A fecal sample pre-treatment device

Abstract

A kind of fecal sample pretreatment equipment, including shell module, machine table module and be set on its upper sample module, liquid supplementing module, mixing module, filter element adding module, discharging module, multiple single tube transfer module and carrier conveying module.By carrier conveying module, sample carrier main conveying path is formed, single tube transfer module forms single sample tube auxiliary flow path, and both form collaborative flow network, to realize the automatic flow of sample in closed environment.Equipment sequentially completes automatic feeding, visual identification, liquid level detection, accurate liquid supplementing, forced mixing, automatic filter element adding and discharging operation, wherein filter element adding module effectively solves the technical problem of suction head blockage in subsequent automatic sampling by adding filter element into sample tube.

Description

Technical Field

[0001] This application relates to the field of medical testing and sampling equipment technology, specifically to a fecal sample pretreatment device. Background Technology

[0002] Fecal DNA methylation testing is an important method for non-invasive early screening of colorectal cancer, with a broad market prospect. With the increasing prevalence of screening, testing institutions are facing an explosive growth and highly concentrated sample volume. For example, one testing institution received approximately 140,000 samples in 2021, with the sample volume highly concentrated in November, posing a significant challenge to backend experimental delivery. On the one hand, there is a contradiction between personnel and production capacity: in order to meet the tight delivery cycle, a large number of personnel are needed to cope with the peak sample volume, but under normal sample volume, these personnel and equipment cannot operate at full capacity, resulting in high labor costs and low resource utilization.

[0003] On the other hand, the application of automated equipment failed: the automated equipment invested in to solve manpower problems revealed serious defects in actual use, with a sampling anomaly rate as high as 35%. Analysis showed that this anomaly rate was mainly due to the complex composition and varying viscosity of fecal samples, which easily clogged pipette tips during automated sampling. The numerous anomalies rendered the automated equipment unusable, forcing a return to manual sampling. This not only failed to save manpower but also increased staffing and operational complexity by requiring both automated equipment maintenance and manual operation to proceed simultaneously.

[0004] Therefore, a pressing technical contradiction exists in this field: on the one hand, market growth demands high-throughput, low-cost automation solutions; on the other hand, existing automation solutions fail due to their inability to overcome the physical characteristics of fecal samples (easily clogging suction tips). This makes the development of a fecal sample pretreatment device that can fundamentally solve the sampling clogging problem, truly achieve full-process automation, and adapt to different throughput requirements crucial for driving the development of this technology.

[0005] Based on this, the Shenzhen colorectal cancer production line proposed to develop a new automated equipment, whose core requirements include: meeting high-throughput scenarios and being compatible with medium and low-throughput scenarios; achieving personnel savings; solving the problem of high abnormality rate in automated sampling; and controlling project costs. Utility Model Content

[0006] This application provides a fecal sample pretreatment device to meet the needs of high-throughput scenarios and be compatible with medium and low-throughput scenarios, while solving the problem of high anomaly rate in automated sampling.

[0007] According to one aspect of this application, one embodiment provides a fecal sample pretreatment device, comprising: The housing module is configured as a closed housing, and the housing module has a loading window and a unloading window for automatic loading and unloading; The machine module is configured as a frame with a processing platform and is located within the outer shell module; And those mounted on the machine module: A sample loading module is located in the loading window. Multiple samples are carried by a sample carrier and fed from the loading window through the sample loading module. The sample loading module is used to detect the liquid level in a single sample tube. The fluid replenishment module is used to open a single sample tube and replenish the preservation solution to the set height. The mixing module is used to mix samples and preservation solutions in multiple sample tubes in batches. The filter cartridge module is used to add a filter cartridge into the sample tube to form a supernatant and a turbid liquid in each sample tube. A feeding module is located in the feeding window, through which multiple samples are carried by a sample carrier and discharged from the feeding window via the feeding module; Multiple single-tube transfer modules are provided and used for the transfer of single sample tubes, forming an auxiliary transfer path for single sample tubes. The sample carrier conveying module is equipped with multiple sets that form the main conveying path of the sample carrier, and connects the sample loading module, the carrier input / output end of the mixing module and the unloading module in series, so that the sample carrier flows sequentially; The carrier transport module and the single tube transfer module together form a collaborative circulation network between the sample carrier and the single sample tube.

[0008] In another embodiment, the sample loading module includes a loading slide assembly, a loading status detection assembly, a belt conveyor mechanism, a liquid level detection assembly, and a sample carrier reversing slide. The feeding slide assembly, belt conveyor mechanism, sample carrier reversing slide, and downstream carrier conveying module form the carrier flow path; The feeding status detection component and the liquid level detection component are arranged on the carrier flow path of the belt conveyor mechanism to identify the original sample quantity, hole position and detection liquid level height; The single-tube transfer module corresponding to the sample loading module is used to grab a single sample tube and transfer it to the liquid level detection component and the downstream liquid replenishment module.

[0009] In another embodiment, the liquid replenishment module includes a capping module, a liquid replenishment assembly, a liquid level retesting sensor, and a mixing turntable; The mixing turntable rotates intermittently, forming a sample flow path with the upstream single-tube transfer module and the downstream mixing module; The capping module, the liquid replenishment assembly, and the liquid level retesting sensor are arranged at the capping and liquid replenishment station of the mixing turntable to perform capping, liquid level pre-testing, liquid replenishment, and liquid replenishment retesting operations.

[0010] In another embodiment, the mixing module includes a mixer, a mixing and pressing assembly, a mixing carrier, and a mixing carrier transfer assembly. The single-tube transfer module before mixing, the mixing carrier, the carrier transport module, the mixer, and the single-tube transfer module after mixing form the sample transport and transfer path. The mixing carrier is used to carry multiple single sample tubes. The mixing carrier transfer assembly is used to perform the transfer of the mixing carrier between the carrier conveying module and the mixer. The mixer and the mixing and pressing assembly work together to press and force the mixing carrier located on the mixer.

[0011] In another embodiment, the filter cartridge module includes a filter cartridge hopper, a flexible vibrating plate, a filter cartridge recognition camera, a filter cartridge gripping assembly, a filter cartridge buffer platform, a sample tube switch cover assembly, a filter cartridge gripping electric claw, and a multi-station turntable; The multi-station turntable is used to carry the single sample tubes flowing upstream and to transfer them on multiple stations by rotation. The filter cartridge hopper, flexible vibratory plate, filter cartridge gripping assembly, filter cartridge buffer platform, filter cartridge gripping electric claw and multi-station turntable form the filter cartridge supply path; The sample tube opening and closing cap assembly, the filter element identification camera, and the filter element gripping electric claw are arranged at the filter element loading station of the multi-station turntable to open a single sample tube, identify qualified filter elements, complete filter element loading, and close the sample tube cap.

[0012] In another embodiment, the carrier conveying module includes a transmission system, a drive motor assembly, a carrier positioning sensor, and a carrier stop block; The transmission system and the drive motor assembly form a continuous sample carrier transport path that runs through multiple modules of the equipment; The carrier positioning sensor and carrier stop block are arranged at each functional station of the conveying path to detect the positioning status of the sample carrier and achieve precise positioning. The carrier stop block is driven by an independent stop motor to raise to block the sample carrier or lower to allow passage when needed.

[0013] In another embodiment, the carrier conveying module downstream of the filter cartridge module is used to transfer the sample carrier to the unloading module. The unloading module includes a conveying table, a horizontal slide assembly, a conveying table rotation power component, and a carrier positioning sensing assembly. The conveyor table is located at the entrance of the unloading module, and the horizontal slide assembly and the conveyor table rotation power component form the turning and delivery path of the sample carrier. The carrier placement sensing components are arranged on both sides of the conveyor table to detect whether the sample carrier has reached the unloading station. The rotating power component of the conveyor table and the horizontal slide assembly operate in sequence to rotate the sample carrier to align with the unloading window and then send it out horizontally.

