CN112774756A - Full-automatic liquid-transfering manipulator - Google Patents
Full-automatic liquid-transfering manipulator Download PDFInfo
- Publication number
- CN112774756A CN112774756A CN202110387139.6A CN202110387139A CN112774756A CN 112774756 A CN112774756 A CN 112774756A CN 202110387139 A CN202110387139 A CN 202110387139A CN 112774756 A CN112774756 A CN 112774756A
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- CN
- China
- Prior art keywords
- pipette
- liquid
- negative pressure
- full
- manipulator
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B01L9/00—Supporting devices; Holding devices
- B01L9/54—Supports specially adapted for pipettes and burettes
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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
- B01L13/00—Cleaning or rinsing apparatus
- B01L13/02—Cleaning or rinsing apparatus for receptacle or instruments
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Abstract
The invention is suitable for the technical field of manipulators, and provides a full-automatic liquid transferring manipulator which comprises a multi-degree-of-freedom moving arm arranged on a workbench, wherein a liquid transferring mechanism is arranged on the output end of the multi-degree-of-freedom moving arm, the liquid transferring mechanism comprises an installation seat, a pipette and a connection seat, the head end of the pipette is detachably arranged on the installation seat, the connection seat is arranged at the opening at the top of the installation seat, and a negative pressure channel and a cleaning channel which are communicated with the pipette are arranged in the connection seat, wherein the negative pressure channel is connected with a negative pressure source through a negative pressure joint and a pipeline, and the cleaning channel is connected with a high-pressure cleaning assembly connected on the: can accomplish moving liquid of liquid medicine automatically and to the washing and the drying of pipette, it need not manually wash the pipette, also need not dismantle the change to the pipette, easy operation, convenient to use, application that can be extensive is in the liquid-moving work of medicine.
Description
Technical Field
The invention relates to a liquid transferring manipulator, in particular to a full-automatic liquid transferring manipulator.
Background
With the rapid development of science and technology, the pipetting work in laboratories such as biology, chemistry, environment, medicine research and development, food and the like, and units such as hospitals, blood stations and the like is not a simple small-scale experiment for operating a plurality of samples, but a large-scale experiment with multiple ways and diversification is performed by using various experimental techniques in the face of more complicated research objects and increasing sample quantities. Such as the construction of a PCR system in genetics, the construction and library screening of a second-generation sequencing library, the research of genome sequencing and gene chips, nucleic acid purification, clone rapid screening, cell culture, the search and identification of differential proteins in proteomics, the screening of protein crystals, the analysis of high-level structures, the screening and identification of new drugs in new drug research and development laboratories, and the like, the daily sample processing workload of laboratories is increasing.
The sample processing work of manual liquid removal not only needs a large amount of manpower and materials and time, and the single is moved the liquid and is accomplished the back, if need continue to move the liquid or get the liquid after interval a period to other kinds of liquid medicines, needs wash or change the pipette. Therefore, it has become a necessary trend to automate a part of or the whole process of the experimental operation flow.
Based on this, this application provides a full-automatic liquid-transfering manipulator.
Disclosure of Invention
The embodiment of the invention aims to provide a full-automatic liquid-transferring manipulator, aiming at solving the technical problems in the background technology.
The embodiment of the invention is realized in such a way that the full-automatic liquid transferring manipulator comprises a multi-degree-of-freedom moving arm arranged on a workbench, wherein a liquid transferring mechanism is arranged on the output end of the multi-degree-of-freedom moving arm, the liquid transferring mechanism comprises an installation seat, a pipette and a connection seat, the head end of the pipette is detachably arranged on the installation seat, the connection seat is arranged at an opening at the top of the installation seat, and a negative pressure channel and a cleaning channel which are communicated with the pipette are arranged in the connection seat, wherein the negative pressure channel is connected with a negative pressure source through a negative pressure joint and a pipeline, the cleaning channel is connected with a high-pressure cleaning assembly connected on the installation seat, and the high-pressure cleaning assembly is used for inputting atomized deionized water.
As a further scheme of the invention: the high pressure cleaning subassembly includes deionized water pipe, compressed air pipe, the connecting seat and the atomizer that goes out fog, the end connection of the connecting seat that admits air has the shell, is equipped with the venturi that is connected with compressed air pipe in the connecting seat that admits air, still be connected with the deionized water pipe on the shell, the diameter minimum department that the shell corresponds venturi is equipped with the stock solution chamber with the deionized water pipe intercommunication, the stock solution chamber is connected with venturi through passing through the liquid hole, still is connected with the atomizer that goes out fog on the shell.
