High-speed full-automatic chemiluminescence immunoassay analyzer and control method thereof

Abstract

The invention relates to the technical field of machinery, and discloses a high-speed full-automatic chemiluminescence immunoassay analyzer and a control method thereof.The high-speed full-automatic chemiluminescence immunoassay analyzer comprises an immunoassay analyzer body, a dilution module is arranged in the immunoassay analyzer body, and a cleaning module is arranged in the immunoassay analyzer body; the immunity analyzer comprises a cup arranging device module, a sample arm module is arranged on the back face of the cup arranging device module, the right side of the sample arm module and a dilution module are arranged, the dilution module comprises a dilution needle, a motor, a transfer sliding block base, a dilution disc, a transfer disc, a pipetting needle, a uniform mixing mechanism A and a uniform mixing mechanism B, and the sample arm module comprises a sample needle. The transfer disc is provided with 36 cup positions in total, and three cup positions can be rotated at a time. According to the high-speed full-automatic chemiluminescence immunoassay analyzer and the control method thereof, the information of the placed reagent disc can be automatically diluted and detected, manual operation is not needed, the full-automatic detection capability is improved, and the positioning and monitoring functions of the reagent cup are enhanced.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and particularly to a high-speed fully automatic chemiluminescence immunoassay analyzer and a control method thereof. Background Art

[0002] Chemiluminescence immunoassay is an in vitro detection and analysis technique that combines antigen-antibody immune reaction and luminescence reaction. Based on immunology theory, it uses luminescent markers as tracer signals and detects various markers by collecting optical signals. It has the advantages of high sensitivity, low non-specific adsorption, and high accuracy. With the rapid development of biomedical equipment, certain conditions have been met for realizing the full automation of chemiluminescence detectors.

[0003] Generally, chemiluminescence detectors based on chemiluminescence immunoassay have become mature medical diagnostic devices. However, general-purpose chemiluminescence detector equipment is expensive, bulky, and consumes a large amount of power, making it difficult to popularize and promote. With the rapid development of biomedical equipment, certain conditions have been met for realizing the full automation of chemiluminescence detectors.

[0004] A chemiluminescence detector mainly includes a reaction cup loading device, a sample adding device, a incubation reaction device, a cleaning device, a measuring device, a control system, and a software system. However, at present, the various processes of the chemiluminescence detector, such as adding reaction cups, adding samples, adding reagents, and mixing, are distributed in a production line manner during execution, resulting in each process occupying time and a large space during execution, which affects the detection efficiency.

[0005] The prior art CN109975277A chemiluminescence detector and its detection method include a reagent storage device for storing reagents; a reaction device for carrying reaction containers and performing sample addition, reagent addition, and incubation operations; the reaction device includes a reaction outer disk mechanism for carrying the reaction containers and performing reagent addition and mixing operations and a reaction inner disk mechanism for carrying the reaction containers and performing incubation operations. The reaction outer disk mechanism is sleeved outside the reaction inner disk mechanism and operates independently, and the reaction outer disk mechanism and the reaction inner disk mechanism are coaxially arranged; a dispensing device for transferring samples and reagents to the reaction containers respectively; a cleaning device for removing impurities in the reaction containers; and a measuring device for detecting analytes in the reaction containers; the reagent storage device, the dispensing device, the cleaning device, and the measuring device are arranged around the circumference of the reaction outer disk mechanism.

[0006] However, the above technologies still have the following deficiencies: there is a lack of a sample dilution module, and the dilution process needs to be carried out outside the device, making the device unable to operate fully automatically. There is also a lack of a reagent cup detection and positioning function, which is prone to errors and omissions, resulting in a reduction in work efficiency. Therefore, a high-speed fully automatic chemiluminescence immunoassay analyzer and its control method are proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide a high-speed fully automatic chemiluminescence immunoassay analyzer and its control method to solve the problems raised in the above background technology.

[0008] To solve the above technical problems, the present invention provides the following technical solutions: A high-speed fully automatic chemiluminescence immunoassay analyzer and its control method, including an immunoassay analyzer, wherein a dilution module is provided inside the immunoassay analyzer, and a cleaning module is provided inside the immunoassay analyzer; The immunoassay analyzer includes a cup sorting module, a sample arm module is provided on the back of the cup sorting module, the dilution module is provided on the right side of the sample arm module, the dilution module includes a dilution needle, a motor, a transfer slider seat, a dilution disk, a transfer disk, a pipetting needle, a mixing mechanism A, and a mixing mechanism B. The sample arm module includes a sample needle. The transfer disk has a total of 36 cup positions and rotates 3 cup positions at a time; The cleaning module includes a cleaning disk and a detection sensor. There is a square magnet below the cleaning disk, and there is a magnet seat below the square magnet. 12 magnets are fixed to each magnet seat at corresponding positions. A cleaning gripper is provided on the front of the cleaning module, and the cleaning gripper includes a detection module.

