CN114505253B - Automatic sorting equipment for sample tubes - Google Patents
Automatic sorting equipment for sample tubes Download PDFInfo
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- CN114505253B CN114505253B CN202210151258.6A CN202210151258A CN114505253B CN 114505253 B CN114505253 B CN 114505253B CN 202210151258 A CN202210151258 A CN 202210151258A CN 114505253 B CN114505253 B CN 114505253B
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- linear module
- direction linear
- scanner
- fixedly connected
- manipulator
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- 238000007710 freezing Methods 0.000 claims abstract description 33
- 230000008014 freezing Effects 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 238000007689 inspection Methods 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 20
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 239000000523 sample Substances 0.000 abstract description 35
- 239000012472 biological sample Substances 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 description 48
- 230000008569 process Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 8
- 238000005138 cryopreservation Methods 0.000 description 4
- 230000009977 dual effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000011324 bead Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013060 biological fluid Substances 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004989 laser desorption mass spectroscopy Methods 0.000 description 1
- 229920002521 macromolecule Polymers 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 244000052769 pathogen Species 0.000 description 1
- 210000002381 plasma Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 210000002966 serum Anatomy 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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 work is large in workload of sorting, sorting and information inputting of sample frozen tubes, low in efficiency and high in cost, workers can be exposed in dangerous environments with biological pollution risks for a long time, and the automatic sample tube sorting equipment 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-detection 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-detection device is connected to the rear part of the base. The invention is widely applied to the technical field of sorting sample tubes such as biological sample freezing tubes.
Description
Technical Field
The invention relates to the technical field of sorting of frozen storage tubes of biological samples, in particular to automatic sorting equipment of sample tubes.
Background
The biological sample library mainly refers to samples such as biological macromolecules, cells, tissues and organs of healthy and disease organisms, including human organ tissues, whole blood, plasma, serum, biological fluids or processed biological samples such as DNA, RNA, proteins and the like, which are collected, processed, stored and applied in a standardized manner.
The collection and storage processes of the samples need to use a freezing tube to sort, sort and input information. The frozen storage tube is also called a strain preservation tube, a magnetic bead preservation tube and a magnetic bead frozen storage tube. At present, the sorting, sorting and information input processes are mainly performed manually, the workload is large, the process is complex, errors are easy to occur, the efficiency is low, the cost is high, and workers can be exposed in dangerous environments with biological pollution risks for a long time.
Disclosure of Invention
The invention provides automatic sample tube sorting equipment for replacing manual sorting, sorting and information input, which aims to solve the technical problems that the workload of manually sorting, sorting and information input of the existing manual sample freezing tubes is large, the efficiency is low, the cost is high, and workers can be exposed in dangerous environments with biological pollution risks 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 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-detection 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 support and a second scanner support, wherein the driving motor is fixedly connected with the tray, the first scanner support and the second scanner support are respectively and fixedly connected with the tray, the pre-detection scanner is fixedly connected with the first scanner support, the input scanner is fixedly connected with the second scanner support, an included angle alpha between the pre-detection scanner and the input scanner is larger than 0 DEG and smaller than 180 DEG, 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 input scanner;
the manipulator is positioned in front of the double-scanning pre-detection device.
Preferably, 20 DEG.ltoreq.alpha.ltoreq.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 disc, an upper bearing, a lower driving disc, a connecting shaft, a sliding pin and clamping jaws, 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 disc is provided with a disc part and a shaft sleeve part, the disc part is provided with four involute arc grooves uniformly distributed along the circumferential direction, and the shaft sleeve part is provided with a connecting hole; the output shaft of the opening and closing driving motor is inserted into the connecting hole of the shaft sleeve part from top to bottom for fixed connection; the lower driving disc is provided with four involute arc grooves uniformly distributed along the circumferential direction, the lower driving disc is provided with a central hole, a 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 for fixed connection; 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 clamping jaw seat is internally provided with a lower bearing chamber, an upper bearing chamber and a containing cavity, and the side wall of the clamping jaw seat is provided with four clamping jaw channels 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 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 passages of the clamping jaw seat, and the upper parts of the clamping jaws can slide in the clamping jaw passages; 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 rotary driving motor is connected with the Z-direction linear module.
Preferably, the bottom surface of the tray is connected with a refrigerating device.
