Full-automatic pipeline biochemical detection platform and control method

Abstract

The present disclosure relates to a full-automatic pipeline 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 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 electrically connected with the control module. The mechanical arm module and the pipetting module are fixed to the three-axis motion module. The control module is used to control the three-axis motion module to drive the mechanical arm and the pipetting module to move between the stock bin module, the detection device, the sample adding module and the reagent supply module in response to a detection start instruction, to complete the transfer, calibration, sample adding and detection operations of the biochemical sensor array. The biochemical detection platform realizes full-process automatic operation and pipeline detection of the biochemical sensor array, without manual operation, reduces errors caused by manual intervention, improves detection efficiency and detection quality, and meets the needs of batch detection.

Description

Technical Field

[0001] This disclosure relates to the field of biochemical sensor technology, and in particular to a fully automated automated biochemical detection platform and control method. Background Technology

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

[0003] To address the aforementioned technical issues, this disclosure provides a fully automated automated biochemical detection platform and control method.

[0004] On one hand, this disclosure provides a fully automated biochemical detection platform, including: a three-axis motion module, a robotic arm module, a pipetting module, a hopper 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;

[0005] The control module is used for:

[0006] In response to the detection start command, the three-axis motion module is controlled to move the robotic arm module to perform the operation of transferring the biochemical sensor array placed in the hopper module to the detection module, and the detection module calibrates the biochemical sensor array.

[0007] The three-axis motion module is controlled to move the robotic arm module to perform the operation of placing the calibrated biochemical sensor array onto the sample loading module;

[0008] The triaxial motion module is controlled to move the pipetting module to perform the sample addition operation of aspirating the test solution placed in the reagent supply module and dropping the test solution onto the biochemical sensor array.

[0009] After a preset time, the three-axis motion module is controlled to move the robotic arm module to transfer the sampled biochemical sensor array to the detection module, which then detects the sampled biochemical sensor array.

[0010] On the other hand, this disclosure also provides a control method for a fully automated biochemical detection platform, the fully automated biochemical detection platform comprising: a three-axis motion module, a robotic arm module, a pipetting module, a material hopper 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;

[0011] The control method includes:

[0012] In response to the detection start command, the three-axis motion module is controlled to move the robotic arm module to perform the operation of transferring the biochemical sensor array placed in the hopper module to the detection module, and the detection module calibrates the biochemical sensor array.

[0013] The three-axis motion module is controlled to move the robotic arm module to perform the operation of placing the calibrated biochemical sensor array onto the sample loading module;

[0014] The triaxial motion module is controlled to move the pipetting module to perform the sample addition operation of aspirating the test solution placed in the reagent supply module and dropping the test solution onto the biochemical sensor array.

[0015] After a preset time, the three-axis motion module is controlled to move the robotic arm module to transfer the sampled biochemical sensor array to the detection module, which then detects the sampled biochemical sensor array.

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

[0017] This disclosure provides a fully automated biochemical detection platform and control method. The fully automated biochemical detection platform includes: a three-axis motion module, a robotic arm module, a pipetting module, a material hopper 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 fixed to the three-axis motion module. The control module responds to detection start commands and controls the three-axis motion module to move the robotic arm and the pipetting module between the material hopper module, the detection device, the sample loading module, and the reagent supply module, completing the transfer, calibration, sample loading, and detection operations of the biochemical sensor array. Therefore, this automated detection platform achieves fully automated operation and flow-line detection of the biochemical sensor array, eliminating the need for manual operation, reducing errors caused by human intervention, improving detection efficiency and quality, and meeting the needs of batch testing. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and are configured together with the specification to explain the principles of this disclosure.

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A three-dimensional structural diagram of a fully automated automated biochemical detection platform provided in this embodiment of the disclosure;

[0021] Figure 2 A top view of a fully automated biochemical detection platform provided in this embodiment of the present disclosure;

[0022] Figure 3 A structural diagram of a three-axis motion platform provided in an embodiment of this disclosure;

[0023] Figure 4 This is a structural diagram of a pipetting module provided in an embodiment of the present disclosure;

[0024] Figure 5 A structural diagram of a detection module provided in an embodiment of this disclosure;

[0025] Figure 6 A structural diagram of a tray provided in an embodiment of this disclosure;

[0026] Figure 7 This is a structural diagram of a sample loading module provided in an embodiment of the present disclosure;

[0027] Figure 8 This is a structural diagram of another sample loading module provided in an embodiment of this disclosure;

[0028] Figure 9 A flowchart illustrating a control method for a fully automated automated biochemical detection platform provided in this embodiment.

[0029] Among them, 100, automated testing platform; 11, base; 111, platform; 112, column; 113, first opening; 114, second opening; 12, support structure; 13, first motion mechanism; 131, first synchronous belt; 1311, first sub-synchronous belt; 1312, second sub-synchronous belt; 132, first motor; 133, connecting rod; 134, coupling; 14, second motion mechanism; 141, second synchronous belt; 142, second motor; 15, third motion mechanism; 151, third synchronous belt; 152, third motor; 16, connecting assembly; 2, robotic arm module; 21, first track section; 22, first sliding section; 23, transfer section; 231, fork structure; 3, liquid handling unit. Modules; 31. Pipette; 311. Pipette body; 312. First button; 313. Second button; 32. First cylinder; 33. Second cylinder; 4. Storage hopper module; 41. Tray; 411. Base plate; 412. Back plate; 413. Side plate; 414. Insertion hole; 415. Positioning structure; 416. Third opening; 5. Reagent supply module; 6. Sample loading module; 61. Third groove; 7. Detection module; 71. Fixed platform; 72. Fixing frame; 73. Detection circuit board; 74. Fixing mechanism; 741. Second track section; 742. Second sliding section; 743. Adapter plate; 744. Spring pin header; 8. Pipette tip module; 81. Pipette tip box; 9. Biochemical sensor array; 91. Signal interface. Detailed Implementation

[0030] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0031] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0032] In some embodiments, such as Figure 1-2As shown, the fully automated biochemical detection platform 100 includes: a three-axis motion module, a robotic arm module 2, a pipetting module 3, a hopper module 4, a reagent supply module 5, a sample loading module 6, a detection module 7, and a control module. The three-axis motion module, robotic arm module 2, pipetting module 3, and detection module 7 are all electrically connected to the control module. The robotic arm module 2 and pipetting module 3 are both fixed to the three-axis motion module. The control module is used to: respond to a detection start command, control the three-axis motion module to move the robotic arm module 2, and execute the transfer of the biochemical sensor array placed in the hopper module 4 to the detection module 7. The operation involves the detection module 7 calibrating the biochemical sensor array; controlling the three-axis motion module to move the robotic arm module 2, placing the calibrated biochemical sensor array into the sample loading module 6; controlling the three-axis motion module to move the pipetting module 3, drawing the test solution placed in the reagent supply module 5, and dropping the test solution onto the biochemical sensor array; and controlling the three-axis motion module to move the robotic arm module 2 after a preset time, transferring the sampled biochemical sensor array to the detection module 7, where the detection module performs the test on the sampled biochemical sensor array.

