A fully automatic detection device

Abstract

This utility model discloses a fully automatic detection device, including a shell, a horizontal bidirectional moving module, a vertical moving module, a gripper assembly, and a pipette, as well as a waste pipette box, a pipette tip box, a placement position, a detector, a plate washer, and a plate washer placement position. This fully automatic detection device has good flexibility and a high degree of automation. Under the joint control of the horizontal bidirectional moving module and the vertical moving module, it can realize the flexible movement of the gripper assembly and the pipette. It can effectively perform operations such as material handling and liquid sample movement. It has the functions of a fully automatic molecular interaction detector, a fully automatic enzyme-linked immunosorbent assay (ELISA) workstation, and a fully automatic pipetting workstation, realizing the automation of experimental steps such as sample addition, primary and secondary antibody incubation, and plate washing.

Description

Technical Field

[0001] This utility model relates to the field of testing equipment technology, specifically to a fully automatic testing device. Background Technology

[0002] Molecular interaction analyzers, as core tools for studying interactions between biomolecules, are playing an increasingly important role in life sciences, biopharmaceuticals, and clinical medicine. Their use requires sampling, dispensing, aspiration, and pipetting, operations that are cumbersome and labor-intensive if performed manually. While some analyzers utilize robotic arms or moving mechanisms for automation, these structures have limited range of motion and are generally less flexible. Summary of the Invention

[0003] The purpose of this invention is to address the problems existing in the prior art by providing a fully automatic detection device.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A fully automatic detection device includes a horizontal bidirectional moving module located at the top of the housing, a vertical moving module located below the horizontal bidirectional moving module, and a gripper assembly and a pipette located below the vertical moving module. The vertical moving module includes a vertical connecting plate connected to the bottom of the horizontal bidirectional moving module. Vertical slide rails are provided on both sides of the vertical connecting plate, and vertical moving modules are connected to the vertical slide rails on both sides. The vertical moving module on one side is connected to the gripper assembly, and the vertical moving module on the other side is connected to the pipette. A detector and a plate washer are located at the bottom of the housing.

[0005] This fully automated detection device is highly flexible and automated. Under the joint control of the horizontal bidirectional moving module and the vertical moving module, it can flexibly move the gripper assembly and the pipette, effectively performing operations such as material handling and liquid sample movement. It has the functions of a fully automated enzyme-linked immunosorbent assay (ELISA) workstation and a fully automated pipetting workstation, automating experimental steps such as sample addition, primary and secondary antibody incubation, and plate washing. When the detector is not using the MetaSPR molecular detector, it can be used with other instruments that require liquid handling and detection, such as optical detectors and ELISA readers.

[0006] The horizontal bidirectional moving module can move in the X and Y directions, and its movement range can basically cover the planar space within the housing, allowing the gripper assembly and the pipette to move to various functional positions. The vertical moving module can control the height of the gripper assembly and the pipette, ensuring accurate arrival at each position. The cooperation between the two enables automated operations such as material handling, sample addition, pipetting, and material transfer, reducing the labor intensity of manual operation and improving overall work efficiency. Two sets of vertical moving modules can be connected to the gripper assembly and the pipette respectively, allowing the gripper assembly and the pipette to be controlled independently in vertical movement. They can be raised and lowered alternately and used alternately without interference. For horizontal movement, they can share one set of the horizontal bidirectional moving module.

[0007] The detector is a liquid handling and detection device, preferably one of the MetaSPR molecular detector, optical detector, and enzyme-linked immunosorbent assay (ELISA) reader.

[0008] Furthermore, a pair of crossbeams are provided above the interior of the housing, and the horizontal bidirectional moving module includes an X-axis moving module disposed on the crossbeams, a Y-axis moving module spanning the pair of crossbeams on the X-axis moving module, and the vertical moving module is disposed below the Y-axis moving module.

[0009] Furthermore, the X-axis movement module includes an X-axis slide rail mounted on a pair of crossbeams, with a plurality of X-axis sliders on the slide rails. Each X-axis slider has a sliding support plate spanning the pair of crossbeams, and the Y-axis movement module is mounted on the sliding support plate. A first lead screw drive component is also provided on one side of each crossbeam, along with a first drive motor that drives and connects to the first lead screw drive component. The first lead screw drive component connects to and drives the sliding support plate. This dual-slide rail arrangement improves the stability of the sliding support plate's movement and increases its span, thus increasing the movement range of the Y-axis movement module.

