Cartridge loading drive system and method

Abstract

Embodiments of the present application provide a cartridge loading driving system and method. The cartridge loading driving system comprises a base, a cartridge tray, a cartridge end-side driving structure, and a driving device. The cartridge tray is slidingly installed on the base and is used to place a cartridge containing a reagent. The cartridge end-side driving structure is fixedly installed on the base and comprises the driving device used to process the reagent and / or a sample. When the cartridge is placed at a placement position of the cartridge tray, the cartridge tray moves towards the cartridge end-side driving structure under the control of the cartridge end-side driving structure, and when the cartridge tray reaches a preset target position, the cartridge is connected to the cartridge end-side driving structure. The cartridge loading driving system provided by the embodiments of the present application improves the efficiency of cartridge loading.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of motor driving, and in particular to a cartridge loading driving system and method. BACKGROUND

[0002] A cartridge is a container used to store and process reagents and / or samples. When processing the reagents and / or samples stored in the cartridge, the cartridge needs to be paired with a driving device for processing reagents, and this process is called cartridge loading, so as to subsequently automatically process the reagents and / or samples in the cartridge.

[0003] Currently, cartridge loading needs human intervention, for example, the cartridge needs to be moved to a position for pairing with the driving device for processing reagents by human. This cartridge loading method needs human operation to move the cartridge, and is low in efficiency. Therefore, how to provide a technical solution to improve the efficiency of cartridge loading has become a problem to be solved by those skilled in the art. SUMMARY

[0004] Therefore, embodiments of the present application provide a cartridge loading driving system and method to improve the efficiency of cartridge loading.

[0005] To achieve the above object, embodiments of the present application provide the following technical solutions.

[0006] In a first aspect, embodiments of the present application provide a cartridge loading driving system, comprising:

[0007] a base;

[0008] a cartridge tray, the cartridge tray being slidingly installed on the base, the cartridge tray being used to place a cartridge containing reagents;

[0009] a cartridge end-side driving structure, the cartridge end-side driving structure being fixedly installed on the base, the cartridge end-side driving structure comprising a driving device for processing reagents and / or samples;

[0010] When the cartridge is placed at a placement position of the cartridge tray, the cartridge tray moves towards the cartridge end-side driving structure under the control of the cartridge end-side driving structure, and when the cartridge tray reaches a preset target position, the cartridge is paired and connected with the cartridge end-side driving structure.

[0011] Optionally, the cartridge tray comprises:

[0012] a driving motor, the driving motor being installed on a side of the cartridge tray close to the cartridge end-side driving structure;

[0013] a belt;

[0014] The driving motor rotates the belt through a shaft and a belt pulley of the driving motor under the control of the cartridge end-side driving structure, so that the cartridge tray moves towards the cartridge end-side driving structure.

[0015] Optionally, the cartridge tray further comprises a position sensor configured to detect a position of the cartridge tray.

[0016] The cartridge end-side driving structure controls the movement of the cartridge tray based on the position of the cartridge tray.

[0017] Optionally, the position sensor comprises a first position sensor and a second position sensor, wherein the first position sensor is arranged at a leading end of the base, and the second position sensor is arranged at a trailing end of the base.

[0018] The trailing end is an end of the cartridge tray close to the cartridge end-side driving structure, and the leading end is an end of the cartridge tray away from the cartridge end-side driving structure.

[0019] Optionally, the first position sensor is configured to detect a starting position of the movement of the cartridge tray, and the second position sensor is configured to detect a hard point position of the cartridge tray, wherein the hard point position is the preset target position.

[0020] When the position of the cartridge tray reaches the hard point position, the cartridge end-side driving structure controls the cartridge tray to stop moving.

[0021] Optionally, the cartridge end-side driving structure further comprises:

[0022] a pairing motor;

[0023] a rotating drive shaft, which is driven by the pairing motor to rotate and pair with the cartridge;

[0024] a pump drive rod, which is driven by the pairing motor to move;

[0025] a Hall sensor configured to detect a position of the rotating drive shaft.

[0026] Optionally, the number of rotating drive shafts is plural, and the number of Hall sensors is plural, wherein one rotating drive shaft corresponds to one Hall sensor on a bracket of the cartridge end-side driving structure.

[0027] Optionally, the cartridge end-side driving structure further comprises:

[0028] A circuit board is arranged above the cartridge end-side driving structure, and the circuit board is used for signal transmission between electronic elements of the cartridge loading driving system.