[0033] Among them, combined Figure 7 The biochemical sensor array 9 includes flexible biochemical sensors. The biochemical sensor array 9 includes multiple biochemical sensors arranged in an array and a signal interface 91 connected to the biochemical sensors. After the biochemical sensor array 9 is transferred 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, inputting the signals from the multiple biochemical sensors on the biochemical sensor array to the detection module 7.

[0034] The hopper module 4 is used to hold the undetected biochemical sensor array 9. In some implementations, such as... Figure 1 and 2 As shown, the hopper module 4 includes stacked trays for placing and securing the undetected biochemical sensor array 9. During detection, the biochemical sensor array 9 is secured in the trays, and both the biochemical sensor array 9 and the trays are transferred simultaneously.

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

[0036] The sample loading module 6 is used to place the calibrated biochemical sensor array 9, and to keep the biochemical sensor array 9 in the sample loading module 6 for a preset time after sample loading, so that the test liquid and the biochemical sensor can bind specifically.

[0037] The detection module 7 is used to calibrate the undetected biochemical sensor array 9 and to detect the sampled biochemical sensor array, ultimately obtaining the target detection index. The target detection index includes at least the resistance change value.

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

[0039] In some embodiments, the pipetting module 3 includes a multichannel pipette. This configuration allows the multichannel pipette to simultaneously aspirate multiple test solutions and add samples to multiple biochemical sensors on the biochemical sensor array 9, thereby improving detection efficiency.

[0040] The three-axis motion module includes a three-axis motion platform, which is a platform that achieves precise movement in a first direction, a second direction, and a third direction, wherein the first direction, the second direction, and the third direction are mutually perpendicular. Both the robotic arm module 2 and the pipetting module 3 are 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 between the hopper module 4, the detection module 7, and the sample loading module 6. With its own object retrieval function, it can complete the operation of transferring the biochemical sensor array 9 from the hopper module 4 to the detection module 7, and the operation of transferring the biochemical sensor array 9 from the detection module 7 to the sample loading module 6.

[0042] Driven by the triaxial motion module, the pipetting module 3 can move in the three-dimensional space between the reagent supply module 5 and the sample loading module 6. With its own functions of taking and dropping liquid, it can complete the sample loading operations of taking liquid in the reagent supply module 5 and dropping liquid in the sample loading module 6.

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

[0044] This fully automated biochemical detection platform 100 is used for the fully automated and streamlined operation of the biochemical sensor array 9, including transfer, calibration, sample addition, and detection. The entire process requires no manual intervention, reducing errors caused by human intervention and improving detection efficiency and quality. The specific detection process is as follows:

[0045] (1) The robotic arm module 2 moves to the hopper module 4 under the drive of the three-axis motion module and picks up the biochemical sensor array 9 placed in the hopper module 4.

[0046] (2) The robotic arm module 2 moves to the detection module 7 under the drive of the three-axis motion module and places the biochemical sensor array 9 at the detection position of the detection module 7;

[0047] (3) The detection module 7 detects that a biochemical sensor array has been placed at the detection position and calibrates the biochemical sensor array 9.

[0048] (4) The robotic arm module 2 picks up the calibrated biochemical sensor array 9 and moves it to the sample loading module 6 under the drive of the three-axis motion module, and places the calibrated biochemical sensor array 9 in the sample loading module 6.

[0049] (5) The pipetting module 3 moves to the reagent supply module 5 under the drive of the triaxial motion module to pick up the test solution;

[0050] (6) The pipetting module 3 moves to the sample loading module 6 under the drive of the triaxial motion module, and adds the test liquid droplet onto the biochemical sensor array 9 to complete the sample loading operation;

[0051] (7) After waiting for a preset time, the robotic arm module 2 picks up the sampled biochemical sensor array 9, moves it to the detection module 7 under the drive of the three-axis motion module, and places the sampled biochemical sensor array 9 back on the detection position of the detection module 7.

[0052] (8) The detection module 7 detects the sampled biochemical sensor array to obtain the target detection index.

[0053] The fully automated biochemical detection platform 100 disclosed herein realizes fully automated operation and automated detection of the biochemical sensor array 9, eliminating the need for manual operation, reducing errors caused by human intervention, improving detection efficiency and quality, and meeting the needs of batch detection.

[0054] It should be noted that the fully automated biochemical detection platform 100 provided in this embodiment is also applied to test strips and reagent kits containing biochemical sensor arrays 9. The tray is modified accordingly based on the shape and size of the test strips and reagent kits, and the material hopper module 4, the sample loading module 6, and the detection module 7 are also adapted accordingly.

[0055] In some embodiments, such as Figure 3As shown, 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 connecting 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 connecting 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 connecting 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 connecting 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 mutually perpendicular.

[0056] Among them, the base 11 is a platform-type base. For example, as shown... Figure 3 As shown, the base 11 includes a platform 111 and a column 112. The platform 111 is located on one side of the column 112, and the support structure 12 is located on the side of the platform 111 opposite to the column 112. In some embodiments, such as Figure 3 As shown, the base 11 also includes a leveling mechanism, which is located on the side of the column 112 away from the platform 111. The leveling mechanism is used to adjust the platform 111.

[0057] The support structure 12 is located on the base 11 and is fixedly connected to the base 11. This embodiment does not limit the shape and material of the support structure 12; it can be flexibly configured according to requirements. For example, such as... Figure 1 As shown in Figure 3, the support structure 12 includes an aluminum profile rectangular frame with three sides, which has good structural stability.