[0014] In another embodiment, the housing module includes a housing and a human-machine interface, an operation panel, a feeding button, and a loading button arranged on the housing.

[0015] In another embodiment, the single-tube transfer module includes an X-axis slide, a Y-axis slide, a Z-axis slide, an electric gripper, and a sample tube clamp; The X-axis slide, Y-axis slide, and Z-axis slide constitute a three-dimensional rectangular coordinate motion path covering the corresponding work area; The sample tube clamp is located at the operating end of the electric gripper to move between the functional positions of each module and perform grasping, holding and releasing actions on a single sample tube.

[0016] In another embodiment, the device employs a partitioned three-dimensional spatial layout, including: The material loading area, located near the edge of the equipment, is used to arrange the sample loading module; The processing area, located in the middle of the equipment and on the side away from the feeding area, is used to sequentially arrange the liquid replenishment module, the mixing module, and the filter cartridge addition module; and The unloading area is located near the edge of the equipment operation side and is used to house the end-end carrier conveyor module and unloading module. The carrier transport module forms the ground-level horizontal flow path of the sample carrier, and the single-tube transfer module forms the aerial three-dimensional transfer path of a single sample tube, so that the two can achieve coordinated flow of samples in space.

[0017] The fecal sample pretreatment equipment according to the above embodiments achieves fully automated processing of tubular fecal samples in a fully enclosed environment. This is achieved by constructing a collaborative flow network that combines the main transport path of the sample carrier consisting of a carrier transport module with the auxiliary flow path of a single sample tube consisting of multiple sets of single tube transfer modules. This network enables the automatic processing of tubular fecal samples from automatic feeding, visual recognition, precise liquid replenishment, forced mixing to automatic filter addition. Ultimately, this achieves the core technical effect of saving 10 people in a high-throughput (8000 cases / day) scenario with two shifts and reducing the abnormal rate of back-end automated sampling from about 30% to less than 1%. At the same time, it ensures the uniformity, stability and full-process data traceability of sample processing quality. Attached Figure Description

[0018] Figure 1 A schematic diagram of the overall fecal sample pretreatment equipment; Figure 2 This is a schematic diagram of the internal structure of the outer shell module of the fecal sample pretreatment device in one embodiment; Figure 3 This is a schematic diagram of a single-tube transfer module in one embodiment; Figure 4 This is a schematic diagram of the sample loading module and the liquid replenishment module in one embodiment; Figure 5 This is a schematic diagram of the sample loading module in one embodiment; Figure 6-1 This is a schematic diagram of the fluid replenishment module in one embodiment; Figure 6-2 This is a schematic diagram of the fluid replenishment module from another perspective in one embodiment; Figure 7-1 This is a schematic diagram of a mixing module in one embodiment; Figure 7-2 This is a schematic diagram of the mixing module from another perspective in one embodiment; Figure 8 This is a schematic diagram of a filter module in one embodiment; Figure 9-1 This is a schematic diagram of a carrier conveying module in one embodiment; Figure 9-2 This is a schematic diagram of the carrier conveyor module from another perspective in one embodiment; Figure 10 This is a schematic diagram of the feeding module in one embodiment; Figure 11 This is a flowchart illustrating the operation of a fecal sample pretreatment device in one embodiment. Figure 12 This is a diagram showing test data and results before the equipment is put into production in one embodiment.

[0019] Figure label: 1. Outer shell module; 1-1. Human-machine interface; 1-2. Operation panel; 1-3. Power input interface; 1-4. Unloading button; 1-5. Loading button; 1-6. Unloading window; 1-7. Loading window; 1-8. Bottom cabinet door assembly; 1-9. Upper cabinet door assembly; 1-10. UV-resistant viewing window; 1-11. Indicator light bar; 1-12. Top sealing plate assembly; 2. Machine base module; 2-1. Caster assembly; 2-2. Profile assembly; 2-3. Base plate assembly; 2-4. Platform plate assembly; 3. Sample loading module; 3-1. Loading slide; 3-2. Visual inspection light source for loading status; 3-3. Loading status detection component; 3-4. Belt conveyor mechanism; 3-5. Fixed barcode reader; 3-6. Liquid level detection camera light source; 3-7. Liquid level detection component; 3-8. Sample tube transfer gripper assembly; 3-9. Transfer triaxial module; 3-10. Sample carrier reversing slide; 4. Liquid replenishment module; 4-1. Transfer fixture; 4-2. Electric gripper; 4-3. Buffer and positioning detection device; 4-4. Transfer module; 4-5. Capping module; 4-6. Liquid replenishment assembly; 4-7. Capping fixture; 4-8. Capping electric gripper; 4-9. Liquid level retesting sensor; 4-10. Mixing turntable; 4-11. Mixing and unloading transfer assembly; 4-12. Mixing and unloading slide; 5. Mixing module; 5-1. Mixing carrier limit fixture; 5-2. Mixer; 5-3. Mixing clamping assembly; 5-4. Mixing carrier; 5-5. Single tube transfer assembly after mixing; 5-6. Mixing carrier transfer assembly; 5-7. Mixing transfer arm transition fixture; 5-8. Mixing carrier clamping motor; 5-9. Mixing carrier fixture; 5-10. Single tube transfer assembly before mixing; 6. Filter cartridge module; 6-1. Filter cartridge hopper; 6-2. Flexible vibrating plate; 6-3. Filter cartridge recognition camera; 6-4. Filter cartridge gripping assembly; 6-5. Four-axis robot; 6-6. Filter cartridge buffer platform; 6-7. Filter cartridge transfer slide; 6-8. Sample tube cap opening electric gripper; 6-9. Sample tube cap opening fixture; 6-10. Filter cartridge gripping electric gripper; 6-11. Filter cartridge gripping fixture; 6-12. Sample tube clamping assembly; 6-13. Multi-station turntable; 7. Single tube transfer module; 7-1. Gantry support; 7-2. X-axis slide; 7-3. Y-axis slide; 7-4. Z-axis slide; 7-5. Position detection sensor; 7-6. Spring buffer device; 7-7. Electric gripper; 7-8. Sample tube clamp; 8. Carrier conveyor module; 8-1. Carrier material presence sensor; 8-2. Wire and limit block; 8-3. Driven shaft assembly; 8-4. Transmission system; 8-5. Module mounting frame; 8-6. Drive motor assembly; 8-7. Unpowered roller; 8-8. Carrier position sensor; 8-9. Carrier stop block; 8-10. Stop block position sensor; 8-11. Stop motor; 8-12. Stop block return sensor; 9. Unloading module; 9-1. Horizontal slide assembly; 9-2. Front end position sensor of the carrier; 9-3. Conveyor rotary motor; 9-4. Belt drive motor; 9-5. Belt drive wheel; 9-6. Belt driven wheel; 9-7. Unpowered roller; 9-8. Rear end position sensor of the carrier. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0021] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0022] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0023] Fecal specimen testing is a routine clinical laboratory procedure. DNA extraction from feces is necessary for screening for cancers such as colorectal cancer. Current techniques primarily rely on manual processing for fecal sample pretreatment, which presents several problems: low efficiency (processing 8000 samples / day requires 20 laboratory personnel, resulting in high labor intensity); inconsistent mixing standards during manual processing affect the consistency of test results; existing automated equipment (such as the MGISTP-7000) has a high sampling anomaly rate (over 35%), as the complex composition and varying viscosity of fecal samples easily clog pipette tips during automated sampling, rendering the equipment unusable; and large fluctuations in sample volume make it difficult to balance personnel and equipment utilization.

