Motion device, multi-axis motion platform, optical detection equipment and sequencer

Abstract

The invention provides a motion device, a multi-axis motion platform, optical detection equipment and a sequencer. The motion device comprises a mounting base; the supporting seat is used for supporting a preset object carrying device, the object carrying device comprises a supporting surface for supporting a sample to be detected, and the supporting surface comprises at least three controlled supporting areas; the vertical base is movably connected with the mounting base and sleeves the side surface of the supporting seat; the vertical motors are mounted on the mounting base, and each vertical motor controls one controlled supporting area and is used for driving the controlled supporting area to move in the axial direction perpendicular to the moving device; the moving device comprises a first driving mode and a second driving mode. In the first driving mode, the multiple vertical motors move to drive the whole supporting face to move in the axial direction. In the second driving mode, part of the multiple vertical motors drive the corresponding controlled areas to move in the axial direction. By means of the device, adjustment of the carrying device supported on the movement device in multiple degrees of freedom corresponding to the supporting face can be achieved, and the leveling precision of the movement device is improved.

Description

Technical Field

[0001] The present invention relates to the field of equipment control technology, and in particular to a motion device, a multi-axis motion platform, an optical detection device and a sequencer. Background Art

[0002] Gene sequencing refers to the analysis of the base sequence of a specific DNA fragment, that is, the arrangement of adenine (A), thymine (T), cytosine (C) and guanine (G). The sequencing process of current gene sequencers consists of a series of mechanical, electronic communication, biological, chemical and optical operating components, and the precise positioning technology of each operating component plays an important role in the entire sequencing process.

[0003] During the sequencing process, it is usually necessary to use a motion device to level the sequencing chip so that the sequencing chip is on the same horizontal plane to ensure the clarity of the collected sequencing images. The leveling method of the motion device has a great impact on the accuracy of gene sequencing. The current leveling method is mostly manual adjustment, and the leveling accuracy is poor. Summary of the invention

[0004] In view of the above, it is necessary to propose a motion device, a multi-axis motion platform, an optical detection device and a sequencer that can solve the problem of poor leveling accuracy of the motion device.

[0005] A first aspect of an embodiment of the present application provides a motion device, which includes: a mounting base; a support base, mounted in the mounting base, for supporting a preset loading device, the loading device including a support surface for supporting a sample to be detected, the support surface including at least three controlled support areas; a vertical base, movably connected to the mounting base and sleeved on the side of the support base, for supporting the support base; a plurality of vertical motors, mounted on the mounting base, each vertical motor corresponding to one of the controlled support areas, for driving the controlled support area to move along an axial direction perpendicular to the motion device; the motion device includes a first driving mode and a second driving mode: in the first driving mode, the plurality of vertical motors move together to drive the supporting surface to move as a whole along the axial direction; in the second driving mode, some of the plurality of vertical motors drive the corresponding controlled area to move along the axial direction.

[0006] Furthermore, in the above-mentioned motion device provided in the embodiment of the present application, the multiple vertical motors are symmetrically distributed along the outer periphery of the support surface.

[0007] Furthermore, in the above-mentioned motion device provided in the embodiment of the present application, the motion device also includes a gravity compensation component, and the gravity compensation component is used to compensate for the gravity of the vertical base.

[0008] Furthermore, in the above-mentioned motion device provided in the embodiment of the present application, the gravity compensation component includes a magnetic levitation stator and a magnetic floater, the magnetic levitation stator is arranged on the mounting base, and the magnetic floater is connected to the vertical base; there is a magnetic force between the magnetic levitation stator and the magnetic floater, so that the magnetic floater has a tendency to move in a direction perpendicular to the carrier, thereby compensating for the gravity of the vertical base.

[0009] Furthermore, in the above-mentioned motion device provided in the embodiment of the present application, the motion device also includes a displacement encoding component, which connects the mounting base and the vertical base and is used to measure the displacement of the controlled support area along a direction perpendicular to the carrier.

[0010] Furthermore, in the above-mentioned motion device provided in the embodiment of the present application, the displacement encoding component includes a reading head and a grating scale, the reading head is arranged on the mounting base, and the grating scale is arranged on the vertical base, and when the grating scale and the reading head move relative to each other, the reading head reads the encoding signal on the grating scale to obtain the displacement of the controlled support area along the direction perpendicular to the carrier device.