[0009] Preferably, an upper cup gripper is provided on the right side of the dilution module, a first incubation gripper is provided on the right side of the upper cup gripper, an outer incubation disk is provided on the front of the first incubation gripper, an inner incubation disk is installed inside the outer incubation disk, and a second incubation gripper is provided on the right side of the outer incubation disk.

[0010] Preferably, a reading module is provided on the right side of the first incubation gripper, a reading gripper is provided on the front of the reading module, and the reading module includes a heating device to keep the reading chamber at a constant temperature of 37°C and the activator at 37°C respectively.

[0011] Preferably, a reagent arm is provided on the front of the outer incubation disk. A reagent needle A is installed at the top of the reagent arm, and a reagent needle B is installed at the top of the reagent arm. A reagent disk A is provided at the bottom of the reagent needle A, and a reagent disk B is provided at the bottom of the reagent needle B. RFID sensors are installed inside both the reagent disk A and the reagent disk B.

[0012] Among them, the RFID sensor combines radio frequency identification technology to identify and recognize items through radio waves. It adopts the model MFRC522 and consists of a reader and a tag. When the tag approaches the reader, the reader will send a radio frequency signal to the tag. After the signal is received by the tag's antenna, the chip will send the information stored in it back to the reader through the antenna. In this process, the energy is generated by the reader and transmitted to the tag through the electromagnetic wave in the air, enabling the tag to work. The RFID tag is attached to the item to allow the RFID sensor to read the information.

[0013] Preferably, it further includes a control method: The operating cycle of each module is 4 seconds. The disordered reaction cups are sorted by the cup sorting device and then slide out through the slideway and are arranged in order. When the number of reaction cups at the slideway outlet is greater than 5, the first reaction cup is pushed out of the slideway by the rear reaction cup; The dilution plate cup feeding motor is used to push the transfer slider seat from the reset zero point, so that the first cup receiving port is aligned with the slideway outlet of the cup sorting device, and successively receive reaction cups A, B, and C, and transfer the reaction cups to the corresponding openings on the outer circle of the dilution plate. Then, the dilution plate rotation motor is used to align the transfer plate with the openings on the outer circle of the dilution plate, and push the reaction cups into the transfer plate; Control the rotation of the transfer plate, rotate one grid each time, and successively execute the steps of injecting the sample into reaction cup B by the sample needle, injecting the diluent into reaction cups B and C by the dilution needle, mixing the liquid in reaction cup B by the mixing mechanism A, transferring the liquid in reaction cup B to reaction cup C by pipette A, mixing the liquid in reaction cup C by the mixing mechanism B, transferring the liquid in reaction cup C to reaction cup A by pipette B, taking reaction cup A away by the upper cup gripper and placing it in the outer circle of the incubation plate, sucking the liquid in reaction cups B and C by the waste suction needles A and B and discharging it into the waste liquid bucket, and driving the dial block by the cup discarding motor to push reaction cups B and C out of the transfer plate.

[0014] Preferably, after the sample needle and pipettes A and B of the dilution module complete the liquid transfer, cleaning actions are respectively performed.

[0015] Preferably, control the rotation of the outer circle of the incubation plate, rotate reaction cup A to the reagent arm module, alternately take out reagents from reagent tray A by reagent needle A and reagent needle B and inject them into reaction cup A, and perform the needle washing action. The operating cycle of reagent needle A and reagent needle B is 8 seconds to meet the frequency of the incubation plate rotating one grid every 4 seconds. A refrigeration device is set in the reagent tray module to ensure that the reagents are stored in an environment of 2 - 8°C.

[0016] Preferably, after the incubation of reaction cup A is completed, the inner circle of the incubation tray is controlled to rotate to the cleaning gripper, and the reaction cup is moved into the cleaning module turntable. The square magnet below the cleaning module adsorbs the magnetic beads in the reagent components to the side wall of the reaction cup. Through the rotation of the turntable and the cooperation of the waste suction needles A and B, part or all of the liquid in the reaction cup is sucked out, and washing liquid is injected for mixing and cleaning. When required by the experimental item, the pre-activator or the substrate of alkaline phosphatase is finally injected, and the reaction cup is transferred to the reading module by the reading gripper for reading. After the reading is completed, the reaction cup is taken out and discarded into the waste box.