[0029] Optionally, the cartridge comprises at least a pipette tip, a pipette tip box, and a pipette pump.

[0030] When the cartridge is connected to the cartridge end-side driving structure, the Z-direction movement of the driving rod of the pipette tip is connected to the rotating driving shaft, the Y-direction movement of the driving rod of the pipette tip box is connected to the rotating driving shaft, and the pump driving rod moves to the side close to the pipette pump to be connected to the piston push rod of the pipette pump.

[0031] Optionally, the rotating driving shaft comprises a magnet, a spring, and a matching slot, the magnet and the spring are arranged inside the rotating driving shaft, and the matching slot is arranged at the end of the rotating driving shaft.

[0032] Optionally, when the cartridge is connected to the cartridge end-side driving structure, the driving rod of the pipette tip and the driving rod of the pipette tip box are first connected to the matching slot.

[0033] Optionally, before the first connection, the magnet is away from the corresponding Hall sensor of the rotating driving shaft, when the first connection is successful, the magnet moves to the side close to the matching motor, the spring is compressed, and the corresponding Hall sensor of the rotating driving shaft detects the magnet, when the first connection is unsuccessful, the corresponding Hall sensor of the rotating driving shaft does not detect the magnet, the rotating driving shaft is controlled to rotate to make the driving rod of the pipette tip and the driving rod of the pipette tip box be connected to the matching slot again.

[0034] Optionally, when the cartridge is connected to the cartridge end-side driving structure, the piston push rod of the pipette pump is second connected to the pump driving rod.

[0035] Before the second connection, the piston of the pipette pump of the cartridge and the pump driving rod of the cartridge end-side driving structure have an initial gap, when the second connection is performed, the pump driving rod moves to the side close to the piston to eliminate the initial gap, and the pump driving rod pushes the piston to move to the side away from the cartridge end-side driving structure and to the limit position, which is the position where the piston cannot continue to move.

[0036] Optionally, the pump drive rod is in contact with the piston when moving to the limit position; when the driving device needs to suck reagent, the counter motor drives the pump drive rod to retreat according to the volume of the reagent needed to be sucked, so as to move to the side close to the cartridge end side driving structure; when the driving device needs to push out reagent, the counter motor drives the pump drive rod to move away from the cartridge end side driving structure according to the volume of the liquid needed to be pushed out.

[0037] In a second aspect, the embodiments of the present application provide a cartridge loading driving method, applied to a controller, comprising:

[0038] When the cartridge is placed at a placement position of the cartridge tray, a driving control instruction is output, the driving control instruction being used to control the cartridge tray to move towards the cartridge end side driving structure;

[0039] When it is detected that the cartridge tray reaches a preset target position, a driving stop instruction is output, the driving stop instruction being used to control the cartridge tray to stop moving;

[0040] After the cartridge tray reaches the preset target position, the cartridge is connected to the cartridge end side driving structure in a paired manner.

[0041] The embodiments of the present application provide a cartridge loading driving system, comprising: a base; a cartridge tray, which is slidingly installed on the base and is used to place a cartridge containing reagent; and a cartridge end side driving structure, which is fixedly installed on the base and comprises a driving device used to process reagent and / or sample.

[0042] Since the driving device used to process reagent and / or sample is located in the cartridge end side driving structure, the cartridge loading driving system provided by the embodiments of the present application needs to connect the cartridge to the cartridge end side driving structure in a paired manner when loading the cartridge. To achieve the pairing connection between the cartridge and the cartridge end side driving structure, the cartridge end side driving structure can be configured to have the ability to control the cartridge tray to move, and the cartridge can be connected to the cartridge end side driving structure in a paired manner when the cartridge tray moves to a preset target position. Based on this, when the cartridge is placed at a placement position of the cartridge tray, the cartridge tray can move towards the cartridge end side driving structure under the control of the cartridge end side driving structure, so that the cartridge is connected to the cartridge end side driving structure in a paired manner when the cartridge tray reaches the preset target position.

