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WO2022016475A1 - 样本前处理系统 - Google Patents

样本前处理系统 Download PDF

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Publication number
WO2022016475A1
WO2022016475A1 PCT/CN2020/103896 CN2020103896W WO2022016475A1 WO 2022016475 A1 WO2022016475 A1 WO 2022016475A1 CN 2020103896 W CN2020103896 W CN 2020103896W WO 2022016475 A1 WO2022016475 A1 WO 2022016475A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
container
sample
cover
pipetting
Prior art date
Application number
PCT/CN2020/103896
Other languages
English (en)
French (fr)
Inventor
高建东
李景
孙强
赵学江
Original Assignee
深圳华大智造科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳华大智造科技股份有限公司 filed Critical 深圳华大智造科技股份有限公司
Priority to CN202080102113.6A priority Critical patent/CN115698249A/zh
Priority to US18/016,593 priority patent/US20230288441A1/en
Priority to PCT/CN2020/103896 priority patent/WO2022016475A1/zh
Priority to EP20946437.9A priority patent/EP4186970A4/en
Publication of WO2022016475A1 publication Critical patent/WO2022016475A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/38—Caps; Covers; Plugs; Pouring means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
    • C12M33/04—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by injection or suction, e.g. using pipettes, syringes, needles
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M37/00—Means for sterilizing, maintaining sterile conditions or avoiding chemical or biological contamination
    • C12M37/02—Filters
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/48—Automatic or computerized control
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M45/00—Means for pre-treatment of biological substances
    • C12M45/22—Means for packing or storing viable microorganisms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
    • G01N1/34—Purifying; Cleaning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0403—Sample carriers with closing or sealing means
    • G01N2035/0405—Sample carriers with closing or sealing means manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0406—Individual bottles or tubes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0418—Plate elements with several rows of samples
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers

Definitions

  • the present application relates to the field of biological monitoring, and in particular, to a sample preprocessing system.
  • the sub-packaging transfer plate requires a series of procedures such as manual information verification, opening the cap of the test tube, pipetting (that is, transferring the sample in the test tube to the deep-well plate), closing the cap of the test tube and recycling.
  • Manual operation greatly affects the speed of subsequent nucleic acid detection, and the massive number of samples greatly increases the labor intensity of operators, making the work of sub-packaging and transfer plate prone to errors and affecting the accuracy of subsequent nucleic acid detection.
  • the present application provides a sample preprocessing system, including a sample storage module, a sample transfer module, a disengagement cap module, a transmission module, a pipetting module and a control module.
  • the sample storage module is used for storing a container loaded with biological samples, and the container includes a container body and a cover body that is covered with the container body.
  • the sample transfer module is used to grab the container located in the sample storage module and transfer it to the transfer module.
  • the transfer module is used for transferring the container to the disengagement cap module and the pipetting module, respectively.
  • the disengaging cover module is used to scan the identification code provided on the container on the transmission module, and is also used to separate the cover body of the container from the container body.
  • the pipetting module is used to divide the biological sample in the container on the transfer module, and the disengagement cover module is also used to separate the grabbed cover after the biological sample is divided into cups.
  • the body is re-capped on the container body on the transfer module, and the sample transfer module is further used for transferring the container on the transfer module back to the transfer module after the cap is re-capped.
  • the control module is used to control the cooperative operation of the sample transfer module, the cap release module, the transmission module and the pipetting module.
  • the sample storage module includes a container rack base and a container rack placed on the container rack base, the container rack includes a rack body and a bottom plate disposed apart from each other, and the bottom plate is located on the rack Between the body and the base of the container rack, a plurality of placement holes for placing the container are opened in the rack body.
  • each of the placement holes is provided with an elastic sheet structure
  • the elastic sheet structure includes a fixing ring and a plurality of elastic sheets extending from the fixing ring toward the bottom plate.
  • the diameter of the fixing ring is Larger than the diameter of the container, a plurality of elastic sheets are formed together to form an accommodating space for accommodating the container, and the ends of the elastic sheets away from the fixing ring are used for clamping the bottom of the container.
  • the sample transfer module includes a dispatching robot arm and a container gripper connected to the dispatching robotic arm, and the dispatching robotic arm is configured to drive the container gripper to move to the sample transfer module or the transfer module, enabling the container gripper to grasp the container on the sample transfer module or the transfer module.
  • the container gripper includes a drive motor and two electric fingers arranged opposite to each other, and the drive motor is used to drive the two electric fingers to move and be relatively close, so that the container gripper can Grab the container.
  • the transmission module includes a horizontal transmission guide rail and a transmission assembly slidably disposed on the horizontal transmission guide rail, and the transmission assembly includes a sliding block slidably disposed on the horizontal transmission guide rail, A container supporting plate fixed on the sliding block and a container clamping unit arranged on the container supporting plate, the container clamping unit is used for clamping the container.
  • the container clamping unit includes a fixing block, a clamping motor and a moving block
  • the fixing block is fixed on the container support plate
  • the moving block is connected to the clamping motor and is connected with the clamping motor.
  • the fixed blocks are disposed opposite to each other, and the clamping motor is used to drive the moving block to move toward the fixed block, so that the moving block and the fixed block jointly clamp the container body.
  • the detachable cover module includes a fixing base, a code scanning unit and a detachable cover assembly disposed on the fixing base, and the detachable cover assembly includes a vertical shaft fixed on the fixing base.
  • the code scanning unit is used to scan the identification code on the container when the cover gripper rotates
  • the rotating motor is also used to cooperate with the transmission module so as to separate the cover body from the container body.
  • a sliding compensation mechanism is provided below the fixing base, and the sliding compensation mechanism is used to drive the fixing base to move in a horizontal direction perpendicular to the vertical guide rail, so that the cover body grabs the The centerline position of the hand is adjustable.
  • the sliding block includes a sliding block body and a sliding block frame body fixed on the sliding block body, and the container support plate is disposed on one side of the sliding block frame body and above the sliding block body , an elastic piece is arranged between the bottom of the accommodating support plate and the sliding block body.
  • the pipetting module includes a consumables storage position, a first horizontal pipetting guide rail disposed adjacent to the consumables storage position, and a pipetting unit slidably disposed on the first horizontal pipetting guide rail
  • the consumables storage position is used to store disposable pipette tips and deep-well plates
  • the pipetting unit includes a second horizontal pipetting guide rail slidably arranged on the first horizontal pipetting guide rail, and a second horizontal pipetting guide rail arranged on the second horizontal pipetting guide rail.
  • the pipette is used for loading and fetching the disposable pipette tip located at the storage position of the consumables, passing the disposable pipette
  • the head sucks the biological sample in the container on the transfer module, and transfers the sucked biological sample to the deep-well plate in the consumable storage position.
  • the sample pre-processing system further includes a casing, and a partition plate is arranged in the casing, and the partition plate is used to divide the casing into an upper cavity and a lower cavity isolated from each other.
  • a cavity, the upper cavity is a closed cavity, and the upper cavity is used for accommodating the sample storage module, the sample transfer module, the disengagement cover module, the transmission module, the transfer module liquid module and the control module.
  • the upper cavity is provided with a purification module
  • the purification module includes an intake filter unit and an exhaust filter unit
  • an air duct is also provided in the upper cavity, and the air duct enters the air duct.
  • the air end and the exhaust end are respectively communicated with the intake filter unit and the exhaust filter unit, and both the intake filter unit and the exhaust filter unit include a fan and an air filter.
  • the pipetting module further includes a tip recovery bucket located in the lower cavity, the partition is provided with an opening at a position corresponding to the tip recovery bucket, and the pipetting After sucking the biological sample, the device is also used for discarding the used disposable pipette tip into the pipette tip recovery bucket through the opening.
  • the present application also provides a sample pretreatment system, including a sample storage module, a sample transfer module, a disengagement cap module, a transfer module, a pipetting module, a container recovery bucket and a control module.
  • the sample storage module is used for storing a container loaded with biological samples
  • the container includes a container body and a cover body that is covered with the container body.
  • the sample transfer module is used to grab the container located in the sample storage module and transfer it to the transfer module.
  • the transfer module is used for transferring the container to the disengagement cap module and the pipetting module, respectively.
