技术领域technical field
本申请涉及流式细胞分析领域，尤其是涉及一种用于加抗、溶血后进行混匀的装置。The present application relates to the field of flow cytometry analysis, in particular to a device for adding antibodies and mixing after hemolysis.
背景技术Background technique
在流式细胞分析过程中，样本制备是最复杂、最麻烦的必须步骤之一，它包括加(血)样、加抗体、溶血、混匀、孵育等几个步骤。In the process of flow cytometry analysis, sample preparation is one of the most complicated and troublesome necessary steps, which includes several steps such as adding (blood) samples, adding antibodies, hemolysis, mixing, and incubation.
在样本中加入抗体后需要进行混匀处理，此时试管中样本量较少，通常只有几十微升(uL)，需要有效的将其混匀，使得血样和抗体充分结合，以保证正确的测量结果。而在溶血过程中，要在样本中加入不同种类溶血剂，加完每种溶血剂之后也都需要进行混匀处理，使得溶血剂和血样充分反应，以保证溶血效果。After adding the antibody to the sample, it needs to be mixed. At this time, the sample volume in the test tube is small, usually only tens of microliters (uL), and it needs to be mixed effectively to make the blood sample and the antibody fully combined to ensure correct measurement results. In the process of hemolysis, different kinds of hemolytic agents should be added to the sample, and each hemolytic agent needs to be mixed evenly after adding each hemolytic agent, so that the hemolytic agent and the blood sample can fully react to ensure the hemolytic effect.
目前做加抗和溶血后的混匀主要采用如下方法：1)采用手工操作，该方法费时费力，并且由于人工操作的差异，一致性也得不到保证；2)一些厂家推出了溶血混匀装置来帮助完成上述过程，主要有BCI的BC Q-prep System和TQ-prep Workstation，但此类装置只能做特定溶血剂的溶血混匀处理，也无法做加抗后的混匀操作，加抗的混匀操作需要在另外的混匀装置上进行。At present, the following methods are mainly used for the mixing after the addition of antibiotics and hemolysis: 1) Manual operation is used, which is time-consuming and laborious, and due to the difference in manual operation, the consistency cannot be guaranteed; 2) Some manufacturers have introduced hemolysis mixing devices to help complete the above process, mainly BCI’s BC Q-prep System and TQ-prep Workstation, but such devices can only be used for hemolysis and mixing of specific hemolytic agents, and cannot be used for mixing after adding antibiotics. Anti-mixing operation needs to be carried out on another mixing device.
发明内容Contents of the invention
本申请提供一种混匀装置、机械手装置及流式样本制备仪。The application provides a mixing device, a manipulator device and a flow sample preparation instrument.
根据本申请的第一方面，本申请提供一种混匀装置,包括：According to the first aspect of the application, the application provides a mixing device, comprising:
混匀器，用于混匀操作；Mixer for mixing operation;
机械手单元，用于抓取和松开试管；Robotic unit for gripping and releasing test tubes;
溶血剂加注单元，所述溶血剂加注单元具有用于向试管内注射溶血剂的加注针，所述加注针安装在机械手单元上；A hemolytic agent filling unit, the hemolytic agent filling unit has a filling needle for injecting the hemolytic agent into the test tube, and the filling needle is installed on the manipulator unit;
以及机械手驱动组件，所述机械手驱动组件驱动机械手单元移动，所述机械手单元的移动轨迹上至少包括与样本存放位置对应的第一位置、与混匀器对应的第二位置以及使加注针与混匀器内试管对准的第三位置。and a manipulator driving assembly, the manipulator driving assembly drives the manipulator unit to move, and the movement trajectory of the manipulator unit at least includes a first position corresponding to the sample storage position, a second position corresponding to the mixer, and the filling needle and the Third position for tube alignment within the mixer.
作为所述混匀装置的进一步改进，所述机械手驱动组件包括驱动杆、用于驱动所述驱动杆旋转的旋转驱动机构和用于驱动所述驱动杆升降的升降驱动机构，所述机械手单元安装在驱动杆上。As a further improvement of the mixing device, the manipulator drive assembly includes a drive rod, a rotating drive mechanism for driving the drive rod to rotate, and a lifting drive mechanism for driving the drive rod to lift. The manipulator unit is installed on the drive rod.
