Soybean ochratoxin full-automatic detection device and use method

Abstract

The invention discloses a full-automatic soybean ochratoxin detection device and a use method, the full-automatic soybean ochratoxin detection device comprises three areas on a workbench, namely a sample area, a mixing area and a reaction area; a plurality of test tubes for loading samples to be detected are placed in the sample area; a material mixing mechanism is arranged in the material mixing area; a constant-temperature incubator is arranged in the reaction area; a flexible clamping jaw is integrated at the end part of the mechanical arm on one side of the workbench, and a test tube is grabbed by the flexible clamping jaw to move among the three areas; the sampling needle is used for absorbing the reacted sample for multiple times; the titrating head is used for adding a detection reagent into the test tube loaded with the sample to be detected; and the identification camera is used for identifying the labels of the test tubes through shooting of the identification camera so as to distinguish different to-be-detected samples. By integrating the flexible clamping jaw, the sampling needle, the titrating head and the identification camera, unmanned detection of the whole process of loading, mixing, reacting and sampling of a sample is realized, the labor cost is remarkably reduced, the detection efficiency is improved, and meanwhile, automatic clean detection is really realized.

Description

Technical Field

[0001] This invention relates to the technical field of ochratoxin detection devices, and particularly to a fully automated detection device for soybean ochratoxin and its usage method. Background Technology

[0002] Ochratoxin is a toxin produced by the fungi *Aspergillus ochraceus* and several *Penicillium* fungi. It has been proven to damage the kidneys of animals and humans and is also a carcinogen. Mycotoxin poisoning mostly occurs through contaminated grains, oil crops, and fermented foods. Mycotoxin poisoning often exhibits distinct local and seasonal characteristics, with complex clinical manifestations including acute and chronic poisoning, as well as carcinogenic, teratogenic, and mutagenic effects. Furthermore, poultry fed with these grains can also be contaminated. Therefore, to protect public health, it is essential to conduct hygiene testing research on OTA in food.

[0003] Currently, there are various methods for determining ochratoxin, such as thin-layer chromatography (TLC) with a sensitivity of 10 μg / mL, high-performance liquid chromatography (HPLC) with a sensitivity of 10 μg / mL, and immunofluorescence staining (sensitivity of 0.025 μg / mL). However, these detection methods all rely on manual operation. When large-scale testing is required, the low efficiency of manual testing becomes apparent. Furthermore, due to the unavoidable manual operation, even in clean laboratories, truly automated clean testing cannot be achieved. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automated detection device and method for soybean ochratoxin, which, in conjunction with a robotic arm, truly achieves automated and clean detection of soybean ochratoxin.

[0005] To solve the above-mentioned technical problems, the present invention provides a fully automatic detection device for soybean ochratoxin, including a workbench, which is divided into three areas: a sample area, a mixing area, and a reaction area. Multiple test tubes containing samples to be tested are placed in the sample area; A mixing mechanism is provided in the mixing area to mix the sample to be tested and the reagent in the test tube evenly. A constant temperature incubator is set up in the reaction zone, and the well-mixed sample is kept at a constant temperature and allowed to react in the constant temperature incubator. A robotic arm is also configured on one side of the workbench, and the end of the robotic arm integrates: A flexible gripper is used to grasp the test tube and move it between three areas; A sampling needle is used to repeatedly draw up the sample after the reaction; A titration head through which test reagents are added to a test tube containing the sample to be tested; A recognition camera is used to capture images of the labels on the test tubes to distinguish different samples to be tested.

[0006] Preferably, a test tube rack is placed in the sample area, and multiple downward-sloping test tube slots are opened on the test tube rack, with multiple test tube arrays arranged in the test tube slots of the test tube rack; Each test tube contains a separate sample to be tested, and a label for identification is affixed to the outer wall of the test tube.

[0007] Preferably, the mixing mechanism includes a mixing motor, a gearbox, a turntable, and a mixing test tube rack; The output end of the mixing motor is connected to the input end of the gearbox, and the output end of the gearbox is connected to the turntable. Under the action of the mixing motor, the turntable is driven to rotate. The mixing test tube rack is horizontally installed on the turntable, and the test tubes are placed inside the mixing test tube rack and rotate with the turntable.

[0008] Preferably, the mixing test tube rack is a rotating test tube rack, with multiple mixing troughs evenly distributed around the central axis of the mixing test tube rack, which can hold multiple test tubes at the same time.

