CN112539987A - Test tube liquid sample mixing mechanism and device - Google Patents
Test tube liquid sample mixing mechanism and device Download PDFInfo
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- CN112539987A CN112539987A CN201910890039.8A CN201910890039A CN112539987A CN 112539987 A CN112539987 A CN 112539987A CN 201910890039 A CN201910890039 A CN 201910890039A CN 112539987 A CN112539987 A CN 112539987A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/38—Diluting, dispersing or mixing samples
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Abstract
The invention relates to a test tube liquid sample blending mechanism and a device, which comprises a manipulator fixing seat, a test tube clamp fixing seat rotationally connected with the manipulator fixing seat through a rotating shaft, wherein the test tube clamp fixing seat is connected with a test tube used for clamping the test tube and a roller used for guiding, the roller is placed in a guide track of a vertical guide groove, and the guide track comprises at least one vertical section and one slope section; the manipulator fixing seat moves vertically to drive the rollers to move relatively in the guide track; the roller moves at the vertical section of the guide track to guide the test tube clamp fixing seat and the test tube clamp to vertically lift; the roller moves at the slope section of the guide track, guides the test tube clamp fixing seat and the test tube clamp to vertically move, and deflects around the rotating shaft within a preset maximum deflection angle range. Test tube liquid sample mixing mechanism and device can simulate the operation of artifical mixing test tube sample, realizes the function of the automatic mixing of test tube sample through the mechanism.
Description
Technical Field
The invention belongs to the technical field of medical diagnosis articles, and relates to a test tube liquid sample mixing mechanism, a test tube liquid sample mixing device and a test tube liquid sample mixing method.
Background
In clinical sample analysis, it is often necessary to mix samples previously loaded into test tubes. For example, serum and plasma from a whole blood sample can separate in a tube after the blood has been allowed to stand in the tube for a period of time. When analyzing a whole blood sample in a test tube by using a hematology analyzer, the serum and the plasma which are already layered need to be mixed evenly. Current ways of blending samples in vials include manual blending and mechanical blending.
Adopt artifical manual mixing, not only inefficiency, mixed effect are poor, can't realize the full automatization of analysis appearance moreover. Semi-automated analysis, which requires manual mixing, cannot analyze clinical samples in bulk.
At present, various mechanical mixing modes are used for realizing sample mixing. The vibration mixing mode adopts a vibrator to synchronously vibrate the test tubes on the vibrator, thereby realizing the mixing of the samples in the test tubes. The vibration speed is strictly controlled for the vibration mixing, if the vibration speed is low, the sufficient mixing of the blood cannot be ensured, and if the vibration speed is too high, the blood cells can be damaged. And a mechanical structure simulating manual back-and-forth inversion mode for uniformly mixing the sample in the test tube. For example, chinese patent CN201188074 adopts three power sources (a Z-direction linear motor, an X-direction linear motor, and a rotary motor), and the rotary motor and the synchronous belt transmission mechanism are mounted on the second mounting base to drive the rotating shaft and the test tube clamp to rotate; the X-direction linear motor is arranged on the first mounting seat and drives the second mounting seat and the upper parts of the second mounting seat to do X-direction linear motion; the Z-direction linear motor drives the first mounting seat and the upper parts of the first mounting seat to do Z-direction linear motion. And the horizontal movement, the vertical movement and the rotating movement of the test tube clamp are completed. For another example, chinese patent CN104502178B adopts three power sources (step motors), a Y-direction motor and a synchronous belt transmission mechanism are mounted on a Y-direction swinging mixing mechanism support to drive the test tube clamp and the rotating shaft to make a rotating motion, and the Y-direction swinging mixing support is mounted on a linear guide rail on a horizontal moving plate and can freely move up and down; the X-direction motor and the synchronous belt transmission mechanism are arranged on the U-shaped main bracket and drive the horizontal moving plate to do X-direction linear motion; the Z-direction motor and the synchronous belt transmission mechanism are arranged on the U-shaped main bracket, and the Y-direction swinging blending mechanism bracket is driven by the towing rod to do Z-direction linear motion. And the horizontal movement, the vertical movement and the rotating movement of the test tube clamp are completed. These blending mechanisms require at least three power sources (motors) to cooperate and require the use of complex rotational motion mechanisms.
Disclosure of Invention
The invention firstly provides a test tube liquid sample blending mechanism, which enables the rotation motion of a test tube to be driven by one section of vertical motion linear motion, converts the linear motion into the rotation motion, and realizes the function of automatically blending the test tube samples without special power.
Specifically, the test tube liquid sample blending mechanism provided by the invention comprises a manipulator fixing seat, a test tube clamp fixing seat which is rotationally connected with the manipulator fixing seat through a rotating shaft, wherein the test tube clamp fixing seat is connected with a test tube for clamping the test tube and a roller for guiding, the roller is placed in a guide track of a vertical guide groove, and the guide track comprises at least one vertical section and one slope section; the manipulator fixing seat moves vertically to drive the rollers to move relatively in the guide track; the roller moves at the vertical section of the guide track to guide the test tube clamp fixing seat and the test tube clamp to vertically lift; the roller moves at the slope section of the guide track, guides the test tube clamp fixing seat and the test tube clamp to vertically move, and deflects around the rotating shaft within a preset maximum deflection angle range.
