CN114505253A - Automatic sorting equipment for sample tubes - Google Patents
Automatic sorting equipment for sample tubes Download PDFInfo
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- CN114505253A CN114505253A CN202210151258.6A CN202210151258A CN114505253A CN 114505253 A CN114505253 A CN 114505253A CN 202210151258 A CN202210151258 A CN 202210151258A CN 114505253 A CN114505253 A CN 114505253A
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- linear module
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- 230000008014 freezing Effects 0.000 claims abstract description 32
- 238000007689 inspection Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000012163 sequencing technique Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 14
- 238000005057 refrigeration Methods 0.000 claims description 6
- 238000002474 experimental method Methods 0.000 claims description 2
- 238000012216 screening Methods 0.000 claims 1
- 239000000523 sample Substances 0.000 abstract description 32
- 238000005138 cryopreservation Methods 0.000 abstract description 11
- 239000012472 biological sample Substances 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 description 40
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- 230000002542 deteriorative effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012520 frozen sample Substances 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The invention relates to automatic sample tube sorting equipment, which solves the technical problems that the existing manual sample tube freezing and storing equipment is large in sorting and sequencing and information inputting workload, low in efficiency and high in cost, and workers can be exposed to a dangerous environment with a biological pollution risk for a long time, and comprises a base, an X-direction linear module, a Y-direction linear module, a Z-direction linear module, a manipulator, a tray and a double-scanning pre-inspection device, wherein the X-direction linear module is connected with the base; the tray is fixedly connected with the base, and the double-scanning pre-detection device is connected to the rear part of the base. The invention is widely applied to the technical field of sample tube sorting such as biological sample cryopreservation tubes.
Description
Technical Field
The invention relates to the technical field of sorting of biological sample freezing tubes, in particular to automatic sorting equipment for sample tubes.
Background
The biological sample library mainly refers to samples such as biomacromolecules, cells, tissues and organs of healthy and diseased organisms which are collected, processed, stored and applied in a standardized way, and comprises human organ tissues, whole blood, plasma, serum, biological body fluid or processed biological samples such as DNA, RNA, protein and the like.
The process of collecting and storing the samples needs to use a freezing tube to sort, sort and input information of the samples. The freezing and storing tube is also called a strain storing tube, a magnetic bead storing tube and a magnetic bead freezing and storing tube. Sorting, sequencing, information entry process are mainly carried out through artifical manual at present, and work load is big, and the process is complicated makes mistakes easily, and is efficient, with high costs, and the staff can expose in the hazardous environment who has the biological pollution risk for a long time moreover.
Disclosure of Invention
The invention provides automatic sample tube sorting equipment for full-automatic sorting, sequencing and information input instead of manual operation, aiming at solving the technical problems that the existing manual operation for sorting, sequencing and information input of sample cryopreserved tubes is large in workload, low in efficiency and high in cost, and workers can be exposed in a dangerous environment with a biological pollution risk for a long time.
The invention provides automatic sample tube sorting equipment which comprises a base, an X-direction linear module, a Y-direction linear module, a Z-direction linear module, a manipulator, a tray and a double-scanning pre-inspection device, wherein the X-direction linear module is connected with the base; the tray is fixedly connected with the base, and the double-scanning pre-inspection device is connected to the rear part of the base;
the double-scanning pre-inspection device comprises a driving motor, a shielding plate, a pre-inspection scanner, an input scanner, a first scanner bracket and a second scanner bracket, wherein the driving motor is fixedly connected with the tray, the first scanner bracket and the second scanner bracket are respectively and fixedly connected with the tray, the pre-inspection scanner is fixedly connected with the first scanner bracket, the input scanner is fixedly connected with the second scanner bracket, an included angle alpha between the pre-inspection scanner and the input scanner is larger than 0 degree and smaller than 180 degrees, and the shielding plate is connected with an output shaft of the driving motor; the shielding plate is positioned in front of the pre-detection scanner and the recording scanner;
the manipulator is positioned in front of the double-scanning pre-detection device.
Preferably, 20 DEG-alpha is 90 deg.
Preferably, the manipulator comprises a rotation driving motor, an opening and closing driving motor, a clamping jaw seat, a fixing plate, a connecting sleeve, an upper driving disk, an upper bearing, a lower driving disk, a connecting shaft, a sliding pin and a clamping jaw, wherein the lower part of the connecting sleeve is fixedly connected with the opening and closing driving motor, an output shaft of the rotation driving motor is fixedly connected with the upper part of the connecting sleeve, and the clamping jaw seat is fixedly connected with the opening and closing driving motor through the fixing plate; the upper driving disk is provided with a disk part and a shaft sleeve part, the disk part is provided with four involute arc-shaped grooves which are uniformly distributed along the circumferential direction, and the shaft sleeve part is provided with a connecting hole; an output shaft of the opening and closing driving motor is inserted into a connecting hole of the shaft sleeve part from top to bottom to be fixedly connected; the lower driving disc is provided with four involute arc-shaped grooves which are uniformly distributed along the circumferential direction, the lower driving disc is provided with a central hole, the connecting shaft is fixedly connected with the central hole of the lower driving disc, the lower end of the connecting shaft penetrates through the lower driving disc, the lower end of the connecting shaft is provided with a bearing connecting part, and the bearing connecting part is positioned below the lower driving disc; the upper end of the connecting shaft is inserted into the connecting hole of the shaft sleeve part from bottom to top to be fixedly connected; a space exists between the disk part of the upper driving disk and the lower driving disk, and the upper part of the clamping jaw extends outwards from the space; a lower bearing chamber, an upper bearing chamber and an accommodating cavity are arranged inside the clamping jaw seat, and four clamping jaw channels are uniformly distributed along the circumferential direction on the side wall of the clamping jaw seat; the upper bearing is sleeved on the shaft sleeve part of the upper driving disc, the lower bearing is sleeved on the bearing connecting part of the connecting shaft, the lower bearing is arranged in the lower bearing chamber, the upper bearing is arranged in the upper bearing chamber, and the disc part and the lower driving disc are positioned in the accommodating cavity; the sliding pins are fixedly connected with the upper parts of the clamping jaws, the number of the clamping jaws is four, and the number of the sliding pins is four; the upper parts of the four clamping jaws respectively penetrate through the four clamping jaw channels of the clamping jaw seat, and the upper parts of the clamping jaws can slide in the clamping jaw channels; the upper ends of the sliding pins are positioned in the involute arc grooves of the upper driving disk, the lower ends of the sliding pins are positioned in the involute arc grooves of the lower driving disk, the upper ends of the four sliding pins correspond to the four involute arc grooves of the upper driving disk, and the lower ends of the four sliding pins correspond to the four involute arc grooves of the lower driving disk;
the rotation driving motor is connected with the Z-direction linear module.