[0058] The first motion mechanism 13 is located on the side of the support structure 12 opposite to the base 11. The first motion mechanism 13 is fixedly connected to the support structure 12 and extends along the first direction Y. The second motion mechanism 14 is slidably connected to the first motion mechanism 13 through the connecting component 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 third motion mechanism 15 is slidably connected to the second motion mechanism 14 through the connecting component 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 robotic arm module 2 and the pipetting module 3 are slidably connected to the third motion mechanism 15 via the connecting component 16. When the third motion mechanism 15 moves along the third direction Z, it drives the robotic arm module 2 and the pipetting module 3 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 robotic arm module 2 and the pipetting module 3 are moved along the first direction Y, the second direction X, and the third direction Z within the three-dimensional space where the three-axis motion module is located. By fixing the hopper module 4, the reagent supply module 5, the sample loading module 6, and the detection module 7 to the top surface of the base 11, all of which are located within the three-dimensional space where the three-axis motion module is located, the robotic arm module 2 moves within the three-dimensional space between the hopper module 4, the detection module 7, and the sample loading module 6, and the pipetting module 3 moves within the three-dimensional space between the reagent supply module 5 and the sample loading module 6, driven by the three-axis motion module.

[0060] In some embodiments, such as Figure 1 As shown in Figure 3, the connecting assembly 16 includes an opening platform, which includes a first opening platform, a second opening platform, and a third opening platform. The first opening platform is slidably connected to the first motion mechanism 13, and the second motion mechanism 14 is fixedly connected to the first opening platform. The second opening platform is slidably connected to the second motion mechanism 14, and the third motion mechanism 15 is fixedly connected to the second opening platform. The third opening platform is slidably connected to the third motion mechanism 15, and the robotic arm module 2 and the pipetting module 3 are fixedly connected to the third opening platform.

[0061] In some embodiments, such as Figure 1As shown in Figure 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 along 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 along 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 along 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 each driven by an independent motor.

[0063] In some embodiments, such as Figure 1 As shown in Figure 3, the first synchronous belt 131 includes a first sub-synchronous belt 1311 and a second sub-synchronous belt 1312, which are arranged in parallel. The first motion mechanism 13 also 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, a coupling 134 is connected to each end of the connecting rod 133. 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 achieved 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 is working, it drives the coupling 134 to rotate, which in turn drives 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 rotating synchronously.

[0065] In some embodiments, such as Figure 3 As shown, the robotic arm module 2 includes a first track section 21, a first sliding section 22, and a transfer section 23. The first track section 21 is slidably connected to the third motion mechanism 15 (or the third synchronous belt 151) through a connecting component 16. The first track section 21 extends along the third direction Z, the first sliding section 22 moves along the third direction Z, and the first sliding section 22 is fixedly connected to the transfer section 23. The transfer section 23 is used to transfer the biochemical sensor 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 track portion 21 is fixedly connected to the connecting component 16, the first track portion 21 extends along the third direction Z, and the first sliding portion 22 can slide along the first track 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] For example, such as Figure 3 As shown, the first track section 21 includes a vertical pole extending in the third direction Z, and the first sliding section 22 is slidably connected to the vertical pole through a connecting component. The connecting component is slidably connected to the vertical pole and fixedly connected to the first sliding section 22. The transfer section 23 includes two parallel strip structures, similar to the structure of a fork, which are matched with the pallet structure for transferring the biochemical sensor array.

[0068] In some embodiments, such as Figure 3 As shown, the transfer unit 23 includes a fork structure 231; the fork structure 231 includes two parallel strip-shaped structures. Figure 6 As shown, pallet 41 includes a socket 414; the socket 414 is matched with fork structure 231.

[0069] In this embodiment, the fork structure of the robotic arm module 2 is inserted into the socket 414 on the pallet 41, the three-axis motion module is controlled to move, and the robotic arm module is moved to transfer the pallet 41 together with the biochemical sensor array to the target position.

[0070] In some embodiments, such as Figure 6 As shown, the pallet 41 includes a bottom plate 411, a back plate 412, and a side plate 413; along the direction from the back plate to the side plate, the side plate 413 is provided with a socket 414, which matches the forklift jump 23.

[0071] In this embodiment, the back plate 412 and the two side plates 413 form a three-sided surrounding accommodating space, which is used to accommodate the biochemical sensing array; combined with Figure 8 The signal interface 91 of the biochemical sensor array 9 is located on the side near the opening of the accommodating space.

[0072] It should be noted that, Figure 6 The illustration of the insertion hole 414 as a through hole penetrating the side plate 413 is merely illustrative and does not constitute a limitation on the fully automated biochemical detection platform provided in this embodiment. In other embodiments, the insertion hole 414 may be configured as a blind hole, not penetrating the side plate, and this is not limited herein.

[0073] In some embodiments, such as Figure 6As shown, a positioning structure 415 is provided on the base plate 411. The positioning structure 415 is used to fix the biochemical sensor array on the base plate 411 to prevent the biochemical sensor array from shifting position.

[0074] For example, such as Figure 6 As shown, the positioning structure 415 includes a positioning post, and the biochemical sensing array includes a positioning hole corresponding to the positioning post. The positioning post passes through the positioning hole to fix the biochemical sensing array on the bottom plate 411 of the tray 41.

[0075] In some embodiments, the transfer unit includes mechanical grippers.

[0076] The clamping force of the mechanical gripper is adjustable and can be set in the range of 0.1 to 5 N.

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

[0078] The parallel opening and closing gripper can rotate in the horizontal plane and grip in the vertical plane. The mechanical gripper also includes a gripping surface and an anti-slip layer, with the anti-slip layer covering the gripping surface.

[0079] In some embodiments, to facilitate gripping by mechanical grippers, the height of the pallet back plate is set to be greater than the height of the side plate, forming a gripping section.

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

[0081] The photoelectric sensor is used to detect the remaining amount of the biochemical sensor array within the silo module and transmits a signal to the control module. Based on the signal transmitted by the photoelectric sensor, the control module determines if the silo module's inventory level is lower than a preset level (i.e., low inventory) and then activates the alarm to issue a warning.

[0082] The embodiments disclosed herein do not limit the type of alarm device. Any electronic device with a prompting function known to those skilled in the art can be used. For example, the alarm device includes a buzzer and / or an indicator light, which are not limited herein.