作为所述混匀装置的进一步改进，所述旋转驱动机构包括旋转电机和第一同步带组件，所述第一同步带组件包括第一主动轮、第一从动轮和第一同步带，所述旋转电机与第一主动轮联接，所述驱动杆以既可随第一从动轮转动又可相对第一从动轮升降的结构穿过所述第一从动轮。As a further improvement of the mixing device, the rotary drive mechanism includes a rotary motor and a first synchronous belt assembly, the first synchronous belt assembly includes a first driving wheel, a first driven wheel and a first synchronous belt, the The rotating motor is coupled with the first driving wheel, and the driving rod passes through the first driven wheel in a structure capable of rotating with the first driven wheel and lifting relative to the first driven wheel.
作为所述混匀装置的进一步改进，所述既可随第一从动轮转动又可相对第一从动轮升降的结构是指，所述从动轮内安装有直线轴承，所述驱动杆装在所述直线轴承内。As a further improvement of the mixing device, the structure that can rotate with the first driven wheel and can be raised and lowered relative to the first driven wheel means that a linear bearing is installed in the driven wheel, and the driving rod is mounted on the inside the linear bearing.
作为所述混匀装置的进一步改进，所述既可随第一从动轮转动又可相对第一从动轮升降的结构是指，所述驱动杆具有沿其轴向设置的第一凹槽或第一凸起，所述从动轮具有与第一凹槽或第一凸起卡合的第二凸起或第二凹槽。As a further improvement of the mixing device, the structure that can rotate with the first driven wheel and can be raised and lowered relative to the first driven wheel means that the driving rod has a first groove or a second groove arranged along its axial direction. a protrusion, the driven wheel has a second protrusion or a second groove engaged with the first groove or the first protrusion.
作为所述混匀装置的进一步改进，所述升降驱动机构包括升降电机和第二同步带组件，所述第二同步带组件包括第二主动轮、第二从动轮和第二同步带，所述升降电机与第二主动轮联接，所述驱动杆固定安装在第二同步带上，所述第二同步带沿驱动杆的轴向运动。As a further improvement of the mixing device, the lifting drive mechanism includes a lifting motor and a second synchronous belt assembly, the second synchronous belt assembly includes a second driving wheel, a second driven wheel and a second synchronous belt, the The lifting motor is connected with the second driving wheel, the driving rod is fixedly installed on the second synchronous belt, and the second synchronous belt moves along the axial direction of the driving rod.
作为所述混匀装置的进一步改进，所述机械手驱动组件包括第一轴驱动机构、第二轴驱动机构和第三轴驱动机构，所述第一轴驱动机构、第二轴驱动机构和第三轴驱动机构分别驱动机械手单元沿相互垂直的第一轴方向、第二轴方向和第三轴方向移动。As a further improvement of the mixing device, the manipulator drive assembly includes a first shaft drive mechanism, a second shaft drive mechanism and a third shaft drive mechanism, and the first shaft drive mechanism, the second shaft drive mechanism and the third shaft drive mechanism The axis driving mechanism respectively drives the manipulator unit to move along the first axis direction, the second axis direction and the third axis direction which are perpendicular to each other.
作为所述混匀装置的进一步改进，所述机械手单元还包括机械手座、手指以及驱动手指夹紧和松开的手指驱动机构，所述机械手座安装在机械手驱动组件上，所述手指驱动机构和加注针固定安装在机械手座上。As a further improvement of the mixing device, the manipulator unit also includes a manipulator base, fingers, and a finger drive mechanism that drives fingers to clamp and loosen, the manipulator base is installed on the manipulator drive assembly, and the finger drive mechanism and The filling needle is fixedly installed on the manipulator seat.
作为所述混匀装置的进一步改进，还包括加抗体单元，所述加抗体单元具有加抗针，所述加抗针安装在机械手单元上，所述机械手单元的移动轨迹上还包括使加抗针与试管对准的第四位置。As a further improvement of the mixing device, it also includes an antibody adding unit. The antibody adding unit has an anti-adding needle, and the anti-adding needle is installed on the manipulator unit. The fourth position where the needle is aligned with the test tube.
作为所述混匀装置的进一步改进，还包括样本存放机构，所述样本存放机构具有多个样本存放位，所述第一位置与样本存放位对应设置。As a further improvement of the mixing device, it further includes a sample storage mechanism, the sample storage mechanism has a plurality of sample storage positions, and the first position is set corresponding to the sample storage positions.
