Fully automated sample pretreatment liquid addition extraction and filtration system
The fully automated liquid addition extraction and filtration system, which uses a multi-dimensional robotic arm and scanning equipment working in tandem, solves the problems of cumbersome sample pretreatment operations and safety, and realizes fully automated and efficient sample processing.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SGS-CSTC STANDARDS TECH SERVICES LTD
- Filing Date
- 2026-03-31
- Publication Date
- 2026-06-30
Smart Images
Figure CN122307135A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of chemical analysis pretreatment technology. More specifically, this invention relates to a fully automated liquid addition, extraction, and filtration system for sample pretreatment. Background Technology
[0002] In the field of chemical analysis and testing, sample pretreatment is a crucial step affecting the accuracy of analytical results and the efficiency of detection. Many samples to be tested (such as textiles, food, and environmental samples) need to undergo pretreatment steps such as solvent addition, ultrasonic extraction, and filtration purification before entering analytical instruments such as gas chromatography, liquid chromatography, or mass spectrometry to obtain a clear filtrate that can be directly injected.
[0003] Currently, the above pretreatment procedures are mainly performed manually by laboratory personnel. First, according to the sample list, operators use bottle dispensers or pipettes to add different types of extraction solvents to each sample tube. Due to the large number of samples and the variety of test items, the solvent type and volume need to be frequently changed during the solvent addition process, making the operation tedious and prone to errors. After adding the solvent, the operator needs to transfer the sample tubes to an ultrasonic water bath, set the temperature and time parameters, and rely on a timer to remind them to remove the samples after extraction. After extraction, the operator needs to affix a label to a 2mL glass vial, open the sample tube cap, use a disposable syringe to draw up the sample concentrate, manually install a needle filter, and filter the sample into the labeled glass vial. The entire process involves multiple independent steps, requiring manual transfer of samples and consumables between steps, resulting in significant waiting time and repetitive labor.
[0004] The aforementioned manual operation method has the following problems and drawbacks: First, the steps of adding liquid, extraction, and filtration are isolated from each other, requiring operators to frequently move between different workstations. The workflow relies on manual intervention, resulting in low overall processing efficiency. Second, throughout the process, operators are exposed to organic solvents and samples multiple times, posing certain health and safety risks. Third, the information matching between sample tubes and receiving vials relies on manual labeling, which can easily lead to information confusion or traceability difficulties when processing multiple batches of samples. Fourth, the timed reminders during ultrasonic extraction require manual attention; failure to remove samples in a timely manner may affect the consistency of extraction results. These problems limit the throughput and reproducibility of sample pretreatment, becoming one of the bottlenecks restricting the improvement of analytical detection efficiency. Summary of the Invention
[0005] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.
[0006] To achieve these objectives and other advantages according to the present invention, a fully automated liquid extraction and filtration system for sample pretreatment is provided, comprising: The first multi-dimensional robotic arm is equipped with a first gripper and a sample dispensing needle. The first gripper is used to pick up a sample tube with a QR code and open the tube cap; the sample dispensing needle is used to inject solvent into the sample tube. The first scanning device is used to read the QR code to obtain solvent information; The second multidimensional robotic arm is equipped with a second gripper, which is used to grip the sample holder containing the sample tube that has been added to the liquid; the second multidimensional robotic arm is used to move the sample holder into the ultrasonic water bath for extraction, and to remove the sample holder after extraction. The three-axis moving mechanism integrates a third gripper and a syringe gripping module. The third gripper is used to grip the sample tube after extraction and open the tube cap, and is also used to grip the glass bottle. A coding device used to print a sample information code associated with a QR code on a glass bottle held by a third gripper. The third gripper is also used to open the bottle cap after the sample information code is printed; The syringe gripping module has a built-in piston rod for gripping the syringe, drawing samples from the sample tube through the piston rod, pressing the syringe to the needle filter, and pressing the sample through the needle filter into the glass bottle through the piston rod. The third gripper is also used to close the glass bottle cap after pressing and filtering. The controller is electrically connected to the first multi-dimensional robotic arm, the second multi-dimensional robotic arm, the three-axis moving mechanism, the first scanning device, the coding device, and the ultrasonic water bath, respectively, and is used to control the coordinated action of each component according to solvent information and preset programs.
[0007] Preferably, the first multidimensional robotic arm is mounted on the first Z-axis linear module. The first multidimensional robotic arm includes at least two horizontally rotatable first rotating arms. Adjacent first rotating arms are connected in series by joints. The first gripper and the sampling needle are located on the first rotating arm at the end of the first multidimensional robotic arm. The injection needle is connected to the injection pump via tubing. The injection pump controls the type and volume of solvent based on the solvent information read by the first scanning device. It also includes a cleaning station, which is located on the moving path of the first multi-dimensional robotic arm. The cleaning station includes a cleaning tank, a cleaning fluid supply unit, a waste liquid collection unit, and a drying air source. The cleaning tank is used to hold the sampling needle, the cleaning solution supply unit is used to pump the cleaning solvent into the cleaning tank, the waste liquid collection unit is used to pump out the waste liquid, and the drying gas source is used to blow drying gas onto the sampling needle; after each liquid addition, the first multi-dimensional robotic arm moves the sampling needle to the cleaning station for cleaning and drying.
[0008] Preferably, the front end of the first scanning device is provided with a first clamping part, which includes at least two clamping arms that can move relative to each other for clamping and fixing the sample tube held by the first gripper. The scanning window of the first scanning device faces the QR code on the sample tube held by the first clamping part; After the first gripper clamps the sample tube at the first clamping part, it performs the action of opening the tube cap and after the solvent injection is completed, it performs the action of closing the tube cap; after the first gripper closes the tube cap, the first clamping part releases the sample tube.
