CN104841503A - Liquid transfer gun head and automatic arrangement device thereof - Google Patents
Liquid transfer gun head and automatic arrangement device thereof Download PDFInfo
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- CN104841503A CN104841503A CN201510222495.7A CN201510222495A CN104841503A CN 104841503 A CN104841503 A CN 104841503A CN 201510222495 A CN201510222495 A CN 201510222495A CN 104841503 A CN104841503 A CN 104841503A
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- 239000007788 liquid Substances 0.000 title description 4
- 230000006698 induction Effects 0.000 claims description 11
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000003780 insertion Methods 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
本发明公开了一种移液枪枪头及其自动摆放装置，解决了现有枪头需要人力单个插装，费时费力，容易带来二次污染的问题。一种移液枪枪头，包括枪头本体和枪头本体顶部的磁铁吸引区，所述磁铁吸引区为在枪头本体顶部的一圆环。一种上述移液枪枪头自动摆放装置，包括获取盘、夹取装置和枪头盒；所述获取盘包括磁铁、电机和第一传感器；夹取装置包括控制器、驱动器和爪手。该装置大大提高了枪头的插装效率，避免了浪费大量的人力。
The invention discloses a tip of a pipette gun and an automatic placement device thereof, which solves the problem that the existing tip needs manpower to be inserted individually, which is time-consuming and laborious, and easily causes secondary pollution. A pipette tip comprises a tip body and a magnet attraction area on the top of the tip body, and the magnet attraction area is a ring on the top of the tip body. The above-mentioned device for automatically placing pipette tips includes an acquisition disk, a gripping device, and a tip box; the acquisition disk includes a magnet, a motor, and a first sensor; the gripping device includes a controller, a driver, and a gripper. The device greatly improves the insertion efficiency of the gun head and avoids wasting a lot of manpower.
Description
技术领域 technical field
本发明涉及一种移液枪枪头及其自动摆放装置。 The invention relates to a tip of a pipette gun and an automatic placing device thereof.
背景技术 Background technique
在医疗、生物、化学等学科试验中一般需要使用移液枪定量移取样品或试剂，现有的移液枪枪头（以下简称枪头）一般都是成包购买，使用时将单个枪头逐个插入到移液枪枪头盒（以下简称枪头盒）中。在医院、检测机构等需要进行大量实验的场所，这个过程费时费力，且容易给枪头带来二次污染。如何将杂乱无章的枪头自动摆放到枪头盒中是目前急需解决的问题。 In medical, biological, chemical and other subject experiments, it is generally necessary to use a pipette to quantitatively pipette samples or reagents. The existing pipette tips (hereinafter referred to as tips) are generally purchased in packages. Insert them into the pipette tip box (hereinafter referred to as the tip box) one by one. In hospitals, testing institutions and other places where a large number of experiments are required, this process is time-consuming and laborious, and it is easy to cause secondary pollution to the tip of the gun. How to automatically place the messy gun tips into the gun tip box is an urgent problem to be solved at present.
发明内容 Contents of the invention
本发明的目的是针对现有技术的不足，提供一种移液枪枪头自动摆放装置及所用枪头，解决了现有枪头需要人力单个插装，费时费力，容易带来二次污染的问题。 The purpose of the present invention is to address the deficiencies of the prior art, to provide an automatic placement device for the tip of a pipette and the tip used, which solves the problem that the existing tip requires manpower to be inserted individually, which is time-consuming and laborious, and is likely to cause secondary pollution The problem.
本发明的目的可通过以下技术方案予以实现： The purpose of the present invention can be achieved through the following technical solutions:
一种移液枪枪头，包括枪头本体和枪头本体顶部的磁铁吸引区，所述磁铁吸引区为在枪头本体顶部的一圆环。 A pipette tip comprises a tip body and a magnet attraction area on the top of the tip body, and the magnet attraction area is a ring on the top of the tip body.
进一步地，为了提高枪头被磁铁有效地吸引，枪头牢固地吸引在磁铁上，所述磁铁吸引区为一凹面圆环。 Further, in order to improve the effective attraction of the gun head by the magnet, the gun head is firmly attracted to the magnet, and the magnetic attraction area is a concave ring.
进一步地，为了避免枪头腐蚀，所述磁铁吸引区为不锈钢材料。 Further, in order to avoid corrosion of the tip of the gun, the magnetic attraction area is made of stainless steel.
进一步地，为了避免枪头腐蚀，所述磁铁吸引区外表包裹一层塑料层。 Further, in order to avoid corrosion of the tip of the gun, the outer surface of the magnetic attraction area is wrapped with a plastic layer.
