Full-automatic assembly line type biochemical detection platform and control method

Abstract

The invention relates to a full-automatic assembly line type biochemical detection platform and a control method. The biochemical detection platform comprises a three-axis motion module, a mechanical arm module, a pipetting module, a stock bin module, a reagent supply module, a to-be-detected sample adding module, a detection module and a control module, the three-axis motion module, the mechanical arm module, the pipetting module and the detection module are all electrically connected with the control module; the mechanical arm module and the pipetting module are fixed on the three-axis movement module, and the control module is used for responding to a detection starting instruction and controlling the three-axis movement module to drive the mechanical arm and the pipetting module to move among the stock bin module, the detection device, the to-be-detected sample adding module and the reagent supply module, so that the operations of transferring, calibrating, sample adding and detecting of the biochemical sensor array are completed. According to the biochemical detection platform, full-process automatic operation and assembly line type detection of the biochemical sensor array are realized, manual operation is not needed, errors caused by manual intervention are reduced, the detection efficiency and the detection quality are improved, and the requirement of batch detection is met.

Description

Technical Field

[0001] The present disclosure relates to the technical field of biochemical sensors, and particularly to a fully automatic pipeline - type biochemical detection platform and a control method thereof. Background Art

[0002] In related technologies, the traditional detection methods of biochemical sensors mainly rely on manual liquid extraction and sample addition operations. This not only introduces human operation errors, and the accuracy of the sample addition volume is greatly affected by human factors, resulting in poor consistency of detection results; moreover, the detection efficiency is low and cannot meet the requirements of batch detection. Summary of the Invention

[0003] To solve the above - mentioned technical problems, the present disclosure provides a fully automatic pipeline - type biochemical detection platform and a control method thereof.

[0004] On the one hand, the present disclosure provides a fully automatic pipeline - type biochemical detection platform, including: a three - axis motion module, a robotic arm module, a liquid transfer module, a magazine module, a reagent supply module, a sample addition module for samples to be detected, a detection module, and a control module; the three - axis motion module, the robotic arm module, the liquid transfer module, and the detection module are all electrically connected to the control module; the robotic arm module and the liquid transfer module are both fixed to the three - axis motion module;

[0005] The control module is used for:

[0006] In response to a detection start instruction, controlling the three - axis motion module to drive the robotic arm module to move, and performing an operation of transferring the biochemical sensor array placed in the magazine module to the detection module, and calibrating the biochemical sensor array by the detection module;

[0007] Controlling the three - axis motion module to drive the robotic arm module to move, and performing an operation of placing the calibrated biochemical sensor array on the sample addition module for samples to be detected;

[0008] Controlling the three - axis motion module to drive the liquid transfer module to move, and performing a sample addition operation of sucking the test solution placed in the reagent supply module and dropping the test solution onto the biochemical sensor array;

[0009] Controlling the three - axis motion module to drive the robotic arm module to move after a preset time period, and performing an operation of transferring the biochemical sensor array with added samples to the detection module, and detecting the biochemical sensor array with added samples by the detection module.

[0010] On the other hand, the present disclosure also provides a control method for a fully automatic pipeline biochemical detection platform, and the fully automatic pipeline biochemical detection platform includes: a three-axis motion module, a robotic arm module, a pipetting module, a magazine module, a reagent supply module, a sample addition module for samples to be tested, a detection module, and a control module; the three-axis motion module, the robotic arm module, the pipetting module, and the detection module are all electrically connected to the control module; the robotic arm module and the pipetting module are both fixed to the three-axis motion module;

[0011] The control method includes:

[0012] In response to a detection start instruction, control the three-axis motion module to drive the robotic arm module to move, and perform the operation of transferring the biochemical sensing array placed in the magazine module to the detection module, and calibrate the biochemical sensing array by the detection module;

[0013] Control the three-axis motion module to drive the robotic arm module to move, and perform the operation of placing the calibrated biochemical sensing array on the sample addition module for samples to be tested;

[0014] Control the three-axis motion module to drive the pipetting module to move, and perform the sample addition operation of sucking the test solution placed in the reagent supply module and dropping the test solution onto the biochemical sensing array;

[0015] Control the three-axis motion module to drive the robotic arm module to move after a preset time period, and perform the operation of transferring the biochemical sensing array with added samples to the detection module, and detect the biochemical sensing array with added samples by the detection module.

[0016] The technical solution provided by the present disclosure has the following advantages compared with the prior art:

[0017] The fully automatic pipeline biochemical detection platform and control method provided by the present disclosure, the fully automatic pipeline biochemical detection platform includes: a three-axis motion module, a robotic arm module, a pipetting module, a magazine module, a reagent supply module, a sample addition module for samples to be tested, a detection module, and a control module; the three-axis motion module, the robotic arm module, the pipetting module, and the detection module are all electrically connected to the control module; the robotic arm module and the pipetting module are both fixed to the three-axis motion module, and the control module is used to respond to a detection start instruction, control the three-axis motion module to drive the robotic arm and the pipetting module to move among the magazine module, the detection device, the sample addition module for samples to be tested, and the reagent supply module, and complete the transfer, calibration, sample addition, and detection operations of the biochemical sensing array. Thus, this automated detection platform realizes the full-process automated operation and pipeline detection of the biochemical sensing array, without manual operation, reduces the errors caused by manual intervention, improves the detection efficiency and detection quality, and can meet the requirements of batch detection. Description of the Drawings

[0018] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure, and configured together with the specification to: explain the principles of the present disclosure.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 A three-dimensional structure diagram of a fully automatic pipeline biochemical detection platform provided by an embodiment of the present disclosure;

[0021] Figure 2 A top view structure diagram of a fully automatic pipeline biochemical detection platform provided by an embodiment of the present disclosure;

[0022] Figure 3 A structure diagram of a three-axis motion platform provided by an embodiment of the present disclosure;

[0023] Figure 4 A structure diagram of a pipetting module provided by an embodiment of the present disclosure;

[0024] Figure 5 A structure diagram of a detection module provided by an embodiment of the present disclosure;

[0025] Figure 6 A structure diagram of a tray provided by an embodiment of the present disclosure;

[0026] Figure 7 A structure diagram of a sample addition module to be detected provided by an embodiment of the present disclosure;

[0027] Figure 8 A structure diagram of another sample addition module to be detected provided by an embodiment of the present disclosure;

[0028] Figure 9 A flowchart of a control method for a fully automatic pipeline biochemical detection platform provided by an embodiment of the present disclosure.

[0029] Among them, 100 is an automated detection platform; 11 is a base, 111 is a tabletop, 112 is a column, 113 is a first opening, 114 is a second opening; 12 is a support structure; 13 is a first motion mechanism, 131 is a first synchronous belt, 1311 is a first sub-synchronous belt, 1312 is a second sub-synchronous belt; 132 is a first motor, 133 is a connecting rod, 134 is a coupling; 14 is a second motion mechanism, 141 is a second synchronous belt, 142 is a second motor; 15 is a third motion mechanism, 151 is a third synchronous belt, 152 is a third motor; 16 is a connection component; 2 is a robotic arm module, 21 is a first track portion, 22 is a first sliding portion, 23 is a transfer portion, 231 is a fork structure; 3 is a pipetting module, 31 is a pipette, 311 is a gun body, 312 is a first button, 313 is a second button; 32 is a first cylinder, 33 is a second cylinder; 4 is a magazine module, 41 is a tray, 411 is a bottom plate, 412 is a back plate, 413 is a side plate; 414 is a jack, 415 is a positioning structure, 416 is a third opening; 5 is a reagent supply module; 6 is a sample addition module to be detected, 61 is a third groove; 7 is a detection module, 71 is a fixed tabletop, 72 is a fixing frame, 73 is a detection circuit board, 74 is a fixing mechanism, 741 is a second track portion, 742 is a second sliding portion, 743 is an adapter plate, 744 is a spring pin; 8 is a tip module, 81 is a tip box; 9 is a biochemical sensing array, 91 is a signal interface. Detailed implementation manners

