CN111346682A - Liquid accurate suction proportioning system - Google Patents
Liquid accurate suction proportioning system Download PDFInfo
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- CN111346682A CN111346682A CN202010164649.2A CN202010164649A CN111346682A CN 111346682 A CN111346682 A CN 111346682A CN 202010164649 A CN202010164649 A CN 202010164649A CN 111346682 A CN111346682 A CN 111346682A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
- B01L3/021—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L2400/00—Moving or stopping fluids
- B01L2400/04—Moving fluids with specific forces or mechanical means
- B01L2400/0475—Moving fluids with specific forces or mechanical means specific mechanical means and fluid pressure
- B01L2400/0478—Moving fluids with specific forces or mechanical means specific mechanical means and fluid pressure pistons
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Abstract
The invention provides a liquid accurate suction proportioning system, which relates to the field of medical equipment and comprises a suction loading and unloading rail crossing each station, wherein a slidable suction loading and unloading mechanical arm is arranged on the suction loading and unloading rail, an upper suction sliding block and a lower suction sliding block which are respectively and independently driven by a driving device are arranged on a suction mechanical arm seat, an upper suction positioning block used for clamping the end head of a suction rod of a suction device is arranged on the upper suction sliding block, and a lower suction positioning block used for clamping a suction sleeve of the suction device is arranged on the lower suction sliding block. Through the suction handling system who sets up, can realize the automatic ratio of liquid to realize the automatic loading and unloading of test tube, raise the efficiency by a wide margin.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a liquid accurate suction proportioning system.
Background
For a patient receiving artificial insemination or in vitro fertilization and embryo transplantation technology, the sperm of a spouse needs to be washed and optimized to remove impurities such as seminal plasma, inactive sperm, leucocyte and the like, and the sperm with good activity and high quality is extracted for fertilization.
The defects of the prior art are as follows: at present, no matter which method is adopted for carrying out semen washing optimization, the semen washing optimization is carried out manually, and the manual operation has the following limitations:
1. the same operation is repeated, the workload is large, the time is long, and the efficiency is low. For example, a certain center washes optimized semen for about 30 people per day, and requires at least 2 people to repeat the same operation procedure every day, and also takes at least one whole morning to finish.
2. At present, manual operation is carried out, for the amount of washed semen, various washing solutions can not be accurately quantified, the concentration of the washed semen is not accurate, and the concentration of the washed semen needs to be regulated for fertilization after re-estimation.
3. There is also a scheme of performing addition using a negative pressure adsorption apparatus, but the amount of addition of the scheme is difficult to ensure accuracy.
In many other medical related procedures, it is necessary to add a precisely proportioned liquid to a container. In particular, the present invention relates to a device which requires a fixed quantity of liquid to be extracted from one container and then to be injected into another container, and which can be applied only once per extraction, so as not to contaminate the other liquid, all the operations being performed manually. Chinese patent document CN110358673A describes a cell separation system and method, in which a lifting device and a syringe are used to perform a suction operation, but this solution is very inconvenient in the process of replacing the suction device. Moreover, the arrangement of the pipeline affects the precision of the liquid suction amount, thereby causing inaccurate liquid proportioning, because the pipeline has a certain capacity.
Disclosure of Invention
The invention aims to provide a liquid accurate pumping proportioning system, which can realize automatic accurate proportioning of liquid, and can simultaneously realize automatic loading and unloading of test tube operation in the preferred scheme.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the liquid precise pumping proportioning system comprises a pumping loading and unloading rail stretching across each station, a slidable pumping loading and unloading mechanical arm is arranged on the pumping loading and unloading rail, an upper pumping sliding block and a lower pumping sliding block which are respectively and independently driven by a driving device are arranged on a pumping mechanical arm seat, an upper pumping positioning block used for clamping the end head of a pumping rod of the pumping device is arranged on the upper pumping sliding block, and a lower pumping positioning block used for clamping a pumping sleeve of the pumping device is arranged on the lower pumping sliding block.
In a preferred scheme, the suction mechanical arm seat is vertically arranged;
the upper and lower suction sliders also slide in the vertical direction;
and a grabbing mechanical claw for grabbing the test tube is further arranged below the lower suction sliding block, and the hollow projection of the grabbing mechanical claw is at least partially overlapped with the hollow projections of the upper suction positioning block and the lower suction positioning block.