[0017] Preferably, during the whole control process, the whole process of the robotic arm clamping device and the reagent cup transfer process is detected and positioned, and the accurate clamping and placement of the reagent cup are determined by the optocoupler sensor.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: First, in the present invention, the dilution module can automatically complete dilution and process the sample. The reaction cups are slid out from the slideway by the cup arranging device and arranged in order. Depending on the inclination angle of the slideway, the reaction cups can be tightly and sealedly arranged. When the opening at the slideway opening is opened, when the number of reaction cups in the slideway is more than 5, the first reaction cup can be ejected from the slideway by the reaction cup behind. The first cup receiving port of the dilution module is aligned with the slideway opening of the cup arranging device to receive the reaction cup A. After continuing to operate and receiving the reaction cups B and C respectively, the transfer slider seat moves, so that the reaction cups A, B, and C respectively correspond to the 3 openings on the outer circle of the dilution tray. At the same time, the dilution tray rotation motor operates to align the transfer tray with the 3 openings on the outer circle of the dilution tray. At this time, the dilution tray cup inlet motor pushes the push block to push the reaction cups A, B, and C into the transfer tray. The transfer tray has a total of 36 cup positions and rotates 3 cup positions at a time. When the transfer tray rotates one grid, the sample needle injects the sample into the reaction cup B. When the transfer tray rotates one grid, the dilution needle injects the dilution liquid into the reaction cups B and C. When the transfer tray rotates one grid, the mixing mechanism A mixes the liquid in the reaction cup B. When the transfer tray rotates one grid, the pipetting needle A transfers the liquid in the reaction cup B to the reaction cup C. When the transfer tray rotates one grid, the mixing mechanism B mixes the liquid in the reaction cup C. When the transfer tray rotates one grid, the pipetting needle B transfers the liquid in the reaction cup C to the reaction cup A. When the transfer tray rotates one grid, dilution can be automatically completed without manual operation.

[0019] Second, in the present invention, when the robot arm is transporting, a detection module for whether the reagent cup is clamped is set on the clamping device of the robot arm. There is also a detection module for whether the reagent cup is placed on the module after being transported to the next module. The whole process detection and positioning of the reagent cup is realized through optical coupling. When the robot arm clamps the reagent cup, the optical coupling sensor detects the position and clamping state of the reagent cup. If it is not clamped accurately, an adjustment instruction is issued to control the robot arm to re-clamp. If the position deviation of the reagent cup is detected, the robot arm is controlled to be re-placed to ensure that the reagent cup is accurately placed. The robot arm includes a sample arm module, an upper cup gripper, an incubation gripper, a measurement gripper, a second incubation gripper, and a cleaning gripper. The heating device in the measurement and reading module is used to keep the measurement and reading chamber at a constant temperature of 37°C and the stimulator at 37°C, so that the temperature can be kept stable in advance when doing experiments. RFID sensors are installed inside the reagent tray A and the reagent tray B to detect the information of the placed reagent trays.

[0020] Third, the present invention is actually used in two action processes. The one-step reaction cup action process is as follows: cup sorter -> dilution on the dilution plate -> upper cup gripper -> transfer of the outer ring of the incubation plate -> sample addition by the reagent arm -> first incubation gripper -> incubation of the inner ring of the incubation plate -> cleaning gripper -> cleaning of the cleaning plate -> measurement and reading gripper -> detection of the measurement and reading plate -> measurement and reading gripper -> discarding at the discarding position; the two-step reaction cup action process is as follows: cup sorter -> dilution on the dilution plate -> upper cup gripper -> transfer of the outer ring of the incubation plate -> sample addition by the reagent arm -> first incubation gripper -> incubation of the inner ring of the incubation plate -> cleaning gripper -> cleaning of the cleaning plate -> second incubation gripper -> transfer of the outer ring of the incubation plate -> sample addition by the reagent arm -> cleaning gripper -> incubation of the inner ring of the incubation plate -> cleaning gripper -> cleaning of the cleaning plate -> measurement and reading gripper -> detection of the measurement and reading plate -> measurement and reading gripper -> discarding position Discarded, when it is necessary to do an acridine value experiment, there is an stimulator nozzle on the pressure cover structure of the measurement and reading module. After the pressure cover covers the measurement and reading hole, the stimulator is injected and the measurement is carried out; when it is necessary to do an alkaline phosphatase experiment, after the magnetic beads are cleaned by the cleaning disk, alkaline phosphatase is injected into the nozzle, and the pressure cover of the measurement and reading module is covered for measurement and reading. This analyzer can freely choose the final experimental direction in the workflow. Each module works together with a reference cycle of 4 seconds. The number of slide reaction cups is dynamically controlled, and the motor reset and slider seat are linked to ensure a continuous and stable supply of reaction cups. A stepped transfer path is adopted, combined with motor drive and mechanical gripper, to achieve seamless connection between reaction cups in different functional modules. The pipette needle A / B and reagent needle A / B have clear division of labor, which are responsible for sample / diluent transfer and reagent addition respectively, and cooperate with independent cleaning modules to effectively avoid cross contamination. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall three-dimensional front view of the structure of the present invention; Figure 2 It is a schematic diagram of the overall three-dimensional rear view of the structure of the present invention; Figure 3 Schematic top plan view of the overall structure of the present invention; Figure 4 Schematic front elevation view of the overall structure of the present invention; Figure 5 Schematic right side elevation view of the overall structure of the present invention; Figure 6 Schematic rear elevation view of the overall structure of the present invention; Figure 7 Schematic left side elevation view of the overall structure of the present invention.