[0011] Furthermore, in the above-mentioned motion device provided in the embodiment of the present application, the mounting base includes a bottom plate, a plurality of guide blocks and a side plate, the side plate is arranged on the bottom plate, the plurality of guide blocks are arranged on the inner side of the side plate and extend in a direction perpendicular to the loading device.

[0012] Furthermore, in the above-mentioned motion device provided in the embodiment of the present application, a plurality of guide grooves are also provided on the outer wall of the vertical base, and the guide grooves extend in a direction perpendicular to the loading device. The guide grooves are movably connected to the guide blocks, and the guide grooves are driven by the vertical motor to move relative to the guide blocks, so that the controlled support area moves in a direction perpendicular to the loading device.

[0013] Furthermore, in the above-mentioned motion device provided in the embodiment of the present application, the support seat is rotatably arranged around the axial direction relative to the vertical base.

[0014] The second aspect of the embodiment of the present application also provides a multi-axis motion platform for supporting a biochip, including a horizontal motion mechanism and an axial motion mechanism installed on the horizontal motion mechanism, the axial motion mechanism includes any of the motion devices described above, the mounting base is supported by the horizontal motion mechanism, and the horizontal motion mechanism and the axial motion mechanism can be independently controlled.

[0015] Furthermore, in the above-mentioned multi-axis motion platform provided in the embodiment of the present application, the horizontal motion mechanism includes an X-axis motion table and a Y-axis motion table stacked on one side of the X-axis motion table, the mounting base is supported by the Y-axis motion table, and the X-axis, the Y-axis and the axial direction are perpendicular to each other.

[0016] The third aspect of the embodiments of the present application also provides an optical detection device, which includes a driving device, a motion device as described in any one of the above, a carrier device and an optical signal detection device, wherein the carrier device includes a supporting surface for supporting a sample to be detected, and the supporting surface includes at least three controlled supporting areas, wherein the motion device supports the carrier device and is installed on the driving device, and is used to drive the carrier device to move in a direction perpendicular to the supporting surface; the driving device is used to drive the carrier device to move in a direction parallel to the supporting surface; the optical signal detection device is suspended on the upper end surface of the carrier device, and is used to collect the optical signal of the sample to be detected.

[0017] A fourth aspect of an embodiment of the present application further provides a sequencer, comprising the optical detection device as described above.

[0018] The above-mentioned motion device provided in the embodiment of the present application independently drives the controlled support area to move in a direction perpendicular to the object-carrying device through multiple vertical motors, and adjusts the inclination of the controlled support area compared to the horizontal plane through fine adjustment. Therefore, the embodiment of the present application can achieve the adjustment of the object-carrying device supported on the motion device corresponding to the support surface in multiple degrees of freedom, thereby improving the leveling accuracy of the motion device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings.

[0020] Figure 1 It is a structural schematic diagram of a sports device provided in an embodiment of the present application.

[0021] Figure 2 It is a cross-sectional view of a sports device provided in an embodiment of the present application.

[0022] Figure 3 It is a structural schematic diagram of a gravity compensation component provided in an embodiment of the present application.

[0023] Figure 4 It is a first structural schematic diagram of an optical detection device provided in an embodiment of the present application.

[0024] Figure 5 This is a second structural schematic diagram of an optical detection device provided in an embodiment of the present application.

