A vertical mixing incubation method, device and storage medium

Abstract

This invention discloses a vertical mixing and incubation method, equipment, and storage medium, applied to a vertical mixing and incubation device. The vertical mixing and incubation device includes a housing, a door, a loading adapter plate, a position transmission mechanism, and a rotation drive mechanism. The vertical mixing and incubation method includes: upon receiving a mixing and incubation command, controlling the door to open; controlling the position transmission mechanism to move the loading adapter plate from a first position to a second position; placing the sample well plate container to be mixed and incubated onto the loading adapter plate using an external robotic arm; controlling the position transmission mechanism to move the loading adapter plate carrying the sample well plate container from the second position back to the first position; controlling the door to close; and controlling the rotation drive mechanism to drive the loading adapter plate to perform vertical rotational movement to vertically mix and incubate the sample in the sample well plate container. This method enables fully automated mixing and incubation, eliminating reliance on manual labor and improving the efficiency of mixing and incubation.

Description

Technical Field

[0001] This invention relates to the field of automated biological sample culture, preparation, and detection technology, specifically to a vertical mixing and incubation method, equipment, and storage medium. Background Technology

[0002] Isothermal mixing equipment is essential for experiments involving the culture and incubation of biological samples, especially in studies involving the interaction of proteins, viruses, or different molecules within the sample. Effective mixing and incubation of samples plays a crucial role in the validity and success of experimental results. Currently, for studies on protein or sample interactions, sample mixing and incubation mainly employ linear / circular oscillation, rocking, and vertical rotation methods. Oscillating mixing is limited by the amplitude and frequency of the oscillation, particularly when using 1.5ml or smaller containers, and is easily affected by the sedimentation coefficient of the sample or magnetic beads. At low rotation speeds, it cannot achieve sufficient mixing, while increasing the oscillation frequency can easily lead to non-specific binding due to excessive oscillation. Rocking mixing is limited by insufficient tilt angle (usually less than 45°), making effective mixing impossible. Vertical mixing is currently the best solution for achieving effective mixing and incubation of samples. However, existing vertical mixing equipment still has certain limitations, affecting the success rate and reliability of sample interaction detection experiments.

[0003] Existing vertical mixing equipment is mainly compatible with centrifuge tube adapters in the 1.5-50ml range. Their dimensions do not conform to the standard well plate specifications, so they cannot effectively automate sample loading and unloading. Furthermore, the centrifuge tube adapters themselves are not easy to grasp, and the robotic arm cannot locate the adapters, so manual removal and placement of the centrifuge tube adapters are usually required.

[0004] Therefore, there is an urgent need for a vertical mixing and incubation method that can achieve unmanned operation of the entire mixing and incubation process, without relying on manual labor, and improve the efficiency of mixing and incubation. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this application provides a vertical mixing and incubation method, equipment, and storage medium, which are applied to a vertical mixing and incubation device. This enables fully automated mixing and incubation without relying on manual labor and improves the efficiency of mixing and incubation.

[0006] To address the above problems, the present invention provides the following technical solution:

[0007] In a first aspect, embodiments of this application provide a vertical mixing and incubation method, applied to a vertical mixing and incubation apparatus. The vertical mixing and incubation apparatus includes a housing, a hatch, a loading adapter plate, a position transmission mechanical mechanism, and a rotation drive mechanism. The vertical mixing and incubation method includes: Upon receiving a mixing and incubation command, the control hatch opens; The control position transmission mechanism moves the loading adapter plate from the first position to the second position; The sample well plate container to be mixed and incubated is placed on the loading adapter plate by an external robotic arm; The control position transmission mechanism moves the loading adapter plate carrying the sample well plate container from the second position back to the first position; Control hatch closed; The control rotation drive mechanism drives the loading adapter plate to rotate vertically, so as to vertically mix and incubate the sample in the sample well plate container.

[0008] In some embodiments, the vertical mixing incubation apparatus further includes an electrically operated locking device, and the method further includes: An external robotic arm places the sample well plate container to be mixed and incubated onto the loading adapter plate, and controls the electric locking device to lock the sample well plate container.

[0009] In some embodiments, the position transmission mechanism includes two guide rails and a first drive motor. The guide rails include moving components. Controlling the position transmission mechanism to move the loading adapter plate from a first position to a second position includes: The first drive motor drives the moving parts of the two guide rails to move horizontally in sync, thereby moving the loading adapter plate from the first position to the second position.

[0010] In some implementations, the first position is located inside the container, and the second position is set corresponding to the hatch.