[0030] In order to more clearly understand the above-mentioned objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0031] In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0032] In some embodiments, such as Figure 1-2As shown in the figure, the fully automatic pipeline biochemical detection platform 100 includes: a three-axis motion module, a robotic arm module 2, a pipetting module 3, a magazine module 4, a reagent supply module 5, a sample addition module for samples to be tested 6, a detection module 7, and a control module. The three-axis motion module, the robotic arm module 2, the pipetting module 3, and the detection module 7 are all electrically connected to the control module; the robotic arm module 2 and the pipetting module 3 are both fixed to the three-axis motion module; the control module is used for: in response to a detection start instruction, controlling the three-axis motion module to drive the robotic arm module 2 to move, performing the operation of transferring the biochemical sensor array placed in the magazine module 4 to the detection module 7, and calibrating the biochemical sensor array by the detection module 7; controlling the three-axis motion module to drive the robotic arm module 2 to move, performing the operation of placing the calibrated biochemical sensor array on the sample addition module for samples to be tested 6; controlling the three-axis motion module to drive the pipetting module 3 to move, performing the sample addition operation of sucking the test solution placed in the reagent supply module 5 and dropping the test solution onto the biochemical sensor array; controlling the three-axis motion module to drive the robotic arm module 2 to move after a preset time period, performing the operation of transferring the sample-added biochemical sensor array to the detection module 7, and detecting the sample-added biochemical sensor array by the detection module.

[0033] Among them, in combination with Figure 7 , the biochemical sensor array 9 includes a flexible biochemical sensor. The biochemical sensor array 9 includes a plurality of biochemical sensors arranged in an array and a signal interface 91 connected to the biochemical sensors. After transferring the biochemical sensor array 9 to the detection module 7, the detection module 7 fixes the biochemical sensor array 9 and is electrically connected to the signal interface of the biochemical sensor array 9, and inputs the signals of the plurality of biochemical sensors on the biochemical sensor array into the detection module 7.

[0034] The magazine module 4 is used to place the untested biochemical sensor array 9. In some embodiments, as Figure 1 and 2 shown, the magazine module 4 includes trays stacked on top of each other, and the trays are used to place and fix the untested biochemical sensor array 9. During the detection process, the biochemical sensor array 9 is fixed in the tray, and the biochemical sensor array 9 and the tray are transferred simultaneously.

[0035] The reagent supply module 5 is used to place the reagent solution to be dropped, and the reagent solution to be dropped at least includes the test solution. In some embodiments, the reagent solution to be dropped further includes a buffer solution and distilled water.

[0036] The sample addition module for samples to be tested 6 is used to place the calibrated biochemical sensor array 9, and to continue to place the biochemical sensor array 9 in the sample addition module for samples to be tested 6 for a preset time period after sample addition, so that the test solution specifically binds to the biochemical sensor.

[0037] The detection module 7 is used to calibrate the untested biochemical sensing array 9 and detect the loaded biochemical sensing array, and finally obtain the target detection index. The target detection index at least includes the resistance change value.

[0038] The pipetting module 3 includes all devices / equipment or components with pipetting functions known to those skilled in the art, such as micropipettes, microsyringes or microfluidic devices, which are not limited here.

[0039] In some embodiments, the pipetting module 3 includes a multi-channel pipette. With this setting, the multi-channel pipette can simultaneously aspirate multiple test solutions and load multiple biochemical sensors on the biochemical sensing array 9, which is beneficial to improving the detection efficiency.

[0040] The three-axis motion module includes a three-axis motion platform, which is a platform that can achieve precise movement in the first direction, the second direction and the third direction, where the first direction, the second direction and the third direction are perpendicular to each other in pairs. The robotic arm module 2 and the pipetting module 3 are both fixed to the three-axis motion module and move under the drive of the three-axis motion module.

[0041] Driven by the three-axis motion module, the robotic arm module 2 can move in the three-dimensional space among the bin module 4, the detection module 7 and the module 6 to be tested and loaded. With its own object-taking function, it can complete the operation of transferring the biochemical sensing array 9 from the bin module 4 to the detection module 7, and the operation of transferring the biochemical sensing array 9 from the detection module 7 to the module 6 to be tested and loaded.

[0042] Driven by the three-axis motion module, the pipetting module 3 can move in the three-dimensional space between the reagent supply module 5 and the module 6 to be tested and loaded. With its own liquid-taking and liquid-dropping functions, it can complete the liquid-loading operation of taking liquid from the reagent supply module 5 and dropping liquid in the module 6 to be tested and loaded.

[0043] The control module is the controller of the fully automatic pipeline biochemical detection platform 100, and communicates with the three-axis motion module, the robotic arm module 2, the pipetting module 3 and the detection module 7 through corresponding communication protocols. The control module controls the working logic and parameter configuration of the three-axis motion module, the robotic arm module 2, the pipetting module 3 and the detection module 7, and executes the fully automatic detection steps of the biochemical sensing array according to the preset logic. In some embodiments, the control module includes a microcontroller unit (MCU), on which a control program is stored.

[0044] The fully automatic pipeline biochemical detection platform 100 is used for the full-process automatic operation and pipeline detection of transferring, calibrating, loading and detecting the biochemical sensing array 9. The whole process does not require manual operation, reduces the errors caused by manual intervention, and improves the detection efficiency and detection quality. The detection process is as follows:

[0045] (1) Driven by the movement of the three-axis motion module, the robotic arm module 2 moves to the bin module 4 and picks up the biochemical sensing array 9 placed in the bin module 4;

[0046] (2) Driven by the movement of the three-axis motion module, the robotic arm module 2 moves to the detection module 7 and places the biochemical sensing array 9 at the detection position of the detection module 7;

[0047] (3) After detecting that the biochemical sensing array has been placed at the detection position, the detection module 7 calibrates the biochemical sensing array 9;

[0048] (4) The robotic arm module 2 picks up the calibrated biochemical sensing array 9, and driven by the three-axis motion module, moves to the sample addition module 6 to be tested and places the calibrated biochemical sensing array 9 in the sample addition module 6 to be tested;

[0049] (5) Driven by the three-axis motion module, the pipetting module 3 moves to the reagent supply module 5 and aspirates the liquid to be tested;

[0050] (6) Driven by the three-axis motion module, the pipetting module 3 moves to the sample addition module 6 to be tested and drips the liquid to be tested onto the biochemical sensing array 9 to complete the sample addition operation;

[0051] (7) After waiting for a preset duration, the robotic arm module 2 picks up the biochemical sensing array 9 with added sample, and driven by the three-axis motion module, moves to the detection module 7 and places the biochemical sensing array 9 with added sample at the detection position of the detection module 7 again;

[0052] (8) The detection module 7 detects the biochemical sensing array with added sample to obtain the target detection index.

[0053] The fully automatic pipeline biochemical detection platform 100 provided by the present disclosure realizes the full-process automated operation and pipeline detection of the biochemical sensing array 9, without manual operation, reduces the errors caused by manual intervention, improves the detection efficiency and detection quality, and can meet the requirements of batch detection.

[0054] It should be noted that the fully automatic pipeline biochemical detection platform 100 provided by the embodiments of the present disclosure is also applied to test strips and reagent kits containing the biochemical sensing array 9. The tray is correspondingly modified according to the shape and size of the test strips and reagent kits, and at the same time, the bin module 4, the sample addition module 6 to be tested, and the detection module 7 are also adaptively modified.

[0055] In some embodiments, such as Figure 3As shown in the figure, the three-axis motion module includes: a base 11, a support structure 12, a first motion mechanism 13, a second motion mechanism 14, a third motion mechanism 15, and a connection assembly 16; the support structure 12 is located on the base 11; the first motion mechanism 13 is located on the side of the support structure 12 away from the base 11, and the first motion mechanism 13 extends along the first direction Y; the second motion mechanism 14 is slidably connected to the first motion mechanism 13 through the connection assembly 16, and the second motion mechanism 14 moves along the first direction Y and extends along the second direction X; the third motion mechanism 15 is slidably connected to the second motion mechanism 14 through the connection assembly 16, and the third motion mechanism 15 moves along the second direction X and extends along the third direction Z; the robotic arm module 2 and the pipetting module 3 are slidably connected to the third motion mechanism 15 through the connection assembly 16; the robotic arm module 2 and the pipetting module 3 move along the third direction Z; wherein, the first direction Y, the second direction X, and the third direction Z are perpendicular to each other in pairs.

