Working bin system of suction head box and transportation method

Abstract

The invention discloses a working bin system of a suction head box and a transportation method, and relates to the technical field of laboratory automation. The working bin system of the suction head box comprises a shell, a storage frame and a carrying mechanical arm, the shell comprises a storage bin and a sample adding bin which are communicated, and the sample adding bin and the storage bin are arranged in a stacked mode; the storage rack is arranged in the storage bin and provided with a plurality of storage positions, and the storage positions are used for storing sucker boxes; the carrying manipulator is movably arranged in the storage bin, can move between the storage bin and the sample adding bin, and is used for bidirectionally moving the suction head box between the storage position and the sample adding bin. According to the technical scheme, reasonable utilization of space is achieved, and meanwhile the reliability and operation convenience of the working bin system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laboratory automation, in particular to a working warehouse system of a tip box and a transportation method. BACKGROUND

[0002] In modern laboratories and industrial production environments, the use of tips is very common. Tip boxes, as containers for storing and transporting tips, their management and operation efficiency is crucial to the experiment and production process.

[0003] At present, the tip box storage area of the working warehouse system is usually directly arranged on the sample adding platform. When the required tips are too many, multiple tip boxes will occupy a large space of the sample adding platform, so that the sample adding platform needs a large enough space to store all the tip boxes, thereby increasing the overall area occupied by the working warehouse system, and increasing the operator's travel distance for placing the tip boxes, which is not convenient for quickly placing the tip boxes. Moreover, the existing working warehouse system generally grasps the tips in the tip box placed flat by moving the sample adding arm. When the tip boxes are placed too much, the movement distance of the sample adding arm will also increase, affecting the working efficiency. SUMMARY

[0004] The main purpose of the present application is to provide a working warehouse system of a tip box and a transportation method, which aims to realize the rational use of space and improve the reliability and operation convenience of the working warehouse system.

[0005] To achieve the above purpose, the working warehouse system of the tip box provided by the present application comprises:

[0006] A housing comprising a storage warehouse and a sample adding warehouse connected in series, wherein the sample adding warehouse and the storage warehouse are arranged in layers;

[0007] A storage rack arranged in the storage warehouse, wherein the storage rack is provided with a plurality of storage positions for storing the tip boxes; and

[0008] A transfer robot movably arranged in the storage warehouse and capable of moving between the storage warehouse and the sample adding warehouse, for bidirectional movement of the tip boxes between the storage positions and the sample adding warehouse.

[0009] In an embodiment, the transfer robot comprises:

[0010] A first robot movably arranged in the storage warehouse, wherein a transfer position is arranged in the storage warehouse, and the first robot is used for bidirectional movement of the tip boxes between the storage positions and the transfer position; and

[0011] A second robot movably arranged in the storage warehouse and capable of moving between the storage warehouse and the sample adding warehouse, for bidirectional movement of the tip boxes between the transfer position and the sample adding warehouse.

[0012] In an embodiment, the working warehouse system of the tip box further comprises:

[0013] A pallet is arranged in the storage warehouse, and the pallet is provided with the transfer position and an avoiding opening, and the avoiding opening is used for avoiding the second mechanical arm.

[0014] In an embodiment, the storage rack is provided with a new box area and a recycling area, and the new box area and the recycling area are each provided with a plurality of storage positions, the new box area is used for storing the tip box in a non-empty state, and the recycling area is used for storing the tip box in an empty state.

[0015] In an embodiment, the working warehouse system of the tip box further comprises:

[0016] A linear guide rail is arranged on an inner wall of the storage warehouse and extends to a warehouse opening of the storage warehouse; and

[0017] A linear sliding block is slidingly arranged in the linear guide rail, and the storage rack is arranged on the linear sliding block.

[0018] In an embodiment, the working warehouse system of the tip box further comprises:

[0019] A material detection element is arranged on the carrying mechanical arm, and the material detection element is used for detecting the number of the tip box, the position of the tip box, and / or the specification of the tips in the tip box.

[0020] In an embodiment, the working warehouse system of the tip box further comprises:

[0021] A carrier is provided with a through hole and a placement position, the through hole penetrates the placement position, the shell is provided with a communication opening, the communication opening communicates the sample adding warehouse and the storage warehouse, the carrier is arranged in the communication opening, and the through hole is coincident with the communication opening.

[0022] In an embodiment, the working warehouse system of the tip box further comprises:

[0023] A locking element is movably arranged on the carrier and located at opposite ends of the placement position, and the locking element is used for pressing the tip box to limit the tip box in the placement position.

[0024] In an embodiment, the locking element comprises:

[0025] A guide block is arranged on the carrier and provided with a guide channel, and the guide channel is directed to the placement position;

[0026] An elastic element is arranged in the guide channel, and one end of the elastic element away from the placement position is connected with the guide block; and

[0027] A pressing block is slidably arranged in the guide channel at one end and connected with the other end of the elastic member, and the other end of the pressing block is exposed outside the guide channel.

[0028] In an embodiment, the through hole has a dimension in the y-axis direction greater than the width of the suction head box and less than the length of the suction head box, and a dimension in the x-axis direction greater than the width of the suction head box and greater than the length of the suction head box.

[0029] The through hole has a dimension in the y-axis direction greater than the width of the suction head box and greater than the length of the suction head box, and a dimension in the x-axis direction greater than the width of the suction head box and less than the length of the suction head box.

[0030] The present application provides a method for transporting a suction head box, which uses the working chamber system according to any one of the above embodiments to transport the suction head box, and includes the following steps:

[0031] Controlling the first mechanical arm to grab the suction head box in which the suction heads of the corresponding specification are placed;

[0032] Controlling the first mechanical arm to move the suction head box to a transfer position;

[0033] Controlling the second mechanical arm to grab the suction head box at the transfer position and move it below the communication port;

[0034] Controlling the second mechanical arm to pass through the communication port so that the suction head box enters the sample loading chamber;

[0035] Controlling the second mechanical arm to rotate by 90 degrees and move towards the storage chamber so that the suction head box is placed in a placement position.

[0036] In an embodiment, the inner wall of the storage chamber is provided with a locking switch and a position detection switch, the locking switch is used to lock or release the storage rack, and the position detection switch is used to detect whether the storage rack is reset;

[0037] The transportation method further includes:

[0038] When the position detection switch detects that the storage rack is reset, controlling the locking switch to lock the storage rack, and controlling a material detection element to detect the number and position of the suction head boxes on the storage rack and the specification of the suction heads in the suction head boxes.