Preferably, the manipulator further comprises a lower trigger rod, a first lower photoelectric sensor and a second lower photoelectric sensor, wherein 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 tray has a cryopreservation cassette disposed thereon.
The other preferable 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 fixed plate, a connecting sleeve, an upper driving disc, an upper bearing, a lower driving disc, a connecting shaft, a sliding pin and clamping jaws, 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 fixed 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 grooves uniformly distributed along the circumferential direction, and the shaft sleeve part is provided with a connecting hole; the output shaft of the opening and closing driving motor is inserted into the connecting hole of the shaft sleeve part from top to bottom for fixed connection; the lower driving disc is provided with three involute arc grooves uniformly distributed along the circumferential direction, the lower driving disc is provided with a central hole, a 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 for fixed connection; 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 clamping jaw seat is internally provided with a lower bearing chamber, an upper bearing chamber and a containing cavity, and the side wall of the clamping jaw seat is provided with three clamping jaw channels 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 passages of the clamping jaw seat, and the upper parts of the clamping jaws can slide in the clamping jaw passages; 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 rotary 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:
the sample tube to be processed is moved 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 manipulator;
the method comprises the steps of shielding an input scanner by a shielding plate, driving a sample tube to be processed to rotate by a manipulator, starting a pre-detection scanner to scan a stuck bar code on a freezing tube, shielding the pre-detection scanner by the shielding plate if the bar code on the sample tube to be processed is normal, starting the input scanner, driving the sample tube to be processed to rotate by the manipulator, and collecting bar code information on the sample tube by the input scanner.
The beneficial effects of the invention are as follows: the sample freezing pipes are automatically sorted, sequenced and information recorded, so that the workload of workers is greatly reduced, the working efficiency is improved, the error probability is reduced, the working cost is reduced, and the time that the workers are exposed to environments with biological hazard risks is also greatly reduced.
Can be compatible with freezing storage pipes with various sizes.
The method has the functions of double-scanner pre-detection and input, the pre-detection scanner is used for scanning once, samples which cannot be identified by the bar code or are abnormal in the bar code are removed in advance, the input scanner is used for inputting information, the position of the freezing tube is unchanged in the two scanning processes, and the accuracy and the reliability of inputting sample information are improved to a great extent.
The sample sorting machine is provided with a refrigerating function, and can ensure sample safety in the sample sorting process.
The invention can process 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 that follows.
Drawings
FIG. 1 is an isometric view of an automated sample freezer sorting apparatus;
FIG. 2 is a front view of the automated sample freezer sorting apparatus;
FIG. 3 is a top view of the automated sample freezer sorting apparatus;
FIG. 4 is a left side view of the automated sample freezer sorting apparatus;
FIG. 5 is a right side view of the automated sample freezer sorting apparatus;
FIG. 6 is an isometric view of another view of the automated sample freezer sorting apparatus;
FIG. 7 is an isometric view of another view of the automated sample freezer sorting apparatus;
FIG. 8 is a schematic diagram of a dual scan pre-inspection device;
FIG. 9 is a diagram of the positional relationship between a dual scan pre-inspection device and a manipulator;
FIG. 10 is a top view of the dual scan pre-test device of FIG. 8;
FIG. 11 is a schematic view of a double-scan pre-inspection device shielding a pre-inspection scanner;
FIG. 12 is a schematic view of a state in which a manipulator grips a cryopreservation tube and is placed in front of a dual-scan pre-inspection device when a shielding plate of the dual-scan pre-inspection device shields a pre-inspection scanner;
fig. 13 is a schematic structural view of a manipulator and a manipulator bracket in the automatic sample freezing tube sorting equipment;
FIG. 14 is a schematic view of the manipulator of FIG. 13 with the upper photosensor and the mounting plate removed;
FIG. 15 is a schematic view of the structure of FIG. 14 with the first lower photosensor and the second lower photosensor removed;
FIG. 16 is a perspective view of the structure of FIG. 15 from another perspective;
fig. 17 is a front view of the structure shown in fig. 15;
FIG. 18 is a cross-sectional view taken in the direction A-A of FIG. 17;
FIG. 19 is a cross-sectional view taken in the direction B-B of FIG. 17;
FIG. 20 is a schematic view of the structure of FIG. 15 with the jaw mount removed;
FIG. 21 is a schematic view of the structure of FIG. 15 with the jaw mount removed;
FIG. 22 is a schematic view of the slide pin and jaw connection of the robot;
FIG. 23 is a schematic view of the connection mating structure of the upper end of the slide pin and the upper drive disk;
FIG. 24 is an isometric view of an upper drive disk;
FIG. 25 is an isometric view of an upper drive disk;
FIG. 26 is a schematic view of the structure in which the lower drive plate is 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 a jaw mount;
FIG. 30 is an isometric view of a jaw mount;
FIG. 31 is a perspective view of the bottom of the jaw housing;
FIG. 32 is a front view of the jaw mount of FIG. 29;
fig. 33 is a top view of the jaw mount of fig. 29.