[0011] In some embodiments, the vertical mixing incubation apparatus further includes a temperature control device, and after the control door is closed, the method further includes: Turn on the temperature control device to adjust and maintain the temperature inside the chamber at the preset incubation temperature.

[0012] In some embodiments, the electrically operated locking device includes an electromagnet and a mating part. When an external robotic arm places the sample well plate container to be mixed and incubated onto the loading adapter plate, and controls the electrically operated locking device to lock the sample well plate container, the following steps are included: When the sample well plate container to be mixed and incubated is placed on the loading adapter plate by an external robotic arm, the electromagnet is energized, driving the mating part to move, thereby clamping the sample well plate container and controlling the electric locking device to lock the sample well plate container.

[0013] In some embodiments, after vertically mixing and incubating the sample within the sample well plate container, the method further includes: When vertical mixing and incubation is complete, control the rotary drive mechanism to stop moving; Control hatch opens; The control position transmission mechanism moves the loading adapter plate from the first position to the second position; Control the electric locking device to release the lock on the sample well plate container; The sample well plate container that has been mixed and incubated is removed from the loading adapter plate by an external robotic arm; The control position transmission mechanism moves the empty loading adapter plate back to the first position; The control hatch is closed.

[0014] In some embodiments, when there are multiple mounting adapter plates, each mounting adapter plate is connected to a position transmission mechanism and a rotary drive mechanism, the method including: Upon receiving a mixing and incubation command, the control hatch opens; The control mechanism of multiple positions synchronously moves the corresponding loading adapter plate from the first position to the second position; The sample well plate container to be mixed and incubated is placed on the top loading adapter plate using an external robotic arm. The control position transmission mechanism moves the loading adapter plate, which carries the sample well plate container, from the second position back to the first position; Using an external robotic arm, the sample well plate container is placed on the loading adapter plate in the second position of the next layer in a top-to-bottom sequence. After placement, the loading adapter plate of that layer is controlled to move back to the first position. Repeat the above steps until all layers of the loading adapter board have completed sample loading and moved back to the first position; Control hatch closed; The control rotation drive mechanism drives the loading adapter plate to rotate vertically, so as to vertically mix and incubate the sample in the sample well plate container.

[0015] Secondly, embodiments of this application provide a vertical mixing and incubation device, the vertical mixing and incubation device comprising: At least one processor; and, A memory that is communicatively connected to at least one processor; wherein, The memory stores instructions that can be executed by at least one processor to enable the at least one processor to perform the vertical mixing incubation method as described in the first aspect.

[0016] Thirdly, embodiments of this application provide a computer-readable storage medium storing an executable program, which is executed by a processor to implement the vertical mixing incubation method as described in the first aspect.

[0017] This application provides a vertical mixing and incubation method, a vertical mixing and incubation device, and a storage medium. A loading adapter plate is used to support the sample well plate container to be mixed and incubated. By allowing the loading adapter plate to move between a first position within the chamber and a second position convenient for robotic arm operation, the robotic arm can automate sample loading and unloading. When the loading adapter plate is in the second position, the robotic arm can easily store and retrieve samples, improving the automation level and efficiency of the operation. When the loading adapter plate is in the first position within the chamber, it can be vertically rotated by a rotation drive device to ensure the normal operation of the vertical mixing and incubation process. This overcomes the reliance on manual operation in traditional methods; the entire process from opening the door to vertical mixing and incubation is automated and requires no manual intervention. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the vertical mixing and incubation device of the present invention.

[0019] Figure 2 This is a schematic diagram of the loading adapter plate of the present invention.

[0020] Figure 3 This is a flowchart of the vertical mixing and incubation method of the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of a vertical mixing and incubation device provided in an embodiment of this application.

[0022] Figure 5 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application.

[0023] Figure label: 100. Vertical mixing and incubation device; 1. Container body; 2. Door; 21. Door switch; 3. Loading adapter plate; 31. Recessed plate position; 4. Position transmission mechanism; 5. Rotary drive mechanism; 51. Rotary shaft. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] This application provides a vertical mixing and incubation method, applied to a vertical mixing and incubation device, which includes a housing, a hatch, a loading adapter plate, a position transmission mechanical mechanism, and a rotary drive mechanism.

[0027] Figure 1 This is a schematic diagram of the vertical mixing and incubation device 100 of the present invention, as shown below. Figure 1 As shown, the vertical mixing and incubation device 100 includes a housing 1, a hatch 2, a loading adapter plate 3, a position transmission mechanism 4, and a rotary drive mechanism 5. Optionally, the housing 1 has a length, width, and height of 800 mm × 600 mm × 1300 mm.

