CN114755058A

CN114755058A - Automatic liquid taking and sample moving system

Info

Publication number: CN114755058A
Application number: CN202210363349.6A
Authority: CN
Inventors: 陆维栋; 石永博; 高杨; 冯韬; 廖文胜; 夏宁
Original assignee: Shanghai Rhenium Biotechnology Co ltd
Current assignee: Wuhan Zhihua Technology Co ltd
Priority date: 2022-04-07
Filing date: 2022-04-07
Publication date: 2022-07-15

Abstract

The invention relates to the field of chemical experimental equipment, in particular to an automatic liquid taking and sample transferring system which comprises a nitrogen bin, a plurality of transition devices, a mechanical arm, a bottle twisting device, a workbench, a gripping device and a liquid taking device, wherein the mechanical arm can place a tray into the transition box of the transition devices, the transition box conveys the tray to an area where the gripping device can operate by means of an external air pump and an external inflator, the gripping device grips Shijin bottles from the tray and conveys the Shijin bottles to the bottle twisting device to be matched with the opening of bottle caps of the Shijin bottles, the gripping device conveys the Shijin bottles with the opened bottle caps to the workbench, the liquid taking device moves to the workbench to take liquid, the gripping device grips the Shijin bottles to the bottle twisting device to place and returns the Shijin bottles to the original tray, the conveying box conveys the tray to the transition box, and finally the mechanical arm returns the tray in the transition box to a loading chamber, thereby solving the technical problem of low automation degree of liquid taking and sample transferring in the existing laboratory.

Description

Automatic liquid taking and sample moving system

Technical Field

The invention relates to the field of chemical experimental equipment, in particular to an automatic liquid taking and sample transferring system.

Background

In a traditional laboratory, the daily work of synthesis experimenters is mainly route design and synthesis work, namely, chemical reaction experiments are carried out according to designed synthesis strategies and on duty. In addition, a synthesis experimenter needs to complete a complete reaction, a large amount of pre-preparation and post-treatment work is needed, such as material preparation, experimental ware and equipment preparation, a series of operations including sampling detection, post-treatment, purification and the like are needed to be carried out on each reaction, the experimental process and data information are recorded and updated in time, the whole process consumes time and labor, and a large amount of repeated simple operations occupy valuable time of the synthesis experimenter.

Realize modern laboratory informatization, automatic management platform, the appearance of compound type robot brings many benefits for modern comprehensive laboratory management, replaces the work load of laboratory high density, and its application promotes the whole service ability in laboratory greatly, improves work efficiency, reduces researcher's tiredness, takes precautions against product safety risk, reduce cost. The farewell test experiment is almost completely operated by hands, the steps are complicated, the time span is long, and certain uncertainty exists in the implementation of experimenters.

The application provides an automatic liquid taking and sample moving system on the basis so as to realize automation of laboratory work.

Disclosure of Invention

In order to solve the technical problem of low automation degree of liquid taking and sample moving in the existing laboratory, the invention provides an automatic liquid taking and sample moving system, which solves the technical problem.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the invention provides an automatic liquid taking and sample transferring system, which comprises: the nitrogen bin comprises a feeding chamber and a sealing chamber, the feeding chamber is provided with a containing frame for placing a tray provided with an Shimadzu bottle or a reaction vessel, and the sealing chamber is filled with nitrogen; a plurality of transition devices including a transition box disposed between the loading chamber and the sealing chamber by means of an external pump and an inflator to prevent gas of the loading chamber from entering the sealing chamber, and a transport box disposed within the sealing chamber for transporting the tray between the sealing chamber and the transition box; a robotic arm disposed within the loading chamber for transporting pallets between the loading chamber and the transition box; the bottle screwing device is arranged in the sealing chamber and is used for opening and screwing the bottle cap of the Shimadzu bottle; the workbench is arranged in the sealing chamber and used for placing the Shimadzu bottles; the grabbing device is arranged in the sealing chamber, takes out the Shimadzu bottles from the tray to the bottle twisting device and the workbench, and then puts the Shimadzu bottles back to the original position; and the liquid taking device is used for taking out the solution in the Shimadzu bottle and loading the solution into a reaction vessel.

Further, the transition box includes: the tray comprises a first box body, wherein an upper position and a lower position for placing a tray are arranged in the first box body, two ventilation holes are formed in the first box body, air pipes are arranged at the ventilation holes to be respectively connected with an external air extractor and an external inflator, and a sealing ring is arranged on the outer end face of the first box body; two groups of sealing movable doors are movably arranged on the first box body through a limiting slide rail, wherein one group of sealing movable doors are arranged at the communication position of the first box body and the feeding chamber, and the other group of sealing movable doors are arranged at the communication position of the first box body and the sealing chamber; the movable pressing module is arranged between the first box body and the movable door and comprises a pressing component and a locking component, the pressing component is arranged on the first box body and positioned at the closed position of the sealing movable door, and the locking component is arranged on the first box body and positioned on the moving path of the sealing movable door; a plurality of elastic pulley modules disposed at a fitting portion of the sealing moving door and the first case.

Further, the pressing assembly includes: the middle section of the pressing piece is hinged on the box body, and a pressing claw for pressing the sealing movable door is formed at the first end of the pressing piece; and a piston rod of the pressing driving cylinder pushes the second end of the pressing piece to enable the pressing piece to rotate.

Further, the locking assembly includes: the lock hole is arranged at the edge of the door panel of the sealing movable door; the middle section of the locking piece is hinged to the first box body, and a spring bolt which penetrates through the limiting edge of the limiting slide rail and extends into the lock hole is formed at the first end of the locking piece; a piston rod of the locking driving cylinder pushes the second end of the locking piece to enable the locking piece to rotate; the reset piece is arranged between the locking piece and the limiting edge of the limiting slide rail, and the reset piece is arranged close to the lock tongue.