The symbols in the drawings illustrate:
100. the base, 200.X direction linear module, 201. First X axis slide rail assembly, 202. Second X axis slide rail assembly, 203. Horizontal support plate, 204. First motor, 205. First driving synchronous pulley, 206. Second driven synchronous pulley, 207. First synchronous belt, 208. Synchronous belt toothed plate; 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 sliding rail assembly, 307, vertical support plate, 308, connecting frame; the system comprises a Z-direction linear module, a third motor, a third driving synchronous pulley, a third driven synchronous pulley, a third synchronous belt, a Z-axis sliding rail assembly and a manipulator bracket, wherein the third motor, the third driving synchronous pulley, the third driven synchronous pulley, the third synchronous belt and the manipulator bracket are respectively arranged in the Z-direction linear module, the third driving synchronous pulley, the third driven synchronous pulley and the third synchronous belt, the Z-axis sliding rail assembly and the manipulator bracket, respectively; 500. the hand, 501, the rotary drive motor, 502, the open-close drive motor, 503, the jaw housing, 503-1, the lower bearing housing, 503-2, the upper bearing housing, 503-3, the receiving cavity, 503-4, the jaw channel, 503-5, the fixed plate mounting hole, 504, the fixed plate, 505, the connecting sleeve, 506-1, the disk portion, 506-1, the involute arc slot, 506-2, the shaft sleeve portion, 506-2-1, the connecting hole, 507, the upper trigger lever, 508, the lower trigger lever, 509, the upper photoelectric sensor, 510, the first lower photoelectric sensor, 511, the second lower photoelectric sensor, 512-1, the upper portion, 513, the upper bearing, 514, the lower bearing, 515, the lower drive disk, 515-1, the involute arc slot, 516, the connecting shaft, 516-1, the bearing connection portion, 517, the sliding pin. 600. Tray, 700, refrigerating device, 800, double-scanning pre-inspection device, 801, driving motor, 802, shielding plate, 803, limit column connecting frame, 804, first limit column, 805, second limit column, 806, pre-inspection scanner, 807, input scanner, 808, first scanner bracket, 809, second scanner bracket, 810, triggering lever, 811, photoelectric sensor; 10. freezing box, 20, freezing pipe, 30.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 7, the automatic sample cryopreservation tube sorting apparatus includes a base 100, an X-direction linear module 200, a Y-direction linear module 300, a Z-direction linear module 400, a manipulator 500, a tray 600, a refrigerating device 700, and a dual-scan 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 manipulator 500 is connected to the Z-direction linear module 400. The X-direction linear module 200 can drive the Y-direction linear module 300 to move along the X-axis direction (refer to the direction indicated by the left arrow in fig. 3), that is, drive the manipulator 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 manipulator 500 to move along the Y-axis direction. The motion of the Z-direction linear module 400 can drive the manipulator 500 to move along the Z-axis direction. The tray 600 is fixedly connected with the base 100, and the refrigerating device 700 is connected with the bottom surface of the tray 600. The dual scan pre-inspection device 800 is mounted at the rear of the base 100.