  • the disengaging cover module is used to scan the identification code provided on the container on the transmission module, and is also used to separate the cover body of the container from the container body.
  • the pipetting module is used to divide the biological samples in the container on the transfer module into cups.
  • the disengagement cover module is also used for re-covering the grabbed cover body on the container body on the transfer module after the biological sample is divided into cups, and the sample transfer module is also used for After the cover body is re-closed, the container on the transfer module is discarded into the container recovery bucket.
  • the control module is used to control the cooperative operation of the sample transfer module, the cap release module, the transmission module and the pipetting module.
  • the procedures such as information verification, test tube opening, pipetting, test tube cap closing, and recovery are carried out, thereby realizing a one-stop automatic plate transfer.
  • the process is conducive to improving the speed of subsequent nucleic acid detection; on the other hand, since human intervention is reduced, it can avoid the error-prone situation of manual dispensing of racks, which is conducive to improving the accuracy of subsequent nucleic acid detection.
  • FIG. 1 is a schematic diagram of the overall structure of a sample preprocessing system according to an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of the sample pre-processing system shown in FIG. 1 after removing part of the casing.
  • FIG. 3 is a schematic structural diagram of each module in the upper cavity of the housing of the sample pre-processing system shown in FIG. 2 .
  • FIG. 4 is a schematic structural diagram of the sample pre-processing system of FIG. 3 from another angle.
  • FIG. 5 is a schematic structural diagram of the container rack of the sample pre-processing system shown in FIG. 3 .
  • FIG. 6 is a schematic structural diagram of another angle of the rack body of the container rack shown in FIG. 5 .
  • FIG. 7 is a schematic structural diagram of a sample transfer module of the sample pre-processing system shown in FIG. 3 .
  • FIG. 8 is a schematic structural diagram of a transmission module of the sample preprocessing system shown in FIG. 3 .
  • FIG. 9 is a schematic structural diagram of the disengagement cover module of the sample pretreatment system shown in FIG. 3 .
  • FIG. 10 is a schematic structural diagram of a pipetting module of the sample preprocessing system shown in FIG. 3 .
  • FIG. 11 is a schematic structural diagram of the safety lock provided in the upper cavity shown in FIG. 3 .
  • FIG. 12 is a schematic structural diagram of a container provided by an embodiment of the present application.
  • Container holder 12 Cover handle 351
  • Container gripper 22 Container support plate 421
  • Chassis 60 accommodating space 1222
  • Partition 61 The first anti-skid pattern 2020
  • Adjustable bracket 63 Sliding block frame 4201
  • a component when a component is considered to be “installed” on another component, it may be directly arranged on another component or there may be an intermediate component at the same time; when a component is considered to be “installed on” another component, It can be mounted directly on another component or there may be a centered component at the same time.
  • the term "and/or” includes all and any combinations of one or more of the associated listed items.
  • FIG. 1 is a schematic diagram of the whole machine of a sample preprocessing system 1 in an embodiment of the present application.
  • the sample pre-processing system 1 is used to complete the transfer plate of biological samples, including the steps of information verification, opening the cap of the test tube, pipetting, closing the cap of the test tube, and recycling.
  • the biological sample may be a human blood sample, a tissue sample, or a saliva sample, or the like.
  • the sample pre-processing system 1 includes a sample storage module 10, a sample transfer module 20, at least one release cover module 30, at least one transfer module 40, a pipetting module 50 and a control module (not shown in the figure). Show).
  • the sample storage module 10 is used to store the container 2 (shown in FIG. 12 ) loaded with the biological sample.
  • the container 2 can be a test tube or other sealed container of any shape that can be used for loading biological samples.
  • the container 2 in this embodiment is a test tube.
  • the container 2 includes a container body 201 and a cover body 202 which is closed on the container body 201 .
  • An identification code (such as a two-dimensional code or a barcode, etc., not shown in the figure) is affixed on the container 2, and the identification code records the identification information of the corresponding biological sample, such as the name, age, test item, etc. of the test object, which is used for the biological sample. tracking and management.
  • the sample transfer module 20 is used to grab the container 2 located in the sample storage module 10 and transfer it to the transfer module 40 .
  • the transfer module 40 can move between the disengagement cap module 30 and the pipetting module 50 , so as to transfer the container 2 located on the transfer module 40 to the positions of the disengagement cap module 30 and the pipetting module 50 , respectively.
  • the disengaging cover module 30 is used to scan the identification code provided on the container 2 on the transmission module 40 to obtain corresponding identification information, and is also used to separate the cover body 202 of the container 2 from the container body 201 .
  • the pipetting module 50 is used to divide the biological sample in the container 2 on the transfer module 40 after the cap body 202 is separated from the cap body 202 by the disengagement module 30 .
  • the disengagement cover module 30 is also used to re-cover the captured cover body 202 on the container body 201 on the transmission module 40 after the pipetting module 50 completes the dispensing of the biological sample.
  • the sample transfer module 20 is also used to transfer the container 2 on the transfer module 40 back to the sample storage module 10 after the cap body 202 is re-capped by the capping module 30 .
  • the control module is used to control the cooperative operation of the sample transfer module 20 , the cap release module 30 , the transmission module 40 , and the pipetting module 50 .
  • the sample pre-processing system 1 may further include a casing 60 .
  • a partition 61 is provided in the casing 60 , and the partition 61 is used to divide the casing 60 into an upper cavity 601 and a lower cavity 602 which are isolated from each other. Both the upper cavity 601 and the lower cavity 602 are sealed cavities.
  • the upper cavity 601 is used for accommodating the sample storage module 10 , the sample transfer module 20 , the detachable cover module 30 , the transmission module 40 , the pipetting module 50 and the control module, thereby avoiding environmental pollution and cross-contamination between biological samples.
  • the sample preprocessing system 1 may further include a container recovery bucket 80 located in the lower chamber 602 .
  • the sample transfer module 20 can also discard the container 2 into the container recovery bucket 80 .
  • the sample storage module 10 includes a container rack base 11 and a container rack 12 placed on the container rack base 11 .
  • the container 2 is placed on the container rack 12 .
  • the number of container racks 12 that can be placed on the container rack base 11 is not limited.
  • the sample storage module 10 includes two container rack bases 11 , each of which can be placed on the container rack base 11 .
  • Three container racks 12, ie, the sample storage module 10 can hold six container racks 12 at a time.
  • the container rack 12 includes a rack body 120 and a bottom plate 121 disposed apart from each other, and the bottom plate 121 is located between the rack body 120 and the container rack base 11 .
  • the rack body 120 is provided with a plurality of placement holes 1200 for placing the container 2 , and the plurality of placement holes 1200 may be arranged in a matrix.
  • the different placement holes 1200 may have predetermined distances.
  • Each placement hole 1200 is provided with an elastic sheet structure 122 .
  • the elastic sheet structure 122 includes a fixing ring 1220 and a plurality of elastic sheets 1221 extending from the fixing ring 1220 toward the bottom plate 121 .
  • the diameter of the fixing ring 1220 is larger than the diameter of the container 2 itself.
  • a plurality of elastic pieces 1221 are formed together to form an accommodating space 1222 for accommodating the container 2 .
  • the diameter of the accommodating space 1222 gradually decreases from the side close to the fixing ring 1220 to the other side away from the fixing ring 1220 .
  • the ends of the elastic pieces 1221 away from the fixing ring 1220 jointly clamp the bottom of the container 2 , thereby fixing the container 2 .
  • the elastic pieces 1221 can be elastically deformed, when containers 2 with different diameters are placed in the accommodating space 1222, the containers 2 can be quickly positioned in the container rack 12 due to the clamping effect of the elastic pieces 1221, that is, the container rack 12 can Compatible with many different sizes of containers2.
  • the diameter of the fixing ring 1220 is set larger than the diameter of the container 2 itself, so that when the subsequent sample transfer module 20 transfers the container 2 back to the container rack 12, even if the central axis of the container 2 is offset from the center of the fixing ring 1220, It can be put into the accommodating space 1222 smoothly, that is, the container 2 has a high fault tolerance rate when placed.
  • sliding rails may be provided on the container rack base 11 .
  • the bottom plate 121 of the container rack 12 may be provided with a chute 1210 matched with the guide rail.