[0043] It can be seen that the cartridge loading driving system provided by the embodiment of the application is characterized in that the cartridge tray is slidingly installed on the base, and the cartridge end-side driving structure is fixedly installed on the base, so that when the cartridge is placed on the placing position of the cartridge tray, the cartridge end-side driving structure can control the cartridge tray to move towards the cartridge end-side driving structure, and when the cartridge tray reaches the preset target position, the cartridge and the cartridge end-side driving structure are connected in pairs. Therefore, the embodiment of the application can realize automatic cartridge loading by the setting relationship and mutual cooperation among the base, the cartridge tray and the cartridge end-side driving structure, reduce manual operation in the cartridge loading process, and improve the efficiency of cartridge loading. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0045] Figure 1 is a structural diagram of the cartridge loading driving system of the embodiment of the application;

[0046] Figure 2 is a structural diagram of the cartridge tray of the embodiment of the application;

[0047] Figure 3 is a partial enlarged diagram of the position sensor of the embodiment of the application;

[0048] Figure 4 is an example diagram of the cartridge end-side driving structure of the embodiment of the application;

[0049] Figure 5 is a structural example diagram of the cartridge of the embodiment of the application;

[0050] Figure 6 is a pairing example diagram of the cartridge end-side driving structure of the embodiment of the application;

[0051] Figure 7 is a structural example diagram of the rotating driving shaft of the embodiment of the application;

[0052] Figure 8 is a pairing example diagram of the rotating driving shaft of the embodiment of the application;

[0053] Figure 9 is a pairing example diagram of the cartridge pipetting pump and the pump driving rod of the embodiment of the application;

[0054] Figure 10 is a flowchart of the cartridge loading driving method of the embodiment of the application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0056] The cartridge loading is a process of installing the cartridge loaded with reagents into a driving device for processing reagents and / or samples, and pairing of the cartridge and the driving device is required in the process. One way to realize the cartridge loading can be to manually move the cartridge to a position for pairing with the driving device. The above-mentioned implementation can realize the cartridge loading, but requires manual participation, wastes a lot of labor, and is low in efficiency. And in the process of manual participation, the cartridge loading can fail due to subjective factors of human, affecting the subsequent reagent processing process.

[0057] Therefore, the embodiments of the present application provide a cartridge loading driving system, which realizes automatic cartridge loading through the setting relationship and mutual cooperation between various structures in the cartridge loading driving system, can reduce manual participation in the cartridge loading process, and achieves the purpose of improving the cartridge loading efficiency.

[0058] Figure 1 The structural diagram of the cartridge loading driving system in the embodiments of the present application is shown in Figure 1 The cartridge loading driving system can include a base 1, a cartridge tray 2, and a cartridge end-side driving structure 3.

[0059] The cartridge tray 2 is slidingly installed on the base 1, and the cartridge tray 2 is used to place a cartridge 4 containing reagents.

[0060] The cartridge end-side driving structure 3 is fixedly installed on the base 1. The cartridge end-side driving structure 3 is a structure with motor control capability (for example, the cartridge end-side driving structure can include a driving device for processing reagents and / or samples), and is located at one side (i.e., the end side) of the cartridge loading driving system relative to the cartridge 4.

[0061] When the cartridge loading is performed, the cartridge can be placed in the placement position of the cartridge tray, so that when the cartridge is placed in the placement position of the cartridge tray, the cartridge tray can move towards the cartridge end-side driving structure under the control of the cartridge end-side driving structure based on the motor control capability of the cartridge end-side driving structure, and when the cartridge tray reaches a preset target position, the cartridge is paired and connected with the cartridge end-side driving structure.

[0062] The preset target position can be regarded as a position at which the preset cartridge is matched with the driving device.

[0063] In the embodiment of the present application, since the driving device for processing reagent and / or sample is located at the cartridge end side driving structure, the cartridge loading driving system provided by the embodiment of the present application needs to match and connect the cartridge with the cartridge end side driving structure when the cartridge loading is performed. In order to realize the matching and connection of the cartridge with the cartridge end side driving structure, the cartridge end side driving structure can be configured to have the ability to control the movement of the cartridge tray, and when the cartridge tray moves to the preset target position, the cartridge can be matched and connected with the cartridge end side driving structure. Based on this, when the cartridge is placed at the placement position of the cartridge tray, the cartridge tray can move towards the cartridge end side driving structure under the control of the cartridge end side driving structure, so that when the cartridge tray reaches the preset target position, the cartridge is matched and connected with the cartridge end side driving structure.

[0064] The cartridge loading driving system provided by the embodiment of the present application slides the cartridge tray on the base, and fixedly installs the cartridge end side driving structure on the base, so that when the cartridge is placed at the placement position of the cartridge tray, the cartridge end side driving structure can control the cartridge tray to move towards the cartridge end side driving structure, and when the cartridge tray reaches the preset target position, the cartridge is matched and connected with the cartridge end side driving structure. Therefore, the embodiment of the present application can realize automatic cartridge loading by the setting relationship and mutual cooperation between the base, the cartridge tray and the cartridge end side driving structure, reduce manual operation in the cartridge loading process, and improve the efficiency of cartridge loading.

