CN113559957B - Liquid-transfering gun rifle head sequencing conveying equipment and liquid-transfering gun rifle head sequencing cartoning machine people - Google Patents

Liquid-transfering gun rifle head sequencing conveying equipment and liquid-transfering gun rifle head sequencing cartoning machine people Download PDF

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Publication number
CN113559957B
CN113559957B CN202111133830.8A CN202111133830A CN113559957B CN 113559957 B CN113559957 B CN 113559957B CN 202111133830 A CN202111133830 A CN 202111133830A CN 113559957 B CN113559957 B CN 113559957B
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guide groove
conveying
object carrying
carrying surface
guide
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CN113559957A (en
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张晓达
张熙铭
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Micron Smart Manufacturing System Technology Beijing Co ltd
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Micron Smart Manufacturing System Technology Beijing Co ltd
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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

Abstract

The invention discloses a pipette head sorting and conveying device and a pipette head sorting and boxing robot, which comprise a storage bin, a guide rail device, a lifting and feeding device and a material guide plate, wherein the storage bin is provided with a plurality of storage boxes; the guide rail device is provided with a discharge guide groove positioned at the bottom of the storage bin; the lifting feeding device is provided with a first object carrying surface and a second object carrying surface which are positioned at the bottom of the storage bin and synchronously and reversely swing by taking the end part close to one side of the discharging guide groove as a shaft, and the gun head in the storage bin moves from the first object carrying surface to the second object carrying surface under the action of synchronous and reverse swing; the material guide plate is positioned above the part, close to the discharging guide groove, of the second object carrying surface, and when the second object carrying surface swings to the highest position, the gun head slides into the discharging guide groove from the second object carrying surface through the material guide plate. The invention realizes the integration of feeding and conveying of the gun head, reduces the occupied space of the equipment, and meets the use requirements of miniaturization, low noise and multiple specifications of gun head box equipment in laboratories, laboratories and the like.

Description

Liquid-transfering gun rifle head sequencing conveying equipment and liquid-transfering gun rifle head sequencing cartoning machine people
Technical Field
The invention relates to the technical field of sequencing and filling of pipette tips, in particular to a sequencing and conveying device and a sequencing and boxing robot for pipette tips.
Background
In the fields of biology, medicine, inspection and quarantine, medical assay and the like, which relate to precision analysis, a pipette is widely used as common liquid analysis quantitative pipetting equipment. In the process of analyzing mass data of samples, each sample needs to be quantitatively transferred by using a clean pipette head of a liquid transfer gun, and a large number of multi-specification boxed pipette heads are needed in the process. The traditional gun head boxing method is a manual method. Obviously, the low efficiency of the manual boxing mode of the gun heads is difficult to meet the requirement of high-frequency use of the boxed gun heads, and further, the automatic boxing technology of the pipette heads is strongly required.
In the existing scheme of automatically boxing the gun heads, the related boxing equipment mainly comprises a feeding sorting unit, a gun head conveying unit and a gun head boxing unit. The feeding sorting unit is mainly used for sorting the gun heads, the gun head conveying unit is used for conveying the sorted gun heads, and the gun head boxing unit is used for automatically boxing the conveyed gun heads.
The technical scheme of the existing feeding sorting unit mainly comprises a vibrating disc feeding scheme, a rotating disc feeding scheme and a rotating impeller scheme. Due to the problems of self weight, noise, space size and the like, the three schemes are not suitable for the development of miniaturization, and are limited to be used in partial scenes.
The technical scheme of the existing gun head conveying unit mainly comprises a straight vibration track adding scheme, a gravity track scheme and a track clamping belt scheme. These solutions are commonly used as material conveying means and have been widely used in various fields in cooperation with vibrating disks. In the schemes, the gun heads with different specifications are poor in adaptability, and the gun heads are prone to skew, clamping stagnation and the like during rail conveying, so that the gun heads are stacked to cause failure in the conveying process.
In addition, in the prior art, the feeding sorting unit and the gun head conveying unit respectively occupy different spaces, and the space between the feeding sorting unit and the gun head conveying unit cannot be reused, so that the problem of large occupied space of equipment is caused.
Therefore, designing a related device capable of meeting the requirements of laboratories, laboratories and the like on miniaturization and low noise for automatically boxing the pipette tips becomes a problem to be solved urgently.
Disclosure of Invention
In view of the above, the invention provides a pipette head sorting and conveying device and a pipette head sorting and boxing robot, which combine the feeding and conveying of pipette heads into one, so as to reduce the occupied space of the device, reduce the operating noise of the device, and effectively realize the sorting and conveying of pipette heads, thereby meeting the use requirements of laboratories, laboratories and the like on miniaturization, low noise and multiple specifications of automatic pipette head boxing devices.
The technical scheme of the invention is as follows:
the liquid transfer gun head sequencing and conveying equipment is used for sequencing and conveying the gun heads of liquid transfer guns;
the liquid-transfering gun rifle head sequencing and conveying equipment comprises a storage bin, a guide rail device, a lifting feeding device and a material guide plate; wherein the content of the first and second substances,
the gun head is stored in the storage bin;
the guide rail device is provided with a discharging guide groove for receiving and sequencing the conveying gun heads, and the discharging guide groove is positioned at the bottom of the storage bin and extends along one bottom edge of the storage bin;
the lifting loading device is provided with a first object carrying surface and a second object carrying surface, the first object carrying surface and the second object carrying surface are positioned at the bottom of the storage bin, and the first object carrying surface and the second object carrying surface have the freedom degree of synchronous reverse swinging by taking the end part close to one side of the discharging guide groove as a shaft, so that the gun head in the storage bin moves from the first object carrying surface to the second object carrying surface under the swinging action of the first object carrying surface and the second object carrying surface;
the material deflector is located the storage storehouse to be located the second and carry the object plane and be close to the top of ejection of compact guide slot part, the material deflector extends to the top aslope from it is close to ejection of compact guide slot one side to keeping away from ejection of compact guide slot one side, when making the second carry the one end swing to the highest point that the ejection of compact guide slot was kept away from to the object plane, the rifle head that is located on the second carries the object plane is followed the second and is carried the object plane and is drawn to ejection of compact guide slot in via the material deflector.
Further, the liquid-transfering gun rifle head sequencing and conveying equipment also comprises a purging device; wherein the content of the first and second substances,
the blowing device is arranged on the side wall of the storage bin and located at the end part of the discharging guide groove, and the blowing device blows air to the gun heads located on the discharging guide groove along the conveying direction of the gun heads in the discharging guide groove so as to blow the gun heads, the heads of which do not enter the discharging guide groove, to the first object carrying surface from the discharging guide groove.
Further, the lifting feeding device comprises a first loading plate, a second loading plate, a first crank connecting rod group, a second crank connecting rod group, a rotating shaft and a first motor; wherein the content of the first and second substances,
the first motor is a motor with double output shafts and is provided with a first output shaft and a second output shaft;
the rotating shaft is close to and parallel to the discharging guide groove;
the first carrying plate is positioned at the bottom of the storage bin and penetrates through the rotating shaft, the first carrying surface is positioned on the first carrying plate, and the first carrying plate is connected to the first output shaft through the first crank connecting rod group and driven by the first motor to do first swing by taking the rotating shaft as a shaft;
the second object carrying plate is positioned at the bottom of the storage bin and penetrates through the rotating shaft, the second object carrying surface is positioned on the second object carrying plate, and the second object carrying plate is connected to a second output shaft through a second crank connecting rod group and driven by the first motor to do second swing by taking the rotating shaft as a shaft;
wherein, the first swing and the second swing are synchronous and reverse swings.
Further, the first object carrying surface comprises a first conveying guide surface and a second conveying guide surface; wherein the content of the first and second substances,
the first conveying guide surface is the surface of one side of the first object carrying surface close to the discharging guide groove, one side of the first conveying guide surface close to the discharging guide groove is a first plane part, the first conveying guide surface is transited from the first plane part to a curved surface part at one side close to the second conveying guide surface, and when the first object carrying surface swings to the lowest position, the top end of the curved surface part is lower than the first plane part;
the second is carried the surface of leading the face and is kept away from ejection of compact guide slot one side for first year thing face, and the second is carried the face and is carried the one side downward sloping that leads the face to being close to the second by keeping away from one side that the second carried the thing face to the second carries the top of leading the face highly not higher than curved surface portion, carries the face that blocks that leads that has the perpendicular to second between the face is carried to the top of curved surface portion and second.