[0009] Preferably, the constant temperature incubator is equipped with a water bath, which uses circulating water as a heat transfer medium to achieve constant temperature, and a constant temperature bath is provided above the constant temperature incubator. The test tube is inserted into the water bath through the constant temperature bath to achieve constant temperature of the sample in the test tube.

[0010] Preferably, the flexible gripper includes two symmetrically arranged claw fingers, and both claw fingers are multi-jointed claw fingers, with adjacent jointed claw fingers hinged together by a pin. The inner sides of the two claws are provided with elastic air bladders, which contact the test tube.

[0011] Preferably, the sampling needle is installed on one side of the end of the robotic arm and includes a needle tip and a quick-change connector. One end of the quick-change connector is connected to the needle tip, and the other end is connected to an external negative pressure sampling tube. The sample after reaction in the test tube is extracted by an external sampling pump.

[0012] Preferably, the titration head is installed below the end of the robotic arm and includes a titration needle and a threaded connector. One end of the threaded connector is connected to the titration needle, and the other end is connected to an external reagent tube, through which test reagents are added to the test tube by an external reagent pump.

[0013] Preferably, the identification camera is mounted above the end of the robotic arm and includes a line scan camera and a supplementary light source. The line scan camera identifies the type of sample to be tested by scanning the label on the test tube.

[0014] The present invention also provides a method for using a fully automated soybean ochratoxin detection device, comprising the following steps: Step A: First, place the samples to be tested into individual test tubes and attach labels to the outer walls of the test tubes. Then, arrange the test tubes in the test tube rack and place the test tube rack in the sample area. Step B: Then, the two claws of the flexible gripper pick up one of the test tubes and scan the label on the outer wall of the test tube with a line scan camera to identify and record the test sample in the test tube; Step C: Next, under the action of the robotic arm, the flexible gripper moves to the top of the mixing mechanism and places the test tubes into the mixing tank of the mixing test tube rack. Then, multiple test tubes are transferred to the corresponding mixing tanks in sequence. Step D: Then, under the action of the robotic arm, the titration head moves above the mixing mechanism and adds the test reagent into the test tube; Step E: Next, start the mixing mechanism, which drives the turntable and mixing test tube rack to rotate via the mixing motor. This rotation process alternates between forward and reverse rotation. Step F: After shaking evenly, the flexible gripper moves above the mixing mechanism again, grabs the test tube and places it in the constant temperature bath of the constant temperature incubator, and the sample in the test tube reacts at a constant temperature. Step G: Then, the sampling needle is moved above the constant temperature incubator by the robotic arm and inserted into the test tube for sampling and analysis; the specific sampling method is to take a sample once every certain reaction time.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention integrates flexible grippers, sampling needles, titration heads, and recognition cameras to achieve fully unmanned detection of samples from loading, mixing, reaction, and sampling, significantly reducing labor costs and improving detection efficiency, while truly realizing automated clean detection; 2. This invention integrates a robotic arm with a flexible gripper, sampling needle, titration head, and recognition camera, enabling simultaneous completion of multiple operations (such as gripping test tubes, adding reagents, and scanning codes), thereby shortening the detection cycle and making it suitable for large-scale sample processing. Furthermore, this invention is specifically designed for the detection of ochratoxin in soybeans, meeting the high-throughput screening needs of grain processing enterprises and quality inspection institutions. Attached Figure Description

[0016] Figure 1 This is a first-view structural schematic diagram of the fully automated soybean ochratoxin detection device provided by the present invention; Figure 2This is a second-view structural schematic diagram of the fully automated soybean ochratoxin detection device provided by the present invention; Figure 3 This is a top view of the fully automated soybean ochratoxin detection device provided by the present invention; Figure 4 This is a front view of the fully automated soybean ochratoxin detection device provided by the present invention; Figure 5 This is a layout diagram of the robotic arm end effector provided by the present invention; Figure 6 This is a schematic diagram of the arrangement of test tubes in a test tube rack provided by the present invention; Figure 7 This is a schematic diagram of the mixing mechanism provided by the present invention; Figure 8 This is a schematic diagram of the structure of the constant temperature incubator provided by the present invention; Figure 9 This is a schematic diagram of the flexible gripper provided by the present invention; Figure 10 This is a schematic diagram of the sampling needle and titration head provided by the present invention; Figure 11 This is a schematic diagram of the structure of the recognition camera provided by the present invention.