As a still further scheme of the invention: and the compressed air pipe, the deionized water pipe and the pipeline provided with the negative pressure joint are all provided with electromagnetic valves.
As a still further scheme of the invention: the outside cover of pipette is equipped with the stationary blade, the stationary blade passes through the fix with screw on the mount pad, is equipped with heterotypic sealing washer between the top opening part of pipette and the connecting seat.
As a still further scheme of the invention: the abnormal shape sealing washer includes the sealing washer body, the round open slot has been seted up on the sealing washer body, install the tensioning piece that the cross-section is the V-arrangement in the open slot for make the sealing washer body open to both sides, with the open-top and the connecting seat contact seal of pipette respectively.
As a still further scheme of the invention: the outside position department that corresponds the pipette in the mount pad still is equipped with the heating chamber, installs the heating device who is used for carrying out heating stoving to the pipette in the heating chamber.
As a still further scheme of the invention: the outer side position department of mount pad still is equipped with the connection contact with heating device electric connection, it is equipped with waterproof cover to connect the contact point department.
As a still further scheme of the invention: the side of the cleaning channel, which faces the pipette, is opened into a horn-shaped structure, and the bending position of the cleaning channel is transited in an arc.
Compared with the prior art, the invention has the beneficial effects that: can accomplish moving liquid of liquid medicine automatically and to the washing and the drying of pipette, it need not manually wash the pipette, also need not dismantle the change to the pipette, easy operation, convenient to use, application that can be extensive is in the liquid-moving work of medicine.
Drawings
Fig. 1 is a schematic structural diagram of a full-automatic pipetting robot.
Fig. 2 is a schematic diagram of the internal structure of a pipetting mechanism in a full-automatic pipetting manipulator.
Fig. 3 is a schematic structural diagram of a connecting seat in a full-automatic liquid-transferring manipulator.
Fig. 4 is a schematic structural diagram of a pipetting mechanism in a full-automatic pipetting manipulator.
Fig. 5 is a schematic structural diagram of a high-pressure cleaning assembly in a full-automatic pipetting robot.
Fig. 6 is a schematic structural diagram of a special-shaped sealing ring in a full-automatic pipetting manipulator.
In the drawings: 1-workbench, 2-multi-degree-of-freedom moving arm, 3-liquid-transferring mechanism, 301-mounting seat, 302-liquid-transferring tube, 303-fixing plate, 304-connecting seat, 305-negative pressure joint, 306-negative pressure channel, 307-cleaning channel, 308-heating device, 3081-connecting contact, 309-special-shaped sealing ring, 3091-sealing ring body, 3092-open slot, 3093-tensioning plate, 310-high pressure cleaning component, 3101-deionized water tube, 3102-Venturi tube, 3103-compressed air tube, 3104-shell, 3105-air inlet connecting seat, 3106-liquid-permeating hole, 3107-liquid-storing cavity and 3108-fog-spraying nozzle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1 to 4, a structure diagram of a full-automatic liquid-transfering manipulator provided by an embodiment of the present invention includes a multi-degree-of-freedom moving arm 2 disposed on a workbench 1, a liquid-transfering mechanism 3 is mounted on an output end of the multi-degree-of-freedom moving arm 2, the liquid-transfering mechanism 3 includes a mounting seat 301, a liquid-transfering tube 302 and a connecting seat 304, a head end of the liquid-transfering tube 302 is detachably mounted on the mounting seat 301, the connecting seat 304 is mounted at a top opening of the mounting seat 301, a negative pressure channel 306 and a cleaning channel 307 communicated with the liquid-transfering tube 302 are disposed in the connecting seat 304, wherein the negative pressure channel 306 is connected with a negative pressure source through a negative pressure joint 305 and a pipeline, the cleaning channel 307 is connected with a high pressure cleaning assembly 310 connected to the mounting seat 301, the opening of the cleaning channel 307 facing the liquid, the high pressure washing assembly 310 is used to introduce a high flow of atomized deionized water into the pipette 302 to wash the pipette 302.