[0010] Furthermore, the Y-axis moving module includes a second lead screw drive and a Y-axis slide rail disposed on the X-axis moving module, and a second drive motor that drives and connects to the second lead screw drive. The second lead screw drive is provided with a Y-axis slider, and the Y-axis slider is connected to a downwardly extending Y-axis moving bracket, which is connected to the vertical moving module.

[0011] Furthermore, the gripper assembly includes a gripper driver and a pair of gripper arms connected to the gripper driver, the ends of the gripper arms being provided with gripping positions.

[0012] Furthermore, a first bracket and a second bracket are provided at the lower part of the housing. The first bracket is provided with a waste gun box and multiple gun head boxes. The first bracket and the second bracket are respectively provided with multiple placement positions. The detector is provided below the second bracket. The first bracket is provided with a first opening near the detector. The plate washing machine is provided below the second bracket. The plate washing machine is provided with a plate washing machine placement position. The second bracket is provided with a second opening corresponding to the plate washing machine placement position.

[0013] Furthermore, the first bracket and the second bracket are placed side by side, and the first bracket and the second bracket are respectively provided with instrument placement positions. The detector and the plate washing machine are respectively arranged side by side in the instrument placement positions below the second bracket. The detector has a detector plate placement position that can be moved in and out, and the extended (or popped out) detector plate placement position is arranged in the direction of the first opening.

[0014] Furthermore, the placement position includes at least a chip board placement position and a liquid cartridge placement position.

[0015] Furthermore, an external bracket is provided on the outer side of the housing near the plate washing machine, and the external bracket is provided with several liquid storage positions for plate washing.

[0016] Furthermore, the housing includes a main frame and a housing plate disposed outside the main frame. The front housing plate is provided with an openable and closable door. The main frame is also provided with multiple support feet and / or casters with brakes below it.

[0017] Compared with the prior art, the beneficial effects of this utility model are: 1. This fully automatic detection device has good flexibility and a high degree of automation, and is suitable for various automated liquid processing and detection. It can achieve flexible movement of the gripper assembly and the pipette under the joint control of the horizontal bidirectional moving module and the vertical moving module, effectively performing operations such as material handling and liquid sample movement. It also has the functions of a fully automatic enzyme-linked immunosorbent assay (ELISA) workstation and a fully automatic pipetting workstation, automating experimental steps such as sample addition, primary and secondary antibody incubation, plate washing, and value reading; 2. The first support and the second support provide… The housing provides a placement platform, which can be used to arrange components such as the waste gun box, the pipette tip box, and the placement position using these two supports. It can also utilize the space below the supports to install instruments such as detectors and plate washers. Through reasonable layout, these functional components are integrated into the same housing. 3. Two sets of vertical movement modules can be connected to the gripper assembly and the pipette respectively, so that the gripper assembly and the pipette can be controlled separately in vertical movement. They can be raised and lowered alternately and used alternately without interfering with each other. In horizontal movement, they can share a set of horizontal bidirectional movement modules. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a fully automatic detection device according to the present invention; Figure 2 This is a schematic diagram of the internal structure of a fully automatic detection device according to the present invention; Figure 3 This is a schematic diagram of the connection structure between the bidirectional moving module and the vertical moving module of this utility model; Figure 4 This is a schematic diagram of the vertical moving module of this utility model; Figure 5 This is a schematic diagram of the gripper assembly of this utility model; Figure 6 This is a schematic diagram of the structure of the first and second supports of this utility model; In the diagram: 1. Housing; 2. Door; 3. X-axis moving module; 301. X-axis slide rail; 302. X-axis slider; 303. Sliding support plate; 304. First lead screw drive component; 305. First drive motor; 4. Y-axis moving module; 401. Y-axis slide rail; 402. Y-axis slider; 403. Second lead screw drive component; 404. Second drive motor; 405. Y-axis moving bracket; 5. Vertical moving module; 501. Vertical connecting plate; 502. Vertical slide rail; 503. Vertical moving module 6. Main frame; 7. Crossbeam; 8. Gripper assembly; 801. Gripper driver; 802. Gripper arm; 803. Gripper position; 9. Pipette; 10. First support; 11. Second support; 12. Waste pipette box; 13. Pipe tip box; 14. Placement position; 15. Detector; 16. Detector plate placement position; 17. First opening; 18. Plate washer; 19. Plate washer plate placement position; 20. Second opening; 21. External bracket; 22. Plate washer liquid storage position; 23. Support leg; 24. Casters. Detailed Implementation

[0019] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] In the description of this utility model, it should be noted that the terms "middle," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] The fully automated detection device provided by this invention can be used for the processing and detection of various liquids. For example, the core detector can be a MetaSPR molecular detector, an optical detector, or an enzyme-linked immunosorbent assay (ELISA) reader. As an example, the detector in this embodiment is a MetaSPR molecular detector, and the detection device is a fully automated molecular interaction analyzer.

