CN112060067A - Mechanical arm device for automatically processing biological samples - Google Patents

Mechanical arm device for automatically processing biological samples Download PDF

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Publication number
CN112060067A
CN112060067A CN202010980333.0A CN202010980333A CN112060067A CN 112060067 A CN112060067 A CN 112060067A CN 202010980333 A CN202010980333 A CN 202010980333A CN 112060067 A CN112060067 A CN 112060067A
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CN
China
Prior art keywords
axis
mechanical
mechanical arm
motor
axis mechanical
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Pending
Application number
CN202010980333.0A
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Chinese (zh)
Inventor
何农跃
王超
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Nanjing Zhongda Institute Of Biological Information Co ltd
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Nanjing Zhongda Institute Of Biological Information Co ltd
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Application filed by Nanjing Zhongda Institute Of Biological Information Co ltd filed Critical Nanjing Zhongda Institute Of Biological Information Co ltd
Priority to CN202010980333.0A priority Critical patent/CN112060067A/en
Publication of CN112060067A publication Critical patent/CN112060067A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Abstract

The invention discloses a mechanical arm device for automatically processing biological samples, which comprises a workbench, a three-axis mechanical arm, a multi-channel pipettor and a mechanical gripper, wherein the three-axis mechanical arm is arranged on the workbench; a plurality of groups of stations are arranged on the upper surface of the workbench; the three-axis mechanical arm comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm which are respectively and independently fixedly installed and moved along the X-axis direction, the Y-axis direction and the Z-axis direction of the horizontal plane of the workbench; the multichannel pipettor is detachably and fixedly arranged at the lower end of the group of Z-axis mechanical arms; the mechanical gripper is fixedly arranged at the lower end of the other group of Z-axis mechanical arms through a mechanical connecting piece. The invention automatically realizes the transfer of liquid reagents and consumables in the biological sample treatment process by integrating the three-axis mechanical arm, the multi-channel pipettor and the mechanical gripper, has the characteristics of rapidness and flexibility, and provides important means for high-throughput nucleic acid detection, automatic pathogen identification and the like.