Preferably, a refrigeration device is connected to the bottom surface of the tray.
Preferably, the manipulator further comprises a lower trigger rod, a first lower photoelectric sensor and a second lower photoelectric sensor, the first lower photoelectric sensor and the second lower photoelectric sensor are fixedly connected with the top surface of the clamping jaw seat, and the lower trigger rod is fixedly connected with the side surface of the shaft sleeve part of the driving disc.
Preferably, the freezing box is placed on the tray.
Another preferred scheme of the manipulator in the automatic sample tube sorting equipment is that the manipulator comprises a rotary driving motor, an opening and closing driving motor, a clamping jaw seat, a fixing plate, a connecting sleeve, an upper driving disc, an upper bearing, a lower driving disc, a connecting shaft, a sliding pin and a clamping jaw, wherein the lower part of the connecting sleeve is fixedly connected with the opening and closing driving motor, an output shaft of the rotary driving motor is fixedly connected with the upper part of the connecting sleeve, and the clamping jaw seat is fixedly connected with the opening and closing driving motor through the fixing plate; the upper driving disk is provided with a disk part and a shaft sleeve part, the disk part is provided with three involute arc-shaped grooves which are uniformly distributed along the circumferential direction, and the shaft sleeve part is provided with a connecting hole; an output shaft of the opening and closing driving motor is inserted into a connecting hole of the shaft sleeve part from top to bottom to be fixedly connected; the lower driving disc is provided with three involute arc-shaped grooves which are uniformly distributed along the circumferential direction, the lower driving disc is provided with a central hole, the connecting shaft is fixedly connected with the central hole of the lower driving disc, the lower end of the connecting shaft penetrates through the lower driving disc, the lower end of the connecting shaft is provided with a bearing connecting part, and the bearing connecting part is positioned below the lower driving disc; the upper end of the connecting shaft is inserted into the connecting hole of the shaft sleeve part from bottom to top to be fixedly connected; a space exists between the disk part of the upper driving disk and the lower driving disk, and the upper part of the clamping jaw extends outwards from the space; the inside of the clamping jaw seat is provided with a lower bearing chamber, an upper bearing chamber and an accommodating cavity, and the side wall of the clamping jaw seat is provided with three clamping jaw channels which are uniformly distributed along the circumferential direction; the upper bearing is sleeved on the shaft sleeve part of the upper driving disc, the lower bearing is sleeved on the bearing connecting part of the connecting shaft, the lower bearing is arranged in the lower bearing chamber, the upper bearing is arranged in the upper bearing chamber, and the disc part and the lower driving disc are positioned in the accommodating cavity; the sliding pins are fixedly connected with the upper parts of the clamping jaws, the number of the clamping jaws is three, and the number of the sliding pins is three; the upper parts of the three clamping jaws respectively penetrate through the three clamping jaw channels of the clamping jaw seat, and the upper parts of the clamping jaws can slide in the clamping jaw channels; the upper ends of the sliding pins are positioned in the involute arc grooves of the upper driving disk, the lower ends of the sliding pins are positioned in the involute arc grooves of the lower driving disk, the upper ends of the three sliding pins correspond to the three involute arc grooves of the upper driving disk, and the lower ends of the three sliding pins correspond to the three involute arc grooves of the lower driving disk; the rotation driving motor is connected with the Z-direction linear module.
The invention also provides a sorting method using the automatic sample tube sorting equipment, which comprises the following steps:
moving the sample tube to be processed to the front of the double-scanning pre-detection device through the X-direction linear module, the Y-direction linear module, the Z-direction linear module and the mechanical arm;
sheltering from the input scanner with the shielding plate, the manipulator drives the pending sample cell rotation, starts the bar code that pastes on the preliminary examination scanner scanning cryopreserved pipe simultaneously, if the bar code on the pending sample cell is normal, shelters from the preliminary examination scanner with the shielding plate, starts the input scanner, and the manipulator drives the pending sample cell rotation simultaneously, and the input scanner gathers the bar code information on the sample cell.
The invention has the beneficial effects that: the automatic sample cryopreserved pipe that freezes sorts, sequences, information input, reduces staff's work load by a wide margin, improves work efficiency, reduces the probability of makeing mistakes, reduces working cost, has also reduced the time that the staff exposes in the environment that has the biohazard risk by a wide margin.
Can be compatible with various sizes of freezing storage tubes.
The method has the advantages that the method has the function of pre-checking and inputting by the double scanners, the pre-checking scanner is used for scanning once, samples which cannot be identified by the bar codes or are abnormal by the bar codes are removed in advance, the inputting scanner is used for inputting information, the positions of the cryopreserved pipes in the two scanning processes are unchanged, and the accuracy and the reliability of the input sample information are improved to a great extent.
The refrigeration function is equipped, and the safety of the sample can be ensured in the sample sorting process.