[0039] The technical solution of this invention, through the arrangement of a housing, a storage rack, and a transport robot in the working chamber system for pipette tips, comprises a housing, a storage rack, and a transport robot. The housing includes a connected storage chamber and a sample dispensing chamber, which are stacked. The storage rack is located within the storage chamber and has multiple storage positions for storing pipette tips. The transport robot is movably located within the storage chamber and can move between the storage chamber and the sample dispensing chamber, used for bidirectional movement of the pipette tips between the storage positions and the sample dispensing chamber. Compared to existing working chamber systems where the pipette tip storage area is directly set on the sample dispensing platform, the technical solution of this invention includes a transport robot and a connected and stacked storage chamber and sample dispensing chamber. Operators only need to place the pipette tips on the storage rack, and the transport robot moves the pipette tips between the storage chamber and the sample dispensing chamber, achieving convenient and automated transfer of the pipette tips, reducing the movement path of the sample dispensing arm, and facilitating the placement of the pipette tips by the operator. Furthermore, since the sample dispensing chamber and the storage chamber are stacked and independent, the movement path of the transport robot and the overall area occupied by the working chamber system are further reduced, avoiding mutual interference between the work within the storage chamber and the sample dispensing chamber. In this way, the space is used efficiently, while the reliability and ease of operation of the work compartment system are improved. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0041] Figure 1 A schematic diagram of a structural embodiment of the suction head box working chamber system provided by the present invention;

[0042] Figure 2 for Figure 1 An enlarged view of an embodiment at point A;

[0043] Figure 3 for Figure 2 An enlarged view of one embodiment of the center support plate;

[0044] Figure 4 for Figure 1 A schematic diagram of one embodiment of the storage rack;

[0045] Figure 5 A partial structural schematic diagram of an embodiment of the suction head box working chamber system provided by the present invention;

[0046] Figure 6 for Figure 2 A schematic diagram of the structure of one embodiment of the first robotic arm;

[0047] Figure 7 Part structure schematic view of an embodiment of the carrier and the second mechanical arm provided by the present application;

[0048] Figure 8 Structure schematic view of another embodiment of the present application; Figure 7

[0049] Figure 9 Cross-sectional view of an embodiment of the locking member in the present application. Figure 7 Brief description of the drawings:

[0050] 100, housing; 110, storage bin; 120, sample adding bin; 121, loading station; 122, sample adding arm;

[0051] 200, storage rack; 210, new box area; 220, recycling area; 230, storage position;

[0052] 310, first mechanical arm; 311, first clamping jaw; 312, first driving structure; 320, second mechanical arm; 321, second clamping jaw; 330, protruding part;

[0053] 410, linear guide rail; 420, linear sliding block;

[0054] 500, material detection element;

[0055] 610, carrier; 611, through hole; 612, placement position; 620, locking member; 621, pressing block; 622, guide block; 623, elastic member;

[0056] 700, suction head box; 710, suction head; 720, grabbing notch; 730, detection port; 740, limiting protrusion;

[0057] 800, supporting plate; 810, transfer position; 820, avoiding port.

[0058] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings.

[0059] DETAILED DESCRIPTION The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0060]

[0061] ​​It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0062] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0063] In modern laboratories and industrial production environments, the use of tips is very common. As a container for storing and transporting tips, the management and operation efficiency of the tip box is crucial to the experimental and production process.

[0064] Currently, the tip box storage area of the work station system is usually directly arranged on the sample adding platform. When the required tips are too many, multiple tip boxes will occupy a large space of the sample adding platform, so that the sample adding platform needs a large enough space to store all the tip boxes, thereby increasing the overall occupied area of the work station system, increasing the operator's travel distance for placing the tip boxes, and making it inconvenient to quickly place the tip boxes. Moreover, the existing work station system generally grasps the tips in the tip box placed flat by moving the sample adding arm, and when the tip boxes are placed too much, the movement distance of the sample adding arm will also increase, affecting the work efficiency.

[0065] The present application provides a work station system of a tip box to realize the rational use of space and improve the reliability and operation convenience of the work station system.

[0066] Please refer to Figure 1 and Figure 2In an embodiment, the housing 100, the storage rack 200 and the transfer robot are arranged in the working warehouse system of the tip box 700. The housing 100 comprises a storage warehouse 110 and a sample adding warehouse 120 connected in series. The sample adding warehouse 120 is arranged in a stacked manner with the storage warehouse 110. The storage rack 200 is arranged in the storage warehouse 110. The storage rack 200 is provided with a plurality of storage positions 230 for storing the tip box 700. The transfer robot is movably arranged in the storage warehouse 110 and can move between the storage warehouse 110 and the sample adding warehouse 120, and is used to move the tip box 700 between the storage position 230 and the sample adding warehouse 120.

[0067] The working warehouse system is mainly used to realize the storage, transportation, loading and unloading of the tip box 700, and further realize the storage and feeding of the tip 710. The tip box 700 is configured in a convex structure and is hollow, so that the tip box 700 without the tip 710 can be arranged in a stacked manner. The opposite two side walls of the tip box 700 are provided with a grabbing notch 720, and the other two opposite side walls of the tip box 700 are provided with a detection port 730. Since the lengths of different specifications of the tip 710 are different, the lengths of different specifications of the tip 710 exposed at the detection port 730 are different. The tip box 700 has a non-empty state in which the tip 710 is placed and an empty state in which the tip 710 is not placed. The tip box 700 in the empty state can be stacked, and the tip box 700 in the non-empty state cannot be stacked.

[0068] The housing 100 is used to provide support and installation basis for the working warehouse system. In an embodiment, the inside of the housing 100 is provided with an accommodation space, which is divided into the sample adding warehouse 120 and the storage warehouse 110 arranged in a stacked manner. The storage warehouse 110 is used to store the tip box 700. The sample adding warehouse 120 is provided with a sample adding arm 122 for sample adding operation. In an embodiment, the sample adding warehouse 120 is located above the storage warehouse 110, so as to facilitate filling the storage warehouse 110 with the tip box 700 in the non-empty state or taking the tip box 700 in the empty state from the storage warehouse 110. Of course, in another embodiment, the storage warehouse 110 can also be located above the sample adding warehouse 120, which is not limited herein. Hereinafter, the sample adding warehouse 120 located above the storage warehouse 110 is taken as an example for description. The bottom plate of the sample adding warehouse 120 is provided with a loading station 121 for temporarily placing the tip box 700. The loading station 121 is connected with the storage warehouse 110, so as to realize the communication between the sample adding warehouse 120 and the storage warehouse 110. In an embodiment, the sample adding warehouse 120 is provided with a plurality of sample adding arms 122 and a plurality of loading stations 121. All the loading stations 121 are connected with the storage warehouse 110. In an embodiment, the bottom of the housing 100 is provided with a roller, so as to facilitate the movement of the whole working warehouse system.

[0069] The storage rack 200 is used for storing the tip box 700. In an embodiment, the storage rack 200 is provided with a plurality of storage positions 230, and the plurality of storage positions 230 are arranged in a rectangular array on the storage rack 200, i.e., all the storage positions 230 are provided with multiple rows and multiple columns to ensure the regularity of the storage of the tip box 700. The number and the row and column number of the storage positions 230 can be flexibly set according to the size of the storage rack 200, which is not limited herein.

[0070] The transfer robot is used to realize the movement of the tip box 700 between the sample loading bin 120 and the storage bin 110. In an embodiment, the clamping part of the transfer robot is provided with a protruding part 330, and when the transfer robot grabs the tip box 700, the protruding part 330 can be clamped into the grabbing notch 720 on the tip box 700 to ensure the reliability of the transfer robot in grabbing the tip box 700. The grabbing notch 720 can be arranged on the two opposite side walls of the tip box 700 in the length direction or the width direction, which is not limited herein. When the grabbing notch 720 is arranged on the two opposite side walls of the tip box 700 in the width direction, the transfer robot needs a smaller opening distance of the two clamping parts when grabbing the tip box 700. Hereinafter, the case that the grabbing notch 720 is arranged on the two opposite side walls of the tip box 700 in the width direction is taken as an example for description. When the sample loading bin 120 needs to use the tip 710, the transfer robot grabs the tip box 700 in a non-empty state and moves it to the loading station 121 to realize the loading of the tip box 700; when all the tips 710 in the tip box 700 at the loading station 121 are taken away by the sample loading arm 122, the transfer robot moves the tip box 700 in an empty state from the loading station 121 to the storage position 230 to realize the unloading and recycling of the tip box 700.