In the preferred scheme, the upper suction positioning block is divided into two parts, and comprises a limiting sheet which is propped against the top of the expanded head part of the suction rod and an open annular positioning block which is clamped on the suction rod, wherein the open annular positioning block is positioned below the expanded head part of the suction rod, and the opening is slightly smaller than the outer diameter of the suction rod;
the lower suction positioning block is divided into two parts, and comprises an opening annular positioning block which is positioned above and below the expansion part of the suction sleeve, wherein the opening of the opening annular positioning block below is slightly smaller than the outer diameter of the suction sleeve.
In a preferable scheme, a suction device supply device is further arranged at one station of the suction loading and unloading track, and a suction device pushing cylinder is arranged in the suction device supply device and used for installing the suction device on the suction loading and unloading mechanical arm.
In a preferred scheme, the suction device supply device is structurally characterized by comprising a suction device guide rail, a plurality of suction devices are arranged in the suction device guide rail, a suction device pushing notch is formed in one side, facing the suction assembling and disassembling mechanical arm, of the suction device guide rail, a flexible blocking piece is arranged at the position of the suction device pushing notch, and a suction device pushing cylinder is arranged on the other side and used for pushing one suction device out of the suction device pushing notch and enabling the end head of a suction rod and a suction sleeve to be clamped on an upper suction positioning block and a lower suction positioning block of the suction assembling and disassembling mechanical arm respectively.
In a preferred scheme, the position of the inlet of the guide rail of the suction device is bent upwards, so that the suction device in the guide rail is concentrated towards the position of the notch under the action of gravity.
In a preferred scheme, a suction device friction wheel for driving the suction device is further arranged on one side of the suction device guide rail, and the suction device friction wheel is used for enabling the suction device to be tightly arranged.
In a preferable scheme, the driving devices of the upper suction sliding block and the lower suction sliding block comprise two groups of screw-nut mechanisms, gear-rack mechanisms, belt driving mechanisms or linear motor mechanisms which are independently arranged;
the upper suction nut slider and the lower suction nut slider are lifted simultaneously to realize the lifting action of the suction device, and the distance between the upper suction nut slider and the lower suction nut slider is changed to realize the suction action of the suction device.
In a preferable scheme, the driving device of the upper suction sliding block and the lower suction sliding block is a screw nut mechanism, a first suction screw rod and a second suction screw rod which are parallel to each other are arranged on a suction mechanical arm seat, a first suction motor is connected with the first suction screw rod, a second suction motor is connected with the second suction screw rod, the upper suction nut sliding block is in threaded connection with the second suction screw rod, and the lower suction nut sliding block is in threaded connection with the first suction screw rod;
the upper suction nut slider and the lower suction nut slider are lifted simultaneously to realize the lifting action of the suction device, and the distance between the upper suction nut slider and the lower suction nut slider is changed to realize the suction action of the suction device.
In a preferred scheme, a suction device wedge block is further arranged, and the height of the suction device wedge block is positioned between the upper suction slide block and the lower suction slide block, so that the suction device is separated from the suction loading and unloading mechanical arm through the suction device wedge block;
or at least one of the upper suction slide block and the lower suction slide block is provided with a pushing mechanism so as to separate the suction device from the suction loading and unloading mechanical arm through pushing.
The invention provides a liquid accurate pumping proportioning system, which can realize automatic proportioning of liquid and automatic loading and unloading of test tubes through a pumping loading and unloading system, and greatly improve the efficiency.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic view of the suction handling robot of the present invention.
Fig. 2 is a schematic top view of the overall structure of the present invention.
Fig. 3 is a schematic structural view of the suction device of the present invention.
Fig. 4 is a schematic view of a driving structure of the suction handling robot of the present invention.
Fig. 5 is a schematic structural view of a supply device of the suction device of the present invention.
FIG. 6 is a side view of the suction handler robot of the present invention.
Fig. 7 is a perspective view of the suction handling robot of the present invention.
FIG. 8 is a schematic side view of an accurate liquid supply apparatus according to the present invention.