[0056] Among them, the base 11 is a platform-type base. Exemplarily, as Figure 3 shown, the base 11 includes a tabletop 111 and columns 112. The tabletop 111 is located on one side of the columns 112, and the support structure 12 is located on the side of the tabletop 111 away from the columns 112. In some embodiments, as Figure 3 shown, the base 11 further includes a leveling mechanism. The leveling mechanism is located on the side of the columns 112 away from the tabletop 111, and the leveling mechanism is used to level the tabletop 111.

[0057] The support structure 12 is located on the base 11, and the support structure 12 is fixedly connected to the base 11. The shape and material of the support structure 12 are not limited in the embodiments of the present disclosure and can be flexibly set according to requirements. Exemplarily, as Figure 1 or 3 shown, the support structure 12 includes an aluminum profile rectangular frame arranged on three sides, which has good structural stability.

[0058] The first motion mechanism 13 is located on the side of the support structure 12 away from the base 11. The first motion mechanism 13 is fixedly connected to the support structure 12, and the first motion mechanism 13 extends along the first direction Y. The second motion mechanism 14 is slidably connected to the first motion mechanism 13 through a connecting assembly 16. When the first motion mechanism 13 moves along the first direction Y, it drives the second motion mechanism 14 to move linearly along the extension direction of the first motion mechanism 13 (i.e., along the first direction Y). The second motion mechanism 14 also extends along the second direction X. The second motion mechanism 14 also extends along the second direction X. The third motion mechanism 15 is slidably connected to the second motion mechanism 14 through a connecting assembly 16. When the second motion mechanism 14 moves along the second direction X, it drives the third motion mechanism 15 to move linearly along the extension direction of the second motion mechanism 14 (i.e., along the second direction X). The third motion mechanism 15 also extends along the third direction Z. The robot arm module 2 and the pipetting module 3 are slidably connected to the third motion mechanism 15 via a connecting assembly 16. When the third motion mechanism 15 moves along the third direction Z, the robot arm module 2 and the pipetting module 3 are driven to move along the third direction Z.

[0059] By controlling the movement of the first motion mechanism 13, the second motion mechanism 14, and the third motion mechanism 15, the robot arm module 2 and the liquid transfer module 3 are driven to move in the three-dimensional space where the three-axis motion module is located along the first direction Y, the second direction X, and the third direction Z. By fixing the silo module 4, the reagent supply module 5, the sample loading module 6 to be tested, and the detection module 7 on the top surface of the base 11, the above modules are all located in the three-dimensional space where the three-axis motion module is located, so that the robot arm module 2 moves in the three-dimensional space between the silo module 4, the detection module 7, and the sample loading module 6 to be tested, and the liquid transfer module 3 moves in the three-dimensional space between the reagent supply module 5 and the sample loading module 6 to be tested, driven by the three-axis motion module.

[0060] In some embodiments, Figure 1 As shown in or 3, the connecting component 16 includes a hole-opening platform, and the hole-opening platform includes a first hole-opening platform, a second hole-opening platform and a third hole-opening platform. The first hole-opening platform is slidably connected to the first motion mechanism 13, and the second motion mechanism 14 is fixedly connected to the first hole-opening platform; the second hole-opening platform is slidably connected to the second motion mechanism 14, and the third motion mechanism 15 is fixedly connected to the second hole-opening platform; the third hole-opening platform is slidably connected to the third motion mechanism 15, and the robot arm module 2 and the pipetting module 3 are fixedly connected to the third hole-opening platform.

[0061] In some embodiments, Figure 1As shown in Fig. 2 or Fig. 3, the first motion mechanism 13 includes a first synchronous belt 131 and a first motor 132. The first motor 132 drives the first synchronous belt 131 to move in the first direction Y. The second motion mechanism 14 includes a second synchronous belt 141 and a second motor 142. The second motor 142 drives the second synchronous belt 141 to move in the second direction X. The third motion mechanism 15 includes a third synchronous belt 151 and a third motor 152. The third motor 152 drives the third synchronous belt 151 to move in the third direction Z.

[0062] In this embodiment, the first motion mechanism 13, the second motion mechanism 14, and the third motion mechanism 15 are respectively driven by independent motors.

[0063] In some embodiments, as Figure 1 shown in Fig. 2 or Fig. 3, the first synchronous belt 131 includes a first sub-synchronous belt 1311 and a second sub-synchronous belt 1312. The first sub-synchronous belt 1311 and the second sub-synchronous belt 1312 are arranged in parallel. The first motion mechanism 13 further includes a coupling 134 and a connecting rod 133. The connecting rod 133 connects the first sub-synchronous belt 1311 and the second sub-synchronous belt 1312 through the coupling 134. The coupling 134 is also connected to the first motor 132.

[0064] In this embodiment, both ends of the connecting rod 133 are respectively connected to a coupling 134. One coupling 134 is connected to the first sub-synchronous belt 1311, and the other coupling 134 is connected to the second sub-synchronous belt 1312. The connection between the first sub-synchronous belt 1311 and the second sub-synchronous belt 1312 is realized through the connecting rod 133 and the coupling 134. One of the couplings 134 is also connected to the first motor 132. When the first motor 132 works, it drives the coupling 134 to rotate, driving the first sub-synchronous belt 1311 and the second sub-synchronous belt 1312 to rotate simultaneously, so that the first sub-synchronous belt 1311 and the second sub-synchronous belt 1312 keep synchronous rotation.

[0065] In some embodiments, as Figure 3 shown, the robotic arm module 2 includes a first track portion 21, a first sliding portion 22, and a transfer portion 23. The first track portion 21 is slidably connected to the third motion mechanism 15 (or the third synchronous belt 151) through a connection assembly 16. The first track portion 21 extends along the third direction Z. The first sliding portion 22 moves along the third direction Z. The first sliding portion 22 is fixedly connected to the transfer portion 23. The transfer portion 23 is used for transferring the biochemical sensing array.

[0066] In this embodiment, the connecting component 16 is slidably connected to the third motion mechanism 15 (or the third synchronous belt 151). The first rail portion 21 is fixedly connected to the connecting component 16. The first rail portion 21 extends along the third direction Z. The first sliding portion 22 can slide along the first rail portion 21, that is, the first sliding portion 22 moves along the third direction Z, driving the transfer portion 23 fixedly connected to the first sliding portion 22 to move along the third direction Z.

[0067] Exemplarily, as Figure 3 shown, the first rail portion 21 includes a vertical rod extending along the third direction Z. The first sliding portion 22 is slidably connected to the vertical rod through a connecting component. Among them, the connecting component is slidably connected to the vertical rod, and the connecting component is fixedly connected to the first sliding portion 22. The transfer portion 23 includes two parallel strip-shaped structures, similar to the structure of a forklift fork. This strip-shaped structure matches the tray structure and is used to transfer the biochemical sensing array.

[0068] In some embodiments, as Figure 3 shown, the transfer portion 23 includes a forklift fork structure 231; the forklift fork structure 231 includes two parallel strip-shaped structures. As Figure 6 shown, the tray 41 includes a jack 414; the jack 414 matches the forklift fork structure 231.

[0069] In this embodiment, the forklift fork structure of the robotic arm module 2 is inserted into the jack 414 on the tray 41, the three-axis motion module is controlled to move, driving the robotic arm module to move, and transferring the tray 41 together with the biochemical sensing array to the target position.

[0070] In some embodiments, as Figure 6 shown, the tray 41 includes a bottom plate 411, a back plate 412 and side plates 413; along the direction from the back plate to the side plate, a jack 414 is provided on the side plate 413, and the jack 414 matches the forklift fork 23.

[0071] In this embodiment, the back plate 412 and the two side plates 413 form an accommodating space surrounded on three sides, and this accommodating space is used to accommodate the biochemical sensing array; combined with Figure 8 , the signal interface 91 of the biochemical sensing array 9 is located on the side close to the opening of the accommodating space.