[0083] In some embodiments, such as Figure 1 , 2 As shown in Figure 4, the pipetting module 3 includes a pipette 31, and the fully automated biochemical detection platform 100 also includes a pipette tip module 8, which includes a pipette tip box and pipette tips. The pipette tip box is used to accommodate multiple pipette tips arranged in an array. The control module is also used to control the three-axis motion module to move the pipette 31 to the pipette tip module 8 before the pipette 31 performs the operation of aspirating the test liquid, and to move the pipette along the third direction Z towards the pipette tip, thereby installing the pipette tip using pressure.

[0084] In this embodiment, the pipetting module 3 includes a pipette 31, which needs to be used in conjunction with a pipette tip to complete the steps of aspirating and adding the test solution. A pipette tip module 8 needs to be installed on the fully automated biochemical detection platform 100.

[0085] The pipette 31 needs to have its tip installed before it can be used to aspirate the liquid to be tested. The specific operation process is as follows: The pipette 31 is moved above the tip module 8 by the three-axis motion module, and moves along the third direction Z (i.e., the vertical direction) by the three-axis motion module. Under the action of pressure, the tip is installed on the pipette tip of the pipette 31.

[0086] The embodiments disclosed herein do not limit the type of pipette; all types of pipettes known to those skilled in the art can be used, such as single-channel pipettes and multi-channel pipettes.

[0087] In some embodiments, such as Figure 1 and 4 As shown, the pipetting module 3 also includes a first cylinder 32, and the pipette 31 includes a pipette body 311 and a first button 312. The control module is also used to: after the pipette tip is installed on the pipette 31, control the three-axis motion module to move the pipette 31 to the reagent supply module 5, control the first cylinder 32 to move along the third direction Z, and press the first button 312, so that the pipette 31 can perform the operation of aspirating the test liquid to the pipette tip; and control the three-axis motion module to move the pipette 31 to the sample loading module 6, control the first cylinder 32 to move along the third direction Z, and press the first button 312 again, so that the pipette 31 can perform the operation of dropping the test liquid in the pipette tip onto the biochemical sensor array.

[0088] In this embodiment, the first cylinder 32 extends and retracts along the third direction Z, pressing the first button 312 of the pipette 31, creating a pressure difference between the suction tube and the discharge tube, thereby realizing the aspiration and dispensing of the test liquid. 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 test liquid. The first cylinder 32 is controlled to move along the third direction Z towards the first button 312. After the first cylinder 32 contacts the first button 312, the first cylinder 32 continues to move towards the first button 312. The first cylinder 32 presses the first button, creating a negative pressure in the pipette tip, and the test liquid is drawn into the pipette tip, completing the aspiration of the test liquid. Then, driven by the three-axis motion module, the pipette 31 moves to the sample loading module 6, with the pipette tip positioned above the biochemical sensor array and corresponding to each of the biochemical sensors on it. The first cylinder 32 is controlled to move along the third direction Z towards the first button 312. After the first cylinder 32 contacts the first button 312, the first cylinder 32 continues to move towards the first button 312. The first cylinder 32 presses the first button 312 again, the negative pressure inside the pipette tip disappears, the test liquid is discharged from the pipette tip, and dripped onto the biochemical sensor array, completing the sample loading operation.

[0089] In some embodiments, such as Figure 1 , 2 As shown in Figure 4, the pipetting module 3 also includes a second cylinder 33, and the pipette 31 also includes a second button 313. The base 11 of the three-axis motion module is provided with a first opening 113. The fully automatic automated biochemical detection platform 100 also includes a pipette tip collection module. The pipette tip collection module and the first opening 113 at least partially overlap in the third direction Z. The control module is also used to control the three-axis motion module to move the pipette 31 above the first opening 113, and to 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, the pipette 31 is also equipped with a second button 313. After the sample addition operation is completed, the pipette 31, driven by the three-axis motion module, moves to above the second opening 114. The second cylinder 33 is then controlled to move along the third direction (Z) towards the second button 313. After contact with the second button 313, the second cylinder 33 continues to move towards the second button 313, pressing the second button 313 and unloading the pipette tip from the pipette 31. The tip falls into the tip collection module located below the second opening 114. This configuration enables a one-button operation to unload the tip, simplifying the operation and improving detection efficiency.

[0091] It should be noted that, Figure 2The first opening 113 is shown exemplarily between the pipette tip module 8 and the sample loading module 6, but this does not constitute a limitation on the fully automated biochemical detection platform 100 provided in this embodiment. In other embodiments, the first opening 113 may also be located on the platform 111 within the range of motion of the pipetting module 3, which is not limited here.

[0092] In some embodiments, such as Figure 2 As shown, the reagent supply module 5 includes a test tube rack and test tubes. The test tube rack includes multiple first wells arranged in an array. The test tubes are placed in the first wells and are used to contain the test solution.

[0093] In some embodiments, such as Figure 2 As shown, the gun head box 81 includes a plurality of second holes arranged in an array, the second holes being used to accommodate the gun head.

[0094] For example, such as Figure 2 As shown, the gun head module 8 includes three gun head boxes 81 arranged side by side. Each gun head box 81 includes multiple second holes arranged in an array, and the gun head corresponds one-to-one with the second holes.

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

[0096] In some embodiments, the pipette includes a multichannel pipette, which includes multiple pipette tips and multiple pipetting channels arranged in an array, with each pipette tip and pipetting channel corresponding to the other.

[0097] Preferably, the distance between the center lines of two adjacent suction heads is L1, and the distance between the center lines of two adjacent suction heads in the suction head box is L2, with L1 and L2 being equal.

[0098] In some embodiments, a multichannel pipette includes multiple pipette tips arranged in an M×N array, where M and N are both positive integers.

[0099] For example, the biochemical sensor array includes 25 biochemical sensors arranged in a 5×5 array. A multi-channel pipette can be configured with 25 pipette tips arranged in a 5×5 array, allowing sample dispensing to all biochemical sensors on the array. Alternatively, a multi-channel pipette can be configured with 5 pipette tips arranged in a row (5×1 array), allowing sample dispensing to biochemical sensors in the same row. It should be noted that this embodiment exemplifies a biochemical sensor array with 25 biochemical sensors arranged in a 5×5 array, but does not limit the fully automated biochemical detection platform 100 provided in this disclosure. In other embodiments, the biochemical sensor array may include more or fewer biochemical sensors, and the arrangement of the sensors is not limited to a 5×5 array; the pipette tip arrangement can be determined based on the arrangement of the biochemical sensors.