Description

Mechanical arm device for automatically processing biological samples
Technical Field
The present invention relates to a robot arm device, and more particularly, to a robot arm device for automated biological sample processing.
Background
The mechanical arm is widely applied to automatic instruments and equipment, and has excellent performance in the fields of traditional industrial manufacturing, goods transportation and the like, emerging intelligent robots, medical equipment and the like.
Along with the development of science and technology, the automatic experiment platform for laboratory or clinical examination function is becoming perfect, can realize automatic experiment process through make up multiple experiment consumptive material, reagent, module etc. on same platform, and is efficient and pollute less, can extensively use in various experiments.
In the automation experiment, need frequently inhale and put operations such as liquid and snatch consumptive material to shift liquid or consumptive material to the position that needs, this requires the platform to have modules such as the reliable liquid of inhaling of high accuracy positioner and function, consumptive material snatch and cooperate, accomplish the sample processing operation in the platform fast.
Disclosure of Invention
The invention aims to provide a mechanical arm device for automatic biological sample processing, which solves the problems in the prior art and can realize accurate transfer of samples, reagents and consumables in sample processing.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a mechanical arm device for automatically processing biological samples, which comprises: the device comprises a workbench, a three-axis mechanical arm, a multi-channel pipettor and a mechanical gripper; a plurality of groups of stations are arranged on the upper surface of the workbench;
the three-axis mechanical arm comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm which are respectively and independently fixedly installed and moved along the X-axis direction, the Y-axis direction and the Z-axis direction of the horizontal plane of the workbench, wherein the X-axis mechanical arm is fixedly installed on one side of the station along the horizontal plane of the workbench; two groups of Y-axis mechanical arms are arranged and are independently installed at two ends of the same side of the upper surface of the X-axis mechanical arm in a sliding mode at intervals; two groups of Z-axis mechanical arms are arranged and are independently and slidably mounted on one side of one group of Y-axis mechanical arms;
the multichannel pipettor is detachably and fixedly mounted at the lower end of the group of Z-axis mechanical arms;
and the mechanical hand grip is fixedly arranged at the lower end of the other group of Z-axis mechanical arms through a mechanical connecting piece.
Preferably, the X-axis mechanical arm, the Y-axis mechanical arm and the Z-axis mechanical arm form an included angle of 90 degrees in the moving direction of the X-axis, the Y-axis and the Z-axis.
Preferably, the multichannel pipettor is arranged in an air replacement mode structure and used for sucking and/or discharging reagents or objects, and comprises a pipette head and a third motor, wherein the pipette head is detachably and fixedly mounted at the front end of the multichannel pipettor and is arranged in a pipette head structure with an air filter element; and the third motor is used for driving the pipette tip to move along the Z-axis direction.
Preferably, the mechanical gripper comprises a mechanical finger, a transmission structure shell, a rolling bearing, a transmission structure, a second motor and a speed reducer; one side of the mechanical finger is fixedly arranged at one end of the bottom of the shell of the transmission structure; the other end of the transmission structure shell is connected with the transmission structure through a rolling bearing; the upper end of the transmission structure is fixedly connected with the speed reducer through a second motor.
Preferably, still include reverse pivot, first motor, mechanical finger one end is through screw thread and reverse pivot fixed mounting, reverse pivot is connected with first motor transmission, and reverse pivot passes through mechanical connecting piece fixed mounting in transmission structure shell bottom
Preferably, each group of mechanical fingers is independently provided with a group of pressure sensors, and the pressure sensors are fixedly arranged on the inner surfaces of the mechanical fingers and used for transmitting and/or collecting the grabbing force data of the mechanical fingers.
Preferably, each group of mechanical arms of the three-axis mechanical arm and the multi-channel liquid transfer device are respectively and independently provided with a group of limit sensors for transmitting and/or collecting position movement data of the mechanical arms.
Preferably, the intelligent control system further comprises a control module, wherein the control module is independently connected with each group of limit sensors, each group of pressure sensors, the motor, the first motor and the second motor in a communication mode through a CAN bus and used for exchanging data and working instructions.
The invention discloses the following technical effects: according to the invention, a multi-channel liquid transfer device and a mechanical gripper are integrated on the basis of a three-axis mechanical arm, so that automatic transfer of samples, reagents and consumables in a biological sample treatment process is realized, and a thin film pressure sensor is mounted on the mechanical gripper, so that the consumable gripping reliability is ensured, and an important basis is provided for realization and operation of an automatic experiment platform.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of the robotic device for automated biological specimen processing according to the present invention;