一种上述移液枪枪头的自动摆放装置，包括获取盘、夹取装置和枪头盒；所述获取盘包括磁铁、电机和第一传感器；夹取装置包括控制器、驱动器和爪手；枪头从获取盘上的进料口进入，所述获取盘上的磁铁吸引带有磁铁吸引区的枪头，电机带动磁铁和枪头运动，当枪头到达第一传感器时，第一传感器发出感应信号，控制器中的接收装置接收到感应信号将其传递给所述控制器，控制器控制爪手夹取枪头，然后将夹取的枪头有规律地摆放到枪头盒中。 An automatic placement device for the tip of the above-mentioned pipette, comprising an acquisition disk, a gripping device and a tip box; the acquisition disk includes a magnet, a motor and a first sensor; the gripping device includes a controller, a driver and a gripper The gun head enters from the feed port on the acquisition disk, the magnet on the acquisition disk attracts the gun head with the magnet attraction area, the motor drives the magnet and the gun head to move, when the gun head reaches the first sensor, the first sensor An induction signal is sent out, the receiving device in the controller receives the induction signal and transmits it to the controller, the controller controls the gripper to pick up the tip, and then regularly places the gripped tip into the tip box .
进一步地，所述获取盘为圆形，还包括圆形磁铁外部的圆盘，圆盘底部的收集装置，和收集装置上的去除装置，第一传感器设置在圆盘上；同一水平面上去除装置和第一传感器之间有一夹角，第一传感器的感应区与枪头主视图形状相同；枪头从获取盘上的进料口进入，所述圆形磁铁吸引带有磁铁吸引区的枪头，电机带动磁铁和枪头运动，当枪头到达第一传感器时，若枪头整体完全落入第一传感器感应区，第一传感器发出感应信号，控制器的接收装置接收到感应信号，控制器控制爪手夹取枪头，然后将夹取的枪头有规律地摆放到枪头盒中，若枪头无法整体落入第一传感器感应区，枪头随磁铁继续转动，达到去除装置时，去除装置将枪头从磁铁上去除，枪头落入收集装置。 Further, the acquisition disk is circular, and also includes a disk outside the circular magnet, a collection device at the bottom of the disk, and a removal device on the collection device, the first sensor is arranged on the disk; the removal device is on the same level There is an included angle with the first sensor, and the sensing area of the first sensor has the same shape as the front view of the pipette head; the pipette head enters from the feed port on the acquisition plate, and the circular magnet attracts the pipette head with the magnet attraction area , the motor drives the magnet and the gun head to move. When the gun head reaches the first sensor, if the whole gun head falls into the sensing area of the first sensor completely, the first sensor sends out an induction signal, and the receiving device of the controller receives the induction signal, and the controller Control the gripper to pick up the gun head, and then place the clamped gun head regularly into the gun head box. If the gun head cannot fall into the sensing area of the first sensor as a whole, the gun head will continue to rotate with the magnet until it reaches the removal device. , the removal device removes the tip from the magnet, and the tip falls into the collection device.
进一步地，所述第一传感器为光传感器，当枪头移动到第一传感器位置时，第一传感器感应到环境中光源的变化，因而发出感应信号。 Further, the first sensor is a light sensor, and when the gun head moves to the position of the first sensor, the first sensor senses the change of the light source in the environment, and thus sends out a sensing signal.
进一步地，所述第一传感器为压力传感器，当枪头移动到第一传感器位置时，与第一传感器感应区中的压力感应元件接触，第一传感器感应到环境中压力的变化，因而发出感应信号。 Further, the first sensor is a pressure sensor. When the gun head moves to the position of the first sensor, it contacts with the pressure sensing element in the sensing area of the first sensor. Signal.
进一步地，所述夹取装置为机械手。 Further, the gripping device is a manipulator.
进一步地，所述收集装置中设有一开槽，落入收集装置的枪头可以从开槽中滑落装入容器中。 Further, a slot is provided in the collecting device, and the tip dropped into the collecting device can slide down from the slot and be loaded into the container.
进一步地，所述去除装置和第一传感器之间的夹角大于等于90°小于等于180°。 Further, the included angle between the removal device and the first sensor is greater than or equal to 90° and less than or equal to 180°.
进一步地，所述获取盘前设有送料装置。 Further, a feeding device is provided in front of the acquisition tray.
本发明的有益效果为：提高了枪头的插装效率，避免了枪头的污染及大量人力的浪费。 The invention has the beneficial effects of improving the insertion efficiency of the gun head, avoiding the pollution of the gun head and the waste of a large amount of manpower.