  • the operator can place the container rack 12 filled with the containers 2 on the container rack base 11 through the cooperation between the chute 1210 and the sliding rail.
  • the shapes of the slide rail and the slide groove 1210 are matched, for example, the cross sections of the slide rail and the slide groove 1210 may both be T-shaped.
  • a ball plunger (not shown) is provided on the container rack base 11
  • a positioning hole (not shown) corresponding to the ball plunger may be provided on the bottom plate 121 of the container rack 12 .
  • the container rack 12 can be further positioned on the container rack base 11 through the cooperation of the ball plunger and the positioning hole.
  • the sample transfer module 20 includes a dispatching robot arm 21 and a container gripper 22 connected to the dispatching robot arm 21 .
  • the dispatching robot arm 21 is used to move in the horizontal direction and the vertical direction, so as to drive the container gripper 22 to move to the position where the sample storage module 10 or the transfer module 40 is located.
  • the container gripper 22 includes a driving motor 220 and two electric fingers 221 arranged opposite to each other.
  • the drive motor 220 is used to drive the two motorized fingers 221 to move and move relatively close, so that the container gripper 22 can grab the container 2 located in the sample storage module 10 and transfer it to the transfer module 40 (and, grab the container located on the transfer module 40 ). 2 and transferred to the sample storage module 10). Since the two electric fingers 221 can be relatively close together, the container gripper 22 can also be compatible with containers 2 with different diameters.
  • the dispatching robotic arm 21 is a horizontal multi-joint robotic arm.
  • the transmission module 40 includes a horizontal transmission guide rail 41 and a transmission assembly 42 slidably disposed on the horizontal transmission guide rail 41 .
  • the conveying assembly 42 includes a sliding block 420 slidably disposed on the horizontal conveying guide rail 41 , a container supporting plate 421 fixed on the sliding block 420 , and at least one set of container clamping units 422 disposed on the container supporting plate 421 . Each set of container clamping units 422 is used to clamp the container 2 .
  • the horizontal transfer rail 41 extends from the disengagement cap module 30 to the pipetting module 50 so that the container clamping unit 422 can move between the disengagement cap module 30 and the pipetting module 50 .
  • each set of container clamping units 422 includes a fixed block 4220 , a clamping motor 4221 and a moving block 4222 .
  • the fixing block 4220 is fixed on the container support plate 421.
  • the moving block 4222 is connected to the clamping motor 4221 and is disposed opposite to the fixed block 4220 .
  • the clamping motor 4221 is used to drive the moving block 4222 to move toward the fixed block 4220, so that the moving block 4222 and the fixed block 4220 can jointly position and clamp the container 2 (the clamped part in this application is the container body 201).
  • the surface of the fixing block 4220 facing the moving block 4222 is provided with a first opening 4223 .
  • the surface of the moving block 4222 facing the fixing block 4220 is provided with a second opening 4224 .
  • the first opening 4223 and the second opening 4224 together form a container groove (not shown) for accommodating the container 2 .
  • a sensor (not shown) may be provided in the accommodating groove of the container clamping unit 422 for sensing whether the container 2 is successfully taken and placed.
  • the detachable cover module 30 includes a fixing base 31 , at least one code scanning unit 32 and at least one set of detachable cover components 35 .
  • Each code scanning unit 32 and each set of disengaging cover assemblies 35 are disposed on the fixing base 31 .
  • Each set of disengaging cover assemblies 35 includes a vertical guide rail 350 fixed to the fixing base 31 , a cover body gripper 351 slidably connected to the vertical guide rail 350 , and a rotating motor 352 connected to the cover body gripper 351 .
  • the cover body gripper 351 is used to descend along the vertical guide rail 350 and grasp the cover body 202 of the container 2 located on the transfer module 40 .
  • the transfer module 40 does not clamp the container 2, and the cover body 202 is not separated from the container body 201, so that the cover body gripper 351 can drive the entire container 2 to ascend along the vertical guide rail 350 until the container 2 reaches the scanning unit 32. s position.
  • the rotary motor 352 is used to drive the cover gripper 351 to rotate, so that the container 2 rotates at a certain angle (eg, one rotation), so that the code scanning unit 32 can scan the identification code on the container 2 to obtain the identification information corresponding to the identification code.
  • the cover body 202 is provided with a first anti-skid pattern 2020 .
  • the cover gripper 351 may be provided with a second anti-slip pattern (not shown) matching the first anti-slip pattern 2020 , so the cover gripper 351 can engage the cover 202 through the cooperation of the first anti-slip pattern 2020 and the second anti-slip pattern. make a turn.
  • the vertical guide rail 350 is also used to drive the cover gripper 351 to drive the entire container 2 to descend in the vertical direction, so that the container 2 is put back into the transfer module 40 .
  • the rotary motor 352 drives the lid gripper 351 to rotate again, so that the lid gripper 351 rotates the captured lid 202 , and the transfer module 40 clamps the container body 201 to separate the lid body 202 from the container body 201 .
  • the disengagement cover module 30 further includes a sliding compensation mechanism 33 located below the fixing seat 31 .
  • the sliding compensation mechanism 33 is used to drive the fixed seat 31 to move in a horizontal direction perpendicular to the vertical guide rail 350, so that the position of the center line of the cover gripper 351 can be adjusted, that is, the centerline of the cover gripper 351 can be adjusted to containers of different diameters.
  • the central axes of 2 are coincident, that is, the lid gripper 351 can be compatible with containers 2 with different diameters.
  • the sliding compensation mechanism 33 includes a fixed seat support plate 330 and a chute 331 provided on the fixed seat support plate 330 .
  • the bottom of the fixing seat 31 is provided with a sliding rail (not shown) which is matched with the sliding groove 331 .
  • the fixing base 31 can slide along the horizontal direction perpendicular to the vertical guide rail 350 through the cooperation of the sliding rail and the sliding groove 331 , so as to adjust the position of the center line of the cover gripper 351 .
  • the sliding block 420 includes a sliding block body 4200 and a sliding block frame body 4201 vertically fixed on the sliding block body 4200 , and the container support plate 421 is disposed on one side of the sliding block frame body 4201 and Located above the slider body 4200 .
  • An elastic member 423 (such as a coil spring) is provided between the bottom of the accommodating support plate 421 and the sliding block body 4200 .
  • the elastic member 423 is used to provide a buffer force to relieve the impact on the container 2 and prevent the biological sample in the container 2 from splashing out. At the same time, the elastic member 423 can also relieve the impact on the container 2 when the cover gripper 351 puts the container 2 back into the transfer module 40 .
  • the transmission module 40 clamps the container body 201, while the elastic member 423 is compressed, so that the container body 201 is lowered, so that the cover body 202 can be separated from the container body 201 .
  • the disengagement cover module 30 may further include at least one cover detector 34 .
  • the cover detector 34 is used to detect whether the container 2 on the transfer module 40 is provided with the cover 202 , so as to prevent the cover gripper 351 from repeatedly grasping the container 2 that has been removed.
  • the pipetting module 50 includes a consumables storage position 51 , a first horizontal pipetting guide 52 disposed adjacent to the consumables storage position 51 , and at least one horizontal pipetting guide slidably disposed on the first horizontal pipetting guide 52 .
  • a set of pipetting units 53 .
  • the consumables storage position 51 is used for storing consumables required for pipetting, and the above-mentioned consumables may be, but are not limited to, the disposable pipette tip 3 and the deep well plate 4 and the like.
  • Each group of pipetting units 53 includes a second horizontal pipetting guide rail 530 slidably disposed on the first horizontal pipetting guide rail 52, a vertical pipetting guide rail 531 disposed on the second horizontal pipetting guide rail 530, and a vertical pipetting guide rail 531 fixed on the vertical pipetting guide rail 530. Pipette 532 on pipetting guide 531 straight.
  • the second horizontal pipetting guide 530 is perpendicular to the first horizontal pipetting guide 52 .
  • the pipette 532 can move to the consumables storage position 51 in the horizontal and vertical directions and load the disposable pipette tip 4 located in the consumables storage position 51, and then suck the inside of the container 2 on the transfer module 40 through the disposable pipette tip 4 and transfer the sucked biological sample to the deep well plate 4 of the consumables storage position 51 .