FIG. 2 is a schematic diagram of a mechanical gripper of the robotic device for automated biological sample processing according to the present invention;
FIG. 3 is a side view of a mechanical hand of the robotic device for automated biological sample processing of the present invention;
FIG. 4 is a block diagram of a control device of the robotic arm device for automated biological sample processing according to the present invention;
in the figure, 1 is a three-axis mechanical arm, 2 is a multifunctional pipette, 3 is a mechanical gripper, 11 is an X-axis mechanical arm, 12 is a Y-axis mechanical arm, 13 is a Z-axis mechanical arm, 21 is a disposable pipette tip, 31 is a mechanical finger, 32 is a reverse rotating shaft, 33 is a first motor, 34 is a film pressure sensor, 35 is a transmission structure, 36 is a second motor, 37 is a speed reducer, 38 is a ball bearing, and 39 is a transmission structure shell.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a mechanical arm device for automatically processing biological samples, which comprises: the device comprises a workbench, a three-axis mechanical arm, a multi-channel pipettor and a mechanical gripper; a plurality of groups of stations are arranged on the upper surface of the workbench;
the three-axis mechanical arm comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm which are respectively and independently fixedly installed and moved along the X-axis direction, the Y-axis direction and the Z-axis direction of the horizontal plane of the workbench, wherein the X-axis mechanical arm is fixedly installed on one side of the station along the horizontal plane of the workbench; two groups of Y-axis mechanical arms are arranged and are independently installed at two ends of the same side of the upper surface of the X-axis mechanical arm in a sliding mode at intervals; two groups of Z-axis mechanical arms are arranged and are independently and slidably mounted on one side of one group of Y-axis mechanical arms; the Y-axis and Z-axis directions of the three-axis mechanical arm are both double-arm structures, move simultaneously and are driven by a servo system and a moving lead screw. Wherein the X-axis mechanical arm, the Y-axis mechanical arm and the Z-axis mechanical arm form an included angle of 90 degrees in the X-axis direction, the Y-axis direction and the Z-axis direction.
Two arms have carried on multichannel pipettor and mechanical tongs respectively for the transfer of sample, reagent and consumptive material. The servo system adopts the conventional type, so that the servo system capable of completing the technical scheme of the invention is within the protection scope of the invention.
The multichannel pipettor is detachably and fixedly arranged at the lower end of the group of Z-axis mechanical arms; the multichannel pipettor is arranged in an air replacement mode structure and used for sucking and/or discharging reagents or objects, and comprises a pipette head and a third motor, wherein the pipette head is detachably and fixedly arranged at the front end of the multichannel pipettor and is arranged in a pipette head structure with an air filter element; and the third motor is used for driving the pipette tip to move along the Z-axis direction.
Optionally, the pipette tip is configured to automatically load a disposable filter element tip at the lower end of the multichannel pipette, and an air replacement mode is adopted to suck or release a sample or a reagent in a consumable, and each channel of the multichannel pipette works independently and can suck and release liquid synchronously or asynchronously.
Preferably, the mechanical gripper is fixedly arranged at the lower end of the other group of Z-axis mechanical arms through a mechanical connecting piece.
The mechanical gripper comprises a mechanical finger, a transmission structure shell, a rolling bearing, a transmission structure, a second motor and a speed reducer; one side of the mechanical finger is fixedly arranged at one end of the bottom of the shell of the transmission structure; the other end of the transmission structure shell is connected with the transmission structure through a rolling bearing; the upper end of the transmission structure is fixedly connected with the speed reducer through a second motor.
Preferably, still include reverse pivot, first motor, mechanical finger one end is through screw thread and reverse pivot fixed mounting, reverse pivot is connected with first motor transmission, and reverse pivot passes through mechanical connecting piece fixed mounting in transmission structure shell bottom.
The mechanical gripper is mounted on the mechanical arm, can rotate integrally, is provided with two mechanical fingers, can be automatically opened and closed, and is used for clamping and loosening consumables.
Each group of mechanical fingers is independently provided with a group of pressure sensors, and the pressure sensors are fixedly arranged on the inner surfaces of the mechanical fingers and used for transmitting and/or collecting grabbing force data of the mechanical fingers. The pressure sensor is preferably set as a film pressure sensor, can sense the grabbing strength of the mechanical finger and judges the grabbing state.
Preferably, each group of mechanical arms of the three-axis mechanical arm and the multi-channel liquid transfer device are respectively and independently provided with a group of limit sensors for transmitting and/or collecting position movement data of the mechanical arms.