[0028] The hatch 2 is located on the front of the housing 1; the sample loading adapter plate 3 is located inside the housing 1 and is used to carry the sample well plate containers. Each sample well plate container carries the sample to be mixed and incubated. The sample well plate containers conform to standard specifications; the position transmission mechanism 4 is located inside the housing 1 and is connected to the sample loading adapter plate 3. It is used to drive the sample loading adapter plate 3 to reciprocate between a first position and a second position. The first position is located inside the housing 1, and the second position is set corresponding to the hatch 2; the rotation drive mechanism 5 is located inside the housing 1 and is connected to the sample loading adapter plate 3. It is used to drive the sample loading adapter plate 3 to perform vertical rotation.

[0029] This technical solution uses a position transmission mechanism 4 to drive the sample loading adapter plate 3 to reciprocate between a first position and a second position. The first position is located inside the housing 1, and the second position is set corresponding to the hatch 2. The second position is convenient for the robotic arm to operate and is equipped with the sample loading adapter plate 3. The sample loading adapter plate 3 replaces the original multiple independent centrifuge tubes, making it easier for the robotic arm to grasp them. Vertical mixing is achieved through a rotation drive mechanism 5.

[0030] Optional, such as Figure 1 As shown, there are 3 sample loading adapter plates 3, which are placed in the box 1 in a multi-layer form. Each sample loading adapter plate 3 is connected to a position transmission mechanical mechanism 4 and a rotary drive mechanism 5.

[0031] Optionally, each sample loading adapter plate 3 includes multiple recessed plate positions 31 for placing sample well plate containers.

[0032] Optionally, in the second position, each recessed plate position of the sample loading adapter plate 3 is moved outside the hatch 2 to facilitate the robotic arm to grip and place the sample well plate container.

[0033] Optionally, the material of the sample loading adapter board 3 is PVC.

[0034] refer to Figure 2 Specifically, the recessed plate position 31 can be used to place a deep well plate. The deep well plate conforms to the standard SBS specification. There are 8 recessed plate positions, arranged in 2 rows and 4 columns. Each recessed plate position is used to place one deep well plate. Each deep well plate has multiple wells for accommodating samples. Before the robotic arm picks up the deep well plate, each well has been loaded with the sample to be mixed and incubated and sealed with a film.

[0035] The recessed plate position 31 can also be used to place sample well plate containers of different throughput specifications, such as shallow well plates. The shallow well plates conform to the standard SBS specifications. The recessed plate position 31 can also be used to place culture flasks.

[0036] Optionally, the hatch 2 is an automated hatch that can open automatically. Preferably, the hatch 2 is an automatic vertical lifting hatch that opens by pushing upwards, saving space and facilitating operation by other equipment, such as a robotic arm for gripping operations. Optionally, the hatch 2 is equipped with a hatch switch 21, which is a touch-screen LED display. The hatch 2 is controlled by an independent stepper motor, and the touch-screen LED display allows users to control the opening and closing of the hatch 2 via a touchscreen.

[0037] In some implementations, such as Figure 1 As shown, the position transmission mechanism 4 includes two guide rails (only one guide rail is shown in the figure) and a first drive motor. The guide rails are multi-segment guide rails, each including a moving component. The two guide rails are respectively installed on the two side walls of the housing 1, which are the two inner side walls near the hatch 2. Specifically, the guide rails can be two-segment or three-segment guide rails. Taking a two-segment guide rail as an example, the two-segment guide rail includes a fixed rod, a moving component, and a connecting rod. The sample loading adapter plate 3 is connected to the moving rods of the two guide rails, and the fixed rods of the two guide rails are fixedly connected to the two side walls of the housing 1.

[0038] The first drive motor drives the moving rods of the two guide rails to move horizontally at the same time, thereby driving the sample loading adapter plate 3 to reciprocate between the first position and the second position.

[0039] This technical solution, by setting two guide rails and a first drive motor, can move the sample loading adapter plate 3 to a position that is convenient for the operation of the robotic arm, namely the second position, thereby cooperating with the robotic arm to realize the automated loading and unloading of samples.

[0040] In some embodiments, the sample loading adapter plate 3 is also equipped with an electric locking device for fixing the sample well plate container placed on it, so as to realize automatic clamping after the sample well plate container is loaded, and ensure accurate and firm loading and fixing of each sample well plate container.

[0041] This technical solution prevents the sample well plate container from falling off during rotation by setting up an electric locking device.