[0022] Legend description: 1. Immunoassay analyzer; 101. Cup handling module; 102. Sample arm module; 103. Dilution module; 104. Cup grasping hand for upper cup; 105. First incubation grasping hand; 106. Reading module; 107. Reading grasping hand; 108. Cleaning module; 109. Second incubation grasping hand; 110. Cleaning grasping hand; 111. Reagent tray A; 112. Reagent tray B; 113. Reagent needle A; 114. Outer ring of incubation tray; 115. Inner ring of incubation tray; 116. Reagent needle B; 117. Reagent arm. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0024] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 shown, the present invention provides a technical solution: a high-speed fully automatic chemiluminescence immunoassay analyzer, including an immunoassay analyzer 1, a dilution module 103 is provided inside the immunoassay analyzer 1, and a cleaning module 108 is provided inside the immunoassay analyzer 1; The immunoassay analyzer 1 includes a cup handling module 101, a sample arm module 102 is provided on the back of the cup handling module 101, the dilution module 103 is provided on the right side of the sample arm module 102, the dilution module 103 includes a dilution needle, a motor, a transfer slider seat, a dilution disc, a transfer disc, a pipetting needle, a mixing mechanism A, and a mixing mechanism B, the sample arm module 102 includes a sample needle, the transfer disc has 36 cup positions and rotates 3 cup positions at a time; The cleaning module 108 includes a cleaning tray and a detection sensor. There is a square magnet below the cleaning tray, and a magnet seat is below the square magnet. Each magnet seat has 12 magnets fixed to corresponding positions. A cleaning gripper 110 is provided on the front of the cleaning module 108, and the cleaning gripper 110 includes a detection module.

[0025] A cup gripper 104 is provided on the right side of the dilution module 103. A first incubation gripper 105 is provided on the right side of the cup gripper 104. An incubation tray outer ring 114 is provided on the front of the first incubation gripper 105. An incubation tray inner ring 115 is installed inside the incubation tray outer ring 114. A second incubation gripper 109 is provided on the right side of the incubation tray outer ring 114.

[0026] A reading module 106 is provided on the right side of the first incubation gripper 105. A reading gripper 107 is provided on the front of the reading module 106. The reading module 106 includes a heating device, which keeps the reading chamber at a constant temperature of 37°C and the activator at 37°C respectively.

[0027] A reagent arm 117 is provided on the front of the incubation tray outer ring 114. A reagent needle A 113 is installed at the top of the reagent arm 117. A reagent needle B 116 is installed at the top of the reagent arm 117. A reagent tray A 111 is provided at the bottom of the reagent needle A 113. A reagent tray B 112 is provided at the bottom of the reagent needle B 116. RFID sensors are installed inside both the reagent tray A 111 and the reagent tray B 112.