When the roller moves at the vertical section of the guide track, the test tube clamp fixing seat moves vertically to drive the test tube to move vertically, so that the test tube is grabbed and transferred; when the gyro wheel moved at the orbital slope section of direction, test tube clamp fixing base still simultaneously revoluted the rotation axis and carried out deflection motion except vertical motion, drove the test tube clamp and be located the test tube on the test tube clamp and realize being greater than the upset that is located 90 degrees to realize the function of sample mixing in the test tube.
In some embodiments, when the roller is located at the vertical section of the guide track, the upper end surface of the test tube clamp fixing seat is in contact fit with the lower end surface of the manipulator fixing seat, and the roller is in contact with one side surface of the guide track to limit the deflection of the test tube clamp fixing seat around the rotating shaft.
In some embodiments, the manipulator fixing seat moves vertically to drive the roller to move on the vertical section of the guide track, so that the test tube clamp fixing seat and the test tube clamp are guided to only move vertically without deflection.
Specifically, when the roller is positioned at the vertical section of the guide track, the upper end surface A of the test tube clamp fixing seat is contacted and attached with the lower end surface B of the manipulator fixing seat, and the roller is contacted with one side surface C of the guide track to form mechanical limit; and limiting the deflection of the test tube clamp fixing seat around the rotating shaft. Therefore, the manipulator fixing seat moves vertically, when the roller is driven to move at the vertical section of the guide track, the test tube clamp fixing seat can only do vertical movement along with the manipulator fixing seat due to the limited position, and deflection movement cannot be generated.
In some embodiments, the manipulator fixing seat moves vertically to drive the roller to move on the slope section of the guide track, the axis of the roller deviates in the Y-axis direction, and the manipulator fixing seat and the test tube clamp are guided to perform a deflection motion around the rotating shaft within a preset maximum deflection angle range during the vertical movement. When the roller is located at the slope section position of the guide track, the axis of the roller deviates in the Y-axis direction, the upper end face of the test tube clamp fixing seat and the lower end face of the manipulator fixing seat are separated from each other, mechanical limitation is not formed any more, and meanwhile, the roller guides the test tube clamp fixing seat and the test tube clamp to move in a vertical motion process and simultaneously rotate around the rotating shaft to perform deflection motion within a preset maximum deflection angle range.
In some preferred embodiments, the preset maximum deflection angle of the test tube clamp fixing seat and the test tube clamp around the rotating shaft is less than or equal to the limit deflection angle; and the limiting deflection angle is an angle of an included angle a formed by the connecting line of the axis of the roller and the rotating shaft and the normal line of the slope section of the guide track on a YZ plane where the test tube clamp fixing seat and the test tube clamp rotate around the rotating shaft when the roller is positioned at the vertical section of the guide track.
In some preferred embodiments, the predetermined maximum yaw angle is greater than 90 degrees or greater than 120 degrees in order to achieve sufficient mixing of the sample in the tube. That is, the ultimate deflection angle a is greater than 90 degrees or greater than 120 degrees.
In some preferred embodiments, a torsion spring is mounted on the rotating shaft, two ends of the torsion spring are respectively connected with the manipulator fixing seat and the test tube clamp fixing seat, and the torsion spring can provide a reset acting force for the test tube clamp fixing seat in a deflection state. When the test tube clamp fixing seat moves in a return mode, the deflection reset action is completed under the dual actions of the elasticity of the torsion spring and the gravity of the test tube clamp fixing seat.
On the other hand, the invention also provides a test tube liquid sample blending device, wherein the rotary motion of the test tube clamp of the device is driven by one section of vertical motion linear motion, so that the linear motion is converted into the rotary motion, and the automatic blending function of the test tube sample is realized without special power, so that three actions of the test tube clamp, namely horizontal motion, vertical motion and rotary motion, are realized through two power sources (stepping motors) and a linear motion mechanism; the cost is greatly saved. And the horizontal motion and the vertical motion of the test tube clamp are connected in a way that the horizontal guide groove is matched with a bearing roller positioned in the horizontal guide groove to finish the transmission of force and motion, and the two power sources and the linear motion mechanism are fixed on the blending support and cannot move horizontally or vertically, so that the energy consumption of the product is reduced.