[0009] Preferably, the second multidimensional robotic arm is mounted on the second Z-axis linear module, which is mounted on the first X-axis linear module. The second multidimensional robotic arm includes at least two horizontally rotatable second rotating arms, adjacent second rotating arms are connected in series by joints, and a second gripper is disposed on the second rotating arm at the end of the second multidimensional robotic arm. The second gripper adjusts its posture through the coordinated rotation of the second rotating arms and moves its spatial position through the drive of the second Z-axis linear module and the first X-axis linear module, so as to grip the sample holder and move it into or out of the ultrasonic water bath.
[0010] Preferably, the second gripper includes a gripper base, a first gripping arm, a second gripping arm, and a gripper drive mechanism. The gripper base is fixedly installed at the end of the second multi-dimensional robotic arm. The first gripping arm and the second gripping arm are arranged opposite to each other and are slidably or rotatably connected to the gripper base, respectively. The gripper drive mechanism is installed on the gripper base and is drively connected to the first gripping arm and the second gripping arm to drive the first gripping arm and the second gripping arm to move closer to or further away from each other. The relative inner sides of the first gripping arm and the second gripping arm are provided with positioning protrusions or positioning grooves. The positioning protrusions or positioning grooves match the positioning grooves or positioning protrusions corresponding to both sides of the sample holder to achieve positioning and fixing of the sample holder during gripping.
[0011] Preferably, the three-axis moving mechanism includes a second X-axis linear module, a Y-axis linear module mounted on the second X-axis linear module, a third Z-axis linear module mounted on the Y-axis linear module, and a mounting platform mounted on the third Z-axis linear module. The third gripper and the syringe gripping module are fixedly mounted side by side on the mounting platform, and the installation distance between the third gripper and the syringe gripping module on the mounting platform is less than the minimum distance between the sample tube and the glass bottle in the workstation layout.
[0012] Preferably, it also includes a second scanning device, which is located on the movement path of the three-axis moving mechanism. The front end of the second scanning device is provided with a second clamping part, which includes at least two relatively movable clamping arms for clamping and fixing the sample tube that has completed extraction and is held by the third clamping claw from the static area. The scanning window of the second scanning device faces the QR code on the sample tube held by the second clamping part for reading the QR code to obtain sample information associated with the sample tube. After the third gripper clamps the sample tube in the second gripping part, it opens the tube cap and closes the tube cap after the syringe gripping module completes sample aspiration. The second gripping part releases the sample tube after the third gripper closes the tube cap, and the controller is electrically connected to the second scanning device.
[0013] Preferably, the syringe gripping module includes a module base, a gripping mechanism, a piston rod, and a push rod driving mechanism. The module base is fixedly mounted on a three-axis moving mechanism. The gripping mechanism is located at the front end of the module base and includes at least two relatively movable gripping claws for gripping or releasing the syringe. The piston rod is located on the module base, coaxially arranged with the gripping mechanism, and can move up and down relative to the module base along the axial direction. The push rod driving mechanism is mounted on the module base and is connected to the piston rod for driving the piston rod to move up and down. The syringe gripper module is configured as follows: The syringe is moved to the syringe spare area by the clamping mechanism and then picked up. The syringe is held by the clamping mechanism and moved to the sample tube. The piston rod is driven upward by the push rod drive mechanism to draw up the sample. The syringe containing the sample is held by the clamping mechanism and moved to the filter membrane area. It is then pressed down to connect the syringe to the needle filter. The syringe with the filter attached is held by the clamping mechanism and moved to the glass bottle. The piston rod is driven by the push rod drive mechanism to move downward to filter the sample.
[0014] Preferably, it also includes a liquid filling module, which is located on the movement path of the three-axis moving mechanism and between the inkjet printer and the glass bottle area. The liquid filling module includes a liquid filling base and a third clamping part. The third clamping part is disposed on the liquid filling base and includes at least two clamping arms that can move relative to each other and a clamping drive mechanism. The clamping drive mechanism is connected to the clamping arms for driving the clamping arms to move closer or further apart from each other. The third clamping part is used to clamp and fix the third clamping claw to grip the glass bottle that has been gripped from the glass bottle area and inkjet printed by the inkjet printer. After the third gripper clamps the glass bottle in the third clamping part, it rotates and clamps the bottle cap. The bottle cap is unscrewed upwards and held continuously. The syringe gripping module moves the syringe connected to the needle filter to the top of the liquid addition module, aligns the outlet of the needle filter with the bottle mouth of the glass bottle, and injects the sample stock solution into the glass bottle after being filtered by the needle filter by moving the piston rod downwards. After the third clamping jaws finish pressing and filtering, they align the bottle caps they hold with the mouth of the glass bottle and rotate them to tighten them. After the third clamping jaws tighten the bottle caps, they release the glass bottle and place the glass bottle back into the glass bottle area. The controller is electrically connected to the clamping drive mechanism and is used to control the third clamping part to clamp the glass bottle before the third gripper opens the bottle cap, and to release the glass bottle after the third gripper closes the bottle cap.
[0015] Preferably, the syringe clamping module is also equipped with a removal station, which is provided with a removal mechanism. The removal mechanism includes a removal bracket and a removal slot provided on the removal bracket. The size of the removal slot is larger than the outer diameter of the syringe barrel and smaller than the maximum outer diameter of the needle filter. After the filter press is completed, the clamping mechanism clamps the syringe and moves it to the removal station. The needle filter is inserted into the removal slot. The push rod drive mechanism drives the piston push rod to move upward so that the syringe piston is reset. At the same time, the clamping mechanism moves upward so that the needle filter is locked by the removal slot and separated from the syringe and falls into the waste bin. The clamping mechanism moves above the waste bin, the clamping claws open to release the syringe, causing the syringe to fall into the waste bin.