Further, the second object carrying surface comprises a material storing part and a third conveying guide surface; wherein the content of the first and second substances,
the material storage part is positioned on one side, far away from the discharging guide groove, of the second object carrying surface, the bottom of the material storage part is a concave surface, the top end of the concave surface is positioned at the end part, close to the discharging guide groove, of the material storage part, and when the second object carrying surface swings to the highest position, the end part, close to the discharging guide groove, of the material storage part is higher than the end part of the material guide plate;
the third is carried the face and is located the second and carry the object plane and be close to one side of ejection of compact guide slot, and the third is carried the face and is less than the tip that the material storage portion is close to the ejection of compact guide slot, and when the second object plane of carrying swung to the highest point, the third was carried and is had the redundant space that accepts the rifle head that the material storage portion dropped between face and the material deflector.
Further, the third conveying guide surface is inclined downward from a side far away from the first loading surface to a side close to the first loading surface.
Further, the material guide plate comprises a bottom plate and a guide rod; wherein the content of the first and second substances,
the bottom plate is obliquely arranged upwards from one side close to the discharging guide groove to one side far away from the discharging guide groove;
the quantity of guide bars is a plurality of, and the vertical fixation is in the bottom plate one side of carrying the thing face dorsad second, and the guide bar is for two at least rows of distributions, and the guide bar is crisscross the distribution between the line and the line.
Further, the guide rail device comprises a straight vibrator and a conveying guide rail; wherein the content of the first and second substances,
the conveying guide rail is fixedly arranged on the straight vibration device, the discharging guide groove is arranged on the conveying guide rail, and the gun head arranged in the discharging guide groove moves along the extension direction of the discharging guide groove under the uniform-speed vibration excitation effect of the straight vibration device.
Further, the conveying guide rail comprises a fixed conveying guide rail and an adjustable conveying guide rail; wherein the content of the first and second substances,
the fixed conveying guide rail is fixedly arranged on the straight vibrator and is provided with a first guide rail edge and an adjustable conveying guide rail mounting seat;
the adjustable conveying guide rail is provided with a second guide rail edge and an adjusting long hole, the adjustable conveying guide rail is arranged on the adjustable conveying guide rail mounting seat through the adjusting long hole, the second guide rail edge is parallel to the first guide rail edge, and a discharging guide groove is formed between the second guide rail edge and the first guide rail edge.
Furthermore, the edge of the first guide rail and the edge of the second guide rail are cylindrical curved surfaces.
Further, the pipette head sequencing and conveying equipment also comprises a material pushing device; wherein the content of the first and second substances,
the material pushing device is arranged on the outer side of the side wall of one side of the discharging guide groove of the storage bin, the material pushing device is provided with a material pushing end part, the position, located above the discharging guide groove, of the side wall of the storage bin is provided with an opening for the material pushing end part to enter, the material pushing end part is driven by the material pushing device to have a degree of freedom which penetrates through the opening and moves in a reciprocating mode in a direction, perpendicular to the extending direction of the discharging guide groove, of the upper area of the discharging guide groove, so that the gun head, of which the head does not enter the discharging guide groove, is pushed out of the discharging guide groove.
Further, the material pushing device comprises a second motor, an eccentric wheel, a telescopic rod and a guide groove; wherein the content of the first and second substances,
the eccentric wheel is arranged on an output shaft of the second motor and is provided with a convex column;
the telescopic rod comprises a driving part and a rod part, wherein the driving part is provided with a long hole for accommodating the convex column, the rod part is limited in the guide groove, and the material pushing end part is positioned at the tail end of the rod part far away from the driving part;
under the drive of the second motor, the convex column has the degree of freedom of reciprocating motion in the long hole, and then under the limit fit of the guide groove, the telescopic rod has the degree of freedom of driving the pushing end to penetrate through the open hole and reciprocate in the area above the discharging guide groove.
A liquid-transfering gun rifle head sequencing cartoning robot includes:
the pipette tip sequencing and conveying equipment for the pipette tips; and the number of the first and second groups,
and the pipette head boxing equipment is connected to the discharging guide groove so as to receive the pipette heads sorted and conveyed by the pipette head sorting and conveying equipment from the discharging guide groove and box the received pipette heads.
According to the scheme, in the pipette head sorting and conveying equipment and the pipette head sorting and boxing robot, the whole of the discharging guide groove is positioned at the bottom of the storage bin, so that the pipette heads are sorted and conveyed in the storage bin, and the shorter extending part can be designed at the outer side of the storage bin because the pipette heads are not required to be sorted and conveyed outside the storage bin, so that the pipette head sorting and conveying equipment realizes the integration of the feeding and conveying of the pipette heads, reduces the occupied space of the equipment, simultaneously, the lifting feeding device realizes the feeding process of the pipette heads to the discharging guide groove in the storage bin in a swinging mode, greatly reduces the noise of the equipment and does not cause any damage to the pipette heads in the feeding process compared with the conventional vibrating disc feeding scheme, and the invention can completely meet the requirements of a laboratory, a laboratory and the like on the miniaturization of automatic pipette head boxing equipment, Low noise and multi-specification use requirements.
Drawings
FIG. 1A is a schematic structural view of a liquid-transfering gun head sorting and conveying device according to an embodiment of the invention;
FIG. 1B is the structure of FIG. 1A with a side panel of the storage bin removed;
FIG. 1C shows another angle structure corresponding to FIG. 1A;
FIG. 2 is a schematic structural diagram of a lifting loading device in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a material guide plate according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a rail apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a pusher apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view of a boxing apparatus for tips of a liquid-transfering gun in an embodiment of the invention;
FIG. 7 is a schematic view of a feed conveyor according to an embodiment of the present invention;
fig. 8A is a schematic view of a lance tip arranging apparatus according to an embodiment of the present invention;
fig. 8B is an exploded schematic view of a lance tip arranging apparatus according to an embodiment of the present invention;
fig. 9A is a schematic view of a lance tip box displacement control device in an embodiment of the invention;
fig. 9B is an exploded structural schematic view of a lance tip box displacement control device in the embodiment of the invention;
FIG. 10 is an exploded view of the cassette fixing assembly according to the embodiment of the present invention;
FIG. 11A is a schematic view of a loading aid in an embodiment of the present disclosure;
FIG. 11B is a schematic view of an auxiliary pusher block according to an embodiment of the present invention;
FIG. 12 is a schematic view of a pipette tip sequencing and boxing robot in the embodiment of the invention.
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 examples.
Fig. 1A shows a structure of a pipette head sequencing and conveying device 1 according to an embodiment of the present invention, fig. 1B shows a structure of fig. 1A with one side plate of a storage bin removed, and fig. 1C shows a structure of another angle corresponding to fig. 1A, where the pipette head sequencing and conveying device 1 according to an embodiment of the present invention is used for sequencing and conveying pipette heads of a pipette. Referring to fig. 1A, fig. 1B and fig. 1C, the pipette head sequencing and conveying equipment 1 mainly includes a storage bin 11, a guide rail device 12, a lifting and feeding device 13 and a material guide plate 14. Wherein the lance head is stored in the storage bin 11. The guide rail device 12 is positioned at the bottom of the storage bin 11, the guide rail device 12 is provided with a discharging guide groove 121 for receiving and sequentially conveying the gun heads 3, and the discharging guide groove 121 is positioned at the bottom of the storage bin 11 and extends along one bottom edge of the storage bin 11. The lifting loading device 13 is located at the bottom of the storage bin 11, as shown in fig. 1B and fig. 1C, the lifting loading device 13 has a first loading surface 131 and a second loading surface 132, the first loading surface 131 and the second loading surface 132 are located at the bottom of the storage bin 11, the discharge guide slot 121, the first loading surface 131 and the second loading surface 132 jointly form a bottom region of the storage bin 11, the first loading surface 131 and the second loading surface 132 have a degree of freedom to synchronously and reversely swing with an end portion close to one side of the discharge guide slot 121 as an axis, so that a gun head in the storage bin 11 moves from the first loading surface 131 to the second loading surface 132 under the swing action of the first loading surface 131 and the second loading surface 132, and the end portions of the first loading surface 131 and the second loading surface 132 close to the discharge guide slot 121 are not higher than the discharge guide slot 121.
As shown in fig. 1B and 1C, the material guide plate 14 is located in the storage bin 11 and located above a portion of the second object carrying surface 132 close to the discharging guide slot 121, and the material guide plate 14 extends obliquely upward from a side close to the discharging guide slot 121 to a side far from the discharging guide slot 121, so that when one end of the second object carrying surface 132 far from the discharging guide slot 121 swings to the highest position, the gun tips located on the second object carrying surface 132 are drawn into the discharging guide slot 121 from the second object carrying surface 132 through the material guide plate 14.
With continued reference to fig. 1A, 1B, and 1C, in an alternative embodiment, the pipette tip sequencing conveyor apparatus 1 may further include a purge device 15. The purging device 15 is installed on the side wall of the storage bin 11 and located at the end of the discharging guide groove 121, and the purging device 15 blows air to the gun heads located on the discharging guide groove 121 along the conveying direction of the gun heads in the discharging guide groove 121, so that the gun heads with heads not entering the discharging guide groove 121 are purged to the first object carrying surface 131 from the discharging guide groove 121.