[0065] In an optional implementation, Figure 2 An exemplary structural diagram of the cartridge tray of the embodiment of the present application is shown, referring to Figure 2 The cartridge tray can include a driving motor 21 and a belt 22.

[0066] In an optional embodiment, the driving motor is a driving stepper motor, and the belt is a timing belt.

[0067] The stepper motor is a type of electric motor whose speed can be closely controlled in discrete steps. The driving function of the stepper motor can be realized by a special driving circuit and a controller, which is used to realize accurate position control and motion control. Therefore, the driving stepper motor is arranged in the structure of the cartridge tray, which can realize more accurate control of the moving position and motion of the cartridge tray. The driving stepper motor is installed on the side of the cartridge tray close to the cartridge end side driving structure.

[0068] Timing belt is a kind of elastic belt-shaped transmission element, which is characterized by uniformly distributed teeth that can precisely engage with the clamping groove on the driving wheel or driven wheel (for example, timing belt pulley 23 in Figure 2 The timing belt pulley is used to connect the driving stepper motor and the timing belt, ensuring the stability of the connection between the driving stepper motor and the timing belt, so that the driving stepper motor can stably drive the timing belt. In addition, the timing belt pulley also has the functions of supporting and guiding, helping to maintain the stable operation of the timing belt. Therefore, by arranging the timing belt pulley in the structure of the card box tray, the stability and reliability of the entire card box loading drive system can be ensured.

[0069] In a specific example, under the control of the card box end side drive structure, the driving stepper motor can rotate the shaft of the driving stepper motor and the timing belt pulley, and the timing belt can move the card box tray towards the card box end side drive structure. For example, when the card box needs to be loaded and paired with the card box end side drive structure, the card box tray can be controlled to move towards the card box end side drive structure.

[0070] In another optional example, under the control of the card box end side drive structure, the driving stepper motor can rotate the shaft of the driving stepper motor and the timing belt pulley, and the timing belt can move the card box tray away from the card box end side drive structure. For example, when the card box needs to be separated from the card box loading drive system, the card box tray can be controlled to move away from the card box end side drive structure. It should be noted that Figure 2 The arrow direction shown in

[0071] In an optional implementation, the card box tray can also include a position sensor 24, as shown in the partial enlarged view of the position sensor 24 in Figure 3 The position sensor is a sensor that can sense the position of the measured object and convert it into a usable output signal, which is used to detect the position of the card box tray. The card box end side drive structure can control the movement of the card box tray based on the position of the card box tray.

[0072] In a specific example, with reference to Figure 3 The position sensor 24 includes a first position sensor 241 and a second position sensor 242; the first position sensor is arranged at the leading end of the base, and the second position sensor is arranged at the trailing end of the base. The trailing end is the end of the card box tray close to the card box end side drive structure, and the leading end is the end of the card box tray away from the card box end side drive structure.

[0073] The position sensors are arranged at the head and tail of the base respectively, so that the running position of the card box tray can be detected, and the controller of the card box loading driving system can send instructions (such as controlling the driving motor to continue to move or stopping driving the driving motor) according to the position detection signals received by the position sensors.

[0074] Further, the first position sensor is used to detect the moving start point position of the card box tray, and the second position sensor is used to detect the hard point position of the card box tray; it should be noted that the hard point position is a preset target position. When the position of the card box tray reaches the hard point position, the card box end side driving structure can control the card box tray to stop moving, and when the first position sensor detects that the card box tray moves to the start point position, the card box tray can also be controlled to stop moving by the card box loading driving system.

[0075] When the card box tray is located at the moving start point position, the user can operate the control button (optionally, the control button can be arranged on the operation panel of the card box loading driving system) to instruct the card box loading driving system to control the card box tray to move towards the card box end side driving structure, so that the card box tray drives the card box to move towards the card box end side driving structure; when the card box tray moves to the hard point position, the second position sensor detects that the card box tray is located at the hard point position and outputs a position detection signal, at this time, the card box loading driving system judges that the card box reaches the position for pairing based on the position detection signal of the second position sensor, so as to control the movement of the card box tray to stop, that is, the card box end side driving structure controls the card box tray to stop moving.