[0025] Main component symbols

[0026] Sports device 100

[0027] Mounting base 10

[0028] Bottom plate 11

[0029] Guide block 12

[0030] Side panel 13

[0031] Support seat 20

[0032] Vertical base 30

[0033] Guide groove 31

[0034] Vertical motor 40

[0035] Gravity compensation component 50

[0036] Magnetic levitation stator 51

[0037] Magnetic float 52

[0038] Displacement encoding component 60

[0039] Reading head 61

[0040] Linear ruler 62

[0041] Optical inspection equipment1

[0042] Driving device 200

[0043] Carrying device 300

[0044] Optical signal detection device 400

[0045] Base 401

[0046] Objective 402

[0047] Controller 500

[0048] Memory 600

[0049] Communication bus 700 DETAILED DESCRIPTION

[0050] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0051] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. The embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0053] Figure 1 1 is a schematic diagram of the structure of a sports device 100 provided in an embodiment of the present application. Figure 1 As shown, the motion device 100 includes: a mounting base 10, a support base 20, a vertical base 30 and a vertical motor 40, wherein the support base 20 is installed in the mounting base 10 to support a preset loading device 300 (in Figure 3 ), the object-carrying device 300 includes a support surface for supporting the sample to be detected, the support surface includes at least three controlled support areas, and a three-dimensional coordinate system is established in a first direction X, a second direction Y and a third direction Z. The controlled support area refers to an area that can be controlled to achieve adjustment along an axial direction perpendicular to the motion device 100 (this embodiment of the application may also be referred to as "Z-axis direction"), and the sample to be detected may include a nucleic acid sample library. The support seat 20 rotates around the Z-axis direction under the drive of, for example, a rotating motor (not shown), thereby driving the object-carrying device 300 to rotate around the Z-axis direction. The vertical base 30 is movably connected to the mounting base 10 and is sleeved on the side of the support seat 20 for supporting the support seat 20. The vertical motor 40 is installed on the mounting base 10, and is used to drive the vertical base 30 to move along the Z-axis direction, thereby driving the object-carrying device 300 to move along the Z-axis direction. In one embodiment, the number of the vertical motors 40 can be multiple. For example, four vertical motors 40 are respectively arranged around the vertical base 30 to control four support areas. Each vertical motor 40 corresponds to the controlled support area of ​​the corresponding support surface of the object-carrying device 300, and the vertical motors 40 are symmetrically distributed along the outer periphery of the support surface to adjust the movement of the controlled support area along the Z-axis direction. In the embodiment of the present application, the vertical base 30 is sleeved on the side of the support seat 20 to support the support seat 20, and the vertical axis of the vertical base 30 moving along the Z-axis direction and the rotation axis of the support seat 20 rotating around the Z-axis direction are integrated, so as to achieve low center of gravity, high load, and high response tracking error control performance of the motion device 100.

[0054] In one embodiment, the mounting base 10 includes a bottom plate 11, a plurality of guide blocks 12, and a side plate 13. The side plate 13 is disposed on the bottom plate 11. The plurality of guide blocks 12 are disposed on the inner side of the side plate 13 and extend along the Z-axis direction. The number of the guide blocks 12 is at least 2, for example, the number of the guide blocks 12 may be 2, 3, 4, etc.

[0055] In one embodiment, the support base 20 is rotatable relative to the vertical base 30 around the axial direction. The support base 20 rotates around a Z-axis direction perpendicular to the object carrying device 300 .

[0056] In one embodiment, a plurality of guide grooves 31 are further provided on the outer wall of the vertical base 30, and the guide grooves 31 extend along the Z-axis direction. The guide grooves 31 are movably connected to the guide block 12, and the guide grooves 31 are driven by the vertical motor 40 to move relative to the guide block 12, so that the controlled support area moves along the Z-axis direction. The number of guide grooves 31 is at least 2. In one embodiment, there is a gap between the guide grooves 31 and the guide block 12, and when a single vertical motor 40 moves, the single vertical motor 40 can drive the controlled support area of ​​the corresponding support surface of the object carrying device 300 to move along the Z-axis direction through the gap.

[0057] Figure 2 is a cross-sectional view of a sports device provided in an embodiment of the present application. Figure 2 As shown, the number of vertical motors 40 can be determined according to the number of controlled support areas corresponding to the support surface. For example, if the number of controlled support areas is four, the number of vertical motors 40 is four, and no limitation is made here. The vertical motor 40 can be, for example, a voice coil motor, wherein the coil is fixed to the mounting base, the magnet is fixed relative to the vertical base, and the coil is sleeved on the outer periphery of the magnet. In one embodiment, the motion device 100 includes a first driving mode and a second driving mode: in the first driving mode, the vertical motors 40 corresponding to the multiple controlled support areas simultaneously drive the controlled support areas to move along the Z-axis direction, thereby driving the entire support surface of the object-carrying device 300 to move along the Z-axis direction; in the second driving mode, some of the vertical motors 40 are selectively opened to drive the corresponding controlled support areas to move along the Z-axis direction, thereby realizing the movement of the controlled support areas of the corresponding support surface of the object-carrying device 300 along the Z-axis direction, and realizing the fine adjustment of the controlled support areas in the Z-axis direction. The embodiment of the present application can realize the overall movement and partial area movement of the corresponding support surface of the loading device 300 in the Z-axis direction by setting the corresponding vertical motor 40 for the controlled support area, and can improve the leveling accuracy when the corresponding support surface of the loading device 300 is subsequently leveled.