The control module is independently connected with each group of limit sensors, each group of pressure sensors, the motor, the first motor and the second motor in a communication mode through a CAN bus and used for exchanging data and working instructions.
As a specific embodiment of the present invention, the control module is a main control circuit with a microprocessor as a core, and is responsible for communicating with each circuit unit and exchanging data and instructions. The circuit unit is arranged as a control circuit of the three-axis mechanical arm, the multi-channel pipettor and the mechanical gripper and is responsible for controlling the operation of each actuating mechanism. The control module and the circuit unit main control chip are STM32 embedded chips, and the control module and each circuit unit are communicated through a CAN bus.
The multi-channel pipettor and the mechanical gripper are hung on the three-axis mechanical arm and move to working positions through the mechanical arm, the movement of each mechanism is controlled by the control module, the control module sends instructions and data to the circuit units of each mechanism, and then each circuit unit drives the corresponding mechanism to execute specific functions.
The invention discloses the following technical effects: according to the invention, a multi-channel liquid transfer device and a mechanical gripper are integrated on the basis of a three-axis mechanical arm, so that automatic transfer of samples, reagents and consumables in a biological sample treatment process is realized, and a thin film pressure sensor is mounted on the mechanical gripper, so that the consumable gripping reliability is ensured, and an important basis is provided for realization and operation of an automatic experiment platform.
As shown in fig. 1, the mechanical arm device for automated biological sample treatment comprises a three-axis mechanical arm 1, a multi-channel pipettor 2 and a mechanical gripper 3, wherein the three-axis mechanical arm 1 comprises an X-axis mechanical arm 11, a Y-axis mechanical arm 12 and a Z-axis mechanical arm 13, the multi-channel pipettor 2 can automatically load and unload a disposable pipette tip 21, the disposable pipette tip is mounted on the Z-axis mechanical arm 13, and the three-axis mechanical arm 1 is used for respectively realizing motion positioning in a three-dimensional space. The mechanical gripper 3 comprises a mechanical finger 31, a reverse rotating shaft 32, a first motor 33, film pressure sensors 34, a transmission structure 35, a second motor 36, a speed reducer 37, a ball bearing 38 and a transmission structure shell 39, wherein the two film pressure sensors 34 are respectively mounted at the front ends of the two mechanical fingers 31, and when a consumable material is gripped, the pressure of the mechanical finger 31 can be sensed, and whether the current gripping is reliable or not is judged. The first motor 33 drives the direction rotating shaft 32 to move to control the opening and closing of the mechanical finger 31. The second motor 36 rotates to drive the reducer 37 and the transmission structure 35 to control the rotation of the mechanical finger 31. The mechanical gripper 3 is mounted on the other Z-axis mechanical arm 13 and moves and positions in the three-dimensional space of the workbench along with the three-axis mechanical arm 1. One side of the mechanical finger 31 is fixedly arranged at one end of the bottom of the transmission structure shell 39; the other end of the transmission structure shell 39 is connected with the transmission structure 35 through a rolling bearing 38; the upper end of the transmission structure 35 is fixedly connected with a speed reducer 37 through a second motor 36.
Still include reverse pivot 32, first motor 33, mechanical finger 31 one end is passed through slide rail and reverse pivot 32 fixed mounting, reverse pivot 32 is connected with the transmission of first motor 33, and reverse pivot 32 passes through mechanical connecting piece fixed mounting in transmission structure shell 39 bottoms.
For example, in an automated experiment workstation for nucleic acid extraction by a magnetic bead method, a centrifuged blood sample is placed in a 96-well deep-well plate and then placed in the workstation before nucleic acid extraction. The mechanical arm 1 drives the multi-channel pipettor 2 to a disposable pipette tip 21 storage station, and the Z-axis mechanical arm 13 drives the multi-channel pipettor 2 to descend to load the disposable pipette tip 21. Arm 1 drives multichannel pipettor 2 and fixes a position to the reagent board of depositing the magnetic bead in, transfers to the 96 hole deep hole boards of depositing the sample after absorbing the magnetic bead and releases the magnetic bead, and triaxial arm 1 drive multichannel pipettor 2 is to the discarded object station, and multichannel pipettor 2 automatic uninstallation has used the liquid-transfering gun point. The three-axis mechanical arm 1 drives the mechanical hand 3 to a sample station, and a 96-hole deep hole plate for storing samples is grabbed to a vibration station, so that nucleic acid is combined with magnetic beads. And finally, driving the mechanical gripper 3 by the three-axis mechanical arm 1 to transfer the 96-hole deep-hole plate on the oscillation station to a magnetic separation station, and performing nucleic acid extraction operation by matching the multi-channel pipettor 2 with the mechanical gripper 3.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims (8)