[0042] Optionally, the number of electric locking devices corresponds to the number of recessed positions on the sample loading adapter plate 3. At least one electric locking device is provided next to each recessed position.

[0043] In some embodiments, each electrically operated latching device includes an electromagnet, a transmission assembly, a mating part, and a resilient reset member. The transmission assembly is connected between the electromagnet's core and the mating part, converting the linear motion of the core into the linear extension motion of the latch. The mating part engages with a slot or pin hole on the sample plate container. The resilient reset member is connected to the latch or the transmission assembly, providing an elastic force to retract the latch. The electromagnet is connected to the mating part; when the sample plate container is placed in the recessed position, the electromagnet is energized, driving the latch to extend and lock against the force of the resilient reset member; when the electromagnet is de-energized, the resilient reset member drives the latch to retract and release.

[0044] In this technical solution, when the sample well plate container is placed in the recessed plate position, the electromagnet drives the mating part to clamp the sample well plate container, preventing the sample well plate container from falling off during rotation. When the electromagnet is de-energized, it drives the mating part to release, resulting in a fast response speed.

[0045] Optionally, the mating part can be a latch or a pin. Preferably, the latch, latch, and pin can all be made of metal.

[0046] Optionally, the sidewall of the sample plate container is provided with a slot or pin hole that matches the locking tongue or pin, thereby achieving precise and reliable mechanical interlocking when locked.

[0047] Optionally, when the sample well plate container is a deep-hole plate or a shallow-hole plate, the mating part is a horizontally positioned locking tongue, the elastic reset element is a spring, and the side wall of the deep-hole plate or shallow-hole plate is provided with a slot that matches the locking tongue. When the electromagnet is energized, it drives the locking tongue to extend horizontally and insert into the slot; when the electromagnet is de-energized, the locking tongue retracts under the action of the spring and disengages from the slot.

[0048] Optionally, when the sample is a culture flask, the robotic arm can easily grasp it because the culture flask is larger in volume than a centrifuge tube. The mating part consists of multiple claws, up to four, distributed around the recessed plate position. When the sample well plate container is placed in the recessed plate position, the electromagnet is energized, which drives the multiple claws to synchronously retract inward and hold the flask tightly. When the electromagnet is de-energized, the elastic reset element drives the multiple claws to synchronously open outward to release the culture flask.

[0049] In some embodiments, the locking mechanism includes a mating part, a cylinder that drives the mating part to move linearly, and a solenoid valve that controls the movement of the cylinder. When the sample loading adapter plate 3 moves to the second position, a signal is sent to the solenoid valve to activate it, driving the cylinder piston rod to extend and causing the mating part to insert into the slot or pin hole on the side of the sample loading adapter plate 3. When the sample needs to be removed from the box 1 after mixing, the sample loading adapter plate 3 moves to the second position, the solenoid valve is de-energized, the cylinder piston rod retracts, causing the mating part to disengage from the slot and releasing the constraint on the sample loading adapter plate 3.

[0050] In some embodiments, the rotary drive mechanism 5 includes a rotary shaft and a second drive motor. The sample loading adapter plate 3 is mounted on the rotary shaft, and the rotary shaft is driven to rotate by the second drive motor, thereby driving the sample loading adapter plate 3 to rotate.

[0051] This technical solution, by setting a rotating shaft and a second drive motor, can effectively rotate the sample loading adapter plate 3 when it is in the first position inside the box 1, so as to achieve the function of vertical mixing.

[0052] Optionally, when the position transmission mechanism 4 includes two guide rails and a first drive motor, the two ends of the rotating shaft are rotatably connected to the moving sections of the two guide rails. Bearings are installed at both ends of the rotating shaft, and the bearings are rotatably connected to the moving sections of the two guide rails respectively. The sample loading adapter plate 3 is fixedly installed on the rotating shaft.

[0053] Optionally, the speed range of the second drive motor is 0-100 rpm, which can be adjusted according to user needs. A roller is embedded in the rotating shaft, and a conveyor belt connects the rotating shaft and the second drive motor. The second drive motor drives the conveyor belt to rotate, thereby driving the rotating shaft to rotate.

[0054] In some embodiments, the vertical mixing and incubation apparatus 100 further includes a temperature control device 6 disposed within the chamber 1. The temperature range of the temperature control device 6 is 4-50°C, which meets the environmental temperature requirements for vertical mixing and incubation of samples, and users can customize the settings according to their needs.