The test tube liquid sample mixing mechanism comprises a manipulator fixing seat, a test tube clamp fixing seat which is rotatably connected with the manipulator fixing seat through a rotating shaft, a test tube clamp for clamping a test tube and a roller for guiding are connected to the test tube clamp fixing seat, the roller is placed in a guide rail of a vertical guide groove, and the guide rail comprises at least one vertical section and one slope section; the mixing support is provided with a horizontal movement mechanism and a vertical movement mechanism, and the test tube liquid sample mixing mechanism is respectively connected with the horizontal movement mechanism and the vertical movement mechanism through the movement support; the horizontal movement mechanism drives the test tube liquid sample blending mechanism to horizontally move along the X-axis direction; and the vertical motion mechanism drives the manipulator fixing seat to vertically move along the Z-axis direction relative to the vertical guide groove.
In some embodiments, the horizontal motion mechanism comprises a stepping motor, a horizontal synchronous belt transmission mechanism and a horizontal linear guide pair connected to the blending support, and the horizontal synchronous belt and the horizontal linear guide pair are both connected to the motion support to drive the motion support to perform horizontal linear motion along the horizontal linear guide pair.
In some embodiments, the vertical movement mechanism comprises another stepping motor, a vertical synchronous belt and a vertical synchronous belt transmission mechanism, a vertical linear guide pair connected to the blending bracket, and a horizontal guide groove, wherein the vertical synchronous belt and the vertical linear guide pair are both connected to the horizontal guide groove to drive the horizontal guide groove to move vertically along the vertical linear guide pair.
In some embodiments, another vertical linear guide pair is arranged on the motion bracket, and the manipulator fixing seat is connected with the other vertical linear guide pair; the manipulator fixing seat is provided with a bearing roller which is positioned in the horizontal guide groove; the horizontal guide groove drives the bearing roller and the manipulator fixing seat to do vertical linear motion along the other vertical linear guide pair.
In some embodiments, the manipulator fixing seat moves vertically to drive the rollers to move relatively in the guide track; the roller moves at the vertical section of the guide track to guide the test tube clamp fixing seat and the test tube clamp to vertically lift; the roller moves at the slope section of the guide track, guides the test tube clamp fixing seat and the test tube clamp to vertically lift, and deflects around the rotating shaft within a preset maximum deflection angle range.
In some embodiments, when the roller is located at the vertical section of the guide track, the upper end surface of the test tube clamp fixing seat is in contact fit with the lower end surface of the manipulator fixing seat, and the roller is in contact with one side surface of the guide track to limit the deflection of the test tube clamp fixing seat around the rotating shaft.
In some preferred embodiments, the manipulator fixing base vertically ascends and descends to drive the roller to move on the vertical section of the guide rail, so that the test tube clamp fixing base and the test tube clamp are guided to only vertically ascend and descend without deflection movement.
In some preferred embodiments, the manipulator fixing seat vertically ascends and descends to drive the roller to move on the slope section of the guide rail, the axis of the roller deviates in the Y-axis direction, and the test tube clamp fixing seat and the test tube clamp are guided to vertically ascend and descend while performing deflection movement around the rotating shaft within a preset maximum deflection angle range.
In some preferred embodiments, the preset maximum deflection angle of the test tube holder fixing seat and the test tube holder around the rotating shaft is less than or equal to a limit deflection angle, where the limit deflection angle is an angle formed by a connecting line of the axis of the roller and the rotating shaft and a normal line of a slope section of the guide rail on a YZ plane where the roller rotates around the rotating shaft when the roller is located at a vertical section of the guide rail.
In some preferred embodiments, the predetermined maximum yaw angle is greater than 90 degrees or greater than 120 degrees.
In some preferred embodiments, a torsion spring is mounted on the rotating shaft, two ends of the torsion spring are respectively connected with the manipulator fixing seat and the test tube clamp fixing seat, and the torsion spring can provide a reset acting force for the test tube clamp fixing seat and the test tube clamp in a deflection state.