[0071] The technical scheme of the present application sets the housing 100, the storage rack 200 and the handling manipulator in the working warehouse system of the suction head box 700, the housing 100 comprises the storage warehouse 110 and the sample adding warehouse 120 which are connected and arranged in layers, the sample adding warehouse 120 is arranged in layers with the storage warehouse 110, the storage rack 200 is arranged in the storage warehouse 110, the storage rack 200 is provided with a plurality of storage positions 230 for storing the suction head box 700, and the handling manipulator is movably arranged in the storage warehouse 110 and can move between the storage warehouse 110 and the sample adding warehouse 120, and is used for moving the suction head box 700 between the storage position 230 and the sample adding warehouse 120. Compared with the working warehouse system in the prior art in which the suction head box storage area is directly arranged on the sample adding platform, the technical scheme of the present application sets the handling manipulator and the storage warehouse 110 and the sample adding warehouse 120 which are connected and arranged in layers, and the operator only needs to place the suction head box 700 on the storage rack 200, and the handling manipulator is used for moving the suction head box 700 between the storage warehouse 110 and the sample adding warehouse 120, so that the convenient and automatic transmission of the suction head box 700 can be realized, the movement path of the sample adding arm 122 is reduced, and the operator can conveniently place the suction head box 700; in addition, since the sample adding warehouse 120 and the storage warehouse 110 are arranged in layers and are independent of each other, the movement path of the handling manipulator and the overall occupied area of the working warehouse system are further reduced, and the mutual interference of the storage warehouse 110 and the sample adding warehouse 120 is avoided. In this way, the space is reasonably utilized, and the reliability and operation convenience of the working warehouse system are improved.

[0072] Please refer to Figure 2 and Figure 6 In an embodiment, the handling manipulator comprises a first manipulator 310 and a second manipulator 320, the first manipulator 310 is movably arranged in the storage warehouse 110, a transfer position 810 is arranged in the storage warehouse 110, and the first manipulator 310 is used for moving the suction head box 700 between the storage position 230 and the transfer position 810; the second manipulator 320 is movably arranged in the storage warehouse 110 and can move between the storage warehouse 110 and the sample adding warehouse 120, and is used for moving the suction head box 700 between the transfer position 810 and the sample adding warehouse 120.

[0073] In an embodiment, the first manipulator 310 comprises a first gripper 311 and a first driving structure 312. The first gripper 311 comprises two first clamping portions capable of moving towards or away from each other to clamp or release the tip box 700. The first driving structure 312 is configured to drive the first gripper 311 to move along the x-axis, y-axis and z-axis and rotate about the z-axis, so as to drive the tip box 700 to move and rotate. The x-axis is the width direction of the storage rack 200, the y-axis is the length direction of the storage rack 200, and the z-axis is the height direction of the storage rack 200. The second manipulator 320 comprises a second gripper 321 and a second driving structure. The second gripper 321 comprises two second clamping portions capable of moving towards or away from each other to clamp or release the tip box 700. The second driving structure is configured to drive the second gripper 321 to move along the x-axis and the z-axis and rotate about the z-axis, so as to drive the tip box 700 to move and rotate. The first clamping portion and the second clamping portion are each provided with a protruding portion 330. In an embodiment, the first driving structure 312 and the second driving structure each comprise a guide rail, a rotary driving member and a linear driving member, which can be configured as a motor or a pneumatic cylinder. Of course, in other embodiments, the first driving structure 312 and the second driving structure can also comprise a gear rack, a worm gear, a synchronous wheel and a synchronous belt, etc., which are not limited herein.

[0074] In an embodiment, the transfer position 810 is arranged on one side of the storage rack 200 and located on the path of the second gripper 321 moving along the x-axis. When the sample adding bin 120 needs to use the tip 710, the first manipulator 310 grabs the tip box 700 in which the tip 710 is placed and moves it to the transfer position 810, and the second manipulator 320 grabs the tip box 700 on the transfer position 810 and moves it to the loading station 121. When the tips 710 in the tip box 700 located at the loading station 121 are all taken away, the second manipulator 320 moves the tip box 700 from the loading station 121 to the transfer position 810, and the first manipulator 310 moves the empty tip box 700 on the transfer position 810 to the storage position 230, so as to realize the recycling of the tip box 700.

[0075] The technical scheme of the embodiment of the application divides the transportation of the suction head box 700 into two steps by setting the first mechanical arm 310 and the second mechanical arm 320, facilitates reasonable layout of the first mechanical arm 310 and the second mechanical arm 320, and reasonably utilizes space; the transfer position 810 is set, after one of the mechanical arms takes away the suction head box 700 from the transfer position 810, the other mechanical arm can quickly place another suction head box 700 on the transfer position 810, thereby improving the transportation efficiency of the suction head box 700; and the transfer position 810 is located on the path along which the second clamping jaw 321 moves along the x axis, which can reduce the travel path of the second clamping jaw 321 and omit the y axis driving structure of the second clamping jaw 321, thereby simplifying the structure and control; in addition, the main body structure of the first mechanical arm 310, the second mechanical arm 320 and the transfer position 810 are all arranged in the storage bin 110, which avoids affecting the action of the sample adding arm 122 in the sample adding bin 120, and realizes reasonable arrangement of space.

[0076] Please refer to Figure 2 and Figure 3 In an embodiment, the working bin system of the suction head box 700 further includes a supporting plate 800 arranged in the storage bin 110, the supporting plate 800 is provided with a transfer position 810 and an avoiding opening 820, and the avoiding opening 820 is used for avoiding the second mechanical arm 320.

[0077] The supporting plate 800 is located on the path along which the second clamping jaw 321 moves along the x axis, and the avoiding opening 820 and the transfer position 810 are located on the side of the supporting plate 800 facing the second clamping jaw 321. In an embodiment, the supporting plate 800 is arranged parallel to the x axis and located on the path along which the second clamping jaw 321 moves along the x axis, the avoiding opening 820 is a semi-open structure, the supporting plate 800 is provided with a recessed part to form the transfer position 810, the bottom of the recessed part is in communication with the avoiding opening 820, and the side of the avoiding opening 820 close to the second clamping jaw 321 is an open structure. That is, the avoiding opening 820 is arranged through the transfer position 810, and the avoiding opening 820 can allow the second clamping jaw 321 to pass through.

[0078] The two first clamping portions are arranged in parallel and spaced apart along the y-axis when the first gripper 311 moves along the x-axis towards the storage rack 200. The two second clamping portions are arranged in parallel and spaced apart along the x-axis when the second gripper 321 moves along the x-axis towards the transfer position 810. Since the suction head box 700 is provided with the gripping notch 710 along the width direction, and the first gripper 311 grips the suction head box 700 from the storage rack 200, the two side walls of the suction head box 700 provided with the gripping notch 710 are arranged in parallel and spaced apart along the y-axis, and the two clamping portions of the second gripper 321 are arranged in parallel and spaced apart along the x-axis. To avoid the collision of the related mechanisms of the first manipulator 310 and the second manipulator 320 at the transfer position 810, the first gripper 311 can be rotated by 90 degrees around the z-axis after gripping the suction head box 700 and moving the suction head box 700 to the transfer position 810, so as to place the suction head box 700 at the transfer position 810, so as to ensure that the protruding portion 330 of the second gripper 321 can be clamped into the gripping notch 720 of the suction head box 700. The first gripper 311 leaves the transfer position 810, and the second gripper 321 moves to the bottom of the transfer position 810 along the x-axis and then rises along the z-axis to clamp the suction head box 700. The second gripper 321 moves along the x-axis to cross the avoiding port 820 to drive the suction head box 700 to leave the transfer position 810. Alternatively, the first gripper 311 can directly place the suction head box 700 at the transfer position 810 when gripping the suction head box 700 and moving the suction head box 700 to the transfer position 810. The second gripper 321 moves to the bottom of the transfer position 810 along the x-axis, rotates by 90 degrees around the z-axis, and then rises along the z-axis to clamp the suction head box 700, and then moves away from the transfer position 810 along the x-axis.