[0055] In some embodiments, the rotation axis of the vertical mixing and incubation apparatus 100 and the sample loading adapter plate 3 are detachably connected. If other different sample well plate containers need to be adapted, the sample loading adapter plate 3 can be directly replaced, which is convenient and quick.

[0056] Optionally, a mounting base is provided in the middle of the rotating shaft. The mounting base has a T-slot, and a locking piece is installed at the end opening of the T-slot. The bottom of the sample loading adapter plate 3 is provided with a T-shaped protrusion that matches the mounting base. A locking pin is provided on the T-shaped protrusion. During installation, the T-shaped protrusion and the T-slot are locked together, and the locking piece cooperates with the locking pin to prevent the rotating shaft and the sample loading adapter plate 3 from separating when the rotating shaft drives the sample loading adapter plate 3 to rotate.

[0057] In some embodiments, the top wall inside the housing 1 is equipped with one ultraviolet sterilization lamp strip and one lighting lamp strip.

[0058] Please see Figure 3 , Figure 3 The flowchart of the vertical mixing and incubation method of the present invention is as follows: Figure 3 As shown, the vertical mixing and incubation method of the present invention includes steps S100 to S600, and the specific steps are as follows.

[0059] Step S100: Upon receiving the mixing and incubation command, the control hatch is opened.

[0060] In some embodiments, step S100 may further include loading multiple samples into multiple wells of a multiple sample well plate container and sealing them with a membrane to ensure that the samples do not spill out during subsequent vertical rotation.

[0061] Optionally, the vertical mixing and incubation device includes a first controller, and the hatch, position transmission mechanism, and rotary drive mechanism are all connected to the first controller. The external robotic arm includes a second main controller. Both the first controller of the vertical mixing and incubation device and the second main controller of the external robotic arm are connected to the control system. When the control system receives a mixing and incubation command, it sends an opening command to the first controller of the mixing and incubation device, at which point the first controller controls the hatch to open. Simultaneously, the control system sends a gripping preparation command to the second main controller under the external robotic arm, and the robotic arm is in a gripping preparation state.

[0062] Optionally, the vertical mixing and incubation device and the external robotic arm can be connected to the same control system via a communication interface. The control system can be a PLC or other host computer.

[0063] Optionally, a stepper motor is installed on the hatch, which smoothly lifts the hatch to the fully open position via a synchronous belt or rack and pinion mechanism. Specifically, the hatch can slide upwards without occupying the operating space of the robotic arm, so as to facilitate the operation of the robotic arm.

[0064] Step S200: Control the position transmission mechanism to move the loading adapter plate from the first position to the second position.

[0065] Optionally, after the hatch is opened, an opening signal is sent to the first controller of the vertical mixing and incubation device, thereby driving the position transmission mechanical mechanism to work.

[0066] Optionally, the aforementioned position transmission mechanism includes two guide rails and a first drive motor. The first drive motor drives the moving parts of the two guide rails to move horizontally synchronously, thereby moving the loading adapter plate from the first position to the second position.

[0067] Optionally, the first position is located inside the container 1, and the second position is set corresponding to the hatch 2.

[0068] Optionally, the guide rail drives the loading adapter plate to move a preset distance according to preset instructions, so as to ensure that the multiple recessed plate positions on the loading adapter plate are all outside the hatch, making it easier for the robotic arm to operate.

[0069] Step S300: The sample well plate container to be mixed and incubated is placed on the loading adapter plate by an external robotic arm.

[0070] Specifically, once the loading adapter plate reaches the second position and stops, the current position and posture of the robotic arm are fixed. Based on a preset program or visual recognition, the robotic arm uses its gripper to grasp the sample well plate container and move it to a predetermined position above the support plate. The robotic arm then continues, according to a preset program, for example, using its own camera for visual recognition, to precisely place the grasped sample well plate container into the corresponding recessed position on the loading adapter plate.

[0071] In some embodiments, the vertical mixing and incubation apparatus further includes an electrically operated locking device, and the method further includes: placing the sample well plate container to be mixed and incubated onto the loading adapter plate by means of an external robotic arm, and controlling the electrically operated locking device to lock the sample well plate container.

[0072] Specifically, an external robotic arm places the sample well plate containers to be mixed and incubated onto the loading adapter plate, and controls the electric locking device to lock the sample well plate containers. Once all the recessed plate positions have been filled with sample well plate containers, the second main controller of the robotic arm sends a placement completion signal to the control system. The control system then sends the same signal to the first main controller of the vertical mixing and incubation device, which in turn controls the electric locking device to lock the sample well plate containers.

