Rotary positioning system, rotary positioning method and nuclear magnetic resonance sampling system

Abstract

The invention relates to the technical field of nuclear magnetic resonance spectrometers, in particular to a rotary positioning system, a rotary positioning method and a nuclear magnetic resonance sampling system. The rotary positioning system comprises a rotary sample disc provided with a marking site, a detection sensor which is fixedly arranged and is used for detecting the marking site, a rotary driving part for driving the rotary sample disc to rotate, and a controller for controlling the rotary driving part through codes. The controller determines a rotation end point of the rotary sample disc based on the marker site of the target detected by the detection sensor and the correction code, and the correction code is a difference value between a rotation code value corresponding to a rotation angle between the marker site of the target and the rotation end point and a code value of a delay error generated by electric signal transmission. The nuclear magnetic resonance sampling system comprises the rotary positioning system or applies the rotary positioning method, and further comprises a sample transferring mechanism, the superconducting magnet is provided with a sample inlet, and the sample transferring mechanism is arranged between the sample inlet and the rotary sample disc and used for transferring sample tubes.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear magnetic resonance spectrometers, and in particular to a rotation positioning system, a rotation positioning method and a nuclear magnetic resonance sampling system. Background Art

[0002] The frequency of nuclear magnetic resonance (NMR) is linearly related to the magnetic field strength, meaning that as the magnetic field strength increases, the resonance frequency increases simultaneously. Therefore, high-field (high-frequency) NMR can significantly improve resolution, increasing the frequency difference corresponding to the chemical shift difference. Furthermore, high magnetic fields increase the energy level splitting, making the difference between the number of high- and low-energy state particles more significant, thereby improving the signal-to-noise ratio and making NMR measurements more sensitive. For example, low-field NMR is mostly used for routine organic analysis, while high-field NMR can be used for detailed analysis of the structure of macromolecules such as proteins.

[0003] The pursuit of high magnetic field strength in nuclear magnetic resonance results in a large-volume cavity structure for the superconducting magnet system, while the sample detection area is strictly limited to a uniform field with a millimeter diameter at the center of the magnet. This requires that the sampling system must be able to ensure millimeter-level positioning accuracy.

[0004] The rotary sample tray of the sampling system also needs to have extremely high rotation control accuracy. If the rotation control accuracy of the rotary sample tray is insufficient, the sample tube will have a vertical error, which will cause the subsequent sample tube transfer operation to be not smooth or even fail. Summary of the Invention

[0005] An object of the present invention is to provide a rotation positioning system that can improve the rotation control accuracy of a rotary sample disk to meet the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] Provided is a rotation positioning system, comprising a rotating sample disk provided with a marking site, a detection sensor fixed in position and used to detect the marking site, a rotation drive member used to drive the rotating sample disk to rotate, and a controller controlling the rotation drive member through encoding;

[0008] The controller determines the rotation end point of the rotating sample disk based on the marking position of the target detected by the detection sensor and the correction code, and the correction code is the difference between the rotation code value corresponding to the rotation angle between the marking position of the target and the rotation end point and the code value of the delay error generated by the electrical signal transmission.

[0009] Optionally, the marking site is a hollow hole, and the detection sensor is a reflective photoelectric sensor.

[0010] Optionally, the detection direction of the detection sensor is arranged parallel to the rotation axis of the rotary sample disk.

[0011] Optionally, the number of the marking sites is multiple and they are distributed in a circular pattern around the rotating sample disk.

[0012] Optionally, the plurality of marker sites include at least one peripheral recognition site, and the size of the peripheral recognition site is different from that of the remaining marker sites;

[0013] Or the distances between two adjacent marker sites in the plurality of marker sites are the same except for one.

[0014] Another object of the present invention is to provide a rotation positioning method that can improve the rotation control accuracy of a rotary sample disk to meet the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0015] To achieve this object, the present invention adopts the following technical solutions:

[0016] A rotation positioning method is provided, which is applied to the above-mentioned rotation positioning system, and the rotation positioning method comprises the following steps:

[0017] Calibration stage: the rotary drive member drives the rotary sample disk to rotate at a preset injection speed A in the forward direction until the detection sensor detects the target's marked site. The detection sensor then sends a stop signal, which is transmitted to the rotary drive member via the controller. The rotary drive member controls the rotary sample disk to stop rotating and then controls the rotary sample disk to rotate in the reverse direction to obtain the coded value s of the delay error distance.

