CN110819506B - Microscopic positioning and separating device - Google Patents
Microscopic positioning and separating device Download PDFInfo
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- CN110819506B CN110819506B CN201910823553.XA CN201910823553A CN110819506B CN 110819506 B CN110819506 B CN 110819506B CN 201910823553 A CN201910823553 A CN 201910823553A CN 110819506 B CN110819506 B CN 110819506B
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- 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
- C12M47/00—Means for after-treatment of the produced biomass or of the fermentation or metabolic products, e.g. storage of biomass
- C12M47/02—Separating microorganisms from the culture medium; Concentration of biomass
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- 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
- C12M47/00—Means for after-treatment of the produced biomass or of the fermentation or metabolic products, e.g. storage of biomass
- C12M47/04—Cell isolation or sorting
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Abstract
The application provides a microscopic positioning and separating device, which comprises a frame, a moving mechanism, a conveying mechanism, a connector and a replacement driving mechanism; the moving mechanism is connected to the frame and can realize three-dimensional space movement on the frame; the conveying mechanism is connected to the frame and is used for conveying the capturing nozzle to a preset docking position; the connector is connected to the moving mechanism and can slide relative to the moving mechanism, the connector is used for being connected with the capturing nozzle, and the moving mechanism drives the connector to be pre-connected with the capturing nozzle; the replacement driving mechanism is connected to the frame and pushes the connector to slide along the moving mechanism, so that the connector is close to the capturing nozzle to achieve butt joint of the connector and the capturing nozzle. The automatic replacement of the capturing nozzle can be realized, and the degree of automation of the microscopic positioning and separating device is improved.
Description
Technical Field
The application relates to the technical field of micro-positioning, in particular to a micro-positioning separation device.
Background
In biotechnology and medical research today, it is often necessary to select and isolate samples of micro-organisms according to specific criteria. In general, the extraction and pushing of the micro-body sample are performed through a capturing nozzle (such as a needle, etc.) and a hydraulic system connected with the capturing nozzle, the hydraulic system generates negative pressure in the capturing nozzle to extract the micro-body sample into the capturing nozzle, and the hydraulic system generates positive pressure in the capturing nozzle to discharge the micro-body sample in the capturing nozzle. To prevent contamination of the discharged micro-specimen, the capture nozzle is typically disposable, i.e., it is replaced after one sample extraction and pushing. The existing micro-positioning separation device is usually provided with a capture nozzle in a manual mode, so that the automation degree of the micro-positioning separation device is low, high-efficiency separation and extraction of micro-body samples are difficult to realize, the manual replacement of the capture nozzle has high proficiency requirements on operators, the installation method and the strength of the operators are required to be ensured through special training, the wrong installation mode is difficult to ensure the realization of functionality and also the risk of equipment damage, and the high-efficiency separation and extraction of the micro-body samples are difficult to realize.
Disclosure of Invention
The application provides a micro-positioning separation device to realize catching the automatic change of mouth, improve micro-positioning separation device's degree of automation.
The application provides a microscopic positioning separator, it includes:
a frame;
the moving mechanism is connected to the rack and can realize three-dimensional space movement on the rack;
the conveying mechanism is connected to the frame and is used for conveying the capturing nozzle to a preset docking position;
the connector is connected with the moving mechanism and can slide relative to the moving mechanism, the connector is used for being connected with the capturing nozzle, and the moving mechanism drives the connector to be pre-connected with the capturing nozzle;
the replacement driving mechanism is connected to the frame and pushes the connector to slide along the moving mechanism, so that the connector is close to the capturing nozzle to achieve butt joint of the connector and the capturing nozzle.
Optionally, the conveying mechanism comprises a base and a rotary table, the base is fixedly connected to the frame, and the rotary table is rotatably connected to the base;
the capturing nozzle is placed in a containing groove arranged on the rotary table and rotates to a preset butt joint position along with the rotary table around the base.