[0016] The present invention has at least the following beneficial effects: First, this invention achieves a fully automated process for sample tube handling, including automatic gripping, barcode scanning, precise capping, on-demand liquid addition, and automatic cap resealing, through the coordinated operation of a first multi-dimensional robotic arm, a first scanning device, and a first gripper. Compared to the traditional method of manually adding liquid to each tube using a bottle dispenser, this solution completely replaces the tedious steps of manually sorting samples for different testing conditions and manually transferring samples, avoiding errors caused by operator fatigue or distraction. Simultaneously, the entire liquid addition process is completed automatically in a closed system, reducing direct contact between operators and organic solvents, significantly improving operational safety and the accuracy of the liquid addition process, and providing a standardized sample basis for subsequent extraction procedures.
[0017] Secondly, this invention achieves automated overall transfer and ultrasonic extraction of a sample rack containing multiple sample tubes through the linkage of a second multi-dimensional robotic arm with X-axis and Z-axis linear modules. This solution eliminates the need for manual handling of sample tubes individually or the entire rack to the water bath, and avoids the problems of sample spillage or rack tilting that may occur during manual transfer. By automatically setting ultrasonic parameters based on the scanned information, the controller achieves precise control of extraction conditions and automated process flow, significantly reducing manual waiting time and operational steps, enabling truly unmanned operation of the sample transfer and extraction process.
[0018] Third, this invention achieves fully automated filtration and packaging from the extracted sample tube to the final vial through the coordinated operation of the third gripper and syringe gripping module integrated on the three-axis moving mechanism, as well as the second scanning device, inkjet printer, and liquid dispensing module. This solution automatically completes a series of complex operations, including secondary barcode verification of the sample tube, cap opening, use of disposable syringes, precise sample aspiration, filter installation, pressure filtration, waste consumable disposal, and inkjet printing, cap opening, cap closing, and return of the receiving vial. Compared to traditional manual filtration, this not only completely eliminates the risk of operators coming into contact with samples and organic solvents, but also ensures accurate transmission and full traceability of sample information through secondary barcode scanning and inkjet printing association, solving the problem of information confusion in the processing of multiple batches of samples.
[0019] Fourth, this invention achieves fully automated collaborative operation from liquid addition and extraction to filtration through the electrical connection between the controller and the components of each workstation and the preset program control. Based on the QR code information read by the first scanning device, the controller precisely schedules the first workstation to complete differentiated liquid addition, triggers the second workstation to perform sample rack transfer and ultrasonic extraction, and directs the third workstation to perform filtration and packaging after extraction. This modular division of labor and centralized control architecture allows for seamless connection between processes without manual intervention, enabling unattended operation for several hours. Compared with traditional fragmented manual operation, this system integrates the pretreatment process into a coherent automated whole, significantly improving the throughput, repeatability, and overall operational efficiency of laboratory sample pretreatment.
[0020] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description
[0021] Figure 1 This is a top view of the fully automated liquid addition, extraction and filtration system for sample pretreatment according to one of the technical solutions of the present invention. Figure 2 This is a three-dimensional structural diagram of a fully automated liquid addition extraction and filtration system for sample pretreatment according to one of the technical solutions of the present invention; Figure 3 This is a three-dimensional structural schematic diagram from another perspective of the fully automated liquid addition extraction and filtration system for sample pretreatment, one of the technical solutions of the present invention. Figure 4 This is a flowchart illustrating the process of the first workstation of the present invention; Figure 5 This is a flowchart illustrating the process of the second workstation of the present invention; Figure 6 This is a flowchart illustrating the process of the third workstation of the present invention.
[0022] Reference numerals in the accompanying drawings: 1. First multi-dimensional robotic arm; 2. First Z-axis linear module; 3. Waste liquid collection unit; 4. First scanning device; 5. Injection pump; 6. Sample holder; 7. Sample tube; 8. Second multi-dimensional robotic arm; 9. First X-axis linear module; 10. Ultrasonic water bath; 11. Y-axis linear module; 12. Syringe; 13. Needle filter; 14. Waste bin; 15. Liquid dispensing module; 16. Marking device; 17. Second X-axis linear module; 18. Glass bottle; 19. Mounting platform; 20. First clamping part; 21. First gripper; 22. Second Z-axis linear module; 23. Third Z-axis linear module; 24. Third gripper; 25. Syringe gripping module; 26. Sample dispensing needle; 27. Second gripper; 28. Second scanning device. Detailed Implementation
[0023] The present invention will now be described in further detail with reference to examples, so that those skilled in the art can implement it based on the description.
[0024] It should be noted that, unless otherwise specified, the experimental methods described in the following implementation plan are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified.
[0025] like Figures 1 to 6 As shown, the present invention provides a fully automated liquid extraction and filtration system for sample pretreatment, which is applied to the sample pretreatment process in chemical analysis laboratories. Specifically, it is used to automatically process sample tubes containing samples to be tested (such as azo dyes in textiles, pesticide residues in food, environmental water samples, etc.) and finally obtain a clear filtrate that can be directly injected into analytical instruments such as gas chromatography (GC), liquid chromatography (LC), or mass spectrometry (MS).
[0026] The fully automated sample pretreatment system for liquid addition, extraction, and filtration of this invention includes a first workstation, a second workstation, a third workstation, and a controller. The controller is electrically connected to each electrical component in the first, second, and third workstations. The controller has preset coordinate parameters, action sequences, and fault handling procedures for each station. It controls the coordinated actions of each component based on the preset procedures and real-time acquired information, achieving full automation from liquid addition and extraction to filtration, without requiring manual intervention.
[0027] The first workstation is used to complete the identification, liquid addition, and cap opening / closing operations of sample tubes. It includes a first multi-dimensional robotic arm 1, a first scanning device 4, a first clamping unit 20, a syringe pump 5, and a sample holder 6.
