CN110857154B

CN110857154B - Liquid-transfering sucker arranges robot

Info

Publication number: CN110857154B
Application number: CN201910156787.3A
Authority: CN
Inventors: 李子沐; 马瑜良
Original assignee: Hunan Sui Hou Zhu Technology Co ltd
Current assignee: Hunan Sui Hou Zhu Technology Co ltd
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2022-07-19
Anticipated expiration: 2039-03-01
Also published as: CN110857154A

Abstract

The invention discloses a liquid-transfering sucker arrangement robot, which comprises a fixed frame arranged on a bottom plate, and also comprises a feeding module, a conveying mechanism, a discharging module, a control module and an active material-blocking prevention device which are fixed on the fixed frame, wherein the discharging module adopts a direct discharging mode, and a magnetic-type quick-release moving platform is arranged on the bottom plate; the blanking module comprises a quick-release blanking pipe and an opening-closing type alignment mechanism, and the opening-closing type alignment mechanism is arranged at the tail end of the quick-release blanking pipe; the active material blocking prevention device is composed of a material piling prevention subsystem, a material deflection prevention subsystem and a material blocking prevention subsystem. According to the invention, rapid blanking is realized by a passive direct falling mode and an active anti-blocking device, so that the arrangement efficiency and precision of the liquid-transferring suction head arrangement robot are greatly improved, the failure rate is reduced, and rapid automatic arrangement and boxing of the liquid-transferring suction heads are realized.

Description

Liquid-transfering sucker arranges robot

Technical Field

The invention relates to the technical field of medical equipment manufacturing, in particular to a liquid-transfering sucker arranging robot.

Background

Pipette tips are commonly used in biological, chemical, medical laboratories and other related settings. In order to be used with a pipette, pipette tips are orderly arranged in a tip box with fixed hole sites. At present, experiment or medical liquid-transfering suction head test tube product arrange dress box mainly through the manpower usually, and this kind of mode is wasted time and energy, has reduced experimental efficiency and has also increased manufacturing cost. Secondly, the manual arrangement and boxing inevitably causes secondary pollution of the liquid-transferring suction head, so that the existing manual arrangement and boxing mode cannot well meet the use amount and sanitary requirements of laboratories and medical places.

In the prior art, a liquid-transfering suction head arranging machine generally comprises a feeding module, a conveying module, a discharging module, a charging module and a control module, wherein the efficiency of the liquid-transfering suction head arranging machine is related to feeding, discharging and charging, the feeding mostly adopts a roller feeding mode, and the materials in the discharging module are generally actively discharged after position correction, for example, Chinese patent CN107175664A discloses that a medical liquid-transfering suction head automatic arranging robot discharging module comprises a bidirectional rotary electromagnet, a rotary material-poking guide seat is fixed below the bidirectional rotary electromagnet, a rotary material-poking shaft is arranged at the center of the fixed rotary material-poking guide seat, a vertical material-dropping seat is connected below the rotary material-poking guide seat, the vertical material-dropping seat is connected with a material-clamping processing quick joint, the materials fall into the material-dropping module, the bidirectional rotary electromagnet drives the rotary material-peeling shaft to have a fixed angle, and the materials are discharged from the material-clamping processing quick joint connected with the vertical material-dropping seat, although the material blocking rate is reduced by the discharging mode, the discharging efficiency is lower.

The platform needs to be allowed to move freely in the alignment process of the existing blanking module, and in order to keep the movable platform moving without obstacles, a space with the height of at least half of a sucker needs to be reserved between the blanking mechanism and the platform, so that if the liquid-transfering sucker and a sucker box hole position do not completely correspond, the liquid-transfering sucker cannot fall into the sucker box hole position.

The module of feeding mainly relies on suction head box moving platform to remove and feeds, and the platform of feeding among the prior art scheme uses the X axle usually, Y axle alternately slip table, and its driving motor is usually fixed respectively on X axle and Y axle slide rail, and this kind of technical scheme's main defect is: at least one driving motor can move along the movable sliding rail, so that the inertia of the movable part is increased, and the moving stability of the whole loading platform is reduced. Secondly, because of the motor itself needs to move, the power and the signal connection line that are connected with the motor also need to continuously buckle and the back and forth movement, and this can cause the life reduction of wire rod and complete machine.