[0024] The fecal sample pretreatment device disclosed in this invention aims to achieve fully automated pretreatment of tubular fecal samples, suitable for fecal DNA methylation detection or intestinal microecology detection scenarios. The device adopts a closed modular design, with each functional module forming an orderly spatial layout within the shell. Through the coordinated cooperation of the carrier transport module and the single-tube transfer module, efficient transfer of the sample carrier and single sample tubes is achieved.

[0025] Please refer to Figure 1 and Figure 2One embodiment provides a fecal sample pretreatment device, comprising: a housing module 1, which is configured as a closed housing, and the housing module 1 has a loading window 1-7 for automatic loading and unloading; a machine module 2, which is configured as a frame with a processing platform and located inside the housing module 1; and a sample loading module 3 disposed on the machine module, disposed at the loading window 1-7, wherein multiple samples are carried by a sample carrier and fed from the loading window 1-7 through the sample loading module 3, the sample loading module 3 being used to detect the liquid level of a single sample tube; a liquid replenishment module 4, used to open a single sample tube and replenish preservation liquid to a set height; and a mixing module 5, used to batch mix the samples and preservation liquid in multiple sample tubes. The system includes: a filter module 6 for adding a filter to the sample tube to form a supernatant and a turbid liquid in each sample tube; a feeding module 9 located at feeding windows 1-7, where multiple samples are carried by the sample carrier and discharged from the feeding windows 1-7 via the feeding module; a single-tube transfer module 7, with multiple sets, for the transfer of single sample tubes, forming an auxiliary transfer path for single sample tubes; and a carrier conveying module 8, with multiple sets, forming the main conveying path for the sample carrier, connecting the carrier input / output ends of the sample loading module 3 and the mixing module 5 with the feeding module 9 to allow the sample carrier to transfer sequentially. The carrier conveying module 8 and the single-tube transfer module 7 together form a collaborative transfer network between the sample carrier and the single sample tube.

[0026] In this embodiment, by constructing a collaborative flow network that combines the main transport path of the sample carrier consisting of the carrier transport module with the auxiliary flow path of the single sample tube consisting of multiple sets of single tube transfer modules, the fully automated processing of tubular fecal samples in a fully enclosed environment is achieved, from automatic feeding, visual recognition, precise liquid replenishment, forced mixing to automatic filter addition. Ultimately, the core technical effects of saving 10 people in a high-throughput (8000 cases / day) scenario and reducing the back-end automated sampling abnormality rate from more than 30% to less than 1% are achieved. At the same time, the uniformity, stability and full-process data traceability of sample processing quality are ensured.

[0027] For further details, please refer to... Figure 1 and Figure 2 The outer shell module 1 includes a rectangular closed shell. The shell as a whole includes a bottom cabinet door assembly 1-8, an upper cabinet door assembly 1-9, and a top sealing plate assembly 1-12 to form a closed structure. The bottom cabinet door assembly 1-8 generally serves as a support for the lower end of the shell and usually houses CNC, drive, and other power and control structures. The upper cabinet door assembly 1-9 is generally level with the operator to arrange various functional modules for operation and control. The top sealing plate assembly 1-12 is the top sealing plate. The shell as a whole can generally be made of 304 stainless steel, which has dustproof, UV protection, and sound insulation functions.

[0028] Please refer to Figure 1 and Figure 2 On the front of the housing (i.e. the operating surface), loading windows 1-7 and unloading windows 1-6 are arranged side by side. With the front of the housing as the reference (this is the reference in this embodiment), loading windows 1-7 and unloading windows 1-6 are close to each other and located in the lower right corner of the upper cabinet door assembly 1-9 for loading and unloading. Both loading windows 1-7 and unloading windows 1-6 are equipped with electric lifting doors, which are controlled by loading button 1-5 and unloading button 1-4.

[0029] Please refer to Figure 1 and Figure 2 The front of the housing (i.e., the operating surface) integrates a human-machine interface 1-1 and an operation panel 1-2 in the middle area for the operator to operate. The human-machine interface 1-1 can be set as a touch screen, which is basically at the level of the operator's head and can display the equipment operating status, sample processing progress and alarm information. An emergency stop button and a start / stop button are provided on one side of the operation panel 1-2. A status indicator light bar 1-11 is set at the top of the housing. The indicator light bar uses red, green and yellow to indicate the equipment fault, normal operation and standby status respectively.

[0030] Please refer to Figure 1 and Figure 2 The top sealing plate assembly 1-12 has a power input interface 1-3 and an air source interface. A cooling fan can also be installed as needed. The bottom cabinet door assembly 1-8 and the upper cabinet door assembly 1-9 are generally designed as openable cabinet doors. The left cabinet door of the upper cabinet door assembly 1-9 is equipped with a UV-protected viewing window 1-10, which allows observation of the internal operating status. The operator can focus on the equipment's operating status from the center of the operating surface, load and unload materials on the right side, and observe the internal processing status on the left side, reducing the operator's movement.

[0031] For further details, please refer to... Figure 2 The machine module 2 serves as the internal load-bearing foundation of the equipment. It can be constructed using aluminum alloy profiles to build the frame of profile component 2-2. The bottom plate component 2-3 is set at the lower end of profile component 2-1 to install the electrical, pneumatic, and other auxiliary and control devices of each module. Caster component 2-1 is set at the bottom to support the overall frame. The top is fixed with a thick aviation aluminum plate as the processing platform of platform large plate component 2-4 to install and support each module.

[0032] For details, please refer to Figure 2The internal functional modules of the equipment adopt a compact layout design. The modules are arranged in a linear and circular spatial distribution on the machine module 2, forming three functional zones within the outer shell: Loading area: located on the right side of the operating surface, corresponding to the loading windows 1-7, mainly housing the sample loading module 3 and the supporting single-tube transfer module 7; Processing area: located in the middle of the equipment, used to house the liquid replenishment module 4, mixing module 5, filter cartridge addition module 6, and multiple sets of supporting single-tube transfer modules 7. The filter cartridge addition module 6 is located on the left side of the operating surface; Unloading area: located near the edge of the operating surface, mainly housing the end-mounted carrier conveyor module 8 and the unloading module 9. The conveying route of the carrier conveyor module 8 is from left to right to the unloading module 9, and the unloading position of the unloading module 9 corresponds to the unloading windows 1-6. In this embodiment, the three-dimensional spatial layout of the upper single-tube transfer 7 and the lower carrier conveyor 8 realizes a collaborative flow network for parallel sample processing.

[0033] In this embodiment, please refer to Figure 2 Each area is connected in series through the carrier conveyor module 8, and the conveying path runs through the entire length of the machine module 8, forming a three-dimensional spatial layout of "lower carrier conveyor + upper single tube transfer", which effectively utilizes the internal space of the equipment.

[0034] Please refer to Figure 1 and Figure 2 The outer casing module 1 is mounted on the machine base module 2 with screws. The sample loading module 3, liquid replenishment module 4, mixing module 5, filter cartridge addition module 6, single tube transfer module 7, carrier conveyor module 8, and unloading module 9 are all fastened to the large platform assembly 2-4 in the middle of the machine base module 2 with screws. Except for the single tube transfer module 7 and carrier conveyor module 8, which involve multiple sets, the other modules each have only one set.