[0072] It should be noted that Figure 6 only exemplarily shows that the jack 414 is a through hole penetrating the side plate 413, but it does not constitute a limitation on the fully automatic pipeline type biochemical detection platform provided by the embodiments of the present disclosure. In other embodiments, the jack 414 can also be set as a blind hole that does not penetrate the side plate, and this is not limited here.

[0073] In some embodiments, as Figure 6As shown, a positioning structure 415 is provided on the bottom plate 411. The positioning structure 415 is used to fix the biochemical sensing array on the bottom plate 411 to prevent the position deviation of the biochemical sensing array.

[0074] Exemplarily, as Figure 6 shown, the positioning structure 415 includes positioning posts, and the biochemical sensing array includes positioning holes corresponding to the positioning posts. The positioning posts pass through the positioning holes to fix the biochemical sensing array on the bottom plate 411 of the tray 41.

[0075] In some embodiments, the transfer part includes a mechanical gripper.

[0076] Among them, the clamping force of the mechanical gripper is adjustable and is set within the range of 0.1 - 5N.

[0077] In some embodiments, the mechanical gripper includes a parallel opening and closing type gripper.

[0078] Among them, the parallel opening and closing type gripper can rotate in the horizontal plane and clamp in the vertical plane. The mechanical gripper further includes a clamping surface and an anti-slip layer, and the anti-slip layer covers the clamping surface.

[0079] In some embodiments, to facilitate the clamping of the mechanical gripper, the height of the tray back plate is set to be greater than the height of the side plate to form a clamping part.

[0080] In some embodiments, the magazine module further includes: a photoelectric sensor and an alarm, and the photoelectric sensor and the alarm are electrically connected to the control module.

[0081] Among them, the photoelectric sensor is used to detect the remaining amount of the biochemical sensing array in the magazine module and transmit a signal to the control module. The control module is used to, when judging that the inventory in the magazine module is less than the preset inventory (i.e., low inventory) based on the signal transmitted by the photoelectric sensor, control the alarm to give an alarm prompt.

[0082] The present disclosure embodiment does not limit the type of the alarm, and all electronic devices with a prompt function known to those skilled in the art can be selected. For example, the alarm includes a buzzer and / or an indicator light, and is not limited herein.

[0083] In some embodiments, as Figure 1 、 2 and shown in FIG. 4, the pipetting module 3 includes a pipetting gun 31, and the fully automatic pipeline type biochemical detection platform 100 further includes: a tip module 8. The tip module 8 includes a tip box and tips. The tip box is used to accommodate a plurality of tips arranged in an array; the control module is further used for: before the pipetting gun 31 performs the operation of sucking the liquid to be measured, controlling the three-axis motion module to drive the pipetting gun 31 to move to the tip module 8, driving the pipetting gun to move in the third direction Z towards the direction close to the tips, and installing the tips by using the pressure effect.

[0084] In this embodiment, the pipetting module 3 includes a pipette 31. The pipette 31 needs to be used in cooperation with a pipette tip to complete the steps of aspirating the test solution and dispensing the test solution. Accordingly, a pipette tip module 8 needs to be provided on the fully automatic in-line biochemical detection platform 100.

[0085] The pipette 31 needs to install a pipette tip first and then perform the operation of aspirating the test solution. The specific operation process is as follows: Driven by the three-axis motion module, the pipette 31 moves above the pipette tip module 8 and then moves along the third direction Z (i.e., the vertical direction) under the drive of the three-axis motion module. Under the action of pressure, the pipette tip is installed on the suction head of the pipette 31.

[0086] The present disclosure does not limit the type of the pipette, and all types of pipettes known to those skilled in the art can be used. For example, single-channel pipettes and multi-channel pipettes.

[0087] In some embodiments, as Figure 1 and 4 shown, the pipetting module 3 further includes a first cylinder 32. The pipette 31 includes a gun body 311 and a first button 312. The control module is further configured to: after the pipette 31 installs the pipette tip, control the three-axis motion module to drive the pipette 31 to move to the reagent supply module 5, control the first cylinder 32 to move along the third direction Z, the first cylinder 32 presses the first button 312, and the pipette 31 performs the operation of aspirating the test solution into the pipette tip; and control the three-axis motion module to drive the pipette 31 to move to the sample addition module 6 to be tested, control the first cylinder 32 to move along the third direction Z, the first cylinder 32 presses the first button 312 again, and the pipette 31 performs the sample addition operation of dispensing the test solution in the pipette tip onto the biochemical sensing array.

[0088] In this embodiment, the first cylinder 32 moves telescopically along the third direction Z. Pressing the first button 312 of the pipette 31 generates a pressure difference between the liquid suction pipe and the liquid discharge pipe, thereby realizing the suction and discharge and dropping of the liquid to be measured. Driven by the three-axis motion module, the pipette 31 moves to the reagent supply module 5 and moves along the third direction Z to insert the pipette tip into the liquid to be measured. Control the first cylinder 32 to move along the third direction Z towards the direction close to the first button 312. After the first cylinder 32 contacts the first button 312, continue to control the first cylinder 32 to move towards the direction close to the first button 312. The first cylinder 32 presses the first button, generating a negative pressure in the pipette tip, and the liquid to be measured is sucked into the pipette tip, completing the operation of sucking the liquid to be measured. Then, driven by the three-axis motion module, the pipette 31 moves to the sample addition module 6 to be tested. The pipette tip is located above the biochemical sensor array and corresponds to the biochemical sensors thereon one by one. Control the first cylinder 32 to move along the third direction Z towards the direction close to the first button 312. After the first cylinder 32 contacts the first button 312, continue to control the first cylinder 32 to move towards the direction close to the first button 312. The first cylinder 32 presses the first button 312 again, the negative pressure in the pipette tip disappears, and the liquid to be measured is discharged from the pipette tip and dropped onto the biochemical sensor array, completing the sample addition operation.

[0089] In some embodiments, as Figure 1 , 2 and shown in 4, the pipetting module 3 further includes a second cylinder 33, the pipette 31 further includes a second button 313, and the base 11 of the three-axis motion module is provided with a first opening 113; the fully automatic pipeline biochemical detection platform 100 further includes: a pipette tip collection module; the pipette tip collection module at least partially coincides with the first opening 113 in the third direction Z; the control module is further configured to: control the three-axis motion module to drive the pipette 31 to move above the first opening 113, and control the second cylinder 33 to move along the third direction Z. The second cylinder 33 presses the second button 313, and the pipette 31 performs the operation of unloading the pipette tip.

[0090] In this example, a second button 313 is further provided on the pipette 31. After the sample addition operation is completed, the pipette 31 is driven by the three-axis motion module to move above the second opening 114. Control the second cylinder 33 to move along the third direction Z towards the direction close to the second button 313. After the second cylinder 33 contacts the second button 313, continue to control the second cylinder 33 to move towards the direction close to the second button 313. The second cylinder 33 presses the second button 313 to unload the pipette tip installed on the pipette 31, and the pipette tip falls onto the pipette tip collection module located below the second opening 114. With such a setting, the one-key operation of unloading the pipette tip is realized, the operation is simplified, and it is beneficial to improve the detection efficiency.

[0091] It should be noted that Figure 2Only for the sake of example, it is shown that the first opening 113 is located between the tip module 8 and the sample addition module 6 to be inspected, but this does not constitute a limitation to the full-automatic pipeline biochemical detection platform 100 provided by the embodiments of the present disclosure. In other embodiments, the first opening 113 can also be arranged on the tabletop 111 within the moving range of the pipetting module 3, and this is not limited herein.

[0092] In some embodiments, as Figure 2 shown, the reagent supply module 5 includes a test tube rack and test tubes. The test tube rack includes a plurality of first holes arranged in an array, and the test tubes are placed in the first holes. The test tubes are used to contain the liquid to be tested.

[0093] In some embodiments, as Figure 2 shown, the tip box 81 includes a plurality of second holes arranged in an array, and the second holes are used to contain tips.