In an alternative embodiment, the purge device 15 is a fan. Further, in an alternative embodiment, the blower is isolated from the discharge chute 121 by a filter screen to prevent tips in the storage bin 11 from entering the blower.
In an alternative embodiment, the purging device 15 is installed outside the storage bin 11, and an opening for air to enter the purging device 15 is opened corresponding to a position of a sidewall of the storage bin 11 where the purging device 15 is installed.
In the embodiment of the invention, the purging device 15 is used for purging the gun head transversely arranged on the discharging guide groove 121, so that the normal conveying of the gun head in the discharging guide groove 121 is ensured. The gun head transversely arranged on the discharging guide groove 121 refers to a gun head with a head part and a tail part (a big head end or a big mouth end of the gun head) transversely arranged on the discharging guide groove 121; the tip placed upside down on the discharging guide groove 121 means a tip placed on the discharging guide groove 121 with its tail portion facing downward and its head portion facing upward.
Fig. 2 shows a lifting and loading device 13 in an embodiment of the invention. As shown in fig. 2 and fig. 1B and 1C, the lifting and loading device 13 mainly includes a first loading plate 133, a second loading plate 134, a first crank link group 135, a second crank link group 136, a rotating shaft 137, and a first motor 138. The first motor 138 is a dual output shaft motor, and the first motor 138 has a first output shaft 1381 and a second output shaft 1382. The rotation shaft 137 is adjacent to and parallel to the discharging guide groove 121. The first loading plate 133 is disposed at the bottom of the storage bin 11 and penetrates through the rotating shaft 137, the first loading surface 131 is disposed on the first loading plate 133, the first loading plate 133 is connected to the first output shaft 1381 through the first crank linkage 135, and the first loading plate 133 is driven by the first motor 138 to swing with the rotating shaft 137 as a shaft. The second loading plate 134 is located at the bottom of the storage bin 11 and penetrates through the rotating shaft 137, the second loading surface 132 is located on the second loading plate 134, the second loading plate 134 is connected to the second output shaft 1382 through the second crank linkage 136, and the second loading plate 134 is driven by the first motor 138 to swing second by taking the rotating shaft 137 as a shaft. The first swing and the second swing are synchronous and opposite, that is, when the first object carrying plate 133 swings downwards, the second object carrying plate 134 swings upwards, and when the first object carrying plate 133 swings upwards, the second object carrying plate 134 swings downwards.
In an alternative embodiment, as shown in fig. 2 in conjunction with fig. 1B, the first motor 138 is fixedly mounted to the base plate 4 by a first fixing bracket 139.
With continued reference to fig. 2 and as shown in conjunction with fig. 1B, first loading surface 131 includes a first conveying guide surface 1311 and a second conveying guide surface 1312. First conveying guide surface 1311 is a surface of first object carrying surface 131 on the side close to discharging guide groove 121, first conveying guide surface 1311 on the side close to discharging guide groove 121 is a first flat surface portion 13111, first conveying guide surface 1311 is transited from first flat surface portion 13111 to a curved surface portion 13112 on the side close to second conveying guide surface 1312, when first flat surface portion 13111 swings to the lowest position along with first object carrying surface 131, the top end of curved surface portion 13112 is lower than first flat surface portion 13111, and at this time, the lance tip on first flat surface portion 13111 can smoothly slide down from first conveying guide surface 1311 to second conveying guide surface 1312. The second conveying guide surface 1312 is a surface of the first carrying surface 131 on a side far from the discharging guide groove 121, the second conveying guide surface 1312 is inclined downwards from a side far from the second carrying surface 132 to a side close to the second carrying surface 132, so that the lance tips are concentrated on the side, close to the second carrying surface 132, of the second conveying guide surface 1312 in the swinging process of the second conveying guide surface 1312, and when the second conveying guide surface 1312 is higher than the second carrying surface 132, the lance tips concentrated on the area, close to the second carrying surface 132, of the second conveying guide surface 1312 can fall from the second conveying guide surface 1312 to the second carrying surface 132 under the action of gravity. Meanwhile, the height of the second conveying guide surface 1312 is not higher than that of the top end of the curved surface 13112, a blocking surface 1313 perpendicular to the second conveying guide surface 1312 is arranged between the top end of the curved surface 13112 and the second conveying guide surface 1312, and when the first carrying surface 131 swings to the highest position, the blocking surface 1313 can prevent the gun head on the second conveying guide surface 1312 from falling back to the first conveying guide surface 1311 and even falling to the discharging guide groove 121 to influence the normal conveying of the gun head in the discharging guide groove 121. In an alternative embodiment, the swing height of first loading surface 131 can be controlled by adjusting first crank linkage 135, and the cooperation of the swing height of first loading surface 131 and blocking surface 1313 prevents the tips on second conveying guide surface 1312 from falling to discharge chute 121 when first loading surface 131 swings to the highest position.
With continued reference to fig. 2 and as shown in connection with fig. 1B, the second loading surface 132 includes a magazine 1321 and a third conveyance guide surface 1322. The storing portion 1321 is located on one side of the second carrying surface 132 away from the discharging guide groove 121, the bottom of the storing portion 1321 is concave, and the top end of the concave is located at the end portion of the storing portion 1321 close to the discharging guide groove 121. When the second loading surface 132 swings to a height lower than the first loading surface 131, the tips on the first loading surface 131 (the second conveying guide surface 1312) fall down to the magazine portion 1321 under the action of gravity. When the second loading surface 132 swings to the highest position, the end portion of the material storage portion 1321 close to the discharging guide groove 121 is higher than the end portion of the material guide plate 14, and the gun head located in the material storage portion 1321 slides down to the material guide plate 14 from the material storage portion 1321 under the action of gravity. The third conveying guide surface 1322 is located on one side of the second object carrying surface 132 close to the discharging guide groove 121, the third conveying guide surface 1322 is lower than the end portion of the storing portion 1321 close to the discharging guide groove 121, and when the second object carrying surface 132 swings to the highest position, a redundant space for receiving the gun head dropped from the storing portion 1321 is formed between the third conveying guide surface 1322 and the material guide plate 14.
In an alternative embodiment, the third conveyance guide surface 1322 is inclined downward from the side away from the first loading surface 131 to the side close to the first loading surface 131.
With the structure of the third conveying guide surface 1322, when the second carrier surface 132 swings to the highest position, most of the tips in the magazine portion 1321 can slide down to the material guide plate 14, and a small part of the tips can fall into the redundant space between the third conveying guide surface 1322 and the material guide plate 14 and be received by the third conveying guide surface 1322, because the third conveying guide surface 1322 inclines downward from the side away from the first carrier surface 131 to the side close to the first carrier surface 131, further, the tips on the third conveying guide surface 1322 can slide down to the first carrier surface 131, and enter the magazine portion 1321 again with the alternate reverse swing of the first carrier surface 131 and the second carrier surface 132, and slide down from the magazine portion 1321 to the material guide plate 14 or enter the redundant space between the third conveying guide surface 1322 and the material guide plate 14 again when the second carrier surface 132 swings to the highest position.
By adopting the structures of the first carrying surface 131 and the second carrying surface 132 in the embodiment of the invention, most of the gun heads in the storage bin 11 can be ensured to enter the discharging guide groove 121 through the material guide plate 14 and be automatically sequenced by the discharging guide groove 121, and the first carrying plate 133 and the second carrying plate 134 are driven to swing back and forth by the first motor 138, compared with a vibrating disk feeding scheme, a rotating disk feeding scheme and a rotating impeller scheme in the prior art, the structure is simpler, the dead weight and the occupied space of the equipment are reduced, meanwhile, the running noise of the equipment is greatly reduced by using a motor driving mode instead of a vibrating disk mode, and in addition, the risk of damage to the tip end of the gun head in the prior art is also avoided by using a mode that the first motor 138 drives the first carrying plate 133 and the second carrying plate 134 to swing back and forth.
Fig. 3 shows the structure of the material guide plate 14 in the embodiment of the present invention. As shown in fig. 3 in conjunction with fig. 1A, 1B, and 1C, the material guide plate 14 includes a bottom plate 141 and a guide rod 142. The bottom plate 141 is inclined upward from a side close to the discharge guide groove 121 to a side far from the discharge guide groove 121. The number of the guide rods 142 is plural, the guide rods 142 are vertically fixed on one side of the bottom plate 141 facing away from the second object carrying surface 132 (the third conveying guide surface 1322), the guide rods 142 are distributed in at least two rows, and the guide rods 142 are distributed in a staggered manner from row to row, that is, the guide rods 142 are distributed in a delta shape. The staggered distribution mode or delta-shaped distribution mode of the guide rods 142 between the rows can effectively comb the passing gun heads, so that the gun heads passing through the guide rods 142 can vertically slide to the discharging guide groove 121 on the bottom plate 141, the gun heads with downward heads can smoothly enter the discharging guide groove 121 and automatically sequence in the discharging guide groove 121, and the gun heads which do not enter the discharging guide groove 121 can fall to the first object carrying surface 131 from the discharging guide groove 121 under the vibration action in the operation process of the equipment or under the action of the purging device 15 due to the extremely light weight of the gun heads in the moving process.