附图说明 Description of drawings
图1是本发明实施例1一种移液枪枪头的主视图； Fig. 1 is the front view of a pipette tip in Embodiment 1 of the present invention;
图2是本发明实施例2一种移液枪枪头的主视图； Fig. 2 is the front view of a pipette tip in Embodiment 2 of the present invention;
图3是本发明实施例3一种移液枪枪头的主视图； 3 is a front view of a pipette tip in Embodiment 3 of the present invention;
图4是本发明实施例4一种移液枪枪头自动摆放装置的获取装置主视图； Fig. 4 is a front view of an acquisition device of a pipette tip automatic placement device according to Embodiment 4 of the present invention;
图5是本发明实施例4一种移液枪枪头自动摆放装置的获取装置右视图； Fig. 5 is a right view of an acquisition device of a pipette tip automatic placement device according to Embodiment 4 of the present invention;
图6是本发明实施例5一种移液枪枪头自动摆放装置上获取装置主视图； Fig. 6 is a front view of an acquisition device on a pipette tip automatic placement device according to Embodiment 5 of the present invention;
图7是本发明实施例5一种移液枪枪头自动摆放装置上获取装置俯视图。 Fig. 7 is a top view of an acquisition device on a pipette tip automatic placement device according to Embodiment 5 of the present invention.
具体实施方式 Detailed ways
下面结合实施例和附图对本发明作进一步说明。 The present invention will be further described below in conjunction with the embodiments and accompanying drawings.
实施例1Example 1
如图1所示，为一种移液枪枪头，包括枪头本体和枪头本体顶部的磁铁吸引区1，所述移液枪本体，从上而下包括固定区2，储液区3和吸嘴区4；所述磁铁吸引区1为一圆环。所述磁铁吸引区1卡扣或固定连接在移液枪本体顶端。 As shown in Figure 1, it is a pipette tip, which includes a tip body and a magnet attraction area 1 on the top of the tip body. The pipette body includes a fixed area 2 and a liquid storage area 3 from top to bottom. And the nozzle area 4; the magnet attraction area 1 is a ring. The magnet attraction area 1 is buckled or fixedly connected to the top of the pipette body.
实施例2Example 2
如图2所示，为一种移液枪枪头，包括枪头本体和枪头本体顶部的磁铁吸引区1，所述移液枪本体，从上而下包括固定区2，储液区3和吸嘴区4；所述磁铁吸引区1为一圆环，其相对于枪头本体相接一端为凹面5，该凹面与枪头自动摆放装置中的圆形磁铁圆周相对应。所述磁铁吸引区卡扣或固定连接在移液枪本体顶端。所述磁铁吸引区为不锈钢材料。 As shown in Figure 2, it is a pipette tip, which includes a tip body and a magnet attraction area 1 on the top of the tip body. The pipette body includes a fixed area 2 and a liquid storage area 3 from top to bottom. And the nozzle area 4; the magnet attraction area 1 is a ring, and its end connected to the gun head body is a concave surface 5, which corresponds to the circumference of the circular magnet in the gun tip automatic placement device. The magnet attraction area is buckled or fixedly connected to the top of the pipette body. The magnetic attraction area is made of stainless steel.
实施例3Example 3
如图3所示，为一种移液枪枪头，包括枪头本体和枪头本体顶部的磁铁吸引区1，所述移液枪本体，从上而下包括固定区2，储液区3和吸嘴区4；所述磁铁吸引区1为一圆环。所述磁铁吸引区1为一圆环，其相对于枪头本体相接一端为凹面，该凹面与枪头自动摆放装置中的圆形磁铁圆周相对应。所述磁铁吸引区卡扣或固定连接在移液枪本体顶端。为了减少枪头磁铁吸引区表面的锈蚀对样品造成的污染，所述磁铁吸引区1外表包裹一层塑料层6。 As shown in Figure 3, it is a pipette tip, which includes a tip body and a magnet attraction area 1 on the top of the tip body. The pipette body includes a fixed area 2 and a liquid storage area 3 from top to bottom. And the nozzle area 4; the magnet attraction area 1 is a ring. The magnet attraction area 1 is a ring, and its end connected to the gun head body is concave, and the concave surface corresponds to the circumference of the circular magnet in the gun tip automatic placement device. The magnet attraction area is buckled or fixedly connected to the top of the pipette body. In order to reduce the contamination of the sample caused by the rust on the surface of the magnet attraction area of the gun head, the outer surface of the magnet attraction area 1 is wrapped with a plastic layer 6 .