[0100] In some embodiments, the pipette further includes multiple pipette tips arranged in an array, with each pipette tip connected to a pipette head in a one-to-one correspondence; the control module is also used to adjust the spacing between adjacent pipette tips and to adjust the volume of the test liquid drawn by the pipette head in a single operation.

[0101] In this embodiment, the pipette 31 is a multi-channel pipette, which can perform sample addition operations for multiple biochemical sensors in a single operation, thereby improving detection efficiency. The spacing between adjacent pipette tips is adjustable, that is, the spacing between adjacent pipette tips mounted on the pipette tips can be adjusted to match the pipette tip spacing with the test tube spacing.

[0102] The volume range of pipette 31 is also adjustable, allowing adjustment of the volume of the test solution aspirated by the pipette tip in a single application as needed. For example, when 10 μL of test solution needs to be added to each biochemical sensor, the volume range of the pipette is adjusted so that the volume of test solution aspirated by the pipette tip in a single application is 10 μL; when 15 μL of test solution needs to be added to each biochemical sensor, the volume range of the pipette is adjusted so that the volume of test solution aspirated by the pipette tip is 15 μL.

[0103] In some embodiments, such as Figure 5As shown, the detection module 7 includes: a fixed platform 71, an in-situ sensor (not shown), a fixing mechanism 74, a fixing frame 72, a detection circuit board 73, and a microcontroller. The fixing mechanism 74 includes a spring pin header 744, an adapter plate 743, a second track portion 741, and a second sliding portion 742. The fixing frame 72 is used to fix the second track portion 741. The second sliding portion 742 slides along the second track portion 741 and is fixedly connected to the adapter plate 743. The adapter plate 743 is fixedly connected to the spring pin header 744. The spring pin header 744 is also electrically connected to the adapter plate 743, which is connected via a flexible ribbon cable (not shown). The in-situ sensor, the second sliding part 742, and the detection circuit board 73 are all electrically connected to the microcontroller, which is also electrically connected to the control module. The microcontroller is used to: respond to the in-situ signal transmitted by the in-situ sensor, control the second sliding part 742 to slide along the second track part 741, causing the spring pin header 744 to contact the signal interface of the biochemical sensor array, fixing the biochemical sensor array on the fixed platform 71, and control the detection circuit board 73 to calibrate or detect the biochemical sensor array. The in-situ signal is generated by the in-situ sensor when it detects that the biochemical sensor array is placed on the fixed platform 71.

[0104] The fixed platform 71 is used to place the tray 41 and the biochemical sensor array placed in the tray 41.

[0105] The in-situ detection module is used to detect the presence of a biochemical sensor array on the fixed platform 71, generate an in-situ signal, and transmit the in-situ signal to the microcontroller. Exemplarily, the in-situ detection module includes a photoelectric in-situ sensor.

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

[0107] The spring pin header 744 is used to fix the signal interface of the biochemical sensor array, preventing displacement of the biochemical sensor array during detection, which helps improve detection accuracy and stability. The spring pin header 744 also serves as an electrical connection structure, contacting the signal interface to form an electrical connection, and inputting the signal from the biochemical sensor array to the detection circuit board 73.

[0108] The detection circuit is provided on the detection circuit board 73.

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

[0110] In some embodiments, integrating the microcontroller and the detection circuit board onto the same printed circuit board helps to reduce the size of the detection module.

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

[0112] In some embodiments, the fixed platform 71 is provided with at least one first groove, the opening of which matches the bottom plate of the tray. The first groove is used to place the tray and the biochemical sensor array placed in the tray. With this configuration, the placement position of the tray on the fixed platform is limited by the first groove, so that the spring pin header corresponds to the signal interface of the biochemical sensor array.

[0113] In some embodiments, the hopper module includes at least one second recess, the opening of which matches the bottom plate of the tray, and the second recess is used to place the tray and a biochemical sensor array placed in the tray.

[0114] In some embodiments, such as Figure 7 As shown, the sample loading module 6 includes at least one third groove 61. 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 sensor array placed in the tray. The structure after the tray 41 is placed in the third groove 61 is as follows. Figure 8 As shown.

[0115] The first, second, and third grooves 61 are all used to place the tray, and their openings match the bottom plate of the tray. Each of the three grooves 61 corresponds one-to-one with a tray.

[0116] In some embodiments, such as Figure 2 As shown, the fully automated biochemical detection platform 100 also includes a biochemical sensor array collection module and a separation structure. A second opening 114 is also provided on the platform 111. In the third direction Z, the biochemical sensor array collection module and the separation structure at least partially overlap with the second opening 114.

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

[0118] Combination Figure 6 The tray 41 has a third opening 416 on its base plate 411; the third opening 416 penetrates the base plate 411 along its thickness direction. The separation structure can pass through the third opening 416 and contact the biochemical sensor array in the tray 41, pushing the biochemical sensor array out of the tray 41, thereby separating the biochemical sensor array from the tray 41.

[0119] After the biochemical sensor array completes its detection, the robotic arm module 2, driven by the three-axis motion module, moves to the top of the second opening 114, and then moves along the third direction Z towards 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 sensor array in the tray 41 and pushes the biochemical sensor array out of the tray 41, thus separating the biochemical sensor array from the tray 41. The separated biochemical sensor array falls into the biochemical sensor array collection module. The separated tray is then transferred by the robotic arm module 2 to the hopper module 4 for placing undetected biochemical sensor arrays.

[0120] It should be noted that, Figure 2 The second opening 113 is shown exemplarily only, located between the sample loading module 6 and the detection module 7, and does not constitute a limitation on the fully automated biochemical detection platform 100 provided in this embodiment. In other embodiments, the second opening 114 may also be located on the table 111 within the range of motion of the robotic arm module 2, which is not limited here.

[0121] In some embodiments, the fully automated biochemical detection platform 100 also includes a host computer located at the user end, through which the user can set parameter conditions.

[0122] The parameters include at least the total number of biochemical sensor arrays to be detected and the number of single detections.