In an alternative embodiment, the spacing between the guide rods 142 is designed to be different according to the size of the tips of different specifications, so as to meet the requirements of the tips of various specifications. Accordingly, the material guide plate 14 with different guide rod 142 spacing can be designed and replaced correspondingly according to different specifications of gun heads.
Fig. 4 shows the structure of the rail device 12 in the embodiment of the present invention. As shown in fig. 4 in conjunction with fig. 1A and 1B, the guide rail device 12 includes a linear vibrator 122 and a conveying guide rail 123. The conveying guide rail 123 is fixedly mounted on the straight vibrator 122, the discharging guide groove 121 is located on the conveying guide rail 123, and the gun head located in the discharging guide groove 121 moves along the extending direction of the discharging guide groove 121 under the uniform excitation effect of the straight vibrator 122.
Further, as shown in fig. 4, the transport rail 123 includes a fixed transport rail 1231 and an adjustable transport rail 1232. Wherein the fixed transport rail 1231 is fixedly mounted to the linear vibrator 122 and the fixed transport rail 1231 has a first rail edge 12311 and an adjustable transport rail mount 12312. The adjustable conveying guide rail 1232 has a second guide rail edge 12321 and an adjusting long hole 12322, the adjustable conveying guide rail 1232 is mounted on the adjustable conveying guide rail mounting seat 12312 through the adjusting long hole 12322, the second guide rail edge 12321 is parallel to the first guide rail edge 12311, the discharging guide groove 121 is formed between the second guide rail edge 12321 and the first guide rail edge 12311, and the adjustable conveying guide rail 1232 changes the distance between the first guide rail edge 12311 and the second guide rail edge 12321 (i.e. changes the width of the discharging guide groove 121) through adjusting the position change of the long hole 12322 on the adjustable conveying guide rail mounting seat 12312, so that the gun heads with different specifications can be adapted.
As shown in fig. 4, in an alternative embodiment, the first guide rail edge 12311 and the second guide rail edge 12321 are cylindrically curved. This arrangement ensures that the tips are transported smoothly within the channel 121.
In an alternative embodiment, as shown in fig. 4 in conjunction with fig. 1B, the vibrator 122 is fixedly mounted on the substrate 4 by a second fixing bracket 124.
In an alternative embodiment, the pipette tip sequencing and conveying equipment 1 further comprises a material pushing device 16. Fig. 5 shows a structure of the pushing device 16, as shown in fig. 5 in combination with fig. 1B and fig. 1C, the pushing device 16 is installed outside a side wall of one side of the discharging guide slot 121 of the storage bin 11, the pushing device 16 has a pushing end portion 161, an opening for the pushing end portion 161 to enter is formed in a position of the side wall of the storage bin 11 above the discharging guide slot 121, and the pushing end portion 161 has a degree of freedom of reciprocating in a direction perpendicular to an extending direction of the discharging guide slot 121 in a region above the discharging guide slot 121 and passing through the opening under the driving of the pushing device 16, so as to push out the gun head, the head of which does not enter the discharging guide slot 121, from the discharging guide slot 121.
Further, as shown in fig. 5, the pushing device 16 includes a second motor 162, an eccentric wheel 163, a telescopic rod 164, and a guide groove 165. The eccentric wheel 163 is mounted on the output shaft of the second motor 162, and the eccentric wheel 163 has a convex column 1631. The telescopic rod 164 includes a driving portion 1641 and a rod portion 1642, wherein the driving portion 1641 has a long hole 16411 for accommodating the protruding column 1631, the rod portion 1642 is limited in the guiding groove 165, and the pushing end 161 is located at the end of the rod portion 1642 far away from the driving portion 1641. Driven by the second motor 162, the protruding column 1631 has a degree of freedom of reciprocating in the long hole 16411, and further, in the limit fit of the guide groove 165, the telescopic rod 164 has a degree of freedom of driving the material pushing end 161 to pass through the opening and reciprocate in the area above the material discharging guide groove 121. So that the pushing end portion 161 repeatedly pushes the portion of the lance tip located above the discharge chute 121 during the reciprocating movement. The material pushing end portion 161 reciprocates in a direction perpendicular to the extending direction of the material discharging guide groove 121, so that for a gun head with a head portion entering the material discharging guide groove 121, the limiting effect of the material discharging guide groove 121 on the head portion of the gun head prevents the gun head in the material discharging guide groove 121 from being pushed out of the material discharging guide groove 121 by the material pushing end portion 161, and meanwhile, for a gun head with a head portion not entering the material discharging guide groove 121 (for example, a gun head horizontally or inversely placed on the material discharging guide groove 121), the material discharging guide groove 121 does not have any limiting effect on the gun head with a head portion not entering the material discharging guide groove 121, so that the gun head horizontally or inversely placed on the material discharging guide groove 121 is pushed out of the material discharging guide groove 121 under the repeated pushing effect of the material pushing end portion 161. As shown in fig. 1B, 1C and 2, the position of the material pushing end 161 corresponds to the position of the first object carrying surface 131, so that the lance tip pushed out of the discharging channel 121 by the material pushing end 161 directly falls back to the first object carrying surface 131.
As shown in fig. 1A, in the embodiment of the present invention, an opening structure with an adjustable size is formed in a side wall of the storage bin 11, through which the discharging guide channel 121 is connected to the gun tip boxing unit, and the gun tips 3 in the discharging guide channel 121 are output.
In the embodiment of the invention, the whole discharging guide groove 121 is positioned at the bottom of the storage bin 11, and the gun heads are sorted and conveyed in the storage bin 11, so that the gun heads do not need to be sorted and conveyed outside the storage bin 11, and the discharging guide groove 121 can be designed with a short extension part outside the storage bin 11, so that the liquid-transfering gun head sorting and conveying equipment of the embodiment of the invention realizes the integration of gun head feeding and conveying, reduces the occupied space of the equipment, and meanwhile, the lifting feeding device realizes the feeding process of the gun heads to the guide groove in the storage bin in a swinging mode Low noise and multi-specification use requirements.
The embodiment of the invention also provides a pipette head sequencing and boxing robot, which comprises the pipette head sequencing and conveying equipment and the pipette head boxing equipment in the embodiments. The pipette head boxing equipment is connected to the discharging guide groove 121, and is used for receiving the pipette heads sequenced and conveyed by the pipette head sequencing and conveying equipment from the discharging guide groove 121 and boxing the received pipette heads.
The pipette head boxing equipment can adopt the structure of a pipette head boxing unit used in the prior art. Besides, the gun tip boxing apparatus can also adopt the gun tip boxing apparatus mentioned in the following embodiments of the invention.
Fig. 6 shows the structure of a pipette tip boxing apparatus 2 in an embodiment of the present invention, and the pipette tip boxing apparatus 2 in an embodiment of the present invention is used for boxing pipette tips in sorting conveyance, and as shown in fig. 6, the pipette tip boxing apparatus 2 mainly includes a feed conveying device 21, a tip arranging device 22, a tip box displacement control device 23, and a controller (not shown in the drawings). Wherein, the controller is electrically connected with the feeding and conveying device 21, the gun head arrangement device 22 and the gun head box displacement control device 23.
Fig. 7 shows a structure of the feed conveyor in the embodiment of the present invention, and in conjunction with fig. 7, the feed conveyor 21 has a feed chute 211 and a spacer 212. The feeding guide groove 211 is used for receiving a plurality of tips conveyed in a sorting manner, the number of the spacers 212 is multiple, the spacers 212 are located above the feeding guide groove 211, and the feeding conveying device 21 uses the spacers 212 to space the tips in the feeding guide groove 211 and convey the tips to the tail end of the feeding guide groove 211 under the control of a controller (not shown in the figure).
Fig. 8A shows a structure of a gun head arranging device in an embodiment of the present invention, and as shown in fig. 8A, the gun head arranging device 22 has a plurality of hanging grooves 2221 arranged in a row in accordance with a specification of the gun head, the hanging grooves 2221 face the end of the feeding guide groove 211, the gun head arranging device 22 moves the hanging grooves 2221 under the control of a controller (not shown in the figure) so that the gun heads conveyed at intervals to the end of the feeding guide groove 211 are hung in each hanging groove 2221 in sequence (hung in fig. 8A to the gun heads 3 of the hanging grooves 2221), moves the hanging grooves 2221 to a blanking position after the gun head hanging in all the hanging grooves 2221 is completed, and moves the hanging grooves 2221 under the control of the controller at the blanking position so that the gun heads in the hanging grooves 2221 drop into the gun head accommodating holes of the gun head box.