[0017] In the diagram: 1. Workbench; 101. Sample area; 102. Mixing area; 103. Reaction area; 2. Test tube; 3. Mixing mechanism; 301. Mixing motor; 302. Gearbox; 303. Turntable; 304. Mixing test tube rack; 3041. Mixing tank; 4. Constant temperature incubator; 401. Constant temperature bath; 5. Robotic arm; 6. Flexible gripper; 601. Claw finger; 602. Elastic airbag; 7. Sampling needle; 701. Needle; 702. Quick-change connector; 8. Titration head; 801. Titration needle; 802. Threaded connector; 9. Recognition camera; 901. Line scan camera; 902. Supplemental light source; 10. Test tube rack. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0019] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] In addition, the features, operations, and characteristics described in the specification can be combined in any suitable manner to form various embodiments. Similarly, the steps or actions described in the method can be rearranged in a manner that is readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the purpose of clearly describing a particular embodiment and are not necessarily required orders, unless otherwise stated that a particular order must be followed. Example

[0022] This invention provides a fully automated detection device for soybean ochratoxin. Please refer to [link / reference]. Figure 1-4 The system includes a workbench 1, which is divided into three areas: a sample area 101, a mixing area 102, and a reaction area 103. Multiple test tubes 2 containing samples to be tested are placed in the sample area 101. A mixing mechanism 3 is provided in the mixing area 102 to mix the samples to be tested and reagents in the test tubes 2 evenly. A constant temperature incubator 4 is provided in the reaction area 103, and the evenly mixed samples are kept at a constant temperature and allowed to react in the constant temperature incubator 4.

[0023] For details, please refer to the following: Figure 5The workbench 1 is also equipped with a robotic arm 5 on one side, and the end of the robotic arm 5 is integrated with: a flexible gripper 6, which grasps the test tube 2 and moves it between three areas; a sampling needle 7, which repeatedly draws up the sample after the reaction; a titration head 8, which adds the test reagent to the test tube 2 containing the sample to be tested; and an identification camera 9, which takes pictures of the label of the test tube 2 to distinguish different samples to be tested.

[0024] For further details, please refer to Figure 6 The sample area 101 contains a test tube rack 10, and the test tube rack 10 has multiple downward-sloping test tube slots. Multiple test tubes 2 are arranged in an array within these slots. Each test tube 2 contains a sample to be tested, and a label for identification is affixed to its outer wall. The inclined slot design of the test tube rack 10 facilitates test tube insertion and removal, and the exposed labels are easy to scan. Each functional module operates independently, reducing the risk of fault correlation.

[0025] Furthermore, such as Figure 7 As shown, the mixing mechanism 3 includes a mixing motor 301, a gearbox 302, a turntable 303, and a mixing test tube rack 304. The output end of the mixing motor 301 is connected to the input end of the gearbox 302, and the output end of the gearbox 302 is connected to the turntable 303. Under the action of the mixing motor 301, the turntable 303 is driven to rotate. The mixing test tube rack 304 is horizontally mounted on the turntable 303, and the test tubes 2 are placed inside the mixing test tube rack 304, rotating with the turntable 303. This mixing mechanism uses a motor to drive the turntable and rotating test tube rack, supporting alternating forward and reverse motion to ensure that the sample and reagent are fully mixed and eliminate errors from manual mixing.

[0026] In this embodiment, the mixing test tube rack 304 is a rotating test tube rack, with multiple mixing grooves 3041 evenly distributed around the central axis of the mixing test tube rack 304, which can hold multiple test tubes 2 at the same time.

[0027] Furthermore, such as Figure 8 As shown, the constant temperature incubator 4 is equipped with a water bath, which uses circulating water as the heat transfer medium to achieve constant temperature. A constant temperature bath 401 is located above the incubator 4, through which the test tube 2 is inserted into the water bath to maintain the constant temperature of the sample inside the test tube 2. This constant temperature incubator 4 uses circulating water as the heat transfer medium, resulting in uniform temperature distribution and high temperature control accuracy. The constant temperature bath 401 also helps to fix the position of the test tube, preventing temperature fluctuations caused by shaking.

[0028] Furthermore, such as Figure 9As shown, the flexible gripper 6 includes two symmetrically arranged claw fingers 601, both of which are multi-jointed claw fingers, and adjacent jointed claw fingers are hinged together by pins; the inner sides of the two claw fingers 601 are provided with elastic air bladders 602, which contact the test tube 2. In this embodiment, the flexible gripper adopts a multi-jointed structure and elastic air bladders, conforming to the shape of the test tube, ensuring stable gripping while avoiding squeezing and damage, and adapting to test tubes of different sizes.