[0123] For example, the total number of biochemical sensor arrays to be tested is 200, and the number of samples tested in a single test is 6. During the testing process, the previous operation step is repeated 6 times before the next operation step is executed. Specifically, in response to the detection start command, the first round of the detection program is initiated. The robotic arm module is controlled to repeatedly perform the operation of transferring the biochemical sensor array placed in the hopper module to the detection module 6 times. The detection module calibrates the biochemical sensor array. Then, the robotic arm is controlled to repeatedly perform the operation of transferring the calibrated biochemical sensor array to the sample loading module 6 times. Finally, the pipetting module is controlled to repeatedly perform the operation of aspirating the sample. The sample addition operation, including adding the test solution, continues until all biochemical sensor arrays placed in the sample addition module have been sampled. Then, the operation of transferring the sampled biochemical sensor arrays to the detection module is repeated. The detection module then detects the sampled biochemical sensor arrays. Finally, the robotic arm module repeatedly separates the detected biochemical sensor arrays from the tray and places the separated trays into the hopper module, ending this round of the detection program. The next round of the detection program then begins, repeating the above steps until all biochemical sensor arrays have been detected, at which point the detection program ends and exits the detection mode.

[0124] In some embodiments, such as Figure 2 As shown, in the fully automated 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, and the fixing platform 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, this disclosure also provides a control method applicable to any of the above-mentioned fully automated automated biochemical detection platform 100, which has corresponding beneficial effects. To avoid repetition, it will not be described again here.

[0126] In some embodiments, such as Figure 1-2 As shown, the fully automated biochemical testing platform includes: a three-axis motion module, a robotic arm module 2, a pipetting module 3, a hopper module 4, a reagent supply module 5, a sample loading module 6, a detection module 7, and a control module; the three-axis motion module, robotic arm module 2, pipetting module 3, and 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] like Figure 9 As shown, the control method of the fully automated biochemical detection platform 100 includes the following steps:

[0128] S110, in response to the detection start command, controls the three-axis motion module to drive the robotic arm module to move, and performs the operation of transferring the biochemical sensor array placed in the hopper module to the detection module, so that the detection module can calibrate the biochemical sensor array.

[0129] In this step, combined Figure 1-2 In response to the detection start command, the control module controls the movement of the three-axis motion platform. Driven by the movement of the three-axis motion module, the robotic arm module 2 moves to the hopper module 4 and picks up the biochemical sensor array placed in the hopper module 4. Then, driven by the movement of the three-axis motion module, the robotic arm module 2 moves to the detection module 7 and transfers the biochemical sensor array to the detection module 7. The detection module 7 detects the biochemical sensor array and calibrates the biochemical sensor 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 sensor array into the sample loading module.

[0131] In this step, the robotic arm module 2 picks up the calibrated biochemical sensor array and moves it to the sample loading module 6 under the drive of the three-axis motion module, and places the calibrated biochemical sensor array in the sample loading module 6.

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

[0133] In this step, the pipetting module 3 moves to the reagent supply module 5 under the drive of the triaxial motion module to aspirate the test solution; then, the pipetting module 3 moves to the sample loading module 6 under the drive of the triaxial motion module to drop the test solution onto the biochemical sensor array.

[0134] S140. After a preset time, the control three-axis motion module drives the robotic arm module to move and perform the operation of transferring the sampled biochemical sensor array to the detection module, which then detects the sampled biochemical sensor array.

[0135] In this step, after adding the sample and waiting for a preset time, the robotic arm module 2 picks up the biochemical sensor array with the test solution added, moves it to the detection module 7 under the drive of the three-axis motion module, and transfers the biochemical sensor array with the test solution added to the detection module 7. The detection module 7 detects the biochemical sensor array with the test solution added to obtain the target detection index.

[0136] The control method of the fully automated biochemical detection platform disclosed herein realizes fully automated operation and automated detection of the biochemical sensor array, eliminating the need for manual operation, reducing errors caused by human intervention, improving detection efficiency and quality, and meeting the needs of batch detection.

[0137] In some embodiments, such as Figure 1 , 2 As shown in Figure 4, the pipetting module 3 includes a pipette 31, and the fully automated biochemical detection platform 100 also includes a pipette tip module 8, which includes a pipette tip box and pipette tips. The pipette tip box contains multiple pipette tips arranged in an array.

[0138] Before the "pipette performs the operation of drawing up the test solution", the control method also includes the following steps:

[0139] The control three-axis motion module moves the pipette to the tip module, and moves the pipette in a third direction toward the tip module, using pressure to install the tip.

[0140] In this embodiment, the pipetting module 3 includes a pipette 31, which needs to be used in conjunction with a pipette tip to complete the steps of aspirating and adding the test liquid. A corresponding pipette tip module 8 needs to be set on the automated testing platform.

[0141] The pipette tip needs to be installed on the pipette 31 before the operation of drawing the liquid to be tested is performed. The specific operation process is as follows: The pipette 31 is moved above the pipette tip module 8 by the three-axis motion module, and moves along the third direction Z (i.e., the vertical direction) by the three-axis motion module. Under the action of pressure, the pipette tip is installed on the pipette 31.

[0142] The present invention does not limit the type of pipette 31, and all types of pipettes known to those skilled in the art can be used, such as single-channel pipettes and multi-channel pipettes.

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

[0144] After "installing the pipette tip", the control method also includes the following steps:

[0145] The control three-axis motion module moves the pipette to the reagent supply module, controls the first cylinder to move along a third direction, and presses the first button with the first cylinder, causing the pipette to perform the operation of drawing the test solution into the pipette tip; and...

[0146] The control three-axis motion module drives the pipette to move to the sample loading module, controls the first cylinder to move along the third direction, and the first cylinder presses the first button again, and the pipette performs the sample loading operation of loading the test droplet in the pipette tip onto the biochemical sensor array.

[0147] In this embodiment, the first cylinder 32 extends and retracts along the third direction Z, pressing the first button 312 of the pipette 31, creating a pressure difference between the suction tube and the discharge tube, thereby realizing the aspiration and dispensing of the test liquid. 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 test liquid. The first cylinder 32 is controlled to move along the third direction Z towards the first button 312. After the first cylinder 32 contacts the first button 312, the first cylinder 32 continues to move towards the first button 312. The first cylinder 32 presses the first button, creating a negative pressure in the pipette tip, and the test liquid is drawn into the pipette tip, completing the aspiration of the test liquid. Then, driven by the three-axis motion module, the pipette 31 moves to the sample loading module 6, with the pipette tip positioned above the biochemical sensor array and corresponding to each of the biochemical sensors on it. The first cylinder 32 is controlled to move along the third direction Z towards the first button 312. After the first cylinder 32 contacts the first button 312, the first cylinder 32 continues to move towards the first button 312. The first cylinder 32 presses the first button 312 again, the negative pressure inside the pipette tip disappears, the test liquid is discharged from the pipette tip, and dripped onto the biochemical sensor array, completing the sample loading operation.