The invention also provides a method for uniformly mixing the test tube samples, which comprises the steps of firstly providing a test tube sample uniformly mixing device, comprising a uniformly mixing support, a test tube liquid sample uniformly mixing mechanism, a moving support, a horizontal moving mechanism and a vertical moving mechanism; the test tube liquid sample blending mechanism comprises a manipulator fixing seat, a test tube clamp fixing seat which is rotationally connected with the manipulator fixing seat through a rotating shaft, wherein the test tube clamp fixing seat is connected with a test tube used for clamping the test tube and a roller used for guiding, the roller is placed in a guide track of a vertical guide groove, and the guide track comprises at least one vertical section and one slope section; the horizontal motion mechanism comprises a stepping motor, a horizontal synchronous belt transmission mechanism and a horizontal linear guide pair connected to the blending support, and the horizontal synchronous belt and the horizontal linear guide pair are both connected with the motion support; the vertical motion mechanism comprises another stepping motor, a vertical synchronous belt transmission mechanism, a vertical linear guide pair and a horizontal guide groove, wherein the vertical linear guide pair and the horizontal guide groove are connected to the blending bracket; the moving support is provided with another vertical linear guide pair, and the manipulator fixing seat is connected with the other vertical linear guide pair; the method comprises the following steps:
(1) placing a test tube liquid sample mixing mechanism of the test tube sample mixing device at an initial position;
(2) the stepping motor drives the horizontal synchronous belt transmission mechanism to enable the moving support to do horizontal linear motion along the horizontal linear guide pair, and the test tube liquid sample blending mechanism connected to the moving support is driven to horizontally feed until the test tube clamp reaches the test tube rack, and the test tube is clamped by the test tube clamp;
(3) the other stepping motor drives the vertical synchronous belt transmission mechanism to drive the horizontal guide groove to vertically ascend along the linear guide pair, and the horizontal guide groove bears and guides the manipulator fixing seat to vertically ascend along the other linear guide pair, so that the test tube clamp fixing seat and the test tube clamp connected with the manipulator fixing seat are vertically lifted until the test tube is separated from the test tube rack;
(4) another stepping motor continues to drive the vertical synchronous belt transmission mechanism to enable the manipulator fixing seat to continue to lift, and the test tube clamp fixing seat and the test tube clamp connected with the manipulator fixing seat to continue to lift until the roller reaches the top of the slope section of the guide track; in the lifting process, the test tube clamp fixing seat, the test tube clamp and the test tube generate deflection motion around the rotating shaft simultaneously in the vertical moving process;
(5) the other stepping motor drives the vertical synchronous belt transmission mechanism to drive the horizontal guide groove to vertically descend along the linear guide pair, the horizontal guide groove bears and guides the manipulator fixing seat to vertically descend along the other linear guide pair, so that the manipulator fixing seat descends to drive the roller to downwards move on the slope section of the guide track to the joint of the vertical section and the slope section of the guide track; in the descending process, the test tube clamp fixing seat, the test tube clamp and the test tube generate deflection motion around the rotating shaft while vertically descending;
(6) repeating the steps 4 and 5 to complete the full and uniform mixing of the samples in the test tube;
(7) the other stepping motor drives the vertical synchronous belt transmission mechanism to drive the horizontal guide groove to vertically descend along the linear guide pair, the horizontal guide groove bears and guides the manipulator fixing seat to vertically descend along the other linear guide pair, so that the manipulator fixing seat descends, and the test tube clamp moves downwards to the test tube rack; the test tube is put back into the test tube rack;
(8) the stepping motor drives the horizontal synchronous belt transmission mechanism to enable the motion support to do horizontal linear motion along the horizontal linear guide pair, and the test tube liquid sample blending mechanism connected to the motion support is driven to horizontally return to an initial position.
In some embodiments, the manipulator fixing seat is provided with a bearing roller which is positioned in the horizontal guide groove; the horizontal guide groove bears and guides the manipulator fixing seat to do vertical descending motion along another linear guide pair through the bearing roller.
Advantageous effects
According to the test tube liquid sample blending mechanism, the operation of manually blending the test tube samples can be simulated, and the function of automatically blending the test tube samples is realized through the mechanism. The rotating motion of the test tube clamp is driven by one section of linear motion of the vertical motion, so that the linear motion is converted into the rotating motion.
The test tube liquid sample blending device provided by the invention only has two power sources (stepping motors) and a linear motion mechanism, realizes three actions of the test tube clamp, namely horizontal motion, vertical motion and rotary motion, and reduces the cost. The horizontal motion and the vertical motion of the test tube clamp are connected in a way that the guide groove is matched with the bearing roller to complete the transmission of force and motion, the two power sources and the linear motion mechanism are fixed on the mixing support and cannot move horizontally or vertically, and the practical energy consumption of the product is greatly reduced.
According to the test tube liquid sample blending method, the operation of manually blending the test tube samples is simulated through a mechanical structure, and the function of automatically blending the test tube samples is realized through a mechanism. Improve work efficiency, reduce the human cost.
Drawings
FIG. 1 is a schematic diagram of a test tube sample mixing device.
FIG. 2 is a side view (partially schematic vertical motion) of the device for mixing the test tube sample.
FIG. 3 is a schematic view of the homogenizing mechanism.
FIG. 4 is a schematic view of the vertical lift of the blending mechanism.
Fig. 5 is a schematic view of the deflection motion of the tube clamp fixing seat.
FIG. 6 is a schematic view of the design of the limit deflection angle of the fixing seat of the test tube clamp.
FIG. 7 is a schematic view of the initial position of the device for mixing the test tube sample.
FIG. 8 is a schematic diagram of the tube clamp of the device for mixing the test tube sample to clamp the test tube or to replay the test tube.
FIG. 9 is a schematic diagram of the vertical movement of the tube sample homogenizing device.
FIG. 10 is a schematic diagram of the lower position of the tube mixing.
FIG. 11 is a schematic diagram showing the upper position of tube homogenization.
Detailed Description
In the following detailed description, reference is made to the accompanying drawings that form a part hereof, and in which is shown by way of illustration specific embodiments in which the invention may be practiced. It is not excluded that the invention can also be implemented in other embodiments and that the structure of the invention can be varied without departing from the scope of use of the invention.