[0073] Optionally, the electric locking device includes an electromagnet and a mating part. When the sample well plate container to be mixed and incubated is placed on the loading adapter plate by an external robotic arm, the electromagnet is energized, driving the mating part to actuate and clamp the sample well plate container, thus controlling the electric locking device to lock the sample well plate container. For example, when the electromagnet is energized, it drives the locking tongue to extend horizontally and insert into the slot.

[0074] Step S400: The control position transmission mechanism moves the loading adapter plate carrying the sample well plate container from the second position back to the first position.

[0075] Once it is confirmed that the sample well plate container has been placed, the first main controller of the vertical mixing and incubation device sends a return command to the position transmission mechanism, which then moves the loading adapter plate carrying the sample well plate container from the second position back to the first position.

[0076] Specifically, the first drive motor runs in reverse, and through the moving parts of the two guide rails, it returns the loading adapter plate carrying the sample well plate container to the first position.

[0077] Step S500: Close the control hatch.

[0078] When the first main controller of the vertical mixing incubation device confirms that the loading adapter plate carrying the sample well plate container has returned to the first position, the control door closes and descends to the fully closed position.

[0079] Step S600: Control the rotary drive mechanism to drive the loading adapter plate to rotate vertically, so as to vertically mix and incubate the sample in the sample well plate container.

[0080] In some embodiments, the vertical mixing incubation apparatus also includes a temperature control device connected to a first main controller. After the control door is closed, the first main controller activates the temperature control device to adjust and maintain the temperature inside the chamber at a preset incubation temperature.

[0081] The first main controller of the vertical mixing and incubation device sends a start command to the rotary drive mechanism. The second drive motor drives the rotary shaft to rotate according to the preset speed, direction, and running time. The rotary shaft drives the loading adapter plate and the locked sample well plate container on it to rotate stably around the vertical axis.

[0082] In some embodiments, after vertically mixing and incubating the sample in the sample well plate container, the method further includes steps S700 to S1300: Step S700: When vertical mixing and incubation is completed, control the rotary drive mechanism to stop moving.

[0083] Step S800: Control the hatch to open.

[0084] Step S900: Control the position transmission mechanism to move the loading adapter plate from the first position to the second position.

[0085] Step 1000: Control the electric locking device to release the lock on the sample well plate container.

[0086] Optionally, when the electric locking device needs to release the lock on the sample well plate container, the first main controller of the vertical mixing incubation device sends a release signal to the electric locking device, the electromagnet is de-energized, and the mating part releases the sample well plate container, for example, the locking tongue retracts under the action of the spring and disengages from the slot.

[0087] Step 1100: Remove the sample well plate container that has been mixed and incubated from the loading adapter plate using an external robotic arm.

[0088] Step 1200: Control the position transmission mechanism to move the empty loading adapter plate back to the first position.

[0089] Step 1300: Close the control hatch.

[0090] In some embodiments, when there are multiple mounting adapter plates, each mounting adapter plate is connected to a position transmission mechanism and a rotary drive mechanism, the method includes: Upon receiving a mixing and incubation command, the control hatch opens, and multiple position transmission mechanisms are simultaneously moved from the first position to the second position. An external robotic arm places the sample well plate container to be mixed and incubated onto the topmost loading adapter plate. The control position transmission mechanisms move the topmost loading adapter plate, carrying the sample well plate container, back from the second position to the first position. The external robotic arm then places the sample well plate container onto the next loading adapter plate located at the second position in a top-to-bottom sequence, and after placement, controls the loading adapter plate of that layer to move back to the first position. This process is repeated until all loading adapter plates have completed sample loading and moved back to the first position. The control hatch closes. A rotary drive mechanism drives the loading adapter plate to rotate vertically to perform vertical mixing and incubation of the sample well plate container.

[0091] This design moves multiple loading adapters synchronously from the first position to the second position, saving time. The external robotic arm, following preset instructions, places the sample well plate containers onto the loading adapters sequentially from top to bottom. After the top loading adapter has successfully placed the sample well plate containers, the vertical mixing and incubation device returns it to the first position. This return frees up vertical operating space for the robotic arm to operate on the next loading adapter, effectively preventing the risk of collisions between the robotic arm gripper and the already loaded upper-level support plates or containers.

[0092] Optionally, a weight sensor is installed under each layer of the mounting adapter plate. When all sample well plate containers are placed on the support plate, the weight sensor at the bottom of the mounting adapter plate of that layer measures the total load weight in real time and feeds the data back to the vertical mixing and incubation device. The main controller compares and judges the weight data with a preset threshold to determine whether the sample well plate containers are properly loaded. After verification, the corresponding position transmission mechanism of that layer is immediately activated to drive the support plate from the second position back to the first position.