The head cartridge displacement control device 23 is configured to carry the head cartridge and move the head cartridge under the control of a controller (not shown) so that the head accommodating hole in the head cartridge is moved below the blanking position to align with the hanging groove 2221 at the blanking position.
As shown in fig. 7, the feeding conveyor 21 mainly includes a first feeding guide 213, a second feeding guide 214, a conveying belt 215, a driving pulley 216, a driven pulley 217, and a first motor 218. The first feeding guide 213 is mounted on a first support 2191. The second feeding guide 214 is mounted on a second support 2192, the edge of the second feeding guide 214 is parallel to the edge of the first feeding guide 213, and a feeding guide groove 211 is formed between the edge of the second feeding guide 214 and the edge of the first feeding guide 213. The driving pulley 216 and the driven pulley 217 are installed at one side of the first feeding guide rail 213, the transmission belt 215 is sleeved on the driving pulley 216 and the driven pulley 217, the spacers 212 are distributed on the outer surface of the transmission belt 215 at the same interval, the driving shaft of the first motor 218 is connected to the driving pulley 216, and the first motor 218 is electrically connected to a controller (not shown in the figure) to drive the driving pulley 216 to rotate under the control of the controller so as to drive the transmission belt 215 to move, so that the spacers 212 space the tips in the feeding guide groove 211 and sequentially convey the tips to the tail end of the feeding guide groove 211.
In an alternative embodiment, the first feeding rail 213 is a fixed feeding rail, and the second feeding rail 214 is an adjustable feeding rail; alternatively, the first feeding guide 213 is an adjustable feeding guide, and the second feeding guide 214 is a fixed feeding guide. The adjustable feeding guide rail is provided with a plurality of mounting positions on the supporting body on which the adjustable feeding guide rail is mounted, and the width of the feeding guide groove 211 is changed along with the change of the mounting positions of the adjustable feeding guide rail, so that the feeding guide groove 211 is adaptive to guns with different specifications. The support mounted on the first feeding guide 213 is a first support 2191, and the support mounted on the second feeding guide 214 is a second support 2192.
In the embodiment of the invention, the sorting and conveying control of the gun heads in the feeding guide groove 211 is performed by using the spacers 212 which are arranged above the feeding guide groove 211 at the same interval.
With continued reference to fig. 7, the second feed guide 214 has a dam portion 2141, the dam portion 2141 being adjacent to and extending along an edge of the second feed guide 214, and a lance tip located in the feed channel 211 and spaced by the spacer 212 being confined in the region between the spacer 212 and the dam portion 2141.
With continued reference to FIG. 7, in an alternative embodiment, the edges of the first feed rail 213 and the edges of the second feed rail 214 are cylindrically curved.
Fig. 8B shows an exploded structure of the lance tip arranging device in the embodiment of the present invention, and as shown in fig. 8A and 8B, in the embodiment of the present invention, the lance tip arranging device 22 mainly includes a bearing plate 221, a hanging plate 222, a screw stepping motor 223, a linear guide 224, and a driving limiting assembly 225. The bearing plate 221, the linear guide 224 and the screw rod stepping motor 223 are horizontally arranged, the linear guide 224 and the screw rod stepping motor 223 are located below the bearing plate 221 and connected with the bearing plate 221, and the bearing plate 221 is driven by the screw rod stepping motor 223 to move on the linear guide 224. The driving limiting component 225 is fixedly installed on the bearing plate 221, and the hanging plate 222 is installed on the driving limiting component 225. The plurality of hooking grooves 2221 are opened at one side of the hooking plate 222 facing the end of the feeding guide groove 211 and are arranged in a row in the first horizontal direction. The lead screw stepping motor 223 is electrically connected to a controller (not shown in the drawings), and drives the carrier plate 221 to move under the control of the controller to move the hooking groove 2221 in the first horizontal direction. The driving limiting assembly 225 is electrically connected to the controller and drives the hook plate 222 under the control of the controller, so that the gun head can be hooked in the hook groove 2221 when the hook plate 222 is at the receiving position, and the gun head can fall out of the hook groove 2221 when the hook plate 222 is at the receiving position.
In an optional embodiment, according to the types of the guns, the specifications of the gun head boxes and the number of the gun head accommodating holes, the hanging plate 222 can be designed into various specifications, so that the sizes and the number of the hanging grooves 2221 on the hanging plate 222 with different specifications can be suitable for the guns with different types, the gun head boxes with different specifications and the gun head accommodating holes with different numbers (the number of the hanging grooves 2221 is equal to the number of the gun head accommodating holes in each row of the gun head boxes, and the distance between every two adjacent hanging grooves 2221 is equal to the distance between every two adjacent gun head accommodating holes in each row of the gun head accommodating holes), thereby realizing the box-packed adaptation of the gun heads with various specifications and the gun head boxes.
In an alternative embodiment, as shown in fig. 7 and 8A, an end surface of the first support body 2191 facing the hooking groove 2221 and an end surface of the second support body 2192 facing the hooking groove 2221 are disposed opposite to the hooking groove 2221 and extend in the first horizontal direction, and when the hooking plate 222 is in the receiving position and the tip head in the hooking groove 2221 moves in the first horizontal direction along with the hooking groove 2221, the tip head on the side of the end surface of the first support body 2191 facing the hooking groove 2221 is limited by the end surface of the first support body 2191 facing the hooking groove 2221 and the hooking groove 2221, and the tip head on the side of the end surface of the second support body 2192 facing the hooking groove 2221 is limited by the end surface of the second support body 2192 facing the hooking groove 2221 and the hooking groove 2221.
As shown in fig. 8A and 8B, the lance tip alignment device 22 further includes a baffle 226. The baffle 226 is fixed on the bearing plate 221 and positioned above the hanging plate 222; when the hanging plate 222 is in the receiving position, the hanging groove 2221 extends below the baffle 226 in the direction towards the first support body 2191 and the second support body 2192 to hang the gun heads; when the hanging plate 222 is in the storage position, the hanging groove 2221 is retracted below the baffle 226, so that the tips in the hanging groove 2221 are separated from the hanging groove 2221 and fall under the blocking of the baffle 226.
In an alternative embodiment, the blocking surface of the blocking plate 226 for the lance head is a groove-shaped or wavy curved surface, and each recessed portion of the blocking surface of the blocking plate 226 corresponds to one hooking groove 2221, so that the position of the lance head in the hooking groove 2221 when the lance head is detached from the hooking groove 2221 and falls down is ensured to be opposite to the position of the lance head accommodating hole below the hooking groove 2221 or the position of the lance head accommodating hole below the hooking groove 2221, and the lance head can accurately fall down in the lance head accommodating hole.
With continued reference to fig. 8A and 8B, in an embodiment of the present invention, the driving limit assembly 225 includes a first push-pull electromagnet 2251, a second push-pull electromagnet 2252, a push-pull limit plate 2253, and a pin 2254. Here, the first push-pull electromagnet 2251 is installed on the supporting plate 221, and the push-pull stopper plate 2253 is installed between the traction rod of the first push-pull electromagnet 2251 and the hitch plate 222. The second push-pull electromagnet 2252 is mounted on the bearing plate 221, the pin 2254 is mounted on the drawbar of the second push-pull electromagnet 2252, and the push-pull limiting plate 2253 has a pin hole adapted to the pin 2254. The first push-pull electromagnet 2251 and the second push-pull electromagnet 2252 are electrically connected to a controller. The first push-pull electromagnet 2251 drives the hitch plate 222 between the pick-up position and the storage position by pushing and pulling the stopper plate 2253 under the control of the controller. When the hitch plate 222 is in the pick-up position, the second push-pull electromagnet 2252, under the control of the controller, drives the pin 2254 into the pin hole to lock the hitch plate 222. Before the hitch plate 222 moves from the receiving position to the storage position, the second push-pull electromagnet 2252, under the control of the controller, drives the pin 2254 out of the pin hole to unlock the hitch plate 222.
With continued reference to fig. 8A, 8B, in an alternative embodiment, the drive stop assembly 225 further includes a stop block 2255. The stopper 2255 is mounted to the carrier plate 221, and the stopper 2255 has a guide groove for receiving the push-pull stopper 2253 and a guide hole for receiving the pin 2254. The push-pull limiting plate 2253 is limited to move in the guide groove, and the pin 2254 is limited to move in the guide hole. The stop block 2255 may ensure alignment between the pin 2254 and the pin hole, and ensure stable positioning of the hitch plate 222 at the access location.