本申请所提供的机械手装置，包括：The manipulator device provided by this application includes:
机械手单元，用于抓取和松开试管；Robotic unit for gripping and releasing test tubes;
加注针，所述加注针安装在机械手单元上，用于与溶血剂源连接，向试管内注射溶血剂；A filling needle, the filling needle is installed on the manipulator unit, and is used to connect with the source of the hemolytic agent, and inject the hemolytic agent into the test tube;
以及机械手驱动组件，所述机械手驱动组件驱动机械手单元移动，所述机械手单元的移动轨迹上至少包括与样本存放位置对应的第一位置、与混匀器对应的第二位置以及使加注针与混匀器内试管对准的第三位置。and a manipulator driving assembly, the manipulator driving assembly drives the manipulator unit to move, and the movement trajectory of the manipulator unit at least includes a first position corresponding to the sample storage position, a second position corresponding to the mixer, and the filling needle and the Third position for tube alignment within the mixer.
本申请提供的流式样本制备仪，包括如上述实施例任一项所述的混匀装置。The flow sample preparation instrument provided in this application includes the mixing device as described in any one of the above embodiments.
本申请的有益效果是：The beneficial effect of this application is:
本申请所提供的混匀装置中，溶血剂的加注针安装在机械手上，机械手驱动组件可驱动机械手单元在第一位置、第二位置和第三位置之间移动，其中第一位置对应样本存放位置设置，第二位置对应混匀器设置，而在第三位置时加注针可与混匀器内试管对准进行加注溶血剂。当样本试管加抗体后，机械手单元可移动至第一位置将试管从样本存放位置送至第二位置，放入混匀器内进行混匀，混匀完成后又可将混匀后的试管送回第一位置进行孵育，孵育后机械手单元可将孵育后的试管再次送至混匀器内，然后机械手单元移动至第三位置，此时加注针与混匀器内的试管对准并加注溶血剂，加注完成后混匀器进行混匀，最后机械手单元再将试管转移到试管存放机构中。本装置由于是机械完成混匀，不存在人工操作带来的结果差异，一致性较好，而且本装置不仅可实现加抗后的混匀，还能一并实现溶血和溶血后的混匀操作，简化了设备的结构，相比现有技术中分开使用多个混匀装置的方案，大大减少了混匀装置的数量。In the mixing device provided by the present application, the injection needle of the hemolytic agent is installed on the manipulator, and the manipulator drive assembly can drive the manipulator unit to move between the first position, the second position and the third position, wherein the first position corresponds to the sample The storage position is set, the second position corresponds to the setting of the mixer, and at the third position, the filling needle can be aligned with the test tube in the mixer for adding hemolyzing agent. After the antibody is added to the sample test tube, the manipulator unit can move to the first position to send the test tube from the sample storage position to the second position, put it into the mixer for mixing, and then send the mixed test tube to the Return to the first position for incubation. After incubation, the manipulator unit can send the incubated test tube to the mixer again, and then the manipulator unit moves to the third position. At this time, the filling needle is aligned with the test tube in the mixer and added. Inject the hemolytic agent, after the filling is completed, the mixer will mix, and finally the robot unit will transfer the test tube to the test tube storage mechanism. Because this device is mechanically mixed, there is no difference in results caused by manual operation, and the consistency is good. Moreover, this device can not only realize the mixing after adding the antibiotic, but also realize the mixing operation after hemolysis and hemolysis. , simplifies the structure of the equipment, and greatly reduces the number of mixing devices compared with the solution of using multiple mixing devices separately in the prior art.
附图说明Description of drawings
图1为本申请混匀装置一种实施例的状态一示意图；Fig. 1 is a schematic diagram of a state of an embodiment of the mixing device of the present application;
图2为图1所示实施例状态二示意图；Fig. 2 is a schematic diagram of state two of the embodiment shown in Fig. 1;
图3为图1所示实施例状态三示意图；Fig. 3 is a schematic diagram of state three of the embodiment shown in Fig. 1;
图4为图1所示实施例状态四示意图；Fig. 4 is a schematic diagram of state four of the embodiment shown in Fig. 1;
图5为图1所示实施例俯视结构示意图；Fig. 5 is a top view structural schematic diagram of the embodiment shown in Fig. 1;
图6为图1所示实施例中混匀器结构示意图；Fig. 6 is the structural representation of mixer in the embodiment shown in Fig. 1;
图7为图1所示实施例中样本盘结构示意图；Fig. 7 is a schematic structural diagram of the sample disc in the embodiment shown in Fig. 1;
图8为图1所示实施例中机械手单元结构示意图；Fig. 8 is a schematic diagram of the structure of the manipulator unit in the embodiment shown in Fig. 1;
图9为图1所示实施例中机械手驱动组件结构示意图。Fig. 9 is a schematic structural diagram of the driving assembly of the manipulator in the embodiment shown in Fig. 1 .