In the figure: a centrifugal device 1, a precise liquid supply device 2, an injector 201, a liquid supply pipe 202, a base 203, a pipe positioning block 204, a piston positioning nut slider 205, a liquid supply screw rod 206, a liquid supply motor 207, a suction mounting and dismounting track 3, a synchronous belt 31, a traveling drive device 32, a suction mounting and dismounting mechanical arm 4, a suction mechanical arm base 41, a first suction motor 42, a second suction motor 43, a first suction screw rod 44, a second suction screw rod 45, an upper suction nut slider 46, an upper suction positioning block 461, a lower suction nut slider 47, a lower suction positioning block 471, a gripping mechanical claw 48, a suction pipe supply device 5, a suction pipe 51, a suction pipe guide rail 52, a suction pipe friction wheel 53, a suction track 6, a suction pipe taking device 7, a suction pipe taking mechanical claw 71, a suction mechanical arm 8, a capping device 9, a pipe dismounting belt 10, a sterilizing device 11, a suction pipe guide rail 12, a waste liquid container 13, taking a suction device wedge block 15, a chute 16, a loading test tube code reading device 17, a loading test tube belt 18, a loading suction tube guide rail 19, a test tube 20 to be loaded, a semen bottle code reading device 21, a semen bottle guide rail 22, a semen bottle 23, a bottle shifting wheel 24, a suction device supply device 25, a suction device pushing cylinder 251, a suction device friction wheel 252, a suction device guide rail 253, a suction device pushing notch 254, a suction device 26, a suction rod expanding head 261, a suction sleeve expanding part 262, a suction rod 263, a suction sleeve 264, a suction piston head 265 and a shell 27.
Detailed Description
Example 1:
as shown in fig. 1 and 2, a liquid precise pumping proportioning system comprises a pumping loading and unloading track 3 spanning each station, a pumping loading and unloading mechanical arm 4 is arranged on the pumping loading and unloading track 3, preferably, as shown in fig. 4, a traveling driving device 32 is arranged between the pumping loading and unloading mechanical arm 4 and the pumping loading and unloading track 3, so that the pumping loading and unloading mechanical arm 4 travels along the pumping loading and unloading track 3; the travel driving device 32 in this embodiment preferably adopts a synchronous belt driving structure, two ends of a synchronous belt are fixedly mounted on the suction loading and unloading rail 3, driven wheels are arranged on two sides of a driving wheel, the synchronous belt bypasses the driven wheels and the driving wheel, the driving wheel is connected with a motor, the driven wheels and the driving wheel are both mounted on the suction loading and unloading mechanical arm 4, and the travel of the suction loading and unloading mechanical arm 4 is realized by driving the driving wheel to rotate. The alternative scheme adopts a gear and rack driving structure, wherein a rack is fixedly arranged on the suction loading and unloading track 3, a gear is arranged on the suction loading and unloading mechanical arm 4, and the gear is connected with a motor. Or a belt driving structure is adopted, the belt mechanism is arranged on the suction loading and unloading track 3 and is connected with the motor, and the belt is fixedly connected with the suction loading and unloading mechanical arm 4.
An upper suction slide block and a lower suction slide block which are independently driven by a driving device are arranged on the suction arm base 41, an upper suction positioning block 461 for clamping the end of the suction rod 263 of the suction device 26 is arranged on the upper suction slide block, and a lower suction positioning block 471 for clamping the suction sleeve 264 of the suction device 26 is arranged on the lower suction slide block. With this configuration, the lifting operation and the suction operation of the suction device 26 are realized by controlling the driving of the upper suction slider and the lower suction slider.
As shown in fig. 3, the suction device 26 includes a suction rod 263 and a suction sleeve 264, the suction rod 263 is slidably and hermetically installed in the suction sleeve 264, and the end of the suction rod 263 located in the suction sleeve 264 is provided with a suction piston head 265. In this case, it is preferable that the suction piston head 265 and the suction rod 263 are made of the same material, and a suction rod expansion head 261 for clamping is further provided at the other end of the suction rod 263. An enlarged portion 262 of the suction sleeve is provided at the upper end of the suction sleeve 264 for gripping.