[0094] Exemplarily, as Figure 2 shown, the tip module 8 includes three tip boxes 81 arranged side by side. Each tip box 81 includes a plurality of second holes arranged in an array, and the tips correspond to the second empty positions one by one.

[0095] In some embodiments, the distance between the first holes is equal to the distance between the second holes.

[0096] In some embodiments, the pipette includes a multi-channel pipette. The multi-channel pipette includes a plurality of pipette tips and a plurality of pipetting channels arranged in an array, and the pipette tips and the pipetting channels correspond to each other one by one.

[0097] Preferably, the distance between the center lines of two adjacent pipette tips is L1, and the distance between the center lines of two adjacent tips in the tip box is L2, and L1 is equal to L2.

[0098] In some embodiments, the multi-channel pipette includes a plurality of pipette tips, and the plurality of pipette tips are arranged in an M×N array, where M and N are both positive integers.

[0099] Exemplarily, the biochemical sensing array includes 25 biochemical sensors, and the 25 biochemical sensors are arranged in a 5×5 array. A multi-channel pipette can be set to include 25 tips, and the 25 tips are arranged in a 5×5 array. The multi-channel pipette is used to add samples to all the biochemical sensors on the biochemical sensing array. It can also be set that the multi-channel pipette includes 5 tips, and the 5 tips are arranged in a row, that is, arranged in a 5×1 array. The multi-channel pipette is used to add samples to the biochemical sensors located in the same row on the biochemical sensing array. It should be noted that this embodiment only exemplarily shows that the biochemical sensing array includes 25 biochemical sensors arranged in a 5×5 array, but does not limit the fully automatic pipeline-type biochemical detection platform 100 provided by the embodiments of the present disclosure. In other embodiments, the biochemical sensing array may include a greater or smaller number of biochemical sensors, and the arrangement manner of the biochemical sensors is not limited to the 5×5 array manner. The arrangement manner of the tips can be set according to the arrangement manner of the biochemical sensors.

[0100] In some embodiments, the pipette further includes a plurality of tips arranged in an array, and the tips are connected to the pipette heads one by one; the control module is further configured to adjust the distance between adjacent tips and the volume of the test solution aspirated by the pipette head each time.

[0101] In this embodiment, the pipette 31 is a multi-channel pipette, and a single operation can achieve the sample addition operation of multiple biochemical sensors, which is beneficial to improving the detection efficiency. The distance between adjacent tips can be adjusted, that is, the distance between adjacent pipette heads installed on the tips is adjusted so that the pipette head distance matches the test tube distance.

[0102] The range of the pipette 31 can also be adjusted, and the volume of the test solution aspirated by the pipette head each time is adjusted according to needs. Exemplarily, when it is necessary to drop 10 μL of the test solution on each biochemical sensor, the range of the pipette is adjusted so that the volume of the test solution aspirated by the pipette head each time is 10 μL; when it is necessary to drop 15 μL of the test solution on each biochemical sensor, the range of the pipette is adjusted so that the volume of the test solution aspirated by the pipette head is 15 μL.

[0103] In some embodiments, such as Figure 5As shown in the figure, the detection module 7 includes: a fixed tabletop 71, an in-position sensor (not shown in the figure), a fixing mechanism 74, a fixing bracket 72, a detection circuit board 73, and a microcontroller. The fixing mechanism 74 includes spring pins 744, an adapter board 743, a second track portion 741, and a second sliding portion 742. The fixing bracket 72 is used to fix the second track portion 741. The second sliding portion 742 slides along the second track portion 741. The second sliding portion 742 is fixedly connected to the adapter board 743, and the adapter board 743 is fixedly connected to the spring pins 744. The spring pins 744 are also electrically connected to the adapter board 743. The adapter board 743 is electrically connected to the detection circuit board 73 through a flexible cable (not shown in the figure). The in-position sensor, the second sliding portion 742, and the detection circuit board 73 are all electrically connected to the microcontroller, and the microcontroller is electrically connected to the control module. The microcontroller is configured to: in response to the in-position signal transmitted by the in-position sensor, control the second sliding portion 742 to slide along the second track portion 741, drive the spring pins 744 to contact the signal interface of the biochemical sensing array, fix the biochemical sensing array on the fixed tabletop 71, and control the detection circuit board 73 to calibrate or detect the biochemical sensing array. Wherein, the in-position signal is generated by the in-position sensor when it detects that the biochemical sensing array is placed on the fixed tabletop 71.

[0104] Among them, the fixed tabletop 71 is used to place the tray 41 and the biochemical sensing array placed in the tray 41.

[0105] The in-position detection module is used to detect that the biochemical sensing array is placed on the fixed tabletop 71, generate an in-position signal, and transmit the in-position signal to the microcontroller. Exemplarily, the in-position detection module includes a photoelectric in-position sensor.

[0106] The fixing bracket 72 includes a fixing support 721 and a fixing plate 722. The fixing support 721 is fixedly connected to the base, the fixing plate 722 is fixedly connected to the fixing support 721, and the fixing mechanism 74 is fixedly connected to the fixing plate 722. The second track portion 741 is fixed on the fixing plate 722. The second track portion 741 extends along the third direction Z. The second sliding portion 742 is slidably connected to the second track portion 741, that is, the second sliding portion 742 slides along the third direction Z. The spring pins 744 are fixed on the adapter board 743, and the adapter board 743 is fixedly connected to the second sliding portion 742.

[0107] The spring pins 744 are used to fix the signal interface of the biochemical sensing array, prevent the biochemical sensing array from being displaced during the detection process, and are beneficial to improving the detection accuracy and stability. The spring pins 744 also serve as an electrical connection structure, contact with the signal interface to form an electrical connection, and input the signal of the biochemical sensing array to the detection circuit board 73.

[0108] The detection circuit board 73 is provided with a detection circuit.

[0109] The microcontroller includes a single-chip microcomputer, on which a control program is provided. The microcontroller is used to: in response to the in-position signal transmitted by the in-position sensor, control the second sliding part 742 to move a preset distance along the third direction Z, drive the spring pin 744 to approach the biochemical sensing array until the spring pin 744 contacts the signal interface of the biochemical sensing array, fix the biochemical sensing array on the fixed table 71, and then control the detection circuit board 73 to calibrate or detect the biochemical sensing array;

[0110] In some embodiments, integrating the microcontroller and the detection circuit board on the same printed circuit board is beneficial to reducing the volume of the detection module.

[0111] In some embodiments, the stroke (i.e., the preset distance) of the second sliding part 742 is less than or equal to 5 mm.

[0112] In some embodiments, at least one first groove is provided on the fixed table 71, and the opening of the first groove matches the bottom plate of the tray. The first groove is used to place the tray and the biochemical sensing array placed in the tray. With such a setting, by providing the first groove, the placement position of the tray on the fixed table is limited, so that the spring pin corresponds to the signal interface of the biochemical sensing array.

[0113] In some embodiments, the magazine module includes at least one second groove, and the opening of the second groove matches the bottom plate of the tray. The second groove is used to place the tray and the biochemical sensing array placed in the tray.

[0114] In some embodiments, as Figure 7 shown, the sample addition module 6 to be detected includes at least one third groove 61, and the opening of the third groove 61 matches the bottom plate of the tray. The third groove 61 is used to place the tray and the biochemical sensing array placed in the tray. The structure after the tray 41 is placed in the third groove 61 is as Figure 8 shown.

[0115] The first groove, the second groove and the third groove 61 are all used to place the tray, and the openings of the three all match the bottom plate of the tray. The first groove, the second groove and the third groove 61 all correspond to the tray one by one.

[0116] In some embodiments, as Figure 2 shown, the fully automatic pipeline biochemical detection platform 100 further includes a biochemical sensing array collection module and a separation structure, and a second opening 114 is further provided on the table surface 111. In the third direction Z, the biochemical sensing array collection module and the separation structure at least partially overlap with the second opening 114.

[0117] Among them, the tray 41 can pass through the second opening 114. The biochemical sensing array collection module and the separation structure are located on the side of the tabletop 111 away from the three-axis motion platform, that is, the biochemical sensing array collection module and the separation structure are located below the tabletop 111.