Disclosure of Invention

The invention aims to provide a liquid-transfering sucker arrangement robot, which solves the problems in the background technology.

The utility model provides a robot is arranged to liquid-transfering suction head, is including setting up the mount on the bottom plate, still including fixing material loading module, transport mechanism, unloading module, control module and active anti-sticking material device on the mount, the mode of direct blanking is adopted to the unloading module, set up magnetism on the bottom plate and inhale formula quick detach moving platform.

The feeding module comprises a material storage roller and a V-shaped groove which are connected, wherein the V-shaped groove connected with the conveying mechanism is arranged in the material storage roller, and the material storage roller is connected with the material storage roller through a belt in a driving way; the feeding module is communicated with the feed back tank.

The conveying mechanism comprises a conveying driving motor arranged at the lower end of a fixing frame, an output shaft of the conveying driving motor is connected with a conveying driving wheel, at least 2 belts are arranged between the conveying driving wheel and a conveying driven wheel, the distance between every two adjacent belts is adjustable, and a guide wheel arranged at the lower part of the fixing frame guides the belts.

Furthermore, the active material blockage preventing device is composed of a material piling preventing subsystem, a material tilting preventing subsystem and a material blockage preventing subsystem, wherein the material piling preventing subsystem is installed above the V-shaped groove, the material tilting preventing subsystem is installed above the conveying mechanism, and the material blockage preventing subsystem is installed beside a material facing guide groove of the discharging pipe.

Furthermore, the stockpiling preventing subsystem comprises a cleaning mechanism I, a cleaning driving arm I and a cleaning driving arm I, wherein the cleaning driving arm I is connected with the cleaning mechanism I, and the cleaning driving arm I is arranged below the cleaning mechanism I; the anti-tilting subsystem comprises a cleaning wheel I, a cleaning mounting frame and a cleaning drive II, wherein the cleaning wheel I is mounted on the cleaning mounting frame, and the cleaning drive II is mounted on one side of the cleaning mounting frame; the material blocking preventing subsystem comprises a cleaning drive III, a cleaning drive arm II, a cleaning drive IV and a cleaning wheel II, wherein the cleaning drive III is connected with the cleaning drive arm II, and the cleaning drive IV is connected with the cleaning wheel II.

Further, the blanking module comprises an open-close type alignment mechanism, and the open-close type alignment mechanism is arranged at the tail end of the blanking pipe.

Furthermore, the opening and closing type aligning mechanism comprises an opening and closing nozzle, a driving device, a rotating shaft and a magnetic suction closing device, wherein the opening and closing nozzle and the back plate of the quick-release type blanking pipe are combined to form a conical blanking part aligning groove pipe, the opening and closing nozzle rotates around the rotating shaft, the driving device drives the opening and closing nozzle to be opened, the magnetic suction closing device drives the opening and closing nozzle to be closed, and when the opening and closing nozzle is opened, the liquid transfer suction head falls into a hole site of the suction head box.

Further, the blanking pipe is a quick-release type blanking pipe.

Furthermore, the quick-release blanking pipe comprises a material receiving guide groove, a blanking hollow pipe, a magnet matrix A and a blanking baffle plate, wherein the blanking hollow pipe is fixedly connected below the material receiving guide groove, the blanking baffle plate is fixedly connected below the blanking hollow pipe, and the magnet matrix A is fixed on the blanking baffle plate; the blanking pipe assembly is arranged on the fixing frame and comprises a U-shaped fixing groove and a magnet matrix B, the magnet matrix B is fixedly installed at the position, corresponding to the magnet matrix A, on the U-shaped fixing groove, and the magnetism of the magnet matrix B is opposite to that of the magnet matrix A.

Further, formula quick detach moving platform is inhaled to magnetism is including removing suction head box fixed plate, platform bottom plate and moving mechanism, remove suction head box fixed plate and place on the platform bottom plate, the platform bottom plate is installed on moving mechanism, moving mechanism fixes on the bottom plate.

Furthermore, the movable suction head box fixing plate is fixed with the platform bottom plate in a magnetic absorption mode.