[0018] Preparation stage: measuring the coded value k of the distance between the target stop position and the last passed mark position;

[0019] Injection stage: the rotary drive drives the rotary sample disk to rotate at the preset injection speed A until the detection sensor detects the last marking position that should be passed, the detection sensor sends a stop signal to the controller, and the controller sends a calibrated stop signal to the rotary drive so that the rotary drive stops after rotating for ks coding values.

[0020] Optionally, the calibration stage further includes:

[0021] The rotary drive controls the rotary sample disk to rotate in the reverse direction until the detection sensor detects the target marking position again, and the change in the code value from the start to the stop of the reverse rotation is the code value s of the delay error distance.

[0022] Optionally, the calibration stage further includes:

[0023] The rotary drive controls the rotating sample disk to rotate in the reverse direction at a preset calibration speed B. The duration of each coding value carry is t1. The duration from the detection sensor detecting the marked position of the target to the rotating sample disk stopping rotation is t2. The preset calibration speed B can ensure that t1 is greater than t2.

[0024] Optionally, the calibration stage further includes:

[0025] The rotary drive first controls the rotary sample disk to rotate in the reverse direction by the coding value a1. If the target marking position is not detected, the rotary sample disk continues to rotate by the coding values ​​a2...an until the target marking position is detected, and the sum of a1, a2...an is a.

[0026] The rotary drive member then controls the rotary sample disk to rotate in the forward direction by a coding value b1, where b1 is less than an. If the target marking site is not detected, the rotary sample disk continues to rotate by coding values ​​b2...bn until the target marking site is detected, and the sum of b1, b2...bn is b;

[0027] The rotary drive member then controls the rotary sample disk to rotate in the opposite direction by the c1 coding value, where c1 is less than bn. If the target marking site is not detected, the rotary sample disk continues to rotate by the c2 ... cn coding values ​​until the target marking site is detected, and the sum of c1, c2 ... cn is c;

[0028] Repeat the above operation, and the code value of the first step of each turn is smaller than the code value of the last step of the previous turn, until the code value xn reaches 1;

[0029] When the last rotation direction is reverse, the code value s=a-b+cd...-2+1; when the last rotation direction is forward, the code value s=a-b+cd...+2.

[0030] Optionally, the encoding value of the first step of rotation after each turn is half of the encoding value of the last step of rotation.

[0031] Optionally, the preparation stage further comprises: obtaining a set database of k according to different rotation directions and different target stop positions;

[0032] The injection stage further includes: selecting a suitable code value k in the set database according to the actual rotation direction and the actual target stop position.

[0033] Optionally, the injection stage further includes:

[0034] The actual rotation speed C of the rotary sample disk is monitored, and an error signal is issued when the difference between the actual rotation speed C and the preset injection speed A exceeds an allowable range.

[0035] Optionally, the method for monitoring the actual rotation speed C of the rotating sample disk is to calculate the average rotation speed of this rotation according to the code value and duration of this rotation, which is the actual rotation speed C.

[0036] Another object of the present invention is to provide a nuclear magnetic resonance sampling system that can improve the rotation control accuracy of a rotating sample disk to meet the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0037] To achieve this object, the present invention adopts the following technical solutions:

[0038] A nuclear magnetic resonance sampling system is provided, comprising the above-mentioned rotational positioning system or applying the above-mentioned rotational positioning method. The nuclear magnetic resonance sampling system also includes a sample transfer mechanism. The superconducting magnet is provided with a sample transfer port. The sample transfer mechanism is arranged between the sample transfer port and the rotary sample disk and is used to transfer sample tubes.

[0039] Optionally, the sample transfer mechanism includes a pneumatic claw that can move up and down and a sample transfer tube that can move horizontally, one end of the sample transfer tube that moves horizontally is located above the sample inlet, the other end of the sample transfer tube that moves horizontally is located at the upper end of the pneumatic claw's lifting movement, and the lower end of the pneumatic claw's lifting movement is located at the rotating sample disk.