As shown in fig. 8 to 10, the dual-scanning pre-inspection device 800 includes a driving motor 801, a shielding plate 802, a spacing column connecting frame 803, a first spacing column 804, a second spacing column 805, a pre-inspection scanner 806, an input scanner 807, a first scanner bracket 808, a second scanner bracket 809, a trigger lever 810, and a photoelectric sensor 811, wherein the driving motor 801 is fixedly mounted on the tray 600, the spacing column connecting frame 803 is provided with a central through hole, an output shaft of the driving motor 801 passes through the central through hole of the spacing column connecting frame 803, the first spacing column 804 and the second spacing column 805 are respectively fixedly mounted on two sides of the spacing column connecting frame 803, the first scanner bracket 808 and the second scanner bracket 809 are respectively fixedly connected with the tray 600, the pre-inspection scanner 806 is fixedly connected with the first scanner bracket 808, an included angle α between the pre-inspection scanner 806 and the input scanner 807 is greater than 0 ° and less than 180 ° (preferably, 20 ° -90 °) and the shielding plate 802 is not greater than the driving motor 807. The shielding 802 is located in front of the pre-screening scanner 806 and the entry scanner 807. The shielding plate 802 is located above the limit post 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 excessively rotating at an excessive angle, a second limit post 805 is provided, and a blocking portion 802-1 is provided at the bottom of the shielding plate 802, wherein the blocking portion 802-1 abuts against the second limit post 805. In the orientation of fig. 10, the shielding plate 802 is rotated counterclockwise by a certain angle and then is located in front of the window of the pre-inspection scanner 806, so that the signal sent by the pre-inspection scanner 806 (as shown in fig. 11 and 12) can be shielded, and in order to prevent the shielding plate 802 from being rotated too much, a first limiting post 804 is provided, and the blocking portion 802-1 abuts against the first limiting post 804 (as shown in fig. 11). In order to more accurately switch the shielding plate 802 in front of the entry scanner 807 and the pre-detection scanner 806 for shielding operation, a photoelectric sensor 811 and a trigger lever 810 are arranged, the photoelectric sensor 811 is connected with the tray 600, the trigger lever 810 is connected with the bottom of the shielding plate 802, the device is changed in position when initialized, and a zero position is found when the trigger lever 810 enters a U-shaped groove of the photoelectric sensor 811; after the zero position is found, the driving motor 801 drives the shielding plate 802 to rotate to a position shielding the input scanner 807 or the pre-detection scanner 806, so that the switching between the input scanner 807 and the pre-detection scanner 806 can be more accurately performed.
As shown in fig. 1, 3, and 9, the manipulator 500 is positioned in front of the pre-inspection scanner 806 and the entry scanner 807.
The freezing box 10 is placed on the tray 600, and the freezing box 10 is a general freezing box product. The refrigerating device 700 can refrigerate the freezing tube in the freezing box 10, so as to ensure a certain low-temperature environment and avoid sample deterioration in the freezing tube. The refrigerating device 700 may specifically be a refrigerating sheet, which is directly purchased from a market, such as a refrigerating sheet manufactured by the company of the industrial intelligent science and technology (su zhou).
The specific structure of 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 sliding rail assembly 201, a second X-axis sliding 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 belt toothed plate 208, wherein the first X-axis sliding rail assembly 201 and the second X-axis sliding rail assembly 202 are respectively connected with the base 100, one end of the horizontal support plate 203 is connected with a sliding block of the first X-axis sliding rail assembly 201, the other end of the horizontal support plate 203 is connected with a sliding block of the second X-axis sliding rail assembly 202, the first motor 204 is fixedly mounted at the rear part of the base 100, the first driving synchronous pulley 205 is connected with an output shaft of the first motor 204, the second driven synchronous pulley 206 is rotatably connected with the front part 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, and the horizontal support plate 203 is connected with the first synchronous belt 207 through the synchronous belt toothed plate 208. Starting the first motor 204 can drive the horizontal support plate 203 to translate along the X-axis direction.
The specific structure of 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, a second driving synchronous pulley 303, a second driven synchronous pulley 304, a second synchronous belt 305, a Y-axis sliding rail assembly 306, a vertical support plate 307 and a connecting frame 308, wherein the second motor 302 is fixedly mounted on the rectangular bracket 301, the second driving synchronous pulley 303 is connected with an output shaft of the second motor 302, the second driven synchronous pulley 304 is rotatably connected with the rectangular bracket 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 sliding rail assembly 306 is connected with the top of the rectangular bracket 301, the vertical support plate 307 is connected with a slider of the Y-axis sliding rail assembly 306 through the connecting frame 308, the second synchronous belt 305 is connected with the connecting frame 308 through a synchronous belt toothed plate, and the vertical support plate 307 is started to 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.