Furthermore, the moving mechanism is: a first motor and a second motor are arranged on the bottom plate, a first motor driving wheel is arranged on an output shaft of the first motor, a first longitudinal guide rail is arranged between the first motor driving wheel and a third driven wheel on the bottom plate, a first longitudinal slide block is arranged on the first longitudinal guide rail, a first driven wheel and a second driven wheel are arranged on the first longitudinal slide block, a second motor driving wheel is arranged on an output shaft of the second motor, a second longitudinal guide rail is arranged between the second motor driving wheel and a fourth driven wheel on the bottom plate, a second longitudinal slide block is arranged on the second longitudinal guide rail, a fifth driven wheel and a sixth driven wheel are arranged on the second longitudinal slide block, a transverse guide rail is arranged between the first longitudinal slide block and the second longitudinal slide block, a transverse slide block is arranged on the transverse guide rail, a magnetic quick-dismounting moving platform bottom plate is arranged on the transverse slide block, the transverse slide block and the first motor driving wheel, The second motor driving wheel is connected with the first driven wheel, the second driven wheel, the third driven wheel, the fourth driven wheel, the fifth driven wheel and the sixth driven wheel through a driving belt, when the first motor and the second motor rotate in the same direction, the movable suction head box fixing plate moves along the transverse guide rail, and when the first motor and the second motor rotate in different directions, the movable suction head box fixing plate moves along the first longitudinal guide rail and the second longitudinal guide rail.

Furthermore, the movable suction head box fixing plate is fixed on the platform bottom plate through magnetic attraction, an identification ID formed by notches is reserved on the movable suction head box fixing plate, an optical fiber sensor is used for carrying out automatic identification on different suction head box fixing plates, and moving parameters are changed automatically.

Has the advantages that:

according to the invention, rapid blanking is realized by a passive direct falling mode and an active material blocking prevention device, so that the arrangement efficiency and precision of the liquid-transfer suction head arrangement robot are greatly improved, the failure rate is reduced, and rapid automatic arrangement of the liquid-transfer suction heads is realized. The active anti-blocking device comprises an anti-stacking subsystem, a material tilting prevention subsystem and an anti-blocking subsystem, and the conditions of stacking, material tilting and blocking are actively processed, so that the intervention of a user is greatly reduced, and the execution efficiency and the intelligent degree of operation are improved.

The blanking module adopts the quick-release blanking pipe, locks and positions the quick-release blanking pipe and a machine fixing position by using a magnetic adsorption principle, and simultaneously meets two requirements of firm and accurate fixing and quick release; open-close type alignment mechanism is adopted in the control unloading, can press close to moving platform, and greatly increased moves liquid suction head's hand-hole success rate, moves liquid suction head and opens the mouth that opens and shuts after falling into the hole site, then accessible moving platform when guaranteeing that the platform removes, improves the precision of arranging greatly.

According to the invention, the magnetic-type quick-release mobile platform is adopted, the driving motor is fixed on the floor and does not move along with the mobile platform, so that the moving speed of the mobile platform is increased, the stability of the mobile platform is increased, and the moving precision is improved; the moving platform moves the suction head box fixing plate through ID recognition, and the arrangement precision is improved.

Drawings

Fig. 1 is a right side view of the present invention.

Fig. 2 is a left side view of the present invention.

Fig. 3 is a top view of the present invention.

Fig. 4 is a schematic view of a quick-release type blanking tube structure according to the present invention.

Fig. 5 is a schematic view of the blanking tube assembly of the present invention.

Fig. 6 is an elevation view of the opening and closing alignment mechanism of the present invention.

FIG. 7 is a front view of the anti-windrow subsystem of the present invention.

FIG. 8 is a front view of the anti-tilt subsystem of the present invention.

FIG. 9 is a front view of the anti-jamming subsystem of the present invention.

FIG. 10 is a bottom view of the anti-seize subsystem of the present invention.

FIG. 11 is a top view of the base plate of the present invention.