In the embodiment of the present invention, the multi-degree-of-freedom moving arm 2 is a horizontal joint robot of which model is DRS40C4SS1BN002, but it is needless to say that other robot arms having at least three degrees of freedom may be used instead of this robot arm.
In practical application, the multi-degree-of-freedom moving arm 2 drives the mounting base 301 and the pipette 302 thereon to move to a designated position, the pipette 302 is inserted into a medicine bottle in a downward mode, a negative pressure source (such as a vacuum pump, a blower and the like) is started, negative pressure is generated in the pipette 302 to achieve liquid taking, after the liquid taking is completed, the multi-degree-of-freedom moving arm 2 drives the mounting base 301 and the pipette 302 thereon to move to a liquid outlet position, the negative pressure source rotates in a reverse direction to discharge liquid medicine in the pipette 302, after the liquid medicine is discharged, if other types of liquid medicines need to be continuously taken or liquid taking is performed at intervals, at the moment, a pipette cleaning instruction is executed, the high-pressure cleaning component 310 inputs atomized deionized water flowing at a high speed into the pipette 302, the pipette 302 is washed, and then the liquid taking is executed after the deionized water in the pipette is dried, and, nor does it require replacement of the pipette 302.
As shown in fig. 5, as a preferred embodiment of the present invention, the high pressure cleaning assembly 310 includes a deionized water pipe 3101, a compressed air pipe 3103, an air inlet connecting seat 3105 and a mist outlet nozzle 3108, an outer casing 3104 is connected to an end of the air inlet connecting seat 3105, a venturi tube 3102 connected to the compressed air pipe 3103 is arranged in the air inlet connecting seat 3105, the deionized water pipe 3101 is further connected to the outer casing 3104, a liquid storage cavity 3107 communicated with the deionized water pipe 3101 is arranged at a position where the outer casing 3104 corresponds to the smallest diameter of the venturi tube 3102, the liquid storage cavity 3107 is connected to the venturi tube 3102 through a liquid hole 3106, and the mist outlet nozzle 3108 is further connected to the outer casing 3104.
In practical application of the embodiment of the invention, compressed air enters the venturi tube 3102 from the compressed air pipe 3103, has the highest speed at the position of the smallest diameter of the venturi tube 3102, and generates negative pressure, so that deionized water in the liquid storage cavity 3107 enters the venturi tube 3102 through the liquid penetrating hole 3106, is divided into a plurality of small droplets by the compressed air flowing at high speed, forms atomized deionized water flowing at high speed, is sprayed out of the mist outlet nozzle 3108, enters the pipette 302 through the cleaning channel 307, and cleans the pipette 302.
Preferably, the compressed air pipe 3103, the deionized water pipe 3101 and the pipeline provided with the negative pressure joint 305 are all provided with electromagnetic valves.
In the embodiment of the invention, the compressed air pipe 3103, the deionized water pipe 3101 and the electromagnetic valves on the pipeline provided with the negative pressure joint 305 are respectively an electromagnetic valve I, an electromagnetic valve II and an electromagnetic valve III, when liquid taking and discharging are carried out, the electromagnetic valve I and the electromagnetic valve II are kept closed, the electromagnetic valve III is opened, when cleaning is carried out, the electromagnetic valve III is closed, the electromagnetic valve I and the electromagnetic valve II are opened, after the flushing is finished, the electromagnetic valve II is firstly closed, the electromagnetic valve I is kept continuously opened, and the pipette 302 is dried by using the compressed air pipe 3103.
As shown in fig. 6, as another preferred embodiment of the present invention, a fixing plate 303 is sleeved outside the pipette 302, the fixing plate 303 is fixed on the mounting seat 301 by a screw, and a special-shaped sealing ring 309 is provided between the top opening of the pipette 302 and the connecting seat 304.
In the embodiment of the present invention, when the pipette 302 is mounted, the pipette 302 is inserted into the mount base 301, and after the pipette 302 is inserted into the mount base, the fixing piece 303 is fixed to the mount base 301 by a screw.
Specifically, the special-shaped seal ring 309 includes a seal ring body 3091, a circle of opening groove 3092 is formed in the seal ring body 3091, and a tension piece 3093 with a V-shaped cross section is installed in the opening groove 3092, so that the seal ring body 3091 is opened towards two sides to be respectively in contact sealing with the top opening of the pipette 302 and the connecting base 304.