Optionally, a supporting sleeve is arranged in the accommodating groove, and two ends of the supporting sleeve respectively prop against the turntable and the base;
the capturing nozzle is placed in the supporting sleeve and supported at one end of the supporting sleeve, which is away from the base.
Optionally, a first elastic element is arranged between the supporting sleeve and the base, and two ends of the first elastic element respectively elastically prop against the supporting sleeve and the base.
Optionally, a ball is arranged between the support sleeve and the base, and the support sleeve is propped against the base through the ball.
Optionally, a limit groove matched with the ball is formed in the base, and when the turntable rotates to a preset butt joint position, the ball is embedded into the limit groove.
Optionally, the microscopic positioning and separating device provided by the application further comprises a cantilever mechanism, and the connector is connected to the moving mechanism through the cantilever mechanism.
Optionally, the cantilever mechanism comprises a connecting seat and a supporting arm;
the connecting seat is used for being connected with the moving mechanism, one end of the supporting arm is connected with the connecting seat in a sliding mode, and the connector is fixed at one end, away from the connecting seat, of the supporting arm.
Optionally, the cantilever mechanism further includes a second elastic element disposed between the connection base and the support arm, where two ends of the second elastic element elastically support against the connection base and the support arm respectively.
Optionally, a stop part for separating the connector and the capturing nozzle is further arranged on the rack, and the stop part can be clamped into a gap between the connector and the capturing nozzle;
when the stop part is clamped into a gap between the connector and the capturing nozzle, the replacement driving mechanism pushes the connector to slide along the moving mechanism, so that the connector is far away from the capturing nozzle to separate the connector from the capturing nozzle.
The technical scheme that this application provided can reach following beneficial effect:
the microscopic positioning and separating device comprises a frame, a moving mechanism, a conveying mechanism, a connector and a replacement driving mechanism, wherein the moving mechanism, the conveying mechanism and the replacement driving mechanism are connected to the frame, and the connector is connected to the moving mechanism; the moving mechanism is used for driving the connector to move in a three-dimensional space on the rack; the conveying mechanism is used for conveying the capturing nozzle to a preset abutting position; the connector can slide relative to the moving mechanism, and the replacement driving mechanism is used for pushing the connector to slide along the moving mechanism, so that the connector is in butt joint with the capturing nozzle. When the moving mechanism drives the connector to be connected with the capturing nozzle in advance, the replacement driving mechanism pushes the connector to slide along the moving mechanism, so that the connector is close to the capturing nozzle to realize the butt joint of the connector and the capturing nozzle.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
FIG. 1 is a schematic diagram of a micropositioning separation device according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a matching relationship between a conveying mechanism and a replacement driving structure according to an embodiment of the present disclosure;
fig. 3 is a schematic cross-sectional structure of a conveying mechanism according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a mounting structure of a connector according to an embodiment of the present disclosure;
fig. 5 is a schematic structural view of a capturing nozzle according to an embodiment of the present application.
Reference numerals:
1-a frame;
10-a stop;
100-clamping grooves;
2-a moving mechanism;
3-a conveying mechanism;
30-a base;
300-limiting grooves;
32-a turntable;
320-accommodating groove;
320 a-a limit flange;
322-supporting sleeve;
322 a-limit shoulders;
324-a first elastic member;
326-balls;
34-a drive belt;
36-a turntable motor;
a 4-connector;
5-replacing the driving mechanism;
50-pressing rods;
52-a compression bar motor;
6-cantilever mechanism;
60-connecting seats;
62-a support arm;
64-a second elastic member;
7-capturing mouth.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In the description of the present application, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly specified or limited otherwise; the term "plurality" means two or more, unless specified or indicated otherwise; the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present application, it should be understood that the terms "upper," "lower," and the like in the embodiments of the present application are described in terms of angles shown in the accompanying drawings, and should not be construed as limiting the embodiments of the present application. In the context of this document, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on the other element or be indirectly on the other element through intervening elements.