[0079] In another embodiment, the supporting plate 800 is provided with a recess to form the transfer position 810, and the supporting plate 800 is provided with two avoiding ports 820, which are located at opposite ends of the transfer position 810 along the y-axis direction and are in communication with the recess to allow the second gripper 321 to pass through.

[0080] The two first clamping parts are arranged in parallel and spaced apart along the y-axis when the first clamping jaw 311 moves along the x-axis towards the storage rack 200. The two second clamping parts are also arranged in parallel and spaced apart along the y-axis when the second clamping jaw 321 moves along the x-axis towards the transfer position 810. Since the suction head box 700 is provided with the grabbing notch 710 in the width direction, and the first clamping jaw 311 grabs the suction head box 700 from the storage rack 200, the two side walls of the suction head box 700 provided with the grabbing notch 710 are arranged in parallel and spaced apart along the y-axis. Similarly, the two clamping parts of the second clamping jaw 321 are also arranged in parallel and spaced apart along the y-axis. In order to avoid the conflict of the related mechanisms of the first manipulator 310 and the second manipulator 320 at the transfer position 810, when the first clamping jaw 311 grabs the suction head box 700 and drives the suction head box 700 to move to the transfer position 810, the first clamping jaw 311 can directly place the suction head box 700 at the transfer position 810, so as to ensure that the protruding part 330 of the second clamping jaw 321 can be clamped into the grabbing notch 720 of the suction head box 700. The first clamping jaw 311 leaves the transfer position 810, and the second clamping jaw 321 moves to the bottom of the transfer position 810 along the x-axis and then rises along the z-axis to clamp the suction head box 700. The second clamping jaw 321 moves along the x-axis to cross the avoiding opening 820 to drive the suction head box 700 to leave the transfer position 810. Alternatively, the first clamping jaw 311 can be rotated by 90 degrees around the z-axis to place the suction head box 700 at the transfer position 810, and then the second clamping jaw 321 is rotated by 90 degrees around the z-axis to grab the suction head box 700 at the transfer position 810.

[0081] The technical scheme of the embodiment of the application can facilitate the second manipulator 320 to grab the suction head box 700 by arranging the avoiding opening 820 in communication with the transfer position 810 on the supporting plate 800, and reduce the operation complexity. In addition, when the first manipulator 310 takes or places the suction head box 700 at the transfer position 810, the main structure of the first manipulator 310 is above the transfer position, and when the second manipulator 320 takes or places the suction head box 700 at the transfer position 810, the main structure of the second manipulator 320 is below the transfer position, so that the structural conflict or interference of the first manipulator 310 and the second manipulator 320 at the transfer position 810 is avoided, and the convenience and reliability of the suction head box 700 transportation are improved.

[0082] Please refer to Figure 4 In an embodiment, the storage rack 200 is provided with a new box area 210 and a recycling area 220, and the new box area 210 and the recycling area 220 are each provided with a plurality of storage positions 230. The new box area 210 is used for storing the suction head box 700 in a non-empty state, and the recycling area 220 is used for storing the suction head box 700 in an empty state.

[0083] In an embodiment, the height of the space where each of the storage positions 230 in the new box area 210 is arranged to accommodate only one non-empty state of the suction head box 700, and the height of the space where each of the storage positions 230 in the recycling area 220 is arranged to accommodate a plurality of stacked empty state of the suction head box 700, wherein the suction head box 700 is configured in a convex structure and is hollowly arranged, so that the empty state of the suction head box 700 can be stacked and arranged. In an embodiment, the new box area 210 is provided with a plurality of layers and a plurality of columns of storage positions 230, and the recycling area 220 is provided with only one row of storage positions 230. Wherein, the specific size of the new box area 210 and the recycling area 220 and the number of storage positions 230 in each area can be flexibly set according to actual needs, and here, no limitation is made. In an embodiment, two storage racks 200 are provided, and the two storage racks 200 are arranged on the opposite sides of the first mechanical arm 310, so as to facilitate the first mechanical arm 310 to clamp the suction head box 700 on the two storage racks 200. In an embodiment, one of the storage racks 200 is arranged with only non-empty state of the suction head box 700, i.e. only the new box area 210 is arranged; and the other storage rack 200 is arranged with both the new box area 210 and the recycling area 220. Of course, in other embodiments, the two storage racks 200 can also be arranged with both the new box area 210 and the recycling area 220, or only one storage rack 200 is arranged, and here, no limitation is made.

[0084] The technical scheme of the embodiment of the application realizes regular arrangement of the suction head box 700 by arranging the new box area 210 and the recycling area 220 in the storage rack 200, so as to realize partition management of the suction head box 700 and improve the use convenience of the working chamber system; the suction head box 700 is configured in a convex structure and is hollowly arranged, so that the empty state of the suction head box 700 can be stacked and arranged in the recycling area 220, and the storage space is further saved.

[0085] Please refer to Figure 5 In an embodiment, the working chamber system of the suction head box 700 further comprises a linear guide rail 410 and a linear sliding block 420, which are arranged on the inner wall of the storage chamber 110 and extend to the chamber opening of the storage chamber 110; the linear sliding block 420 is slidingly arranged on the linear guide rail 410, and the storage rack 200 is arranged on the linear sliding block 420.

[0086] In an embodiment, the axis of the opening and the guiding direction of the linear guide rail 410 are parallel to the y-axis, the linear guide rail 410 is arranged on one of the side walls of the storage bin 110 at the opposite end of the opening, and the storage rack 200 is slidably arranged on the linear guide rail 410 through the linear sliding block 420, so that the storage rack 200 can be translated relative to the storage bin 110. In an embodiment, two storage racks 200 are arranged at the opposite ends of the opening of the storage bin 110, and each storage rack 200 is movably arranged in the storage bin 110 through the linear guide rail 410 and the linear sliding block 420. In an embodiment, two linear guide rails 410 are arranged on the same side wall and are spaced apart in the z-axis direction, and the storage rack 200 is provided with one linear sliding block 420 at each end in the z-axis direction to be slidably connected to the two linear guide rails 410 one by one.

[0087] When it is necessary to place the suction head box 700 in a non-empty state or remove the suction head box 700 in an empty state, the storage rack 200 is pulled out of the opening of the storage bin 110, so as to facilitate manual or mechanical placement or removal of the suction head box 700.

[0088] The technical scheme of the embodiment of the present application facilitates the placement, arrangement and unloading of the suction head box 700 on the storage rack 200 by arranging the linear guide rail 410 and the linear sliding block 420, thereby improving the convenience of use.

[0089] Please refer to Figure 6 In an embodiment, the working bin system of the suction head box 700 further comprises a material detection element 500 arranged on the handling robot, which is used to detect the number and / or position of the suction head box 700 and / or the specification of the suction head 710 in the suction head box 700.

[0090] In an embodiment, only one material detection element 500 is arranged, which is integrated with multiple detection functions so as to be used to detect the number and position of the suction head box 700 and the specification of the suction head 710 in the suction head box 700 at the same time. In another embodiment, multiple material detection elements 500 can also be arranged, and the multiple material detection elements 500 are respectively used to detect the number or position of the suction head box 700 or the specification of the suction head 710 in the suction head box 700, which is not limited herein. Hereinafter, only one material detection element 500 is taken as an example for description.