[0040] Beneficial effects of the present invention:

[0041] The present invention provides a rotational positioning system, comprising a rotating sample disk provided with a marking site, a detection sensor fixedly positioned and used to detect the marking site, a rotary drive member for driving the rotating sample disk to rotate, and a controller for controlling the rotary drive member through coding. The controller determines the rotation end point of the rotating sample disk based on the target marking site detected by the detection sensor and a correction code, wherein the correction code is the difference between the rotational coding value corresponding to the rotation angle between the target marking site and the rotation end point and the coding value of the delay error generated by the electrical signal transmission. Because the detection sensor sends a stop signal, the stop signal reaches the rotary drive member through the controller, and the rotary drive member controls the rotating sample disk to stop rotating. This process takes a short period of time. During this period of time, the rotating sample disk continues to rotate, and the detection sensor will miss the target stop position, that is, the sample will miss the clamping position. The actual position of the sample will have a certain distance of delay error from the clamping position, that is, the delay error generated by the electrical signal transmission. By adding a correction code, the above error value can be corrected, and the rotation control accuracy of the rotating sample disk can be improved to adapt to the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0042] The present invention also provides a rotation positioning method, which is applied to The above-mentioned rotation positioning system The rotation positioning method includes the following steps: a calibration stage: a rotary driving member drives the rotary sample disk to rotate at a preset injection speed A, and the rotation direction is forward, until the detection sensor detects the target marking position, the detection sensor sends a stop signal, the stop signal reaches the rotary driving member through the controller, the rotary driving member controls the rotary sample disk to stop rotating, and the rotary driving member controls the rotary sample disk to rotate in the opposite direction to obtain the coding value s of the delay error distance; a preparation stage: measuring the coding value k of the distance between the target stop position and the last passed marking position; an injection stage: the rotary driving member drives the rotary sample disk to rotate at a preset injection speed A, until the detection sensor detects the last passed marking position, the detection sensor sends a stop signal to the controller, and the controller sends a calibrated stop signal to the rotary driving member, so that the rotary driving member stops rotating after rotating ks coding values. Because the detection sensor sends a stop signal, the stop signal reaches the rotary drive through the controller, and the rotary drive controls the rotary sample disk to stop rotating. This process takes a short period of time. During this period of time, the rotary sample disk continues to rotate, and the detection sensor will miss the target stop position, that is, the sample will miss the clamping position, and the actual position of the sample will have a certain distance delay error from the clamping position. In order to eliminate the delay error, the rotary high-precision positioning control method uses a pre-calibration stage to detect and calculate the code value s of the delay error distance, and then pre-measures the code value k of the distance between the target stop position and the last passed mark position. During the actual sampling process, when the detection sensor detects the last passed mark position, the rotary drive rotates ks code values ​​and then stops. This allows the detection sensor to be exactly at the target stop position, that is, the sample stops exactly at the clamping position, completely eliminating the delay error and improving the rotation control accuracy of the rotary sample disk to adapt to the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0043] The present invention also provides a nuclear magnetic resonance (NMR) sampling system comprising the aforementioned rotational positioning system or utilizing the aforementioned rotational positioning method. The NMR sampling system also includes a sample transfer mechanism. The superconducting magnet defines a sample inlet. The sample transfer mechanism is disposed between the sample inlet and the rotating sample disk and is used to transfer sample tubes. By utilizing the aforementioned high-precision rotary positioning control method, the NMR sampling system can improve the rotational control accuracy of the rotating sample disk, thereby meeting the high-precision sampling requirements of high-field NMR. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of the structure of the nuclear magnetic resonance sampling system provided by an embodiment of the present invention;

[0045] Figure 2It is a partial structural diagram of the nuclear magnetic resonance sampling system provided by an embodiment of the present invention.

[0046] In the picture:

[0047] 1. Rotating sample tray; 11. Marking site; 12. Sample storage hole; 2. Detection sensor; 3. Rotating drive unit;

[0048] 100. Sample tube. DETAILED DESCRIPTION

[0049] Before any embodiments of the present application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the foregoing drawings.

[0050] In this application, the terms "comprises," "includes," "has," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0051] In this application, the term "and / or" describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " in this application generally indicates that the related objects are in an "and / or" relationship.

[0052] In this application, the terms "connect," "combine," "couple," and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without an intermediary, and an indirect connection refers to two parts or components being connected to at least one intermediary, with the two parts or components being connected via the intermediary. Furthermore, "connect" and "couple" are not limited to physical or mechanical connections or couplings and may include electrical connections or couplings.

[0053] In this application, it will be understood by those skilled in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. associated with a specific value. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0054] In this application, it will be understood by those skilled in the art that the function performed by an assembly can be performed by one assembly, multiple assemblies, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one assembly, or a combination of multiple parts.