[0028] Through the above technical solution, the dilution module 103 can automatically complete dilution and process the samples. The reaction cups are slid out of the slideway by the cup organizer module 101 and arranged in sequence. Depending on the inclination angle of the slideway, the reaction cups can be tightly sealed and arranged. When the opening at the slideway entrance is opened, when the number of reaction cups on the slideway is more than 5, the first reaction cup can be pushed out of the slideway by the reaction cup behind. The first cup receiving port of the dilution module 103 is aligned with the slideway entrance of the cup organizer module 101 to receive the reaction cup A. After continuing to operate and receiving the reaction cups B and C respectively, the transfer slider seat moves, so that the reaction cups A, B, and C respectively correspond to 3 openings on the outer ring of the dilution tray. At the same time, the dilution tray rotation motor operates to align the transfer tray with the 3 openings on the outer ring of the dilution tray. At this time, the dilution tray cup inlet motor pushes the push block to push the reaction cups A, B, and C into the transfer tray. The transfer tray has a total of 36 cup positions and rotates 3 cup positions at a time. When the transfer tray rotates one grid, the sample needle injects the sample into the reaction cup B. When the transfer tray rotates one grid, the dilution needle injects the dilution liquid into the reaction cups B and C. When the transfer tray rotates one grid, the mixing mechanism A mixes the liquid in the reaction cup B. When the transfer tray rotates one grid, the pipette needle A transfers the liquid in the reaction cup B to the reaction cup C. When the transfer tray rotates one grid, the mixing mechanism B mixes the liquid in the reaction cup C. When the transfer tray rotates one grid, the pipette needle B transfers the liquid in the reaction cup C to the reaction cup A. When the transfer tray rotates one grid, it can automatically complete dilution without manual operation.

[0029] When the robotic arm is transferring, a detection module for whether the reagent cup is clamped is provided on the robotic arm clamping device. There is also a detection module for whether the reagent cup is placed on the next module after being transferred. This is achieved through optocouplers to realize the full-process detection and positioning of the reagent cup. When the robotic arm clamps the reagent cup, the optocoupler sensor detects the position and clamping state of the reagent cup. If it is not clamped accurately, an adjustment instruction is issued to control the robotic arm to re-clamp. If the position of the reagent cup is detected to be offset, the robotic arm is controlled to re-place it to ensure the reagent cup is accurately placed. The robotic arm includes a sample arm module 102, a cup-loading gripper 104, a first incubation gripper 105, a reading gripper 107, a second incubation gripper 109, and a cleaning gripper 110. The heating device in the reading module 106 is used to keep the reading chamber at a constant temperature of 37°C and the activator at 37°C, so as to maintain temperature stability in advance during experiments. RFID sensors are installed inside both the reagent tray A 111 and the reagent tray B 112 to detect the information of the placed reagent trays. Embodiment

[0030] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 shown in the figure, the present invention provides a technical solution: a control method for a high-speed fully automatic chemiluminescence immunoassay analyzer. The operating cycle of each module is 4 seconds. The disordered reaction cups are sorted by a cup-organizing device, then slide out through a chute and are arranged in sequence. When the number of reaction cups at the chute opening is greater than 5, the first reaction cup is pushed out of the chute by the rear reaction cup; The cup-loading motor of the dilution tray is used to push the transfer slider seat from the reset zero point, so that the first cup-receiving port is aligned with the chute opening of the cup-organizing device, and reaction cups A, B, and C are received in sequence, and the reaction cups are transferred to the corresponding openings on the outer circle of the dilution tray. Then, the transfer tray is aligned with the openings on the outer circle of the dilution tray by the rotation motor of the dilution tray, and the reaction cups are pushed into the transfer tray; Control the transfer tray to rotate, one grid at a time, and sequentially perform operations such as injecting the sample into reaction cup B by the sample needle, injecting the diluent into reaction cups B and C by the dilution needle, mixing the liquid in reaction cup B by the mixing mechanism A, transferring the liquid in reaction cup B to reaction cup C by pipette A, mixing the liquid in reaction cup C by the mixing mechanism B, transferring the liquid in reaction cup C to reaction cup A by pipette B, taking reaction cup A away by the cup-loading gripper 104 and placing it in the outer circle 114 of the incubation tray, sucking the liquid in reaction cups B and C by the waste-sucking needles A and B and discharging it into the waste liquid bucket, and driving the dial by the cup-discarding motor to push reaction cups B and C out of the transfer tray.

[0031] After the sample needle and pipettes A and B of the dilution module 103 complete the liquid transfer, cleaning operations are performed respectively.

[0032] Control the rotation of the outer ring 114 of the incubation plate to rotate the reaction cup A to the reagent arm 117 module. Alternately extract reagents from the reagent tray A111 through the reagent needle A113 and the reagent needle B116 and inject them into the reaction cup A, and perform the needle washing operation. The operating cycle of the reagent needle A113 and the reagent needle B116 is 8 seconds to meet the frequency of the incubation plate rotating one grid every 4 seconds. A refrigeration device is set in the reagent tray module to ensure that the reagents are stored in an environment of 2-8°C.