[0076] In an optional implementation, Figure 4 An example diagram of the card box end side driving structure of the embodiment of the application is exemplarily shown, referring to Figure 4 The card box end side driving structure can include a pairing motor 31, a rotating driving shaft 32, a pump driving rod 33, and a Hall sensor 34.

[0077] In a specific example, the pairing motor is a pairing stepper motor. The stepper motor can rotate according to the input electrical pulse signal by a certain step length, and is used to realize accurate position control and motion control. The pairing stepper motor is arranged in the card box end side driving structure, and can be used to drive and control the rotating driving shaft and the pump driving rod in the card box end side driving structure to pair with the card box.

[0078] The rotating driving shaft is a mechanical component for driving or rotating an axis to rotate, and is used to connect and pair the card box end side driving structure with the card box.

[0079] The pump driving rod is an important connecting component between the matching stepper motor and the pipette pump of the cartridge, the matching stepper motor can drive the pump driving rod to connect and match with the cartridge, so as to perform pipetting.

[0080] The Hall sensor is a component that uses magnetic force to feed back the position information of an object to a controller, and is a position detection sensor.

[0081] In an optional embodiment, the rotating driving shaft 32 is matched with the cartridge 4 by driving of the matching motor 31, the pump driving rod 33 is moved by driving of the matching motor, and the Hall sensor 34 is used to detect the position of the rotating driving shaft.

[0082] In an optional implementation, in the cartridge end side driving structure, the number of rotating driving shafts is multiple, and the number of Hall sensors is also multiple; on the bracket of the cartridge end side driving structure, one rotating driving shaft corresponds to one Hall sensor. Each rotating driving shaft is provided with a Hall sensor, and the position of each rotating driving shaft is detected to confirm whether each rotating driving shaft is successfully matched in time.

[0083] In an optional implementation, in combination with Figure 4 As shown in the figure, the cartridge end side driving structure can further include a circuit board 35, which is arranged above the cartridge end side driving structure.

[0084] The circuit board, also known as a printed circuit board, is used to connect and support electronic components (such as the Hall sensor 34, the position sensor 24, and the controller in the cartridge loading driving system) and provide electrical connections between electronic components. The wiring and tracking design on the circuit board provides electrical connections between various electronic components and external power supply and / or controller, so that signals and power can be transmitted between electronic components. In an optional example, the circuit board can be used for signal transmission between electronic components of the cartridge loading driving system.

[0085] In an optional implementation, Figure 5 An example of the structure of the cartridge of the embodiment of the application is shown, referring to Figure 5 The cartridge at least includes a pipette tip 41, a pipette tip cartridge 42, and a pipette pump 43.

[0086] The pipette tip is a kind of pipette, which is used to facilitate the accurate transfer of reagent liquid; one end of the pipette tip 41 is connected to the pipette pump 43, and the other end is used to suck and release liquid. The pipette tip box is a structure for storing and protecting the pipette tip. The pipette pump is a pipetting tool used to control the volume and flow rate of pipetting, and can provide accurate volume of pipetting. The pipette pump can control the volume and flow rate of pipetting, and the pipette tip is used to suck and release pipetting. The two are used together to make the pipetting operation more convenient and accurate.

[0087] In an optional embodiment, Figure 6 The example shows the matching example of the cartridge end side driving structure, combined with Figure 4 , Figure 5 and Figure 6 , based on Figure 6 The X, Y and Z directions of the three-dimensional space shown in the figure, when the cartridge is matched and connected with the cartridge end side driving structure, the driving rod of the pipette tip moves in the Z direction of the pipette tip, and is matched and connected with the rotating drive shaft; the driving rod of the pipette tip box moves in the Y direction of the pipette tip box, and is matched and connected with the rotating drive shaft; the pump driving rod moves to the side close to the pipette pump to be matched and connected with the piston push rod of the pipette pump. It should be noted that the dashed line in the figure represents the matching connection relationship between the cartridge end side driving structure and the cartridge.

[0088] In an optional implementation, Figure 7 The example shows the structure example of the rotating drive shaft, referring to Figure 7 The rotating drive shaft includes: a magnet 321, a spring 322, and a matching card slot 323.

[0089] The magnet is used for the Hall sensor to detect the position of the rotating drive shaft. When the Hall sensor detects the magnet, it detects the position of the rotating drive shaft. The spring is used to provide a rebound force and buffer vibration when the rotating drive shaft is matched with the cartridge, so as to realize flexible connection and maintain close connection, thereby enhancing the stability, adaptability and reliability of the matching structure. The matching card slot can provide accurate positioning and alignment function, so as to ensure that the driving rod of the pipette tip of the cartridge and the driving rod of the pipette tip box are accurately matched and connected with the rotating drive shaft, and the matching card slot plays an important role in connection and support in the matching structure.