[0055] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to the other element "upper" or "lower", but also be indirectly connected to the other element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, below can include directly below, lower left, lower right, lower front and lower back, etc.

[0056] The pursuit of high magnetic field strength in nuclear magnetic resonance (NMR) necessitates a large-volume superconducting magnet system. The sample detection zone is strictly confined to a uniform field with a millimeter diameter at the center of the magnet. This requires the sample injection system to maintain millimeter-level positioning accuracy. The sample injection system's rotating sample tray also requires extremely high rotational control precision. Insufficient rotational control accuracy can cause sample tube verticality errors, resulting in subsequent sample tube transfer problems or even failure.

[0057] Because the detection sensor sends a stop signal, the stop signal reaches the rotary drive part through the controller, and the rotary drive part controls the rotary sample disk to stop rotating. This process takes a short time. During this period of time, the rotary sample disk continues to rotate, and the detection sensor will miss the target stop position, that is, the sample will miss the clamping position. There is a certain distance of delay error between the actual position of the sample and the clamping position.

[0058] In order to solve the problem of insufficient control accuracy caused by the delay error, this embodiment provides a rotation positioning system, which can improve the rotation control accuracy of the rotary sample disk 1 to adapt to the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0059] like Figure 1-Figure 2 As shown, the rotational positioning system of this embodiment includes a rotating sample disk 1 provided with a marking site 11, a detection sensor 2 fixed in position and used to detect the marking site 11, a rotation drive 3 for driving the rotating sample disk 1 to rotate, and a controller that controls the rotation drive 3 through coding. The controller determines the rotation end point of the rotating sample disk 1 based on the detection of the target marking site 11 by the detection sensor 2 and the correction code. The correction code is the difference between the rotation code value corresponding to the rotation angle between the target marking site 11 and the rotation end point and the code value of the delay error caused by the electrical signal transmission.

[0060] The delay error caused by electrical signal transmission requires an explanation. Because the detection sensor 2 sends a stop signal, the stop signal reaches the rotary drive 3 via the controller, which then stops the rotary sample tray 1. This process takes a short time, and during this time, the rotary sample tray 1 continues to rotate. The detection sensor 2 will miss the target stop position, meaning the sample will miss the clamping position. There is a certain delay between the actual sample position and the clamping position, which is the delay error caused by electrical signal transmission. By adding a correction code, this error can be corrected, improving the rotation control accuracy of the rotary sample tray to meet the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0061] Optionally, the marking site 11 is a hollow hole, and the detection sensor 2 is a photoelectric sensor, specifically a reflective photoelectric sensor.

[0062] Optionally, the detection direction of the detection sensor 2 is arranged parallel to the rotation axis of the rotating sample disk 1. Optionally, in this embodiment, the disk surface of the rotating sample disk 1 is a horizontal plane, and the rotation axis of the rotating sample disk 1 is a vertical direction, that is, the rotating sample disk 1 rotates around the vertical direction.

[0063] Optionally, there are multiple marking sites 11 and they are distributed in a circle around the rotating sample disk 1. The marking sites 11 rotate with the rotating sample disk 1, and the detection sensor 2 is fixed. The detection sensor 2 detects the number of marking sites 11 passed by to determine which marking site 11 is the target marking site 11.

[0064] Optionally, there is at least one peripheral recognition site among the multiple marking sites 11, and the size of the peripheral recognition site is different from the size of the remaining marking sites 11. Or the distances between two adjacent marking sites 11 in the multiple marking sites 11 are the same except for one. That is, the marking site 11 is a hollow hole, and the multiple hollow holes on the rotating sample disk 1 are distributed in a circular shape around the rotating axis of the rotating sample disk 1. If all the hollow holes are distributed at equal intervals, then the aperture of at least one of the hollow holes is different from that of the other hollow holes, so that the detection sensor 2 can recognize that the rotating sample disk 1 has rotated one circle. Or all the hollow holes are not distributed at equal intervals, that is, the spacing of at least one pair of adjacent hollow holes (that is, the spacing between adjacent hollow holes) is different from other spacings, so that the detection sensor 2 can also recognize that the rotating sample disk 1 has rotated one circle.