具体实施方式Detailed ways
下面通过具体实施方式结合附图对本发明作进一步详细说明。本申请可以以多种不同的形式来实现，并不限于本实施例所描述的实施方式。提供以下具体实施方式的目的是便于对本申请公开内容更清楚透彻的理解，其中上、下、左、右等指示方位的字词仅是针对所示结构在对应附图中位置而言。The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. The present application can be implemented in many different forms, and is not limited to the implementation manner described in this embodiment. The purpose of providing the following specific embodiments is to facilitate a clearer and more thorough understanding of the disclosure of the present application, wherein the words indicating orientation such as up, down, left, and right are only for the positions of the structures shown in the corresponding drawings.
然而，本领域的技术人员可能会意识到其中的一个或多个的具体细节描述可以被省略，或者还可以采用其他的方法、组件或材料。在一些例子中，一些实施方式并没有描述或没有详细的描述。However, those skilled in the art may recognize that description of one or more of the specific details may be omitted, or other methods, components or materials may also be used. In some instances, some implementations were not described or described in detail.
此外，本文中记载的特征、实施或特点还可以在一个或多个实施例中以任意合适的方式组合。Furthermore, the features, implementations or characteristics described herein may be combined in any suitable manner in one or more embodiments.
实施例一：Embodiment one:
本实施例一提供一种混匀装置。The first embodiment provides a mixing device.
请参考图1-4，本混匀装置包括装置底座1、混匀器单元2、样本盘3、机械手单元4、机械手驱动组件5和溶血剂加注单元6。Please refer to FIGS. 1-4 , the mixing device includes a device base 1 , a mixer unit 2 , a sample tray 3 , a manipulator unit 4 , a manipulator driving assembly 5 and a hemolytic agent filling unit 6 .
该装置底座1用于对装置内各部件提供支撑，例如在本实施例中机械手驱动组件5、样本盘3和混匀器单元2均装在底座1上。当然，装置底座1的设置可根据设备的综合布局进行选择，例如在一种流式样本制备仪中，本混匀装置作为流式样本制备仪的一个组成单元，也可不设置装置底座1，而混匀装置内的各部件根据整个设备的布局安装于其他单元或者设备主底座上。The device base 1 is used to provide support for various components in the device. For example, in this embodiment, the manipulator drive assembly 5 , the sample tray 3 and the mixer unit 2 are all mounted on the base 1 . Of course, the setting of the device base 1 can be selected according to the comprehensive layout of the equipment. For example, in a flow sample preparation instrument, the mixing device is used as a component unit of the flow sample preparation instrument, and the device base 1 may not be provided, and The components in the mixing device are installed on other units or on the main base of the equipment according to the layout of the entire equipment.
请参考图6，本混匀器是一种可对装有样本的试管进行混匀操作的装置，其包括混匀底座20、混匀管21和混匀驱动件22。该混匀底座20安装在装置底座1上，混匀管21和混匀驱动件22安装在混匀底座20上，混匀驱动件22可选择为电机，混匀管21可容置需要混匀的试管7，由电机带动进行混匀操作。Please refer to FIG. 6 , the mixer is a device capable of mixing a test tube containing a sample, which includes a mixing base 20 , a mixing tube 21 and a mixing drive 22 . The mixing base 20 is installed on the device base 1, the mixing tube 21 and the mixing driver 22 are installed on the mixing base 20, the mixing driver 22 can be selected as a motor, and the mixing tube 21 can accommodate The test tube 7 is driven by a motor to perform a mixing operation.
请参考图7，本样本盘3包括支架30、样本盘驱动件31和试管架32，其中支架30安装在装置底座1上，而样本盘驱动件31和试管架32则安装在支架30上。该样本盘驱动件31可采用电机，试管架32由电机驱动进行转动。试管架32上具有多个样本存放位，用于存放装有样本的试管7。Please refer to FIG. 7 , the sample tray 3 includes a bracket 30 , a sample tray driver 31 and a test tube rack 32 , wherein the bracket 30 is installed on the device base 1 , and the sample tray driver 31 and the test tube rack 32 are installed on the bracket 30 . The sample disk driving part 31 can adopt a motor, and the test tube rack 32 is driven to rotate by the motor. The test tube rack 32 has a plurality of sample storage positions for storing test tubes 7 containing samples.
当然，本实施例所示样本盘3仅是本申请中样本存放机构的一种实施例，在其他实施例中也可选择其他结构的样本存放机构，如样本架等。Of course, the sample tray 3 shown in this embodiment is only one embodiment of the sample storage mechanism in this application, and other structural sample storage mechanisms, such as sample racks, can also be selected in other embodiments.