[0118] Combined with Figure 6 , a third opening 416 is provided on the bottom plate 411 of the tray 41; along the thickness direction of the bottom plate 411, the third opening 416 penetrates the bottom plate 411. The separation structure can pass through the third opening 416 and contact the biochemical sensing array in the tray 41 to push out the biochemical sensing array from the tray 41, realizing the separation of the biochemical sensing array from the tray 41.

[0119] After the biochemical sensing array is detected, the robotic arm module 2 is driven by the three-axis motion module to move above the second opening 114, and then move along the third direction Z, towards the direction close to the base 11, so that the tray 41 continues to move downward after passing through the second opening 114 until the separation structure abuts against the biochemical sensing array in the tray 41 and pushes out the biochemical sensing array from the tray 41, realizing the separation of the biochemical sensing array from the tray 41. The separated biochemical sensing array falls into the biochemical sensing array collection module; the separated tray is transferred by the robotic arm module 2 to the magazine module 4 for placing the biochemical sensing arrays to be detected.

[0120] It should be noted that Figure 2 only the second opening 113 is exemplarily shown between the sample addition module 6 to be detected and the detection module 7, but it does not constitute a limitation to the fully automatic pipeline type biochemical detection platform 100 provided by the embodiments of the present disclosure. In other embodiments, the second opening 114 can also be provided on the tabletop 111 within the moving range of the robotic arm module 2, which is not limited here.

[0121] In some embodiments, the fully automatic pipeline type biochemical detection platform 100 further includes a host computer, and the host computer is located at the user end, and the user can set parameter conditions through the host computer.

[0122] Among them, the parameter conditions at least include the total number of biochemical sensing arrays to be detected and the number of single detections.

[0123] Exemplarily, the total number of biochemical sensing arrays to be detected is 200, and the number of arrays detected each time is equal to 6. After the previous operation step is repeatedly executed 6 times during the detection process, the next operation step is executed. Specifically: in response to a detection start instruction, a first round of detection program is started, and the robotic arm module is controlled to repeatedly execute the operation of transferring the biochemical sensing arrays placed in the magazine module to the detection module 6 times. The detection module calibrates the biochemical sensing arrays. Then, the robotic arm is controlled to repeatedly execute the operation of transferring the calibrated biochemical sensing arrays to the sample addition module to be tested 6 times. Then, the pipetting module is controlled to repeatedly execute the sample addition operations of aspirating and dispensing the liquid to be tested until all the biochemical sensing arrays placed in the sample addition module to be tested have been added with samples. Only then is the operation of transferring the sample-added biochemical sensing arrays to the detection module repeatedly executed. The detection module detects the sample-added biochemical sensing arrays. Finally, the robotic arm module is controlled to repeatedly execute the operation of separating the detected biochemical sensing arrays from the tray and placing the separated tray in the magazine module, and this round of detection program ends; a next round of detection program is started, and the above operation steps are repeatedly executed until all the biochemical sensing arrays to be detected have been detected, the detection program ends, and the detection mode is exited.

[0124] In some embodiments, as Figure 2 shown, in the full-automatic pipeline biochemical detection platform 100, the detection module 7 includes at least one in-situ sensor, at least one fixing mechanism 74, and at least one detection circuit board 73. The fixed tabletop includes at least one first groove; the first groove, the in-situ sensor, the fixing mechanism 74, and the detection circuit board 73 are all in one-to-one correspondence.

[0125] Based on the above embodiments, the embodiments of the present disclosure further provide a control method applied to any of the above full-automatic pipeline biochemical detection platforms 100, which has corresponding beneficial effects. To avoid repeated description, it will not be elaborated here.

[0126] In some embodiments, as Figure 1-2 shown, the full-automatic pipeline biochemical detection platform includes: a three-axis motion module, a robotic arm module 2, a pipetting module 3, a magazine module 4, a reagent supply module 5, a sample addition module to be tested 6, a detection module 7, and a control module; the three-axis motion module, the robotic arm module 2, the pipetting module 3, and the detection module 7 are all electrically connected to the control module; the robotic arm module 2 and the pipetting module 3 are both fixed to the three-axis motion module;

[0127] As Figure 9 shown, the control method of the full-automatic pipeline biochemical detection platform 100 includes the following steps:

[0128] S110. In response to detecting a detection start instruction, control the three-axis motion module to drive the robotic arm module to move, and perform the operation of transferring the biochemical sensing array placed in the bin module to the detection module, and calibrate the biochemical sensing array by the detection module.

[0129] In this step, combined with Figure 1-2 , the control module responds to the detection start instruction, controls the three-axis motion platform to move, and the robotic arm module 2 moves to the bin module 4 driven by the movement of the three-axis motion module, and grabs the biochemical sensing array placed in the bin module 4; then, the robotic arm module 2 moves to the detection module 7 driven by the movement of the three-axis motion module, and transfers the biochemical sensing array to the detection module 7, and the detection module 7 detects the biochemical sensing array to calibrate the biochemical sensing array.

[0130] S120. Control the three-axis motion module to drive the robotic arm module to move, and perform the operation of placing the calibrated biochemical sensing array on the sample addition module to be tested.

[0131] In this step, the robotic arm module 2 grabs the calibrated biochemical sensing array, and moves to the sample addition module 6 to be tested driven by the three-axis motion module, and places the calibrated biochemical sensing array on the sample addition module 6 to be tested.

[0132] S130. Control the three-axis motion module to drive the pipetting module to move, and perform the pipetting operation of sucking the test solution placed in the reagent supply module and dropping the test solution onto the biochemical sensing array.

[0133] In this step, the pipetting module 3 moves to the reagent supply module 5 driven by the three-axis motion module, and sucks the test solution; then, the pipetting module 3 moves to the sample addition module 6 to be tested driven by the three-axis motion module, and drops the test solution onto the biochemical sensing array.

[0134] S140. Control the three-axis motion module to drive the robotic arm module to move after a preset time period, and perform the operation of transferring the sample-added biochemical sensing array to the detection module, and detect the sample-added biochemical sensing array by the detection module.

[0135] In this step, after adding the sample and waiting for the preset time period, the robotic arm module 2 grabs the biochemical sensing array dropped with the test solution, and moves to the detection module 7 driven by the three-axis motion module, and transfers the biochemical sensing array dropped with the test solution to the detection module 7. The detection module 7 detects the biochemical sensing array dropped with the test solution to obtain the target detection index.

[0136] The control method of the fully automatic pipeline biochemical detection platform provided by the present disclosure realizes the full-process automatic operation and pipeline detection of the biochemical sensing array, without manual operation, reduces the error caused by manual intervention, improves the detection efficiency and detection quality, and can meet the needs of batch detection.

[0137] In some embodiments, such as Figure 1 , 2 and as shown in 4, the pipetting module 3 includes a pipette 31, and the fully automatic pipeline biochemical detection platform 100 further includes: a tip module 8, the tip module 8 includes a tip box and tips, and the tip box houses a plurality of tips arranged in an array;

[0138] Before the "operation of the pipette to aspirate the liquid to be tested", the control method further includes the following steps:

[0139] Control the three-axis motion module to drive the pipette to move to the tip module, drive the pipette to move in the third direction towards the direction close to the tip module, and install the tip under the action of pressure.

[0140] In this embodiment, the pipetting module 3 includes a pipette 31. The pipette 31 needs to cooperate with the tips to complete the steps of aspirating the liquid to be tested and dispensing the liquid to be tested. Accordingly, a tip module 8 needs to be provided on the automated detection platform.

[0141] The pipette 31 needs to install the tip first and then perform the operation of aspirating the liquid to be tested. The specific operation process is as follows: Driven by the three-axis motion module, the pipette 31 moves above the tip module 8 and moves in the third direction Z (i.e., the vertical direction) driven by the three-axis motion module, and the tip is installed on the pipette 31 under the action of pressure.

[0142] The embodiments of the present disclosure do not limit the type of the pipette 31, and all types of pipettes known to those skilled in the art can be used. For example, single-channel pipettes and multi-channel pipettes.