As shown in fig. 1 to 5, the embodiment of the present application provides a microscopic positioning and separating device capable of extracting and pushing out a microscopic body sample (such as a single cell, a cell cluster, a clone, a bacterium or a tissue, or the like) through a capturing nozzle, the microscopic positioning and separating device includes a frame 1, a moving mechanism 2, a conveying mechanism 3, a connector 4 and a replacement driving mechanism 5, the frame 1 forms a main body frame and a supporting portion of the whole device, the moving mechanism 2, the conveying mechanism 3 and the replacement driving mechanism 5 are all connected to the frame 1, and the connector 4 is connected to the moving mechanism 2. The moving mechanism 2 is used for driving the connector 4 to move in a three-dimensional space on the frame 1, so as to realize the pre-butt joint of the connector 4 and the capturing nozzle 7; the conveying mechanism 3 is used for conveying the capturing nozzle 7 to a preset abutting position, and the capturing nozzle 7 can be a needle or the like with a thin tube structure; the connector 4 can slide relative to the moving mechanism 2, so that the acting force received by the connector 4 is prevented from being directly transmitted to the moving mechanism 2, and the replacement driving mechanism 5 is used for pushing the connector 4 to slide along the moving mechanism 2, so that the connector 4 is in butt joint with the capturing nozzle 7. Wherein, a damping or positioning structure may be disposed between the connector 4 and the moving mechanism 2 to define a relative position between the connector 4 and the moving mechanism 2, so that a suitable sliding stroke is left between the connector 4 and the moving mechanism 2, so as to ensure that the connector 4 can slide along the moving mechanism 2.
When the moving mechanism 2 drives the connector 4 to be in pre-butt joint with the capturing nozzle 7, the replacement driving mechanism 5 pushes the connector 4 to slide along the moving mechanism 2 towards the direction close to the capturing nozzle 7, that is, the replacement mechanism 5 applies pressure to the connector 4, under the action of the pressure, the connector 4 is close to and pressed into the capturing nozzle 7 to realize automatic butt joint between the connector 4 and the capturing nozzle 7, the capturing nozzle 7 is not required to be manually installed on the connector 4, automatic installation of the capturing nozzle 7 is realized, and the degree of automation of the microscopic positioning and separating device is improved. The connector 4 may be connected to a hydraulic system (not shown) as power for drawing and pushing out cells.
Specifically, the pre-docking of the connector 4 with the capturing nozzle 7 means that the moving mechanism 2 drives the connector 4 to move (for example, move along the X-axis direction and the Y-axis direction) to a position opposite to the capturing nozzle 7, and drives the connector 4 to move towards the direction close to the capturing nozzle 7 (for example, move along the Z-axis direction), until the connector 4 is kept substantially stationary after the connector 4 contacts with the capturing nozzle 7, and the moving mechanism 2 continues to move towards the direction close to the capturing nozzle 7 (for example, move along the Z-axis direction), so that relative sliding is generated between the connector 4 and the moving mechanism 2, a sliding stroke is formed when the connector 4 is pressed into the capturing nozzle 7 to realize the docking, and the pre-docking between the connector 4 and the capturing nozzle 7 is completed. After the connector 4 and the capturing nozzle 7 are in pre-abutting joint, the connector 4 moves towards the direction close to the capturing nozzle 7 and is pressed into the capturing nozzle 7 under the pressure action of the replacement driving mechanism 5, so that the connector 4 and the capturing nozzle 7 are in abutting joint.
Specifically, the connector 4 and the capturing nozzle 7 provided in the embodiment of the present application are in butt joint (see fig. 5) by plugging, that is, a part of the connector 4 is inserted into the capturing nozzle 7, or a part of the capturing nozzle 7 is inserted into the connector 4, and when the capturing nozzle 7 is mounted on the connector 4 or the capturing nozzle 7 is detached from the connector 4, the capturing nozzle 7 only moves in a direction approaching or separating from the connector 4, without rotation, so that the disassembly is very convenient.