在其他实施例中，样本存放机构也可独立于混匀装置设置，即在其他实施例中所示混匀装置也可不包括样本存放机构，只需要在安装时将混匀装置的第一位置与样本存放机构匹配即可。In other embodiments, the sample storage mechanism can also be set independently of the mixing device, that is, the mixing device shown in other embodiments may not include a sample storage mechanism, and only the first position of the mixing device and the The sample storage institutions can be matched.
请参考图8，本机械手单元4包括机械手座40、手指驱动机构41和手指42。在本实施例中该机械手座40包括机械手支架46和与机械手支架46固定联接的连接板45，该手指驱动机构41固定安装在连接板45上，并驱动手指42夹紧和松开，以便抓取和松开试管7。Please refer to FIG. 8 , the manipulator unit 4 includes a manipulator base 40 , a finger driving mechanism 41 and fingers 42 . In this embodiment, the manipulator base 40 includes a manipulator bracket 46 and a connecting plate 45 fixedly coupled with the manipulator bracket 46. The finger drive mechanism 41 is fixedly mounted on the connecting plate 45, and drives the fingers 42 to clamp and loosen, so as to grasp Take and release test tube 7.
请参考图1和9，该机械手驱动组件5包括驱动杆50、旋转驱动机构和升降驱动机构。该驱动杆50与机械手座40固定联接，使整个机械手单元4可随驱动杆50旋转和升降。该旋转驱动机构用于驱动该驱动杆50和机械手单元4旋转运动，而升降驱动机构用于驱动该驱动杆50和机械手单元4升降运动。Please refer to FIGS. 1 and 9 , the manipulator drive assembly 5 includes a drive rod 50 , a rotation drive mechanism and a lift drive mechanism. The driving rod 50 is fixedly connected with the manipulator base 40 , so that the whole manipulator unit 4 can rotate and lift with the driving rod 50 . The rotation drive mechanism is used to drive the drive rod 50 and the manipulator unit 4 to rotate, and the lift drive mechanism is used to drive the drive rod 50 and the manipulator unit 4 to move up and down.
当然，在机械领域内旋转驱动机构和升降驱动机构结构众多，可根据需要灵活进行选择。请参考图1、5和9，本实施例所列举的示例旋转驱动机构包括旋转电机51和第一同步带组件53，该第一同步带组件53包括第一主动轮531、第一从动轮532和第一同步带533。该旋转电机51与第一主动轮531联接，该驱动杆50以既可随第一从动轮532转动又可相对第一从动轮532升降的结构穿过第一从动轮532。Certainly, in the mechanical field, there are many structures of the rotary drive mechanism and the lift drive mechanism, which can be flexibly selected according to needs. Please refer to Fig. 1, 5 and 9, the example rotary drive mechanism listed in this embodiment includes a rotary motor 51 and a first synchronous belt assembly 53, and the first synchronous belt assembly 53 includes a first driving wheel 531, a first driven wheel 532 and the first timing belt 533. The rotating motor 51 is coupled with the first driving wheel 531 , and the driving rod 50 passes through the first driven wheel 532 in a structure that can rotate with the first driven wheel 532 and can be raised and lowered relative to the first driven wheel 532 .
为了实现驱动杆50以既可随第一从动轮532转动又可相对第一从动轮532升降的结构穿过第一从动轮532，本实施例在从动轮内安装有直线轴承534，该驱动杆50装在直线轴承534内。In order to realize that the driving rod 50 passes through the first driven wheel 532 in a structure that can rotate with the first driven wheel 532 and can also be raised and lowered relative to the first driven wheel 532, a linear bearing 534 is installed in the driven wheel in this embodiment. 50 is contained in the linear bearing 534.
或者，在其他实施例中也可以使驱动杆50具有沿其轴向设置的第一凹槽或第一凸起，而从动轮具有与第一凹槽或第一凸起卡合的第二凸起或第二凹槽，其中第一凹槽与第二凸起配合，第一凸起与第二凹槽配合，可使得从动轮可带动驱动杆50转动，但是当驱动杆50升降运动时，从动轮与驱动杆50之间形成相对滑动。Alternatively, in other embodiments, the driving rod 50 may have a first groove or a first protrusion arranged along its axial direction, and the driven wheel may have a second protrusion engaged with the first groove or the first protrusion. or the second groove, wherein the first groove cooperates with the second protrusion, and the first protrusion cooperates with the second groove, so that the driven wheel can drive the driving rod 50 to rotate, but when the driving rod 50 moves up and down, Relative sliding is formed between the driven wheel and the driving rod 50 .