[0058] See also Figure 2 and Figure 3, Figure 3 is a schematic diagram of the structure of a gravity compensation component provided in an embodiment of the present application. The motion device 100 also includes a gravity compensation component 50 , and the gravity compensation component 50 is used to compensate for the gravity of the vertical base 30 .

[0059] In one embodiment, the gravity compensation component 50 includes a magnetic levitation stator 51 and a magnetic float 52, wherein the magnetic levitation stator 51 is disposed on the mounting base 10, and the magnetic float 52 is connected to the vertical base 30; there is a magnetic force between the magnetic levitation stator 51 and the magnetic float 52, so that the magnetic float 52 has a tendency to move along the Z-axis direction, thereby compensating for the gravity of the vertical base 30. Preferably, the magnetic levitation stator 51 is a magnetic bar fixed to the mounting base 10, and the magnetic float 52 is a magnetic ring fixed to the vertical base 30, and the magnetic ring is correspondingly sleeved on the outer periphery of the magnetic bar. In one embodiment, the number of gravity compensation components 50 can be determined according to the number of controlled support areas corresponding to the support surface. For example, if the number of controlled support areas is four, the number of gravity compensation components 50 is four, which is not limited here. In the embodiment of the present application, the weight of the vertical base 30 during the movement along the Z-axis direction is neutralized by the gravity compensation component 50, so that it reaches a "zero load" state, and a high response in the Z-axis direction is achieved. Preferably, the gravity compensation component 50 is symmetrically arranged on the outer periphery of the vertical base 30. In one embodiment, the motion device 100 further includes a displacement encoding component 60, which connects the mounting base 10 and the vertical base 30 and is used to measure the displacement of the controlled support area along the Z-axis direction. The displacement encoding component 60 includes a reading head 61 and a grating ruler 62, wherein the reading head 61 is arranged on the mounting base 10, and the grating ruler 62 is arranged on the vertical base 30. In one embodiment, the number of the displacement encoding components 60 can be multiple, for example, four displacement encoding components 60 are arranged, and the displacement encoding components 60 correspond to the displacement of the controlled support area of ​​the corresponding support surface of the object-carrying device 300. When the controlled support area moves along the Z-axis direction, the grating ruler and the reading head move relative to each other, and the reading head reads the encoding signal on the grating ruler to obtain the displacement of the controlled support area along the Z-axis direction.

[0060] The above-mentioned motion device 100 provided in the embodiment of the present application drives the support seat 20 to rotate around the Z-axis direction perpendicular to the object-carrying device 300 through a rotary motor, and independently drives the controlled support area to move along the Z-axis direction through multiple vertical motors 40, and adjusts the inclination of the controlled support area compared to the horizontal plane through fine adjustment. Therefore, the embodiment of the present application can achieve the adjustment of the corresponding support surface of the object-carrying device supported on the motion device 100 in multiple degrees of freedom, thereby improving the leveling accuracy of the motion device 100.

[0061] In one embodiment, the present application also provides a multi-axis motion platform, wherein the multi-axis motion platform includes a horizontal motion mechanism (see below). Figure 4 The driving device 200 shown in the figure and the axial motion mechanism installed on the horizontal motion mechanism, the axial motion mechanism includes the above-mentioned motion device 100, the mounting base 10 is supported by the horizontal motion mechanism, and the horizontal motion mechanism and the axial motion mechanism can be controlled independently.

[0062] In one embodiment, the horizontal motion mechanism includes an X-axis motion table and a Y-axis motion table stacked on one side of the X-axis motion table, the mounting base 10 is supported by the Y-axis motion table, and the X-axis, the Y-axis and the axial direction are perpendicular to each other. In one embodiment, the X-axis motion table and the Y-axis motion table can be combined into an integrated platform in a series manner, thereby avoiding the stacking error caused by the stacking of the X-axis and the Y-axis, and improving the motion accuracy of the multi-axis motion platform.