Further, the rack 1 is further provided with a stop part 10 (see fig. 2) for separating the connector 4 from the capturing nozzle 7, the stop part 10 may be provided with a clamping groove 100, and one end of the clamping groove 100 is provided with an opening; the gap of the butt joint part of the connector 4 and the capturing nozzle 7 can pass through the opening and slide into the clamping groove 100, so that the stop part 10 is clamped into the gap between the connector 4 and the capturing nozzle 7, and the capturing nozzle 7 is limited to prevent the capturing nozzle 7 from moving along with the connector 4, thereby facilitating the separation of the connector 4 and the capturing nozzle 7, and the device has simple structure and small occupied space. It will be appreciated that other structures capable of limiting the catch mouth 7, such as a snap or a robot structure, may be provided on the frame 1. When the stop part 10 is clamped into the gap between the connector 4 and the capturing nozzle 7, the replacement driving mechanism 5 pushes the connector 4 to slide along the moving mechanism 2, so that the connector 4 is far away from the capturing nozzle 7 to separate the connector 4 from the capturing nozzle 7, and the connector 4 and the capturing nozzle 7 are automatically detached. That is, the micro-positioning and separating device provided by the embodiment of the application can complete automatic disassembly and automatic installation of the capturing nozzle 7, thereby realizing automatic replacement of the capturing nozzle 7.
After the automatic installation of the capturing nozzle 7 is completed and before the cell selection is performed, the microscopic positioning and separating device provided by the embodiment of the application can accurately position and calibrate the capturing nozzle 7 to micrometers through the optical calibration system so as to improve the accuracy of microscopic positioning and separating. The optical calibration system may include a light source, two 45 ° prisms, a lens, and a camera, where light from the light source sequentially passes through reflections from the two 45 ° prisms, and the formed reflected light is emitted toward the capturing nozzle 7, and when the capturing nozzle 7 moves to face the light, the position of the capturing nozzle 7 may be calibrated by real-time photographing positions of the lens and the camera.
Specifically, the moving mechanism 2 may include an X-direction moving mechanism, a Y-direction moving mechanism and a Z-direction moving mechanism, where the X-direction moving mechanism, the Y-direction moving mechanism and the Z-direction moving mechanism are connected to each other in a stacking manner, for example, the X-direction moving mechanism is slidably connected to the frame, the Y-direction moving mechanism is slidably connected to the X-direction moving mechanism, the Z-direction moving mechanism is slidably connected to the Y-direction moving mechanism, and the connector 4 is connected to the Z-direction moving mechanism, so that the moving mechanism 2 drives the connector 4 to perform a positioning function at any position in three coordinate axes of the frame 1. The X-direction moving mechanism, the Y-direction moving mechanism and the Z-direction moving mechanism are respectively provided with a driving motor and a sensor, the movement in all directions is realized by providing power for the driving motor, the limiting and the origin initialization are realized by the sensor, and the positioning accurate to the micrometer is realized by a driver, a controller and an encoder.
Further, referring to fig. 3, the transfer mechanism 3 may include a base 30 and a turntable 32. The base 30 is fixedly connected to the frame, and the turntable 32 is rotatably connected to the base 30, that is, the conveying mechanism 3 adopts a rotary conveying mechanism, so that the occupied space of the conveying mechanism 3 is reduced, and the whole structure is more compact. Of course, the conveying mechanism 3 may be a linear conveying mechanism. The capturing nozzle 7 is placed in the accommodating groove 320 formed on the turntable 32 and is rotated to the abutting position along with the turntable winding base 30, the capturing nozzle 7 is positioned through the accommodating groove 320, and the capturing nozzle 7 is prevented from moving or shaking in the rotating process of the turntable 32, so that the capturing nozzle 7 cannot be accurately abutted with the connector 4.