  • the pipetting module 50 includes two sets of pipetting units 53 . Since in the two groups of pipetting units 53, the two pipettes 532 move independently on different second horizontal pipetting guides 530 and different vertical pipetting guides 531, the distance between the two pipettes 532 is Adjustable.
  • the pipetting module 50 further includes a tip recovery bucket 54 (shown in FIG.
  • the partition 61 is provided with an opening at a position corresponding to the tip recovery bucket 54 ( FIG. 2 ). not shown).
  • the pipette 532 can also be moved to the top of the tip recovery bucket 54 , and the used disposable tip 4 is discarded into the tip recovery bucket 54 through the opening.
  • each cover module 30 includes two sets of cover assemblies 35 and two scanning units 32 .
  • the two sets of disengagement cover assemblies 35 operate independently, and the two code scanning units 32 cooperate with the two sets of disengageable cover assemblies 35 respectively.
  • each transmission module 40 includes two sets of container clamping units 422 , and the two sets of container clamping units 422 are respectively matched with the two sets of disengaging cover assemblies 35 . Therefore, it is beneficial to improve the efficiency of scanning the code and removing and closing the container 2 .
  • the two groups of pipetting units 53 of the pipetting module 50 are respectively matched with the two groups of container clamping units 422, which is beneficial to improve the pipetting efficiency.
  • the number of the release cover assembly 35 and the code scanning unit 32 of each release cover module 30 and the number of the container clamping units 422 of each transport module 40 are not limited, and can be determined according to actual conditions. needs to be set.
  • the number of the disengagement cover modules 30 is two, and the number of the transmission modules 40 is also two.
  • the capping modules 30 operate in parallel, and the two transfer modules 40 operate in parallel and cooperate with the two capping modules 30 respectively, so that the efficiency of code scanning and capping and capping of the container 2 can be further improved.
  • the numbers of the disengagement cover modules 30 and the transmission modules 40 are not limited, and can be set according to actual needs.
  • the upper cavity 601 is provided with a purification module 70 .
  • the purification module 70 includes an intake filter unit 701 and an exhaust filter unit 702 .
  • the intake filter unit 701 and the exhaust filter unit 702 are located on the top plate of the cabinet 60 .
  • the upper cavity 601 is also provided with an air duct (not shown in the figure), and the intake end and the exhaust end of the air duct are respectively connected to the intake filter unit 701 and the exhaust filter unit 702 .
  • the intake filter unit 701 and the exhaust filter unit 702 both include a fan and an air filter.
  • the outside air When the outside air enters the upper cavity 601 from the intake filter unit 701, it can be filtered by the air filter of the intake filter unit 701, and then after passing through the air duct, it is discharged by the exhaust filter unit 702, and the air of the exhaust filter unit 702 is discharged.
  • the filter can filter the air again to prevent pollution of the environment during the exhaust process.
  • the fan flow rate of the intake filter unit 701 is a fixed value.
  • the fan of the exhaust filter unit 702 is in the stepless speed regulation mode, so that the pressure in the upper cavity 601 is maintained at a fixed value.
  • the purification module 70 may further include an ultraviolet disinfection lamp (not shown) located in the upper cavity 601 for surface disinfection of each module inside.
  • the casing 60 is provided with an openable and closable protective door 62 .
  • the upper cavity 601 is provided with a safety lock 620 for locking the protective door 62 to ensure the safety of the system during operation.
  • An adjustable bracket 63 can also be provided outside the casing 60 , and a display screen 64 is mounted on the adjustable bracket 63 . In this way, the operator can monitor the operation of each module inside the casing 60 through the display screen 64, so as to facilitate timely manual intervention when the operation is abnormal.