Compared with the traditional injector, the direct suction sleeve 264 structure simplifies the structure of the suction device, particularly reduces the rapid change of the liquid flow speed in the suction process and reduces the sperm motility reduction caused by the apparatus. And the structure of the device is further optimized, so that the device is convenient to process and produce, and the cost of the device is reduced.
In the preferred embodiment as shown in fig. 1, 6 and 7, the suction arm base 41 is arranged vertically;
the upper and lower suction sliders also slide in the vertical direction;
as shown in fig. 7, a gripping gripper 48 for gripping the test tube is further disposed below the lower suction slide block, and a projection of an inner space of the gripping gripper 48 at least partially overlaps with projections of the inner spaces of the upper suction positioning block 461 and the lower suction positioning block 471. The gripper robot 48 is of an electromagnet driving structure, which is a prior art.
In a preferred embodiment, the upper pumping positioning block 461 is divided into two parts, which includes a limiting piece against the top of the pumping rod expanding head 261, and an open annular positioning block clamped on the pumping rod 263, the open annular positioning block is located below the pumping rod expanding head 261, and the opening is slightly smaller than the outer diameter of the pumping rod 263;
the lower suction positioning block 471 is divided into two parts, including an open ring positioning block located above and below the suction sleeve expansion portion 262, wherein the opening of the open ring positioning block below is slightly smaller than the outer diameter of the suction sleeve 264.
In a preferred embodiment, as shown in fig. 1 and 5, a suction device supply device 25 is further provided at one station of the suction handling rail 3, and a suction device pushing cylinder 251 is provided in the suction device supply device 25 for continuously mounting the suction device 26 on the suction handling robot arm 4. With this configuration, the structure of the suction loading/unloading robot arm 4 can be simplified, i.e., the Y-axis movement direction does not need to be set, the cost can be reduced, and the control accuracy can be improved. And it is not necessary to provide mechanical claws dedicated to the movable gripping suction device 26.
In a preferred embodiment, as shown in fig. 5, the suction device supplying device 25 is configured to include a suction device guide 253, a plurality of suction devices 26 are disposed in the suction device guide 253, a suction device pushing notch 254 is provided on a side of the suction device guide 253 facing the suction handler arm 4, a flexible stopper is provided at a position of the suction device pushing notch 254, and a suction device pushing cylinder 251 is provided on the other side for pushing one suction device 26 out of the suction device pushing notch 254 and causing a tip of the suction rod 263 and a tip of the suction sleeve 264 to be caught on an upper suction positioning block 461 and a lower suction positioning block 471, respectively, of the suction handler arm 4.
Preferably, as shown in fig. 5, the suction device guide 253 is bent upward at its entrance to concentrate the suction device 26 therein toward the location of the notch 254 under the force of gravity.
In a preferred embodiment, as shown in fig. 5, a suction device friction wheel 252 for driving the suction device 26 is further provided at one side of the suction device guide 253, and the suction device friction wheel 252 is used for closely arranging the suction device 26. Due to the action of the suction device friction wheel 252, there must be a suction device 26 at the location of the suction device pushing notch 254, thus ensuring the reliability of the automatic control.
The preferred scheme is as shown in fig. 1, the driving device of the upper suction slide block and the lower suction slide block comprises two groups of independently arranged screw-nut mechanisms, gear-rack mechanisms, belt driving mechanisms or linear motor mechanisms; a rack and pinion mechanism, a belt drive mechanism, or a linear motor mechanism is not shown in the figures.
The upper suction nut slider 46 and the lower suction nut slider 47 are lifted simultaneously to perform the lifting operation of the suction device 26, and the distance between the upper suction nut slider 46 and the lower suction nut slider 47 is changed to perform the suction operation of the suction device 26.
Preferably, as shown in fig. 1, 6 and 7, the driving device of the upper suction slide block and the lower suction slide block is a screw nut mechanism, a first suction screw 44 and a second suction screw 45 which are parallel to each other are arranged on the suction mechanical arm base 41, the first suction motor 42 is connected with the first suction screw 44, the second suction motor 43 is connected with the second suction screw 45, the upper suction nut slide block 46 is in threaded connection with the second suction screw 45, and the lower suction nut slide block 47 is in threaded connection with the first suction screw 44;
the upper suction nut slider 46 and the lower suction nut slider 47 are lifted simultaneously to perform the lifting operation of the suction device 26, and the distance between the upper suction nut slider 46 and the lower suction nut slider 47 is changed to perform the suction operation of the suction device 26.