[0065] It should be noted that, strictly speaking, the diameter of the aforementioned hollow holes cannot be called an aperture, as we are actually interested in the arc of a circle centered on the axis of the rotating sample disk 1 and with the distance between the photoelectric sensor and the center as the radius. Similarly, the spacing between the hollow holes cannot be called a pitch, but rather an arc. The terms aperture and spacing are used for ease of understanding.

[0066] The rotational positioning method of this embodiment is applied to the aforementioned rotational positioning system. The rotational positioning method includes a calibration phase, a preparation phase, and a sample injection phase. The calibration phase and the preparation phase are both preparatory phases prior to the actual sample injection phase. The calibration phase is used to obtain the coded value s of the delay error, while the preparation phase is used to measure the coded value of the distance between each target stop position and the last passed marker position 11 in both the forward and reverse rotation directions.

[0067] The following is a detailed introduction to the three stages.

[0068] The calibration phase consists of the following steps:

[0069] The rotary drive member 3 drives the rotary sample disk 1 to rotate at a preset injection speed A, and the rotation direction is forward. That is, in order to unify the description of the three stages, the rotation direction of the calibration stage is defined as forward.

[0070] When the detection sensor 2 detects the target's marked position 11, it sends a stop signal, which is transmitted through the controller to the rotary drive 3, which controls the rotary sample disk 1 to stop rotating. At this point, the detection sensor 2 is offset from the target's marked position 11 by the distance of the offset, which is the delay error distance.

[0071] At this point, the rotary drive 3 controls the rotating sample disk 1 to rotate in the opposite direction to obtain the coded value s of the delay error distance. Alternatively, the rotary drive 3 controls the rotating sample disk 1 to rotate in the opposite direction until the detection sensor 2 detects the target's marked position 11 again. The change in the coded value between the start and stop of reverse rotation is the coded value s of the delay error distance. This embodiment provides two different methods for measuring the coded value s of the delay error distance.

[0072] Optionally, the first method requires that the rotating sample disk 1 be rotated in the reverse direction very slowly, and the rotation speed needs to be limited at this time. The rotating drive 3 controls the rotating sample disk 1 to rotate in the reverse direction at a preset calibration speed B. The duration of each coding value carry is t1, and the duration from the detection sensor 2 detecting the target's marking position 11 to the rotating sample disk 1 stopping rotation is t2. The preset calibration speed B can ensure that t1 is greater than t2. In this way, when the target's marking position 11 is detected again, the change in the coding value during this period is recorded, and it is known how much it has rotated back, and it is neither too much nor too little, which is the precise value of the coding value s of the delay error distance. This method has simple steps and is easy to understand, but because the preset calibration speed B is relatively small, the calibration efficiency is low.

[0073] Optionally, the second method includes the following steps:

[0074] First, the rotary drive 3 controls the rotating sample disk 1 to rotate in the reverse direction by encoding value a1. If the target's marked position 11 is not detected, the rotating disk 1 continues to rotate by encoding values ​​a2...an until the target's marked position 11 is detected. The sum of a1, a2...an equals a. It should be noted again that both forward and reverse rotations are relative to the first rotation in the calibration phase.

[0075] Next, the detection is continued, that is, the rotating drive 3 controls the rotating sample disk 1 to rotate forward by the b1 coding value, b1 is less than an. If the target marking site 11 is not detected, the b2...bn coding values ​​are continued to be rotated until the target marking site 11 is detected. The sum of b1, b2...bn is b.

[0076] Next, the detection is continued, that is, the rotating drive 3 controls the rotating sample disk 1 to rotate the c1 coding value in the opposite direction, c1 is less than bn, and if the target marking site 11 is not detected, the c2...cn coding values ​​are continued to be rotated until the target marking site 11 is detected, and the sum of c1, c2...cn is c.

[0077] Repeat the above operation, and the encoding value of the first step of rotation after each turn is smaller than the encoding value of the last step of rotation, for example, b1 is smaller than an, c1 is smaller than bn, etc., until the encoding value xn is 1.

[0078] When the last rotation direction is reverse, meaning it's the opposite direction of the first calibration step, the code value s = a-b + cd... -2 + 1. When the last rotation direction is forward, meaning it's the same as the first calibration step, the code value s = a-b + cd... + 2. Whether the last rotation direction is the same as the first calibration step means choosing a different expression to calculate the code value s.