Further, with continued reference to fig. 8A and 8B, in an alternative embodiment, the lance tip alignment device 22 further comprises a support plate 227, a connector 228, and a slide plate 229. The support plate 227 is fixed to a slider on the lead screw of the lead screw stepping motor 223 through a connecting member 228, and the support plate 227 is also fixed to a slider on the linear guide 224, so that the support plate 227 slides on the linear guide 224 under the driving of the lead screw stepping motor 223. The carrier plate 221 is fixed to the support plate 227, and the carrier plate 221 moves on the linear guide 224 by the support plate 227 under the driving of the screw stepping motor 223. The supporting plate 227 is provided with a sliding groove facing the supporting plate 221, the sliding plate 229 is located in the sliding groove and can slide along the sliding groove, the sliding plate 229 is located between the supporting plate 227 and the supporting plate 221, meanwhile, the supporting plate 221 is provided with an opening through which the push-pull limiting plate 2253 passes, a space for the push-pull limiting plate 2253 to move in the horizontal direction is reserved in the opening, the push-pull limiting plate 2253 can move horizontally in the opening under the control of the first push-pull electromagnet 2251, the push-pull limiting plate 2253 passes through the opening and is fixedly connected with the sliding plate 229, and the hitch plate 222 is mounted at the end of the sliding plate 229.
As shown in fig. 9A and 9B, the lance tip cartridge displacement control device 23 includes a supporting plate 231, a cartridge fixing assembly 232, a transverse driving assembly 233, and a longitudinal driving assembly 234. As shown in fig. 6, the support plate 231 is located below the lance tip alignment device 22. The cartridge fixing unit 232 is mounted on the upper surface of the support plate 231, and as shown in fig. 9A, the tip cartridge 5 is fixed to the support plate 231 by the cartridge fixing unit 232 and moves with the support plate 231 below the tip aligning device 22. The lateral driving assembly 233 is located at a lower portion of the blade 231 and is electrically connected to a controller (not shown) to drive the blade 231 to move in the second horizontal direction under the control of the controller. As shown in fig. 9B, a longitudinal driving assembly 234 is installed between the lateral driving assembly 233 and the blade 231 and is electrically connected to the controller to drive the blade 231 to move in the vertical direction under the control of the controller. In the embodiment of the present invention, the longitudinal driving assembly 234 is a connection bridge between the transverse driving assembly 233 and the supporting plate 231, and the transverse driving assembly 233 drives the longitudinal driving assembly 234 to drive the supporting plate 231 to move in the second horizontal direction.
With continued reference to fig. 9B, the lateral drive assembly 233 includes a linear module 2331 and a link plate 2332. The linear module 2331 is electrically connected to the controller, and the slider of the linear module 2331 moves in the second horizontal direction under the control of the controller. In the embodiment of the present invention, the second horizontal direction is perpendicular to the first horizontal direction, and if expressed by a rectangular coordinate system, the first horizontal direction is, for example, an X-axis direction, the second horizontal direction is, for example, a Y-axis direction, and the vertical direction is a Z-axis direction. The connecting plate 2332 is fixed to the slide of the line module 2331.
With continued reference to fig. 9B, the longitudinal driving assembly 234 includes a guide rod 2341, a fixed plate 2342, a third push-pull electromagnet 2343, and an adjustable limiting post (not shown). The guide rod 2341 is fixed to the connecting plate 2332 in the vertical direction, and the guide rod 2341 is inserted into a guide hole provided in the supporting plate 231. The fixing plate 2342 has a first fixing portion and a second fixing portion, the first fixing portion and the second fixing portion are perpendicular to each other, the first fixing portion is fixed to the connecting plate 2332, so that the second fixing portion is perpendicular to the connecting plate 2332, and the second fixing portion is inserted into the long hole formed in the supporting plate 231. The third push-pull electromagnet 2343 is installed on the second fixing portion of the fixing plate 2342 and located above the supporting plate 231, an end of a traction rod of the third push-pull electromagnet 2343 is connected to the supporting plate 231 through an adjustable limiting post (not shown in the figure), and the third push-pull electromagnet 2343 is electrically connected to the controller to drive the supporting plate 231 to move in the vertical direction under the control of the controller.
With continued reference to fig. 9B, in an alternative embodiment, the longitudinal driving assembly 234 may further include a linear bearing 2344, the linear bearing 2344 is installed in a guide hole of the supporting plate 231, the guide rod 2341 is inserted into the linear bearing 2344, and the linear bearing 2344 moves linearly in the axial direction of the guide rod 2341 under the driving of the third push-pull electromagnet 2343 on the supporting plate 231.
Referring to fig. 10, in the embodiment of the present invention, the cartridge fixing assembly 232 includes a first type fixing block 2321, a second type fixing block 2322 and a third type fixing block 2323. Wherein, it is shown simultaneously to combine fig. 9A, 9B, and first model fixed block 2321 is two, is fixed in the layer board 231 upper surface relatively, and first model fixed block 2321 has the first locating surface with first model rifle head box assorted, and when the rifle head box was first model rifle head box, rifle head box was located between two first model fixed blocks 2321. Second model fixed block 2322 is two, second model fixed block 2322 has the first installation face with first model fixed block 2321's first locating surface assorted, and second model fixed block 2322 has the second locating surface with second model rifle head box assorted and with third model fixed block 2323 assorted mount pad, when the rifle head box is second model rifle head box, second model fixed block 2322 is installed in first model fixed block 2321 through the cooperation of its first installation face and first locating surface of first model fixed block 2321, rifle head box is located between two second model fixed blocks 2322. The number of the third model fixing blocks 2323 is two, the third model fixing blocks 2323 are matched with the mounting seats on the second model fixing blocks 2322, the third model fixing blocks 2323 are provided with third positioning surfaces matched with a third model gun head box, when the gun head box is a third model gun head box, the third model fixing blocks 2323 are mounted on the mounting seats on the second model fixing blocks 2322, the second model fixing blocks 2322 are mounted on the first model fixing blocks 2321, and the gun head box is positioned between the two third model fixing blocks 2323. In an alternative embodiment, as shown in fig. 10, the third type fixing block 2323 and the second type fixing block 2322 can be fixed by the cooperation of the pressure plate 2324 and the screw 2325.
As shown in fig. 9A and 9B, in a preferred embodiment, there are two sets of box fixing assemblies 232, and the two sets of box fixing assemblies 232 are respectively located below two sides of the feeding guide groove 211 in the first horizontal direction. The two material falling positions are respectively located at two sides of the feeding guide groove 211 in the first horizontal direction. The gun head arrangement device 22 alternately moves the hanging groove 2221 between two blanking positions. Under the control of the controller, the hanging groove 2221 moves to the tail end of the feeding guide groove 211 and hangs the gun heads, after the gun heads are hung fully, the hanging groove 2221 moves to a blanking position and the gun heads fall into gun head boxes placed below the blanking position, then the hanging groove 2221 moves to the tail end of the feeding guide groove 211 again and hangs the gun heads, after the gun heads are hung fully, the hanging groove 2221 moves to another blanking position and the gun heads fall into the gun head boxes placed below the another blanking position, and therefore the operation is repeated in a circulating mode, and the box packing of the two gun head boxes is completed.
In the embodiment of the present invention, under the control of the controller, when the lance tip accommodating hole in the lance tip box moves to a position below the blanking position and aligns with the hanging groove 2221 at the blanking position, the lance tip box displacement control device 23 moves the lance tip box up under the control of the controller, so that the head portion of the lance tip in the hanging groove 2221 enters the lance tip accommodating hole, and then the lance tip arrangement device 22 moves the hanging groove 2221 under the control of the controller, so that the lance tip in the hanging groove 2221 completely falls into the lance tip accommodating hole of the lance tip box.
With continued reference to fig. 6, in a preferred embodiment, the pipetting gun tip boxing apparatus 2 in the embodiment of the present invention may further comprise a loading assisting device 24. The feeding auxiliary device 24 is installed at the tail end of the feeding guide groove 211 and is used for assisting the gun heads at the tail end of the feeding guide groove 211 to be hung on the hanging groove 2221, so that only one gun head is ensured to be output from the tail end of the feeding guide groove 211 and hung on the hanging groove 2221 at each time.
Fig. 11A shows the structure of the feeding assisting device 24, as shown in fig. 11A, the feeding assisting device 24 includes a driving unit 241 and an auxiliary pushing block 242, the driving unit 241 is electrically connected to a controller (not shown in the figure), the auxiliary pushing block 242 is fixed to the driving unit 241, the driving unit 241 drives the auxiliary pushing block 242 to reciprocate horizontally in the end of the feeding guide groove 211 along the direction perpendicular to the extending direction of the feeding guide groove 211 under the control of the controller, and pushes the gun heads located at the end of the feeding guide groove 211 into and out of the feeding guide groove 211 one by one during the reciprocating motion.