[0143] In some embodiments, such as Figure 1 and 4 shown, the pipetting module 3 further includes a first cylinder 32, and the pipette 31 includes a gun body 311 and a first button 312;

[0144] After the "pipette installs the tip", the control method further includes the following steps:

[0145] Control the three-axis motion module to drive the pipette to move to the reagent supply module, control the first cylinder to move in the third direction, the first cylinder presses the first button, and the pipette performs the operation of aspirating the liquid to be tested into the tip; and,

[0146] Control the three-axis motion module to drive the pipette to move to the module to be tested for sample addition, control the first cylinder to move in the third direction, the first cylinder presses the first button again, and the pipette performs the sample addition operation of dispensing the liquid to be tested in the tip onto the biochemical sensing array.

[0147] In this embodiment, the first cylinder 32 moves telescopically along the third direction Z. Pressing the first button 312 of the pipette 31 generates a pressure difference between the liquid suction pipe and the liquid discharge pipe, thereby realizing the suction and discharge dropping of the liquid to be measured. Driven by the three-axis motion module, the pipette 31 moves to the reagent supply module 5 and moves along the third direction Z to insert the pipette tip into the liquid to be measured. Control the first cylinder 32 to move along the third direction Z towards the direction close to the first button 312. After the first cylinder 32 contacts the first button 312, continue to control the first cylinder 32 to move towards the direction close to the first button 312. The first cylinder 32 presses the first button, generating a negative pressure in the pipette tip, and the liquid to be measured is sucked into the pipette tip, completing the operation of sucking the liquid to be measured. Then, driven by the three-axis motion module, the pipette 31 moves to the sample addition module 6 to be tested. The pipette tip is located above the biochemical sensor array and corresponds to the biochemical sensors thereon one by one. Control the first cylinder 32 to move along the third direction Z towards the direction close to the first button 312. After the first cylinder 32 contacts the first button 312, continue to control the first cylinder 32 to move towards the direction close to the first button 312. The first cylinder 32 presses the first button 312 again, the negative pressure in the pipette tip disappears, and the liquid to be measured is discharged from the pipette tip and dropped onto the biochemical sensor array, completing the sample addition operation.

[0148] In some embodiments, such as Figure 1 , 2 and as shown in 4, the pipetting module 3 further includes a second cylinder 33, the pipette 31 further includes a second button 313, and the base 11 of the three-axis motion module is provided with a first opening 113; the fully automatic pipeline biochemical detection platform 100 further includes: a pipette tip collection module; the pipette tip collection module at least partially coincides with the first opening 113 in the third direction Z;

[0149] After performing the sample addition operation, the control method further includes the following steps:

[0150] Control the three-axis motion module to drive the pipette to move above the first opening, and control the second cylinder to move along the third direction. The second cylinder presses the second button, and the pipette performs the operation of unloading the pipette tip.

[0151] In this example, a second button 313 is also provided on the pipette 31. After performing the sample addition operation, control the three-axis motion module to drive the pipette 31 to move above the second opening 114, control the second cylinder 33 to move along the third direction Z towards the direction close to the second button 313. After the second cylinder 33 contacts the second button 313, continue to control the second cylinder 33 to move towards the direction close to the second button 313. The second cylinder 33 presses the second button 313 to unload the pipette tip installed on the pipette 31, and the pipette tip falls onto the pipette tip collection module located below the second opening 114. With such a setting, the one-key operation of unloading the pipette tip is realized, simplifying the operation and being beneficial to improving the detection efficiency.

[0152] Exemplarily, taking the fully automatic pipeline biochemical detection platform 100 shown in Figure 1-2 as an example, its working process is as follows: After the program starts to execute the command of the detection process, the transfer part 23 of the robotic arm module 2 moves above the magazine module 4 driven by the XYZ three-axis motion module. The transfer part 23 clamps the tray 41 for placing the biochemical sensing array, and transfers the biochemical sensing array together with the tray to the detection module 7, and places the biochemical sensing array in the second groove provided on the fixed table 71. After the in-position sensor detects that the tray 41 is placed in the second groove, it sends an in-position signal to the microcontroller. The microcontroller controls the second sliding part to move along the third direction Z, driving the spring pogo pins to move downward along the third direction Z until the spring pogo pins contact the signal interface of the biochemical sensing array, and the detection module 7 starts to enter the calibration mode; after the calibration is completed, the transfer part 23 transfers the calibrated biochemical sensing array to the third groove of the sample addition module 6 to be tested; the pipette 31 moves above the pipette tip module 8 driven by the XYZ three-axis motion module, controls the pipette 31 to move downward along the third direction Z, and installs the pipette tip on the suction head of the pipette 31 through pressure. The pipette 31 with the installed pipette tip moves to the reagent supply module 5, and the pipette 31 moves downward along the third direction Z, and the pipette tip extends into the test tube. At this time, control the first cylinder 32 to move along the third direction Z, and the first cylinder 32 presses the first button 312 of the pipette 31 to suck the test solution in the test tube into the pipette tip; after sucking the test solution, the pipette 31 moves above the sample addition module 6 to be tested, controls the first cylinder 32 to move along the third direction Z, and the first cylinder 32 presses the first button 312 of the pipette 31 again to drop the test solution onto the biochemical sensing array 9. After a preset fusion time, the transfer part 23 moves to the sample addition module 6 to be tested, and transfers the sample-added biochemical sensing array to the fixed table 71 of the detection module 7. After obtaining the in-position signal by the in-position sensor, the second sliding part drives the spring pogo pins to move downward along the third direction Z until the spring pogo pins contact the signal interface of the biochemical sensing array, and the detection module 7 enters the detection mode to detect the biochemical sensing array. After the detection is completed, the transfer part 23 transfers the detected biochemical sensing array 9 above the second opening 114, and then moves along the third direction Z and in the direction close to the base 11, so that the tray 41 continues to move downward after passing through the second opening 114 until the separation structure abuts against the biochemical sensing array in the tray 41 and ejects the biochemical sensing array from the tray 41, realizing the separation of the biochemical sensing array from the tray 41. The separated biochemical sensing array falls into the biochemical sensing array collection module, and the separated tray is transferred to the magazine module 4 by the robotic arm module 2 for placing the biochemical sensing array that has not been detected, and a new round of detection starts.

[0153] It should be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0154] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fully automatic pipeline biochemical detection platform, characterized in that: include: A three-axis motion module, a robotic arm module, a pipetting module, a silo module, a reagent supply module, a sample loading module, a detection module and a control module; the three-axis motion module, the robotic arm module, the pipetting module and the detection module are all electrically connected to the control module; the robotic arm module and the pipetting module are both fixed to the three-axis motion module; The control module is used for: In response to a detection start instruction, the three-axis motion module is controlled to drive the mechanical arm module to move, and the biochemical sensor array placed in the silo module is transferred to the detection module, and the detection module calibrates the biochemical sensor array; Controlling the three-axis motion module to drive the mechanical arm module to move, and performing the operation of placing the calibrated biochemical sensor array on the sample loading module to be tested; Controlling the three-axis motion module to drive the pipetting module to move, to perform a sample addition operation of sucking the test liquid placed in the reagent supply module, and dropping the test liquid onto the biochemical sensor array; The three-axis motion module is controlled to drive the mechanical arm module to move after a preset time, and the biochemical sensor array with the added sample is transferred to the detection module, and the detection module detects the biochemical sensor array with the added sample.

2. The fully automatic assembly line biochemical detection platform according to claim 1, characterized in that: The three-axis motion module includes: a base, a support structure, a first motion mechanism, a second motion mechanism, a third motion mechanism and a connecting assembly; The support structure is located on the base; The first motion mechanism is located on a side of the support structure away from the base, and the first motion mechanism extends along a first direction; The second motion mechanism is slidably connected to the first motion mechanism through the connecting assembly, and the second motion mechanism moves along the first direction and extends along the second direction; The third motion mechanism is slidably connected to the second motion mechanism through the connecting assembly, and the third motion mechanism moves along the second direction and extends along the third direction; The robotic arm module and the pipetting module are slidably connected to the third motion mechanism through the connecting assembly; the robotic arm module and the pipetting module move along the third direction; The first direction, the second direction and the third direction are perpendicular to each other.