[0091] In an embodiment, the material detection element 500 is configured as a reflective sensor arranged on the first robot 310. During movement of the first robot 310 along the x-axis, the y-axis and the z-axis, the reflective sensor irradiates the new box area 210 and the recycling area 220 on the storage rack 200 to detect whether the new box area 210 and the recycling area 220 are placed with the tip box 700. The reflective sensor can emit and receive reflected light. The reflective sensor emits light at a first preset height to irradiate each storage site 230. The irradiation point of the reflective sensor corresponds to the sidewall of the tip box 700. When the reflective sensor receives reflected light, it indicates that the storage site 230 is placed with the tip box 700. When the reflective sensor does not receive reflected light, it indicates that the storage site 230 is not placed with the tip box 700. The first preset height can be flexibly set according to the height of each layer of storage sites 230 and the height of the tip box 700, which is not limited herein.

[0092] Since the empty tip box 700 can be stacked on the storage site 230 of the recycling area 220, for each storage site 230 of the recycling area 220, when the material detection element 500 detects that the storage site 230 is placed with the tip box 700, the reflective sensor moves up and down along the z-axis direction on the basis of the first preset height to irradiate the storage site 230 multiple times, i.e., gradient height detection is performed on each storage site 230, until reflected light is not received. By combining detection at different heights, it is determined whether the empty tip box 700 is placed on the storage site 230 and the height of the placed empty tip box 700, and the stacking number of the empty tip box 700 is determined.

[0093] For each storage position 230 of the new box area 210, when it is detected that the storage position 230 is placed with the tip box 700, the reflective sensor further detects the specification of the tip 710 placed in the non-empty tip box 700. Specifically, the reflective sensor irradiates the detection port 730 of each non-empty tip box 700 at a second preset height, and judges the specification of the tip 710 by whether the reflected light is received. Taking the 200ul tip 710 and the 1000ul tip 710 as examples, since the length of the 200ul tip 710 is smaller than that of the 1000ul tip 710. In an embodiment, the position and height of the detection port 730 are such that the needle tip part of the 200ul tip 710 cannot be exposed or has a small exposure length at the detection port 730; the middle part or the needle tip part of the 1000ul tip 710 has a large exposure length at the detection port 730 and can block the entire detection port 730. When the reflective sensor does not receive reflected light at the second preset height, it indicates that the tip box 700 contains 200ul tips 710; when the reflective sensor receives reflected light, it indicates that the tip box 700 contains 1000ul tips 710. When the specification of the tip 710 includes multiple specifications, the reflective sensor can perform gradient detection on the detection port 730 at multiple different second preset heights to identify tips 710 of different specifications. The second preset height can be flexibly set according to the size of the detection port 730 and the exposure length of tips 710 of different specifications at the detection port 730, which is not limited herein.

[0094] In another embodiment, the material detection element 500 can also be configured as an image shooting recognition element, which shoots an image of the storage rack 200, recognizes whether each storage position 230 in the new box area 210 is placed with a non-empty tip box 700 and the specification of the tip 710 in the non-empty tip box 700 in the image, and recognizes the number of empty tip boxes 700 stacked in each storage position 230 of the recycling area 220.

[0095] The technical scheme of the embodiment of the present application can recognize the number, storage position and specification of the tip 710 of the tip box 700 on the storage rack 200 by setting the material detection element 500, thereby improving the work intelligence of the work warehouse system; the material detection element 500 is integrated into the first mechanical arm 310, avoiding the need to additionally set a structure to drive the material detection element 500 to move, and realizing the reasonable arrangement of each structure.

[0096] Please refer to Figure 1 , Figure 7 and Figure 8In an embodiment, the working chamber system of the tip box 700 further comprises a carrier 610 provided with a through hole 611 and a placing position 612, the through hole 611 penetrating the placing position 612, the shell 100 is provided with a communication port, the communication port communicates the sample adding chamber 120 and the storage chamber 110, the carrier 610 is arranged at the communication port, and the through hole 611 is coincident with the communication port.

[0097] In an embodiment, each loading station 121 is provided with a communication port, the carrier 610 is arranged at one side of the communication port facing the sample adding chamber 120, and the through hole 611 of the carrier 610 is completely coincident with the communication port, so as to ensure that the through hole 611 can communicate the sample adding chamber 120 and the storage chamber 110.

[0098] Please refer to Figures 7 to 9 In an embodiment, the working chamber system of the tip box 700 further comprises a locking member 620 movably arranged at the carrier 610 and located at opposite ends of the placing position 612, and the locking member 620 is used for pressing the tip box 700 to limit the tip box 700 in the placing position 612.

[0099] Specifically, in an embodiment, the opposite ends of the placing position 612 are movably provided with the locking member 620, and the bottom periphery of the tip box 700 is protrudingly provided with a limiting protrusion 740, and the locking member 620 can press the limiting protrusion 740 to limit the tip box 700 in the placing position 612.

[0100] Please refer to Figure 9 In an embodiment, the locking member 620 comprises a guide block 622, an elastic member 623 and a pressing block 621, the guide block 622 is arranged at the carrier 610 and is provided with a guide channel, the guide channel faces the placing position 612; the elastic member 623 is arranged in the guide channel, one end of the elastic member 623 away from the placing position 612 is connected with the guide block 622; one end of the pressing block 621 is slidably arranged in the guide channel and connected with the other end of the elastic member 623, and the other end of the pressing block 621 is exposed out of the guide channel.

[0101] In an embodiment, the guide block 622 is arranged on the carrier 610, the guide block 622 is arranged close to and above the placement position 612, the guide block 622 is internally provided with a guide channel, the outer side surface of the abutting block 621 is fitted with the inner peripheral surface of the guide channel, and the abutting block 621 can slide relative to the guide channel. The axis of the guide channel is parallel to the plane where the placement position 612 is located, so that the extension direction of the elastic member 623 and the movement direction of the abutting block 621 are both parallel to the plane where the placement position 612 is located. The elastic member 623 can be elastically deformed, and under the elastic force of the elastic member 623, the abutting block 621 has a tendency to move away from the guide block 622 and towards the placement position 612. Under the action of an external force, the abutting block 621 can move towards the guide block 622 and away from the placement position 612, and when the external force is removed, the abutting block 621 can move towards the placement position 612 under the elastic force of the elastic member 623 to reset. Herein, the elastic member 623 can be a spring or a multi-void elastic body or rubber, etc., which is not limited herein.

[0102] In an embodiment, the abutting block 621 has a first inclined surface and a second inclined surface at one end away from the guide channel, the first inclined surface is located on the side of the abutting block 621 away from the placement position 612, and the second inclined surface is located on the side of the abutting block 621 towards the placement position 612. Specifically, in an embodiment, the first inclined surface at one end away from the guide channel is arranged to be inclined towards the placement position 612, the second inclined surface at one end away from the guide channel is arranged to be inclined away from the placement position 612, and the one end away from the guide channel of the first inclined surface is connected with the one end away from the guide channel of the second inclined surface, so that the side of the abutting block 621 towards the placement position 612 is formed as a clamping hook structure. Herein, the inclination angle of the first inclined surface and the second inclined surface relative to the plane where the placement position 612 is located can be flexibly set according to actual needs, which is not limited herein. In this way, under the action of an external force, the limiting protrusion 740 can abut against the first inclined surface and the second inclined surface, so that the abutting block 621 moves towards the guide block 622; when the suction head box 700 is fitted with the placement position 612, the second inclined surface abuts against the limiting protrusion 740 to limit the suction head box 700 on the placement position 612.