[0028] The sample holder is placed at a fixed position in the first workstation and has multiple arrayed holes for holding multiple capped sample tubes 7. Each sample tube has a unique QR code affixed to its wall. This QR code is pre-entered with information such as the sample number, the test item, the type of solvent required, the required solvent volume (unit: mL), and the preset parameters for subsequent ultrasonic extraction (temperature: °C; time: min).
[0029] The first multidimensional robotic arm is mounted on the first Z-axis linear module 2 and is driven by the first Z-axis linear module to move along the vertical direction (Z-axis). The bottom of the first Z-axis linear module is fixed to the equipment base, and it contains a first servo motor and a first ball screw to convert rotational motion into precise linear motion, with a positioning accuracy of ±0.1mm. The first multidimensional robotic arm includes at least two horizontally rotatable first rotating arms, which are connected in series by joints. Each joint contains a harmonic reducer and a second servo motor, enabling the first multidimensional robotic arm to rotate flexibly at multiple angles in the horizontal plane. A first gripper 21 and a sample dispensing needle 26 are fixed on the first rotating arm at the end of the first multidimensional robotic arm. The first gripper is a parallel pneumatic gripper driven by compressed air, with adjustable gripping force, used to grip sample tubes and open and close tube caps. The sample dispensing needle is made of stainless steel with internal polishing, and its lower end is equipped with a liquid level sensing probe to emit a signal when it contacts the liquid surface. The sample dispensing needle is connected to a syringe pump through a pressure-resistant PTFE tube. The syringe pump is a high-precision ceramic syringe pump with a built-in metering ring and a minimum liquid volume of 0.01 mL, used to accurately inject solvent into the sample tube according to instructions.
[0030] The first scanning device has a first clamping part at its front end. The first clamping part includes a clamping base and at least two relatively movable clamping arms, which are synchronously opened and closed by a lead screw driven by a micro stepper motor. The first clamping part is used to receive and hold the sample tube from the first gripper, ensuring that the sample tube remains stationary during scanning and cap opening. The scanning window of the first scanning device faces the QR code area on the sample tube held by the first clamping part. The first scanning device is an industrial-grade QR code scanner with a built-in light source and image sensor, capable of quickly reading the QR code information on the tube wall and transmitting the parsed solvent type, solvent volume, ultrasonic temperature, ultrasonic time, and other information to the controller in real time. The injection pump automatically switches solvent channels and controls the injection volume based on the solvent information forwarded by the controller.
[0031] The specific workflow of the first workstation is as follows: The operator places the sample rack containing multiple sample tubes to be processed at the designated workstation of the first workstation and starts the system.
[0032] The first multi-dimensional robotic arm moves to directly above the first sample tube based on the pre-stored coordinates (X1, Y1, Z1) of the first hole in the sample holder in the controller. The first gripper descends vertically, grasps the middle of the first sample tube, and lifts it vertically to remove it from the hole in the sample holder.
[0033] The first multi-dimensional robotic arm moves the first sample tube it has gripped to the first scanning device and lowers it to place the sample tube between the gripping arms of the first gripping unit. Upon receiving a command, the first gripping unit drives the gripping arms to move inward, clamping the sample tube. At this point, the sample tube is stably fixed.
[0034] The first scanning device is activated, scans the QR code on the sample tube, reads the solvent information (such as "acetone, 10mL"), and sends it to the controller.
[0035] The first gripper rotates at a certain angle so that its opening aligns with the sample tube cap, then clamps the cap and moves it vertically upward to remove the cap from the tube opening. After removal, the first gripper remains clamped, holding the cap firmly.
[0036] The first multi-dimensional robotic arm rotates via joints, moving the sampling needle fixed to the first rotating arm directly above the sample tube opening. The sampling needle descends, and after the liquid level is detected by the liquid level sensor, it is inserted into the tube opening to a certain depth (avoiding contact with the bottom sediment). The syringe pump, according to controller instructions, draws the corresponding solvent (e.g., acetone) and injects 10 mL through the sampling needle. During the liquid addition process, the sampling needle slowly rises with the rising liquid level to reduce air bubble formation. After the liquid addition is complete, the sampling needle rises back to its original position.
[0037] The first gripper rotates again, aligning the cap it is holding with the sample tube opening, and presses down vertically to tighten the cap.
[0038] The first clamping part releases the sample tube. The first gripper picks up the sample tube, moves it out of the first clamping part, and accurately places it back into the original hole position of the sample holder according to the original coordinates (X1, Y1, Z1).
[0039] At this point, the liquid addition process for the first sample tube is complete.
[0040] However, before processing the next sample tube, the system automatically performs a needle cleaning procedure to prevent cross-contamination between different sample tubes: The first multi-dimensional robotic arm moves, transferring the sampling needle above the cleaning station, and then descends to insert it into the cleaning sleeve within the cleaning tank. The cleaning solution supply unit activates, pumping cleaning solvent (such as acetone) at high speed through nozzles on the side wall of the cleaning sleeve to flush the outer wall of the sampling needle. Simultaneously, a syringe pump repeatedly draws in and discharges cleaning solvent from inside the sampling needle, rinsing the inner wall. The cleaning time is controlled according to a preset program, typically 5-10 seconds. After cleaning, the waste liquid collection unit 3 activates, emptying the waste liquid from the cleaning tank. The drying gas source activates, blowing dry nitrogen gas into the cleaning sleeve to quickly dry the inner and outer walls of the sampling needle, removing residual solvent and preventing dilution or contamination of the next sample. After drying, the sampling needle rises back to its original position, ready to process the next sample tube.
[0041] The first multidimensional robotic arm moves to the next well position coordinate (X2, Y1, Z1), and repeats the above steps until all sample tubes on the sample holder have been filled with liquid.