The invention can be used for processing sample tubes such as sampling tubes, centrifuge tubes and the like.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is an isometric view of an automatic sample vial sorting apparatus;
FIG. 2 is a front view of an automatic sample vial sorting apparatus;
FIG. 3 is a top view of the automatic sample vial sorting apparatus;
FIG. 4 is a left side view of the automatic sample vial sorting apparatus;
FIG. 5 is a right side view of the automatic sample vial sorting apparatus;
FIG. 6 is an isometric view of another perspective of the automatic sample vial sorting apparatus;
FIG. 7 is an isometric view of another perspective of the automatic sample vial sorting apparatus;
FIG. 8 is a schematic structural diagram of a dual scanning preview device;
FIG. 9 is a diagram of the position of the dual scanning preview device in relation to the robot;
FIG. 10 is a top view of the dual scan preview device of FIG. 8;
FIG. 11 is a schematic view of a shielding plate of the dual scanning preview device shielding the preview scanner;
FIG. 12 is a schematic view showing a state in which a robot grips a vial and is placed in front of a dual-scanning pre-inspection apparatus when a shielding plate of the dual-scanning pre-inspection apparatus shields a pre-inspection scanner;
FIG. 13 is a schematic view of the connection between the robot and the robot holder of the automatic sorting apparatus for frozen sample tubes;
FIG. 14 is a schematic view of the robot shown in FIG. 13 with the upper photoelectric sensor and the fixing plate removed;
FIG. 15 is a schematic view of the structure of FIG. 14 with the first and second lower photosensors removed;
FIG. 16 is a perspective view from another perspective of the structure shown in FIG. 15;
FIG. 17 is a front view of the structure shown in FIG. 15;
FIG. 18 is a sectional view taken in the direction A-A of FIG. 17;
FIG. 19 is a sectional view taken in the direction B-B in FIG. 17;
FIG. 20 is a schematic view of the structure of FIG. 15 with the jaw receptacle removed;
FIG. 21 is a schematic view of the structure of FIG. 15 with the jaw receptacle removed;
FIG. 22 is a schematic view of a slide pin and jaw connection of the robot;
FIG. 23 is a schematic view of the coupling engagement of the upper end of the slide pin with the upper drive disk;
figure 24 is an isometric view of the upper drive disk;
figure 25 is an isometric view of the upper drive disk;
FIG. 26 is a schematic view of the structure of the lower driving disk fixedly mounted with the connecting shaft;
FIG. 27 is a perspective view of the structure of FIG. 26 from another perspective;
FIG. 28 is a top view of the structure shown in FIG. 27;
FIG. 29 is an isometric view of the jaw receptacle;
FIG. 30 is an isometric view of the jaw receptacle;
FIG. 31 is a perspective view of the bottom view of the jaw mount;
FIG. 32 is a front view of the jaw receptacle of FIG. 29;
figure 33 is a top view of the jaw receptacle of figure 29.
The symbols in the drawings illustrate that:
100. the synchronous belt drive device comprises a base, 200, an X-direction linear module, 201, a first X-axis sliding rail assembly, 202, a second X-axis sliding rail assembly, 203, a horizontal support plate, 204, a first motor, 205, a first driving synchronous pulley, 206, a second driven synchronous pulley, 207, a first synchronous belt and 208, a synchronous toothed plate; 300, Y-direction linear module, 301, rectangular bracket, 302, second motor, 303, second driving synchronous pulley, 304, second driven synchronous pulley, 305, second synchronous belt, 306, Y-axis slide rail component, 307, vertical support plate, 308, link; 400, a Z-direction linear module, 401, a third motor, 402, a third driving synchronous pulley, 403, a third driven synchronous pulley, 404, a third synchronous belt, 405, a Z-axis slide rail assembly, 406 and a manipulator support; 500. the manipulator comprises a rotary driving motor 501, an opening and closing driving motor 502, an opening and closing driving motor 503, a clamping jaw seat 503-1, a lower bearing chamber 503-2, an upper bearing chamber 503-3, a containing cavity 503-4, a clamping jaw channel 503-5, a fixing plate mounting hole 504, a fixing plate 505, a connecting sleeve 506, an upper driving disk 506-1, a disk part 506-1, an involute arc-shaped groove 506-1, a shaft sleeve part 506-2, a connecting hole 506-2-1, an upper triggering rod 507, a lower triggering rod 508, a lower triggering rod 509, an upper photoelectric sensor 510, a first lower photoelectric sensor 511, a second lower photoelectric sensor 512, a clamping jaw 512-1, an upper part 513, an upper bearing 514, a lower bearing 515, a lower driving disk 515-1, the involute arc-1, an upper connecting shaft 516, a bearing connecting part 516-1 and a bearing connecting part, 517. a slide pin; 600. the system comprises a tray, 700, a refrigerating device, 800, a double-scanning pre-detection device, 801, a driving motor, 802, a shielding plate, 803, a limiting column connecting frame, 804, a first limiting column, 805, a second limiting column, 806, a pre-detection scanner, 807, an input scanner, 808, a first scanner bracket, 809, a second scanner bracket, 810, a trigger rod and 811, a photoelectric sensor, wherein the tray is provided with a first scanning column and a second scanning column; 10. a freezing storage box, 20 freezing storage tubes and 30 freezing storage tubes.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1 to 7, the automatic sorting apparatus for the sample cryopreservation tube includes a base 100, an X-direction linear module 200, a Y-direction linear module 300, a Z-direction linear module 400, a robot 500, a tray 600, a refrigerating apparatus 700, and a dual scanning pre-inspection device 800, wherein the X-direction linear module 200 is connected to the base 100, the Y-direction linear module 300 is connected to the X-direction linear module 200, the Z-direction linear module 400 is connected to the Y-direction linear module 300, and the robot 500 is connected to the Z-direction linear module 400. The movement of the X-direction linear module 200 can drive the Y-direction linear module 300 to move along the X-axis direction (refer to the left arrow in fig. 3), i.e. drive the robot 500 to move along the X-axis direction. The motion of the Y-direction linear module 300 can drive the Z-direction linear module 400 to move along the Y-axis direction (refer to the direction indicated by the lower arrow in fig. 3), that is, drive the robot 500 to move along the Y-axis direction. The motion of the Z-direction linear module 400 can drive the robot 500 to move along the Z-axis direction. The tray 600 is fixedly coupled to the base 100, and the refrigerator 700 is coupled to the bottom surface of the tray 600. The dual scanning preview device 800 is mounted at the rear of the base 100.