In the figure, the position of the upper end of the main shaft,

1	discharging roller	28	Cleaning drive I
				2	Rotating shaft of storage roller	29	Cleaning installation rack
3	Storage drum drive	30	Cleaning wheel I
				4	Material storage roller belt	31	Cleaning driveⅡ
5	V-shaped groove	32	Sweeping drive III
				6	Conveying belt	33	Cleaning driving arm II
7	Steering wheel of conveying belt	34	Cleaning drive IV
				8	Transmission belt pulley block	35	Cleaning wheel II
9	Stockpiling prevention subsystem	36	Movable suction head box fixing plate
				10	Material-tilting prevention subsystem	37	Platform floor
11	Anti-jamming subsystem	38	First longitudinal slide block
				12	Quick-dismantling blanking pipe	39	Transverse guide rail
13	Opening and closing type aligning mechanism	40	First longitudinal guide rail
				14	Feed-back trough	41	First motor
15	Magnetic type quick-release mobile platform	42	First motor driving wheel
				16	Material receiving guide groove	43	Driving belt
17	Blanking empty pipe	44	First driven wheel
				18	Blanking baffle	45	Second driven wheel
19	Magnet matrix A	46	Third driven wheel
				20	Magnet matrix B	47	Fourth driven wheel
21	U-shaped fixing groove	48	Fifth driven wheel
				22	Limiting block	49	Sixth driven wheel
23	Opening and closing nozzle	50	Second motor driving wheel
				24	Rotating shaft	51	Second electric machine
25	Quick-release blanking pipe back plate	52	Bottom plate
				26	Cleaning mechanism I	53	Second longitudinal guide rail
27	Cleaning driving arm I	54	Second longitudinal slide block

Detailed Description

Example 1

As shown in fig. 1-3, a pipetting tip arrangement robot comprises a fixed frame arranged on a bottom plate, and further comprises a feeding module, a conveying mechanism, a discharging module, a control module and an active material blocking prevention device which are fixed on the fixed frame.

The feeding module comprises a material storage roller 1 and a V-shaped groove 5 which are connected, the V-shaped groove 5 connected with the conveying mechanism is arranged in the material storage roller 1, the material storage roller 1 is connected with a material storage roller drive 3 through a material storage roller belt 4, and the material storage roller 1 is driven by the material storage roller drive 3 to rotate around a material storage roller rotating shaft 2; the feeding module is communicated with a feed back groove 14.

The conveying mechanism comprises a conveying driving motor arranged at the lower end of a fixing frame, an output shaft of the conveying driving motor is connected with conveying belt steering wheels 7, at least 2 conveying belts 6 are arranged between the conveying belt steering wheels 7, the distance between every two adjacent conveying belts 6 is adjustable, and a conveying belt pulley block 8 arranged at the lower part of the fixing frame guides the belts.

The conveying driving motor rotates to drive the conveying belt steering wheel 7 to rotate, so that the conveying belt 6 moves forward, the liquid transfer suction heads sent into the V-shaped grooves 5 by the feeding module are inserted into the intervals of the conveying belt 6 to be driven forward, the driving belt pulley block 8 fixedly installed on the lower portion of the fixing frame guides the belt 6, the conveying belt 6 can adjust corresponding intervals according to the specifications of the liquid transfer suction heads, the liquid transfer suction heads move forward to the material receiving guide groove along with the conveying belt 6, and the liquid transfer suction heads enter the quick-dismantling type discharging pipe 12 through the guiding buffer of the material receiving guide groove.

The blanking module comprises a quick-release blanking pipe 12 and an opening-closing type alignment mechanism 13, wherein the opening-closing type alignment mechanism 13 is arranged at the tail end of the quick-release blanking pipe 12.

As shown in fig. 4-5, the quick-release blanking pipe 12 includes a material receiving guide groove 16, a blanking hollow pipe 17, a magnet matrix a19, and a blanking baffle 18, the blanking hollow pipe 17 is fixedly connected below the material receiving guide groove 16, the blanking baffle 18 is fixedly connected below the blanking hollow pipe 17, and the magnet matrix a19 is fixed on the blanking baffle 18.

Be equipped with unloading pipe assembly spare on the mount, unloading pipe assembly spare includes U-shaped fixed slot 21, magnet matrix B20, on the U-shaped fixed slot 21 with the corresponding position fixed mounting magnet matrix B20 of magnet matrix A19, magnet matrix A and B are two-row magnet structure, magnet matrix B20 is opposite with magnet matrix A19 magnetism, be equipped with stopper 22 on the U-shaped fixed slot 21.