请继续参考图1、5和9，本实施例所列举的示例升降驱动机构包括升降电机52和第二同步带组件。由于附图中第二同步带组件被其他部件遮挡，因此未标注出第二同步带组件。该第二同步带组件的结构可参考第一同步带组件53，该第二同步带组件包括第二主动轮、第二从动轮和第二同步带。该升降电机52与第二主动轮联接，其中第二同步带沿驱动杆50的轴向运动，而驱动杆50固定安装在第二同步带上，因此当第二同步带运动时可带动驱动杆50做升降运动。Please continue to refer to FIGS. 1 , 5 and 9 , the example lifting drive mechanism listed in this embodiment includes a lifting motor 52 and a second synchronous belt assembly. Since the second timing belt assembly is covered by other components in the drawings, the second timing belt assembly is not marked. The structure of the second synchronous belt assembly can refer to the first synchronous belt assembly 53, and the second synchronous belt assembly includes a second driving wheel, a second driven wheel and a second synchronous belt. The lifting motor 52 is connected with the second driving wheel, wherein the second synchronous belt moves along the axial direction of the driving rod 50, and the driving rod 50 is fixedly installed on the second synchronous belt, so when the second synchronous belt moves, it can drive the driving rod 50 to do lifting exercise.
当然，上述升降驱动机构并非仅限于上述结构，在其他实施例中，升降驱动机构还可以采用气缸驱动，电机加丝杠螺母结构等。Certainly, the above-mentioned lifting driving mechanism is not limited to the above-mentioned structure, and in other embodiments, the lifting driving mechanism can also be driven by a cylinder, a structure of a motor plus a screw nut, and the like.
本实施例机械手单元4所做的升降运动和旋转运动实际上是一种三维运动，在其他实施例中，机械手驱动组件5也可以包括第一轴驱动机构、第二轴驱动机构和第三轴驱动机构，第一轴驱动机构、第二轴驱动机构和第三轴驱动机构分别驱动机械手单元4沿相互垂直的第一轴方向、第二轴方向和第三轴方向移动。这里所说的第一轴方向就是机械领域内所谓的X轴，第二轴方向就是机械领域内所谓的Y轴，第三轴方向就是机械领域内所谓的Z轴，该XYZ轴构成一种三维坐标系。In this embodiment, the lifting motion and the rotating motion of the manipulator unit 4 are actually a three-dimensional motion. In other embodiments, the manipulator drive assembly 5 may also include a first shaft drive mechanism, a second shaft drive mechanism and a third shaft The drive mechanism, the first axis drive mechanism, the second axis drive mechanism and the third axis drive mechanism respectively drive the manipulator unit 4 to move along the first axis direction, the second axis direction and the third axis direction which are perpendicular to each other. The first axis mentioned here is the so-called X axis in the mechanical field, the second axis is the so-called Y axis in the mechanical field, and the third axis is the so-called Z axis in the mechanical field. The XYZ axes constitute a three-dimensional Coordinate System.
请参考图8，该溶血剂加注单元6包括注射器、阀以及加注针61。由于注射器和阀是溶血剂加注单元内的常规部件，因此这里未在附图上示出。该注射器首先从溶血剂存放袋中吸进溶血剂，然后通过加注针61将溶血剂注入试管7内。溶血剂加注单元6里面可设置两个注射器，加注针61可两根并在一起的，两个注射器分别和两根针通过管路连接，这样就可以加注两种溶血剂。Please refer to FIG. 8 , the hemolytic agent filling unit 6 includes a syringe, a valve and a filling needle 61 . Since the syringe and valve are conventional components within the hemolytic agent filling unit, they are not shown here on the drawings. The syringe first sucks the hemolytic agent from the hemolytic agent storage bag, and then injects the hemolytic agent into the test tube 7 through the filling needle 61 . Two syringes can be arranged in the hemolytic agent filling unit 6, and two filling needles 61 can be connected together, and the two syringes are respectively connected with the two needles through pipelines, so that two kinds of hemolytic agents can be filled.
在本实施例中加注针61固定安装在机械手单元4上，例如固定在机械手座40上，因此机械手驱动组件5也可驱动加注针61移动进行溶血剂的加注。In this embodiment, the filling needle 61 is fixedly installed on the manipulator unit 4 , for example, fixed on the manipulator base 40 , so the manipulator driving assembly 5 can also drive the filling needle 61 to inject the hemolytic agent.