  • control module includes a control program for controlling the cooperative operation of the sample transfer module 20, the disengagement cover module 30, the transfer module 40, and the pipetting module 50, and the control program is used to execute the following methods when running:
  • Step 1 The sample transfer module 20 grabs the container 2 located in the sample storage module 10 and transfers it to the transfer module 40 .
  • Step 2 The transport assembly 42 of the transport module 40 drives the container 2 to move along the horizontal transport guide rail 41 to below the disengagement cover module 30 .
  • Step 3 The cover gripper 351 of the disengagement cover module 30 grabs the cover body 202 of the container 2 located on the transmission module 40, and drives the entire container 2 to move to the position of the code scanning unit 32 through the cover body 202, and rotates the motor 352 drives the cover gripper 351 to rotate, while the code scanning unit 32 scans the identification code on the container 2 to obtain identification information corresponding to the identification code.
  • Step 4 Detach and close the cover gripper 351 of the cover module 30 and put the container 2 back into the transfer module 40.
  • the rotating motor 352 drives the cover gripper 351 to rotate again, so that the cover gripper 351 rotates the captured cover 202.
  • the container clamping unit 422 of the transfer module 40 clamps the container body 201 to separate the cover body 202 from the container body 201 .
  • Step 5 The transfer component 42 of the transfer module 40 drives the uncapped container 2 to move along the horizontal transfer guide rail 41 to the bottom of the pipetting module 50 .
  • Step 6 The pipetting module 50 mounts the disposable pipette tip 4 located in the consumables storage position 51, and then sucks the biological sample in the container 2 on the transfer module 40 through the disposable pipette tip 4, and transfers the sucked biological sample to the consumables Store in the deep-well plate 4 in the storage position 51, and then discard the used disposable pipette tips 4 in the pipette tip recycling bin.
  • Step 7 The conveying assembly 42 of the conveying module 40 drives the uncapped container 2 to move along the horizontal conveying guide rail 41 to below the disengaging cap module 30 .
  • Step 8 The cover gripper 351 of the cover module 30 disengages and closes the grasped cover 202 on the container body 201 of the container 2 again.
  • Step 9 The sample transfer module 20 transfers the container 2 back to the sample storage module 10 or discards it into the container recycling bucket 80 .

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Abstract

一种样本前处理系统（1），包括样本存储模块（10）、样本转移模块（20）、脱合盖模块（30）、传输模块（40）、移液模块（50）和控制模块。样本存储模块（10）存储装载有生物样本的容器（2）。样本转移模块（20）抓取位于样本存储模块（10）的容器（2）并转移至传输模块（40）上。传输模块（40）将容器（2）分别传输至脱合盖模块（30）以及移液模块（50）。脱合盖模块（30）对传输模块（40）上的容器（2）的识别码进行扫描，还将容器（2）的盖体（202）与容器（2）本体分离。移液模块（50）将传输模块（40）上容器（2）内的生物样本进行分杯。脱合盖模块（30）还在生物样本被分杯后，将抓取的盖体（202）重新盖合于传输模块（40）上的容器本体（201）上。样本转移模块（20）还在盖体（202）被重新盖合后，将传输模块（40）上的容器（2）转移回样本存储模块（10）。控制模块控样本转移模块（20）、脱合盖模块（30）、传输模块（40）和移液模块（50）协同作业。

Description

样本前处理系统 技术领域
本申请涉及生物监测领域，尤其涉及一种样本前处理系统。
背景技术
随着疫情的发展，提高新冠病毒核酸检测的速度迫在眉睫。对于采集到的人体样本，在进行核酸提取之前，需要进行灭活、分装转板等工作。其中，分装转板需要手工进行信息核对、试管开盖、移液(即将试管内的样本转移至深孔板中)、试管关盖和回收等一系列工序。人工操作极大地影响了后续核酸检测的速度，而且海量的样本极大地增加了操作人员的劳动强度，使得分装转板工作容易出错，影响后续核酸检测的准确性。
发明内容
为解决现有技术以上不足之处，有必要提供一种高效且自动化的样本前处理系统。
本申请提供一种样本前处理系统，包括样本存储模块、样本转移模块、脱合盖模块、传输模块、移液模块和控制模块。所述样本存储模块用于存储装载有生物样本的容器，所述容器包括容器本体和盖合于所述容器本体的盖体。所述样本转移模块用于抓取位于所述样本存储模块的所述容器并转移至所述传输模块上。所述传输模块用于将所述容器分别传输至所述脱合盖模块以及所述移液模块。所述脱合盖模块用于对所述传输模块上的所述容器设有的识别码进行扫描，还用于将所述容器的盖体与容器本体分离。所述移液模块用于将所述传输模块上所述容器内的生物样本进行分杯，所述脱合盖模块还用于在所述生物样本被分杯后，将抓取的所述盖体重新盖合于所述传输模块上的所述容器本体上，所述样本转移模块还用于在所述盖体被重新盖合后，将所述传输模块上的所述容器转移回所述样本存储模块。所述控制模块用于控制所述样本转移模块、所述脱合盖模块、所述传输模块和所述移液模块协同作业。
在本申请一些实施方式中，所述样本存储模块包括容器架底座和放置于所述容器架底座上的容器架，所述容器架包括相距设置的架体和底板，所述底板位于所述架体和所述容器架底座之间，所述架体中开设有多个用于放置所述容器的放置孔。
在本申请一些实施方式中，每一所述放置孔中设有弹片结构，所述弹片结构包括固定环以及多个自所述固定环朝向所述底板伸出的弹片，所述固定环的直径大于 所述容器的直径，多个弹片共同围设形成用于容置所述容器的容置空间，所述弹片远离所述固定环的端部用于对所述容器的底部进行夹持。
在本申请一些实施方式中，所述样本转移模块包括调度机械臂以及连接于所述调度机械臂上的容器抓手，所述调度机械臂用于驱动所述容器抓手移动至所述样本转移模块或所述传输模块，使所述容器抓手抓取位于所述样本转移模块或所述传输模块上的所述容器。
在本申请一些实施方式中，所述容器抓手包括驱动电机和相对设置的两个电动手指，所述驱动电机用于驱动两个所述电动手指移动并相对靠近，使得所述容器抓手能够抓取所述容器。
在本申请一些实施方式中，所述传输模块包括水平传输导轨和滑动地设置于所述水平传输导轨上的传输组件，所述传输组件包括滑动地设置于所述水平传输导轨上的滑动块、固定于所述滑动块上的容器支撑板和设置于所述容器支撑板上的容器夹紧单元，所述容器夹紧单元用于夹紧所述容器。
在本申请一些实施方式中，所述容器夹紧单元包括固定块、夹紧电机和移动块，所述固定块固定于所述容器支撑板上，所述移动块连接所述夹紧电机且与所述固定块相对设置，所述夹紧电机用于驱动所述移动块朝向所述固定块移动，使得所述移动块和所述固定块共同夹紧所述容器本体。