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 manipulator support 406, where the third motor 401 is fixedly mounted on the vertical support plate 307, the third driving synchronous pulley 402 is connected with an output shaft of the third motor 401, the third driven synchronous pulley 403 is connected with 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 with the vertical support plate 307, the manipulator support 406 is connected with the sliders of the two Z-axis sliding rail assemblies 405, and the third synchronous belt 404 is connected with the manipulator support 406 through a toothed plate of the synchronous belt. When the third motor 401 is started, the manipulator support 406 is driven to move in the vertical direction by the timing belt transmission mechanism, and the manipulator 500 mounted on the manipulator support 406 moves in the vertical direction accordingly.
As shown in fig. 13-33, the manipulator 500 includes a rotary driving motor 501, an opening and closing driving motor 502, a jaw seat 503, a fixing plate 504, a connecting sleeve 505, an upper driving disc 506, an upper trigger lever 507, a lower trigger lever 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 disc 515, a connecting shaft 516, and a sliding pin 517, wherein the lower part of the connecting sleeve 505 is fixedly connected with a housing of the opening and closing driving motor 502, and an output shaft of the rotary driving motor 501 is connected with a connecting hole at the upper part of the connecting sleeve 505 so as to fixedly connect the output shaft of the rotary driving motor 501 with the opening and closing driving motor 502; the housing of the opening and closing driving motor 502 is fixedly connected with the clamping jaw seat 503 through a fixing plate 504 (the clamping jaw seat 503 is supported and positioned through the fixing plate 504). The upper part of the upper driving disc 506 is fixedly connected with the output shaft of the opening and closing driving motor 502, and the lower part of the upper driving disc 506 is connected and matched with the clamping jaw seat 503. The upper trigger lever 507 is fixedly connected with the side surface of the connecting sleeve 505, the rotation driving motor 501 is fixedly installed on the manipulator support 406 of the Z-direction linear module 400, the upper photoelectric sensor 509 is installed on the manipulator support 406, when the rotation driving motor 501 works to drive the opening and closing driving motor 502 and the clamping jaw seat 503 to integrally rotate for a certain angle, the upper trigger lever 507 rotates along with the connecting sleeve 505, when the upper trigger lever 507 enters a U-shaped groove of the upper photoelectric sensor 509, the upper photoelectric sensor 509 sends a signal to the controller, and the controller instructs the rotation driving motor 501 to stop working, so that the opening and closing driving motor 502 and the clamping jaw seat 503 can be more accurately guaranteed to integrally rotate for a certain angle. As shown in fig. 24-25, the upper driving plate 506 is provided with a disc portion 506-1 and a shaft sleeve portion 506-2, the disc 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, 21, the output shaft of the open-close driving motor 502 is inserted into the connection hole 506-2-1 of the boss 506-2 from top to bottom and fixedly connected by a flat key and key slot structure. 26-28, the lower driving disk 515 is provided with four involute arc grooves 515-1 uniformly distributed along the circumferential direction, the lower driving disk 515 is provided with a central hole, a 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 part 516-1, and the bearing connecting part 516-1 is positioned 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 shaft sleeve 506-2 from bottom to top and fixedly connected by a flat key and key slot structure, so that the lower driving disk 515, the connecting shaft 516 and the upper driving disk 506 are fixedly connected together; there is a space between the disc portion 506-1 and the lower drive plate 515 from which the upper portions of the four clamping jaws 512 extend outwardly, in the space formed by the space (as shown in fig. 20, 21). 29-33, a lower bearing chamber 503-1, an upper bearing chamber 503-2 and a containing cavity 503-3 are arranged in the clamping jaw seat 503, four clamping jaw channels 503-4 uniformly distributed along the circumferential direction are arranged on the side wall of the clamping jaw seat 503, and a fixing plate mounting hole 503-5 for mounting a fixing plate 504 is arranged on the side surface of the clamping jaw seat 503; referring to fig. 15, 17, 18, 19, 20, 21, an upper bearing 513 is sleeved on a shaft sleeve portion 506-2 of an 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, a disc 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 disc portion 506-1 and the lower driving disk 515 to rotate in the containing cavity 503-3. As shown in fig. 22, the sliding pins 517 are fixedly connected to the upper portions 512-1 of the clamping jaws 512, and four sliding pins 517 are fixedly connected to the upper portions of the four clamping jaws 512, respectively, referring to fig. 16, 19, and 20, the upper portions 512-1 of the clamping jaws 512 pass through the clamping jaw passages 503-4 of the clamping jaw seat 503, and the upper portions 512-1 are capable of sliding in the clamping jaw passages 503-4. Referring to fig. 18, 19, 21, 23, the upper end of the sliding pin 517 is located in the involute arc groove 506-1-1, the lower end of the sliding pin 517 