[0029] For further details, please refer to Figure 10 The sampling needle 7 is installed on one side of the end of the robotic arm 5, including a needle tip 701 and a quick-change connector 702. One end of the quick-change connector 702 is connected to the needle tip 701, and the other end is connected to an external negative pressure sampling tube. The sample after reaction in the test tube 2 is extracted by an external sampling pump.

[0030] The titration head 8 is installed below the end of the robotic arm 5 and includes a titration needle 801 and a threaded connector 802. One end of the threaded connector 802 is connected to the titration needle 801, and the other end is connected to an external reagent tube. An external reagent pump adds test reagents to the test tube 2. In this embodiment, the sampling needle 7 is equipped with a negative pressure system and a quick-change connector, enabling quantitative extraction of trace samples. The titration head 8 connects to the reagent tube via the threaded connector, ensuring precise dosage control and reducing waste.

[0031] For further details, please refer to Figure 11 The identification camera 9 is mounted above the end of the robotic arm 5 and includes a line scan camera 901 and a supplementary light source 902. The line scan camera 901 identifies the type of sample to be tested by scanning the label on the test tube 2.

[0032] This invention integrates a robotic arm with a flexible gripper, sampling needle, titration head, and recognition camera, enabling simultaneous completion of multiple operations (such as gripping test tubes, adding reagents, and scanning codes), thereby shortening the detection cycle and making it suitable for processing large batches of samples. Furthermore, this invention is specifically designed for the detection of ochratoxin in soybeans, meeting the high-throughput screening needs of grain processing enterprises and quality inspection institutions.

[0033] The present invention also provides a method for using a fully automated soybean ochratoxin detection device, comprising the following steps: Step A: First, place the samples to be tested one by one into individual test tubes 2, and affix labels to the outer walls of test tubes 2. Then, arrange the test tubes 2 in the test tube rack 10, and place the test tube rack 10 in the sample area 101. Step B: Then, the two claws 601 of the flexible gripper 6 pick up one of the test tubes 2, and the label on the outer wall of the test tube 2 is scanned and identified by the line scan camera 901 to identify and record the test sample in the test tube; Step C: Next, under the action of the robotic arm 5, the flexible gripper 6 moves above the mixing mechanism 3 and places the test tube 2 into the mixing tank 3041 of the mixing test tube rack 304. Then, multiple test tubes 2 are transferred to the corresponding mixing tank 3041 in sequence. Step D: Then, under the action of the robotic arm 5, the titration head 8 moves above the mixing mechanism 3 and adds the test reagent into the test tube 2; Step E: Next, start the mixing mechanism 3, which drives the turntable 303 and the mixing test tube rack 304 to rotate via the mixing motor 301. The rotation process alternates between forward and reverse rotation. Step F: After shaking evenly, the flexible gripper 6 moves above the mixing mechanism 3 again, grabs the test tube 2 and places it in the constant temperature bath 401 of the constant temperature incubator 4, and the sample in the test tube 2 reacts at a constant temperature. Step G: Then, the sampling needle 7 is moved above the constant temperature incubator 4 under the action of the robotic arm 5 and inserted into the test tube 2 for sampling and analysis; the specific sampling method is to take a sample once every certain reaction time.

[0034] This invention integrates flexible grippers, sampling needles, titration heads, and recognition cameras to achieve fully unmanned testing of samples from loading, mixing, reaction, and sampling, significantly reducing labor costs and improving testing efficiency, while truly realizing automated cleanroom testing.

[0035] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A fully automated detection device for soybean ochratoxin, characterized in that, It includes a workbench (1), which is divided into three areas: a sample area (101), a mixing area (102), and a reaction area (103). Multiple test tubes (2) containing samples to be tested are placed in the sample area (101); A mixing mechanism (3) is provided in the mixing area (102) to mix the sample to be tested and the reagent in the test tube (2) evenly through the mixing mechanism (3); A constant temperature incubator (4) is provided in the reaction zone (103), and the uniformly mixed sample is kept at a constant temperature and reacted in the constant temperature incubator (4); A robotic arm (5) is also provided on one side of the workbench (1), and the end of the robotic arm (5) is integrated with: The flexible gripper (6) grips the test tube (2) and moves it between three regions. The sampling needle (7) is used to repeatedly draw up the sample after the reaction; A titration head (8) is used to add test reagents into a test tube (2) containing the sample to be tested. The identification camera (9) is used to capture images of the labels on the test tubes (2) to distinguish different samples to be tested.