In this embodiment, use the principle of magnetic force absorption to lock and fix a position quick detach formula unloading pipe and machine, satisfy two requirements of firm accurate fixed and quick detach simultaneously.

As shown in fig. 6, the opening and closing type aligning mechanism 13 includes an opening and closing nozzle 23, a driving device, a rotating shaft 24 and a magnetic suction closing device, the opening and closing nozzle 23 and a quick-release type blanking pipe back plate 25 form a conical blanking portion aligning slot pipe, the opening and closing nozzle rotates around the rotating shaft 24, the driving device drives the opening and closing nozzle 23 to open, the magnetic suction closing device drives the opening and closing nozzle 23 to close, and when the opening and closing nozzle is opened, the liquid-transfer suction head falls into a hole position of the suction head box.

This embodiment adopts open-close type alignment mechanism, can press close to moving platform, and greatly increased moves liquid suction head's hand-hole success rate, moves liquid suction head and opens the mouth that opens and shuts after falling into the hole site, and moving platform can accessible remove, when guaranteeing that the platform removes, improves the precision of arranging greatly.

The active material blockage preventing device is composed of a material piling preventing subsystem 9, a material tilting preventing subsystem 10 and a material blockage preventing subsystem 11, wherein the material piling preventing subsystem 9 is installed above the V-shaped groove 5, the material tilting preventing subsystem 10 is installed above the conveying mechanism, and the material blockage preventing subsystem 11 is installed beside a material facing guide groove of the quick-release blanking pipe 12.

According to the invention, the discharging mode realizes rapid discharging through a passive direct falling mode and an active material blocking prevention device, and the stacking, tilting and blocking conditions are actively processed by adopting the stacking prevention subsystem, the tilting prevention subsystem and the material blocking prevention subsystem, so that the user intervention is greatly reduced, and the execution efficiency and the intelligent degree of operation are improved.

As shown in fig. 7-10, the stockpiling preventing subsystem 9 comprises a cleaning mechanism i 26, a cleaning driving arm i 28 and a cleaning driving arm i 27, wherein the cleaning driving arm i 27 is connected with the cleaning mechanism i 26, and the cleaning driving arm i 28 is arranged below the cleaning mechanism i 26.

The anti-tilting subsystem 10 comprises a cleaning wheel I30, a cleaning mounting frame 29 and a cleaning drive II 31, wherein the cleaning wheel I30 is mounted on the cleaning mounting frame 29, and the cleaning drive II 31 is mounted on one side of the cleaning mounting frame 29.

The material blocking prevention subsystem 11 comprises a cleaning drive III 32, a cleaning drive arm II 33, a cleaning drive IV 34 and a cleaning wheel II 35, wherein the cleaning drive III 32 is connected with the cleaning drive arm II 33, and the cleaning drive IV 34 is connected with the cleaning wheel II 35.

As shown in fig. 3 and fig. 11, the magnetic-type quick-release moving platform 15 is disposed on the bottom plate, and includes a movable suction head box fixing plate 36, a platform bottom plate 37 and a moving mechanism, wherein the movable suction head box fixing plate 36 is placed on the platform bottom plate 37, the platform bottom plate 37 is installed on the moving mechanism, and the moving mechanism is fixed on the bottom plate 52.

The movable sucker box fixing plate 36 is fixed with the bottom plate 52 in a magnetic attraction mode, and the platform bottom plate 37 is fixed with the movable sucker box fixing plate 36 in a magnetic attraction mode.