In one aspect of the present invention, the sealing ring body 3091 is made of rubber material, and the tensioning plate 3093 is made of metal material, which can provide tension to open the opening groove 3092 to both sides, so that the sealing ring body 3091 is respectively sealed with the top opening of the pipette 302 and the connection seat 304.
As shown in fig. 2 to 3, as another preferred embodiment of the present invention, a heating cavity is further disposed in the mounting seat 301 at a position corresponding to an outer side of the pipette 302, and a heating device 308 for heating and drying the pipette 302 is installed in the heating cavity.
In the embodiment of the present invention, the heating device 308 is a heating wire, and the heating wire is a spiral structure and is sleeved at an outer position of the pipette 302. Preferably, a connection contact 3081 electrically connected to the heating device 308 is further disposed at an outer position of the mounting base 301, and a waterproof cover is disposed at the connection contact 3081.
When the solenoid valve I is opened, the heating device 308 can be synchronously activated when the pipette 302 is dried by the compressed air pipe 3103, so that the drying of the pipette 302 is faster and more complete.
With the above embodiments, it is easy to understand that the working principle of the present invention is: the multi-degree-of-freedom moving arm 2 drives the mounting seat 301 and the pipette 302 thereon to move to a designated position, the pipette 302 is inserted into a medicine bottle downwards, the electromagnetic valve III is opened, a negative pressure source (such as a vacuum pump, a fan and the like) is started, negative pressure is generated in the pipette 302, liquid taking is realized, after the liquid taking is finished, the multi-degree-of-freedom moving arm 2 drives the mounting seat 301 and the pipette 302 thereon to move to a liquid outlet position, the negative pressure source rotates reversely, the liquid medicine in the pipette 302 is discharged, after the liquid is discharged, if the liquid medicine of other types needs to be continuously moved or is taken after a period of time, a cleaning instruction is executed at the moment:
the electromagnetic valve I and the electromagnetic valve II are opened, compressed air enters the Venturi tube 3102 from the compressed air tube 3103, the speed is the highest at the position with the smallest diameter passing through the Venturi tube 3102, negative pressure is generated, deionized water in the liquid storage cavity 3107 enters the Venturi tube 3102 through the liquid permeable hole 3106 and is divided into a plurality of small liquid drops by the compressed air flowing at high speed, atomized deionized water flowing at high speed is formed and is sprayed out of the mist spraying head 3108 and enters the pipette 302 through the cleaning channel 307, the pipette 302 is cleaned, after the flushing is finished, the electromagnetic valve II is closed, the electromagnetic valve I is kept opened continuously, the compressed air tube 3103 is used for continuously entering the pipette 302, meanwhile, the heating device 308 is driven to heat the pipette 302 and is matched with the compressed air, and the drying of the pipette 302 is realized.
The embodiment of the invention discloses a full-automatic liquid transferring manipulator which can automatically complete liquid transferring of liquid medicine and cleaning and drying of a pipette 302, does not need to manually clean the pipette 302, does not need to disassemble and replace the pipette 302, is simple to operate and convenient to use, and can be widely applied to liquid transferring work of medicines.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. The utility model provides a full-automatic liquid-transfering manipulator, is including setting up multi freedom moving arm (2) on workstation (1), install on the output of multi freedom moving arm (2) and move liquid mechanism (3), its characterized in that, move liquid mechanism (3) including mount pad (301), pipette (302) and connecting seat (304), the head end detachable of pipette (302) is installed on mount pad (301), and connecting seat (304) are installed to the top opening part of mount pad (301), is equipped with negative pressure passageway (306) and washing passageway (307) with pipette (302) intercommunication in connecting seat (304), wherein, negative pressure passageway (306) are connected with the negative pressure source through negative pressure joint (305) and pipeline, washing passageway (307) are connected with high-pressure cleaning assembly (310) of connecting on mount pad (301), high-pressure cleaning assembly (310) are used for inputing high-speed mobile atomizing deionized water to pipette (302), to clean the pipette (302).
2. The full-automatic liquid-transfering manipulator of claim 1, characterized in that, the high pressure cleaning subassembly (310) includes deionized water pipe (3101), compressed air pipe (3103), air inlet connecting seat (3105) and fog-discharging nozzle (3108), the end of air inlet connecting seat (3105) is connected with outer shell (3104), venturi tube (3102) connected with compressed air pipe (3103) is arranged in air inlet connecting seat (3105), deionized water pipe (3101) is also connected on outer shell (3104), liquid storage cavity (3107) communicated with deionized water pipe (3101) is arranged at the minimum position of the diameter of outer shell (3104) corresponding to venturi tube (3102), liquid storage cavity (3107) is connected with venturi tube (3102) through liquid permeable hole (3106), and fog-discharging nozzle (3108) is also connected on outer shell (3104).