[0022] like Figures 1-6 As shown, a fully automatic detection device includes a housing 1. A horizontal bidirectional moving module is located at the top inside the housing 1, and a vertical moving module 5 is located below the horizontal bidirectional moving module. A gripper assembly 8 and a pipette 9 are located below the vertical moving module 5. The vertical moving module 5 includes a vertical connecting plate 501 connected to the bottom of the horizontal bidirectional moving module. Vertical slide rails 502 are located on both sides of the vertical connecting plate 501, and vertical moving modules 503 are connected to the vertical slide rails 502 on both sides. One vertical moving module 503 is connected to the gripper assembly 8, and the other vertical moving module 503 is connected to the pipette 9. A detector 15 and a plate washer 18 are located at the bottom inside the housing 1.

[0023] This fully automated detection device is highly flexible and automated. Under the joint control of the horizontal bidirectional moving module and the vertical moving module, it can flexibly move the gripper assembly 8 and the pipette 9, effectively performing operations such as material handling and liquid sample movement. When used with various instruments, it can analyze the interactions between various biomolecules in real time, providing high-quality biological information such as kinetics, affinity, antibody screening, and concentration determination. It also has the functions of a fully automated enzyme-linked immunosorbent assay (ELISA) workstation and a fully automated pipetting workstation, automating experimental steps such as sample addition, primary and secondary antibody incubation, plate washing, and value reading.

[0024] The horizontal bidirectional moving module can move in the X and Y directions, and its movement range can basically cover the planar space inside the housing, allowing the gripper assembly 8 and the pipette 9 to move to various functional positions. The vertical moving module 5 can control the height of the gripper assembly 8 and the pipette 9, allowing them to accurately reach various positions. The cooperation between the two can realize automated operations such as material picking and placing, sample addition, pipetting, and material transfer, reducing the labor intensity of manual operation and improving the overall work efficiency.

[0025] The vertical connecting plate 501 is connected to the Y-axis moving bracket 405. By setting the vertical slide rails 502 on the front and rear sides of the vertical connecting plate 501 respectively, the vertical moving modules 503 can be connected respectively. The two sets of vertical moving modules can be connected to the gripper assembly 8 and the pipette 9 respectively, so that the gripper assembly 8 and the pipette 9 can be controlled separately in vertical movement. The two can be raised and lowered alternately and used alternately without interfering with each other. In horizontal movement, they can share a set of horizontal bidirectional moving modules.

[0026] The vertical moving module 503 can also be a structure that uses a lead screw and a servo motor together, except that it is arranged vertically. Support plates are provided on both sides of the vertical connecting plate 501 for connecting the lead screw and the servo motor. A cover can also be provided on the outside of the vertical moving module.

[0027] Furthermore, a pair of crossbeams 7 are provided above the interior of the housing 1. The horizontal bidirectional moving module includes an X-axis moving module 3 disposed on the crossbeams 7. A Y-axis moving module 4 spanning the pair of crossbeams 7 is provided on the X-axis moving module 3. The vertical moving module 5 is disposed below the Y-axis moving module 4.

[0028] In this embodiment, the X direction is the left-right direction when facing the interaction device, and the Y direction is the front-back direction when facing the interaction device. A pair of crossbeams 7 support the X-direction moving module 3 in the front-back direction. The X-direction moving module 3 can move back and forth in the left-right direction, while the Y-direction moving module 4 moves back and forth in the front-back direction.

[0029] Specifically, the X-axis moving module 3 includes an X-axis slide rail 301 mounted on a pair of crossbeams 7, a plurality of X-axis sliders 302 mounted on the X-axis slide rail 301, and a sliding support plate 303 spanning the pair of crossbeams 7 mounted on the plurality of X-axis sliders 302. The Y-axis moving module 4 is mounted on the sliding support plate 303. A first lead screw drive component 304 is also provided on one side of the crossbeam 7, and a first drive motor 305 drives and connects to the first lead screw drive component 304. The first lead screw drive component 304 connects to and drives the sliding support plate 303.

[0030] The first lead screw drive component 304 is arranged parallel to the X-axis slide rail 301. The first drive motor 305 drives the first lead screw drive component 304 to rotate, thereby moving the sliding support plate 303 left and right, and thus driving the Y-axis moving module 4 to move synchronously. The X-axis slide rail 301 and the X-axis slider 302 serve both as support, guide, and slide. This dual-slide rail arrangement can improve the stability of the sliding support plate 303's movement and increase its span, that is, increase the movement range of the Y-axis moving module 4.