[0148] In some embodiments, such as Figure 1 , 2 As shown in Figure 4, the pipetting module 3 also includes a second cylinder 33, the pipetting gun 31 also 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 automated biochemical detection platform 100 also includes: a pipette tip collection module; the pipette tip collection module and the first opening 113 at least partially overlap in the third direction Z.

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

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

[0151] In this example, the pipette 31 is also equipped with a second button 313. After the sample addition operation is completed, the three-axis motion module is controlled to move the pipette 31 above the second opening 114. The second cylinder 33 is then controlled to move along the third direction Z towards the second button 313. After the second cylinder 33 contacts the second button 313, it continues to move towards the second button 313, pressing the second button 313 and unloading the pipette tip from the pipette 31. The pipette tip falls into the pipette tip collection module located below the second opening 114. This configuration enables a one-button operation to unload the pipette tip, simplifying the operation and improving detection efficiency.

[0152] For example, with Figure 1-2 Taking the fully automated biochemical detection platform 100 shown as an example, its working process is as follows: After the program starts executing the command of the detection process, the transfer part 23 of the robotic arm module 2 moves to the top of the hopper module 4 under the drive of the XYZ three-axis motion module. The transfer part 23 picks up the tray 41 used to place the biochemical sensor array and transfers the biochemical sensor array together with the tray to the detection module 7. The biochemical sensor array is placed in the second groove provided on the fixed platform 71. After the position sensor detects that the tray 41 is placed in the second groove, it sends a position signal to the microcontroller. The microcontroller controls the second sliding part to move along the third direction Z, driving the spring pin header to move downward along the third direction Z. The spring pins move until they contact the signal interface of the biochemical sensor array, at which point the detection module 7 enters calibration mode. After calibration, the transfer unit 23 transfers the calibrated biochemical sensor array to the third groove of the sample loading module 6. Driven by the XYZ three-axis motion module, the pipette 31 moves above the pipette tip module 8, and the pipette 31 moves downwards along the third direction Z. Pressure is applied to attach the pipette tip to the pipette tip. The pipette 31 with the tip attached moves to the reagent supply module 5, and the pipette 31 moves downwards along the third direction Z, with the tip inserted into the test tube. At this time, the first cylinder 32 moves along the third direction Z, pressing the pipette 31. The first button 312 of pipette 31 draws the test solution from the test tube into the pipette tip. After drawing the test solution, pipette 31 moves above the sample loading module 6 and controls the first cylinder 32 to move along the third direction Z. The first cylinder 32 presses the first button 312 of pipette 31 again to drop the test solution onto the biochemical sensor array 9. After a preset fusion time, the transfer unit 23 moves to the sample loading module 6 and transfers the sampled biochemical sensor array to the fixed platform 71 of the detection module 7. After the in-situ sensor acquires the in-situ signal, the second sliding part drives the spring pin to move downward along the third direction Z until the spring pin contacts the signal interface of the biochemical sensor array. The detection module 7 then enters the detection module. The system enters the detection mode and performs detection on the biochemical sensor array. After the detection is completed, the transfer unit 23 transfers the detected biochemical sensor array 9 to the top of the second opening 114, and then moves along the third direction Z towards 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 sensor array in the tray 41 and pushes the biochemical sensor array out of the tray 41, thus separating the biochemical sensor array from the tray 41. The separated biochemical sensor array falls into the biochemical sensor array collection module, and the separated tray is transferred by the robotic arm module 2 to the hopper module 4 to place undetected biochemical sensor arrays, starting a new round of detection.

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

[0154] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fully automatic pipeline biochemical detection platform, characterized in that, The application relates to a biochemical detection device and a biochemical detection method. The biochemical detection device comprises a three-axis movement module, a mechanical arm module, a pipetting module, a material bin module, a reagent supply module, a sample adding module, a detection module and a control module; the three-axis movement module, the mechanical arm module, the pipetting module and the detection module are electrically connected with the control module; the mechanical arm module and the pipetting module are fixed to the three-axis movement module. The control module is used for: controlling the three-axis movement module to drive the mechanical arm module to move in response to a detection starting instruction, and performing an operation of transferring a biochemical sensor array placed in the material bin module to the detection module, and calibrating the biochemical sensor array by the detection module; controlling the three-axis movement module to drive the mechanical arm module to move, and performing an operation of placing the calibrated biochemical sensor array in the sample adding module; controlling the three-axis movement module to drive the pipetting module to move, and performing an operation of sucking a to-be-tested liquid placed in the reagent supply module, and dropping the to-be-tested liquid on the biochemical sensor array; controlling the three-axis movement module to drive the mechanical arm module to move after a preset time length, and performing an operation of transferring the sample-added biochemical sensor array to the detection module, and detecting the sample-added biochemical sensor array by the detection module. The detection module comprises a fixed table, an in-place sensor, a fixing mechanism, a fixed frame, a detection circuit board and a microcontroller; the fixing mechanism comprises a spring pin, an adapter plate, a second track part and a second sliding part; the fixed frame is used for fixing the second track part, the second sliding part slides along the second track part, the second sliding part is fixedly connected with the adapter plate, the adapter plate is fixedly connected with the spring pin; the spring pin is also electrically connected with the adapter plate, the adapter plate is electrically connected with the detection circuit board through a flexible flat cable, the in-place sensor, the second sliding part and the detection circuit board are electrically connected with the microcontroller, and the microcontroller is electrically connected with the control module; the microcontroller is used for: in response to an in-place signal transmitted by the in-place sensor, controlling the second sliding part to slide along the second track part, driving the spring pin to contact a signal interface of the biochemical sensor array, fixing the biochemical sensor array on the fixed table, and controlling the detection circuit board to calibrate or detect the biochemical sensor array; The in-place signal is generated by the in-place sensor when the fixed table is detected to place the biochemical sensor array. 2.The fully-automatic pipeline biochemical detection platform according to claim 1, characterized in that, The three-axis movement module comprises a base, a support structure, a first movement mechanism, a second movement mechanism, a third movement mechanism and a connecting assembly; the support structure is located on the base; the first movement mechanism is located on a side of the support structure away from the base, and extends along a first direction; the second movement mechanism is slidably connected to the first movement mechanism through the connecting assembly, and moves along the first direction and extends along a second direction; The third movement mechanism is slidably connected to the second movement mechanism through the connecting assembly, and moves along a third direction; The mechanical arm module and the pipetting module are slidably connected to the third movement mechanism through the connecting assembly, and move along the third direction; The first direction, the second direction and the third direction are perpendicular to each other. 3.The fully-automatic pipeline biochemical detection platform according to claim 2, characterized in that, The first movement mechanism comprises 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 movement 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 movement mechanism comprises 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 pipeline 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 movement mechanism further comprises a shaft coupling and a connecting rod, and the connecting rod connects the first sub-synchronous belt and the second sub-synchronous belt through the shaft coupling, and the shaft coupling is further connected with the first motor.