[0103] The technical scheme of the embodiment of the present application sets the carrier 610 and the locking member 620, the locking member 620 includes the guide block 622, the elastic member 623 and the abutting block 621, so that the suction head box 700 can be detachably placed on the placement position 612, which can not only limit the suction head box 700, but also facilitate the automatic loading and unloading of the suction head box 700, thereby improving the convenience and reliability of the carrier 610.

[0104] In an embodiment, the size of the through hole 611 in the y-axis direction is greater than the width of the suction head box 700 and less than the length of the suction head box 700, and the size of the through hole 611 in the x-axis direction is greater than the width of the suction head box 700 and greater than the length of the suction head box 700.

[0105] Since the grabbing notches 720 on the tip box 700 are located on the two side walls in the width direction of the tip box 700, the following is described by way of example with the length direction of the tip box 700 parallel to the y-axis and the width direction of the tip box 700 parallel to the x-axis when the first robot 310 or the second robot 320 places the tip box 700 in the transfer position 810, and the two clamping portions of the second robot 320 are spaced apart along the x-axis when the second robot 320 grabs the tip box 700 from the transfer position 810.

[0106] In an embodiment, the two sets of locking members 620 are spaced apart along the y-axis at the two ends of the placement position 612. The through hole 611 has a size in the x-axis direction greater than the length of the tip box 700 and a size in the y-axis direction greater than the width of the tip box 700, so that when the length direction of the tip box 700 is parallel to the x-axis, the tip box 700 can pass through the through hole 611 to reach the upper sample adding chamber 120; the through hole 611 has a size in the y-axis direction less than the length of the tip box 700, so that when the length direction of the tip box 700 is parallel to the y-axis, the two ends of the length direction of the tip box 700 can abut against the outer wall of the through hole 611, ensuring that the tip box 700 can be placed in the placement position 612.

[0107] When it is necessary to place the tip box 700 in the carrier 610, the second robot 320 of the tip box 700 grabs the tip box 700 from the transfer position 810 and moves in the x-axis direction, driving the tip box 700 to translate to below the through hole 611 of the communication port, ensuring that the through hole 611 is aligned with the tip box 700; at this time, the length direction of the tip box 700 is perpendicular to the x-axis, and since the tip box 700 needs to pass through the through hole 611, the length direction of the tip box 700 needs to be parallel to the x-axis, therefore, the second robot 320 first drives the tip box 700 to rotate 90 degrees around the z-axis, and then drives the tip box 700 to move upward along the z-axis to make the tip box 700 reach above the placement position 612; then, the second robot 320 drives the tip box 700 to rotate 90 degrees around the z-axis to make the length direction of the tip box 700 parallel to the y-axis; the second robot 320 drives the tip box 700 to move downward along the z-axis, and under the driving force of the second robot 320, the limiting protrusion 740 of the tip box 700 abuts against the first inclined surface of the locking member 620; when the second inclined surface stably abuts against the limiting protrusion 740, the second robot 320 releases the tip box 700 and resets.

[0108] When the sample adding arm 122 finishes taking the suction head 710, and the empty suction head box 700 needs to be removed from the carrier 610, the second mechanical arm 320 grabs the suction head box 700 and drives the suction head box 700 to move upwards along the z-axis. Under the driving force of the second mechanical arm 320, the limiting protrusion 740 of the suction head box 700 pushes against the second inclined surface of the locking member 620. When the suction head box 700 is separated from the carrier 610, the second mechanical arm 320 drives the suction head box 700 to rotate 90 degrees around the z-axis, so that the length direction of the suction head box 700 is parallel to the x-axis, ensuring that the suction head box 700 can pass through the through hole 611. Then, the second mechanical arm 320 drives the suction head box 700 to move downwards along the z-axis and pass through the through hole 611. When the suction head box 700 is completely moved below the through hole 611, the second mechanical arm 320 drives the suction head box 700 to rotate 90 degrees around the z-axis again. Then, the second mechanical arm 320 drives the suction head box 700 to move along the x-axis to the transfer position 810, and the second mechanical arm 320 releases the suction head box 700 to the transfer position 810. At this time, the length direction of the suction head box 700 is parallel to the y-axis, and the width direction is parallel to the x-axis. The first mechanical arm 310 transfers the suction head box 700 to the recycling area 220.

[0109] In another embodiment, the size of the through hole 611 in the y-axis direction is greater than the width of the suction head box 700 and greater than the length of the suction head box 700. The size of the through hole 611 in the x-axis direction is greater than the width of the suction head box 700 and less than the length of the suction head box 700.

[0110] In an embodiment, two groups of locking members 620 are arranged at both ends of the placement position 612 along the x-axis. The size of the through hole 611 in the y-axis direction is greater than the length of the suction head box 700, and the size of the through hole 611 in the x-axis direction is greater than the width of the suction head box 700, so that when the length direction of the suction head box 700 is parallel to the y-axis, the suction head box 700 can pass through the through hole 611. The size of the through hole 611 in the x-axis direction is less than the length of the suction head box 700, so that when the length direction of the suction head box 700 is parallel to the x-axis, the two ends of the length direction of the suction head box 700 can abut against the outer wall of the through hole 611, ensuring that the suction head box 700 can be placed in the placement position 612.

[0111] Since the grabbing notches 720 on the suction head box 700 in the embodiment are located on the two side walls in the width direction of the suction head box 700, when the first mechanical arm 310 or the second mechanical arm 320 places the suction head box 700 in the transfer position 810, the length direction of the suction head box 700 is parallel to the y-axis, and the width direction of the suction head box 700 is parallel to the x-axis, and when the second mechanical arm 320 grabs the suction head box 700 from the transfer position 810, the two clamping parts of the second mechanical arm 320 are arranged along the x-axis. After the second mechanical arm 320 grabs the suction head box 700 from the transfer position 810, the second mechanical arm 320 drives the suction head box 700 to move along the x-axis to below the through hole 611 of the communication port, so as to ensure that the through hole 611 is aligned with the suction head box 700; at this time, the length direction of the suction head box 700 is parallel to the y-axis, and the suction head box 700 can directly pass through the through hole 611; therefore, the second mechanical arm 320 drives the suction head box 700 to move upward along the z-axis, so that the suction head box 700 reaches above the placement position 612; then, the second mechanical arm 320 drives the suction head box 700 to rotate 90 degrees around the z-axis, so that the length direction of the suction head box 700 is parallel to the x-axis; the second mechanical arm 320 drives the suction head box 700 to move downward along the z-axis, and under the driving force of the second mechanical arm 320, the limiting protrusion 740 of the suction head box 700 pushes against the first inclined surface of the locking part 620; when the second inclined surface stably pushes against the limiting protrusion 740, the second mechanical arm 320 releases the suction head box 700 and resets.

[0112] When it is necessary to remove the suction head box 700 from the carrier 610, the second mechanical arm 320 grabs the suction head box 700 and drives the suction head box 700 to move upward along the z-axis, and under the driving force of the second mechanical arm 320, the limiting protrusion 740 of the suction head box 700 pushes against the second inclined surface of the locking part 620; when the suction head box 700 is separated from the carrier 610, the second mechanical arm 320 drives the suction head box 700 to rotate 90 degrees around the z-axis, so that the length direction of the suction head box 700 is parallel to the y-axis, to ensure that the suction head box 700 can pass through the through hole 611; then, the second mechanical arm 320 drives the suction head box 700 to move downward along the z-axis and pass through the through hole 611, and when the suction head box 700 completely moves to below the through hole 611, the second mechanical arm 320 drives the suction head box 700 to move along the x-axis to the transfer position 810, and the second mechanical arm 320 releases the suction head box 700.