As shown in fig. 8-10, the dual-scanning pre-inspection apparatus 800 includes a driving motor 801, a shielding plate 802, a limiting column connecting rack 803, a first limiting column 804, a second limiting column 805, a pre-inspection scanner 806, a recording scanner 807, a first scanner support 808, a second scanner support 809, a trigger lever 810, and a photoelectric sensor 811, the driving motor 801 is fixedly mounted on the tray 600, the limiting column connecting rack 803 is provided with a central through hole, an output shaft of the driving motor 801 passes through the central through hole of the limiting column connecting rack 803, the first limiting column 804 and the second limiting column 805 are respectively fixedly mounted on two sides of the limiting column connecting rack 803, the first scanner support 808 and the second scanner support 809 are respectively fixedly connected with the tray 600, the pre-inspection scanner 806 is fixedly connected with the first scanner support 808, the recording scanner 807 is fixedly connected with the second scanner support 809, an included angle alpha between the pre-inspection scanner 806 and the registration scanner 807 is larger than 0 degrees and smaller than 180 degrees (preferably, alpha is larger than or equal to 20 degrees and smaller than or equal to 90 degrees), and the shielding plate 802 is connected with an output shaft of the driving motor 801. The shutter 802 is located in front of the preview scanner 806 and the registration scanner 807. The shielding plate 802 is located above the limiting column connecting frame 803. The driving motor 801 rotates a certain angle to drive the shielding plate 802 to rotate, so that the shielding plate 802 rotates to a position shown in fig. 8 for shielding a signal sent by the recording scanner 807, in order to prevent the shielding plate 802 from rotating an excessive angle, a second limiting column 805 is provided, a blocking portion 802-1 is provided at the bottom of the shielding plate 802, and the blocking portion 802-1 abuts against the second limiting column 805. In the orientation of fig. 10, the shielding plate 802 rotates counterclockwise by a certain angle and is located in front of the window of the pre-inspection scanner 806, so as to shield the signal sent by the pre-inspection scanner 806 (as shown in fig. 11 and 12), in order to prevent the shielding plate 802 from rotating by an excessive angle, the first limiting pillar 804 is provided, and the blocking portion 802-1 abuts against the first limiting pillar 804 (as shown in fig. 11). In order to more accurately switch the shielding plate 802 in front of the recording scanner 807 and the pre-inspection scanner 806 for shielding operation, a photoelectric sensor 811 and a trigger rod 810 are arranged, the photoelectric sensor 811 is connected with the tray 600, the trigger rod 810 is connected with the bottom of the shielding plate 802, the device is in a zero position during initialization, and the zero position is found when the trigger rod 810 enters a U-shaped groove of the photoelectric sensor 811; after finding the zero position, the driving motor 801 drives the shielding plate 802 to rotate to the position of shielding the entry scanner 807 or the pre-inspection scanner 806, so that switching in front of the entry scanner 807 and the pre-inspection scanner 806 can be performed more accurately.
As shown in fig. 1, 3, and 9, the robot 500 is located in front of the pre-inspection scanner 806 and the entry scanner 807.
The freezing storage box 10 is placed on the tray 600, and the freezing storage box 10 is a general freezing storage box product. The refrigerating device 700 can refrigerate the freezing tube in the freezing box 10, so that a certain low-temperature environment is ensured, and the sample in the freezing tube is prevented from deteriorating. The refrigeration device 700 may specifically be a refrigeration sheet, which is directly purchased and used from the market, such as a refrigeration sheet manufactured by Suzhou Intelligent technology, Inc.
The specific structure for the X-direction linear module 200 may be: as shown in fig. 1, 3, 5, and 7, the X-direction linear module 200 includes a first X-axis slide rail assembly 201, a second X-axis slide rail assembly 202, a horizontal support plate 203, a first motor 204, a first driving synchronous pulley 205, a second driven synchronous pulley 206, a first synchronous belt 207, and a synchronous toothed plate 208, the first X-axis slide rail assembly 201 and the second X-axis slide rail assembly 202 are respectively connected to the base 100, one end of the horizontal support plate 203 is connected to a slider of the first X-axis slide rail assembly 201, the other end of the horizontal support plate 203 is connected to a slider of the second X-axis slide rail assembly 202, the first motor 204 is fixedly mounted at the rear portion of the base 100, the first driving synchronous pulley 205 is connected to an output shaft of the first motor 204, the second driven synchronous pulley 206 is rotatably connected to the front portion of the base 100, the first synchronous belt 207 is connected between the second driven synchronous pulley 206 and the first driving synchronous pulley 205, the horizontal support plate 203 is connected with a first timing belt 207 through a timing belt toothed plate 208. The first motor 204 is activated to drive the horizontal support plate 203 to translate along the X-axis direction.
The specific structure for the Y-direction linear module 300 is: as shown in fig. 1, 2, 3, 4 and 6, the Y-direction linear module 300 includes a rectangular bracket 301, a second motor 302, the second driving synchronous pulley 303, the second driven synchronous pulley 304, the second synchronous belt 305, the Y-axis slide rail assembly 306, the vertical support plate 307, the connecting frame 308, the second motor 302 is fixedly mounted on the rectangular support 301, the second driving synchronous pulley 303 is connected with the output shaft of the second motor 302, the second driven synchronous pulley 304 is rotatably connected with the rectangular support 301, the second synchronous belt 305 is connected between the second driven synchronous pulley 304 and the second driving synchronous pulley 303, the Y-axis slide rail assembly 306 is connected with the top of the rectangular support 301, the vertical support plate 307 is connected with the slide block of the Y-axis slide rail assembly 306 through the connecting frame 308, the second synchronous belt 305 is connected with the connecting frame 308 through a synchronous toothed plate, the second motor 302 is started, and the vertical support plate 307 can move along the Y-axis direction through a synchronous belt transmission mechanism. The bottom of the rectangular support 301 is fixedly connected with the horizontal support plate 203, and when the horizontal support plate 203 translates along the X-axis direction, the rectangular support 301 is driven to translate along the X-axis direction.