[0035] In this device, please refer to Figure 3 Each module employs a single-tube transfer module 7, which includes an X-axis slide 7-2, a Y-axis slide 7-3, a Z-axis slide 7-4, an electric gripper 7-7, and a sample tube clamp 7-8. The X-axis slide 7-2, Y-axis slide 7-3, and Z-axis slide 7-4 form a three-dimensional Cartesian coordinate motion path covering the corresponding work area. The sample tube clamp 7-8 is located at the operating end of the electric gripper 7-7 to move between the functional positions of each module and perform grasping, holding, and releasing actions on a single sample tube.

[0036] For further details, please refer to... Figure 4 and Figure 5The sample loading module 3 includes a loading slide assembly 3-1, a loading status visual inspection light source 3-2, a loading status detection assembly 3-3, a belt conveyor mechanism 3-4, a fixed barcode reader 3-5, a liquid level detection camera light source 3-6, a liquid level detection assembly 3-7, a sample tube transfer gripper assembly 3-8, a transfer triaxial module 3-9, and a sample carrier reversing slide 3-10. The loading slide assembly 3-1, the belt conveyor mechanism 3-4, the sample carrier reversing slide 3-10, and the downstream carrier conveyor module 8 form a carrier flow path. The loading status detection assembly 3-3 and the liquid level detection assembly 3-7 are arranged on the carrier flow path of the belt conveyor mechanism 3-4 to identify the original sample quantity, orifice position, and detection liquid level height. The single-tube transfer module 7 corresponding to the sample loading module 3 is used to grab a single sample tube and transfer it to the liquid level detection assembly 3-7 and the downstream replenishment module 4.

[0037] Specifically, the loading slide assembly 3-1 is driven by a precision linear module and is used to carry the sample carrier into and out of the equipment. Its movement path is precisely aligned with the loading windows 1-7 on the equipment housing to ensure smooth handover of the carrier. For example, it includes two parallel linear slide rails with carrier limiting grooves to accommodate 4×8 hole sample carriers. The bottom of the limiting grooves is connected to a servo motor via a synchronous belt, which can drive the carrier to move along the slide rails.

[0038] Material loading status detection component 3-3: The material loading status detection camera is equipped with a material loading status visual detection light source 3-2. The camera uses a 5-megapixel CMOS sensor and a ring LED light source. It triggers the taking of pictures after the sample carrier is in place, and uses image recognition algorithms to count the number of samples and record the hole position information.

[0039] Belt conveyor mechanism 3-4: Connected downstream of the feeding slide assembly 3-1, the feeding status detection assembly 3-3 is set on the path of the belt conveyor mechanism 3-4 to detect the sample carrier; it adopts synchronous belt drive, and the surface is covered with an anti-slip coating, used to transfer the carrier from the slide to the reversing slide; for example, it can be composed of a driving wheel, a driven wheel and a polyurethane belt, the driving wheel is driven by a stepper motor, and guide strips are provided on both sides of the belt to ensure smooth transport of the carrier.

[0040] Sample carrier reversing slide 3-10: Located at the end of the belt conveyor mechanism 3-4, it uses a rotary cylinder to drive and cooperate with the translation slide to achieve a precise 90° reversal, which can change the sample carrier from longitudinal conveying to transverse conveying and connect with the downstream carrier conveying module 8.

[0041] Fixed barcode reader 3-5: Installed upstream of liquid level detection component 3-7, with the reading dock aligned with the barcode area of ​​a single sample tube to record information of the single sample tube.

[0042] Liquid level detection assembly 3-7: composed of a liquid level detection camera and a configured liquid level detection camera light source 3-6, wherein the light source is a strip light at a specific angle, the camera is equipped with a telecentric lens, which captures a liquid level image when a single sample tube passes through, and calculates the liquid level height through an algorithm.

[0043] The single-tube transfer module 7 matched with the sample loading module 3 is a structure for transferring a single sample tube inside the module. In the sample loading module 3, there are provided a sample tube transfer gripper assembly 3-8 and a transfer three-axis module 3-9, which are configured for use after the sample holder is reversed by the reversing slide table 3-10, the sample holder flows into the code scanning and liquid level identification station through the holder conveying module 8; at this time, the single-tube transfer module 7 grabs a single sample tube from the sample holder and places the sample tube in the field of view of the fixed code reader 3-5 for code scanning; after code scanning is completed, it continues to move the single sample tube to the field of view of the liquid level detection assembly 3-7 to identify the sample height inside the tube. After the sample liquid level identification is completed, the single-tube transfer module 7 places the single sample tube at the corresponding position of the rehydration module 4.

[0044] Further, please refer to Figure 4 , Figure 6-1 and Figure 6-2 , the rehydration module 4 is adjacent to the downstream of the sample loading module 3, and its structure comprises a transfer fixture 4-1, an electric gripper 4-2, a buffering and in-position detection device 4-3, a transfer module 4-4, a cap screwing module 4-5, a rehydration assembly 4-6, a cap screwing fixture 4-7, a cap screwing electric gripper 4-8, a liquid level re-measurement sensor 4-9, a mixing turntable 4-10, a mixing and blanking transfer assembly 4-11, and a mixing and blanking slide table 4-12.

[0045] The mixing turntable 4-10 forms a sample flow path with the upstream single-tube transfer module 7 and the downstream mixing module 5 through intermittent rotation; the cap screwing module 4-5, the rehydration assembly 4-6 and the liquid level re-measurement sensor 4-9 are arranged at the cap opening and rehydration station of the mixing turntable 4-10 to perform cap screwing, pre-measurement of liquid level, rehydration and re-measurement of liquid level.

[0046] Specifically, the mixing turntable 4-10: it is a circular turntable driven by a divider, which can achieve accurate positioning every 90° rotation and realize intermittent rotation; the turntable is provided with 4 groups of sample tube positioning seats, each group can accommodate 4 sample tubes.

[0047] The upstream single-tube transfer module 7 places single sample tubes on the mixing turntable 4-10 until any group of the mixing turntable 4-10 reaches the storage capacity of 4 tubes, then the mixing turntable 4-10 rotates 90° counterclockwise (viewed from top overlooking on the operating surface side, which is also taken as reference hereinafter), and arrives below the cap screwing fixture 4-7 for cap screwing and rehydration.

[0048] Capping Module 4-5: Integrates a three-dimensional moving module, capping clamp 4-7 and capping electric gripper 4-8, used to open / tighten sample tube caps. Lifting and rotation movements are achieved through a servo motor, and the gripper has a built-in torque sensor to ensure capping force.

[0049] Liquid replenishment assembly 4-6: It is powered by the capping module 4-5 and is set in parallel with the capping electric gripper 4-8. It replenishes liquid through a precision peristaltic pump, a fluid system and an injection needle.

[0050] Liquid level re-measurement sensor 4-9: A laser rangefinder sensor with a measurement accuracy of ±0.1mm is used to detect the liquid level in the sample tube before and after liquid replenishment.

[0051] Please refer to Figure 5 The single-tube transfer module 7, which is matched with the liquid replenishment module 4, is the mixing and feeding transfer component 4-11. It is equipped with a transfer module 4-4, four sets of transfer clamps 4-1, an electric gripper 4-2, and a buffer and positioning detection device 4-3, so as to grab 4 single sample tubes at one time and place them on the mixing and feeding slide 4-12, and send the 4 samples to the downstream (left side) mixing module 5; the sliding direction of the mixing and feeding slide 4-12 is from right to left.

[0052] For further details, please refer to... Figure 2 , Figure 7-1 and Figure 7-2 The mixing module 5 is used to thoroughly mix the samples and preservation solution corresponding to multiple sample carriers at one time. The mixing module 5 includes a mixing carrier limiting fixture 5-1, a mixing instrument 5-2, a mixing clamping assembly 5-3, a mixing carrier 5-4, a single tube transfer assembly after mixing 5-5, a mixing carrier transfer assembly 5-6, a mixing transfer arm transition fixture 5-7, a mixing carrier clamping motor 5-8, a mixing carrier fixture 5-9, and a single tube transfer assembly before mixing 5-10.