[0033] When the incubation of the reaction cup A is completed, control the rotation of the inner ring 115 of the incubation plate to the cleaning gripper 110, move the reaction cup into the cleaning module 108 turntable, use the square magnet below the cleaning module 108 to adsorb the magnetic beads in the reagent components to the side wall of the reaction cup, and through the cooperation of the turntable rotation and the waste suction needles A and B, suck out part of and all the liquid in the reaction cup, and inject washing solution for mixing and cleaning. When required by the experimental project, finally inject the pre-activator or the substrate of alkaline phosphatase, transfer the reaction cup to the reading module 106 through the reading gripper 107 for reading, and take out the reaction cup and throw it into the waste box after the reading is completed.

[0034] During the whole control process, the whole process of the robotic arm clamping device and the reagent cup transportation process is detected and positioned, and the accurate clamping and placement of the reagent cup are determined through the optocoupler sensor.

[0035] Through the above technical solution, in actual use, there are two action processes: one-step reaction cup action process: cup sorter -> dilution on the dilution plate -> cup upper gripper 104 -> transfer of the outer ring 114 of the incubation plate -> sample addition by the reagent arm 117 -> first incubation gripper 105 -> incubation of the inner ring 115 of the incubation plate -> cleaning gripper 110 -> cleaning of the cleaning plate -> measuring gripper 107 -> detection of the measuring plate -> measuring gripper 107 -> discarding at the discard position; two-step reaction cup action process: cup sorter -> dilution on the dilution plate -> cup upper gripper 104 -> transfer of the outer ring 114 of the incubation plate -> sample addition by the reagent arm 117 -> first incubation gripper 105 -> incubation of the inner ring 115 of the incubation plate -> cleaning gripper 110 -> cleaning of the cleaning plate -> second incubation gripper 109 -> transfer of the outer ring 114 of the incubation plate -> sample addition by the reagent arm 117 -> cleaning gripper 110 -> incubation of the inner ring 115 of the incubation plate -> cleaning gripper 110 -> cleaning of the cleaning plate 11 0->cleaning of cleaning plate->measuring and reading gripper 107->measuring and reading plate inspection->measuring and reading gripper 107->discarding at discarding position. When acridine value experiment is needed, there is an stimulant nozzle on the pressure cover structure of the measuring and reading module 106. After the pressure cover covers the measuring and reading hole, the stimulant is injected for measurement and reading. When alkaline phosphatase experiment is needed, there is an stimulant nozzle on the pressure cover structure of the measuring and reading module 106. The pressure cover is covered, and the final experimental direction in the workflow can be freely selected. Each module works together with 4 seconds as the reference period. The number of reaction cups on the slide is dynamically controlled, and the motor reset and the slider seat are linked to ensure a continuous and stable supply of reaction cups. A stepped transfer path is adopted, combined with motor drive and mechanical gripper, to achieve seamless connection between reaction cups in different functional modules. The pipette needle A / B and the reagent needle A / B have clear division of labor, which are responsible for sample / dilution transfer and reagent addition respectively, and cooperate with the independent cleaning module 108 to effectively avoid cross contamination.

[0036] During use, the dilution module 103 can automatically complete dilution and process the sample. The reaction cups are slid out of the chute by the cup arranging device module 101 and arranged in sequence. Depending on the inclination angle of the chute, the reaction cups can be tightly and sealed arranged. When the opening at the chute exit is opened and the number of reaction cups in the chute is more than 5, the first reaction cup can be pushed out of the chute by the reaction cup behind. The first cup receiving port of the dilution module 103 is aligned with the chute exit of the cup arranging device module 101 to receive the reaction cup A. After continuing to operate and receiving reaction cups B and C respectively, the transfer slider seat moves, so that reaction cups A, B, and C respectively correspond to 3 openings on the outer circle of the dilution disk. At the same time, the dilution disk rotation motor operates to align the transfer disk with the 3 openings on the outer circle of the dilution disk. At this time, the dilution disk cup feeding motor pushes the push block to push reaction cups A, B, and C into the transfer disk. The transfer disk has a total of 36 cup positions and rotates 3 cup positions at a time. When the transfer disk rotates one grid, the sample needle injects the sample into reaction cup B. When the transfer disk rotates one grid, the dilution needle injects the diluent into reaction cups B and C. When the transfer disk rotates one grid, the mixing mechanism A mixes the liquid in reaction cup B. When the transfer disk rotates one grid, the pipette A transfers the liquid in reaction cup B to reaction cup C. When the transfer disk rotates one grid, the mixing mechanism B mixes the liquid in reaction cup C. When the transfer disk rotates one grid, the pipette B transfers the liquid in reaction cup C to reaction cup A. When the transfer disk rotates one grid, dilution can be automatically completed without manual operation.