[0090] In a specific example, the magnet and the spring are arranged inside the rotating drive shaft, and the matching card slot is arranged at the end of the rotating drive shaft.

[0091] In an optional implementation, when the cartridge is matched and connected with the cartridge end side driving structure, the driving rod of the pipette tip and the driving rod of the pipette tip box are first matched and connected with the matching card slot.

[0092] When the cartridge is mated with the cartridge end drive structure, the mating slots at the ends of the rotating drive shaft need to be mated with the respective drive rods of the cartridge. This process is primarily detected by a Hall effect sensor to determine whether the mating connection is complete. When the cartridge drive rods are successfully mated with the mating slots, the magnets within the rotating drive shaft are detected by the Hall effect sensor. If the Hall effect sensor does not detect the magnets, meaning the cartridge drive rods are not mated with the mating slots, the rotating drive shaft is controlled to rotate, causing the cartridge drive rods to be mated with the mating slots again.

[0093] In an optional embodiment, Figure 8 The example diagram of the pairing of the rotating drive shaft is shown as an example. Figure 8 Before the first pairing connection is performed, the magnet 321 is away from the Hall sensor corresponding to the rotating drive shaft; when the first pairing connection is successful, the magnet 321 moves toward the side close to the pairing motor, and the spring 322 is compressed, and the Hall sensor corresponding to the rotating drive shaft detects the magnet; when the first pairing connection is unsuccessful, refer to Figure 8 The Hall sensor corresponding to the rotating drive shaft does not detect the magnet 321, and the rotating drive shaft is controlled to rotate so that the driving rod of the pipette tip or the driving rod of the pipette tip box is re-paired with the pairing slot 323 for the first pairing connection.

[0094] It should be noted that Figure 8 The arrow direction is the rotation direction and movement direction of the rotary drive shaft.

[0095] In an optional implementation, when the cartridge is mated with the cartridge end-side drive structure, the piston push rod of the pipette pump is mated with the pump drive rod for a second time. When the cartridge is mated with the cartridge end-side drive structure, the pump drive rod needs to be mated with the piston push rod of the pipette pump to determine an initial position of the pump drive rod before a pipetting operation.

[0096] Based on this, in an optional embodiment, before the second pairing connection is performed, the piston of the pipetting pump of the cartridge and the pump drive rod of the cartridge end side drive structure have an initial gap; when the second pairing connection is performed, the pump drive rod moves toward the side close to the piston to eliminate the initial gap, and the pump drive rod pushes the piston to move toward the side away from the cartridge end side drive structure and moves to the limit position, where the limit position is the position where the piston cannot continue to move (i.e., the initial position of the pump drive rod before starting the pipetting operation).

[0097] In a specific example, Figure 9An exemplary diagram showing the pairing of the cartridge pipetting pump and the pump driving rod is shown in FIG. 1, and the pairing of the cartridge pipetting pump and the pump driving rod is described below with reference to FIG. 1. Figure 9 Before the pump driving rod 33 is paired, there is an initial gap 901 between the cartridge pipetting pump and the pump driving rod 33. Assuming that the value of the initial gap is a, the pump driving rod 33 moves to the side of the piston 431 of the pipetting pump by a distance of a+b to eliminate the initial gap, where b is the value of the error gap. Then, the piston is further pushed to move to the side away from the cartridge end-side driving structure (i.e., the direction of the bold arrow shown in the figure), to a position where the piston cannot continue to move, which is the limit position and also the initial position of the pump driving rod before the pipetting operation.

[0098] Further, when the pump driving rod moves to the limit position, the pump driving rod and the piston remain in contact. When the driving device needs to suck the reagent, the pairing motor drives the pump driving rod to retreat to move to the side close to the cartridge end-side driving structure according to the volume of the reagent to be sucked. When the driving device needs to push out the reagent, the pairing motor drives the pump driving rod to move to the side away from the cartridge end-side driving structure according to the volume of the reagent to be pushed out.