实施例4 Example 4
一种枪头自动摆放装置，包括获取盘、夹取装置和枪头盒。如图4-5所示，获取盘包括圆形磁铁13，与圆形磁铁13连接的圆盘12，与圆盘12连接的收集装置9，圆盘12上的第一传感器8和收集装置9上的去除装置7和带动圆形磁铁13转动的电机10，收集装置9底部设有一开槽11，该开槽宽度大于枪头直径，去除装置7的宽度大于枪头最大直径，圆形磁铁13和圆盘12圆心相同，第一传感器8和去除装置都设置在圆形磁铁半径方向。去除装置7和第一传感器8分别所在半径之间有一夹角，该夹角为直角，第一传感器8的感应区与枪头主视图形状相同（图4）。夹取装置包括控制器，驱动器和爪手。 An automatic gun tip placement device includes an acquisition tray, a clamping device and a gun tip box. As shown in Figures 4-5, the acquisition disk includes a circular magnet 13, a disk 12 connected with the circular magnet 13, a collection device 9 connected with the disk 12, a first sensor 8 and a collection device 9 on the disk 12 The removal device 7 on the top and the motor 10 that drives the circular magnet 13 to rotate, the bottom of the collection device 9 is provided with a slot 11, the width of the slot is greater than the diameter of the gun head, the width of the removal device 7 is greater than the maximum diameter of the gun head, and the circular magnet 13 Same as the center of the disc 12, the first sensor 8 and the removal device are all arranged in the radial direction of the circular magnet. There is an included angle between the radii of the removal device 7 and the first sensor 8, which is a right angle, and the sensing area of the first sensor 8 has the same shape as the front view of the gun head (Fig. 4). The gripping device includes a controller, a driver and a gripper.
工作过程：获取盘垂直放置，枪头从获取盘进料口进入，被吸引在圆形磁铁6上，电机10带动圆形磁铁6顺时针运动，枪头随之运动，当枪头到达第一传感器8位置，若枪头恰好整体完全落在第一传感器8的感应区，第一传感器8发出感应信号；若枪头无法整体落在第一传感器感应区，枪头跟随圆形磁铁13继续转动，转动到去除装置7的位置时，去除装置7将无法整体完全落在第一感应区的枪头去除，去除的枪头落在收集装置9中，收集。夹取装置上的控制器接收到第一传感器8传来的感应信号，将信号传送到夹取装置上的控制器，控制器控制爪手抓取枪头（最好抓取枪头的固定区2），然后将枪头有规律地插入枪头盒中。 Working process: the acquisition plate is placed vertically, the gun head enters from the inlet of the acquisition plate, and is attracted to the circular magnet 6, the motor 10 drives the circular magnet 6 to move clockwise, and the gun head moves accordingly, when the gun head reaches the first At the position of the sensor 8, if the tip of the gun falls on the sensing area of the first sensor 8 as a whole, the first sensor 8 sends an induction signal; if the tip of the gun cannot fall on the sensing area of the first sensor as a whole, the tip of the gun continues to rotate following the circular magnet 13 , when turning to the position of the removing device 7, the removing device 7 will remove the pipette tips that cannot completely fall on the first sensing area as a whole, and the removed pipette tips will fall into the collecting device 9 for collection. The controller on the clamping device receives the induction signal from the first sensor 8, and transmits the signal to the controller on the clamping device, and the controller controls the gripper to grab the gun head (preferably grab the fixed area of the gun head 2), and then insert the tip regularly into the tip box.