Preferably, the rotation of the turntable 32 can be realized through belt transmission, the transmission noise is small, the wear resistance is good, and lubrication is not needed. The turntable 32 is used as a driven belt pulley for belt transmission and is connected to a driving belt pulley for belt transmission through a transmission belt 34; the driving pulley is disposed on the output shaft of the turntable motor 36, so that the turntable motor 36 drives the turntable 32 to rotate. More preferably, the rotation of the turntable 32 is achieved by a synchronous belt drive, with the belt and pulley transmitting motion and power through a toothed engagement, with no relative slip between the belt and pulley, ensuring an accurate transmission ratio. Of course, the rotation of the turntable 32 may be realized by a gear transmission or the like.
Further, a supporting sleeve 322 is arranged in the accommodating groove 320, the supporting sleeve 322 is slidably connected in the accommodating groove 320, and two ends of the supporting sleeve 322 respectively elastically prop against the turntable 32 and the base 30; the catch mouth 7 is placed in supporting sleeve 322, and supports in supporting sleeve 322 one end that deviates from base 30, forms the guard action to carousel 32 through supporting sleeve 322, will catch mouth 7 in-process atress and pass through supporting sleeve 322 and transmit base 30, prevent carousel 32 direct atress, influence the accuracy of catch mouth 7 and connector 4 location.
Specifically, a limiting flange 320a may be disposed in the accommodating groove 320, a limiting shoulder 322a matched with the limiting flange may be disposed on the supporting sleeve 322, a portion of the supporting sleeve 322 extends out of the turntable 32 through the accommodating groove 320 and is used for supporting the capturing nozzle 7, and the limiting shoulder 322a abuts against one side of the limiting flange 320a facing the base 30, so that the supporting sleeve 322 is limited in the accommodating groove 320, and the supporting sleeve 322 is prevented from falling out.
Further, a first elastic member 324 is disposed between the supporting sleeve 322 and the base 30, two ends of the first elastic member 324 respectively elastically prop against the supporting sleeve 322 and the base 30, and buffer is formed by the first elastic member 324 in the pre-connection process of the connector 4 and the capturing nozzle 7, so as to reduce vibration and impact generated in the docking process of the capturing nozzle 7 and the connector 4, and prevent the connector 4 and the capturing nozzle 7 from being damaged, that is, the first elastic member 324 is compressed and absorbs part of energy in the pre-connection process of the connector 4 and the capturing nozzle 7, so that the interaction force between the connector 4 and the capturing nozzle 7 is reduced, and the connector 4 and the capturing nozzle 7 can be slowly and stably aligned accurately and reliably pre-docked. With the compression of the first elastic member 324, the supporting sleeve 322 is rigidly propped against the supporting seat 30, so as to facilitate the abutting joint of the capturing nozzle 7 and the connector 4.
Further, because the turntable 32 rotates around the base 30, a larger friction resistance exists between the supporting sleeve 322 and the base 30, in order to reduce the friction resistance between the turntable 32 and the base 30, balls 326 can be arranged between the supporting sleeve 322 and the base 30, the supporting sleeve 322 props against the base 30 through the balls 326, sliding friction between the supporting sleeve 322 and the base 30 is converted into rolling friction through the balls 326, friction between the supporting sleeve 322 and the base 30 is greatly reduced, and larger abrasion of the supporting sleeve 322 is avoided.
Of course, the first elastic member 324 and the ball 326 may be disposed between the supporting sleeve 322 and the base 30, at this time, the first elastic member 324 is disposed between the supporting sleeve 322 and the ball 326, two ends of the first elastic member 324 respectively and elastically prop against the supporting sleeve 322 and the ball 326, the ball 326 props against the base 30,
further, the base 30 is provided with a limit groove 300 matched with the ball 326, when the turntable 32 rotates to a predetermined docking position (when one of the capturing nozzles 7 rotates to the docking position), the ball 326 is embedded into the limit groove 300 to accurately position the capturing nozzle 7, so as to facilitate docking installation of the connector 4 and the capturing nozzle 7, and prevent automatic rotation of the turntable 32.