As for the specific structure of the Z-direction linear module 400, as shown in fig. 2, 5, and 6, the Z-direction linear module 400 includes a third motor 401, a third driving synchronous pulley 402, a third driven synchronous pulley 403, a third synchronous belt 404, a Z-axis sliding rail assembly 405, and a robot arm support 406, the third motor 401 is fixedly mounted on a vertical support plate 307, the third driving synchronous pulley 402 is connected to an output shaft of the third motor 401, the third driven synchronous pulley 403 is connected to the vertical support plate 307, the third synchronous belt 404 is connected between the third driving synchronous pulley 402 and the third driven synchronous pulley 403, the two Z-axis sliding rail assemblies 405 are connected to the vertical support plate 307, the robot arm support 406 is connected to sliding blocks of the two Z-axis sliding rail assemblies 405, and the third synchronous belt 404 is connected to the robot arm support 406 through a toothed plate. When the third motor 401 is started, the robot arm support 406 is driven to move in the vertical direction by the timing belt transmission mechanism, and the robot arm 500 mounted on the robot arm support 406 moves in the vertical direction.
As shown in fig. 13 to 33, the manipulator 500 includes a rotation driving motor 501, an opening/closing driving motor 502, a jaw holder 503, a fixing plate 504, a connecting sleeve 505, an upper driving disk 506, an upper trigger rod 507, a lower trigger rod 508, an upper photoelectric sensor 509, a first lower photoelectric sensor 510, a second lower photoelectric sensor 511, a jaw 512, an upper bearing 513, a lower bearing 514, a lower driving disk 515, a connecting shaft 516 and a sliding pin 517, wherein the lower part of the connecting sleeve 505 is fixedly connected with the housing of the opening/closing driving motor 502, and the output shaft of the rotation driving motor 501 is connected with the connecting hole at the upper part of the connecting sleeve 505 so that the output shaft of the rotation driving motor 501 is fixedly connected with the opening/closing driving motor 502; the housing of the opening/closing drive motor 502 is fixedly connected to the jaw holder 503 via a fixing plate 504 (the positioning jaw holder 503 is supported by the fixing plate 504). The upper part of the upper driving disk 506 is fixedly connected with the output shaft of the opening and closing driving motor 502, and the lower part of the upper driving disk 506 is connected and matched with the clamping jaw seat 503. Go up trigger bar 507 and the side fixed connection of adapter sleeve 505, rotate driving motor 501 fixed mounting on the manipulator support 406 of the linear module 400 of Z direction, go up photoelectric sensor 509 and install on manipulator support 406, when rotating driving motor 501 work and drive open and shut driving motor 502 and the whole certain angle of rotation of clamping jaw seat 503, it rotates along with adapter sleeve 505 to go up trigger bar 507, when going up trigger bar 507 and getting into the U-shaped groove of going up photoelectric sensor 509, go up photoelectric sensor 509 and send a signal to the controller, the controller instruction rotates driving motor 501 stop work, thereby guarantee more accurately that open and shut driving motor 502 and the whole certain angle of rotation of clamping jaw seat 503, it needs to explain, can not set up trigger bar 507 and last photoelectric sensor 509. As shown in fig. 24-25, the upper driving disk 506 is provided with a disk portion 506-1 and a shaft sleeve portion 506-2, the disk portion 506-1 is provided with four involute arc-shaped grooves 506-1-1 uniformly distributed along the circumferential direction, and the shaft sleeve portion 506-2 is provided with a connecting hole; referring to fig. 17, 18 and 21, the output shaft of the opening/closing driving motor 502 is inserted into the connecting hole 506-2-1 of the sleeve portion 506-2 from top to bottom and is fixedly connected through a flat key and a key groove structure. As shown in fig. 26 to 28, the lower driving disk 515 is provided with four involute arc-shaped slots 515-1 uniformly distributed along the circumferential direction, the lower driving disk 515 is provided with a central hole, the connecting shaft 516 is fixedly connected with the central hole of the lower driving disk 515, the lower end of the connecting shaft 516 penetrates through the lower driving disk 515, the lower end of the connecting shaft 516 is provided with a bearing connecting portion 516-1, and the bearing connecting portion 516-1 is located below the lower driving disk 515; referring to fig. 17, 18 and 21, the upper end of the connecting shaft 516 is inserted into the connecting hole 506-2-1 of the sleeve portion 506-2 from bottom to top and is fixedly connected through a flat key and a key slot structure, so that the lower driving disk 515, the connecting shaft 516 and the upper driving disk 506 are fixedly connected together; a space exists between the disk portion 506-1 and the lower drive disk 515, and the upper portions of the four jaws 512 are located in the space formed by the space (as shown in fig. 20 and 21), and the upper portions of the four jaws 512 extend outward from the space. As shown in fig. 29-33, a lower bearing chamber 503-1, an upper bearing chamber 503-2 and a containing cavity 503-3 are arranged inside the clamping jaw seat 503, four clamping jaw channels 503-4 are uniformly distributed along the circumferential direction on the side wall of the clamping jaw seat 503, and a fixing plate mounting hole 503-5 for mounting the fixing plate 504 is arranged on the side surface of the clamping jaw seat 503; referring to fig. 15, 17, 18, 19, 20 and 21, an upper bearing 513 is sleeved on a sleeve portion 506-2 of the upper driving disk 506, a lower bearing 514 is sleeved on a bearing connecting portion 516-1 of a connecting shaft 516, the lower bearing 514 is installed in a lower bearing chamber 503-1, an outer ring of the lower bearing 514 is matched with the lower bearing chamber 503-1, the upper bearing 513 is installed in the upper bearing chamber 503-2, an outer ring of the upper bearing 513 is matched with the upper bearing chamber 503-2, the disk portion 506-1 and the lower driving disk 515 are located in a containing cavity 503-3, and under the support of the upper bearing 513 and the lower bearing 514, the opening and closing driving motor 502 acts to drive the disk portion 506-1 and the lower driving disk 515 to rotate in the containing cavity 503-3. As shown in FIG. 22, a slide pin 517 is fixedly attached to the top portion 512-1 of the jaw 512, and four slide pins 517 are fixedly attached to the top portions of four jaws 512, respectively, and referring to FIGS. 16, 19, and 20, the top portion 512-1 of the jaw 512 passes through the jaw channel 503-4 of the jaw receptacle 503, and the top portion 512-1 is slidable in the jaw channel 503-4. Referring to fig. 18, 