette control command is issued.

[0044] Preferably, the method further includes step 5) controlling the robotic arm to perform posture calibration, and the control unit controls the robotic arm to drive the end pipette to load the calibration tip and manually drag it to the reset point; the control unit compares the spatial coordinates at this time with the recorded spatial coordinates of the reset point, and corrects the deviation to the spatial coordinates of each working point calibrated in step 2).

[0045] Preferably, in step 2), each working point needs to be calibrated with two vertical positions, high and low. The high position enables the robot arm to move freely in the horizontal direction without obstacles, and the low position is the height at which the pipette tip at the end of the robot arm completes suction and discharge.

[0046] During the operation of the robotic arm, the control unit controls the visual sensor at the end of the robotic arm to perform real-time imaging of the front of the robotic arm's motion path, and compares it with the model established in step 1), and triggers a warning signal after an obstacle appears; the control unit makes a collision judgment based on the real-time posture changes of the robotic arm, triggers a warning signal when it is judged that an obstacle exists, and terminates the experimental process in time after a collision occurs.

[0047] Example 3

[0048] The method for extracting nucleic acid samples using the nucleic acid extraction system of the present invention is as follows:

[0049] Temperature control: The control unit controls the heating temperature control component to 85°C and the cooling temperature control component to 4°C respectively.

[0050] Loading the pipette tip: the control unit controls the robot arm to drive the pipette at the end thereof to move above the pipette tip area; the pipette descends to the pipette tip area to load a pipette tip; the pipette rises to above the pipette tip area.

[0051] Transferring samples: The robotic arm drives the pipette to move above the sample collection area; the pipette descends until the end of its loading tip is immersed in the liquid in the sample tank, and 0.3 mL of liquid is transferred; the pipette rises to above the sample collection area.

[0052] Sample lysis: The robotic arm drives the pipette to move above the lysis solution tube in the experimental area. The pipette descends until the end of its loading tip is immersed in the liquid in the lysis solution tube, discharges 0.3 mL of liquid, and pipettes and mixes 30 times with a single pipetting volume of 0.5 mL. After the pipetting and mixing is completed, the pipette aspirates 0.8 mL of liquid; the pipette rises to above the lysis solution tube.

[0053] Magnetic bead adsorption: The robotic arm drives the pipette to move above the magnetic bead liquid tube in the experimental area; the pipette descends until the end of its loading tip is immersed in the liquid under the magnetic bead liquid tube, discharges 0.8mL of liquid, and pipettes and mixes 30 times, with a single pipetting volume of 0.5mL. After the pipetting and mixing is completed, the pipette aspirates 1mL of liquid; the pipette rises to above the magnetic bead liquid tube.

[0054] Discard the supernatant for the first time: the robotic arm drives the pipette to move above the hollow tube in the experimental area; the pipette descends until the end of its loading tip is close to the bottom of the tube, and 1 mL of liquid is discharged. The bar magnet of the magnetic suction mechanism moves up and close to the outer wall of the bottom of the empty tube, and the magnetic beads gather on the inner wall of the bottom of the tube. Let it stand for 1 minute, and then absorb 1 mL of liquid after the standing period; the pipette rises to above the empty tube; the pipette moves to above the waste box in the waste collection area to discharge 1 mL of liquid.

[0055] Magnetic bead washing: The robotic arm drives the pipette to move above the washing liquid tube in the experimental area; the pipette descends until the end of its loading tip is immersed in the liquid under the washing liquid tube, and 0.5 mL of liquid is aspirated; the pipette rises to above the washing liquid tube; the pipette moves to above the hollow tube in the experimental area; the bar magnet of the magnetic suction mechanism moves downward and away from the outer wall of the empty tube; the pipette descends until the end of its loading tip is close to the bottom of the tube, 0.5 mL of liquid is discharged, and it is mixed by pipetting 30 times, with a single pipetting volume of 0.5 mL.