请参考图5，在本实施例中，机械手驱动组件5可驱动机械手单元4做圆形轨迹的运动，轨迹如图5中a所示，其中在机械手单元4的移动轨迹上至少包括与样本存放位置对应的第一位置、与混匀器对应的第二位置以及使加注针61与混匀器内试管7对准的第三位置。Please refer to Fig. 5, in the present embodiment, the manipulator drive assembly 5 can drive the manipulator unit 4 to move on a circular track, as shown in a in Fig. The first position corresponds to the position, the second position corresponds to the mixer, and the third position aligns the filling needle 61 with the test tube 7 in the mixer.
本实施例动作过程距离说明如下：The description of the action process distance in this embodiment is as follows:
请参考图1-9，试管架32上放满了同时装有血液和抗体的试管7(加抗体和血液可以由其他装置来完成)。Please refer to Fig. 1-9, on the test tube rack 32, the test tube 7 that blood and antibody are housed simultaneously (adding antibody and blood can be accomplished by other devices).
然后，旋转电机51驱动手指来到样本盘3的上方，升降电机52驱动机械手单元4下降，手指42移动至第一位置，第一位置如图1所示，此时手指与试管架32上的样本存放位对正，手指驱动件41驱动手指42将试管7夹紧。Then, the rotary motor 51 drives the fingers to come above the sample tray 3, the lifting motor 52 drives the manipulator unit 4 to descend, and the fingers 42 move to the first position, as shown in Figure 1, at this moment, the fingers and the test tube rack 32 The sample storage position is aligned, and the finger driver 41 drives the finger 42 to clamp the test tube 7 .
然后，升降电机52驱动机械手单元4上升，将试管7从试管架32上取出，如图2所示。Then, the lifting motor 52 drives the manipulator unit 4 to rise, and the test tube 7 is taken out from the test tube rack 32, as shown in FIG. 2 .
然后，旋转电机51驱动机械手单元4旋转到混匀管21的上方，如图3所示。Then, the rotating motor 51 drives the manipulator unit 4 to rotate above the mixing tube 21 , as shown in FIG. 3 .
然后，升降电机52驱动机械手单元4下降，使手指42移动到第二位置，第二位置如图4所示，将试管7放入混匀管21内，然后松开手指42，释放试管7。Then, lifting motor 52 drives manipulator unit 4 to descend, and finger 42 is moved to second position, and second position is shown in Figure 4, and test tube 7 is put into mixing tube 21, then unclamps finger 42, releases test tube 7.
随后，混匀管21在驱动件22的作用下做混匀操作；Subsequently, the mixing tube 21 performs a mixing operation under the action of the driver 22;
当混匀操作完成后，手指42将混匀完的试管7从21搬运回到试管架32上的试管存放位孵育15min，试管架32在驱动件31作用下将其余试管7旋转至手指42对应位置，手指42依次将试管架32上所有试管7搬运到混匀管21进行混匀，混完之后再将其搬运到试管架32上孵育15min。After the mixing operation is completed, the finger 42 will transfer the mixed test tube 7 from 21 back to the test tube storage position on the test tube rack 32 and incubate for 15 minutes. position, fingers 42 sequentially transport all the test tubes 7 on the test tube rack 32 to the mixing tube 21 for mixing, and then transfer them to the test tube rack 32 for incubation for 15 minutes after mixing.
对于孵育好的试管7可进行溶血操作，手指42将试管架32上孵育完成的试管7再次搬运到混匀管21中，然后驱动机械手单元4移动到第三位置，此时加注针61对齐混匀管21内的试管7进行注射溶血剂A操作。当注射溶血剂A完成后，混匀管21在驱动件22的作用下做混匀操作。The hemolysis operation can be performed on the incubated test tube 7, and the finger 42 transports the incubated test tube 7 on the test tube rack 32 to the mixing tube 21 again, and then drives the manipulator unit 4 to move to the third position, at which point the filling needle 61 is aligned The test tube 7 in the mixing tube 21 is injected with the hemolyzing agent A. After the injection of the hemolyzing agent A is completed, the mixing tube 21 performs a mixing operation under the action of the driving member 22 .
混匀操作完成后，加注针61再次回到混匀管21上方，向混匀管21内的试管7注射溶血剂B，当注射溶血剂B完成后，混匀管21在驱动件22的作用下再次做混匀操作。After the mixing operation is completed, the filling needle 61 returns to the top of the mixing tube 21 again, and injects the hemolyzing agent B into the test tube 7 in the mixing tube 21. Under the action, do the mixing operation again.
最后，机械手单元4将混匀管21中的试管7搬运到试管架32中。Finally, the manipulator unit 4 transports the test tube 7 in the mixing tube 21 to the test tube rack 32 .