[0031] The Y-axis moving module 4 includes a second lead screw drive 403 and a Y-axis slide rail disposed on the X-axis moving module 3, and a second drive motor 404 that drives and connects to the second lead screw drive 403. The second lead screw drive 403 is provided with a Y-axis slider 402, which is slidably connected to the Y-axis slide rail. The Y-axis slider 402 is connected to a downwardly extending Y-axis moving bracket 405, which is connected to the vertical moving module 5.

[0032] The Y-axis slide rail 401, the second lead screw transmission component 403, and the second drive motor 404 are all mounted on the sliding support plate 303. The second drive motor 404 drives the second lead screw transmission component 403 to rotate, which can drive the Y-axis slider 402 to move back and forth along the Y-axis slide rail 401, thereby driving the Y-axis moving bracket 405 and the vertical moving module 5 connected to it to move back and forth synchronously. The Y-axis moving bracket 405 is connected to both sides of the Y-axis slider 402 and extends downward to connect to the vertical moving module 5 below.

[0033] Both the first lead screw drive component 304 and the second lead screw drive component 403 include components such as a lead screw and a lead screw sleeve. One end of the lead screw is connected to its respective drive motor, and the other end is connected to a bearing housing. Both the first drive motor and the second drive motor are servo motors, which are easy to control and have high precision. They can be directly connected to the lead screw via a coupling or via a transmission belt.

[0034] Furthermore, the gripper assembly 8 includes a gripper driver 801 and a pair of gripper arms 802 connected to the gripper driver 801. Each gripper arm 802 has a gripping position 803 at its end. Each gripper arm 802 includes a horizontal section connected to the output end of the gripper driver 801, and a vertical section connected to the horizontal section. The gripping position 803 is located at the end of the vertical section and has a certain length to better grip various boards, materials, or containers. The horizontal section allows the vertical section to extend to both sides of the vertical connecting plate, so that the gripping position is located in the central region relative to the vertical moving module, which helps maintain overall stability during gripping.

[0035] In this embodiment, the pipette 9 can be an 8-channel pipette adapted to Tecan tips, with a volume of 200 μL. The gripper actuator 801 is a finger electric cylinder or a finger pneumatic cylinder.

[0036] Furthermore, a first support 10 and a second support 11 are provided at the lower part of the interior of the housing 1. The first support 10 is provided with a waste gun box 12 and a plurality of gun head boxes 13. The first support 10 and the second support 11 are respectively provided with a plurality of placement positions 14. A detector 15 is provided below the second support 11. The first support 10 is provided with a first opening 17 near the detector 15. A plate washing machine 18 is also provided below the second support 11. The plate washing machine 18 is provided with a plate washing machine placement position 19. The second support 11 is provided with a second opening 20 corresponding to the plate washing machine placement position 19.

[0037] The first bracket 10 and the second bracket 11 provide a placement platform inside the housing. Components such as the waste gun box, the gun head box, and the placement position can be arranged using these two brackets. Equipment such as detectors and plate washing machines can also be installed using the space below the brackets. Through reasonable layout, these functional components are integrated into the same housing.

[0038] The first opening 17 allows for the placement and removal of samples into the detector, while the second opening 20 facilitates the placement of used plates on the plate washing machine's plate placement position for the plate washing machine to perform the plate washing operation.

[0039] Furthermore, the first support 10 and the second support 11 are placed side by side, with space left inside each support for instrument placement. The detector 15 and the plate washer 18 are arranged side by side in the instrument placement space below the second support 11. The detector 15 has an accessible plate placement position 16, which faces the first opening 17. In other words, the plate placement position 16 extends from the detector 15 and is positioned at the first opening 17, facilitating the placement and removal of plates and samples. The plate washer and the detector can be commercially available products installed here, such as the MetaSPR molecular analyzer, which can be WeSPR 100, WeSPR100X, WeSPR 200, etc.

[0040] Furthermore, the placement position 14 includes at least a chip plate placement position and a liquid cartridge placement position. The chip plate placement position is pre-set with a microfluidic chip or other type of detection chip for detection, and the liquid cartridge placement position can hold a liquid cartridge or reagent kit, which contains a reaction solution or reagent.

[0041] Furthermore, an external bracket 21 is provided on the outer side of the housing 1 near the plate washing machine. The external bracket 21 is provided with several liquid storage positions 22 for plate washing, which can hold several liquid bottles. By placing them on the outside, the internal space is not occupied, and it is also convenient for personnel to replace the liquid.