The preferred solution is shown in figure 2, where a pick-and-place suction wedge 15 is also provided, positioned at a height between the upper and lower suction slides, the pick-and-place suction wedge 15 preferably being positioned between the test tube supply to be loaded and the test tube transfer device to be unloaded, configured like a hook, to separate the suction device 26 from the suction handler robot 4 by means of the pick-and-place suction wedge 15. The used suction device 26 is removed by the suction device wedge 15 and falls to the chute 16 below for uniform disposal after collection.
Or an ejector mechanism is provided at least one of the upper suction block and the lower suction block to separate the suction device 26 from the suction handler robot 4 by ejection. The ejection mechanism preferably employs an electromagnet to eject the suction device 26 from within the open annular spacer.
Example 2:
the method of use of the invention is illustrated below by way of example of density gradient centrifugation + washing of the optimized semen upstream.
As shown in fig. 1 to 8, a density gradient centrifugate, a centrifugate and an upstream liquid are respectively filled in three injectors 201 of the precise liquid supply device 2, and the density gradient centrifugate and the upstream liquid are liquids commonly used in the semen washing optimization in the prior art. Wherein the accurate liquid supply device 2 is positioned at one station of the centrifugal device 1, the liquid suction mechanical arm 8 is positioned at one station of the centrifugal device 1, and the suction loading and unloading mechanical arm 4 is positioned at one station of the centrifugal device 1 and occupies three stations of the centrifugal device 1 in total. The station here means that when centrifugal device 1 stops rotating, set for when centrifugal device 1 stops, the position that the test tube was located, like 4 test tubes of centrifugal device 1 can centrifugation simultaneously in fig. 1, then can provide 4 stations when stopping, also adopt 5~16 test tubes, can provide more stations in principle. So as to treat multiple semen portions simultaneously.
The sterilized suction device 26 is placed into the suction device guide rail 253 of the suction device supply device 25, the test tube 20 to be loaded is loaded into the pipette loading guide rail 19, the pipette 51 is loaded into the pipette supply device 5, and after the check is correct, the plurality of semen bottles 23 are placed into the semen bottle guide rail 22. And starting the equipment after checking again without errors.
The suction handler robot 4 moves to the rightmost end of the suction handler rail 3, so that the heights of the upper suction nut slider 46 and the lower suction nut slider 47 are at predetermined positions, and the suction device pushing cylinder 251 operates to push one suction device 26 onto the suction handler robot 4, and is securely fixed to the upper suction positioning block 461 and the lower suction positioning block 471. Meanwhile, the semen bottle code reading device 21 scans the current semen bottle 23, reads the code information, the loading test tube code reading device 17 scans the current test tube 20 to be loaded, reads the code information, and associates the code information of the two. The suction handling mechanical arm 4 moves to the upper side of the current semen bottle 23, the upper suction nut slider 46 and the lower suction nut slider 47 descend simultaneously until the bottom of the suction sleeve 264 approaches the bottom of the semen bottle 23, and the upper suction nut slider 46 moves upwards for a preset distance to extract 3ml of semen. The upper suction nut runner 46 and the lower suction nut runner 47 are raised simultaneously and the suction device 26 is moved away from the semen bottle 23. The suction handling mechanical arm 4 moves to the upper part of the current test tube 20 to be loaded, the upper suction nut slider 46 moves downwards, and semen is injected into the current test tube 20 to be loaded. The suction handling robot arm 4 moves to the position of the suction device wedge 15, or the pusher operates to detach the suction device 26 from the suction handling robot arm 4, and the suction device 26 falls into the chute 16, and is collected and then processed collectively. The suction loading and unloading mechanical arm 4 moves to the position above the current test tube 20 to be loaded again, the lower suction nut slider 47 moves downwards, the grabbing mechanical claw 48 grabs the current test tube 20 to be loaded, the suction loading and unloading mechanical arm 4 moves to the position above the station of the centrifugal device 1, the test tube 20 to be loaded is placed into the centrifugal device 1, the centrifugal device 1 rotates for an angle, and the other station is located below the suction loading and unloading mechanical arm 4. The above steps are repeated to fill the test tubes 20 to be filled in the centrifuge 1. In the process of loading the test tube 20 to be loaded, when the existing test tube 20 to be loaded passes below the precise