The test tube liquid sample blending mechanism comprises a test tube clamp fixing seat 12, a manipulator fixing seat 6 and a vertical guide groove 14, wherein the test tube clamp fixing seat 12 and the manipulator fixing seat 6 are connected through a rotating shaft 16, and the test tube clamp fixing seat 12 and the manipulator fixing seat 6 can rotate relative to the rotating shaft 16, as shown in figures 3-6. And, the test tube clip fixing base 12 is connected with a test tube clip 18 for gripping the test tube and a roller 17 for guiding, the roller 17 is positioned in a guide track 19 of the vertical guide groove 14, and the roller 17 can move relatively in the guide track 19. Preferably, the guide track 19 comprises a vertical section 191 and a slope section 192, and the vertical section 191 and the slope section 192 are smoothly and transitionally connected.
As shown in fig. 3 to 5, the upper end surface a of the test tube holder fixing base 12 is in contact with and attached to the lower end surface B of the manipulator fixing base 6, and when the manipulator fixing base 6 and the test tube holder fixing base 12 vertically move up and down and horizontally move left and right, the upper end surface a of the test tube holder fixing base 12 is always attached to the lower end surface B of the manipulator fixing base 6, so as to limit the position of the test tube holder fixing base 12. Further, the roller 17 contacts with one side surface C of the guide rail 19, restricting the position of the roller 17, and restricting the roller 17 at the one side surface C of the guide rail 19. Therefore, the test tube clamp fixing seat 12 fixedly connected with the roller 17 is positioned on one side surface C of the guide track by the lower end surface B of the manipulator fixing seat 6 and the roller 17 to form mechanical limit, and the deflection of the test tube clamp fixing seat 12 around the rotating shaft 16 is limited. The manipulator fixing seat 6 is vertically lifted to drive the roller 17 to move on the vertical section 191 of the guide track 19, so that the test tube clamp fixing seat 12 and the test tube clamp 18 are guided to only vertically lift without deflection movement.
When the manipulator fixing base 6 moves vertically, the roller 17 is driven to move, and the roller 17 only moves in the guide track 19 because the roller 17 is located in the guide track 19. When the roller 17 is located at the vertical section 191 of the guide track, the roller 17 moves vertically in the guide track 19, and the test tube holder fixing seat 12 connected with the roller is only vertically moved due to the limitation of the lower end surface B of the manipulator fixing seat and the roller by the side surface C of the guide track, and deflection motion is not generated. When the roller 17 moves to the slope section 192 of the guide track, the axis of the roller 17 deviates in the Y-axis direction, the moving direction of the roller 17 changes, the upper end surface a of the test tube clamp fixing seat fixedly connected with the roller deviates from the lower end surface B of the manipulator fixing seat 6 under the driving of the deviation of the roller, the test tube clamp fixing seat is separated from the mechanical limit, and starts to rotate around the rotating shaft 16 to generate the deflection motion. Therefore, the test tube holder fixing base 12 fixedly connected with the roller 17 generates deflection motion around the rotating shaft during the vertical movement.
When the test tube 13 is clamped on the test tube clamp, and the test tube clamp fixing seat moves, the test tube clamp and the test tube which are fixedly connected also move along with the test tube clamp fixing seat.
According to the invention, the manipulator fixing seat vertically moves to drive the roller to move on the slope section of the guide rail, the axis of the roller deviates in the Y-axis direction, and the test tube clamp fixing seat and the test tube clamp are guided to deflect within a preset maximum deflection angle range around the rotating shaft in the vertical lifting process. The axis of the roller deviates in the Y-axis direction to form a limit deviation, namely, the test tube clamp fixing seat and the test tube clamp deviate around the rotating shaft to form a limit deviation angle. When the test tube clamp fixing seat and the test tube clamp are not deflected, that is, when the roller is located at the vertical section of the guide track, the roller rotates on the YZ plane around the rotating shaft, and an included angle a is formed between the axis connecting line of the roller and the rotating shaft and the normal line of the slope section of the guide track, as shown in fig. 6. The included angle a is the limit deflection angle of the test tube clamp fixing seat and the test tube clamp around the rotating shaft, and the preset maximum deflection angle of the test tube clamp fixing seat and the test tube clamp around the rotating shaft is smaller than the limit deflection angle.
In some specific embodiments, in order to ensure that the liquid sample in the test tube can be sufficiently and uniformly mixed, the test tube has a larger deflection amplitude as much as possible. Specifically, the deflection angle of the test tube is larger than 90 degrees. Or the deflection angle of the test tube is larger than 120 degrees. Therefore, in the structural design of the test tube liquid sample mixing mechanism, the preset maximum deflection angle of the test tube clamp is set to be greater than 90 degrees or greater than 120 degrees under the condition that the preset maximum deflection angle is smaller than or equal to the limit deflection angle a.