Fig. 11B illustrates a structure of the auxiliary pusher block 242, and as shown in fig. 11B, the auxiliary pusher block 242 has a connecting part 2421 and a pusher part 2422. The connecting part 2421 is used for fixedly connecting with the driving unit 241. The pushing part 2422 is provided with an inner concave surface 24221 extending from one side of the feeding guide groove 211 to one side of the hooking groove 2221, wherein the inner concave surface 24221 is preferably a cylindrical curved surface, when the auxiliary pushing block 242 moves towards the feeding guide groove 211 under the driving action of the driving unit 241, the inner concave surface 24221 of the pushing part 2422 cuts into the feeding guide groove 211 from the side of the feeding guide groove 211, and the inner concave surface 24221 pushes a single gun head positioned at the tail end of the feeding guide groove 211 into the feeding guide groove 211 in the moving process of the auxiliary pushing block 242, and the gun head pushed into the feeding guide groove 211 is directly hooked to the hooking groove 2221.
With continued reference to fig. 11B, in the pushing part 2422, the side of the concave surface 24221 facing the concave surface further has an auxiliary limiting part 24222, the auxiliary limiting part 24222 has a convex curved surface facing the concave surface 24221, and a space for accommodating and limiting the gun head is formed between the concave surface 24221 and the convex curved surface of the auxiliary limiting part 24222.
When the pipette tip boxing equipment 2 in the embodiment of the invention is used for gun tip boxing: the gun head box is fixed on the box body fixing component 232; then, under the control of the controller, the horizontal driving component 233 in the gun head box displacement control device 23 is used for moving the gun head box, so that the first row of gun head accommodating holes in the gun head box moves to the position below the blanking position, wherein the controller can realize the accurate displacement control of the gun head box by the step control of the linear module 2331; under the control of the controller, the hanging grooves 2221 (corresponding to the hanging plates 222 at the receiving positions) in the extending state move to the tail end of the feeding guide groove 211, and under the coordination of the movement of the hanging grooves 2221 and the movement of the spacing pieces 212, the gun heads in the feeding guide groove 211 are hung in each hanging groove 2221 one by one, wherein the coordination of the movement of the hanging grooves 2221 and the movement of the spacing pieces 212 can be realized through the step control of the controller on the screw stepping motor 223 and the first motor 218; when all the hanging grooves 2221 are fully hung with gun heads, the hanging grooves 2221 are moved to a blanking position, and then the gun heads in the hanging grooves 2221 are respectively aligned with the gun head accommodating holes below; then, under the control of the controller, the gun head box is lifted up by using the longitudinal driving assembly 234, so that the head parts of the gun heads in the hanging groove 2221 respectively enter the gun head accommodating holes in the first row, and the gun head pre-feeding is completed; then, under the control of the controller, the hanging plate 222 is moved to the storage position by using the driving limiting assembly 225, so that the hanging groove 2221 is retracted, and in the process of retraction, under the blocking action of the baffle 226, each gun head is separated from the hanging groove 2221 and completely falls into each gun head accommodating hole of the first row; then, under the control of the controller, the gun head box is dropped back by using the longitudinal driving assembly 234, and the gun head box is moved by using the transverse driving assembly 233 in the gun head box displacement control device 23, so that the second row of gun head accommodating holes in the gun head box is moved to the position below the dropping position; the hanging plate 222 is moved to the receiving position by using the driving limiting assembly 225, so that the hanging groove 2221 is in a stretching state, the hanging groove 2221 in the stretching state is moved to the tail end of the feeding guide groove 211, and the gun head is hung again; repeating the process to further complete boxing of all rows of gun heads in the gun head box.
In an alternative embodiment, the zero-point positioning of the movement of the support plate 231 in the second horizontal direction can be achieved by the cooperation of the photoelectric barrier and the photoelectric switch, so as to ensure the alignment between the rows of gun head receiving holes in the gun head box and the gun heads in the hanging groove 2221 at the falling position. For example, a first photoelectric blocking piece may be mounted on the supporting plate 231, and a first photoelectric switch may be mounted in a direction toward the first photoelectric blocking piece (the first photoelectric switch may be mounted on an appropriate position of a supporting bracket forming the pipette head boxing apparatus 2 in combination with a structure of the pipette head boxing apparatus 2), the first photoelectric switch is electrically connected to the controller, the position of the supporting plate 231 when the first photoelectric switch feeds back a signal to the controller is set as a zero position by opposing the first photoelectric blocking piece and the first photoelectric switch, and the controller controls the linear module 2331 in a stepping manner according to the zero position to control the movement position of the pipette head box.
In an alternative embodiment, zero point positioning of the hanging groove 2221 in the movement in the first horizontal direction can be realized by cooperation of the photoelectric blocking piece and the photoelectric switch, so that the gun head at the tail end of the feeding guide groove 211 can be accurately hung in each hanging groove 2221, and the hanging groove 2221 can be accurately moved to the falling position. For example, a second photoelectric blocking piece may be mounted on the supporting plate 221, and a second photoelectric switch may be mounted in a direction toward the second photoelectric blocking piece (the second photoelectric switch may be mounted in a proper position of the supporting bracket forming the pipette tip boxing apparatus 2 in combination with the structure of the pipette tip boxing apparatus 2), the second photoelectric switch is electrically connected to the controller, the second photoelectric blocking piece and the second photoelectric switch are opposite, so that the position of the supporting plate 221 when the second photoelectric switch feeds back a signal to the controller is set as a zero position, and the controller controls the screw stepping motor 223 in a stepping manner according to the zero position to control the moving position of the hooking groove 2221.
According to the boxing equipment for the pipette tips in the embodiment of the invention, the one-to-one hanging connection of the pipette tips in the feeding guide groove and the hanging groove is realized by the matching of the hanging groove which can move in the first horizontal direction and the spacing piece above the feeding guide groove, and the hanging groove transfers the hung pipette tips to the blanking position in the first horizontal direction, and further, the heads of the pipette tips in the hanging groove respectively enter the accommodating holes of the pipette tips by controlling the upper part of the pipette tip box at the blanking position, so that the pre-feeding of the pipette tips is completed, and the pipette tips can completely and accurately fall into the accommodating holes of the pipette tips when the hanging groove is subsequently withdrawn. According to the boxing equipment for the pipette tips in the embodiment of the invention, the light weight of the pipette tips is fully considered, and the structures and control modes for assisting the vertical movement of the pipette tips and the pre-feeding of the pipette tips are respectively designed in the process of hooking the pipette tips to the hooking groove, the process of transferring the pipette tips by the hooking groove and the process of blanking the pipette tips to the pipette tip accommodating holes, so that the pipette tips are accurately controlled in a box. In the preferred embodiment of the invention, the box body fixing assemblies symmetrically arranged at the two sides of the feeding guide groove can also realize the simultaneous filling of two gun head boxes, thereby improving the efficiency of boxing the gun heads. The liquid-transfering gun rifle head boxing equipment of the invention has compact structure and small occupied space, and completely meets the use requirements of miniaturization, low noise and multiple specifications of automatic rifle head boxing equipment in laboratories, laboratories and the like.
Fig. 12 shows a pipette tip sequencing and boxing robot in an embodiment of the invention, which comprises the pipette tip sequencing and conveying equipment 1 and the pipette tip boxing equipment 2 in the embodiments. In the butt joint part of the pipette head sorting and conveying device 1 and the pipette head boxing device 2, the output end part of the discharge guide groove 121 of the pipette head sorting and conveying device 1 is slightly higher than the input end part of the feeding guide groove 211 of the pipette head boxing device 2, namely, the output end part of the conveying guide rail 123 is overlapped on the first feeding guide rail 213 and the second feeding guide rail 214, so that the pipette heads output from the discharge guide groove 121 can smoothly slide into the feeding guide groove 211.