19, 21 and 23, the upper end portion of the slide pin 517 is located in the involute arc slot 506-1-1, the lower end portion of the slide pin 517 is located in the involute arc slot 515-1 of the lower drive disk 515, one slide pin corresponds to one involute arc slot 506-1-1 and one involute arc slot 515-1, and four slide pins correspond to four involute arc slots 506-1-1 and four involute arc slots 515-1. When the disk part 506-1 and the lower driving disk 515 rotate forward, the involute arc-shaped groove acts on the sliding pin 517 so as to make the upper part 512-1 of the clamping jaw 512 slide outwards, namely the upper parts of the four clamping jaws 512 slide outwards, thus realizing that the four clamping jaws 512 scatter around at the same time (loosening action); when disk portion 506-1 and lower drive disk 515 are inverted, upper portions 512-1 of jaws 512 slide inward, allowing four jaws 512 to converge toward the center at the same time (four jaws closed to grip a test tube). Referring to fig. 18 and 22, the overall shape of the jaws 512, with their lower ends folded inwardly to accommodate smaller sized vials, may vary depending on the particular product being actually gripped.
In order to more accurately control the rotation angles of the disc part 506-1 and the lower driving disc 515, a first lower photoelectric sensor 510, a second lower photoelectric sensor 511 and a lower trigger rod 508 are provided, the first lower photoelectric sensor 510 and the second lower photoelectric sensor 511 are fixedly arranged on the top surface of the clamping jaw seat 503, the lower trigger rod 508 is fixedly connected with the side surface of the shaft sleeve part 506-2, the rotation is stopped when the disc part 506-1 and the lower driving disc 515 rotate forwards until the lower trigger rod 508 enters the U-shaped groove of the first lower photoelectric sensor 510, and the rotation is stopped when the disc part 506-1 and the lower driving disc 515 rotate backwards until the lower trigger rod 508 enters the U-shaped groove of the second lower photoelectric sensor 511.
The manipulator 500 has a small volume and runs stably and reliably; the four clamping jaws have high movement precision; the four clamping jaws can be compatible with various sizes of freezing pipes, and the rotation angles of the disc part 506-1 and the lower driving disc 515 are adjusted to adapt to the freezing pipes with different sizes; four clamping jaws can adapt to narrow space. The noise of the four clamping jaws in the moving process is low, and the requirement of silent clamping with small gap can be met.
It should be noted that the robot 500 is also capable of holding other small volume objects.
The distance between the freezing pipes 20 placed on the freezing box 10 is small, and the manipulator 500 is provided with four clamping jaws 512 so as to be convenient for arranging positions and clamping the freezing pipes 20 with small distance.
It should be noted that the number of the clamping jaws 512 of the manipulator 500 may be three, and accordingly, the disk portion 506-1 of the upper driving disk 506 is provided with three involute arc-shaped grooves 506-1-1 uniformly distributed along the circumferential direction, the lower driving disk 515 is provided with three involute arc-shaped grooves 515-1 uniformly distributed along the circumferential direction, the side wall of the clamping jaw seat 503 is provided with three clamping jaw channels 503-4 uniformly distributed along the circumferential direction, and three sliding pins are respectively and fixedly connected with the upper portions of the three clamping jaws.
The following describes the sorting, and information entry processes:
as shown in fig. 1, four freezing boxes are placed on the left side of the tray 600, each freezing box contains a plurality of freezing tubes 20, and the four freezing boxes are sorting areas. Placing four empty freezing boxes on the right side of the tray 600, wherein the four freezing boxes are not provided with freezing tubes and are receiving areas;
the three-axis movement device composed of the X-direction linear module 200, the Y-direction linear module 300, and the Z-direction linear module 400 accurately moves the manipulator 500 to the sorting area, and the four clamping jaws 512 of the manipulator 500 clamp the vial to be frozen and move it to the front of the double-scanning pre-inspection device 800, as shown in fig. 2 and 9;
the double-scanning pre-inspection device 800 is started, the driving motor 801 acts to enable the shielding plate 802 to shield the input scanner 807, the driving motor 501 is rotated to drive the opening and closing driving motor 502 and the clamping jaw seat 503 to rotate, the cryopreservation tube 30 clamped by the four clamping jaws rotates, the pre-inspection scanner 806 is started to scan the bar code pasted on the cryopreservation tube 30, the controller judges whether the bar code on the cryopreservation tube 30 is normal (the bar code is pasted, is not damaged, can be identified, and does not store the bar code in a database), if the bar code is normal, the information is collected, the controller can automatically sort the bar code information of the sample tubes according to the sequence required by the experiment or different animal individuals according to the collected information (the automatic sorting process is data sorting, a table with the sample sequence set according to a certain arrangement rule is prepared in advance, the table is input into the controller in advance, then the cryopreservation boxes with a plurality of cryopreservation tubes are taken out of the refrigerator and placed in a sorting area, the manipulator 500 clamps the frozen pipes in the frozen storage box and moves to the pre-inspection scanner 806 for scanning, the controller compares the scanned bar code information with the table, and the frozen pipes to be tested in the current day are screened out from the scanned bar code information, but not the frozen pipes to be tested in the current day are put back. The automatic sorting process is optional and is not an essential step), the shielding plate 802 is shielded by the action of the driving motor 801, the pre-inspection scanner 806 is started, the entry scanner 807 is started, meanwhile, the driving motor 501 is rotated to rotate to enable the cryopreservation tube 30 clamped by the four clamping jaws to rotate, the entry scanner 807 collects bar code information on the cryopreservation tube 30, the bar code information can be entered into an LIMS system, then the manipulator 500 is moved to a receiving area by the action of the three-axis movement device, the cryopreservation tube 30 clamped by the four clamping jaws is placed in a cryopreservation box of the receiving area, finally, the four clamping jaws of the manipulator 500 are loosened and opened, and the manipulator 500 is driven by the action of the three-axis movement device to move to a sorting area on the left side of the tray 600.