[0042] Through the above process, the first workstation solves the problems of low efficiency and error-proneness in manually adding liquid one by one using a bottle-top dispenser in the background technology, as well as solvent spillage or sample contamination caused by sample tube shaking during the cap opening process. The design of the first clamping part ensures the absolute stability of the sample tube at the moment of cap opening, and the design of the first gripper holding the cap throughout the process avoids the extra steps and risks of finding and temporarily storing the cap.
[0043] The second workstation is used to transfer the sample rack after liquid addition to an ultrasonic water bath for isothermal ultrasonic extraction, and to remove the extracted sample rack to a settling area. It includes a second multi-dimensional robotic arm 8, a second Z-axis linear module 22, a first X-axis linear module 9, and an ultrasonic water bath 10.
[0044] The second multi-dimensional robotic arm is mounted on the second Z-axis linear module and is driven by the second Z-axis linear module to move along the vertical direction (Z-axis). The structure of the second Z-axis linear module is similar to that of the first Z-axis linear module, with a built-in servo motor and ball screw. The second Z-axis linear module is mounted on the first X-axis linear module and is driven by the first X-axis linear module to move along the horizontal direction (X-axis). The first X-axis linear module spans above the ultrasonic water bath, and its stroke covers the initial position of the sample holder and the position of the ultrasonic water bath.
[0045] The second multidimensional robotic arm includes at least two horizontally rotatable second rotating arms. Adjacent second rotating arms are connected in series via joints, each containing a servo motor and harmonic reducer, allowing the second multidimensional robotic arm to rotate flexibly in the horizontal plane to adjust the gripper posture. A second gripper 27 is located on the second rotating arm at the end of the second multidimensional robotic arm. This second gripper is a specially designed clamp for grasping the entire sample holder, possessing a large gripping force, and its inner side has a positioning structure that matches the sample holder's outer shell.
[0046] The specific workflow for the second workstation is as follows: Once the controller receives a signal from the first workstation indicating that all sample tubes have been filled with liquid, it sends a start command to the second workstation.
[0047] The second multi-dimensional robotic arm adjusts its posture via a second rotating arm, positioning the second gripper in a horizontal position. Simultaneously, the second Z-axis linear module and the first X-axis linear module work together to move the second gripper directly above the sample holder.
[0048] The second gripper descends, its gripping arms opening to their maximum width. When it descends to a preset height (when the positioning protrusions on the inner side of the gripping arms align with the positioning grooves on both sides of the sample holder), the gripper drive mechanism drives the gripping arms to close inwards, causing the positioning protrusions to engage with the positioning grooves and clamp the sample holder. Through the cooperation of the positioning protrusions and positioning grooves, precise positioning and stable clamping of the sample holder are achieved, preventing the sample holder from shaking or shifting during transfer.
[0049] After the clamping is confirmed, the second Z-axis linear module drives the second multi-dimensional robotic arm to rise and lift the sample holder from the workstation. Subsequently, the first X-axis linear module drives the second multi-dimensional robotic arm to move along the X-axis, smoothly transferring the sample holder directly above the ultrasonic water bath.
[0050] The second Z-axis linear module descends again, slowly placing the sample holder onto the pre-set support in the ultrasonic water bath. The water level and temperature of the ultrasonic water bath are pre-set (e.g., based on the sample information summarized by the first workstation, the controller automatically sets the temperature to 40°C and the time to 30 minutes). After the sample holder is fully submerged, the second gripper releases and rises back to its original position.
[0051] The ultrasonic water bath starts the ultrasonic generator and performs ultrasonic extraction according to preset parameters. During the extraction process, the controller monitors the water temperature and ultrasonic power in real time.
[0052] Once the extraction time is reached, the controller instructs the second workstation to operate again. The second multi-dimensional robotic arm moves back above the ultrasonic water bath, and the second gripper descends to pick up the sample holder and remove it from the water bath.
[0053] The second multi-dimensional robotic arm moves the sample holder to the resting area of the third workstation, lowers it, and places it in the designated position. The second gripper releases and resets, completing the entire process of the second workstation.
[0054] Through the above process, the second workstation solves the problems of time-consuming and laborious manual sample transfer to the ultrasonic water bath, the need for timed reminders, and the instability of the sample holder during the transfer process, which can easily lead to sample spillage. By linking the X-axis and Z-axis modules, the automatic and stable transfer of the sample holder is achieved, and the ultrasonic parameters can be automatically configured based on the barcode information scanned by the first station, realizing a seamless connection of the process.
[0055] The third workstation is used to filter and package the extracted samples to obtain a clear filtrate suitable for analysis. It includes a three-axis moving mechanism, a third gripper, a syringe gripping module, a coding device 16, a liquid addition module 15, a second scanning device, a glass bottle area, a syringe spare area, a filter membrane area, a removal station, and a waste bin 14.
[0056] The three-axis moving mechanism is the core of the entire third workstation's motion, consisting of a second X-axis linear module 17, a Y-axis linear module 11, a third Z-axis linear module 23, and a mounting platform 19. The second X-axis linear module is horizontally positioned, providing a wide range of movement in the X-axis direction; the Y-axis linear module is mounted on the slider of the second X-axis linear module, providing movement in the Y-axis direction; and the third Z-axis linear module is mounted on the slider of the Y-axis linear module, providing movement in the Z-axis direction. The mounting platform is fixedly mounted on the slider of the third Z-axis linear module. Therefore, the mounting platform can perform high-precision three-dimensional movement in the X, Y, and Z directions.
[0057] The third gripper 24 and the syringe gripper module 25 are fixedly mounted side by side on the mounting platform. The installation distance between the two on the mounting platform is precisely calculated to be less than the minimum distance between the sample tube station and the glass bottle station in the system, ensuring that when one is aligned with a station during movement, the other will not physically interfere with the surrounding equipment.