过程中向控制器中输入枪头盒中枪头盒插孔位置、间距等数据，然后控制器控制爪手的运动轨迹，控制器控制驱动器控制爪手的运动位移将爪手夹取的枪头，按顺序有规律的插放到枪头盒的插孔中。例如，落在第一感应区的枪头固定区空间位置为（x,y,z），即设定的爪手抓取枪头的位置，枪头盒中左上角第一个枪头插孔位置为（x1,y1,z1），即爪手将枪头插入第一个枪头插孔最后移动到的位置，两枪头插孔横向间隔为m，两枪头插孔纵向间隔为n，枪头盒横向有e个插孔，枪头盒纵向有f个插孔。向控制器输入上述数据后，控制器控制驱动器驱动爪手按照如下位移重复夹取和摆放枪头的工作，第一行枪头摆放运动位移（x,y,z），（x1,y1,z1），（x,y,z），（x1+m,y1,z1），（x,y,z），（x1+2m,y1,z1）……（x,y,z），（x1+em-m,y1,z1）；第二行枪头摆放运动位移（x,y,z），（x1,y1+n,z1）,（x,y,z）, （x1+m,y1+n,z1）,（x,y,z）, （x1+2m,y1+n,z1）……（x,y,z），（x1+em-m,y1+n,z1）；第g行枪头摆放运动位移（x,y,z），（x1,y1+gn-n,z1）,（x,y,z）, （x1+m,y1+ gn-n,z1）,（x,y,z）, （x1+2m,y1+ gn-n,z1）……（x,y,z），（x1+em-m,y1+ gn-n,z1）。一个枪头盒摆放满后可以继续摆放下一个枪头盒。过程中可以根据需要设定一共需要摆放的枪头数，通过控制器中的计数系统控制启动和停止爪手的运动。计数系统记录的数据和设定数据不相同则继续运行，相同则停止运行。 During the process, the data such as the position and spacing of the tip box jack in the tip box are input to the controller, and then the controller controls the movement trajectory of the gripper, and the controller controls the driver to control the movement displacement of the gripper to move the gripper gripped by the gripper , and insert them into the jack of the tip box in order and regularly. For example, the spatial position of the gun tip fixing area falling on the first sensing area is (x, y, z), that is, the position where the gripper grabs the gun tip, and the first gun tip jack in the upper left corner of the gun tip box The position is (x1, y1, z1), that is, the position where the gripper inserts the gun head into the first gun head socket and moves to the last position. The horizontal distance between the two gun head sockets is m, and the vertical distance between the two gun head sockets is n. There are e jacks in the horizontal direction of the gun tip box, and f jacks in the longitudinal direction of the gun tip box. After inputting the above data to the controller, the controller controls the driver to drive the gripper to repeat the work of clamping and placing the gun head according to the following displacement. The first line of gun head placement motion displacement (x, y, z), (x1, y1 , z1), (x, y, z), (x1+m, y1, z1), (x, y, z), (x1+2m, y1, z1)...(x, y, z), ( x1+em-m, y1, z1); the second line gun head placement movement displacement (x, y, z), (x1, y1+n, z1), (x, y, z), (x1+m ,y1+n,z1),(x,y,z), (x1+2m,y1+n,z1)...(x,y,z),(x1+em-m,y1+n,z1) ;Gun head placement motion displacement (x, y, z), (x1, y1+gn-n, z1), (x, y, z), (x1+m, y1+ gn-n, z1) in line g , (x, y, z), (x1+2m, y1+ gn-n, z1)...(x, y, z), (x1+em-m, y1+ gn-n, z1). After a tip box is full, you can continue to place the next tip box. During the process, the total number of gun heads to be placed can be set according to the needs, and the movement of the gripper is controlled by the counting system in the controller to start and stop. If the data recorded by the counting system is not the same as the set data, it will continue to run, and if they are the same, it will stop running.
所述第一传感器为光传感器，当枪头移动到第一传感器位置时，第一传感器感应到环境中光源的变化，因而发出感应信号。 The first sensor is a light sensor. When the gun head moves to the position of the first sensor, the first sensor senses the change of the light source in the environment, and thus sends out a sensing signal.
实施例5 Example 5
一种枪头自动摆放装置结构与实施例4相同，不同之处是获取盘水平放置，如图6-7所示，去除装置7所在半径和第一传感器8所在半径之间有一夹角，该夹角为180°，收集装置9底部为漏斗状，漏斗顶端设有开槽11，收集装置9中收集的枪头从开槽11中滑落，落在下方的储槽中。 The structure of an automatic gun tip placement device is the same as that of Embodiment 4, except that the acquisition disk is placed horizontally, as shown in Figure 6-7, there is an included angle between the radius of the removing device 7 and the radius of the first sensor 8, The included angle is 180°, the bottom of the collection device 9 is funnel-shaped, and the top of the funnel is provided with a slot 11, and the gun tips collected in the collection device 9 slide down from the slot 11 and fall into the storage tank below.
所述第一传感器为压力传感器，当枪头移动到第一传感器位置时，与第一传感器感应区中的压力感应元件（如压敏元件）接触，第一传感器感应到环境中压力的变化，因而发出感应信号。 The first sensor is a pressure sensor. When the gun head moves to the position of the first sensor, it contacts the pressure sensing element (such as a pressure sensitive element) in the sensing area of the first sensor, and the first sensor senses the change of pressure in the environment. Thus, an induction signal is sent out.
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| CN106890687A (en) * | 2017-04-26 | 2017-06-27 | 广州和实生物技术有限公司 | Liquid-transfering gun（Device）Magnet |
| CN113845996A (en) * | 2021-11-13 | 2021-12-28 | 圣湘生物科技股份有限公司 | Nucleic acid extraction device and molecule POCT all-in-one |
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