1. A mechanical arm device for automatically processing biological samples is characterized by comprising a workbench, a three-axis mechanical arm, a multi-channel liquid shifter and a mechanical gripper; a plurality of groups of stations are arranged on the upper surface of the workbench;
the three-axis mechanical arm comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm which are respectively and independently fixedly installed and moved along the X-axis direction, the Y-axis direction and the Z-axis direction of the horizontal plane of the workbench, wherein the X-axis mechanical arm is fixedly installed on one side of the station along the horizontal plane of the workbench; two groups of Y-axis mechanical arms are arranged and are independently installed at two ends of the same side of the upper surface of the X-axis mechanical arm in a sliding mode at intervals; two groups of Z-axis mechanical arms are arranged and are independently and slidably mounted on one side of one group of Y-axis mechanical arms;
the multichannel pipettor is detachably and fixedly mounted at the lower end of the group of Z-axis mechanical arms;
and the mechanical hand grip is fixedly arranged at the lower end of the other group of Z-axis mechanical arms through a mechanical connecting piece.
2. The robotic arm device for automated biological sample processing as recited in claim 1, wherein the X-axis robotic arm, the Y-axis robotic arm, and the Z-axis robotic arm are disposed at an angle of 90 ° with respect to each other.
3. The mechanical arm device for automatic biological sample treatment according to claim 1, wherein the multichannel pipettor is configured to be air-replaced for sucking and/or discharging a reagent or an object, and comprises a pipette head and a third motor, wherein the pipette head is detachably and fixedly mounted at the front end of the multichannel pipettor and is configured to be a pipette head structure with an air filter element; and the third motor is used for driving the pipette tip to move along the Z-axis direction.
4. The robotic arm device for automated biological sample processing according to claim 1, wherein the mechanical gripper comprises a mechanical finger, a transmission structure housing, a rolling bearing, a transmission structure, a second motor, a speed reducer; one side of the mechanical finger is fixedly arranged at one end of the bottom of the shell of the transmission structure; the other end of the transmission structure shell is connected with the transmission structure through a rolling bearing; the upper end of the transmission structure is fixedly connected with the speed reducer through a second motor.
5. The robotic arm device for automated biological sample processing as recited in claim 4, further comprising a reverse rotation shaft and a first motor, wherein one end of the mechanical finger is fixedly mounted to the reverse rotation shaft through a screw thread, the reverse rotation shaft is in transmission connection with the first motor, and the reverse rotation shaft is fixedly mounted to the bottom of the transmission structure housing through a mechanical connector.
6. The robotic device for automated biological sample processing as claimed in claim 4 or 5, wherein each set of mechanical fingers is independently provided with a set of pressure sensors fixedly mounted on the inner surface of the mechanical fingers for transmitting and/or collecting grasping force data of the mechanical fingers.
7. The robotic arm device for automated biological sample processing according to claim 6, wherein each set of robotic arms of the three-axis robotic arm and the multi-channel pipettor are independently provided with a set of position limit sensors for transmitting and/or collecting position movement data of the robotic arms.
8. The robotic arm device for automated biological sample processing as recited in claim 7, further comprising a control module communicatively coupled independently to each set of limit sensors, each set of pressure sensors, the motor, the first motor, the second motor via a CAN bus for data and work order exchange.
CN202010980333.0A 2020-09-17 2020-09-17 Mechanical arm device for automatically processing biological samples Pending CN112060067A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010980333.0A CN112060067A (en) 2020-09-17 2020-09-17 Mechanical arm device for automatically processing biological samples

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010980333.0A CN112060067A (en) 2020-09-17 2020-09-17 Mechanical arm device for automatically processing biological samples

Publications (1)

Publication Number Publication Date
CN112060067A true CN112060067A (en) 2020-12-11

Family

ID=73680605

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010980333.0A Pending CN112060067A (en) 2020-09-17 2020-09-17 Mechanical arm device for automatically processing biological samples

Country Status (1)

Country Link
CN (1) CN112060067A (en)

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