[0056] Discard the supernatant for the second time: the bar magnet of the magnetic suction mechanism moves up and close to the outer wall of the bottom of the empty tube, and the magnetic beads gather on the inner wall of the bottom of the tube. Let it stand for 1 minute. After the standing time, aspirate 0.5mL of liquid; the mechanical arm drives the pipette to rise above the empty tube; move to the top of the waste box in the waste collection area, and discharge 0.5mL of liquid.

[0057] Replace the pipette tip: the pipette is kept above the waste collection box area and its end tip is removed; the robot arm drives the pipette to move above the pipette tip area; the pipette descends to the pipette tip area to load a pipette tip; the pipette rises to above the pipette tip area.

[0058] Nucleic acid elution: The robotic arm drives the pipette to move above the elution tube in the experimental area; the pipette descends until the end of its loading tip is immersed in the liquid under the elution tube, and 0.2 mL of liquid is aspirated; the pipette rises to above the elution tube; the robotic arm drives the pipette to move above the hollow tube in the experimental area; the bar magnet of the magnetic suction mechanism moves down and away from the outer wall of the bottom of the empty tube, and the pipette descends until the end of its loading tip is close to the bottom of the tube, and 0.2 mL of liquid is discharged. Mix by pipetting 30 times, and the volume of a single pipetting is 0.2 mL.

[0059] Product collection: The pipette is kept with the end of its loading tip close to the bottom of the tube, the bar magnet of the magnetic suction mechanism moves up and close to the outer wall of the bottom of the empty tube, the magnetic beads gather on the inner wall of the bottom of the tube, let it stand for 1 minute, and after the end of standing, aspirate 0.2 mL of liquid; the pipette rises to above the empty tube; the mechanical arm drives the pipette to move above the product collection area 10; the pipette descends until the end of its loading tip is close to the bottom of the product collection tube, and 0.2 mL of liquid is discharged; the pipette rises to above the product collection area.

[0060] Tip ejection: The robotic arm drives the pipette to move above the waste box in the waste collection area and ejects the tip at the end; the pipette and the robotic arm are reset, and the experimental process ends.

[0061] The above-mentioned embodiments only express the implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A nucleic acid extraction system based on a high-degree-of-freedom robotic arm, comprising an integrated laboratory table, a robotic arm, a pipette and a control unit mounted on a bottom plate, characterized in that: The robotic arm has a total of 6 rotatable joints from the base to the end, the pipette is fixed on the flange at the end of the robotic arm, and the integrated experimental table is placed within the reachable space at the end of the robotic arm; The integrated experimental platform includes a sample tank, a pipette tip, an experimental tube, a product collection tube, and a waste box. A temperature control component is provided below the experimental tube and the product collection tube. The reagents required for nucleic acid extraction are pre-installed in the experimental tube, and a magnetic suction mechanism is provided below the experimental tube. The control unit adjusts the temperature of the temperature control component of the integrated experimental table; the motor that drives the magnetic suction mechanism drives the bar magnet to move; the control unit determines whether the pipette tip of the pipette exists, controls the pipette to withdraw the tip, aspirate, discharge, and blow the liquid; the control unit determines the movable area of ​​the robotic arm, calibrates the spatial coordinates of the robotic arm to each working point, controls the robotic arm to move to the corresponding posture according to the experimental process sequence, and controls the robotic arm to perform posture calibration.

2. The nucleic acid extraction system according to claim 1, characterized in that: The sample slot of the integrated experimental bench is placed in the sample liquid collection area, the pipette tip is placed in the pipette tip area, the experimental tube is placed in the experimental area, the part of the experimental area that wraps the experimental tube is made of metal, the product collection tube is placed in the product collection area, the part of the product collection area that wraps the product collection tube is made of metal, and the waste box is placed in the waste collection area, wherein the pipette tip area, the experimental area, and the waste collection area are detachably assembled in the integrated experimental bench, and the experimental tubes include lysis solution tubes, magnetic bead liquid tubes, washing solution tubes, elution solution tubes and empty tubes.

3. The nucleic acid extraction system according to claim 2, characterized in that: Sliding guide rails are arranged on both sides of the product collection area of ​​the integrated experimental table, and sealing covers are installed on the sliding guide rails, and visual windows are arranged on the sealing covers.