[0053] The mixing module 5 forms a sample transport and transfer path with the upstream pre-mixing single-tube transfer module 7, mixing carrier 5-4, carrier transport module 8, mixer 5-2, and downstream post-mixing single-tube transfer module 7. The mixing carrier 5-4 is used to carry multiple single sample tubes. The mixing carrier transfer assembly 5-6 is used to perform the transport of the mixing carrier 5-4 between the carrier transport module 8 and the mixer 5-2. The mixer 5-2 and the mixing clamping assembly 5-3 cooperate to clamp and force mix the mixing carrier 5-4 located on the mixer 5-2.

[0054] Specifically, the mixing carrier 5-4 is made of engineering plastic injection molding and has 16 sample tube positioning holes. The hole walls have elastic protrusions to ensure that the sample tubes are placed stably. The bottom has a positioning structure that works with the mixer.

[0055] Mixer 5-2: It adopts the principle of vortex mixing, and the rotation speed can be adjusted between 500-3000 rpm. The mixing time can be set from 1 to 5 minutes. It also has a support position for mounting the mixing frame 5-4 so that multiple samples on a whole mixing frame 5-4 can be mixed at one time.

[0056] Mixing carrier transfer assembly 5-6: Adopting a four-axis SCARA robot structure with a repeatability accuracy of ±0.1mm, it is responsible for the transfer of the carrier between the conveyor line and the mixer.

[0057] Mixing and pressing assembly 5-3: The pressure plate is driven down by a pneumatic component to ensure that the carrier and the mixer are in close contact during the mixing process.

[0058] In this embodiment, the mixing module 5 corresponds to the upstream single-tube transfer module 7, namely the pre-mixing single-tube transfer assembly 5-10, which is used to remove a single sample tube from the mixing unloading slide 4-12 and place it on the mixing carrier 5-4. After 16 samples are filled into the single mixing carrier 5-4, the carrier conveying module 8 transports the mixing carrier 5-4 downstream to the mixing carrier transfer station. At this time, the mixing transfer arm transition fixture 5-7, the mixing carrier clamping motor 5-8, and the mixing carrier clamp 5-9 grab the mixing carrier 5-4 and place it on the mixing carrier limiting fixture 5-1. The mixing pressing assembly 5-3 presses the mixing carrier 5-4, the mixer 5-2 starts the mixing action and ends after the set mixing time, and the mixing pressing assembly 5-3 releases. The mixing carrier transfer assembly 5-6 transfers the mixing carrier 5-4 to the post-mixing unloading station again, and the carrier conveying module 8 starts to transport the mixing carrier 5-4 to the end. The mixing module 5 corresponds to the downstream single tube transfer module 7, namely the post-mixing single tube transfer assembly 5-5, which transfers the single sample tubes located in the mixing carrier 5-4 to the filter cartridge module 6 one by one in a set order.

[0059] For further details, please refer to... Figure 2 and Figure 8 The filter cartridge addition module 6 is located at the rear of the device and on the left side of the device. It is used to add filter cartridges into individual sample tubes to achieve sample stratification. The filter cartridge addition module 6 includes a filter cartridge hopper 6-1, a flexible vibrating plate 6-2, a filter cartridge recognition camera 6-3, a filter cartridge gripping assembly 6-4, a four-axis robot 6-5, a filter cartridge buffer platform 6-6, a filter cartridge transfer slide 6-7, a sample tube opening and closing cover assembly, a filter cartridge gripping electric claw 6-10, a filter cartridge gripping fixture 6-11, a sample tube clamping assembly 6-12, and a multi-station turntable 6-13.

[0060] The multi-station turntable 6-13 is used to carry the single sample tubes flowing upstream and transfer them on multiple stations by rotation; the filter cartridge hopper 6-1, flexible vibrating plate 6-2, filter cartridge gripping assembly 6-4, filter cartridge buffer platform 6-6, filter cartridge gripping electric claw 6-10 and the multi-station turntable 6-13 form the filter cartridge supply path; the sample tube opening and closing cover assembly, filter cartridge identification camera 6-3 and filter cartridge gripping electric claw 6-10 are arranged at the filter cartridge loading station of the multi-station turntable 6-13 to open the single sample tube, identify qualified filter cartridges, complete the filter cartridge loading and close the sample tube cover.

[0061] Specifically, the multi-station turntable 6-13 is driven by a servo motor and can be precisely positioned every 90° rotation. It has 4 stations, corresponding to feeding, opening the cap, adding the filter element, and unloading, respectively. Each station has 4 sample tube positioning seats. The mixing module 5 corresponds to the downstream single tube transfer module 7, which transfers the single sample tube to the feeding station of the multi-station turntable 6-13 in a set order.

[0062] The filter cartridge supply system consists of a filter cartridge hopper 6-1, a flexible vibrating plate 6-2, and a filter cartridge identification camera 6-3. The filter cartridge hopper 6-1 has a funnel-shaped structure with a vibrating feeder at the bottom to feed the filter cartridges into the flexible vibrating plate 6-2. The flexible vibrating plate 6-2 is a circular silicone disc that uses high-frequency vibration to align the filter cartridges into an upright position (opening upwards). The filter cartridge identification camera 6-3 is mounted above the flexible vibrating plate 6-2 and can identify the orientation and integrity of the filter cartridges.

[0063] Four-axis robot 6-5: As the driving structure of filter element gripping assembly 6-4, it drives filter element gripping assembly 6-4 to move. Filter element gripping assembly 6-4 is used to grip filter elements. Four-axis robot 6-5 is responsible for transferring filter elements from flexible vibrating plate 6-2 to filter element transfer slide 6-7 or filter element buffer stage 6-6.

[0064] Filter cartridge buffer platform 6-6: When the filter cartridge transfer slide 6-7 is full or unable to feed, the filter cartridge buffer platform 6-6 is used to temporarily store multiple qualified filter cartridges. The presence or absence of filter cartridges is detected by fiber optic sensors, and the next material is preferentially taken from the filter cartridge buffer platform 6-6.

[0065] Sample tube opening and closing assembly: includes sample tube opening electric claw 6-8 and sample tube opening clamp 6-9, which can process 4 sample tubes at the same time.

[0066] Filter cartridge gripper 6-10: It adopts a parallel mechanism to grip filter cartridges and place them into the sample tube. It can grip up to 4 filter cartridges at a time.

[0067] Downstream of the filter module 6, the single-tube transfer module 7 transfers the sample tubes from the unloading stations of the multi-station turntable 6-13 to the sample carrier of the carrier conveying module 8, and the fully loaded sample carrier is then transported to the unloading module 9.

[0068] For further details, please refer to... Figure 2 , Figure 9-1 and Figure 9-2 The carrier conveyor module 8 includes multiple conveyor lines, forming a main conveying path that runs through the loading area, processing area, and unloading area. The carrier conveyor module 8 includes a carrier material sensor 8-1, a wire and limit block 8-2, a driven shaft assembly 8-3, a transmission system 8-4, a module mounting frame 8-5, a drive motor assembly 8-6, a non-powered roller 8-7, a carrier position sensor 8-8, a carrier stop block 8-9, a stop block position sensor 8-10, a stop motor 8-11, and a stop block return sensor 8-12.