[0099] In a specific example, when the piston moves to the limit position, the pump driving rod and the piston remain in contact. When the driving device needs to suck the reagent, the pairing motor drives the pump driving rod to retreat to the side close to the cartridge end-side driving structure. Optionally, the retreat distance includes the initial gap and the distance corresponding to the volume of the reagent to be sucked. When the driving device needs to push out the reagent, the pairing motor drives the pump driving rod to move to the side away from the cartridge end-side driving structure, i.e., in the direction of the bold arrow shown in FIG. 1. Optionally, the movement distance at least includes the distance corresponding to the volume of the reagent to be sucked. Figure 9 In a specific example, when the piston moves to the limit position, the pump driving rod and the piston remain in contact. When the driving device needs to suck the reagent, the pairing motor drives the pump driving rod to retreat to the side close to the cartridge end-side driving structure. Optionally, the retreat distance includes the initial gap and the distance corresponding to the volume of the reagent to be sucked. When the driving device needs to push out the reagent, the pairing motor drives the pump driving rod to move to the side away from the cartridge end-side driving structure, i.e., in the direction of the bold arrow shown in FIG. 1. Optionally, the movement distance at least includes the distance corresponding to the volume of the reagent to be sucked.

[0100] The cartridge loading driving method of the embodiments of the present application is described below from the perspective of the controller. The cartridge loading driving method described below can be considered as the control process performed by the controller when the cartridge is loaded. The cartridge loading driving method described below can be mutually corresponding to the content of the cartridge loading driving system described above.

[0101] Optionally, Figure 10 A flowchart of the cartridge loading driving method provided by the embodiments of the present application is shown in FIG. 2, which is applied to the controller. The controller can be arranged at the cartridge end-side driving structure. The cartridge loading driving method can include the following steps. Figure 10 The cartridge loading driving method can include the following steps.

[0102] Step S1001: When the cartridge is placed at the placement position of the cartridge tray, a driving control instruction is output.

[0103] The driving control instruction is used to control the card box tray to move towards the card box end side driving structure.

[0104] Step S1002: output a driving stop instruction when it is detected that the card box tray reaches the preset target position.

[0105] The driving stop instruction is used to control the card box tray to stop moving; and after the card box tray reaches the preset target position, the card box is connected with the card box end side driving structure.

[0106] It can be seen that the card box loading driving system provided by the embodiments of the present application can slide the card box tray on the base, and fixedly install the card box end side driving structure on the base, so that when the card box is placed on the placing position of the card box tray, the card box end side driving structure can control the card box tray to move towards the card box end side driving structure, and when the card box tray reaches the preset target position, the card box is connected with the card box end side driving structure. Therefore, the embodiments of the present application can realize the automatic loading of the card box by the setting relationship and mutual cooperation between the base, the card box tray and the card box end side driving structure, reduce the manual operation in the card box loading process, and improve the efficiency of the card box loading.

[0107] The above describes the multiple embodiment schemes provided by the embodiments of the present application, and each optional mode introduced by each embodiment scheme can be combined, cross-referenced in the case of no conflict, thereby extending multiple possible embodiment schemes, which can be considered as the embodiment schemes disclosed and disclosed by the embodiments of the present application.

[0108] Although the embodiments of the present application are disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and therefore the protection scope of the present application should be subject to the range defined by the claims.

Claims

1. A cartridge loading drive system, characterized in that: include: base; a cartridge tray, the cartridge tray being slidably mounted on the base and being used for placing a cartridge containing a reagent; a cartridge end-side drive structure, the cartridge end-side drive structure being fixedly mounted on the base, the cartridge end-side drive structure comprising a drive device for processing reagents and / or samples; Wherein, when the card box is placed in the placement position of the card box tray, the card box tray moves toward the card box end side driving structure under the control of the card box end side driving structure, and when the card box tray reaches the preset target position, the card box is paired with the card box end side driving structure, and the card box end side driving structure also includes: a pairing motor; a rotating drive shaft, the rotating drive shaft is driven by the pairing motor to rotate and pair with the card box, and the number of the rotating drive shafts is multiple; a pump drive rod, the pump drive rod is moved by the drive of the pairing motor; a Hall sensor, the Hall sensor is used to detect the rotation drive The position of the axis is detected, and the number of the Hall sensors is multiple; wherein, on the bracket of the cartridge end side driving structure, one rotating driving shaft corresponds to one Hall sensor, and the cartridge at least includes a pipette tip, a pipette tip box and a pipette pump; wherein, when the cartridge is paired with the cartridge end side driving structure, the pipette tip moves the driving rod of the pipette tip in the Z direction to be paired with the rotating driving shaft; the pipette tip box moves the driving rod of the pipette tip box in the Y direction to be paired with another rotating driving shaft; the pump driving rod moves toward the side close to the pipette pump to be paired with the piston push rod of the pipette pump.