[0093] Optionally, an external robotic arm can be used to visually identify whether the sample well plate container for loading the adapter plate in the current layer has been loaded, thereby driving the carrier plate to return from the second position to the first position.

[0094] In summary, the vertical mixing and incubation method provided in this application has the following advantages: 1. This application achieves fully unmanned operation from door opening to vertical mixing and incubation. A position-transmission mechanical mechanism reciprocates the loading adapter plate between a first position and a second position. The first position is where the sample is mixed and incubated, and the second position facilitates robotic arm operation. Thus, the entire complex process, from automatic door opening, loading adapter plate delivery, precise loading / unloading by the robotic arm, automatic return of the carrier plate, door closing, to the initiation of constant-temperature rotation mixing, is completely free of human intervention.

[0095] 2. To address the need for multi-layer sample processing, this application implements a system where multiple loading adapter plates move synchronously to the second position. The robotic arm loads the sample well plate container layer by layer, returning to its original position immediately after each layer is completed. Synchronous extension saves time, and after each layer is loaded, the loading adapter plate for that layer automatically moves back into the box, thus avoiding collisions between the robotic arm and the already loaded upper loading adapter plate or sample well plate container.

[0096] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a vertical mixing and incubation device provided in an embodiment of this application. Figure 4 As shown, the vertical mixing incubation apparatus 400 includes: one or more processors 410 and a memory 420. Figure 4 Take a processor 410 as an example.

[0097] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0098] In some embodiments, the processor 410 is configured to, upon receiving a mixing and incubation command, control the hatch to open; control the position transmission mechanism to move the loading adapter plate from a first position to a second position; place the sample well plate container to be mixed and incubated onto the loading adapter plate via an external robotic arm; control the position transmission mechanism to move the loading adapter plate carrying the sample well plate container from the second position back to the first position; control the hatch to close; and control the rotation drive mechanism to drive the loading adapter plate to perform vertical rotational motion to vertically mix and incubate the sample in the sample well plate container.

[0099] In some embodiments, memory 420 serves as a non-volatile computer-readable storage medium, used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules of the vertical mixing incubation method in the embodiments of this application. Processor 410 executes various functional applications and data processing of the vertical mixing incubation device 400 by running the non-volatile software programs, instructions, and modules stored in memory 420, thereby implementing the vertical mixing incubation method of the above-described method embodiments.

[0100] In some embodiments, memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; and the data storage area may store data created based on the use of the vertical mixing incubation apparatus 400, etc. Furthermore, memory 420 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 420 may optionally include memory remotely located relative to processor 410, and this remote memory may be connected to the controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0101] In some implementations, one or more modules are stored in memory 420 and, when executed by one or more processors 410, perform the vertical mixing incubation method described in any of the above method embodiments, for example, performing the method described above. Figure 1 The method steps S100 to S600.

[0102] In some implementations, the vertical mixing incubation device can be a chip, such as a data processing unit (DPU) chip used in a data center. Alternatively, the vertical mixing incubation device can be a network interface card that includes a chip and multiple interfaces (such as PCI / PCIE interfaces, UART interfaces, USB interfaces, etc.). Or, the vertical mixing incubation device can be a traditional server, or a server that includes a network interface card or a chip. The server includes a host and a data processor. The data processor is used to schedule packets to the host or the data processor itself for processing. The host is used to process the packets scheduled by the data processor.

[0103] Please refer to Figure 5 , Figure 5 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. The computer-readable storage medium 500 stores program code 510, which can be called by a processor to execute the vertical mixing and incubation method described in the above method embodiments.

[0104] The computer-readable storage medium 500 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium includes a non-volatile computer-readable storage medium. The computer-readable storage medium 500 has storage space for program code that performs any of the method steps of the vertical mixing incubation method described above. This program code can be read from or written to one or more computer program products. The program code may, for example, be compressed in a suitable form.