liquid supply device 2, the liquid supply motor 207 is actuated, preferably, the liquid supply motor 207 is a stepping motor, and 9ml of density gradient centrifugate is loaded into the test tube 20 to be loaded by rotating a preset angle. After the test tube 20 is completely filled, the rotating frame of the centrifugal device 1 swings back and forth at a small angle, so that the liquid in the test tube 20 is uniformly mixed. Centrifuging at 1000 rpm for 20min, with rotation speed and centrifuging time as optional items. The liquid suction mechanical arm 8 moves to the upper part of the straw supply device 5, descends and is connected with a straw, the liquid suction mechanical arm 8 moves to the upper part of the centrifugal device 1, and supernatant is sucked by the straw and is discharged into the waste liquid container 13 through a pipeline. After sucking one test tube. The liquid suction mechanical arm 8 moves to the position above the pipette taking device 7, the liquid suction mechanical arm 8 descends to a certain height, a mechanical claw of the pipette taking device 7 acts to clamp the pipette 51, the liquid suction mechanical arm 8 rises to a certain height, and the pipette 51 is separated. The gripper of the pipette device 7 is opened, and the pipette 51 falls down and is then collectively disposed. The pipette robot 8 moves again to the upper side of the pipette supplying unit 5 to take one pipette 51 and suck the supernatant in the next test tube. And the rest is done in sequence until the supernatant fluid suction of all the test tubes is finished. In the process of station switching, the accurate liquid supply device 2 adds 9ml of centrifugate into the sucked test tube again, and centrifugates for 10min at 1000 r. And (5) sucking the supernatant again, oscillating the rotating frame of the centrifugal device 1 at a high speed and at a small angle to and fro, and precipitating by shaking. The precise liquid supply device 2 adds upstream liquid to each test tube. The suction handling mechanical arm 4 moves to the upper part of the centrifugal device 1, the suction handling mechanical arm 4 descends, the gripping mechanical claw 48 grips the test tube to the detached test tube conveying device, and when each grip one detached test tube 14, the tube unloading belt 10 rotates by an angle to allow a new vacant position to be formed until all the test tubes grip the detached test tube conveying device. When the detached test tube 14 passes under the capping device 9, this is picked up by a photoelectric sensor provided on the side of the pipette guide 12. The capping device 9 caps the test tube against the detached test tube 14. And after all washing optimization is completed, alarming to remind an operator to continue processing. After all samples have been taken, the sterilizing device 11 is activated to sterilize the space inside the housing 27.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (10)
1. The utility model provides a liquid accurate suction proportioning system, is equipped with slidable suction loading and unloading arm (4), characterized by including suction loading and unloading track (3) that span each station on suction loading and unloading track (3): an upper suction slide block and a lower suction slide block which are respectively and independently driven by a driving device are arranged on the suction mechanical arm seat (41), an upper suction positioning block (461) used for clamping the end of a suction rod (263) of the suction device (26) is arranged on the upper suction slide block, and a lower suction positioning block (471) used for clamping a suction sleeve (264) of the suction device (26) is arranged on the lower suction slide block.
2. The liquid precise pumping proportioning system of claim 1, wherein: the suction mechanical arm seat (41) is vertically arranged;
the upper and lower suction sliders also slide in the vertical direction;
and a gripping mechanical claw (48) for gripping the test tube is further arranged below the lower suction sliding block, and the projection of the inner space of the gripping mechanical claw (48) is at least partially overlapped with the projections of the inner spaces of the upper suction positioning block (461) and the lower suction positioning block (471).
3. The liquid precise pumping proportioning system of claim 1, wherein: the upper suction positioning block (461) is divided into two parts, and comprises a limiting sheet which props against the top of the suction rod expansion head (261) and an open annular positioning block which is clamped on the suction rod (263), wherein the open annular positioning block is positioned below the suction rod expansion head (261), and the opening is slightly smaller than the outer diameter of the suction rod (263);
the lower suction positioning block (471) is divided into two parts, and comprises an opening annular positioning block which is positioned above and below the suction sleeve expansion part (262), wherein the opening of the opening annular positioning block below is slightly smaller than the outer diameter of the suction sleeve (264).