[0037] During the transfer by the robotic arm, a detection module for whether the reagent cup is clamped is provided on the robotic arm clamping device, and there is also a detection module for whether the reagent cup is placed on the next module, which is realized by an optocoupler to achieve the full-process detection and positioning of the reagent cup. When the robotic arm clamps the reagent cup, the optocoupler sensor detects the position and clamping state of the reagent cup. If it is not accurately clamped, an adjustment instruction is issued to control the robotic arm to clamp again. If the position deviation of the reagent cup is detected, the robotic arm is controlled to place it again to ensure the accurate placement of the reagent cup. The robotic arm includes a sample arm module 102, an upper cup gripper 104, a first incubation gripper 105, a reading gripper 107, a second incubation gripper 109, and a cleaning gripper 110. The heating device in the reading module 106 is used to keep the reading chamber at a constant temperature of 37°C and the activator at 37°C, so that the temperature can be kept stable in advance during the experiment. RFID sensors are installed inside both the reagent disk A111 and the reagent disk B112 to detect the information of the placed reagent disks.

[0038] In actual use, there are two action processes. The one-step reaction cup action process is: cup sorter -> dilution on the dilution plate -> cup upper gripper 104 -> transfer of the outer ring 114 of the incubation plate -> sample addition by the reagent arm 117 -> first incubation gripper 105 -> incubation of the inner ring 115 of the incubation plate -> cleaning gripper 110 -> cleaning of the cleaning plate -> reading gripper 107 -> reading plate detection -> reading gripper 107 -> discarding at the discard position; the two-step reaction cup action process is: cup sorter -> dilution on the dilution plate -> cup upper gripper 104 -> transfer of the outer ring 114 of the incubation plate -> sample addition by the reagent arm 117 -> first incubation gripper 105 -> incubation of the inner ring 115 of the incubation plate -> cleaning gripper 110 -> cleaning of the cleaning plate -> second incubation gripper 109 -> transfer of the outer ring 114 of the incubation plate -> sample addition by the reagent arm 117 -> cleaning gripper 110 -> incubation of the inner ring 115 of the incubation plate -> cleaning gripper 110 -> cleaning Disk cleaning->measuring and reading gripper 107->measuring and reading disk inspection->measuring and reading gripper 107->discarding at the discard position. When an acridine value experiment is required, there is an stimulant nozzle on the pressure cover structure of the measuring and reading module 106. After the pressure cover covers the measuring and reading hole, the stimulant is injected for measurement and reading. When an alkaline phosphatase experiment is required, there is an stimulant nozzle on the pressure cover structure of the measuring and reading module 106. The pressure cover is covered, and the final experimental direction in the workflow can be freely selected. Each module works together with a reference period of 4 seconds. The number of reaction cups on the slide is dynamically controlled, and the motor reset and the slider seat are linked to ensure a continuous and stable supply of reaction cups. A stepped transfer path is adopted, combined with motor drive and mechanical grippers, to achieve seamless connection between reaction cups in different functional modules. The pipette needle A / B and the reagent needle A / B have clear division of labor, which are responsible for sample / diluent transfer and reagent addition respectively, and cooperate with the independent cleaning module 108 to effectively avoid cross contamination.

[0039] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit thereof, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-speed fully automatic chemiluminescence immunoassay analyzer, comprising an immunoassay analyzer (1), characterized in that: The interior of the immunoassay analyzer (1) is provided with a dilution module (103), and the interior of the immunoassay analyzer (1) is provided with a cleaning module (108); The immunoassay analyzer (1) includes a cup arranging module (101). The back of the cup arranging module (101) is provided with a sample arm module (102). The right side of the sample arm module (102) is arranged with the dilution module (103). The dilution module (103) includes a dilution needle, a motor, a transfer slider seat, a dilution plate, a transfer plate, a pipetting needle, a mixing mechanism A, and a mixing mechanism B. The sample arm module (102) includes a sample needle. The transfer plate has a total of 36 cup positions and rotates 3 cup positions at a time; The cleaning module (108) includes a cleaning plate and a detection sensor. There is a square magnet below the cleaning plate, and there is a magnet seat under the square magnet. 12 magnets are fixed to each magnet seat at corresponding positions. The front of the cleaning module (108) is provided with a cleaning gripper (110), and the cleaning gripper (110) includes a detection module.