It can be understood that when the base 30 is provided with the limiting groove 300, a moving space should be reserved between the ball 326 and the supporting sleeve 322, for example, a first elastic member 324 is disposed between the ball 326 and the supporting sleeve 322, and two ends of the first elastic member 324 elastically prop against the supporting sleeve 322 and the ball 326 respectively. When the balls 326 roll out of the limit grooves 300 along with the rotation of the turntable 32, the balls 326 move towards the direction approaching the turntable 32, and the first elastic member 324 is compressed; when the balls 326 roll into the limit grooves 300 along with the rotation of the turntable 32, the balls 326 move away from the turntable 32 under the action of the first elastic members 324.
Further, the microscopic positioning and separating device provided by the embodiment of the application further comprises a cantilever mechanism 6 (see fig. 4), the connector 4 is connected to the moving mechanism 2 through the cantilever mechanism 6, the cantilever mechanism 6 is provided with a mounting and fixing structure of the connector 4, the structure of the moving mechanism 2 is simplified, the manufacturing cost is reduced, and the acting force generated when the connector 4 is in butt joint with the capturing nozzle 7 can be prevented from being directly transmitted to the moving mechanism 2, so that the moving mechanism 2 is deformed or even damaged.
Further, the cantilever mechanism 6 includes a connecting seat 60 and a support arm 62; the connecting seat 60 is used for connecting the moving mechanism 2, the supporting arm 62 is slidably connected to the connecting seat 60 and extends towards a direction away from the connecting seat 60, the connector 4 is fixed at one end of the supporting arm 62 away from the connecting seat 60, the distance between the connector 4 and the moving mechanism 2 is increased, and a larger operation space is formed. The connection seat 60 may be integrally formed with the moving mechanism 2, or may be provided as two separate components with the moving mechanism 2; the connection base 60 and the moving mechanism 2 are preferably provided as two separate parts, so that the cantilever mechanism 6 forms a complete part independent of the moving mechanism 2, facilitating the manufacture of the cantilever mechanism 6 and simplifying the installation of the cantilever mechanism 6.
Further, the cantilever mechanism 6 further includes a second elastic member 64 disposed between the connecting seat 60 and the supporting arm 62, and two ends of the second elastic member 64 are respectively elastically abutted against the connecting seat 60 and the supporting arm 62. On the one hand, the supporting arm 62 can be pressed on the connecting seat 60, so that the shaking or delay movement of the supporting arm 62 under the influence of inertia and the like in the moving process of the cantilever mechanism 6 along with the moving mechanism 2 is prevented, and the accuracy of the micro-positioning and separating mechanism is influenced; on the other hand, compression is generated by the second elastic member 64, providing a sliding stroke of pressing the connector 4 into the capturing nozzle 7, preventing the force during the abutting process of the connector 4 with the capturing nozzle 7 from being directly transmitted to the moving mechanism 2. Of course, other damping structures or limiting structures may be provided between the connecting base 60 and the support arm 62.
Specifically, the replacement driving mechanism 5 provided in the embodiment of the present application may be any mechanism capable of achieving linear movement. For example, the replacement driving mechanism 5 may include a plunger 50 and a plunger motor 52; one end of the pressing rod 50 is connected with a guide rail arranged on the frame 1 in a sliding way, and the other end of the pressing rod 50 extends towards the direction approaching the connector 4; the pressing rod motor 52 is fixedly connected to the frame 1, and the pressing rod 50 is driven to move by the pressing rod motor 52, so that the pressing rod 50 and the connector 4 (or the cantilever mechanism 6) generate different position relations, namely, the pressing rod 50 is positioned on one side of the connector 4 away from the capturing nozzle 7 or the pressing rod 50 is positioned between the connector 4 and the capturing nozzle 7; when the pressure lever 50 is positioned on one side of the connector 4 away from the capturing nozzle 7, the connector 4 is pushed to move towards the direction close to the capturing nozzle 7 by the pressure lever 50, and the connector 4 is pressed into the capturing nozzle 7, so that the connector 4 is in butt joint with the capturing nozzle 7; when the pressing rod 50 is positioned between the connector 4 and the capturing nozzle 7, the connector 4 is pushed to move away from the capturing nozzle 7 by the pressing rod 50, so that the connector 4 and the capturing nozzle 7 are separated.