[0058] The second scanning device 28 is located on the movement path of the three-axis moving mechanism, between the settling area and the glass bottle area. The front end of the second scanning device has a second clamping part, similar in structure to the first clamping part, including at least two relatively movable clamping arms for clamping and fixing the sample tube. The scanning window of the second scanning device faces the QR code on the clamped sample tube, used for secondary scanning confirmation before filtration to ensure the accuracy of the sample information, and sends the read sample information to the controller for subsequent coding association.
[0059] The syringe gripping module is the core execution unit for sampling and filtration, comprising a module base, a clamping mechanism, a piston rod, and a push rod drive mechanism. The module base is fixedly mounted on a mounting platform. The clamping mechanism, located at the front end of the module base, includes at least two relatively movable gripping claws. The inner side of the gripping claws has an arc-shaped groove that matches the syringe barrel, for reliably gripping or releasing the disposable syringe 12. The piston rod is mounted on the module base, coaxially arranged with the clamping mechanism, and can move axially up and down relative to the module base. The top end of the piston rod has a push-pull head that mates with the end of the syringe piston handle. The push rod drive mechanism, mounted on the module base, is typically a combination of a servo motor and a lead screw module, and is connected to the piston rod for precise control of the distance and speed of the piston rod's up and down movement, thereby achieving precise liquid aspiration and dispensing by the syringe piston.
[0060] The coding equipment is located on the path of the three-axis moving mechanism. It is either a laser coding machine or a high-resolution inkjet printer. It is used to print sample information codes (such as sample number, test items, etc.) associated with the sample tube QR code on the body of 2mL glass bottles, so as to realize the physical transfer and traceability of sample information.
[0061] The liquid filling module is located on the path of the three-axis moving mechanism, between the inkjet printer and the glass bottle area. The liquid filling module includes a liquid filling base and a third clamping part. The third clamping part includes at least two relatively movable clamping arms and a clamping drive mechanism, used to firmly clamp and fix the glass bottle during the pressure filtration process, preventing the glass bottle from shifting or tipping due to the pressure from the syringe.
[0062] The glass bottle area, syringe spare area, and filter membrane area are all consumable storage areas with arrayed grooves, used to store 2mL glass bottles with caps, brand new disposable syringes (with needles), and needle filters of various sizes 13 (placed with the interface facing upwards).
[0063] The removal station is equipped with a removal mechanism for separating and discarding used disposable consumables. The removal mechanism includes a removal bracket with a removal slot that is wider at the top and narrower at the bottom. The maximum diameter of the removal slot is larger than the outer diameter of the syringe barrel but smaller than the maximum outer diameter of the needle-type filter. When the syringe is lifted upwards with the used filter attached, the filter is blocked by the slot and detached.
[0064] The complete workflow for the third workstation to process a single sample tube is as follows: 1. Sample Retrieval and Secondary Scanning: The three-axis moving mechanism drives the mounting platform to the settling area, where the third gripper picks up a sample tube that has undergone extraction. Then, it moves to the second scanning device and places the sample tube into the second clamping part. The second clamping part secures the sample tube, and the second scanning device reads the QR code. After confirming the sample information is correct, the controller records the information.
[0065] 2. Opening the cap: Rotate the third jaw to clamp the cap of the sample tube, lift the cap upwards and continue to hold it.
[0066] 3. Syringe Pickup and Sample Aspiration: Simultaneously or slightly after the third gripper opens the cap, the syringe gripping module operates: the gripping mechanism moves to the syringe standby area, the gripping claws open and descend to enclose and clamp a new syringe barrel; then, the syringe is moved above the opened sample tube, and descends to insert the syringe needle below the liquid surface in the sample tube; based on the information read by the second scanning device, the controller instructs the push rod drive mechanism to drive the piston push rod upward a precise distance, and the syringe piston aspirates a set volume (e.g., 1.0 mL) of the original sample solution; after aspiration, the syringe moves upward and the needle is withdrawn.
[0067] 4. Install the filter: The clamping mechanism holds the syringe with the sample and moves it above the filter membrane area. It then lowers the syringe nozzle to align with a needle-type filter port. A certain pressure is then applied downwards to make the filter port fit over the outside of the syringe nozzle, forming an interference fit seal.
[0068] 5. Replace the sample tube cap and return it to its original position: While the syringe gripping module is performing steps 3 and 4, the third gripper replaces the sample tube cap and presses it firmly, while the second gripper releases the sample tube. The third gripper then returns the sample tube to its original position on the sample holder (or its temporary storage position in the settling area). At this point, the third gripper is free and ready to process the glass bottle.
[0069] 6. Bottle Picking and Coding: The third gripper moves to the glass bottle area, picks up a 2mL glass bottle with a cap, and moves it to the coding device. The coding device prints a sample information code on the glass bottle based on the sample information provided by the controller (from the secondary scan in step 1). After printing, the third gripper moves the glass bottle to the dispensing module.
[0070] 7. Secure the glass bottle and open the cap: The third gripper places the glass bottle into the third clamping part of the liquid filling module, and the third clamping part clamps the glass bottle. Then, the third gripper rotates to clamp the cap, unscrews the cap upwards, and continues to hold it.
[0071] 8. Pressure Filtration: At this point, the syringe clamping module is ready (the syringe connected to the filter). The clamping mechanism holds the assembly and moves it above the liquid addition module, adjusting its position so that the outlet of the needle filter is aligned with the mouth of the glass bottle below. After confirming alignment, the push rod drive mechanism drives the piston push rod downward at a uniform speed. The syringe piston is compressed, and the sample concentrate flows through the filter membrane inside the filter under pressure. Impurities are trapped, and the clear filtrate drips from the filter outlet into the glass bottle. The push rod speed is precisely controlled by the controller to ensure filtration efficiency and prevent filter membrane breakage.