[0113] The technical scheme of the embodiment of the application realizes the communication between the storage bin 110 and the sample adding bin 120 by arranging the communication port and the through hole 611, and ensures the movement of the suction head box 700 between the storage bin 110 and the sample adding bin 120; by limiting the size relationship between the through hole 611 and the suction head box 700, the suction head box 700 can be loaded into the sample adding bin 120 while ensuring the movement of the suction head box 700 between the storage bin 110 and the sample adding bin 120, which simplifies the transportation path and facilitates the transportation, loading and unloading of the suction head box 700.

[0114] The application further provides a transporting method of the suction head box 700, which uses the working chamber system in the above embodiments to transport the suction head box 700. The specific structure of the working chamber system is referred to the above embodiments. Since the transporting method adopts all the technical solutions of the above embodiments, it has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here. The transporting method comprises the following steps:

[0115] controlling the first mechanical arm 310 to grab the suction head box 700 in which the suction heads 710 of the corresponding specifications are placed;

[0116] controlling the first mechanical arm 310 to move the suction head box 700 to the transfer position 810;

[0117] controlling the second mechanical arm 320 to grab the suction head box 700 at the transfer position 810 and move to below the communication port;

[0118] controlling the second mechanical arm 320 to penetrate the communication port, so that the suction head box 700 enters the sample adding chamber 120;

[0119] controlling the second mechanical arm 320 to rotate by 90 degrees and move towards the storage chamber 110, so that the suction head box 700 is placed in the placing position 612.

[0120] In an embodiment, the working chamber system further comprises a control unit electrically connected with each functional structure in the working chamber to control the actions of each functional structure. The control unit comprises a controller and a processor, and the functions of the control unit are mainly realized by logical algorithms, which are not limited here.

[0121] Hereinafter, the suction head box 700 is taken as an example, the grabbing notch 710 of the suction head box 700 is arranged along the width direction, and the first clamping jaw 311 grabs the suction head box 700 from the storage rack 200, the two side walls of the suction head box 700 provided with the grabbing notch 710 are arranged along the y-axis, and the two clamping parts of the second clamping jaw 321 are arranged along the x-axis.

[0122] When it is needed to move the tip box 700 to the sample adding chamber 120, the first mechanical arm 310 is controlled to move to the position of the tip box 700 where the corresponding specification tip 710 is placed in the storage rack 200, the first mechanical arm 310 is controlled to grab the corresponding tip box 700 and move to the transfer position 810, and the first mechanical arm 310 is controlled to rotate the tip box 700 by 90 degrees and then place the tip box 700 at the transfer position 810. Then, the second mechanical arm 320 is controlled to grab the tip box 700 at the transfer position 810 and move along the x-axis, and the tip box 700 is moved to the lower side of the communication opening. In an embodiment, since the size of the through hole 611 in the y-axis direction is greater than the width of the tip box 700 and less than the length of the tip box 700, and the size of the through hole 611 in the x-axis direction is greater than the width of the tip box 700 and greater than the length of the tip box 700, the second mechanical arm 320 is controlled to rotate the tip box 700 by 90 degrees around the z-axis first, and then the second mechanical arm 320 is controlled to move the tip box 700 upward along the z-axis to make the tip box 700 pass through the through hole 611 to reach above the placement position 612. In another embodiment, since the size of the through hole 611 in the y-axis direction is greater than the width of the tip box 700 and greater than the length of the tip box 700, and the size of the through hole 611 in the x-axis direction is greater than the width of the tip box 700 and less than the length of the tip box 700, the second mechanical arm 320 can be directly controlled to move the tip box 700 upward along the z-axis to make the tip box 700 pass through the through hole 611. When the tip box 700 is located above the through hole 611, the second mechanical arm 320 is controlled to rotate the tip box 700 by 90 degrees around the z-axis and then move the tip box 700 downward along the z-axis until the tip box 700 is limited in the placement position 612, the second mechanical arm 320 is controlled to release the tip box 700 and reset.

[0123] When the empty tip box 700 needs to be removed from the carrier 610, the second robot 320 is controlled to grab the tip box 700 and move the tip box 700 upwards along the z-axis until the tip box 700 is separated from the carrier 610; after the tip box 700 is separated from the carrier 610, the second robot 320 is controlled to rotate the tip box 700 by 90 degrees around the z-axis to ensure that the tip box 700 can pass through the through hole 611; then, the second robot 320 is controlled to move the tip box 700 downwards along the z-axis and pass through the through hole 611. In an embodiment, after the tip box 700 is completely moved below the through hole 611, the second robot 320 is controlled to rotate the tip box 700 by 90 degrees around the z-axis, and then the second robot 320 is controlled to translate the tip box 700 along the x-axis to the transfer position 810, release the tip box 700, and reset. In another embodiment, after the tip box 700 is completely moved below the through hole 611, the second robot 320 is controlled to translate the tip box 700 along the x-axis to the transfer position 810, release the tip box 700, and reset. The length direction of the tip box 700 is parallel to the y-axis, and the width direction of the tip box 700 is parallel to the x-axis, so that the first robot 310 can easily transfer the empty tip box 700 to the recycling area 220.

[0124] In the embodiment of the application, the movement of the second robot 320 along the x-axis and the rotation of the second robot 320 along the z-axis, and the size limitation relationship between the through hole 611 and the tip box 700, cooperate to realize the movement of the tip box 700 between the sample adding bin 120 and the storage bin 110, and realize the loading and unloading of the tip box 700 at the placement position 612, thereby improving the convenience of transporting the tip box 700. In addition, the movement of the second robot 320 is mainly in the storage bin 110, and does not interfere with the movement of the sample adding arm 122 in the sample adding bin 120. When the second robot 320 loads or unloads the tip box 700, the sample adding arm 122 does not need to avoid, and the sample adding arm 122 can work normally, thereby ensuring the work efficiency of each link.

[0125] In an embodiment, the inner wall of the storage bin 110 is provided with a locking switch (not shown) and a position detection switch (not shown), the locking switch is used to lock or release the storage rack 200, and the position detection switch is used to detect whether the storage rack 200 is reset;

[0126] The transportation method further includes:

[0127] When the position detection switch detects that the storage rack 200 is reset, the locking switch is controlled to lock the storage rack 200, and the material detection element 500 is controlled to detect the number and position of the tip box 700 on the storage rack 200 and the specification of the tip 710 in the tip box 700.

[0128] Specifically, the locking switch and the in-place detection switch are electrically connected with the control unit. When it is necessary to place the non-empty suction head box 700 or remove the empty suction head box 700, the control unit controls the locking switch to be unlocked to release the storage rack 200, and then pulls out the storage rack 200 so that the storage rack 200 extends out of the opening. At this time, the in-place detection switch detects that the storage rack 200 is away from the original position. After the suction head box 700 is placed or removed on the storage rack 200, the storage rack 200 is pushed back to the original position. After the in-place detection switch detects that the storage rack 200 is reset, the control unit controls the locking switch to lock the storage rack 200. The locking switch can be an electronic lock, an electromagnetic lock, an electrically controlled mechanical structure, or the like. The in-place detection switch can be a photoelectric switch, a proximity switch, a radio frequency identification switch, or the like, which is not limited herein.