[0069] The module mounting frame 8-5 serves as the support and mounting framework for the other structures of the carrier conveying module 8. The transmission system 8-4 and the drive motor assembly 8-6 form a continuous sample carrier conveying path that runs through multiple modules of the equipment. The carrier positioning sensor 8-8 and the carrier stop block 8-9 are arranged at each functional station of the conveying path to detect the positioning status of the sample carrier and achieve precise positioning. The carrier stop block 8-9 is driven by an independent stop motor 8-11 to raise to block the sample carrier or lower to release it when needed.

[0070] Specifically, the transmission system 8-4 adopts a double-row roller chain drive with adjustable conveying speed. Each conveying unit can be equipped with two parallel synchronous belts, which are tensioned by the drive wheel and driven shaft assembly 8-3.

[0071] Carrier positioning sensor 8-8: namely, photoelectric sensor, which can determine whether the carrier is fully in position.

[0072] Drive motor assembly 8-6: Each unit is equipped with a corresponding servo motor, which drives the drive wheel through a reducer, supporting synchronous operation of multiple units.

[0073] Carrier stop block 8-9: Installed on the inside of the synchronous belt, driven by the stop motor 8-11 through the cam mechanism, it can realize lifting and lowering. When it is raised, it blocks the carrier and the status is confirmed by the stop block position sensor 8-10. When it is lowered, it is released and the sample carrier is accurately positioned by the stop block return sensor 8-12.

[0074] In this embodiment, the material sensor 8-1 on the sample carrier is used to detect the material loading status of the sample carrier; the wire and the limiting block 8-2 are installed on both sides of the transmission system 8-4 (along the conveying direction) to form a guide channel to limit the deviation of the sample carrier and ensure that the sample carrier is always conveyed along the preset path; multiple sets of non-powered rollers 8-7 are provided at the connection of the conveying unit to assist the sample carrier in a smooth transition.

[0075] For further details, please refer to... Figure 2 and Figure 10The unloading module 9 is located in the unloading area and connects to the end of the carrier conveying module 8. It is used to send the processed sample carrier out of the equipment. It includes a conveyor table 9-9, a horizontal slide assembly 9-1, a carrier positioning sensor assembly, a conveyor table rotation power component 9-3, a carrier moving assembly, and a non-powered roller 9-7. The conveyor table 9-9 is set at the entrance of the unloading module 9. The horizontal slide assembly 9-1 and the conveyor table rotation power component 9-3 form the turning and delivery path of the sample carrier. The conveyor table rotation power component 9-3 and the horizontal slide assembly 9-1 operate sequentially to rotate the sample carrier to align with the loading window 1-7 and then send it out horizontally.

[0076] Conveyor 9-9: A rectangular platform that can support one sample carrier.

[0077] The carrier frame moving assembly includes a carrier frame conveying module 8 at the tail end, which drives the sample carrier frame into the conveyor table 9-9 through a combination of belt drive motor 9-4, belt drive wheel 9-5, and belt driven wheel 9-6.

[0078] Horizontal slide assembly 9-1: includes linear slide rail and ball screw transmission mechanism, driven by servo motor, which can drive the conveyor table to move in the horizontal direction and send the sample carrier out of the loading window 1-7.

[0079] The carrier positioning sensing assembly includes a front-end positioning sensor 9-2 and a rear-end positioning sensor 9-8, which are respectively arranged on both sides of the conveyor table 9-9 to detect whether the sample carrier has reached the unloading station.

[0080] The conveyor table rotation power component 9-3 is driven by a servo motor or rotary cylinder and is installed between the horizontal slide assembly 9-1 and the conveyor table 9-9. It can drive the conveyor table 9-9 to rotate so that the sample carrier direction is aligned with the loading window 1-7.

[0081] In this embodiment, multiple sets of non-powered rollers 9-6 are provided at the connection of the conveying unit to assist the sample carrier in a smooth transition.

[0082] In this embodiment, the fecal sample pretreatment equipment is controlled by a PLC control system to control the actions of each functional module, thereby achieving coordinated operation of each station. The specific control method will not be described in detail here.

[0083] Please refer to Figures 1-11 The operation process of a fecal sample pretreatment device disclosed in this embodiment includes: S1: Reagent filling and equipment reset.

[0084] Fill the reagent bucket with reagent materials, the filter cartridge hopper with filter cartridge materials, and empty the waste liquid bucket.

[0085] Then, begin the overall device reset operation on the host computer operation panel 1-2. Wait for the device reset to complete, switch the switch to automatic mode and start the device.

[0086] S2: Automatically feed materials through sample loading module 3 and perform visual inspection and barcode scanning.

[0087] S21: The operator clicks the loading button 1-5, the loading window 1-7 opens, and after the loading slide assembly 3-1 slides out, the sample carrier with the full sample tubes is placed on the limiting groove of the loading slide assembly 3-1. The operator clicks the loading button 1-5 again, and the loading slide assembly 3-1 automatically slides into the equipment and the loading window 1-7 automatically closes.

[0088] S22: The sample carrier stops below the visual inspection light source 3-2 in the loading state. The loading state inspection camera 3-3 takes pictures to identify the number of samples and corresponding hole positions on the carrier and records them in the program.

[0089] S23: After the photo recognition is completed, the sample carrier slides from the loading slide assembly 3-1 into the belt conveyor mechanism 3-4. After confirming that there are no samples accumulating at the subsequent workstations, the sample carrier is then transferred from the belt conveyor mechanism 3-4 to the sample carrier reversing slide 3-10.

[0090] S24: After the entire sample carrier arrives at the sample carrier reversing slide 3-10, the rotation action rotates the sample carrier by 90°, and the translation slide pushes the sample carrier to the carrier conveying module 8. The sample carrier flows from the carrier conveying module 8 into the barcode scanning and liquid level identification station. S25: The corresponding single-tube transfer module 7 picks up a single sample tube from the sample carrier and places it within the field of view of the fixed barcode reader 3-5 for scanning, associating it with the liquid level data. After scanning, the single-tube transfer module 7 continues to move the sample tube to the field of view of the liquid level detection camera 3-7 to capture an image of the liquid surface, calculate the liquid level height, and upload it to the control system. After the sample liquid level is identified, the single-tube transfer module places the sample tube 7 into the mixing turntable 4-10.

[0091] S26: Repeat S25, and then repeat the actions of grabbing the sample, scanning the code, measuring the liquid and placing the sample 3 times in sequence. Then, the mixing turntable 4-10 is used to store 4 samples on one side to complete the process.

[0092] S3: Automatic opening, replenishment, and closing of the cap are achieved via the replenishment module 4; S31: The mixing turntable 4-10 rotates counterclockwise by 90°, so that the sample tube is transferred from the loading position to the opening and replenishment position, that is, below the capping clamp 4-7.

[0093] S32: The capping module 4-5, capping clamp 4-7, and capping electric claw 4-8 work together to transfer the four sample tubes to the capping station. After the capping station clamping mechanism clamps them, the Z-axis slide of the capping module 4-5 descends, the capping electric claw 4-8 clamps the tube cap, the rotary motor starts, and the Z-axis rises and resets after the tube cap is unscrewed.

[0094] S33: After the cap is opened, the module moves so that the replenishment component 4-6 is directly above the sample tube. The Z-axis slide of the replenishment component 4-6 descends, and the replenishment needle is inserted into the sample tube. The peristaltic pump and liquid circuit system of the replenishment component 4-6 quantitatively inject the preservation solution according to the liquid level data previously detected by the liquid level detection component 3-7. The replenishment component 4-6 performs the replenishment operation until the liquid level reaches the required height. The liquid level retest sensor 4-9 detects the liquid level. If the level is not up to standard, replenishment is performed again.