4. The liquid precise pumping proportioning system of claim 1, wherein: a suction device supply device (25) is further arranged at one station of the suction loading and unloading track (3), and a suction device pushing cylinder (251) is arranged in the suction device supply device (25) and is used for installing a suction device (26) on the suction loading and unloading mechanical arm (4).
5. The liquid precise pumping proportioning system of claim 4, wherein: the suction device supply device (25) is structurally characterized by comprising a suction device guide rail (253), a plurality of suction devices (26) are arranged in the suction device guide rail (253), a suction device pushing notch (254) is arranged on one side, facing a suction loading and unloading mechanical arm (4), of the suction device guide rail (253), a flexible baffle is arranged at the position of the suction device pushing notch (254), and a suction device pushing cylinder (251) is arranged on the other side of the suction device pushing notch (254) and used for pushing one suction device (26) out of the suction device pushing notch (254) and enabling the end of a suction rod (263) and a suction sleeve (264) to be clamped on an upper suction positioning block (461) and a lower suction positioning block (471) of the suction loading and unloading mechanical arm (4) respectively.
6. The liquid precise pumping proportioning system of claim 5, wherein: the position at the inlet of the suction device guide rail (253) is bent upwards, so that the suction device (26) in the suction device guide rail is concentrated towards the position of the notch (254) under the action of gravity.
7. The liquid precise pumping proportioning system of claim 6, wherein: a suction device friction wheel (252) for driving the suction device (26) is further arranged on one side of the suction device guide rail (253), and the suction device friction wheel (252) is used for enabling the suction device (26) to be tightly arranged.
8. The liquid precise pumping proportioning system of claim 1, wherein: the driving devices of the upper suction sliding block and the lower suction sliding block comprise two groups of screw nut mechanisms, gear rack mechanisms, belt driving mechanisms or linear motor mechanisms which are independently arranged;
the upper suction nut slider (46) and the lower suction nut slider (47) are lifted simultaneously to realize the lifting action of the suction device (26), and the distance between the upper suction nut slider (46) and the lower suction nut slider (47) is changed to realize the suction action of the suction device (26).
9. The liquid precise pumping proportioning system of claim 1, wherein: the driving device of the upper suction sliding block and the lower suction sliding block is a screw nut mechanism, a first suction screw rod (44) and a second suction screw rod (45) which are parallel to each other are arranged on a suction mechanical arm seat (41), a first suction motor (42) is connected with the first suction screw rod (44), a second suction motor (43) is connected with the second suction screw rod (45), an upper suction nut sliding block (46) is in threaded connection with the second suction screw rod (45), and a lower suction nut sliding block (47) is in threaded connection with the first suction screw rod (44);
the upper suction nut slider (46) and the lower suction nut slider (47) are lifted simultaneously to realize the lifting action of the suction device (26), and the distance between the upper suction nut slider (46) and the lower suction nut slider (47) is changed to realize the suction action of the suction device (26).
10. The liquid precise pumping proportioning system of claim 1, wherein: a suction device wedge block (15) is also arranged, the height of the suction device wedge block is between the upper suction slide block and the lower suction slide block, so that the suction device (26) is separated from the suction loading and unloading mechanical arm (4) through the suction device wedge block (15);
or at least one of the upper suction slide block and the lower suction slide block is provided with an ejecting mechanism so as to separate the suction device (26) from the suction loading and unloading mechanical arm (4) through ejecting.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010164649.2A CN111346682B (en) | 2020-03-11 | 2020-03-11 | Liquid accurate suction proportioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010164649.2A CN111346682B (en) | 2020-03-11 | 2020-03-11 | Liquid accurate suction proportioning system |
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| CN111346682A true CN111346682A (en) | 2020-06-30 |
| CN111346682B CN111346682B (en) | 2022-12-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112892258A (en) * | 2021-01-18 | 2021-06-04 | 代毅波 | Automatic quantitative screening and mixing device |
Citations (9)
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| CN111346682B (en) | 2022-12-06 |
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