在本申请一些实施方式中，所述脱合盖模块包括固定座以及设置于所述固定座上的扫码单元和脱合盖组件，所述脱合盖组件包括固定于所述固定座的竖直导轨、滑动连接于所述竖直导轨上的盖体抓手和连接所述盖体抓手的旋转电机，所述盖体抓手用于抓取位于所述盖体，所述旋转电机用于驱动所述盖体抓手转动，所述扫码单元用于在所述盖体抓手转动时对所述容器上的识别码进行扫描，所述旋转电机还用于与所述传输模块配合以使所述盖体与所述容器本体分离。
在本申请一些实施方式中，所述固定座下方设有滑动补偿机构，所述滑动补偿机构用于带动所述固定座沿垂直于所述竖直导轨的水平方向移动，使得所述盖体抓手的中心线位置可调。
在本申请一些实施方式中，所述滑动块包括滑动块本体和固定于所述滑动块本体上的滑动块架体，所述容器支撑板设置于滑动块架体一侧且位于滑动块本体上方，所述容置支撑板的底部与所述滑动块本体之间设有弹性件。
在本申请一些实施方式中，所述移液模块包括耗材存储位、临近所述耗材存储位设置的第一水平移液导轨和滑动地设置于所述第一水平移液导轨上的移液单元，所述耗材存储位用于存放一次性枪头和深孔板，所述移液单元包括滑动地设置于第一水平移液导轨上的第二水平移液导轨、设置于第二水平移液导轨上的竖直移液导轨和固定于竖直移液导轨上的移液器，所述移液器用于装取位于所述耗材存储位的所述一次性枪头，通过所述一次性枪头吸取所述传输模块上所述容器内的生物样本， 并将所吸取的所述生物样本转移至所述耗材存储位的所述深孔板中。
在本申请一些实施方式中，所述样本前处理系统还包括机壳，所述机壳中设有隔板，所述隔板用于将所述机壳划分为相互隔离的上腔体和下腔体，所述上腔体为密闭的腔体，所述上腔体用于容置所述样本存储模块、所述样本转移模块、所述脱合盖模块、所述传输模块、所述移液模块和所述控制模块。
在本申请一些实施方式中，所述上腔体设有净化模块，所述净化模块包括进气过滤单元和排气过滤单元，所述上腔体内还设有风道，所述风道的进气端和排气端分别连通所述进气过滤单元和所述排气过滤单元，所述进气过滤单元和所述排气过滤单元均包括风机和空气过滤器。
在本申请一些实施方式中，所述移液模块还包括位于所述下腔体中的枪头回收桶，所述隔板在对应所述枪头回收桶的位置设有开口，所述移液器在吸取所述生物样本后，还用于将使用过的所述一次性枪头经开口丢弃于所述枪头回收桶中。
本申请还提供一种样本前处理系统，包括样本存储模块、样本转移模块、脱合盖模块、传输模块、移液模块、容器回收桶和控制模块。所述样本存储模块用于存储装载有生物样本的容器，所述容器包括容器本体和盖合于所述容器本体的盖体。所述样本转移模块用于抓取位于所述样本存储模块的所述容器并转移至所述传输模块上。所述传输模块用于将所述容器分别传输至所述脱合盖模块以及所述移液模块。所述脱合盖模块用于对所述传输模块上的所述容器设有的识别码进行扫描，还用于将所述容器的盖体与容器本体分离。所述移液模块用于将所述传输模块上所述容器内的生物样本进行分杯。所述脱合盖模块还用于在所述生物样本被分杯后，将抓取的所述盖体重新盖合于所述传输模块上的所述容器本体上，所述样本转移模块还用于在所述盖体被重新盖合后，将所述传输模块上的所述容器丢弃于所述容器回收桶中。所述控制模块用于控制所述样本转移模块、所述脱合盖模块、所述传输模块和所述移液模块协同作业。
本申请通过样本转移模块、脱合盖模块、传输模块以及移液模块的协同作业，进行信息核对、试管开盖、移液、试管关盖、回收等工序，从而实现一站式的自动化转板流程，有利于提高后续核酸检测的速度；另一方面，由于减少人为干预，因此能够避免人工分装架体容易出错的情况，有利于提高后续核酸检测的准确性。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请一实施方式提供的样本前处理系统的整机结构示意图。
图2为图1所示的样本前处理系统去掉部分外壳后的结构示意图。
图3为图2所示的样本前处理系统位于外壳的上腔体内的各模块的结构示意图。
图4为图3的样本前处理系统另一角度的结构示意图。
图5为图3所示的样本前处理系统的容器架的结构示意图。
图6为图5所示的容器架的架体的另一角度的结构示意图。
图7为图3所示的样本前处理系统的样本转移模块的结构示意图。
图8为图3所示的样本前处理系统的传输模块的结构示意图。
图9为图3所示的样本前处理系统的脱合盖模块的结构示意图。
图10为图3所示的样本前处理系统的移液模块的结构示意图。
图11为图3所示的上腔体内设置的安全锁的结构示意图。
图12为本申请一实施方式提供的容器的结构示意图。
主要元件符号说明
样本前处理系统  1              容器本体          201
容器            2              盖体              202
一次性枪头      3              驱动电机          220
深孔板          4              电动手指          221
样本存储模块    10             固定座支撑板      330
容器架底座      11             竖直导轨          350
容器架          12             盖体抓手          351
样本转移模块    20             旋转电机          352
调度机械臂      21             滑动块            420
容器抓手        22             容器支撑板        421
脱合盖模块      30             容器夹紧单元      422
固定座          31             弹性件            423
扫码单元        32             第二水平移液导轨  530
滑动补偿机构    33             竖直移液导轨      531
盖体检测器      34             移液器            532
脱合盖组件      35             上腔体            601
传输模块        40             下腔体            602
水平传输导轨    41             安全锁            620
传输组件        42             进气过滤单元      701
移液模块        50             排气过滤单元      702
耗材存储位      51             放置孔            1200
第一水平移液导轨    52             滑槽            1210，331
移液单元            53             固定环          1220
枪头回收桶          54             弹片            1221
机壳                60             容置空间        1222
隔板                61             第一防滑纹      2020
防护门              62             滑动块本体      4200
可调节支架          63             滑动块架体      4201
显示屏              64             固定块          4220
净化模块            70             夹紧电机        4221
容器回收桶          80             移动块          4222
架体                120            第一开口        4223
底板                121            第二开口        4224
弹片结构            122
如下具体实施方式将结合上述附图进一步说明本申请。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件；当一个组件被认为是“安装于”另一个组件，它可以是直接安装在另一个组件上或者可能同时存在居中组件。本文所使用的术语“及/或”包括一个或多个相关的所列项目的所有的和任意的组合。
请参阅图1所示，为本申请一实施方式中的样本前处理系统1的整机示意图。样本前处理系统1用于完成生物样本的分装转板，包括信息核对、试管开盖、移液、试管关盖和回收等步骤。其中，生物样本可以是人体血液样本、组织样本或唾液样本等。请一并参考图2至图4，样本前处理系统1包括样本存储模块10、样本转移模块20、至少一脱合盖模块30、至少一传输模块40、移液模块50和控制模块(图未示)。
样本存储模块10用于存储装载有生物样本的容器2(在图12中示出)。其中，容器2可以为试管或者其它可用于装载生物样本的任何形状的密封容器。如图12所示，本实施方式中的容器2为试管。容器2包括容器本体201和盖合于容器本体201上的盖体202。容器2上贴设有识别码(如二维码或条形码等，图未示)，识别码记载有对应的生物样本的识别信息，如测试对象的姓名、年龄、测试项目等， 用于生物样本的跟踪和管理。
样本转移模块20用于抓取位于样本存储模块10的容器2并转移至传输模块40上。
传输模块40能够在脱合盖模块30以及移液模块50之间移动，从而将位于传输模块40上的容器2分别传输至脱合盖模块30以及移液模块50所在的位置。
脱合盖模块30用于对传输模块40上的容器2设有的识别码进行扫描以获取对应的识别信息，还用于将容器2的盖体202与容器本体201分离。
移液模块50用于在脱合盖模块30分离盖体202后，将传输模块40上的容器2内的生物样本进行分杯。脱合盖模块30还用于在移液模块50完成生物样本分杯后，将抓取的盖体202重新盖合于传输模块40上的容器本体201上。样本转移模块20还用于在脱合盖模块30重新盖合盖体202后，将传输模块40上的容器2转移回样本存储模块10。
控制模块用于控制样本转移模块20、脱合盖模块30、传输模块40、移液模块50协同作业。