本装置的混匀器依次完成加抗体后和溶血过程的混匀操作，混匀器可以混匀的样本量范围是20ul-2000ul；在样本制备过程用一个混匀器2可以完成全部混匀操作，减小了样本制备仪的体积；溶血过程中，混匀操作和加注溶血剂操作都是在混匀管21上进行的，简化溶血的流程，提高溶血效率。The mixer of this device completes the mixing operation after adding the antibody and the hemolysis process in sequence, and the sample volume range that the mixer can mix is 20ul-2000ul; in the sample preparation process, one mixer 2 can complete all the mixing operations , reducing the volume of the sample preparation instrument; during the hemolysis process, the operation of mixing and adding the hemolyzing agent is performed on the mixing tube 21, which simplifies the process of hemolysis and improves the efficiency of hemolysis.
实施例二：Embodiment two:
本实施例二提供一种混匀装置。The second embodiment provides a mixing device.
本实施例二所示混匀装置与实施例一的区别之处在于，本实施例所示混匀装置还包括加抗体单元。该加抗体单元也具有注射器和加抗针，其中加抗针安装在机械手单元4上，并随机械手单元4一起移动。而机械手单元4的移动轨迹上还包括使加抗针与试管7对准的第四位置，即当机械手单元4位于第四位置时，加抗针可对试管7内进行加抗体操作。The difference between the mixing device shown in Example 2 and Example 1 is that the mixing device shown in this example also includes an antibody adding unit. The antibody-adding unit also has a syringe and an anti-antibody needle, wherein the anti-antibody needle is installed on the manipulator unit 4 and moves together with the manipulator unit 4 . The moving track of the manipulator unit 4 also includes a fourth position where the anti-adding needle is aligned with the test tube 7 , that is, when the manipulator unit 4 is at the fourth position, the anti-adding needle can add antibodies to the test tube 7 .
这里所说的加抗体操作即可是试管7位于试管架32上进行，也可以是试管7位于混匀管21内时进行。The antibody adding operation mentioned here can be performed when the test tube 7 is located on the test tube rack 32 , or when the test tube 7 is located in the mixing tube 21 .
实施例三：Embodiment three:
本实施例三提供一种可加注溶血剂的机械手装置，其包括：The third embodiment provides a manipulator device capable of injecting hemolyzing agent, which includes:
机械手单元，用于抓取和松开试管；Robotic unit for gripping and releasing test tubes;
加注针，该加注针安装在机械手单元上，用于与溶血剂源连接，向试管内注射溶血剂；A filling needle, the filling needle is installed on the manipulator unit, and is used to connect with the source of the hemolytic agent, and inject the hemolytic agent into the test tube;
以及机械手驱动组件，该机械手驱动组件驱动机械手单元移动，该机械手单元的移动轨迹上至少包括与样本存放位置对应的第一位置、与混匀器对应的第二位置以及使加注针与混匀器内试管对准的第三位置。and a manipulator drive assembly, the manipulator drive unit drives the manipulator unit to move, and the movement trajectory of the manipulator unit at least includes a first position corresponding to the sample storage position, a second position corresponding to the mixer, and the filling needle and the mixing The third position for tube alignment in the device.
其中机械手单元、机械手驱动组件和加注针的结构及配合关系可采取实施例一、二所示结构及以实施例一、二所示结构为基础做出的变形结构。Among them, the structure and cooperation relation of the manipulator unit, the manipulator driving assembly and the filling needle can adopt the structures shown in Embodiments 1 and 2 and the deformed structures based on the structures shown in Embodiments 1 and 2.
实施例四：Embodiment four:
本实施例四提供一种流式样本制备仪，该流式样本制备仪包括如上述实施例一所示的混匀装置。The fourth embodiment provides a flow sample preparation instrument, which includes the mixing device as shown in the first embodiment above.
以上内容是结合具体的实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换。The above content is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. Those of ordinary skill in the technical field to which the present invention belongs can also make some simple deduction or replacement without departing from the concept of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520236444.5UCN204514697U (en) | 2015-04-17 | 2015-04-17 | Evenly mixing device, robot device and streaming sample preparing instrument |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520236444.5UCN204514697U (en) | 2015-04-17 | 2015-04-17 | Evenly mixing device, robot device and streaming sample preparing instrument |
| Publication Number | Publication Date |
|---|---|
| CN204514697Utrue CN204514697U (en) | 2015-07-29 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520236444.5UExpired - LifetimeCN204514697U (en) | 2015-04-17 | 2015-04-17 | Evenly mixing device, robot device and streaming sample preparing instrument |
| Country | Link |
|---|---|
| CN (1) | CN204514697U (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term | Granted publication date:20150729 |