5. The fully automatic pipeline biochemical detection platform according to any one of claims 2-4, characterized in that, The mechanical arm module comprises a first track part, a first sliding part and a transfer part, the first track part is slidably connected with the third movement mechanism through the connecting assembly, the first track part extends along the third direction, the first sliding part moves along the third direction, the first sliding part is fixedly connected with the transfer part, and the transfer part is used for transferring the biochemical sensor array. 6.The fully-automatic pipeline biochemical detection platform according to claim 5, characterized in that, The transfer part comprises a fork structure; The magazine module comprises stacked trays, the trays are used for placing the biochemical sensor array, and the trays comprise insertion holes; the insertion holes are matched with the fork structure.

7. The fully automatic pipeline biochemical detection platform according to claim 1, characterized in that, The pipetting module comprises a pipetting gun, and the full-automatic pipeline biochemical detection platform further comprises a gun head module, the gun head module comprises a gun head box and a gun head, and the gun head box is used for accommodating a plurality of gun heads arranged in an array; Before the pipetting gun performs the operation of sucking the to-be-tested liquid, the control module controls the three-axis movement module to drive the pipetting gun to move to the gun head module, drives the pipetting gun to move along a third direction to a direction close to the gun head, and installs the gun head by using pressure.

8. The fully automatic pipeline biochemical detection platform according to claim 7, characterized in that, The pipetting module further comprises a first air cylinder, and the pipetting gun comprises a gun body and a first button; The control module is further used for: After the pipetting gun is installed with the gun head, the control module controls the three-axis movement module to drive the pipetting gun to move to the reagent supply module, controls the first air cylinder to move along the third direction, the first air cylinder presses the first button, and the pipetting gun performs the operation of sucking the to-be-tested liquid to the gun head; and The control module controls the three-axis movement module to drive the pipetting gun to move to the sample adding module, controls the first air cylinder to move along the third direction, the first air cylinder again presses the first button, and the pipetting gun performs the operation of dropping the to-be-tested liquid in the gun head to the biochemical sensor array.

9. The fully automatic pipeline biochemical detection platform according to claim 7, characterized in that, The pipetting module further comprises a second cylinder, the pipetting gun further comprises a second button, and the base of the three-axis movement module is provided with a first opening; The full-automatic pipeline biochemical detection platform further comprises a tip collecting module; the tip collecting module at least partially overlaps with the first opening in the third direction; The control module is further configured to control the three-axis movement module to drive the pipetting gun to move above the first opening, and control the second cylinder to move in the third direction, so that the second cylinder presses the second button, and the pipetting gun executes the operation of unloading the tip.

10. The fully automatic pipeline biochemical detection platform according to claim 7, characterized in that, The pipetting gun further comprises a plurality of tips arranged in an array, and the tips are connected to the tips one by one in a one-to-one correspondence; The control module is further configured to adjust the spacing between adjacent tips, and adjust the volume of the sample liquid sucked by the tip in a single suction.

11. A control method of a full-automatic pipeline biochemical detection platform, characterized in that, The full-automatic pipeline biochemical detection platform according to any one of claims 1-10 comprises a three-axis movement module, a mechanical arm module, a pipetting module, a stock bin module, a reagent supply module, a sample adding module, a detection module, and a control module; the three-axis movement module, the mechanical arm module, the pipetting module, and the detection module are electrically connected to the control module; the mechanical arm module and the pipetting module are fixed to the three-axis movement module; The control method comprises: In response to a detection start instruction, the three-axis movement module is controlled to drive the mechanical arm module to move, so as to execute the operation of transferring the biochemical sensor array placed in the stock bin module to the detection module, and the detection module is used to calibrate the biochemical sensor array; The three-axis movement module is controlled to drive the mechanical arm module to move, so as to execute the operation of placing the calibrated biochemical sensor array in the sample adding module; The three-axis movement module is controlled to drive the pipetting module to move, so as to execute the operation of sucking the sample liquid placed in the reagent supply module, and dropping the sample liquid on the biochemical sensor array; After a preset time, the three-axis movement module is controlled to drive the mechanical arm module to move, so as to execute the operation of transferring the sample-added biochemical sensor array to the detection module, and the detection module is used to detect the sample-added biochemical sensor array.

12. The control method according to claim 11, characterized by, The pipetting module comprises a pipetting gun, and the full-automatic pipeline biochemical detection platform further comprises a tip module, the tip module comprising a tip box and a tip, and the tip box containing a plurality of tips arranged in an array; Before the pipetting gun executes the operation of sucking the sample liquid, the control method further comprises: The three-axis movement module is controlled to drive the pipetting gun to move to the tip module, drive the pipetting gun to move in the third direction towards the tip module, and install the tip by using pressure.

13. The control method according to claim 12, characterized by, The pipetting module further comprises a first cylinder, and the pipetting gun comprises a gun body and a first button; After the pipetting gun installs the tip, the control method further comprises: The three-axis motion module drives 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 to-be-tested liquid to the gun head; and The three-axis motion module drives the pipette to move to the sample adding module to be tested, 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 adding operation of adding the to-be-tested liquid drop in the gun head on the biochemical sensing array.

14. The control method according to claim 12, characterized by, The pipette module further comprises a second cylinder, the pipette further comprises a second button, and the base of the three-axis motion module is provided with a first opening; The full-automatic pipeline biochemical detection platform further comprises a gun head collecting module; the gun head collecting module at least partially coincides with the first opening in the third direction; The control method further comprises: The three-axis motion module drives the pipette to move to 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 the operation of unloading the gun head.

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