其中，如图1和图2所示，样本前处理系统1还可包括机壳60。机壳60中设有隔板61，隔板61用于将机壳60划分为相互隔离的上腔体601和下腔体602。上腔体601和下腔体602均为密闭的腔体。上腔体601用于容置样本存储模块10、样本转移模块20、脱合盖模块30、传输模块40、移液模块50和控制模块，从而避免了环境污染和生物样本之间的交叉污染。
在另一实施方式中，如图2所示，样本前处理系统1还可包括位于下腔体602的容器回收桶80。在脱合盖模块30重新盖合盖体202后，样本转移模块20还可以将容器2丢弃于容器回收桶80中。
本申请通过样本转移模块20、脱合盖模块30、传输模块40以及移液模块50的协同作业，进行信息核对、试管开盖、移液、试管关盖、回收等工序，从而实现一站式的自动化转板流程，有利于提高后续核酸检测的速度；另一方面，整个过程不需要操作人员与生物样本直接接触，由于减少人为干预，因此能够避免人工分装转板容易出错的情况，有利于提高后续核酸检测的准确性。
请一并参考图3、图5和图6，在一实施方式中，样本存储模块10包括容器架底座11和放置于容器架底座11上的容器架12。容器2放置于容器架12上。容器架底座11上可放置的容器架12的数量并不限定，如图3所示，在一实施方式中，样本存储模块10包括两个容器架底座11，每一容器架底座11上可放置三个容器架12，即样本存储模块10可一次放置六个容器架12。
其中，容器架12包括相距设置的架体120和底板121，底板121位于架体120和容器架底座11之间。架体120中开设有多个用于放置容器2的放置孔1200，多个放置孔1200可以呈矩阵排列。不同的放置孔1200之间可具有预设的间距。每一 放置孔1200中设有弹片结构122。弹片结构122包括固定环1220以及多个自固定环1220朝向底板121伸出的弹片1221。固定环1220的直径大于容器2本身的直径。多个弹片1221共同围设形成一用于容置容器2的容置空间1222。其中，当弹片1221未发生弹性变形时，容置空间1222的直径自靠近固定环1220的一侧向远离固定环1220的另一侧逐渐减小。当容器2放置于容置空间1222中时，弹片1221远离固定环1220的端部共同对容器2的底部进行夹持，从而将容器2固定。可以理解，由于弹片1221可以发生弹性变形，使得不同直径的容器2放置于容置空间1222内时，容器2均能够由于弹片1221的夹持作用快速定位于容器架12中，即容器架12能够兼容多种不同尺寸的容器2。再者，设置固定环1220的直径大于容器2本身的直径，使得后续样本转移模块20将容器2转移回容器架12中时，即便容器2的中心轴与固定环1220的中心存在偏位，也能够顺利放入容置空间1222内，即容器2放置时容错率高。
进一步地，容器架底座11上可设有滑轨(图未示)。容器架12的底板121上可设有与导轨配合的滑槽1210。在生物样本进行分装转板之前，操作人员可将装满容器2的容器架12通过滑槽1210与滑轨的配合放置于容器架底座11上。其中，滑轨和滑槽1210的形状匹配，如滑轨和滑槽1210的横截面可均为T型。更进一步地，容器架底座11上设有球头柱塞(图未示)，容器架12的底板121上可设有与球头柱塞对应的定位孔(图未示)。容器架12可进一步通过球头柱塞与定位孔的配合定位于容器架底座11上。
请参考图7，在一实施方式中，样本转移模块20包括调度机械臂21以及连接于调度机械臂21上的容器抓手22。调度机械臂21用于沿水平方向和竖直方向移动，从而驱动容器抓手22移动至样本存储模块10或传输模块40所在的位置。容器抓手22包括驱动电机220和相对设置的两个电动手指221。驱动电机220用于驱动两个电动手指221移动并相对靠近，使得容器抓手22可抓取位于样本存储模块10的容器2并转移至传输模块40(以及，抓取位于传输模块40上的容器2并转移至样本存储模块10)。由于两个电动手指221可以相对靠近，使得容器抓手22同样可以兼容多种不同直径的容器2。在一实施方式中，调度机械臂21为水平多关节机械臂。
请参考图8，在一实施方式中，传输模块40包括水平传输导轨41和滑动地设置于水平传输导轨41上的传输组件42。传输组件42包括滑动地设置于水平传输导轨41上的滑动块420、固定于滑动块420上的容器支撑板421和设置于容器支撑板421上的至少一组容器夹紧单元422。每一组容器夹紧单元422用于夹紧容器2。水平传输导轨41由脱合盖模块30延伸至移液模块50，使得容器夹紧单元422能够在脱合盖模块30以及移液模块50之间移动。在一实施方式中，每一组容器夹紧单元422包括固定块4220、夹紧电机4221和移动块4222。固定块4220固定于 容器支撑板421上。移动块4222连接夹紧电机4221且与固定块4220相对设置。夹紧电机4221用于驱动移动块4222朝向固定块4220移动，使得移动块4222和固定块4220可以共同对容器2进行定位和夹紧(本申请中夹紧的部位为容器本体201)。在一实施方式中，固定块4220朝向移动块4222的表面设有第一开口4223。移动块4222朝向固定块4220的表面设有第二开口4224。第一开口4223和第二开口4224共同形成用于容置容器2的容器槽(图未标出)。其中，容器夹紧单元422的容置槽内可设有感测器(图未示)，用于感测容器2是否取放成功。
请参阅图9，在一实施方式中，脱合盖模块30包括固定座31、至少一扫码单元32以及至少一组脱合盖组件35。每一扫码单元32以及每一组脱合盖组件35设置于固定座31上。每一组脱合盖组件35包括固定于固定座31的竖直导轨350、滑动连接于竖直导轨350上的盖体抓手351和连接盖体抓手351的旋转电机352。盖体抓手351用于沿竖直导轨350下降并抓取位于传输模块40上的容器2的盖体202。此时传输模块40并未对容器2进行夹紧，盖体202未与容器本体201分离，使得盖体抓手351可以带动整个容器2沿竖直导轨350上升至容器2到达扫码单元32所在的位置。旋转电机352用于驱动盖体抓手351转动，使得容器2转动一定角度(如转动一周)，便于扫码单元32对容器2上的识别码进行扫描以获取识别码对应的识别信息。其中，如图12所示，盖体202上设有第一防滑纹2020。盖体抓手351可设有与第一防滑纹2020匹配的第二防滑纹(图未示)，因此盖体抓手351可通过第一防滑纹2020与第二防滑纹的配合对盖体202进行转动。
完成识别码扫描后，竖直导轨350还用于驱动盖体抓手351带动整个容器2沿竖直方向下降，使容器2放回传输模块40。旋转电机352再次驱动盖体抓手351转动，使得盖体抓手351转动所抓取的盖体202，同时传输模块40夹紧容器本体201，从而以使盖体202与容器本体201分离。在一实施方式中，脱合盖模块30还包括位于固定座31下方的滑动补偿机构33。滑动补偿机构33用于带动固定座31沿垂直于竖直导轨350的水平方向移动，使得盖体抓手351的中心线位置可调，即盖体抓手351的中心线可以与不同直径的容器2的中轴线重合，即使得盖体抓手351可以兼容不同直径的容器2。在一实施方式中，滑动补偿机构33包括固定座支撑板330和设置于固定座支撑板330上的滑槽331，滑槽331沿垂直于竖直导轨350的水平方向延伸。对应地，固定座31底部设有与滑槽331配合的滑轨(图未示)。固定座31可通过滑轨和滑槽331的配合沿垂直于竖直导轨350的水平方向滑动，从而调节盖体抓手351的中心线位置。
请再次参照图8，在一实施方式中，滑动块420包括滑动块本体4200和垂直固定于滑动块本体4200上的滑动块架体4201，容器支撑板421设置于滑动块架体4201一侧且位于滑动块本体4200上方。其中，容置支撑板421的底部与滑动块本体4200之间设有弹性件423(如螺旋弹簧)。由于盖体抓手351抓取容器2时，由 于不同容器2高度存在差异导致容器2容易发生被盖体抓手351撞击的情况。弹性件423用于提供一缓冲力，缓解容器2受到的撞击以及避免容器2内的生物样本溅出。同时，弹性件423也可以在盖体抓手351将容器2放回传输模块40时缓解容器2受到的撞击。
另一方面，在脱盖过程中，当旋转电机352驱动盖体抓手351转动以使盖体抓手351转动所抓取的盖体202时，传输模块40夹紧容器本体201，同时弹性件423被压缩，使得容器本体201下降，如此便可以使盖体202与容器本体201分离。
其中，如图9所示，脱合盖模块30还可包括至少一盖体检测器34。盖体检测器34用于检测传输模块40上的容器2是否设有盖体202，避免盖体抓手351重复抓取已经脱盖的容器2。
请参阅图10，在一实施方式中，移液模块50包括耗材存储位51、临近耗材存储位51设置的第一水平移液导轨52和滑动地设置于第一水平移液导轨52上的至少一组移液单元53。耗材存储位51用于存放移液所需的耗材，上述耗材可以是，但并不限于一次性枪头3和深孔板4等。每一组移液单元53包括滑动地设置于第一水平移液导轨52上的第二水平移液导轨530、设置于第二水平移液导轨530上的竖直移液导轨531和固定于竖直移液导轨531上的移液器532。第二水平移液导轨530与第一水平移液导轨52垂直。因此，移液器532可以沿水平方向和竖直方向移动至耗材存储位51并装取位于耗材存储位51的一次性枪头4，然后通过一次性枪头4吸取传输模块40上容器2内的生物样本，并将所吸取的生物样本转移至耗材存储位51的深孔板4中。在一实施方式中，移液模块50包括两组移液单元53。由于在两组移液单元53中，两个移液器532分别在不同的第二水平移液导轨530和不同的竖直移液导轨531上独立移动，因此两个移液器532之间间距可调。在一实施方式中，移液模块50还包括位于下腔体602中的枪头回收桶54(在图2中示出)，隔板61在对应枪头回收桶54的位置设有开口(图未示)。在吸取生物样本后，移液器532还可以移动至枪头回收桶54的上方，并将使用过的一次性枪头4经开口丢弃于枪头回收桶54中。
如图9所示，在一实施方式中，每一脱合盖模块30包括两组脱合盖组件35和两个扫码单元32。两组脱合盖组件35单独运作，两个扫码单元32分别配合两组脱合盖组件35。对应地，如图8所示，每一传输模块40包括两组容器夹紧单元422，两组容器夹紧单元422分别配合两组脱合盖组件35。因此，有利于提高扫码以及容器2脱盖和合盖的效率。同时，移液模块50的两组移液单元53分别配合两组容器夹紧单元422，有利于提高移液效率。当然，在其它实施方式中，每一脱合盖模块30的脱合盖组件35以及扫码单元32的数量、以及每一传输模块40的容器夹紧单元422的数量并不限定，可以根据实际需求进行设置。