3. The fully automatic assembly line biochemical detection platform according to claim 2, characterized in that: The first motion mechanism includes a first synchronous belt and a first motor, and the first motor drives the first synchronous belt to move along the first direction; The second motion mechanism comprises a second synchronous belt and a second motor, and the second motor drives the second synchronous belt to move along the second direction; The third motion mechanism includes a third synchronous belt and a third motor, and the third motor drives the third synchronous belt to move along the third direction.

4. The fully automatic assembly line biochemical detection platform according to claim 3, characterized in that: The first synchronous belt comprises a first sub-synchronous belt and a second sub-synchronous belt, and the first sub-synchronous belt and the second sub-synchronous belt are arranged in parallel; The first motion mechanism further includes a coupling and a connecting rod, wherein the connecting rod connects the first sub-synchronous belt and the second sub-synchronous belt through the coupling, and the coupling is also connected to the first motor.

5. The fully automatic assembly line biochemical detection platform according to any one of claims 2 to 4, characterized in that: The robotic arm module includes a first rail portion, a first sliding portion and a transfer portion, wherein the first rail portion is slidably connected to the third motion mechanism through the connecting assembly, the first rail portion extends along the third direction, the first sliding portion moves along the third direction, the first sliding portion is fixedly connected to the transfer portion, and the transfer portion is used to transfer the biochemical sensor array.

6. The fully automatic assembly line biochemical detection platform according to claim 5, characterized in that: The transfer portion includes a fork structure; The silo module comprises a stacked tray, the tray is used to place the biochemical sensor array, and the tray comprises a socket; the socket matches the fork structure.

7. The fully automatic assembly line biochemical detection platform according to claim 1, characterized in that: The pipetting module includes a pipetting gun, and the fully automatic assembly line biochemical detection platform also includes: a gun tip module, the gun tip module includes a gun tip box and a gun tip, and the gun tip box is used to accommodate a plurality of the gun tips arranged in an array; The control module is also used to: before the pipette performs the operation of sucking the test liquid, control the three-axis motion module to drive the pipette to move to the gun tip module, drive the pipette to move along the third direction toward the gun tip, and install the gun tip by pressure.

8. The fully automatic assembly line biochemical detection platform according to claim 7, characterized in that: The pipetting module further includes a first cylinder, and the pipetting gun includes a gun body and a first button; The control module is also used for: After the pipette is installed with the gun head, the three-axis motion module is controlled to drive the pipette to move to the reagent supply module, the first cylinder is controlled to move along the third direction, the first cylinder presses the first button, and the pipette performs the operation of sucking the test liquid to the gun head; and The three-axis motion module is controlled to drive the pipette to move to the sample loading module to be tested, and the first cylinder is controlled to move along the third direction. The first cylinder presses the first button again, and the pipette performs the sample loading operation of dropping the test liquid in the gun tip onto the biochemical sensor array.

9. The fully automatic assembly line biochemical detection platform according to claim 7, characterized in that: The pipetting module further includes a second cylinder, the pipetting gun further includes a second button, and the base of the three-axis motion module is provided with a first opening; The fully automatic assembly line biochemical detection platform further includes: a gun tip collection module; the gun tip collection module and the first opening at least partially overlap in the third direction; The control module is also used to: control the three-axis motion module to drive the pipette to move above the first opening, and control the second cylinder to move along the third direction. The second cylinder presses the second button, and the pipette performs the operation of unloading the gun tip.

10. The fully automatic assembly line biochemical detection platform according to claim 7, characterized in that: The pipette gun further comprises a plurality of suction tips arranged in an array, and the suction tips are connected to the gun tips in a one-to-one correspondence; The control module is also used to adjust the distance between adjacent suction tips and to adjust the volume of the liquid to be tested that is sucked up by the gun tip at a single time.

11. The fully automatic assembly line biochemical detection platform according to claim 1, characterized in that: The detection module comprises: a fixed table, an in-position sensor, a fixing mechanism, a fixing frame, a detection circuit board and a microcontroller, wherein the fixing mechanism comprises a spring pin header, an adapter plate, a second track portion and a second sliding portion; The fixing frame is used to fix the second track portion, the second sliding portion slides along the second track portion, the second sliding portion is fixedly connected to the adapter plate, and the adapter plate is fixedly connected to the spring pin header; the spring pin header is also electrically connected to the adapter plate, and the adapter plate is electrically connected to the detection circuit board through a flexible cable, the in-position sensor, the second sliding portion and the detection circuit board are all electrically connected to the microcontroller, and the microcontroller is electrically connected to the control module; The microcontroller is used to: in response to the in-position signal transmitted by the in-position sensor, control the second sliding part to slide along the second track part, drive the spring pin header to contact the signal interface of the biochemical sensor array, fix the biochemical sensor array on the fixed table, and control the detection circuit board to calibrate or detect the biochemical sensor array; The presence signal is generated by the presence sensor when it detects that the biochemical sensor array is placed on the fixed table.

12. A control method for a fully automatic pipeline biochemical detection platform, characterized in that: The fully automatic assembly line biochemical detection platform comprises: a three-axis motion module, a mechanical arm module, a liquid transfer module, a silo module, a reagent supply module, a sample loading module, a detection module and a control module; the three-axis motion module, the mechanical arm module, the liquid transfer module and the detection module are all electrically connected to the control module; the mechanical arm module and the liquid transfer module are both fixed to the three-axis motion module; The control method comprises: In response to a detection start instruction, the three-axis motion module is controlled to drive the mechanical arm module to move, and the biochemical sensor array placed in the silo module is transferred to the detection module, and the detection module calibrates the biochemical sensor array; Controlling the three-axis motion module to drive the mechanical arm module to move, and performing the operation of placing the calibrated biochemical sensor array on the sample loading module to be tested; Controlling the three-axis motion module to drive the pipetting module to move, to perform a sample addition operation of sucking the test liquid placed in the reagent supply module, and dropping the test liquid onto the biochemical sensor array; The three-axis motion module is controlled to drive the mechanical arm module to move after a preset time, and the biochemical sensor array with the added sample is transferred to the detection module, and the detection module detects the biochemical sensor array with the added sample.

13. The control method according to claim 12, characterized in that: The pipetting module includes a pipetting gun, and the fully automatic assembly line biochemical detection platform also includes: a gun tip module, the gun tip module includes a gun tip box and a gun tip, and the gun tip box contains a plurality of the gun tips arranged in an array; Before the liquid transfer gun performs the operation of sucking the liquid to be tested, the control method further includes: The three-axis motion module is controlled to drive the pipette to move to the gun head module, and the pipette is driven to move along the third direction toward the gun head module, and the gun head is installed by pressure.

14. The control method according to claim 13, characterized in that: The pipetting module further includes a first cylinder, and the pipetting gun includes a gun body and a first button; After the pipette tip is installed on the pipette, the control method further includes: Controlling the three-axis motion module to drive the pipette gun to move to the reagent supply module, controlling the first cylinder to move along the third direction, the first cylinder pressing the first button, and the pipette gun performs the operation of sucking the test liquid to the gun tip; and, The three-axis motion module is controlled to drive the pipette to move to the sample loading module to be tested, and the first cylinder is controlled to move along the third direction. The first cylinder presses the first button again, and the pipette performs the sample loading operation of adding the test liquid in the gun tip to the biochemical sensor array.

15. The control method according to claim 13, characterized in that: The pipetting module further includes a second cylinder, the pipetting gun further includes a second button, and the base of the three-axis motion module is provided with a first opening; The fully automatic assembly line biochemical detection platform further includes: a gun tip collection module; the gun tip collection module and the first opening at least partially overlap in the third direction; The control method further comprises: The three-axis motion module is controlled to drive the pipette to move above the first opening, and the second cylinder is controlled to move along the third direction. The second cylinder presses the second button, and the pipette performs an operation of unloading the gun tip.

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