If the pre-check scanner 806 scans abnormal barcodes on the vial 30, such as the barcodes are not stuck, the barcodes are defective, cannot be identified, and the barcodes are stored in the database, the three-axis motion device operates to drive the manipulator 500 to put the vial back to the original position, i.e., to put the vial back into the vial box in the sorting area.
Then the X-axis, Y-axis and Z-axis three-axis movement device is moved to a receiving area and placed at a designated position (figure 5), and if the bar code is defective, can not be identified or is not the bar code stored in the database, the bar code is placed back to the original position to wait for the processing of a worker.
It should be noted that the present invention can also be applied to sample tubes such as sampling tubes and centrifuge tubes.
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 present invention, since various modifications and changes will be apparent to those skilled in the art. It will be appreciated by those skilled in the art that other configurations of parts, drive devices and connections can be made without departing from the spirit of the invention, and similar arrangements and embodiments can be devised without departing from the invention.
Claims (9)
1. An automatic sample tube sorting device is characterized by comprising a base, an X-direction linear module, a Y-direction linear module, a Z-direction linear module, a manipulator, a tray and a double-scanning pre-inspection device, wherein the X-direction linear module is connected with the base, the Y-direction linear module is connected with the X-direction linear module, the Z-direction linear module is connected with the Y-direction linear module, and the manipulator is connected with the Z-direction linear module; the tray is fixedly connected with the base, and the double-scanning pre-inspection device is connected to the rear part of the base;
the double-scanning pre-detection device comprises a driving motor, a shielding plate, a pre-detection scanner, an input scanner, a first scanner bracket and a second scanner bracket, wherein the driving motor is fixedly connected with a tray, the first scanner bracket and the second scanner bracket are respectively and fixedly connected with the tray, the pre-detection scanner is fixedly connected with the first scanner bracket, the input scanner is fixedly connected with the second scanner bracket, an included angle alpha between the pre-detection scanner and the input scanner is larger than 0 degree and smaller than 180 degrees, and the shielding plate is connected with an output shaft of the driving motor; the shielding plate is positioned in front of the pre-inspection scanner and the recording scanner;
the manipulator is positioned in front of the double-scanning pre-detection device.
2. The automatic sample tube sorting apparatus of claim 1, wherein: alpha is more than or equal to 20 degrees and less than or equal to 90 degrees.
3. The automatic sample tube sorting equipment according to claim 1 or 2, wherein the manipulator comprises a rotary driving motor, an opening and closing driving motor, a clamping jaw seat, a fixing plate, a connecting sleeve, an upper driving disc, an upper bearing, a lower driving disc, a connecting shaft, a sliding pin and a clamping jaw, the lower part of the connecting sleeve is fixedly connected with the opening and closing driving motor, an output shaft of the rotary driving motor is fixedly connected with the upper part of the connecting sleeve, and the clamping jaw seat is fixedly connected with the opening and closing driving motor through the fixing plate; the upper driving disc is provided with a disc part and a shaft sleeve part, the disc part is provided with four involute arc-shaped grooves which are uniformly distributed along the circumferential direction, and the shaft sleeve part is provided with a connecting hole; an output shaft of the opening and closing driving motor is inserted into a connecting hole of the shaft sleeve part from top to bottom to be fixedly connected; the lower driving disc is provided with four involute arc-shaped grooves which are uniformly distributed along the circumferential direction, the lower driving disc is provided with a central hole, the connecting shaft is fixedly connected with the central hole of the lower driving disc, the lower end of the connecting shaft penetrates through the lower driving disc, the lower end of the connecting shaft is provided with a bearing connecting part, and the bearing connecting part is positioned below the lower driving disc; the upper end of the connecting shaft is inserted into the connecting hole of the shaft sleeve part from bottom to top to be fixedly connected; a space exists between the disc part of the upper driving disc and the lower driving disc, and the upper part of the clamping jaw extends outwards from the space; a lower bearing chamber, an upper bearing chamber and an accommodating cavity are arranged inside the clamping jaw seat, and four clamping jaw channels uniformly distributed along the circumferential direction are arranged on the side wall of the clamping jaw seat; the upper bearing is sleeved on a shaft sleeve part of the upper driving disc, the lower bearing is sleeved on a bearing connecting part of the connecting shaft, the lower bearing is arranged in a lower bearing chamber, the upper bearing is arranged in the upper bearing chamber, and the disc part and the lower driving disc are positioned in the accommodating cavity; the sliding pins are fixedly connected with the upper parts of the clamping jaws, the number of the clamping jaws is four, and the number of the sliding pins is four; the upper parts of the four clamping jaws respectively penetrate through the four clamping jaw channels of the clamping jaw seat, and the upper parts of the clamping jaws can slide in the clamping jaw channels; the upper ends of the sliding pins are positioned in the involute arc grooves of the upper driving disk, the lower ends of the sliding pins are positioned in the involute arc grooves of the lower driving disk, the upper ends of the four sliding pins correspond to the four involute arc grooves of the upper driving disk, and the lower ends of the four sliding pins correspond to the four involute arc grooves of the lower driving disk;
and the rotation driving motor is connected with the Z-direction linear module.