[0095] S34: After the liquid replenishment is completed, the Z-axis slide of the capping module 4-5 descends, the capping claw 4-8 clamps the cap, the rotary motor starts, and after the cap is tightened, the Z-axis rises and resets, completing the capping.

[0096] S35: The capping is complete, the sample tube clamping mechanism opens, and the capping module 4-5 continues to transfer the 4 sample tubes to the mixing turntable 4-10.

[0097] S36: After the four sample tubes at the previous station of the mixing turntable 4-10 have been filled, the mixing turntable 4-10 continues to rotate 90 degrees counterclockwise. Repeat the above operation (opening, adding liquid, and closing the caps of one group of four sample tubes). When the turntable rotates 90 degrees counterclockwise again, the four samples of the first group have reached the opposite side of the cap opening and liquid adding station.

[0098] S4: Mix the sample using the mixing module; S41: The mixing and feeding slide 4-12 has a carrier position for placing 4 sample tubes. It transports the empty carrier position to one side of the mixing turntable 4-10. The mixing and feeding transfer component 4-11 grabs the 4 sample tubes on the mixing turntable 4-10 and places them on the mixing and feeding slide 4-12. The mixing and feeding slide 4-12 moves to send the samples to the mixing module 5.

[0099] S42: The carrier conveying module 8 transports the empty mixing carrier 5-4 to the unloading position of the mixing unloading slide 4-12; the pre-mixing single tube transfer assembly 5-10 takes a single sample from the mixing unloading slide 4-12 and places it in the mixing carrier 5-4.

[0100] S43: After the individual mixing carrier has 5-4 packing materials and 16 pieces, the carrier conveying module 8 will transport the mixing carrier downstream to the mixing carrier transfer station.

[0101] S44: At this time, the components such as the mixing and transfer arm transition fixture 5-7, the mixing frame clamping motor 5-8, and the mixing frame fixture 5-9 grab the mixing frame 5-4 and place it on the mixing frame limiting fixture 5-1.

[0102] S45: The mixing and pressing assembly 5-3 presses the mixing carrier 5-4, the mixer 5-2 starts the mixing action and ends after the set mixing time, and the mixing and pressing assembly 5-3 is released.

[0103] S46: The mixing carrier transfer assembly 5-6 transfers the mixing carrier 5-4 to the mixing and unloading station again, and the carrier conveying module 8 starts to convey the mixing carrier 5-4 to the end of the conveying process.

[0104] S47: After mixing, the single tube transfer assembly 5-5 transfers the sample tubes located in the mixing carrier 5-4 to the multi-station turntable 6-13 in a set order.

[0105] S5: Automatically open, add filter cartridge, and close the cap via filter cartridge module 6 to form supernatant and subturbidity in a single sample tube.

[0106] S51: After the multi-station turntable 6-13 has finished storing the material, rotate it 90 degrees counterclockwise (viewed from above) to transport the sample to the filter cartridge station. The sample tube opening claw 6-8 grabs 4 sample tubes at once and places them in the range of the sample tube opening fixture 6-9. The sample tube opening fixture 6-9 clamps the sample tubes, and the sample tube opening claw 6-8 rotates to open the cap and then moves to the avoidance position.

[0107] S52: The filter cartridge hopper 6-1 vibrates to discharge the filter cartridges, which are then transported to the flexible vibrating plate 6-2. After each vibration of the flexible vibrating plate, the filter cartridge identification camera 6-3 takes a picture to identify the filter cartridge's status. Once a qualified filter cartridge is selected, the four-axis robot 6-5, equipped with the filter cartridge gripping assembly 6-4, grips the filter cartridge and places it on the filter cartridge transfer slide 6-7. (If the slide is full or unable to load, the robot will place the filter cartridge on the filter cartridge buffer platform 6-6, and will prioritize picking up the filter cartridge from the buffer platform 6-6 instead of the flexible vibrating plate 6-2 next time.)

[0108] S53: The filter cartridge transfer slide 6-7 moves to the filter cartridge gripper 6-10, which grips four filter cartridges and places them into the opened sample tubes. The sample tube opening gripper 6-8 moves with the cap on above the sample tube and closes it. The sample tube opening clamp 6-9 releases the sample tube. The sample tube opening gripper 6-8 brings the four sample tubes back to the multi-station turntable 6-13. S54: After the material storage at the previous station of the multi-station turntable 6-13 is completed, the turntable rotates 90 degrees counterclockwise (viewed from above). After repeating the above-mentioned opening, adding filter element, and closing operations once, the multi-station turntable 6-13 continues to rotate, so that the first batch of samples reaches the station directly opposite the filter element adding station.

[0109] S6: The processed sample tubes are returned to the sample carrier via the single-tube transfer module.

[0110] S61: The multi-station turntable 6-13 has a carrier transport module 8 on one side, which transports the empty sample carrier to the multi-station turntable 6-13. The corresponding single tube transfer module 7 transfers the single sample tube to the sample carrier on one side one by one.

[0111] S62: Once the filling of a single sample carrier is complete, the carrier conveying module 8 will transfer the carrier to the unloading module 9.

[0112] S7: Automatic material feeding via material feeding module 9.

[0113] S71: When the sample carrier arrives at the inlet of the conveyor table 9-9 of the unloading module 9, and both the front-end positioning sensor 9-2 and the rear-end positioning sensor 9-8 detect the carrier, it is determined that the sample carrier is fully in place.

[0114] S72: The conveyor table rotation power component 9-3 is activated, driving the conveyor table 9-9 to rotate 90° clockwise (viewed from above) so that the length direction of the sample carrier is aligned with the unloading window 1-6; S73: The control system sends a signal to the outer casing module 1. After the operator observes it, he / she clicks the 1-4 unloading button, the electric lifting door of the unloading window 1-6 opens, the horizontal slide assembly 9-1 starts, and drives the conveyor 9-9 to move out of the window to send the sample carrier out of the equipment.

[0115] S74: After the sample carrier is manually removed, the horizontal slide assembly 9-1 retracts, the conveyor rotation power component 9-3 is activated, and the conveyor 9-9 rotates 90 degrees counterclockwise (viewed from above) to continue receiving subsequent material carriers. The unloading of a single carrier is completed.

[0116] Please refer to Figure 12 The data and results are from pre-production testing of the equipment. The automated tubular fecal sample pretreatment equipment described in this application was put into production. This equipment only requires employees to routinely add reagents to the reagent tank, add filter cartridges to the filter cartridge compartment, and empty the waste liquid tank. Equipment initialization, start-up, and shutdown are all simple one-button operations. The following test results and technical effects were obtained after testing: 1. In high-throughput sample application scenarios (8000 cases / day), the two shifts save a total of 10 people (from 10 people / shift per shift to 5 people / shift per shift). 2. Thanks to the automatic liquid replenishment and filter cartridge added to the sample tube, the sample volume is made uniform and the problem of easy clogging of the pipette tip during sampling is completely solved. As a result, the failure rate of the automated sampling process after pretreatment is reduced from 30% to less than 1%, and the matching MGISTP-7000 automated sampling equipment can be put into formal use. 3. Enables automated sample scanning and complete recording of process data, and the recorded documents can be copied and exported, which is beneficial for sample data traceability; 4. Once the employee has finished loading the material, the entire process is automated. After the material is unloaded, the employee can simply unload it, which greatly reduces the labor intensity of the employee. 5. The equipment can be integrated with an intelligent logistics robot docking window, which can cooperate with external systems to realize automatic loading and unloading of robots, achieving true unmanned operation.