[0063] Figure 4 1 is a first structural diagram of an optical detection device 1 provided in an embodiment of the present application. Figure 4 As shown, the optical detection equipment 1 includes a driving device 200, a moving device 100, a loading device and an optical signal detection device 400, wherein the loading device 300 includes a supporting surface for supporting a sample to be detected, and the supporting surface includes at least three controlled supporting areas, wherein the moving device 100 supports the loading device 300 and is installed on the driving device 200, and is used to drive the loading device 300 to move in a direction perpendicular to the supporting surface; the driving device 200 includes the horizontal motion mechanism mentioned above, and is used to drive the loading device 300 to move in a direction parallel to the supporting surface (this embodiment of the application may also be referred to as "horizontal direction"); the optical signal detection device 400 is suspended on the upper end surface of the loading device 300, and is used to collect the optical signal of the sample to be detected.

[0064] In one embodiment, before sequencing is performed using the optical detection device 1, the optical detection device 1 needs to be leveled and focused using the preset adjustment method of the optical detection device 1, so that the optical signal detection device 400 can capture a clear image of the sample to be detected. Before the optical detection device 1 is leveled and focused, the motion device 100, the driving device 200, the object carrier 300 and the optical signal detection device 400 of the optical detection device 1 are all in an initial state. The initial state of each of the above devices can be set according to actual needs. For example, taking the initial state of the object carrier 300 and the optical signal detection device 400 as an example, in the initial state, the optical signal detection device 400 can scan the center position of the support surface corresponding to the object carrier 300 (at this time, the center of the field of view of the optical signal detection device 400 corresponds to the center position of the support surface), and the center position is used as the initial position of the optical signal detection device 400 and the sample to be detected.

[0065] In one embodiment, when the optical detection device 1 is leveled and focused, first, the driving device 200 is adjusted along a direction parallel to the supporting surface (also simplified as the "horizontal direction" in the embodiment of the present application) to drive the carrier 300 to move, and the relative distance between the carrier 300 and the optical signal detection device 400 changes, so that the optical signal detection device 400 is aligned with the first preset position of the sample to be detected.

[0066] Then, the optical signal detection device 400 is controlled to turn on the focus function, and the focus function is kept turned on until the support surface of the object carrier 300 completes the leveling operation. In one embodiment, the optical signal detection device 400 may include a base 401, an objective lens 402, a transmitting module (not shown) and a receiving module (not shown), wherein the base 401 is fixed to the support surface along the vertical upper side of the support surface, and the objective lens 402, the transmitting module and the receiving module are all arranged on the base 401. The objective lens 402 is arranged at intervals from the support surface, the transmitting module is used to transmit a light source to the objective lens 402, and the receiving module is used to receive the light source that enters the objective lens 402 and is reflected by the sample to be detected. In one embodiment, the receiving module includes a photoelectric sensor and a signal processor, and the photoelectric sensor and the signal processor are connected by signal. The photoelectric sensor can be a two-element photodiode, and the two pixels of the two-element photodiode are symmetrically distributed with the optical axis of the objective lens 402 as the center. According to different defocus amounts, the spot shape of the sample to be detected reflected to the two-element photodiode will be different. The two-pixel photodiode outputs two optical signals according to the photosensitivity of the two pixels. The signal processor processes the two optical signals to obtain the defocus amount of the sample to be detected, and then adjusts the position of the objective lens 402 according to the defocus amount of the sample to be detected, so as to realize the focusing processing of the optical signal detection device 400 at the first preset position. In one embodiment, during the process of the objective lens 402 moving and focusing relative to the first preset position in the support surface, the optical signal detection device 400 records the focus signal corresponding to the first preset position each time the focus is performed, and uses the focus signal corresponding to the first preset position when the focus is completed as the target focus signal value. Among them, the focus signal is a signal used to reflect the imaging effect, and the focus signal will change with the change of the focus point.