[0042] Furthermore, the housing 1 includes a main frame 6 and a housing plate disposed outside the main frame 6. The front housing plate is provided with the door 2. The main frame 6 is also provided with a plurality of support feet 23 and a movable wheel 24 with brakes.

[0043] The main frame 6 enhances the overall strength and stability, and the pair of crossbeams 7 can be structures on the main frame. Braked casters 24 are provided for easy movement.

[0044] The front of the housing 1 is also equipped with a display, as well as functional buttons for power, lighting, detection, and emergency stop. Various controllers and power conversion models are located at the rear of the housing 1, and cooling fans can also be installed at the rear and top. The housing plate has perforated grilles.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully automated detection device comprising a housing, characterized in that The upper part of the housing is provided with a horizontal bidirectional moving module, and the lower part of the horizontal bidirectional moving module is provided with a vertical moving module. The lower part of the vertical moving module is provided with a gripper assembly and a pipette. The vertical moving module includes a vertical connecting plate connected to the lower part of the horizontal bidirectional moving module. Vertical slide rails are provided on both sides of the vertical connecting plate. Vertical moving modules are connected to the vertical slide rails on both sides. The vertical moving module on one side is connected to the gripper assembly, and the vertical moving module on the other side is connected to the pipette. The lower part of the housing is provided with a detector and a plate washer.

2. The fully automated detection device of claim 1, wherein, The detector is a liquid handling and testing device.

3. The fully automated detection device of claim 2, wherein, The detector is at least one of the following: MetaSPR molecular detector, optical detector, and enzyme-linked immunosorbent assay (ELISA) reader.

4. The fully automated detection device of claim 1, wherein, The upper part of the housing is provided with a pair of crossbeams. The horizontal bidirectional moving module includes an X-axis moving module disposed on the crossbeams. The X-axis moving module is provided with a Y-axis moving module that spans the pair of crossbeams. The vertical moving module is disposed below the Y-axis moving module.

5. The fully automated detection device of claim 4, wherein, The X-axis moving module includes an X-axis slide rail disposed on a pair of crossbeams, a plurality of X-axis sliders disposed on the X-axis slide rails, and a sliding support plate spanning the pair of crossbeams disposed on the plurality of X-axis sliders. The Y-axis moving module is mounted on the sliding support plate. A first lead screw drive component is also disposed on one side of the crossbeams, and a first drive motor drives and connects to the first lead screw drive component. The first lead screw drive component connects to and drives the sliding support plate.

6. The fully automated detection device of claim 4, wherein, The Y-axis moving module includes a second lead screw drive and a Y-axis slide rail disposed on the X-axis moving module, and a second drive motor that drives and connects to the second lead screw drive. The second lead screw drive is provided with a Y-axis slider, and the Y-axis slider is connected to a downwardly extending Y-axis moving bracket. The Y-axis moving bracket is connected to the vertical moving module.

7. The fully automated detection device of claim 1, wherein, The gripper assembly includes a gripper driver and a pair of gripper arms connected to the gripper driver, the ends of the gripper arms having gripping positions.

8. The fully automatic detection device according to claim 1, characterized in that, The lower part of the housing is provided with a first bracket and a second bracket. The first bracket is provided with a waste gun box and multiple gun head boxes. The first bracket and the second bracket are respectively provided with multiple placement positions. The detector is provided below the second bracket. The first bracket is provided with a first opening near the detector. The plate washing machine is provided below the second bracket. The plate washing machine is provided with a plate washing machine placement position. The second bracket is provided with a second opening corresponding to the plate washing machine placement position.

9. The fully automatic detection device according to claim 8, characterized in that, The first bracket and the second bracket are placed side by side, and the first bracket and the second bracket are respectively provided with instrument placement positions. The detector and the plate washing machine are respectively arranged side by side in the instrument placement positions below the second bracket. The detector has a detector plate placement position that can be moved in and out, and the extended detector plate placement position is arranged in the direction of the first opening.

10. The fully automatic detection device according to claim 8, characterized in that, The placement positions include at least a chip board placement position and a liquid box placement position.

11. The fully automatic detection device according to claim 8, characterized in that, An external bracket is provided on the outer side of the housing near the plate washing machine, and the external bracket is provided with several liquid storage positions for plate washing.

12. The fully automatic detection device according to claim 1, characterized in that, The housing includes a main frame and a housing plate disposed outside the main frame. The front housing plate is provided with an openable and closable door. The main frame is also provided with multiple support feet and / or casters with brakes below it.

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