In some embodiments, a torsion spring 20 is installed on the rotating shaft 16, two ends of the torsion spring are respectively connected with the manipulator fixing seat and the test tube clamp fixing seat, and the torsion spring can provide a reset acting force for the test tube clamp fixing seat in a deflection state. . When the test tube clamp fixing seat 12, the test tube clamp 18 and the test tube 13 move from the upper mixing position to the lower mixing position or return to the test tube, the deflection reset action is completed under the dual actions of the elasticity of the torsion spring 20 and the gravity of the test tube clamp fixing seat 12, the test tube clamp 18 and the test tube 13.
The device for uniformly mixing the test tube liquid sample comprises a test tube liquid sample uniformly mixing mechanism, a horizontal movement mechanism for driving the test tube liquid sample uniformly mixing mechanism to do horizontal movement, and a vertical movement mechanism for driving a manipulator fixing seat to do vertical movement relative to a vertical guide groove. Please refer to fig. 1-11 for a detailed design scheme.
The test tube sample mixing device is provided with a mixing support, and the horizontal movement mechanism, the vertical movement mechanism and the test tube liquid sample mixing mechanism are directly or indirectly connected with the horizontal movement mechanism, the vertical movement mechanism and the mixing support through the movement support 4.
The mixing support 1 is provided with a horizontal linear guide pair 5, the horizontal motion mechanism comprises a stepping motor 2, a horizontal synchronous belt 3 and a horizontal synchronous belt transmission mechanism, and the motion support 4 is connected with the horizontal synchronous belt and the horizontal linear guide pair 5 at the same time. The stepping motor 2 arranged on the blending bracket drives the horizontal synchronous belt transmission mechanism to make the horizontal synchronous belt 3 move horizontally and drive the moving bracket 4 to do horizontal linear motion along the horizontal linear guide pair 5. As shown in fig. 1.
The blending support 1 is provided with a vertical linear guide pair 15, the vertical motion mechanism comprises another stepping motor 8, a vertical synchronous belt 9, a vertical synchronous belt transmission mechanism and a horizontal guide groove 10, and the horizontal guide groove 10 is simultaneously connected with the vertical synchronous belt 9 and the vertical linear guide pair 15. Another stepping motor 8 arranged on the blending bracket 1 drives a vertical synchronous belt transmission mechanism to enable the vertical synchronous belt 2 to move vertically, and a horizontal guide groove connected with the vertical synchronous belt is driven to do vertical linear motion along a vertical linear guide pair 15. As shown in fig. 1 and 2.
Another vertical linear guide pair 7 is arranged on the moving support 4, and the manipulator fixing seat 12 is connected with the other vertical linear guide pair 7; a bearing roller 11 is arranged on the manipulator fixing seat 6, and the bearing roller 11 is positioned in the horizontal guide groove 10. The manipulator fixing seat 6 can vertically and freely slide along the other vertical line guide pair 7 under the driving of the horizontal guide groove and the bearing roller. The bearing roller 11 can bear a certain radial load and is used for supporting the manipulator fixing seat 6. When the test tube liquid sample blending device moves the moving support 4 horizontally, the horizontal guide groove 10 bears the roller 11 in the vertical direction and guides the manipulator fixing seat 6 to move horizontally. When the test tube liquid sample blending device vertically moves the horizontal guide groove 10, the horizontal guide groove 10 bears and guides the manipulator fixing base 6 to vertically move along the other vertical linear guide pair 7 through the bearing roller 11. As shown in fig. 1 and 2.
The test tube clamp fixing seat 12 is connected with the manipulator fixing seat 6 through a rotating shaft 16, and the test tube clamp fixing seat 12 can do deflection motion around the rotating shaft 16. The test tube clamp fixing seat 12 is provided with a test tube clamp 18 for clamping the test tube 13. The test tube clamp fixing seat 12 is provided with a roller 17 capable of bearing certain radial load, and the roller 17 is placed in a guide track 19 of the vertical guide groove 14 arranged on the bracket 4. As shown in fig. 1 and 3.
When the manipulator fixing seat 6 is driven by the horizontal movement mechanism to perform horizontal linear movement, the manipulator fixing seat 6 drives the test tube clamp fixing seat 12 and the test tube clamp 18 to perform horizontal feeding movement, the test tube 13 is clamped, the upper end face A of the test tube clamp fixing seat 12 is in contact fit with the lower end face B of the manipulator fixing seat 6, and the roller 17 is in contact with one side face C of the guide rail 19 to form mechanical limit. The test tube clamp fixing seat 12 and the test tube clamp 18 only perform horizontal feeding movement and do not generate deflection movement. As shown in fig. 3-5.