[0129] After each time the storage rack 200 is pulled out and reset, the material detection element 500 needs to be controlled to count the suction head box 700 on the storage rack 200. Whether the suction head box 700 on the storage rack 200 is updated or not, the material detection element 500 needs to be controlled to re-count the suction head box 700 on the storage rack 200, and the counting result of the next time will cover the counting result of the last time, so as to ensure the closedness and accuracy of the information of the suction head box 700 and the suction head 710 on the storage rack 200. That is, the control unit controls the first mechanical arm 310 to move to drive the material detection element 500 to detect the number, position, and specification of the suction head 710 in the suction head box 700 in the new box area 210 and the recycling area 220. The material detection element 500 feeds back the real-time detection result to the control unit, the control unit processes the detection result and stores the corresponding information, which includes the number of suction head boxes 700 in the new box area 210, the position of the suction head box 700 in which different specifications of suction heads 710 are placed, and the empty position in the recycling area 220.

[0130] In an embodiment, the control unit pre-stores the pre-stored number of empty suction head boxes 700 that can be placed in each storage position 230 in the recycling area 220. The material detection element 500 detects each storage position 230 in the recycling area 220. The control unit identifies the position of the material detection element 500 according to the movement path of the first mechanical arm 310, and records the real-time position coordinates of the material detection element 500 at each time of detection. When the material detection element 500 does not receive reflected light, the control unit receives the detection result and records the real-time position coordinates of the material detection element 500 corresponding to the detection result, so as to record the empty position in the recycling area 220.

[0131] When the tip box 700 in the non-empty state needs to be moved from the storage compartment 110 to the sample adding compartment 120, the control unit receives the specification information of the tip 710 required by the sample adding compartment 120, and screens the position of the tip box 700 in which the tip 710 of the corresponding specification is placed in the stored information, and then controls the first mechanical arm 310 to grab the corresponding tip box 700.

[0132] When the tip box 700 in the empty state needs to be moved from the carrier 610 to the recycling area 220, the control unit screens the empty position of the recycling area 220 in the stored information, and then controls the first mechanical arm 310 to move the tip box 700 in the empty state on the transfer position 810 to the corresponding empty position.

[0133] In an embodiment, the housing 100 of the working compartment system is provided with a display panel for displaying the first real-time number of the tip box 700 in the empty state in the recycling area 220 detected by the material detection element 500 and the second real-time number of the tip box 700 in the new box area 210 detected by the material detection element 500, so as to timely remove the tip box 700 in the empty state in the recycling area 220 or supplement the tip box 700 in the non-empty state in the new box area 210.

[0134] In the embodiment of the present application, the material detection element 500 is used to count the tip box 700 on the storage rack 200, which improves the automation and reliability of the working compartment system and the transportation of the tip box 700, and reduces the workload of the operator; and the counting is performed after each time the storage rack 200 is pulled out and reset, which ensures the timely updating of the counting information and avoids the mistake of the first mechanical arm 310 in grabbing or placing the tip box 700. In addition, the movement of the first mechanical arm 310 and the material detection element 500 is performed in the storage compartment 110, which does not interfere with the action of the sample adding arm 122 in the sample adding compartment 120, and ensures the work efficiency of each link.

[0135] The above description is only an exemplary embodiment of the present application, and does not limit the protection scope of the present application, and any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the protection scope of the present application.

Claims

1. A working chamber system of a suction head cartridge, characterized in that, The application relates to a working warehouse system of a tip box. The working warehouse system of the tip box comprises: a shell, which comprises a storage bin and a sample adding bin in communication, and the sample adding bin is arranged in a stacked mode with the storage bin; a storage rack arranged in the storage bin, wherein the storage rack is provided with a plurality of storage positions for storing the tip box; a transfer robot arranged in the storage bin and capable of moving between the storage bin and the sample adding bin, and used for moving the tip box between the storage position and the sample adding bin.

2. The working pod system of a tip box of claim 1, wherein, The transfer robot comprises: a first robot arranged in the storage bin, wherein a transfer position is arranged in the storage bin, and the first robot is used for moving the tip box between the storage position and the transfer position; and a second robot arranged in the storage bin and capable of moving between the storage bin and the sample adding bin, and used for moving the tip box between the transfer position and the sample adding bin.

3. The working pod system of a tip box of claim 2, wherein, The working warehouse system of the tip box further comprises: a supporting plate arranged in the storage bin, wherein the supporting plate is provided with the transfer position and an avoiding opening for avoiding the second robot.

4. The working pod system of tip boxes of claim 1, wherein, The storage rack is provided with a new box area and a recycling area, and the new box area and the recycling area are both provided with a plurality of storage positions, the new box area is used for storing the non-empty tip box, and the recycling area is used for storing the empty tip box.

5. The working pod system of pick-up heads' magazine of claim 1, characterized in that, The working warehouse system of the tip box further comprises: a linear guide rail arranged on the inner wall of the storage bin and extending to the bin opening of the storage bin; and a linear sliding block slidingly arranged on the linear guide rail, and the storage rack is arranged on the linear sliding block.

6. The working pod system of pick-up heads' magazine of claim 1, characterized in that, The working warehouse system of the tip box further comprises: a material detection element arranged on the transfer robot, and used for detecting the number of the tip box, the position of the tip box and / or the specification of the tip in the tip box.

7. The working pod system of a tip box of claim 1, wherein, The working warehouse system of the tip box further comprises: a carrier provided with a through hole and a placing position, the through hole penetrates through the placing position, the shell is provided with a communication opening, the communication opening communicates the sample adding bin and the storage bin, the carrier is arranged on the communication opening, and the through hole is coincident with the communication opening.

8. The working pod system of a tip box of claim 7, wherein, The working warehouse system of the tip box further comprises: a locking element movably arranged on the carrier and located at the opposite ends of the placing position, and used for pressing the tip box to limit the tip box in the placing position.

9. The working pod system of a tip box of claim 8, wherein, The locking element comprises: a guide block arranged on the carrier and provided with a guide channel, wherein the guide channel is directed to the placing position; a resilient element arranged in the guide channel, wherein one end of the resilient element away from the placing position is connected with the guide block; and a pressing block slidingly arranged in the guide channel and connected with the other end of the resilient element, and the other end of the pressing block is exposed from the guide channel.

10. The working pod system of claim 7, wherein, The size of the through hole in the y-axis direction is greater than the width of the tip box and less than the length of the tip box, and the size of the through hole in the x-axis direction is greater than the width of the tip box and greater than the length of the tip box; or the size of the through hole in the y-axis direction is greater than the width of the tip box and greater than the length of the tip box, and the size of the through hole in the x-axis direction is greater than the width of the tip box and less than the length of the tip box. 11.A method for transporting a tip box, using the work station system of any one of claims 1 to 10, comprising the steps of: controlling the first robot to grab a tip box in which tips of a corresponding specification are placed; controlling the first robot to move the tip box to a transfer position; controlling the second robot to grab the tip box at the transfer position and move to below a communication port; controlling the second robot to pass through the communication port so that the tip box enters the sample loading station; controlling the second robot to rotate 90 degrees and move towards a storage station so that the tip box is placed in a placement position.

12. The method of transporting a tip box of claim 11, wherein, An inner wall of the storage station is provided with a locking switch and a position detection switch, the locking switch is used to lock or release a storage rack, and the position detection switch is used to detect whether the storage rack is reset; The method further comprises: controlling the locking switch to lock the storage rack when the position detection switch detects that the storage rack is reset, and controlling a material detection element to detect the number and position of the tip box on the storage rack and the specification of the tips in the tip box.

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