As shown in fig. 12, in the robot for sorting and boxing pipette tips according to the embodiment of the present invention, a sorting and conveying device 1 for pipette tips and a boxing device 2 for pipette tips are mounted on a base plate 4. The distance between the pipette head sequencing and conveying equipment 1 and the pipette head boxing equipment 2 is fixed through the base plate 4, and sufficient space is reserved between the pipette head sequencing and conveying equipment 1 and the pipette head boxing equipment 2 through length adjustment of the discharging guide groove 121 and the feeding guide groove 211 between the pipette head sequencing and conveying equipment 1 and the pipette head boxing equipment 2, so that the pipette head box 5 loaded by the pipette head box displacement control device 23 can move between the pipette head sequencing and conveying equipment 1 and the pipette head boxing equipment 2 and can be smoothly placed in and taken out from between the pipette head sequencing and conveying equipment 1 and the pipette head boxing equipment 2. The pipette head sequencing and boxing robot in the embodiment of the invention has a compact structure on the whole, realizes the purposes of miniaturization and low noise, and can completely meet the use requirements of miniaturization, low noise and multiple specifications of automatic gun head boxing equipment in laboratories, laboratories and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (11)

1. The utility model provides a liquid-transfering gun rifle head sequencing conveying equipment for carry out sequencing to the rifle head of liquid-transfering gun and carry, its characterized in that:
the liquid-transfering gun rifle head sequencing and conveying equipment comprises a storage bin, a guide rail device, a lifting feeding device and a material guide plate; wherein the content of the first and second substances,
the gun head is stored in the storage bin;
the guide rail device is provided with a discharging guide groove for receiving and sequencing the conveying gun heads, and the discharging guide groove is positioned at the bottom of the storage bin and extends along one bottom edge of the storage bin;
the lifting loading device is provided with a first object carrying surface and a second object carrying surface, the first object carrying surface and the second object carrying surface are positioned at the bottom of the storage bin, and the first object carrying surface and the second object carrying surface have the freedom degree of synchronous reverse swinging by taking the end part close to one side of the discharging guide groove as a shaft, so that the gun head in the storage bin moves from the first object carrying surface to the second object carrying surface under the swinging action of the first object carrying surface and the second object carrying surface;
the material guide plate is positioned in the storage bin and positioned above the part, close to the discharging guide groove, of the second object carrying surface, and the material guide plate extends obliquely upwards from one side, close to the discharging guide groove, of the material guide plate to one side, far away from the discharging guide groove, so that when one end, far away from the discharging guide groove, of the second object carrying surface swings to the highest position, the gun head positioned on the second object carrying surface is scraped into the discharging guide groove from the second object carrying surface through the material guide plate; wherein the content of the first and second substances,
the first object carrying surface comprises a first conveying guide surface and a second conveying guide surface; wherein the content of the first and second substances,
the first conveying guide surface is the surface of one side of the first object carrying surface close to the discharging guide groove, one side of the first conveying guide surface close to the discharging guide groove is a first plane part, the first conveying guide surface is transited from the first plane part to a curved surface part at one side close to the second conveying guide surface, and when the first object carrying surface swings to the lowest position, the top end of the curved surface part is lower than the first plane part;
the second conveying guide surface is the surface of one side, far away from the discharging guide groove, of the first object carrying surface, the second conveying guide surface inclines downwards from one side, far away from the second object carrying surface, to one side, close to the second object carrying surface, the height of the second conveying guide surface is not higher than the top end of the curved surface part, and a blocking surface perpendicular to the second conveying guide surface is arranged between the top end of the curved surface part and the second conveying guide surface;
the second object carrying surface comprises a material storage part and a third conveying guide surface; wherein the content of the first and second substances,
the material storage part is positioned on one side, far away from the discharging guide groove, of the second object carrying surface, the bottom of the material storage part is a concave surface, the top end of the concave surface is positioned at the end part, close to the discharging guide groove, of the material storage part, and when the second object carrying surface swings to the highest position, the end part, close to the discharging guide groove, of the material storage part is higher than the end part of the material guide plate;
the third is carried the face and is located the second and carry the object plane and be close to one side of ejection of compact guide slot, and the third is carried the face and is less than the tip that the material storage portion is close to the ejection of compact guide slot, and when the second object plane of carrying swung to the highest point, the third was carried and is had the redundant space that accepts the rifle head that the material storage portion dropped between face and the material deflector.
2. The pipette gun head sequencing and conveying equipment according to claim 1, characterized in that:
the liquid-transfering gun rifle head sequencing and conveying equipment further comprises a purging device; wherein the content of the first and second substances,
the blowing device is arranged on the side wall of the storage bin and located at the end part of the discharging guide groove, and the blowing device blows air to the gun heads located on the discharging guide groove along the conveying direction of the gun heads in the discharging guide groove so as to blow the gun heads, the heads of which do not enter the discharging guide groove, to the first object carrying surface from the discharging guide groove.
3. The pipette gun head sequencing and conveying equipment according to claim 1, characterized in that:
the lifting feeding device comprises a first loading plate, a second loading plate, a first crank connecting rod group, a second crank connecting rod group, a rotating shaft and a first motor; wherein the content of the first and second substances,
the first motor is a motor with double output shafts and is provided with a first output shaft and a second output shaft;
the rotating shaft is close to and parallel to the discharging guide groove;
the first carrying plate is positioned at the bottom of the storage bin and penetrates through the rotating shaft, the first carrying surface is positioned on the first carrying plate, and the first carrying plate is connected to the first output shaft through the first crank connecting rod group and driven by the first motor to do first swing by taking the rotating shaft as a shaft;
the second object carrying plate is positioned at the bottom of the storage bin and penetrates through the rotating shaft, the second object carrying surface is positioned on the second object carrying plate, and the second object carrying plate is connected to a second output shaft through a second crank connecting rod group and driven by the first motor to do second swing by taking the rotating shaft as a shaft;
wherein, the first swing and the second swing are synchronous and reverse swings.
4. The pipette gun head sequencing and conveying equipment according to claim 1, characterized in that:
the third conveying guide surface inclines downwards from one side far away from the first object carrying surface to one side close to the first object carrying surface.
5. The pipette gun head sequencing and conveying equipment according to claim 1, characterized in that:
the material guide plate comprises a bottom plate and a guide rod; wherein the content of the first and second substances,
the bottom plate is obliquely arranged upwards from one side close to the discharging guide groove to one side far away from the discharging guide groove;
the quantity of guide bars is a plurality of, and the vertical fixation is in the bottom plate one side of carrying the thing face dorsad second, and the guide bar is for two at least rows of distributions, and the guide bar is crisscross the distribution between the line and the line.
6. The pipette gun head sequencing and conveying equipment according to claim 1, characterized in that:
the guide rail device comprises a straight vibrator and a conveying guide rail; wherein the content of the first and second substances,
the conveying guide rail is fixedly arranged on the straight vibration device, the discharging guide groove is arranged on the conveying guide rail, and the gun head arranged in the discharging guide groove moves along the extension direction of the discharging guide groove under the uniform-speed vibration excitation effect of the straight vibration device.
7. The pipette gun head sequencing and conveying equipment according to claim 6, characterized in that:
the conveying guide rail comprises a fixed conveying guide rail and an adjustable conveying guide rail; wherein the content of the first and second substances,
the fixed conveying guide rail is fixedly arranged on the straight vibrator and is provided with a first guide rail edge and an adjustable conveying guide rail mounting seat;
the adjustable conveying guide rail is provided with a second guide rail edge and an adjusting long hole, the adjustable conveying guide rail is arranged on the adjustable conveying guide rail mounting seat through the adjusting long hole, the second guide rail edge is parallel to the first guide rail edge, and a discharging guide groove is formed between the second guide rail edge and the first guide rail edge.
8. The pipette gun head sequencing and conveying equipment according to claim 7, characterized in that:
the first guide rail edge and the second guide rail edge are cylindrical curved surfaces.
9. The pipette gun head sequencing and conveying equipment according to claim 1, characterized in that:
the pipette head sequencing and conveying equipment further comprises a pushing device; wherein the content of the first and second substances,
the material pushing device is arranged on the outer side of the side wall of one side of the discharging guide groove of the storage bin, the material pushing device is provided with a material pushing end part, the position, located above the discharging guide groove, of the side wall of the storage bin is provided with an opening for the material pushing end part to enter, the material pushing end part is driven by the material pushing device to have a degree of freedom which penetrates through the opening and moves in a reciprocating mode in a direction, perpendicular to the extending direction of the discharging guide groove, of the upper area of the discharging guide groove, so that the gun head, of which the head does not enter the discharging guide groove, is pushed out of the discharging guide groove.
10. The pipette gun head sequencing and conveying equipment according to claim 9, characterized in that:
the material pushing device comprises a second motor, an eccentric wheel, a telescopic rod and a guide groove; wherein the content of the first and second substances,
the eccentric wheel is arranged on an output shaft of the second motor and is provided with a convex column;
the telescopic rod comprises a driving part and a rod part, wherein the driving part is provided with a long hole for accommodating the convex column, the rod part is limited in the guide groove, and the material pushing end part is positioned at the tail end of the rod part far away from the driving part;
under the drive of the second motor, the convex column has the degree of freedom of reciprocating motion in the long hole, and then under the limit fit of the guide groove, the telescopic rod has the degree of freedom of driving the pushing end to penetrate through the open hole and reciprocate in the area above the discharging guide groove.
11. The utility model provides a liquid-transfering gun rifle head sequencing cartoning machine people which characterized in that includes:
the pipette gun tip sequencing conveyor apparatus of any one of claims 1 to 10; and the number of the first and second groups,
and the pipette head boxing equipment is connected to the discharging guide groove so as to receive the pipette heads sorted and conveyed by the pipette head sorting and conveying equipment from the discharging guide groove and box the received pipette heads.
CN202111133830.8A 2021-09-27 2021-09-27 Liquid-transfering gun rifle head sequencing conveying equipment and liquid-transfering gun rifle head sequencing cartoning machine people Active CN113559957B (en)

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