[0072] 9. Waste Consumables: After filtration, the clamping mechanism holds the syringe (still connected to the used filter) and moves it to the removal station. The syringe gripping module aligns the needle filter and inserts it into the removal bayonet. Subsequently, the push rod drive mechanism drives the piston push rod upward (resetting the syringe piston for next use, but the syringe is now discarded), while the clamping mechanism moves upward. Because the filter is held in place by the removal bayonet, and the syringe is lifted by the clamping mechanism, the filter and syringe separate at the interface, and the filter falls into the waste bin below. Next, the clamping mechanism moves directly above the waste bin, the gripping claws open, and the empty syringe falls into the waste bin.
[0073] 10. Replace the bottle cap and return it to its original position: At the same time or after the syringe gripping module performs the disposal operation, the third gripper aligns the glass bottle cap it is holding with the bottle opening and rotates it to tighten. The third gripping part releases the glass bottle, and the third gripper picks up the sealed glass bottle and moves it to the designated hole in the glass bottle area (or the designated finished product collection area).
[0074] 11. Cycle: At this point, the entire pretreatment process for one sample tube is complete. The controller instructs the three-axis moving mechanism to reset, preparing to process the next sample tube. Repeat steps 1-10 above until all sample tubes on the sample holder have been processed.
[0075] Through the highly integrated automated process described above, the third workstation eliminates the tedious, time-consuming, and health-risk operations required in the background technology during manual filtration, such as manually labeling, opening caps, taking liquid, installing filters, pushing filters, and discarding consumables. It achieves fully unmanned operation from sample tubes to finished sample vials, significantly improving the efficiency and standardization of pretreatment. Furthermore, through secondary barcode scanning and inkjet coding association, it ensures the accuracy of sample information throughout the complex process.
[0076] This invention, through the modular design and coordinated control of a first, second, and third workstation, fully automates the three core steps of sample pretreatment in chemical analysis: liquid addition, extraction, and filtration. It solves the problems of low efficiency, poor accuracy, safety hazards, and easy confusion of sample information associated with manual operation in existing technologies. The entire system is compact, precise, and reliable, making it particularly suitable for automated pretreatment of small batches of samples in laboratories, significantly improving the overall efficiency of analytical testing.
[0077] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.
Claims
1. A fully automated sample pretreatment system for liquid addition, extraction, and filtration, characterized in that, include: The first multidimensional robotic arm is equipped with a first gripper and a sample dispensing needle. The first gripper is used to pick up a sample tube with a QR code and open the tube cap. The dispensing needle is used to inject solvent into the sample tube; The first scanning device is used to read the QR code to obtain solvent information; The second multi-dimensional robotic arm is equipped with a second gripper, which is used to grip the sample holder containing the sample tube that has been filled with liquid. The second multidimensional robotic arm is used to move the sample holder into the ultrasonic water bath for extraction and to remove the sample holder after extraction. The three-axis moving mechanism integrates a third gripper and a syringe gripping module. The third gripper is used to grip the sample tube after extraction and open the tube cap, and is also used to grip the glass bottle. A coding device used to print a sample information code associated with a QR code on a glass bottle held by a third gripper. The third gripper is also used to open the bottle cap after the sample information code is printed; The syringe gripping module has a built-in piston rod for gripping the syringe, drawing samples from the sample tube through the piston rod, pressing the syringe to the needle filter, and pressing the sample through the needle filter into the glass bottle through the piston rod. The third gripper is also used to close the glass bottle cap after pressing and filtering. The controller is electrically connected to the first multi-dimensional robotic arm, the second multi-dimensional robotic arm, the three-axis moving mechanism, the first scanning device, the coding device, and the ultrasonic water bath, respectively, and is used to control the coordinated action of each component according to solvent information and preset programs.
2. The fully automated sample pretreatment liquid addition extraction and filtration system according to claim 1, characterized in that, The first multidimensional robotic arm is mounted on the first Z-axis linear module. The first multidimensional robotic arm includes at least two horizontally rotatable first rotating arms. Adjacent first rotating arms are connected in series by joints. The first gripper and the sample dispensing needle are located on the first rotating arm at the end of the first multidimensional robotic arm. The injection needle is connected to the injection pump via tubing. The injection pump controls the type and volume of solvent based on the solvent information read by the first scanning device. It also includes a cleaning station, which is located on the moving path of the first multi-dimensional robotic arm. The cleaning station includes a cleaning tank, a cleaning fluid supply unit, a waste liquid collection unit, and a drying air source. The cleaning tank is used to hold the sampling needle, the cleaning solution supply unit is used to pump the cleaning solvent into the cleaning tank, the waste liquid collection unit is used to pump out the waste liquid, and the drying gas source is used to blow drying gas onto the sampling needle; after each liquid addition, the first multi-dimensional robotic arm moves the sampling needle to the cleaning station for cleaning and drying.
3. The fully automated liquid addition, extraction, and filtration system for sample pretreatment according to claim 1, characterized in that, The front end of the first scanning device is provided with a first clamping part, which includes at least two clamping arms that can move relative to each other, for clamping and fixing the sample tube held by the first jaw. The scanning window of the first scanning device faces the QR code on the sample tube held by the first clamping part; After the first gripper clamps the sample tube at the first clamping part, it performs the action of opening the tube cap and after the solvent injection is completed, it performs the action of closing the tube cap; after the first gripper closes the tube cap, the first clamping part releases the sample tube.
4. The fully automated sample pretreatment liquid addition extraction and filtration system according to claim 1, characterized in that, The second multidimensional robotic arm is mounted on the second Z-axis linear module, which is mounted on the first X-axis linear module. The second multidimensional robotic arm includes at least two horizontally rotatable second rotating arms, which are connected in series via joints. The second gripper is located on the second rotating arm at the end of the second multidimensional robotic arm. The second gripper adjusts its posture through the coordinated rotation of the second rotating arms and moves its spatial position through the drive of the second Z-axis linear module and the first X-axis linear module, so as to grip the sample holder and move it into or out of the ultrasonic water bath.