is located in the involute arc groove 515-1 of the lower driving disk 515, one sliding pin corresponds to one involute arc groove 506-1-1 and one involute arc groove 515-1, and four sliding pins correspond to four involute arc grooves 506-1-1 and four involute arc grooves 515-1. When the disk portion 506-1 and the lower driving disk 515 are rotated forward, the involute arc-shaped groove acts on the sliding pin 517 so that the upper portions 512-1 of the clamping jaws 512 slide outward, that is, the upper portions of the four clamping jaws 512 slide outward, thereby realizing simultaneous spreading (loosening) of the four clamping jaws 512 around; when the disk portion 506-1 and lower drive plate 515 are inverted, the upper portion 512-1 of the jaws 512 slides inward, allowing the four jaws 512 to simultaneously bunch together toward the center (four jaws close to hold a test tube). Referring to fig. 18 and 22, the lower end of the clamping jaw 512 is inwardly retracted to accommodate the smaller size of the freezer tube, and the lower shape of the clamping jaw may be varied according to the specific situation in which the product is actually clamped.
In order to more accurately control the rotation angles of the disc portion 506-1 and the lower driving disc 515, a first lower photoelectric sensor 510, a second lower photoelectric sensor 511 and a lower trigger lever 508 are arranged, 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 lever 508 is fixedly connected with the side surface of the shaft sleeve portion 506-2, when the disc portion 506-1 and the lower driving disc 515 rotate forward until the lower trigger lever 508 enters the U-shaped groove of the first lower photoelectric sensor 510, the disc portion 506-1 and the lower driving disc 515 rotate reversely until the lower trigger lever 508 enters the U-shaped groove of the second lower photoelectric sensor 511, and the disc portion is stopped.
The manipulator 500 has small volume and stable and reliable operation; the movement precision of the four clamping jaws is high; the four clamping jaws can be compatible with frozen storage pipes with various sizes, and the rotating angles of the disc part 506-1 and the lower driving disc 515 are adjusted to adapt to the frozen storage pipes with different sizes; four clamping jaws can adapt to narrow and small space. The four clamping jaws have low noise in the moving process, and can meet the mute clamping requirement of a small gap.
It should be noted that the manipulator 500 can also hold other small objects.
The space between the freezing tubes 20 placed on the freezing box 10 is small, and the four clamping jaws 512 of the manipulator 500 are arranged at the convenient arrangement positions, so that the freezing tubes 20 with small space can be clamped conveniently.
It should be noted that the number of the clamping jaws 512 of the manipulator 500 may be three, correspondingly, the disc portion 506-1 of the upper driving disc 506 is provided with three involute arc grooves 506-1-1 uniformly distributed along the circumferential direction, the lower driving disc 515 is provided with three involute arc 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 the three sliding pins are fixedly connected with the upper portions of the three clamping jaws respectively.
The following describes the sorting, sequencing, information entry process:
as shown in fig. 1, four freezing boxes, which are sorting areas, are placed on the left side of the tray 600, each of which accommodates a plurality of freezing tubes 20. Four empty cryopreservation cassettes are placed on the right of tray 600, none of which 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 frozen storage tube to be inspected and move the frozen storage tube 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 rotating driving motor 501 acts to drive the opening and closing driving motor 502 and the clamping jaw seat 503 to rotate, the freezing tube 30 clamped by the four clamping jaws rotates, meanwhile, the pre-inspection scanner 806 is started to scan the adhered bar code on the freezing tube 30, the controller judges whether the bar code on the freezing tube 30 is normal (the bar code is adhered, not damaged, can be identified, the bar code is not stored in the database, and the like), if so, the information is collected, the controller can automatically sort the bar code information of the sample tube according to the collected information according to the required experimental order or different animal individuals (the automatic sorting process is data sorting, a table with the sample order set according to a certain arrangement rule is prepared in advance, the table is input into the controller in advance, the automatic sorting process is not a necessary step, is optional), the shielding plate 802 shields the pre-inspection scanner 806 by the action of the driving motor 801, the input scanner 807 is started, the freezing pipes 30 clamped by the four clamping jaws are rotated by the action of the driving motor 501, the bar code information on the freezing pipes 30 is acquired by the input scanner 807, the bar code information can be input into a LIMS system, the manipulator 500 is moved to the receiving area by the action of the triaxial movement device, the freezing pipes 30 clamped by the four clamping jaws are placed in the freezing pipes 30 of the receiving area, finally, the four clamping jaws of the manipulator 500 are loosened and opened, and the triaxial movement device acts to drive the manipulator 500 to move to the sorting area on the left side of the tray 600.