The microscopic positioning and separating device further comprises a control system, all the mechanisms are respectively connected into the control system, and coordinated actions of all the mechanisms are achieved through the unified control system.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (6)
1. A microscopic positioning and separating device, comprising:
a frame;
the moving mechanism is connected to the rack and can realize three-dimensional space movement on the rack;
the conveying mechanism is connected to the frame and is used for conveying the capturing nozzle to a preset docking position;
the connector is connected with the moving mechanism and can slide relative to the moving mechanism, the connector is used for being connected with the capturing nozzle, and the moving mechanism drives the connector to be pre-connected with the capturing nozzle;
the replacement driving mechanism is connected to the rack and pushes the connector to slide along the moving mechanism, so that the connector is close to the capturing nozzle to realize the butt joint of the connector and the capturing nozzle;
the conveying mechanism comprises a base and a rotary table, the base is fixedly connected to the frame, and the rotary table is rotationally connected to the base;
the capturing nozzle is placed in a containing groove arranged on the rotary table and rotates to a preset butt joint position along with the rotary table around the base;
a supporting sleeve is arranged in the accommodating groove, and two ends of the supporting sleeve respectively prop against the turntable and the base;
the capturing nozzle is arranged in the supporting sleeve and is supported at one end of the supporting sleeve, which is away from the base;
a ball is arranged between the supporting sleeve and the base, and the supporting sleeve props against the base through the ball;
the base is provided with a limit groove matched with the ball, and when the turntable rotates to a preset butt joint position, the ball is embedded into the limit groove.
2. The microscopic positioning and separating device according to claim 1, wherein a first elastic member is arranged between the supporting sleeve and the base, and two ends of the first elastic member respectively elastically prop against the supporting sleeve and the base.
3. The micropositioning separation device according to claim 1, further comprising a cantilever mechanism, said connector being connected to said movement mechanism by said cantilever mechanism.
4. A microscopic positioning separation apparatus according to claim 3, wherein the cantilever mechanism includes a connecting base and a support arm;
the connecting seat is used for being connected with the moving mechanism, one end of the supporting arm is connected with the connecting seat in a sliding mode, and the connector is fixed at one end, away from the connecting seat, of the supporting arm.
5. The micro-positioning and separating device according to claim 4, wherein the cantilever mechanism further comprises a second elastic member disposed between the connecting seat and the supporting arm, and two ends of the second elastic member elastically support against the connecting seat and the supporting arm respectively.
6. The microscopic positioning separation apparatus according to any one of claims 1 to 5, wherein a stopper for separating the connector from the capturing nozzle is further provided on the frame, the stopper being capable of being caught in a gap between the connector and the capturing nozzle;
when the stop part is clamped into a gap between the connector and the capturing nozzle, the replacement driving mechanism pushes the connector to slide along the moving mechanism, so that the connector is far away from the capturing nozzle to separate the connector from the capturing nozzle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910823553.XA CN110819506B (en) | 2019-09-02 | 2019-09-02 | Microscopic positioning and separating device |
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|---|---|---|---|
| CN201910823553.XA CN110819506B (en) | 2019-09-02 | 2019-09-02 | Microscopic positioning and separating device |
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| CN110819506A CN110819506A (en) | 2020-02-21 |
| CN110819506B true CN110819506B (en) | 2023-06-16 |
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