4. The nucleic acid extraction system according to claim 3, characterized in that: The temperature control component includes a heating temperature control component and a cooling temperature control component. The heating plate and cooling plate of the heating temperature control component and the cooling temperature control component are respectively against the bottom of the experimental area and the product collection area, and are connected to the metal material part through thermal conductive silicone grease. The heating plate and cooling plate are connected to the PID temperature controller, and the PID temperature controller communicates with the control unit; the magnetic bead liquid tube of the magnetic attraction mechanism is filled with magnetic beads, and a bar magnet is provided under the experimental area. The bar magnet corresponds to the empty tube position in the experimental tube, and the bar magnet is driven by a motor to abut against or away from the empty tube, and the motor communicates with the control unit.

5. The nucleic acid extraction system according to claim 1, characterized in that: The pipette is connected to the control unit via an external bus. The control unit sends instructions to the microcomputer of the pipette according to the experimental process. The microcomputer controls the movement of the stepping motor in the pipette to complete the corresponding instruction function of the pipette and feeds back the current pipetting volume to the control unit.

6. A method for controlling a robot arm and a pipette of the nucleic acid extraction system according to claim 1, characterized in that: 1) The control unit determines the movable area of ​​the robotic arm, the visual sensor at the end of the robotic arm collects images of the integrated experimental platform, establishes a coordinate model in the control unit, and determines the inaccessible area of ​​the robotic arm; 2) Calibrate the spatial coordinates of the robot arm at each working point, the robot arm drives the pipette to load the calibration tip, and drags the robot arm to the working points where the pipette is located above the reset point, sample liquid collection area, pipette tip area, experimental area, product collection area, and waste collection area; correct the posture of each joint of the robot arm at the working point, and the control unit records the spatial coordinates of the posture of the robot arm; 3) Prepare the operation flow of the robot arm and pipette according to the experimental sequence of sample lysis, magnetic bead adsorption, first supernatant discarding, magnetic bead washing, second supernatant discarding, nucleic acid elution, and product collection; 4) The control unit sends instructions to the robotic arm and the pipette, and the robotic arm and the pipette complete the loading of the pipette tips, aspirating the sample from the sample slot, draining the nucleic acid lysis solution tube, blowing the liquid, and aspirating the liquid, draining the magnetic bead solution tube, blowing the liquid, and aspirating the liquid, draining the empty tube, standing, and aspirating the liquid, draining the waste box, aspirating the washing solution tube, draining the empty tube, blowing the liquid, standing, and aspirating the liquid, draining the waste box, withdrawing the pipette tips from the waste box, loading the pipette tips, aspirating the elution solution tube, draining the empty tube, blowing the liquid, standing, and aspirating the liquid, draining the product collection tube, withdrawing the pipette tips from the waste box, and the instruction actions of spatial coordinate movement and motion during the resetting process.

7. The control method of the robot arm and the pipette according to claim 6, characterized in that: It also includes step 5) controlling the robotic arm to perform posture calibration, and the control unit controls the robotic arm to drive the pipette at the end thereof to load the calibration tip and manually drag it to the reset point; the control unit compares the spatial coordinates at this time with the recorded spatial coordinates of the reset point, and corrects the deviation to the spatial coordinates of each working point position calibrated in step 2).

8. The control method of the robot arm and the pipette according to claim 6, characterized in that: In step 2), each working point needs to be calibrated with two vertical positions, high and low. The high position enables the robot arm to move freely in the horizontal direction without obstacles, and the low position is the height of the pipette tip at the end of the robot arm to complete the suction and discharge of liquid.

9. The control method of the robot arm and the pipette according to claim 6, characterized in that: During the operation of the robotic arm, the control unit controls the visual sensor at the end of the robotic arm to perform real-time imaging of the front of the robotic arm's motion path. The control unit compares the image with the coordinate model in step 1) and triggers a warning signal when it is determined that there is an obstacle. The control unit makes collision judgments based on the real-time posture changes of the robotic arm, triggers a warning signal when it determines that there is an obstacle, and terminates the experimental process in time after a collision occurs.

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