If the barcode on the freezing tube 30 scanned by the pre-inspection scanner 806 is abnormal, such as the barcode is not pasted, the barcode is defective and can not be identified, the barcode stored in the database is abnormal, the three-axis movement device acts to drive the manipulator 500 to return the freezing tube to the original position, i.e. to the freezing box in the sorting area.
And then moving the X-axis, Y-axis and Z-axis triaxial movement devices to a receiving area, placing the receiving area at a designated position (figure 5), and if the bar code is defective, unrecognizable or not stored in the database, placing the bar code back to the original position, and waiting for the processing of staff.
The present invention can also be used for handling sample tubes such as sampling tubes and centrifuge tubes.
The above description is only for the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. It is within the scope of the present invention to employ other forms of construction and embodiments of the component configuration, drive means and connection means, which are not creatively designed to resemble those of skill in the art, without departing from the inventive concept.
Claims (5)
1. The sorting method using the automatic sample tube sorting equipment is characterized in that the automatic sample tube sorting equipment 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 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-detection 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 support and a second scanner support, wherein the driving motor is fixedly connected with a tray, the first scanner support and the second scanner support are respectively and fixedly connected with the tray, the pre-detection scanner is fixedly connected with the first scanner support, the input scanner is fixedly connected with the second scanner support, an included angle alpha between the pre-detection scanner and the input scanner is larger than 0 DEG and smaller than 180 DEG, 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 input scanner;
the manipulator is positioned in front of the double-scanning pre-detection device;
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 disc, an upper bearing, a lower driving disc, a connecting shaft, a sliding pin and clamping jaws, 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 disc is provided with a disc part and a shaft sleeve part, the disc part is provided with four involute arc grooves uniformly distributed along the circumferential direction, and the shaft sleeve part is provided with a connecting hole; the output shaft of the opening and closing driving motor is inserted into the 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 grooves 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 for fixed connection; a space exists between the disc part of the upper driving disc and the lower driving disc, and the upper parts of the clamping jaws extend outwards from the space; the clamping jaw seat is internally provided with a lower bearing chamber, an upper bearing chamber and a containing cavity, and the side wall of the clamping jaw seat is provided with four clamping jaw channels 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 four, and the number of the sliding pins is four; the upper parts of the four clamping jaws respectively penetrate through 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 rotary driving motor is connected with the Z-direction linear module;
the sorting method comprises the following steps:
the sample tube to be processed is moved 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 manipulator;
the method comprises the steps that a shielding plate is used for shielding an input scanner, a manipulator drives a sample tube to be processed to rotate, meanwhile, a pre-detection scanner is started to scan a stuck bar code on a freezing tube, if the bar code on the sample tube to be processed is normal, the shielding plate is used for shielding the pre-detection scanner, the input scanner is started, meanwhile, the manipulator drives the sample tube to be processed to rotate, and the input scanner collects bar code information on the sample tube;
if the bar code on the sample tube to be processed is abnormal, the sample tube to be processed is put back to the original position through the X-direction linear module, the Y-direction linear module, the Z-direction linear module and the manipulator.
2. The sorting method using the automatic sorting apparatus for sample tubes according to claim 1, wherein: alpha is more than or equal to 20 degrees and less than or equal to 90 degrees.
3. The sorting method using the automatic sorting apparatus for sample tubes according to claim 1, wherein a refrigerating device is connected to a bottom surface of the tray.
4. The sorting method using the automatic sorting equipment for sample tubes according to claim 1, wherein 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.
5. The sorting method using the automatic sorting apparatus for sample tubes according to claim 1, wherein the tray is provided with a freezing box.
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| CN116735329B (en) * | 2023-06-09 | 2023-12-26 | 中国水产科学研究院黑龙江水产研究所 | Rapid pretreatment device for water environment DNA molecular sample |
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