2. The high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 1, wherein: The right side of the dilution module (103) is provided with a cup loading gripper (104). The right side of the cup loading gripper (104) is provided with a first incubation gripper (105). The front of the first incubation gripper (105) is provided with an outer incubation plate (114). The inner incubation plate (115) is installed inside the outer incubation plate (114). The right side of the outer incubation plate (114) is provided with a second incubation gripper (109).

3. The high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 2, wherein: The right side of the first incubation gripper (105) is provided with a reading module (106). The front of the reading module (106) is provided with a reading gripper (107). The reading module (106) includes a heating device, which keeps the reading chamber at a constant temperature of 37°C and the activator at 37°C respectively.

4. The high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 2, wherein: The front of the outer incubation plate (114) is provided with a reagent arm (117). The top of the reagent arm (117) is installed with a reagent needle A (113), and the top of the reagent arm (117) is installed with a reagent needle B (116). The bottom of the reagent needle A (113) is provided with a reagent tray A (111), and the bottom of the reagent needle B (116) is provided with a reagent tray B (112). RFID sensors are installed inside both the reagent tray A (111) and the reagent tray B (112).

5. A control method for a high-speed fully automatic chemiluminescence immunoassay analyzer, based on the high-speed fully automatic chemiluminescence immunoassay analyzer according to any one of claims 1-4, characterized in that: The operation cycle of each module is 4 seconds. The messy reaction cups are sorted by the cup arranging device and then slide out of the chute and are arranged in order. When the number of reaction cups at the chute opening is greater than 5, the first reaction cup is pushed out of the chute by the reaction cup at the back; The dilution plate cup inlet motor is used to push the transfer slider seat from the reset zero point, so that the first cup receiving port is aligned with the chute opening of the cup arranging device, and reaction cups A, B, and C are received in sequence, and the reaction cups are transferred to the corresponding openings on the outer circle of the dilution plate. Then, the transfer plate is aligned with the opening on the outer circle of the dilution plate by the dilution plate rotation motor, and the reaction cups are pushed into the transfer plate; Control the rotation of the transfer tray, rotating one grid each time, and sequentially execute the operations of the sample needle injecting the sample into reaction cup B, the dilution needle injecting the diluent into reaction cups B and C, the mixing mechanism A mixing the liquid in reaction cup B, the pipetting needle A transferring the liquid in reaction cup B to reaction cup C, the mixing mechanism B mixing the liquid in reaction cup C, the pipetting needle B transferring the liquid in reaction cup C to reaction cup A, the upper cup gripper (104) picking up reaction cup A and placing it into the outer ring (114) of the incubation tray, the waste suction needles A and B sucking out the liquid in reaction cups B and C and discharging it into the waste liquid bucket, and the cup discarding motor driving the block to push reaction cups B and C out of the transfer tray.

6. A control method for a high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 5, characterized in that: After the sample needle and the pipetting needles A and B of the dilution module (103) complete the liquid transfer, cleaning operations are performed respectively.

7. A control method for a high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 5, characterized in that: Control the rotation of the outer ring (114) of the incubation tray to rotate reaction cup A to the reagent arm (117) module. The reagent needle A (113) and the reagent needle B (116) alternately take out reagents from the reagent tray A (111) and inject them into reaction cup A, and perform the needle washing operation. The operating cycle of the reagent needle A (113) and the reagent needle B (116) is 8 seconds to meet the frequency of the incubation tray rotating one grid every 4 seconds. A refrigeration device is set in the reagent tray module to ensure that the reagents are stored in an environment of 2 - 8°C.

8. A control method for a high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 5, characterized in that: When reaction cup A finishes incubation, control the inner ring (115) of the incubation tray to rotate to the cleaning gripper (110), move the reaction cup into the turntable of the cleaning module (108), use the square magnet below the cleaning module (108) to adsorb the magnetic beads in the reagent components to the side wall of the reaction cup, and through the cooperation of the turntable rotation and the waste suction needles A and B, suck out part and all of the liquid in the reaction cup, and inject the washing solution for mixing and cleaning. When required by the experimental project, finally inject the pre - activator or the substrate of alkaline phosphatase, transfer the reaction cup to the reading module (106) for reading through the reading gripper (107), and discard the reaction cup into the waste bin after reading.

9. A control method for a high-speed fully automatic chemiluminescence immunoassay analyzer according to claim 5, characterized in that: During the whole control process, perform full - process detection and positioning on the robotic arm clamping device and the reagent cup transfer process, and determine the accurate clamping and placement of the reagent cup through the optocoupler sensor.

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