2. The fully automated soybean ochratoxin detection device as described in claim 1, characterized in that, A test tube rack (10) is placed in the sample area (101), and multiple downward inclined test tube slots are provided on the test tube rack (10). Multiple test tubes (2) are arranged in an array in the test tube slots of the test tube rack (10). Each test tube (2) contains a sample to be tested individually, and a label for identification is provided on the outer wall of the test tube (2).

3. The fully automated soybean ochratoxin detection device as described in claim 1, characterized in that, The mixing mechanism (3) includes a mixing motor (301), a gearbox (302), a turntable (303), and a mixing test tube rack (304). The output end of the mixing motor (301) is connected to the input end of the gearbox (302), and the output end of the gearbox (302) is connected to the turntable (303). Under the action of the mixing motor (301), the turntable (303) is driven to rotate. The mixing test tube rack (304) is horizontally installed on the turntable (303), and the test tube (2) is placed inside the mixing test tube rack (304) and rotates with the turntable (303).

4. The fully automated soybean ochratoxin detection device as described in claim 3, characterized in that, The mixing test tube rack (304) is a rotating test tube rack, with multiple mixing troughs (3041) evenly distributed around the central axis of the mixing test tube rack (304), which can hold multiple test tubes (2) at the same time.

5. The fully automated soybean ochratoxin detection device as described in claim 1, characterized in that, The constant temperature incubator (4) is equipped with a water bath, which uses circulating water as a heat transfer medium to achieve constant temperature. A constant temperature bath (401) is provided above the constant temperature incubator (4). The test tube (2) is inserted into the water bath through the constant temperature bath (401) to achieve constant temperature of the sample in the test tube (2).

6. The fully automated soybean ochratoxin detection device as described in claim 1, characterized in that, The flexible gripper (6) includes two symmetrically arranged claw fingers (601), and both claw fingers (601) are multi-joint claw fingers, with adjacent joint claw fingers hinged together by a pin. The inner sides of the two claws (601) are provided with elastic air bladders (602), which contact the test tube (2) through the elastic air bladders (602).

7. The fully automated soybean ochratoxin detection device as described in claim 1, characterized in that, The sampling needle (7) is installed on one side of the end of the robotic arm (5), including a needle (701) and a quick-change connector (702). One end of the quick-change connector (702) is connected to the needle (701), and the other end is connected to an external negative pressure sampling tube. The sample after reaction in the test tube (2) is extracted by an external sampling pump.

8. The fully automated soybean ochratoxin detection device as described in claim 1, characterized in that, The titration head (8) is installed below the end of the robotic arm (5) and includes a titration needle (801) and a threaded connector (802). One end of the threaded connector (802) is connected to the titration needle (801), and the other end is connected to an external reagent tube. The test reagent is added to the test tube (2) by an external reagent pump.

9. The fully automated soybean ochratoxin detection device as described in claim 1, characterized in that, The identification camera (9) is mounted above the end of the robotic arm (5) and includes a line scan camera (901) and a supplementary light source (902). The line scan camera (901) identifies the type of sample to be tested by scanning the label on the test tube (2).

10. A method of using a fully automated soybean ochratoxin detection device, characterized in that, Includes the following steps: Step A: First, place the samples to be tested one by one into individual test tubes (2), and affix labels to the outer wall of the test tubes (2). Then, arrange the test tubes (2) in the test tube rack (10) and place the test tube rack (10) in the sample area (101). Step B: Then, the two claws (601) of the flexible gripper (6) grip one of the test tubes (2), and the label on the outer wall of the test tube (2) is scanned and identified by the line scan camera (901) to identify and record the test sample in the test tube; Step C: Next, under the action of the robotic arm (5), the flexible gripper (6) moves to the top of the mixing mechanism (3) and places the test tube (2) in the mixing tank (3041) of the mixing test tube rack (304). Then, multiple test tubes (2) are transferred to the corresponding mixing tank (3041) in sequence. Step D: Then, under the action of the robotic arm (5), the titration head (8) moves above the mixing mechanism (3) and adds the test reagent into the test tube (2); Step E: Next, start the mixing mechanism (3), and drive the turntable (303) and the mixing test tube rack (304) to rotate through the mixing motor (301). The rotation process alternates between forward and reverse rotation. Step F: After shaking evenly, the flexible gripper (6) moves again above the mixing mechanism (3) to grab the test tube (2) and place it in the constant temperature bath (401) of the constant temperature incubator (4). The sample in the test tube (2) reacts at a constant temperature. Step G: Then the sampling needle (7) is moved above the constant temperature incubator (4) under the action of the robotic arm (5) and inserted into the test tube (2) for sampling and analysis; the specific sampling method is to take a sample once every certain reaction time.

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