[0117] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A fecal sample pretreatment device, characterized in that, include: The outer casing module (1) is configured as a closed casing and has a loading window (1-7) and a unloading window (1-6) for automatic loading and unloading. The machine module (2) is configured as a frame with a processing platform and is located inside the outer shell module (1); And the following are installed on the machine module (2): The sample loading module (3) is set in the loading window (1-7). Multiple samples are carried by the sample carrier and sent from the loading window (1-7) through the sample loading module (3). The sample loading module (3) is used to detect the liquid level of a single sample tube. The replenishment module (4) is used to open a single sample tube and replenish the preservation solution to the set height; The mixing module (5) is used to mix the samples and preservation solution in multiple sample tubes in batches. The filter module (6) is used to add a filter to the sample tube to form a supernatant and a turbid liquid in a single sample tube; The unloading module (9) is set in the unloading window (1-6), and multiple samples are carried by the sample carrier and discharged from the unloading window (1-6) through the unloading module (9); The single tube transfer module (7) is provided in multiple sets and is used for the transfer of a single sample tube, forming an auxiliary transfer path for a single sample tube. The carrier conveying module (8) is equipped with multiple sets and constitutes the main conveying path of the sample carrier, and connects the carrier input / output end of the sample loading module (3), the mixing module (5) and the unloading module (9) in series so that the sample carrier flows in sequence; The carrier transport module (8) and the single tube transfer module (7) together form a collaborative flow network of the sample carrier and the single sample tube.

2. The fecal sample pretreatment device as described in claim 1, characterized in that, The sample loading module (3) includes a loading slide assembly (3-1), a loading status detection assembly (3-3), a belt conveyor mechanism (3-4), a liquid level detection assembly (3-7), and a sample carrier reversing slide (3-10). The loading slide assembly (3-1), belt conveyor mechanism (3-4), sample carrier reversing slide (3-10) and downstream carrier conveyor module (8) form a carrier flow path; The feeding status detection component (3-3) and the liquid level detection component (3-7) are arranged on the carrier flow path of the belt conveyor mechanism (3-4) to identify the original sample quantity, hole position and detection liquid level height; The single-tube transfer module (7) corresponding to the sample loading module (3) is used to grab a single sample tube and transfer it to the liquid level detection component (3-7) and the downstream liquid replenishment module (4).

3. The fecal sample pretreatment device as described in claim 1, characterized in that, The liquid replenishment module (4) includes a capping module (4-5), a liquid replenishment component (4-6), a liquid level retesting sensor (4-9), and a mixing turntable (4-10). The mixing turntable (4-10) forms a sample flow path with the upstream single tube transfer module (7) and the downstream mixing module (5) through intermittent rotation; The capping module (4-5), the liquid replenishment component (4-6), and the liquid level retesting sensor (4-9) are arranged at the capping and liquid replenishment station of the mixing turntable (4-10) to perform capping, liquid level pre-testing, liquid replenishment, and liquid level retesting operations.

4. The fecal sample pretreatment device as described in claim 1, characterized in that, The mixing module (5) includes a mixer (5-2), a mixing and pressing assembly (5-3), a mixing carrier (5-4), and a mixing carrier transfer assembly (5-6). The single tube transfer module (7) before mixing, the mixing carrier (5-4), the carrier transport module (8), the mixer (5-2), and the single tube transfer module (7) after mixing form the sample transport and transfer path. The mixing carrier (5-4) is used to carry multiple single sample tubes. The mixing carrier transfer assembly (5-6) is used to perform the transfer of the mixing carrier (5-4) between the carrier conveying module (8) and the mixer (5-2); The mixer (5-2) and the mixing and pressing assembly (5-3) work together to press and force mix the mixing carrier (5-4) located on the mixer (5-2).

5. The fecal sample pretreatment device as described in claim 1, characterized in that, The filter cartridge module (6) includes a filter cartridge hopper (6-1), a flexible vibrating plate (6-2), a filter cartridge recognition camera (6-3), a filter cartridge gripping assembly (6-4), a filter cartridge buffer platform (6-6), a sample tube switch cover assembly, a filter cartridge gripping electric claw (6-10), and a multi-station turntable (6-13). The multi-station turntable (6-13) is used to carry the single sample tubes flowing upstream and transfer them on the multi-station by rotation; The filter cartridge hopper (6-1), flexible vibrating plate (6-2), filter cartridge gripping assembly (6-4), filter cartridge buffer platform (6-6), filter cartridge gripping electric claw (6-10), and multi-station turntable (6-13) form the filter cartridge supply path; The sample tube opening and closing cover assembly, the filter element identification camera (6-3), and the filter element gripping electric claw (6-10) are arranged at the filter element loading station of the multi-station turntable (6-13) to open a single sample tube, identify qualified filter elements, complete filter element loading, and close the sample tube cover.

6. The fecal sample pretreatment device as described in claim 1, characterized in that, The carrier conveying module (8) includes a transmission system (8-4), a drive motor assembly (8-6), a carrier positioning sensor (8-8), and a carrier stop block (8-9). The transmission system (8-4) and the drive motor assembly (8-6) form a continuous sample carrier transport path that runs through multiple modules of the equipment; The carrier positioning sensor (8-8) and carrier stop block (8-9) are arranged at each functional station of the conveying path to detect the positioning status of the sample carrier and achieve precise positioning. The carrier stop block (8-9) is driven by an independent stop motor (8-11) to raise to block the sample carrier or lower to allow passage when needed.

7. The fecal sample pretreatment device as described in claim 1, characterized in that, The downstream carrier conveying module (8) of the filter cartridge module (6) is used to transfer the sample carrier to the unloading module (9). The unloading module (9) includes a conveying table, a horizontal slide assembly (9-1), a conveying table rotation power component (9-3), and a carrier positioning sensing component. The conveyor is located at the entrance of the unloading module (9), and the horizontal slide assembly (9-1) and the conveyor rotation power component (9-3) form the turning and delivery path of the sample carrier. The carrier placement sensing components are arranged on both sides of the conveyor table to detect whether the sample carrier has reached the unloading station. The conveyor rotation power component (9-3) and the horizontal slide assembly (9-1) operate in sequence to rotate the sample carrier to align with the loading window (1-7) and then horizontally send it out.

8. The fecal sample pretreatment device as described in claim 1, characterized in that, The outer casing module (1) includes a casing and a human-machine interface (1-1), an operation panel (1-2), a feeding button (1-4), and a feeding button (1-5) arranged on the casing.

9. The fecal sample pretreatment device as described in claim 1, characterized in that, The single tube transfer module (7) includes an X-axis slide (7-2), a Y-axis slide (7-3), a Z-axis slide (7-4), an electric gripper (7-7), and a sample tube clamp (7-8). The X-axis slide (7-2), Y-axis slide (7-3), and Z-axis slide (7-4) constitute a three-dimensional rectangular coordinate motion path covering the corresponding work area; The sample tube clamp (7-8) is located at the operating end of the electric gripper (7-7) to move between the functional positions of each module and perform grasping, holding and releasing actions on a single sample tube.

10. The fecal sample pretreatment apparatus according to any one of claims 1-9, characterized in that, The device employs a partitioned, three-dimensional spatial layout, including: The material feeding area is located near the edge of the equipment and is used to arrange the sample feeding module (3). The processing area, located in the middle of the equipment and on the side away from the feeding area, is used to sequentially arrange the replenishment module (4), the mixing module (5), and the filter cartridge module (6); and The unloading area is located near the edge of the equipment operation side and is used to arrange the end-end carrier conveying module (8) and unloading module (9). The carrier transport module (8) forms the ground horizontal flow path of the sample carrier, and the single tube transfer module (7) forms the air three-dimensional transfer path of a single sample tube, so that the two can achieve the coordinated flow of samples in space.

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