The moving mechanism is as follows: a first motor 41 and a second motor 51 are arranged on a bottom plate 52, a first motor driving wheel 42 is arranged on an output shaft of the first motor 41, a first longitudinal guide rail 40 is arranged between the first motor driving wheel 42 and a third driven wheel 46 on the bottom plate, a first longitudinal slide block 38 is arranged on the first longitudinal guide rail 40, a first driven wheel 44 and a second driven wheel 45 are arranged on the first longitudinal slide block 38, a second motor driving wheel 50 is arranged on an output shaft of the second motor 51, a second longitudinal guide rail 53 is arranged between the second motor driving wheel 50 and a fourth driven wheel 47 on the bottom plate 52, a second longitudinal slide block 54 is arranged on the second longitudinal guide rail 53, a fifth driven wheel 48 and a sixth driven wheel 49 are arranged on the second longitudinal slide block 54, a transverse guide rail 39 is arranged between the first longitudinal slide block 38 and the second longitudinal slide block 54, a transverse slide block is arranged on the transverse guide rail 39, a movable suction head box fixing plate 36 is fixed on the transverse slide block, the movable suction head box fixing plate 36 is connected with a first motor driving wheel 42 and a second motor driving wheel 50 through a driving belt via a first driven wheel 44, a second driven wheel 45, a third driven wheel 46, a fourth driven wheel 47, a fifth driven wheel 48 and a sixth driven wheel 49, when the first motor 41 and the second motor 51 rotate in the same direction, the movable suction head box fixing plate 36 moves along the transverse guide rail 39, and when the first motor 41 and the second motor 51 rotate in different directions, the movable suction head box fixing plate 36 moves along the first longitudinal guide rail 40 and the second longitudinal guide rail 53.

The movable suction head box fixing plate 36 is provided with an identification ID formed by notches, different suction head box fixing plates 36 are automatically identified by using an optical fiber sensor, the moving parameters are automatically changed, and the arrangement precision is improved.

The working principle of the invention is as follows: the control module controls the first motor 41 and the second motor 51 to drive the pipetting head box fixing plate 36 to move to the position of the designated hole position corresponding to the opening-closing type alignment mechanism 13, the pipetting heads are placed in the storage roller 1, the feeding conveyor belt in the storage roller 1 conveys the pipetting heads to the V-shaped groove 5 under the action of the conveyor belt steering wheel 7, the conveying driving motor and the conveyor belt 6, and the pipetting heads are adjusted to be in a vertical state through the V-shaped groove 5 with the help of gravity and are inserted into the intervals between the conveyor belts 6. Conveyer 6 and liquid-transfering suction head move forward in step, and in the motion process, prevent that windrow subsystem 9 lets unnecessary windrow from transport mechanism through the feed back groove feed back storage cylinder, prevent askew material subsystem 10 and clean clout, askew material on the transport mechanism, prevent card material subsystem 11 and clean the card material by feed back groove 14 and get back to storage cylinder 1 to this normal transmission of guaranteeing conveyer 6. Then the pipetting tip arrives at the material receiving guide groove 16, enters the blanking empty pipe 17, enters the open-close type alignment mechanism 13, when the photoelectric sensor in the quick-release type blanking pipe 12 detects a signal, the conveying belt 6 stops rotating, the open-close type alignment mechanism 13 opens the open-close mouth 23, and the pipetting tip falls into a corresponding hole of the pipetting tip box fixing plate 36. Then the control module controls the first motor 41 and the second motor 51 to drive the pipetting head box fixing plate 36 to move to the next corresponding hole position, the opening and closing type aligning mechanism 13 closes the opening and closing nozzle 23, the conveying belt 6 starts to move again until the next pipetting head enters the quick-release type blanking pipe 12, and the operation is repeated until the pipetting head box on the pipetting head box fixing plate 36 is full or the pipetting heads in the storage roller 1 are used up. If a user needs to perform arranging and boxing operation of pipette tips of another specification, the optical fiber sensor automatically identifies parameters of a fixed plate of the movable pipette tip box through a gap on the platform, and adjusts the interval between adjacent conveying belts 6 and the corresponding specifications of the quick-release type blanking pipe 12 and the opening and closing type alignment mechanism 13 according to the parameters, and the arranging and boxing operation of the pipette tips of different specifications is the same.

While the foregoing shows and describes the fundamental principles and principal features of the invention and its advantages, the invention is not to be limited by the foregoing embodiments, which are presented for purposes of illustration only, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.