[0105] In summary, this application provides a vertical mixing incubation method, a vertical mixing incubation device, and a storage medium. The vertical mixing incubation method includes, upon receiving a mixing incubation command, controlling the opening of the control chamber door; controlling the position transmission mechanism to move the loading adapter plate from a first position to a second position; placing the sample well plate container to be mixed and incubated onto the loading adapter plate via an external robotic arm; and controlling the position transmission mechanism to move the loading adapter plate carrying the sample well plate container from the second position back to the first position. The control hatch closes; the control rotary drive mechanism drives the loading adapter plate to rotate vertically, thereby vertically mixing and incubating the samples in the sample well plate container. This enables fully automated mixing and incubation, eliminating the need for manual labor and improving the efficiency of mixing and incubation.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vertical mixing and incubation method, characterized in that, The method is applied to a vertical mixing and incubation apparatus, which includes a housing, a door, a loading adapter plate, a position transmission mechanism, and a rotary drive mechanism. Upon receiving a mixing and incubation command, the hatch is opened. The position transmission mechanism is controlled to move the loading adapter plate from the first position to the second position; The sample well plate container to be mixed and incubated is placed on the loading adapter plate by an external robotic arm; The position transmission mechanism is controlled to move the loading adapter plate carrying the sample orifice plate container from the second position back to the first position; Control the closing of the hatch; The rotary drive mechanism is controlled to drive the loading adapter plate to rotate vertically, so as to vertically mix and incubate the sample in the sample well plate container.

2. The vertical mixing and incubation method according to claim 1, characterized in that, The vertical mixing and incubation device further includes an electric locking device, and the method further includes: An external robotic arm places the sample well plate container to be mixed and incubated onto the loading adapter plate, and the electric locking device locks the sample well plate container.

3. The vertical mixing and incubation method according to claim 1, characterized in that, The position transmission mechanism includes two guide rails and a first drive motor. Each guide rail includes a moving component. Controlling the position transmission mechanism to move the loading adapter plate from a first position to a second position includes: The first drive motor drives the moving parts of the two guide rails to move horizontally in sync, thereby moving the loading adapter plate from the first position to the second position.

4. The vertical mixing and incubation method according to claim 1 or 3, characterized in that, The first position is located inside the container, and the second position is set corresponding to the hatch.

5. The vertical mixing and incubation method according to claim 1, characterized in that, The vertical mixing and incubation apparatus further includes a temperature control device. After the hatch is closed, the method further includes: Activate the temperature control device to adjust and maintain the temperature inside the chamber at the preset incubation temperature.

6. The vertical mixing and incubation method according to claim 2, characterized in that, The electric locking device includes an electromagnet and a mating part. When the sample well plate container to be mixed and incubated is placed on the loading adapter plate by an external robotic arm, and the electric locking device is controlled to lock the sample well plate container, the following steps are included: When the sample well plate container to be mixed and incubated is placed on the loading adapter plate by an external robotic arm, the electromagnet is energized, driving the mating part to move to clamp the sample well plate container, and controlling the electric locking device to lock the sample well plate container.

7. The vertical mixing and incubation method according to any one of claims 1-6, characterized in that, After vertically mixing and incubating the sample within the sample well plate container, the method further includes: When vertical mixing and incubation is complete, the rotary drive mechanism is controlled to stop moving; Control the opening of the hatch; The position transmission mechanism is controlled to move the loading adapter plate from the first position to the second position; Control the electric locking device to release the lock on the sample well plate container; The sample well plate container that has been mixed and incubated is removed from the loading adapter plate by an external robotic arm; The position transmission mechanism is controlled to move the empty loading adapter plate back to the first position; Control the closing of the hatch.

8. The vertical mixing and incubation method according to claim 1, characterized in that, When there are multiple loading adapter plates, each loading adapter plate is connected to a position transmission mechanism and a rotary drive mechanism, and the method includes: Upon receiving a mixing and incubation command, the hatch is opened. The control mechanism of multiple positions synchronously moves the corresponding loading adapter plate from the first position to the second position; The sample well plate container to be mixed and incubated is placed on the top loading adapter plate using an external robotic arm. The position transmission mechanism is controlled to move the uppermost loading adapter plate, which carries the sample well plate container, from the second position back to the first position; Using an external robotic arm, the sample well plate container is placed on the loading adapter plate in the second position of the next layer in a top-to-bottom sequence. After placement, the loading adapter plate of that layer is controlled to move back to the first position. Repeat the above steps until all layers of the loading adapter board have completed sample loading and moved back to the first position; Control the closing of the hatch; The rotary drive mechanism is controlled to drive the loading adapter plate to rotate vertically, so as to vertically mix and incubate the sample in the sample well plate container.

9. A vertical mixing and incubation device, characterized in that, The vertical mixing and incubation equipment includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the vertical mixing incubation method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an executable program, which is executed by a processor to implement the vertical mixing incubation method as described in any one of claims 1 to 8.

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