[0079] Optionally, in a single turn, each step is the same as or smaller than the previous step, i.e., a2 is less than or equal to a1, a3 is less than or equal to a2, and so on, and an is less than or equal to an-1. Similarly, b2 is less than or equal to b1, b3 is less than or equal to b2, and so on, and bn is less than or equal to bn-1. Preferably, in a single turn, each step is half of the previous step, i.e., a2 = a1 / 2, a3 = a2 / 2, and so on, and an = an-1 / 2.

[0080] Optionally, the code value of the first step of rotation after each turn is half of the code value of the last step of rotation, that is, b1=an / 2, c1=bn / 2, d1=cn / 2, etc.

[0081] In the above process, since the code value of each rotation is decreasing, when the rotated code value is 1, the target marking position 11 is detected.

[0082] Optionally, in this embodiment, the detection sensor 2 is a photoelectric sensor, and the marking site 11 refers to the critical position of the photoelectric sensor "occupied" and "empty". Taking the photoelectric sensor as a reflective photoelectric sensor and the marking site 11 as a hollow hole as an example, since the hollow hole has a certain size, it is not a point. It should be noted that when the reflective photoelectric sensor changes from "occupied" (that is, the reflective photoelectric sensor is not aligned with the hollow hole, and the reflective photoelectric sensor receives a reflected light signal) to "empty" (that is, the reflective photoelectric sensor is aligned with the hollow hole, and the reflective photoelectric sensor does not receive a reflected light signal), and from "empty" to "occupied", it is considered that the marking site 11 is detected.

[0083] It can be seen that the second method has more complicated steps, but since there is no need to limit the rotation speed of each step, it can be completed more quickly and has higher detection efficiency.

[0084] Preparation phase: measuring the coded value k of the distance between the target stop position and the last passed mark position 11. Optionally, the preparation phase further includes obtaining a set database of k according to different rotation directions and different target stop positions.

[0085] Regarding the measurement work in the preparation phase, it should be noted that since the rotating sample disk 1 has multiple sample storage holes 12, when the sample storage hole 12 is aligned with the clamping mechanism, the sample tube 100 in the sample storage hole 12 can be accurately clamped by the clamping mechanism. Therefore, the target stop position is the position detected by the detection sensor 2 when the target sample storage hole 12 is aligned with the clamping mechanism. This position does not necessarily correspond exactly to a marking site 11. When the two do not correspond exactly, there is a certain distance between the target stop position and the last passed marking site 11, and this distance needs to be measured in advance. It is understandable that when rotating in two opposite directions, forward and reverse, the last passed marking sites 11 corresponding to the target stop position are two adjacent marking sites 11. The distance between the target stop position and the first marking site 11 is the encoding value k1, and the distance between the target stop position and the second marking site 11 is the encoding value k2. It is very likely that k1 and k2 are not equal, and it is very likely that each sample storage hole 12 corresponds to two values, k1 and k2. Furthermore, the distance values ​​of all the sample storage holes 12 are measured in the preparation stage, and a k set database is obtained at this time.

[0086] Injection stage: Rotary drive 3 rotates rotating sample disk 1 at a preset injection speed A until detection sensor 2 detects the last marker 11 to be passed. Detection sensor 2 then sends a stop signal to the controller, which in turn sends a calibrated stop signal to rotary drive 3, causing it to rotate for ks code values ​​before stopping. This ensures that sample tube 100 at target sample reservoir 12 is aligned with the gripping mechanism. The ks code values ​​here are the calibration code.

[0087] The sample injection stage also includes selecting an appropriate code value k from the set database based on the actual rotation direction and the actual target stop position. It should be noted that the target stop position corresponds to the position on the rotating sample disk 1 where the detection sensor 2 corresponds when the target sample reservoir 12 is aligned with the clamping mechanism.

[0088] Since the delay time is the same, the rotation distance is the same only when the rotation speed of the injection stage is consistent with the rotation speed of the first step of the calibration stage, that is, the coding value s of the delay error distance obtained in the calibration stage can be directly used for calibration in the injection stage. Therefore, it is necessary to detect the actual rotation speed of the injection stage to ensure that the sample tube 100 is accurately aligned with the clamping mechanism. Therefore, optionally, the injection stage also includes monitoring the actual rotation speed C of the rotating sample disk 1. When the difference between the actual rotation speed C and the preset injection speed A exceeds the allowable range, the alarm unit of the nuclear magnetic resonance injection system sends an error signal to prompt the operator to inspect and debug the injection system. The alarm unit can display an error on the display screen, or emit an error sound, flash an error light, etc., which is not limited here.