5. The fully automated sample pretreatment liquid addition extraction and filtration system according to claim 1, characterized in that, The second gripper includes a gripper base, a first gripping arm, a second gripping arm, and a gripper drive mechanism. The gripper base is fixedly installed at the end of the second multi-dimensional robotic arm. The first gripping arm and the second gripping arm are arranged opposite to each other and are slidably or rotatably connected to the gripper base, respectively. The gripper drive mechanism is installed on the gripper base and is drivenly connected to the first gripping arm and the second gripping arm to drive the first gripping arm and the second gripping arm to move closer or further apart. The relative inner sides of the first gripping arm and the second gripping arm are provided with positioning protrusions or positioning grooves. The positioning protrusions or positioning grooves match the positioning grooves or positioning protrusions provided on both sides of the sample holder to achieve positioning and fixation of the sample holder during gripping.
6. The fully automated sample pretreatment liquid addition extraction and filtration system according to claim 1, characterized in that, The three-axis moving mechanism includes a second X-axis linear module, a Y-axis linear module mounted on the second X-axis linear module, a third Z-axis linear module mounted on the Y-axis linear module, and a mounting platform mounted on the third Z-axis linear module. The third gripper and the syringe gripping module are fixedly mounted side by side on the mounting platform. The installation distance between the third gripper and the syringe gripping module on the mounting platform is less than the minimum distance between the sample tube and the glass bottle in the workstation layout.
7. The fully automated sample pretreatment liquid addition extraction and filtration system according to claim 1, characterized in that, It also includes a second scanning device, which is located on the movement path of the three-axis moving mechanism. The front end of the second scanning device is provided with a second clamping part, which includes at least two clamping arms that can move relative to each other, for clamping and fixing the sample tube that has completed extraction and is clamped by the third clamping claw from the static area. The scanning window of the second scanning device faces the QR code on the sample tube held by the second clamping part, for reading the QR code to obtain sample information associated with the sample tube. After the third gripper clamps the sample tube in the second gripping part, it opens the tube cap and closes the tube cap after the syringe gripping module completes sample aspiration. The second gripping part releases the sample tube after the third gripper closes the tube cap, and the controller is electrically connected to the second scanning device.
8. The fully automated liquid addition, extraction, and filtration system for sample pretreatment according to claim 1, characterized in that, The syringe gripping module includes a module base, a gripping mechanism, a piston rod, and a push rod drive mechanism. The module base is fixedly mounted on a three-axis moving mechanism. The gripping mechanism is located at the front end of the module base and includes at least two relatively movable gripping claws for gripping or releasing the syringe. The piston rod is located on the module base, coaxially arranged with the gripping mechanism, and can move up and down relative to the module base along the axial direction. The push rod drive mechanism is mounted on the module base and is connected to the piston rod for driving the piston rod to move up and down. The syringe gripper module is configured as follows: The syringe is moved to the syringe spare area by the clamping mechanism and then picked up. The syringe is held by the clamping mechanism and moved to the sample tube. The piston rod is driven upward by the push rod drive mechanism to draw up the sample. The syringe containing the sample is held by the clamping mechanism and moved to the filter membrane area. It is then pressed down to connect the syringe to the needle filter. The syringe with the filter attached is held by the clamping mechanism and moved to the glass bottle. The piston rod is driven by the push rod drive mechanism to move downward to filter the sample.
9. The fully automated liquid addition, extraction, and filtration system for sample pretreatment according to claim 1, characterized in that, It also includes a liquid filling module, which is located on the moving path of the three-axis moving mechanism and between the inkjet printer and the glass bottle area. The liquid filling module includes a liquid filling base and a third clamping part. The third clamping part is set on the liquid filling base and includes at least two clamping arms that can move relative to each other and a clamping drive mechanism. The clamping drive mechanism is connected to the clamping arms for driving the clamping arms to move closer or further away from each other. The third clamping part is used to clamp and fix the third gripper to grip the glass bottle that has been picked up from the glass bottle area and inkjet printed by the inkjet printer. After the third gripper clamps the glass bottle in the third clamping part, it rotates and clamps the bottle cap. The bottle cap is unscrewed upwards and held continuously. The syringe gripping module moves the syringe connected to the needle filter to the top of the liquid addition module, aligns the outlet of the needle filter with the bottle mouth of the glass bottle, and injects the sample stock solution into the glass bottle after being filtered by the needle filter by moving the piston rod downwards. After the third clamping jaws finish pressing and filtering, they align the bottle caps they hold with the mouth of the glass bottle and rotate them to tighten them. After the third clamping jaws tighten the bottle caps, they release the glass bottle and place the glass bottle back into the glass bottle area. The controller is electrically connected to the clamping drive mechanism and is used to control the third clamping part to clamp the glass bottle before the third gripper opens the bottle cap, and to release the glass bottle after the third gripper closes the bottle cap.
10. The fully automated liquid addition, extraction, and filtration system for sample pretreatment according to claim 8, characterized in that, The syringe clamping module is also equipped with a removal station, which is equipped with a removal mechanism. The removal mechanism includes a removal bracket and a removal slot set on the removal bracket. The size of the removal slot is larger than the outer diameter of the syringe barrel and smaller than the maximum outer diameter of the needle filter. After the filter press is completed, the clamping mechanism clamps the syringe and moves it to the removal station. The needle filter is inserted into the removal slot. The push rod drive mechanism drives the piston push rod to move upward so that the syringe piston is reset. At the same time, the clamping mechanism moves upward so that the needle filter is locked by the removal slot and separated from the syringe and falls into the waste bin. The clamping mechanism moves above the waste bin, the clamping claws open to release the syringe, causing the syringe to fall into the waste bin.