[0067] Afterwards, the relative distance between the object carrier 300 and the optical signal detection device 400 is adjusted along a direction parallel to the support surface by the driving device 200, so that when the optical signal detection device 400 scans the sample to be detected on the object carrier 300, the center of the field of view of the optical signal detection device 400 corresponding to the position on the object carrier 300 moves from the first preset position to a plurality of other preset positions, and at least two of the plurality of other preset positions are respectively located in different controlled support areas. In one embodiment, for the optical signal detection device 400, the focus points on the same horizontal plane share the same focus signal value, so that the target focus signal value is used as the focus signal value of each other preset position, and the adjustment displacement of each other preset position in a direction perpendicular to the focus surface corresponding to the target focus signal value is determined, and the leveling operation of the object carrier 300 corresponding to the support surface can be realized by adjusting the motion device 100. Among them, the adjustment displacement of the motion device 100 can be measured by the reading head 61. In one embodiment, the first preset position is the position where the optical signal detection device 400 has completed focusing, and therefore, this position can be kept unchanged, and the three remaining preset positions can be adjusted in the direction perpendicular to the support surface until the loading device 300 completes leveling. Determine the target position value of the first preset position corresponding to the target focus signal value as the focus position value, and use the focus position value as the target position value corresponding to each of the remaining preset positions. Exemplarily, assume that the initial position value Z1 of the first preset position is used as the focus position value, and determine the target position values ​​of the three remaining preset positions as Z1; then, based on the initial position values ​​and target position values ​​of the three remaining preset positions in the direction perpendicular to the support surface, the corresponding adjustment displacement of each of the remaining preset positions in the direction perpendicular to the focus surface is obtained.

[0068] Finally, the distance between each of the other preset positions and the optical signal detection device 400 is adjusted based on the adjustment displacement of each of the other preset positions by using the vertical motors 40, so that the motion device 100 completes the leveling. The embodiment of the present application determines the adjustment displacement of the other preset positions by the target focus signal value of one focus, and performs the leveling operation of the object-carrying device 300 through multiple preset positions, which can improve the efficiency and accuracy of leveling; in addition, the present application determines the adjustment displacement of the other preset positions according to the target focus signal value corresponding to the first preset position, which can reduce the number of focusing times and improve the efficiency of focusing.

[0069] Figure 5 1 is a second structural diagram of an optical detection device 1 provided in an embodiment of the present application. Figure 5As shown, the optical detection device 1 may further include a controller 500, a memory 600 and at least one communication bus 700. The at least one communication bus 700 is configured to realize connection and communication between the memory 600 and the controller 500. The memory 600 is used to store computer programs; the controller 500 is used to implement the adjustment method of the optical detection device 1 when executing the computer program stored in the memory 600.

[0070] Those skilled in the art should understand that Figure 5 The structure of the optical detection device 1 shown does not constitute a limitation of the embodiments of the present application. The optical detection device 1 may also include more or less other hardware or software than shown in the figure, or a different arrangement of components.

[0071] In some embodiments, the optical detection device 1 can also be connected to a client device for communication, and the client device includes but is not limited to any electronic product that can interact with a user through a keyboard, mouse, remote control, touchpad or voice control device, such as a personal computer, a tablet computer, a smart phone, a digital camera, etc.

[0072] In some embodiments, the optical detection device 1 may further include a battery module for supplying power to various components. Preferably, the battery module may be logically connected to at least one controller 500 through a power management device (not shown), so as to realize the power consumption function through the power management device. The optical detection device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0073] In some embodiments, a computer program is stored in the memory 600, and when the computer program is executed by at least one controller 500, all or part of the steps in the adjustment method of the optical detection device 1 are implemented for the battery module. The memory 600 includes a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0074] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the optical detection device 1, etc.

[0075] In some embodiments, at least one controller 500 is the control core (ControlUnit) of the optical detection device 1, and uses various interfaces and lines to connect various components of the entire optical detection device 1, and executes various functions and processes data of the optical detection device 1 by running or executing programs or modules stored in the memory 600, and calling data stored in the memory 600. For example, when the at least one controller 500 executes the computer program stored in the memory 600, all or part of the steps of the adjustment method of the optical detection device 1 in the embodiment of the present application are implemented; or all or part of the functions of the device adjustment device are implemented. At least one controller 500 can be composed of an integrated circuit, for example, it can be composed of a single packaged integrated circuit, or it can be composed of multiple integrated circuits with the same function or different functions, including one or more central processing units (CPU), microprocessors, digital processing chips, graphics processors, and combinations of various control chips.

[0076] The above integrated unit implemented in the form of software function modules can be stored in a computer-readable storage medium. The above software function modules are stored in a storage medium and include several instructions for enabling an optical detection device 1 or a controller 500 (processor) to execute parts of the methods of various embodiments of the present application.

[0077] In one embodiment, the present application also provides a sequencer, including the above-mentioned optical detection device 1 and a liquid circuit system, wherein the optical detection device 1 is used to load the sample to be detected and obtain the image of the sample to be detected, and the liquid circuit system is used to perform a biochemical reaction on the sample to be detected using preset reagents.