[0089] Optionally, the method for monitoring the actual rotation speed C of the rotating sample disk 1 is to calculate the average rotation speed of this rotation according to the code value and duration of this rotation, that is, the actual rotation speed C.

[0090] In order to eliminate the delay error, the rotation positioning method detects and calculates the coding value s of the delay error distance through a preliminary calibration stage, and then pre-measures the coding value k of the distance between the target stop position and the last passed marking site 11. During the actual sampling process, when the detection sensor 2 detects the marking site 11 that should be passed last, the rotary drive 3 rotates ks coding values ​​and then stops, so that the detection sensor 2 is exactly at the target stop position, that is, the sample tube 100 is exactly stopped at the clamping position. The clamping mechanism accurately clamps the sample tube 100 to ensure that the sample tube 100 is subsequently accurately placed in the correct position. Therefore, the rotation positioning method improves the rotation control accuracy of the rotary sample disk 1, completely eliminates the delay error when clamping the sample tube 100, and can adapt to the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0091] This embodiment also provides a nuclear magnetic resonance sampling system, including the aforementioned rotational positioning system or utilizing the aforementioned rotational positioning method. The nuclear magnetic resonance sampling system also includes a sample transfer mechanism. The superconducting magnet has a sample inlet. The sample transfer mechanism is disposed between the sample inlet and the rotating sample disk 1 and is used to transfer the sample tube 100.

[0092] Optionally, the sample transfer mechanism includes a pneumatic claw that can move up and down and a sample transfer tube that can move horizontally. One end of the sample transfer tube that moves horizontally is located above the sample inlet, and the other end of the sample transfer tube that moves horizontally is located at the upper end of the pneumatic claw that moves up and down. The lower end of the pneumatic claw that moves up and down is located at the rotating sample disk 1. When the rotation accuracy of the rotating sample disk 1 is guaranteed, the pneumatic claw can accurately grasp the sample tube 100, ensuring that the subsequent sample transfer process is smooth and stable, and the sample tube 100 can ultimately enter the sample inlet accurately.

[0093] The nuclear magnetic resonance sampling system can improve the rotation control accuracy of the rotary sample disk 1 by applying the above-mentioned rotation positioning method, so as to adapt to the high-precision sampling requirements of high-field nuclear magnetic resonance.

[0094] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. Rotational positioning system, characterized in that, The invention comprises a rotating sample disk (1) provided with a marking site (11), a detection sensor (2) fixed in position and used for detecting the marking site (11), a rotary driving member (3) used for driving the rotating sample disk (1) to rotate, and a controller for controlling the rotary driving member (3) through coding; The controller determines the rotation end point of the rotary sample disk (1) based on the target mark position (11) detected by the detection sensor (2) and the correction code, wherein the correction code is the difference between the rotation code value corresponding to the rotation angle between the target mark position (11) and the rotation end point and the code value of the delay error generated by the electrical signal transmission.

2. The rotation positioning system according to claim 1, characterized in that The marking site (11) is a hollow hole, and the detection sensor (2) is a reflective photoelectric sensor.

3. The rotation positioning system according to claim 1, characterized in that The detection direction of the detection sensor (2) is arranged parallel to the rotation axis of the rotary sample disk (1).

4. The rotation positioning system according to claim 1, characterized in that: The marking sites (11) are multiple and distributed in a circular pattern around the rotating sample disk (1).

5. The rotation positioning system according to claim 4, characterized in that: There is at least one peripheral recognition site among the plurality of marking sites (11), and the size of the peripheral recognition site is different from the sizes of the remaining marking sites (11); Or the distances between two adjacent marker sites (11) in the plurality of marker sites (11) are the same except for one.

6. Rotation positioning method, characterized in that, The rotation positioning system according to any one of claims 1 to 5, wherein the rotation positioning method comprises the following steps: Calibration stage: the rotary drive member (3) drives the rotary sample disk (1) to rotate at a preset injection speed A, with the rotation direction being forward, until the detection sensor (2) detects the target's marked position (11), the detection sensor (2) sends a stop signal, the stop signal reaches the rotary drive member (3) via the controller, the rotary drive member (3) controls the rotary sample disk (1) to stop rotating, and the rotary drive member (3) controls the rotary sample disk (1) to rotate in the reverse direction, so as to obtain the coding value s of the delay error distance; Preparation stage: measuring the coded value k of the distance between the target stop position and the last passed mark position (11); Injection stage: the rotary drive member (3) drives the rotary sample disk (1) to rotate at the preset injection speed A until the detection sensor (2) detects the target marking site (11), the detection sensor (2) sends a stop signal to the controller, and the controller sends a calibrated stop signal to the rotary drive member (3), so that the rotary drive member (3) stops rotating after rotating for ks code values.