Claims

1. A pipetting head arrangement robot comprises a fixing frame arranged on a bottom plate, wherein a feeding module, a conveying mechanism, a discharging module and a control module are fixed on the fixing frame;

the active material blockage preventing device comprises a material piling preventing subsystem, a material deflection preventing subsystem and a material blockage preventing subsystem, wherein the material piling preventing subsystem is installed above the V-shaped groove and comprises a cleaning mechanism I, a cleaning driving mechanism I and a cleaning driving arm I, the cleaning driving arm I is connected with the cleaning mechanism I, the cleaning driving mechanism I is installed below the cleaning mechanism I, and redundant piled materials are conveyed back to the material storage roller through the material returning groove by the conveying mechanism through the material piling preventing subsystem; the anti-skew subsystem is arranged above the conveying mechanism and comprises a cleaning wheel I, a cleaning mounting frame and a cleaning drive II, the cleaning wheel I is arranged on the cleaning mounting frame, the cleaning drive II is arranged on one side of the cleaning mounting frame, and the anti-skew subsystem cleans excess materials and skew materials on the conveying mechanism; the material blocking prevention subsystem is arranged beside a material receiving guide groove of the blanking pipe and comprises a cleaning drive III, a cleaning drive arm II, a cleaning drive IV and a cleaning wheel II, wherein the cleaning drive III is connected with the cleaning drive arm II, and the cleaning drive IV is connected with the cleaning wheel II;

the blanking module comprises an opening-closing type aligning mechanism which is arranged at the tail end of the blanking pipe; the opening and closing type alignment mechanism comprises an opening and closing nozzle, a driving device, a rotating shaft and a magnetic suction closing device, wherein the opening and closing nozzle and a back plate of the quick-release type blanking pipe form a conical blanking part alignment groove pipe;

the blanking pipe is a quick-release type blanking pipe; the quick-release type blanking pipe comprises a material receiving guide groove, a blanking hollow pipe, a magnet matrix A and a blanking baffle plate, wherein the blanking hollow pipe is fixedly connected below the material receiving guide groove, the blanking baffle plate is fixedly connected below the blanking hollow pipe, and the magnet matrix A is fixed on the blanking baffle plate; the material receiving guide groove is obliquely arranged relative to the blanking hollow pipe;

the blanking pipe assembly is arranged on the fixing frame and comprises a U-shaped fixing groove and a magnet matrix B, the magnet matrix B is fixedly installed at the position, corresponding to the magnet matrix A, on the U-shaped fixing groove, and the magnetism of the magnet matrix B is opposite to that of the magnet matrix A.

2. The pipette tip arrangement robot according to claim 1, wherein the magnetic-type quick-release moving platform comprises a moving tip box fixing plate, a platform bottom plate and a moving mechanism, the moving tip box fixing plate is placed on the platform bottom plate, the platform bottom plate is installed on the moving mechanism, and the moving mechanism is fixed on the bottom plate.

3. The pipette tip arrangement robot according to claim 2, wherein the movable tip cassette fixing plate is fixed to the platform bottom plate by magnetic attraction.

4. The pipette tip arraying robot according to claim 3, characterized in that the moving mechanism is: a first motor and a second motor are arranged on the bottom plate, a first motor driving wheel is arranged on an output shaft of the first motor, a first longitudinal guide rail is arranged between the first motor driving wheel and a third driven wheel on the bottom plate, a first longitudinal slide block is arranged on the first longitudinal guide rail, a first driven wheel and a second driven wheel are arranged on the first longitudinal slide block, a second motor driving wheel is arranged on an output shaft of the second motor, a second longitudinal guide rail is arranged between the second motor driving wheel and a fourth driven wheel on the bottom plate, a second longitudinal slide block is arranged on the second longitudinal guide rail, a fifth driven wheel and a sixth driven wheel are arranged on the second longitudinal slide block, a transverse guide rail is arranged between the first longitudinal slide block and the second longitudinal slide block, a transverse slide block is arranged on the transverse guide rail, a magnetic quick-dismounting moving platform bottom plate is arranged on the transverse slide block, the transverse slide block and the first motor driving wheel, The second motor driving wheel is connected with the first driven wheel, the second driven wheel, the third driven wheel, the fourth driven wheel, the fifth driven wheel and the sixth driven wheel through a driving belt, the first motor and the second motor rotate in the same direction, the movable suction head box fixing plate moves along the transverse guide rail, and the movable suction head box fixing plate moves along the first longitudinal guide rail and the second longitudinal guide rail when the first motor and the second motor rotate in different directions.

5. The pipette tip arrangement robot according to claim 2, wherein the movable tip cassette holding plate has an identification ID consisting of a notch left thereon, and different tip cassette holding plates are automatically identified using a fiber optic sensor, and the movement parameters are automatically changed.