3. A full automatic pipette manipulator according to claim 2, wherein solenoid valves are installed on the compressed air tube (3103), the deionized water tube (3101) and the pipeline provided with the negative pressure joint (305).
4. The full-automatic pipetting manipulator as recited in claim 1 wherein the outer sleeve of the pipette (302) is provided with a fixing plate (303), the fixing plate (303) is fixed on the mounting base (301) by screws, and a special-shaped sealing ring (309) is arranged between the top opening of the pipette (302) and the connecting base (304).
5. The full-automatic pipetting manipulator as recited in claim 4, wherein the special-shaped sealing ring (309) comprises a sealing ring body (3091), a circle of opening groove (3092) is formed in the sealing ring body (3091), and a tension plate (3093) with a V-shaped cross section is installed in the opening groove (3092) and used for enabling the sealing ring body (3091) to be opened towards two sides so as to be respectively in contact sealing with the top opening of the pipette (302) and the connecting base (304).
6. A full-automatic pipette manipulator according to claim 1, wherein a heating cavity is further provided in the mounting seat (301) at a position corresponding to the outside of the pipette (302), and a heating device (308) for heating and drying the pipette (302) is installed in the heating cavity.
7. The full-automatic pipetting manipulator as recited in claim 6 wherein the mounting base (301) is further provided with a connecting contact (3081) at an outer position electrically connected with the heating device (308), and the connecting contact (3081) is provided with a waterproof cover.
8. A fully automatic pipetting manipulator according to claim 1 characterised in that the side of the washing channel (307) facing the pipette (302) is flared, the bending position of the washing channel (307) transitioning in an arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110387139.6A CN112774756A (en) | 2021-04-12 | 2021-04-12 | Full-automatic liquid-transfering manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110387139.6A CN112774756A (en) | 2021-04-12 | 2021-04-12 | Full-automatic liquid-transfering manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN112774756A true CN112774756A (en) | 2021-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110387139.6A Pending CN112774756A (en) | 2021-04-12 | 2021-04-12 | Full-automatic liquid-transfering manipulator |
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| CN (1) | CN112774756A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202893749U (en) * | 2012-10-26 | 2013-04-24 | 姚瑜宁 | Mobile type solar photovoltaic panel cleaning device |
| US20140112839A1 (en) * | 2012-10-24 | 2014-04-24 | Accel Biotech, Inc. | Multi-function dispense head |
| CN206762911U (en) * | 2017-05-13 | 2017-12-19 | 沧州临港仁国化工有限公司 | A kind of chemical industry pipette |
| CN206996637U (en) * | 2017-07-21 | 2018-02-13 | 四川沃文特生物技术有限公司 | A kind of liquid-transfering device of band ultrasound |
| CN210675246U (en) * | 2019-08-08 | 2020-06-05 | 天津药明康德新药开发有限公司 | Multifunctional self-cleaning liquid transfer device |
-
2021
- 2021-04-12 CN CN202110387139.6A patent/CN112774756A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140112839A1 (en) * | 2012-10-24 | 2014-04-24 | Accel Biotech, Inc. | Multi-function dispense head |
| CN202893749U (en) * | 2012-10-26 | 2013-04-24 | 姚瑜宁 | Mobile type solar photovoltaic panel cleaning device |
| CN206762911U (en) * | 2017-05-13 | 2017-12-19 | 沧州临港仁国化工有限公司 | A kind of chemical industry pipette |
| CN206996637U (en) * | 2017-07-21 | 2018-02-13 | 四川沃文特生物技术有限公司 | A kind of liquid-transfering device of band ultrasound |
| CN210675246U (en) * | 2019-08-08 | 2020-06-05 | 天津药明康德新药开发有限公司 | Multifunctional self-cleaning liquid transfer device |
Non-Patent Citations (1)
| Title |
|---|
| 谢苗，毛君: "《液压传动》", 29 February 2016, 北京理工大学出版社 * |
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Application publication date: 20210511 |
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