7. The rotation positioning method according to claim 6, characterized in that: The calibration phase also includes: The rotary drive member (3) controls the rotary sample disk (1) to rotate in the reverse direction until the detection sensor (2) detects the target marking position (11) again, and the change in the code value during the period from the start to the stop of the reverse rotation is the code value s of the delay error distance.

8. The rotation positioning method according to claim 7, characterized in that: The calibration phase also includes: The rotary drive member (3) controls the rotary sample disk (1) to rotate in the reverse direction at a preset calibration speed B, the duration of each code value carry is t1, the duration from the detection sensor (2) detecting the target's marked position (11) to the rotary sample disk (1) stopping rotation is t2, and the preset calibration speed B can ensure that t1 is greater than t2.

9. The rotation positioning method according to claim 6, characterized in that: The calibration phase also includes: The rotary drive member (3) first controls the rotary sample disk (1) to rotate in the reverse direction by the coding value a1, and if the target marking position (11) is not detected, continues to rotate by the coding values ​​a2 ... an until the target marking position (11) is detected, and the sum of a1, a2 ... an is a; The rotary drive member (3) then controls the rotary sample disk (1) to rotate in a forward direction by a coding value b1, where b1 is less than an. If the target marking site (11) is not detected, the rotary sample disk (1) continues to rotate by coding values ​​b2 ... bn until the target marking site (11) is detected, and the sum of b1, b2 ... bn is b. The rotary drive member (3) then controls the rotary sample disk (1) to rotate in the reverse direction by the c1 coding value, c1 being smaller than bn. If the target marking position (11) is not detected, the rotary sample disk (1) continues to rotate by the c2 ... cn coding values ​​until the target marking position (11) is detected, and the sum of c1, c2 ... cn is c; Repeat the above operation, and the code value of the first step of each turn is smaller than the code value of the last step of the previous turn, until the code value xn reaches 1; When the last rotation direction is reverse, the code value s=a-b+cd...-2+1; when the last rotation direction is forward, the code value s=a-b+cd...+2.

10. The rotation positioning method according to claim 9, characterized in that: The encoding value of the first step of rotation after each turn is half of the encoding value of the last step of rotation.

11. The rotation positioning method according to claim 6, characterized in that: The preparation stage further includes: obtaining a set database of k according to different rotation directions and different target stop positions; The injection stage further includes: selecting a suitable code value k in the set database according to the actual rotation direction and the actual target stop position.

12. The rotation positioning method according to claim 6, characterized in that: The injection stage also includes: The actual rotation speed C of the rotary sample disk (1) is monitored, and an error signal is issued when the difference between the actual rotation speed C and the preset injection speed A exceeds an allowable range.

13. The rotation positioning method according to claim 12, characterized in that: The method for monitoring the actual rotation speed C of the rotating sample disk (1) is to calculate the average rotation speed of this rotation according to the code value and duration of this rotation, which is the actual rotation speed C.

14. A nuclear magnetic resonance sampling system, characterized in that: The invention comprises a rotation positioning system as described in any one of claims 1 to 5 or applies a rotation positioning method as described in any one of claims 6 to 13, wherein the nuclear magnetic resonance sampling system further comprises a sample transfer mechanism, the superconducting magnet is provided with a sample injection port, and the sample transfer mechanism is arranged between the sample injection port and the rotary sample disk (1) and is used to transfer the sample tube (100).

15. The nuclear magnetic resonance sampling system according to claim 14, characterized in that: The sample transfer mechanism comprises a pneumatic claw capable of lifting and lowering movement and a sample transfer tube capable of horizontal movement, wherein one end of the sample transfer tube capable of horizontal movement is located above the sample inlet, the other end of the sample transfer tube capable of horizontal movement is located at the upper end of the lifting movement of the pneumatic claw, and the lower end of the lifting movement of the pneumatic claw is located at the rotary sample disk (1).

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