When the manipulator fixing seat 6 is driven by the vertical motion mechanism to perform vertical linear motion, the manipulator fixing seat 6 drives the test tube clamp fixing seat 12, the test tube clamp 18 and the test tube 13 to vertically move, when the roller 17 on the test tube clamp fixing seat 12 is located at the vertical section 191 of the guide track 19, the upper end face A of the test tube clamp fixing seat 12 is in contact fit with the lower end face B of the manipulator fixing seat 6, and the roller 17 is in contact with one side face C of the guide track 19 to form mechanical limit. Under the action of mechanical limit, the test tube clamp fixing seat 12, the test tube clamp 18 and the test tube 13 only move vertically, and deflection motion cannot be generated. As shown in fig. 4. The in-process that manipulator fixing base 6 drove test tube holder fixing base 12 and test tube holder 18 and test tube 13 vertical migration, when gyro wheel 17 on test tube holder fixing base 12 was in the position of slope section 192 of guide rail 19, gyro wheel 17 axis produced the skew in the Y axle direction, up end A of test tube holder fixing base 12 is under the drive of gyro wheel, with the lower terminal surface B separation of manipulator fixing base 6, the spacing relation of test tube holder fixing base 12 is eliminated, thereby make test tube holder fixing base 12 along with the gyro wheel motion, test tube holder fixing base 12 and test tube holder 18 and test tube 13 are at vertical migration's process promptly, revolute axle 16 simultaneously and produce deflection motion. As shown in fig. 5. During the deflection, the liquid sample in the test tube is deflected and mixed.
In order to fully mix the sample in the test tube 13, the maximum deflection angle of the tube clamp fixing seat 12, the tube clamp 18 and the test tube 13 needs to be greater than 90 degrees, and the maximum deflection angle selected in one embodiment is 120 degrees.
The following describes the mixing of the sample in the test tube by the test tube sample mixing device according to the present invention in detail.
1. Placing a test tube liquid sample mixing mechanism of the test tube sample mixing device at an initial position; as shown in fig. 7; at this time, the test tube clamp 18 is adjacent to the test tube rack for placing the test tube 13 to be mixed;
2. the stepping motor 2 drives the horizontal synchronous belt transmission mechanism to enable the moving support 4 to do horizontal linear motion along the horizontal linear guide pair 5, and the test tube liquid sample blending mechanism connected to the moving support 4 is driven to horizontally feed until the test tube clamp 18 reaches the position of the test tube rack, so that the test tube 13 is clamped by the test tube clamp 18; as shown in fig. 8;
3. another stepping motor 8 drives a vertical synchronous belt transmission mechanism to drive a horizontal guide groove 10 to vertically move up along a linear guide pair 15, the horizontal guide groove 10 bears and guides the manipulator fixing seat 6 to vertically move up along another linear guide pair 7 through a bearing roller 11, so that a test tube clamp fixing seat 12 and a test tube clamp 18 connected with the manipulator fixing seat 6 are vertically lifted until a test tube 13 is separated from the test tube rack; as shown in fig. 9;
4. another stepping motor 8 continues to drive the vertical synchronous belt transmission mechanism to enable the manipulator fixing seat 6 to continue to lift, and the test tube clamp fixing seat 12 and the test tube clamp 18 connected with the manipulator fixing seat 6 continue to lift until the roller 17 reaches the top of the slope section 192 of the guide rail (upper mixing position); as shown in fig. 11; during the lifting process, the test tube clamp fixing seat 12, the test tube clamp 18 and the test tube 13 generate deflection motion around the rotating shaft 16 simultaneously during the vertical movement process;
5. another stepping motor 8 drives a vertical synchronous belt transmission mechanism to drive a horizontal guide groove 10 to vertically descend along a linear guide pair 15, the horizontal guide groove 10 bears and guides the manipulator fixing seat 6 to vertically descend along another linear guide pair 7 through a bearing roller 11, so that the manipulator fixing seat 6 descends, and a roller 17 is driven to downwards move at a slope section 192 of a guide track to a joint (uniformly mixing lower position) of a vertical section 191 and the slope section 192 of the guide track; as shown in fig. 10; during the descending process, the test tube clamp fixing seat 12, the test tube clamp 18 and the test tube 13 generate deflection motion around the rotating shaft 16 while descending vertically;
6. repeating the steps 4 and 5 for 8-15 times (namely, enabling the test tube to move for 8-15 times between the upper mixing position and the lower mixing position) to complete the full mixing of the samples in the test tube;
7. another stepping motor 8 drives a vertical synchronous belt transmission mechanism to drive a horizontal guide groove 10 to vertically descend along a linear guide pair 15, the horizontal guide groove 10 bears and guides the manipulator fixing seat 6 to vertically descend along another linear guide pair 7 through a bearing roller 11, so that the manipulator fixing seat 6 descends to drive the test tube clamp fixing seat 12 and the test tube clamp 18 to downwards move to the position of the test tube rack; the test tube 13 is returned to the test tube rack; as shown in fig. 8;
8. the stepping motor 2 drives the horizontal synchronous belt transmission mechanism to enable the moving support 4 to do horizontal linear motion along the horizontal linear guide pair 5, and the test tube liquid sample blending mechanism connected to the moving support 4 is driven to horizontally return to an initial position, as shown in fig. 7.