[0078] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "including" does not exclude other units or, and the singular does not exclude the plural. Multiple units or devices stated in the specification can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A sports device, characterized in that: The sports device comprises: Install the base; A support seat, installed in the mounting base, for supporting a preset loading device, wherein the loading device comprises a supporting surface for supporting a sample to be detected, and the supporting surface comprises at least three controlled supporting areas; A vertical base, movably connected to the mounting base and sleeved on the side of the support base, for supporting the support base; A plurality of vertical motors are mounted on the mounting base, each vertical motor correspondingly controls one of the controlled support areas, and is used to drive the controlled support area to move along an axis perpendicular to the motion device; The motion device includes a first driving mode and a second driving mode: in the first driving mode, the multiple vertical motors move together to drive the supporting surface to move along the axial direction as a whole; in the second driving mode, some of the multiple vertical motors drive the corresponding controlled area to move along the axial direction.

2. The exercise device according to claim 1, characterized in that The plurality of vertical motors are symmetrically distributed along the outer periphery of the support surface.

3. The exercise device according to claim 1, characterized in that The motion device further comprises a gravity compensation component, and the gravity compensation component is used to compensate for the gravity of the vertical base.

4. The exercise device according to claim 3, characterized in that The gravity compensation component includes a magnetic levitation stator and a magnetic floater, the magnetic levitation stator is arranged on the mounting base, and the magnetic floater is arranged on the vertical base; there is a magnetic force between the magnetic levitation stator and the magnetic floater, so that the magnetic floater has a tendency to move in a direction perpendicular to the carrying device, thereby compensating for the gravity of the vertical base.

5. The exercise device according to claim 1, characterized in that: The motion device further comprises a displacement encoding component, which connects the mounting base and the vertical base and is used to measure the displacement of the controlled support area along a direction perpendicular to the object carrying device.

6. The exercise device according to claim 5, characterized in that The displacement encoding component includes a reading head and a grating scale, wherein the reading head is arranged on the mounting base, and the grating scale is arranged on the vertical base; when the grating scale and the reading head move relative to each other, the reading head is used to read the encoding signal on the grating scale to obtain the displacement of the controlled support area along a direction perpendicular to the carrier.

7. The exercise device according to claim 1, characterized in that: The mounting base includes a bottom plate, a plurality of guide blocks and a side plate, wherein the side plate is arranged on the bottom plate, and the plurality of guide blocks are arranged on the inner side of the side plate and extend in a direction perpendicular to the object carrying device.

8. The exercise device according to claim 7, characterized in that A plurality of guide grooves are also provided on the outer wall of the vertical base, and the guide grooves extend in a direction perpendicular to the loading device. The guide grooves are movably connected to the guide blocks, and the vertical motor is used to drive the guide grooves to move relative to the guide blocks, so that the controlled support area moves in a direction perpendicular to the loading device.

9. The exercise device according to claim 1, characterized in that: The support seat is rotatably arranged around the axial direction relative to the vertical base.

10. A multi-axis motion platform for supporting a biochip, characterized in that: It comprises a horizontal motion mechanism and an axial motion mechanism installed on the horizontal motion mechanism, wherein the axial motion mechanism comprises the motion device as described in any one of claims 1 to 9, the mounting base is supported by the horizontal motion mechanism, and the horizontal motion mechanism and the axial motion mechanism can be independently controlled.

11. The multi-axis motion platform according to claim 10, characterized in that: The horizontal motion mechanism includes an X-axis motion table and a Y-axis motion table stacked on one side of the X-axis motion table. The mounting base is supported by the Y-axis motion table. The X-axis, the Y-axis and the axial direction are perpendicular to each other.

12. An optical detection device, characterized in that: The optical detection device comprises a driving device, a motion device according to any one of claims 1 to 9, a loading device and an optical signal detection device, wherein the loading device comprises a supporting surface for supporting a sample to be detected, and the supporting surface comprises at least three controlled supporting areas, wherein: The moving device supports the object-carrying device and is installed on the driving device, and is used to drive the object-carrying device to move in a direction perpendicular to the supporting surface; The driving device is used to drive the object carrying device to move in a direction parallel to the supporting surface; The optical signal detection device is suspended on the upper end surface of the object-carrying device and is used to collect the optical signal of the sample to be detected.

13. A sequencer, characterized in that: Comprising the optical detection device as claimed in claim 12.

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