4. The automatic sample tube sorting equipment according to claim 1 or 2, wherein a refrigeration device is connected to the bottom surface of the tray.
5. The automatic sample tube sorting apparatus of claim 3, wherein the manipulator further comprises a lower trigger lever, a first lower photoelectric sensor and a second lower photoelectric sensor, the first lower photoelectric sensor and the second lower photoelectric sensor are fixedly connected with the top surface of the clamping jaw seat, and the lower trigger lever is fixedly connected with the side surface of the shaft sleeve portion of the driving disc.
6. The automatic sample tube sorting apparatus according to claim 1 or 2, wherein a freezing box is placed on the tray.
7. The sorting method of the automatic sample tube sorting equipment according to claim 3, characterized by comprising the following steps:
moving the sample tube to be processed to the front of the double-scanning pre-detection device through the X-direction linear module, the Y-direction linear module, the Z-direction linear module and the mechanical arm;
sheltering from the input scanner with the shielding plate, the manipulator drives the pending sample cell rotation, starts the bar code that pastes on the preliminary examination scanner scanning cryopreserved pipe simultaneously, if the bar code on the pending sample cell is normal, shelters from the preliminary examination scanner with the shielding plate, starts the input scanner, and the manipulator drives the pending sample cell rotation simultaneously, and the input scanner gathers the bar code information on the sample cell.
8. The sorting method of the automatic sample tube sorting equipment according to claim 3, characterized by comprising the following steps:
preparing a form in which a sample sequence is set according to a certain arrangement rule in advance, and recording the form into a controller in advance;
taking out the freezing box with a plurality of freezing pipes from the refrigerator and placing the freezing box in a sorting area;
moving the sample tube to be processed to the front of the double-scanning pre-detection device through the X-direction linear module, the Y-direction linear module, the Z-direction linear module and the mechanical arm;
shielding the input scanner by a shielding plate, driving the sample tube to be processed to rotate by a manipulator, and starting a pre-inspection scanner to scan the adhered bar code on the cryopreserved tube;
and if the bar codes on the sample tubes to be processed are normal, acquiring the information, automatically sequencing the bar code information of the sample tubes according to the acquired information, such as the sequence required by the experiment or the difference of animal individuals, and comparing the scanned bar code information with the table by the controller, screening the cryopreserved tubes to be tested on the same day from the table, or not returning the cryopreserved tubes to the original position.
9. The automatic sample tube sorting equipment according to claim 1 or 2, wherein the manipulator comprises a rotary driving motor, an opening and closing driving motor, a clamping jaw seat, a fixing plate, a connecting sleeve, an upper driving disc, an upper bearing, a lower driving disc, a connecting shaft, a sliding pin and a clamping jaw, the lower part of the connecting sleeve is fixedly connected with the opening and closing driving motor, an output shaft of the rotary driving motor is fixedly connected with the upper part of the connecting sleeve, and the clamping jaw seat is fixedly connected with the opening and closing driving motor through the fixing plate; the upper driving disc is provided with a disc part and a shaft sleeve part, the disc part is provided with three involute arc-shaped grooves which are uniformly distributed along the circumferential direction, and the shaft sleeve part is provided with a connecting hole; an output shaft of the opening and closing driving motor is inserted into a connecting hole of the shaft sleeve part from top to bottom to be fixedly connected; the lower driving disc is provided with three involute arc-shaped grooves which are uniformly distributed along the circumferential direction, the lower driving disc is provided with a central hole, the connecting shaft is fixedly connected with the central hole of the lower driving disc, the lower end of the connecting shaft penetrates through the lower driving disc, the lower end of the connecting shaft is provided with a bearing connecting part, and the bearing connecting part is positioned below the lower driving disc; the upper end of the connecting shaft is inserted into the connecting hole of the shaft sleeve part from bottom to top to be fixedly connected; a space exists between the disc part of the upper driving disc and the lower driving disc, and the upper part of the clamping jaw extends outwards from the space; the inside of the clamping jaw seat is provided with a lower bearing chamber, an upper bearing chamber and an accommodating cavity, and the side wall of the clamping jaw seat is provided with three clamping jaw channels which are uniformly distributed along the circumferential direction; the upper bearing is sleeved on a shaft sleeve part of the upper driving disc, the lower bearing is sleeved on a bearing connecting part of the connecting shaft, the lower bearing is arranged in a lower bearing chamber, the upper bearing is arranged in the upper bearing chamber, and the disc part and the lower driving disc are positioned in the accommodating cavity; the sliding pins are fixedly connected with the upper parts of the clamping jaws, the number of the clamping jaws is three, and the number of the sliding pins is three; the upper parts of the three clamping jaws respectively penetrate through the three clamping jaw channels of the clamping jaw seat, and the upper parts of the clamping jaws can slide in the clamping jaw channels; the upper ends of the sliding pins are positioned in the involute arc grooves of the upper driving disk, the lower ends of the sliding pins are positioned in the involute arc grooves of the lower driving disk, the upper ends of the three sliding pins correspond to the three involute arc grooves of the upper driving disk, and the lower ends of the three sliding pins correspond to the three involute arc grooves of the lower driving disk;
and the rotation driving motor is connected with the Z-direction linear module.
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| CN202210151258.6A CN114505253B (en) | 2022-02-18 | 2022-02-18 | Automatic sorting equipment for sample tubes |
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| CN202210151258.6A CN114505253B (en) | 2022-02-18 | 2022-02-18 | Automatic sorting equipment for sample tubes |
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Cited By (1)
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