2. The cartridge loading drive system according to claim 1, wherein: The card box tray includes: a driving motor, the driving motor being mounted on a side of the cartridge tray close to the cartridge end-side driving structure; belt; Wherein, the driving motor, under the control of the cartridge end side driving structure, rotates the belt through the shaft of the driving motor and the pulley, so that the cartridge tray moves toward the cartridge end side driving structure.

3. The cartridge loading drive system according to claim 2, wherein: The cartridge tray further comprises: a position sensor, the position sensor being configured to detect the position of the cartridge tray; Wherein, the cartridge end side driving structure controls the movement of the cartridge tray based on the position of the cartridge tray.

4. The cartridge loading drive system according to claim 3, characterized in that: The position sensor includes a first position sensor and a second position sensor; the first position sensor is arranged at the head end of the base, and the second position sensor is arranged at the end end of the base; The end is an end of the cartridge tray close to the cartridge end side driving structure, and the head is an end of the cartridge tray away from the cartridge end side driving structure.

5. The cartridge loading drive system according to claim 4, characterized in that: The first position sensor is used to detect the moving starting position of the cartridge tray; the second position sensor is used to detect the hard point position of the cartridge tray, and the hard point position is the preset target position; Wherein, when the position of the cartridge tray reaches the hard point position, the cartridge end side driving structure controls the cartridge tray to stop moving.

6. The cartridge loading drive system according to claim 1, wherein: The cartridge end-side driving structure further includes: A circuit board is arranged above the card box end side drive structure; the circuit board is used for signal transmission between electronic components of the card box loading drive system.

7. The cartridge loading drive system according to claim 1, wherein: The rotary drive shaft comprises: a magnet, a spring and a matching slot; the magnet and the spring are arranged inside the rotary drive shaft, and the matching slot is arranged at the end of the rotary drive shaft.

8. The cartridge loading drive system according to claim 7, wherein: When the card box is mated with the card box end-side driving structure, the driving rod of the pipette tip and the driving rod of the pipette tip box are first mated with the mating slot.

9. The cartridge loading drive system according to claim 8, characterized in that: Before the first pairing connection is performed, the magnet is away from the Hall sensor corresponding to the rotating drive shaft; when the first pairing connection is successful, the magnet moves toward the side close to the pairing motor, and the spring is compressed, and the Hall sensor corresponding to the rotating drive shaft detects the magnet; when the first pairing connection is unsuccessful, the Hall sensor corresponding to the rotating drive shaft does not detect the magnet, and the rotating drive shaft is controlled to rotate so that the driving rod of the pipette tip and the driving rod of the pipette tip box perform the first pairing connection with the pairing slot again.

10. The cartridge loading drive system according to claim 1, wherein: When the cartridge is mated with the cartridge end-side drive structure, the piston push rod of the pipetting pump is mated with the pump drive rod for a second time; Before the second pairing connection is performed, the piston of the pipetting pump of the cartridge and the pump drive rod of the cartridge end side drive structure have an initial gap; when the second pairing connection is performed, the pump drive rod moves toward the side close to the piston to eliminate the initial gap, and the pump drive rod pushes the piston to move toward the side away from the cartridge end side drive structure and to the limit position, where the limit position is the position where the piston cannot move further.

11. The cartridge loading drive system according to claim 10, wherein: When moving to the extreme position, the pump drive rod maintains contact with the piston; when the driving device needs to absorb the reagent, the pairing motor absorbs the reagent by the required volume and drives the pump drive rod to retreat to move toward the side where the cartridge end drive structure is located; when the driving device needs to push out the reagent, the pairing motor pushes out the liquid by the required volume and drives the pump drive rod to move toward the side away from the cartridge end drive structure.

12. A cartridge loading and driving method applied to the cartridge loading and driving system according to any one of claims 1 to 11, characterized in that: Applied to a controller, the cartridge loading and driving method includes: When the cartridge is placed at the placement position of the cartridge tray, a drive control instruction is output, wherein the drive control instruction is used to control the cartridge tray to move toward the cartridge end side drive structure; When detecting that the cartridge tray reaches a preset target position, outputting a drive stop instruction, wherein the drive stop instruction is used to control the cartridge tray to stop moving; Wherein, after the card box tray reaches a preset target position, the card box is matched and connected with the card box end-side driving structure.

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