Claims (10)
1. A test tube liquid sample blending mechanism is characterized by comprising a manipulator fixing seat, a test tube clamp fixing seat which is rotationally connected with the manipulator fixing seat through a rotating shaft, wherein the test tube clamp fixing seat is connected with a test tube used for clamping the test tube and a roller used for guiding, the roller is placed in a guide track of a vertical guide groove, and the guide track comprises at least one vertical section and one slope section; the manipulator fixing seat moves vertically to drive the rollers to move relatively in the guide track; the roller moves at the vertical section of the guide track to guide the test tube clamp fixing seat and the test tube clamp to vertically lift; the roller moves at the slope section of the guide track, guides the test tube clamp fixing seat and the test tube clamp to vertically move, and deflects around the rotating shaft within a preset maximum deflection angle range.
2. The test tube liquid sample mixing mechanism according to claim 1, wherein when the roller is located at the vertical section of the guide rail, the upper end surface of the test tube holder fixing seat contacts and fits with the lower end surface of the manipulator fixing seat, and the roller contacts with one side surface of the guide rail to limit the deflection of the test tube holder fixing seat around the rotating shaft.
3. The test tube liquid sample mixing mechanism of claim 1, wherein the manipulator holder moves vertically to drive the roller to move on the vertical section of the guide track, so as to guide the test tube holder and the test tube holder to move only vertically without deflection.
4. The test tube liquid sample mixing mechanism according to claim 1, wherein the manipulator holder moves vertically to drive the roller to move on the slope section of the guide track, the axis of the roller is shifted in the Y-axis direction to guide the test tube holder and the test tube holder to move vertically and to deflect around the rotation axis within a preset maximum deflection angle range.
5. The test tube liquid sample mixing mechanism according to claim 4, wherein the preset maximum deflection angle of the test tube holder fixing seat and the test tube holder around the rotation shaft is less than or equal to a limit deflection angle, and the limit deflection angle is an angle formed by a connecting line of the axis of the rotation shaft and a normal line of a slope section of the guide rail on a YZ plane where the test tube holder fixing seat and the test tube holder rotate around the rotation shaft when the roller is located at a vertical section of the guide rail.
6. The test tube liquid sample mixing mechanism of claim 5, wherein the preset maximum yaw angle is greater than 90 degrees or greater than 120 degrees.
7. The test tube liquid sample blending mechanism according to claim 1, wherein a torsion spring is installed on the rotating shaft, two ends of the torsion spring are respectively connected with the manipulator fixing seat and the test tube clamp fixing seat, and the torsion spring can provide a reset acting force for the test tube clamp fixing seat and the test tube clamp in a deflection state.
8. A test tube liquid sample blending device comprises a blending support and is characterized by comprising a test tube liquid sample blending mechanism according to any one of claims 1 to 7, wherein the blending support is provided with a horizontal movement mechanism and a vertical movement mechanism, and the test tube liquid sample blending mechanism is respectively connected with the horizontal movement mechanism and the vertical movement mechanism through the movement support; the horizontal movement mechanism drives the test tube liquid sample blending mechanism to horizontally move along the X-axis direction; and the vertical motion mechanism drives the manipulator fixing seat to vertically move along the Z-axis direction relative to the vertical guide groove.
9. The device of claim 8, wherein the vertical movement mechanism comprises another stepping motor, a vertical synchronous belt and a vertical synchronous belt transmission mechanism, a vertical linear guide pair and a horizontal guide groove connected to the mixing rack, and the vertical synchronous belt and the vertical linear guide pair are both connected to the horizontal guide groove to drive the horizontal guide groove to move vertically along the vertical linear guide pair.
10. The device for mixing the test tube liquid sample according to claim 9, wherein the moving support is provided with another vertical linear guide pair, and the manipulator fixing seat is connected with the other vertical linear guide pair; the manipulator fixing seat is provided with a bearing roller which is positioned in the horizontal guide groove; the horizontal guide groove drives the bearing roller and the manipulator fixing seat to do vertical linear motion along the other vertical linear guide pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910890039.8A CN112539987A (en) | 2019-09-20 | 2019-09-20 | Test tube liquid sample mixing mechanism and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910890039.8A CN112539987A (en) | 2019-09-20 | 2019-09-20 | Test tube liquid sample mixing mechanism and device |
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| Publication Number | Publication Date |
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| CN112539987A true CN112539987A (en) | 2021-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910890039.8A Pending CN112539987A (en) | 2019-09-20 | 2019-09-20 | Test tube liquid sample mixing mechanism and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115245786A (en) * | 2022-07-01 | 2022-10-28 | 深圳市慧流体生物科技有限公司 | Connecting rod overturning type liquid mixing device |
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2019
- 2019-09-20 CN CN201910890039.8A patent/CN112539987A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115245786A (en) * | 2022-07-01 | 2022-10-28 | 深圳市慧流体生物科技有限公司 | Connecting rod overturning type liquid mixing device |
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