进一步地，如图3和图4所示，脱合盖模块30的数量为两个，传输模块40的 数量也为两个。脱合盖模块30并行运作，两个传输模块40并行运作且分别配合两个脱合盖模块30，因此能够进一步提高扫码以及容器2脱盖和合盖的效率。当然，在其它实施方式中，脱合盖模块30以及传输模块40的数量并不限定，可以根据实际需求进行设置。
请再次参照图1和图2，在一实施方式中，上腔体601设有净化模块70。净化模块70包括进气过滤单元701和排气过滤单元702。在一实施方式中，进气过滤单元701和排气过滤单元702位于机壳60的顶板上。上腔体601内还设有风道(图未示)，风道的进气端和排气端分别连通进气过滤单元701和排气过滤单元702。其中，进气过滤单元701和排气过滤单元702均包括风机和空气过滤器。外界空气由进气过滤单元701进入上腔体601时，可经进气过滤单元701的空气过滤器过滤，然后经过风道后，由排气过滤单元702排出，而排气过滤单元702的空气过滤器可再次对空气进行过滤，防止排气过程中污染环境。在一实施方式中，进气过滤单元701的风机流量为固定值。排气过滤单元702的风机为无极调速模式，使上腔体601内的压力维持在一固定值。净化模块70还可包括位于上腔体601内的紫外线消毒灯(图未示)，用于对内部的各模块进行表面消毒。
请一并参照图1和图11，在一实施方式中，机壳60设有可开合的防护门62。上腔体601内设有用于锁紧防护门62的安全锁620，保证系统运行时的安全性。机壳60外部还可设有一可调节支架63，可调节支架63上安装有显示屏64。如此，操作人员可通过显示屏64监控机壳60内部各模块的运行情况，从而便于运行异常时能够及时进行人工干预。
在一实施方式中，控制模块包括用于控制样本转移模块20、脱合盖模块30、传输模块40、移液模块50协同作业的控制程序，所述控制程序运行时用于执行以下方法：
步骤一：样本转移模块20抓取位于样本存储模块10的容器2并转移至传输模块40上。
步骤二：传输模块40的传输组件42带动容器2沿水平传输导轨41移动至脱合盖模块30下方。
步骤三：脱合盖模块30的盖体抓手351抓取位于传输模块40上的容器2的盖体202，并通过盖体202带动整个容器2移动至扫码单元32所在的位置，旋转电机352驱动盖体抓手351转动，同时扫码单元32对容器2上的识别码进行扫描以获取识别码对应的识别信息。
步骤四：脱合盖模块30的盖体抓手351将容器2放回传输模块40，旋转电机352再次驱动盖体抓手351转动，使得盖体抓手351转动所抓取的盖体202，同时传输模块40的容器夹紧单元422夹紧容器本体201，从而以使盖体202与容器本体201分离。
步骤五：传输模块40的传输组件42带动脱盖后的容器2沿水平传输导轨41移动至移液模块50下方。
步骤六：移液模块50装取位于耗材存储位51的一次性枪头4，然后通过一次性枪头4吸取传输模块40上容器2内的生物样本，并将所吸取的生物样本转移至耗材存储位51的深孔板4中，然后将使用过的一次性枪头4丢弃于枪头回收桶中。
步骤七：传输模块40的传输组件42带动脱盖后的容器2沿水平传输导轨41移动至脱合盖模块30下方。
步骤八：脱合盖模块30的盖体抓手351将抓取的盖体202重新盖合于容器2的容器本体201上。
步骤九：样本转移模块20将容器2转移回样本存储模块10或丢弃于容器回收桶80中。
最后应说明的是，以上实施例仅用以说明本申请的技术方案而非限制，尽管参照较佳实施例对本申请进行了详细说明，本领域的普通技术人员应当理解，可以对本申请的技术方案进行修改或等同替换，而不脱离本申请技术方案的精神和范围。

Claims (15)

  1. 一种样本前处理系统，其特征在于，包括样本存储模块、样本转移模块、脱合盖模块、传输模块、移液模块和控制模块；
    所述样本存储模块用于存储装载有生物样本的容器，所述容器包括容器本体和盖合于所述容器本体的盖体；
    所述样本转移模块用于抓取位于所述样本存储模块的所述容器并转移至所述传输模块上；
    所述传输模块用于将所述容器分别传输至所述脱合盖模块以及所述移液模块；
    所述脱合盖模块用于对所述传输模块上的所述容器设有的识别码进行扫描，还用于将所述容器的盖体与容器本体分离；
    所述移液模块用于将所述传输模块上所述容器内的生物样本进行分杯，所述脱合盖模块还用于在所述生物样本被分杯后，将抓取的所述盖体重新盖合于所述传输模块上的所述容器本体上，所述样本转移模块还用于在所述盖体被重新盖合后，将所述传输模块上的所述容器转移回所述样本存储模块；
    所述控制模块用于控制所述样本转移模块、所述脱合盖模块、所述传输模块和所述移液模块协同作业。
  2. 如权利要求1所述的样本前处理系统，其特征在于，所述样本存储模块包括容器架底座和放置于所述容器架底座上的容器架，所述容器架包括相距设置的架体和底板，所述底板位于所述架体和所述容器架底座之间，所述架体中开设有多个用于放置所述容器的放置孔。
  3. 如权利要求2所述的样本前处理系统，其特征在于，每一所述放置孔中设有弹片结构，所述弹片结构包括固定环以及多个自所述固定环朝向所述底板伸出的弹片，所述固定环的直径大于所述容器的直径，多个弹片共同围设形成用于容置所述容器的容置空间，所述弹片远离所述固定环的端部用于对所述容器的底部进行夹持。
  4. 如权利要求1所述的样本前处理系统，其特征在于，所述样本转移模块包括调度机械臂以及连接于所述调度机械臂上的容器抓手，所述调度机械臂用于驱动所述容器抓手移动至所述样本转移模块或所述传输模块，使所述容器抓手抓取位于所述样本转移模块或所述传输模块上的所述容器。
  5. 如权利要求4所述的样本前处理系统，其特征在于，所述容器抓手包括驱动电机和相对设置的两个电动手指，所述驱动电机用于驱 动两个所述电动手指移动并相对靠近，使得所述容器抓手能够抓取所述容器。
  6. 如权利要求1所述的样本前处理系统，其特征在于，所述传输模块包括水平传输导轨和滑动地设置于所述水平传输导轨上的传输组件，所述传输组件包括滑动地设置于所述水平传输导轨上的滑动块、固定于所述滑动块上的容器支撑板和设置于所述容器支撑板上的容器夹紧单元，所述容器夹紧单元用于夹紧所述容器。
  7. 如权利要求6所述的样本前处理系统，其特征在于，所述容器夹紧单元包括固定块、夹紧电机和移动块，所述固定块固定于所述容器支撑板上，所述移动块连接所述夹紧电机且与所述固定块相对设置，所述夹紧电机用于驱动所述移动块朝向所述固定块移动，使得所述移动块和所述固定块共同夹紧所述容器本体。
  8. 如权利要求7所述的样本前处理系统，其特征在于，所述脱合盖模块包括固定座以及设置于所述固定座上的扫码单元和脱合盖组件，所述脱合盖组件包括固定于所述固定座的竖直导轨、滑动连接于所述竖直导轨上的盖体抓手和连接所述盖体抓手的旋转电机，所述盖体抓手用于抓取位于所述盖体，所述旋转电机用于驱动所述盖体抓手转动，所述扫码单元用于在所述盖体抓手转动时对所述容器上的识别码进行扫描，所述旋转电机还用于与所述传输模块配合以使所述盖体与所述容器本体分离。
  9. 如权利要求8所述的样本前处理系统，其特征在于，所述固定座下方设有滑动补偿机构，所述滑动补偿机构用于带动所述固定座沿垂直于所述竖直导轨的水平方向移动，使得所述盖体抓手的中心线位置可调。
  10. 如权利要求6所述的样本前处理系统，其特征在于，所述滑动块包括滑动块本体和固定于所述滑动块本体上的滑动块架体，所述容器支撑板设置于滑动块架体一侧且位于滑动块本体上方，所述容置支撑板的底部与所述滑动块本体之间设有弹性件。
  11. 如权利要求1所述的样本前处理系统，其特征在于，所述移液模块包括耗材存储位、临近所述耗材存储位设置的第一水平移液导轨和滑动地设置于所述第一水平移液导轨上的移液单元，所述耗材存储位用于存放一次性枪头和深孔板，所述移液单元包括滑动地设置于第一水平移液导轨上的第二水平移液导轨、设置于第二水平移液导轨上的竖直移液导轨和固定于竖直移液导轨上的移液器，所述移液器用于装取位于所述耗材存储位的所述一次性枪头，通过所述一次性枪头吸 取所述传输模块上所述容器内的生物样本，并将所吸取的所述生物样本转移至所述耗材存储位的所述深孔板中。
  12. 如权利要求11所述的样本前处理系统，其特征在于，还包括机壳，所述机壳中设有隔板，所述隔板用于将所述机壳划分为相互隔离的上腔体和下腔体，所述上腔体为密闭的腔体，所述上腔体用于容置所述样本存储模块、所述样本转移模块、所述脱合盖模块、所述传输模块、所述移液模块和所述控制模块。
  13. 如权利要求12所述的样本前处理系统，其特征在于，所述上腔体设有净化模块，所述净化模块包括进气过滤单元和排气过滤单元，所述上腔体内还设有风道，所述风道的进气端和排气端分别连通所述进气过滤单元和所述排气过滤单元，所述进气过滤单元和所述排气过滤单元均包括风机和空气过滤器。
  14. 如权利要求12所述的样本前处理系统，其特征在于，所述移液模块还包括位于所述下腔体中的枪头回收桶，所述隔板在对应所述枪头回收桶的位置设有开口，所述移液器在吸取所述生物样本后，还用于将使用过的所述一次性枪头经开口丢弃于所述枪头回收桶中。
  15. 一种样本前处理系统，其特征在于，包括样本存储模块、样本转移模块、脱合盖模块、传输模块、移液模块、容器回收桶和控制模块；
    所述样本存储模块用于存储装载有生物样本的容器，所述容器包括容器本体和盖合于所述容器本体的盖体；
    所述样本转移模块用于抓取位于所述样本存储模块的所述容器并转移至所述传输模块上；
    所述传输模块用于将所述容器分别传输至所述脱合盖模块以及所述移液模块；
    所述脱合盖模块用于对所述传输模块上的所述容器设有的识别码进行扫描，还用于将所述容器的盖体与容器本体分离；
    所述移液模块用于将所述传输模块上所述容器内的生物样本进行分杯，所述脱合盖模块还用于在所述生物样本被分杯后，将抓取的所述盖体重新盖合于所述传输模块上的所述容器本体上，所述样本转移模块还用于在所述盖体被重新盖合后，将所述传输模块上的所述容器丢弃于所述容器回收桶中；
    所述控制模块用于控制所述样本转移模块、所述脱合盖模块、所述传输模块和所述移液模块协同作业。
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