Further, the shipping box includes: a second case; a lifting cylinder arranged in the first box body for lifting a lower tray; the conveying shovel is arranged in the sealing chamber in a sliding mode in the horizontal direction, and extends into the first box body and brings the tray into the second box body under the cooperation of the supporting cylinder; a lifting assembly including a lifting frame slidably fitted on the second case in a vertical direction, the lifting frame being disposed to be staggered with the transporting shovel to transport a pallet on the transporting shovel from a lower position to a higher position; the propelling movement subassembly, the propelling movement subassembly includes propelling movement spare and propelling movement groove, the propelling movement groove is arranged horizontally the inner wall of second box is in order to limit a tray in vertical direction, the propelling movement groove with last in the first box is on same horizontal plane, just the propelling movement groove with horizontal distance between the upper is less than the minor face length of tray bottom, the propelling movement spare configuration is in with in the horizontal direction in order to push into the propelling movement groove with the tray propelling movement extremely in the sealed chamber the last of first box.

Further, the elastic pulley module includes: the first end of the movable rod is hinged to the side edge of the sealing movable door, and the second end of the movable rod is connected with a roller matched with the sliding edge of the limiting sliding rail; and the elastic piece is arranged between the movable rod and the door plate of the sealed movable door so as to enable the door plate of the sealed movable door to be far away from the sliding edge of the limiting sliding rail in a natural state.

Further, the bottle twister comprises: a frame fixedly disposed within the sealed chamber; the screw rod is rotationally arranged on the frame body, and a clamping sleeve for accessing the bottle cap of the Shimadzu bottle is formed at one end of the screw rod; a tightening module including a tightening sleeve movably disposed on the screw rod along an axial direction of the screw rod to tighten the ferrule, and a tightening drive assembly driving the tightening sleeve to move.

Further, the tightening drive assembly includes: the middle section of the linkage rod is hinged to the frame body, the driving end of the linkage rod is movably matched with the tightening sleeve to push the tightening sleeve to move, and the stress end of the linkage rod is movably matched with the tightening cylinder; and the tightening cylinder is arranged on the frame body, and a piston rod of the tightening cylinder extends out to push the stress end of the linkage rod.

Further, the grasping apparatus includes: a first three-axis motion carrier disposed within the sealed chamber; and the clamping jaws are arranged at the tail ends of the first three-axis motion carrier so as to grab the Shimadzu bottle and realize the transportation of the Shimadzu bottle.

Further, the liquid taking device comprises: a second three-axis motion carrier disposed within the sealed chamber; and the liquid taking gun is arranged at the tail end of the second triaxial motion carrier.

Based on the technical scheme, the invention can realize the following technical effects:

the automatic liquid taking and sample transferring system comprises a nitrogen gas bin, a plurality of transition devices, a mechanical arm, a bottle twisting device, a workbench, a grabbing device and a liquid taking device, after preparation work is finished, the mechanical arm can place a tray provided with an island jin bottle into a transition box of the transition devices, the transition box is vacuumized by an external air pump, an inflator is filled with nitrogen gas to prevent gas with water and oxygen in a feeding chamber from entering a sealing chamber to affect the nitrogen environment of the sealing chamber, a conveying box conveys the tray to an area where the grabbing device can operate, the grabbing device grabs the island jin bottle from the tray, conveys the island jin bottle to the bottle twisting device to be matched with a bottle cap for opening the island jin bottle, the grabbing device conveys the island jin bottle after the bottle cap is opened to the workbench, the liquid taking device moves to the workbench for taking liquid, after the island jin bottle is taken out liquid, the grabbing device grabs the jin bottle to the bottle twisting device, screw up the bottle lid, then grabbing device returns former tray with the island jin bottle, transports the tray to the transition case by transporting the case, and the last feeding room is put back to the tray in with the transition case by the arm again to get liquid in the laboratory of solution current and move a kind technical problem that degree of automation is low.

The transition box of this application is through two sets of sealed floating gates to with the help of outside air extractor and inflator, effectually played the wall effect between material loading room and sealed, the space in the transition box is little, has also alleviateed the pressure that the inflator filled nitrogen gas.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the automatic liquid taking and sample transferring system of the present invention;

FIG. 2 is a schematic view of another perspective of the automated liquid sampling and sample removal system of the present invention;

FIG. 3 is a schematic view of yet another perspective of the automated liquid sampling and sample removal system of the present invention;

FIG. 4 is an external schematic view of the automatic fluid sampling and sample removing system of the present invention;

FIG. 5 is a partial schematic view of an automatic fluid sampling and sample removing system of the present invention;

FIG. 6 is a schematic view of a transition box of the automatic liquid taking and sample transferring system of the present invention;

FIG. 7 is a schematic view of a pressing assembly of the automatic liquid taking and sample transferring system of the present invention;

FIG. 8 is a schematic view from another perspective of a transition box of the automated liquid sampling and sample transfer system of the present invention;

FIG. 9 is a schematic view of the resilient pulley module of the automatic fluid sampling and sample removing system of the present invention;

FIG. 10 is a view of the latch assembly of the automatic fluid sampling and sample removing system of the present invention in cooperation with a sealing movable gate;

FIG. 11 is a schematic view of a lock-out assembly of the automatic fluid-taking and sample-moving system of the present invention;

FIG. 12 is a schematic view of the transport box of the automated liquid sampling and sample transfer system of the present invention;

FIG. 13 is a schematic view of another perspective of the transport box of the automated liquid sampling and sample removal system of the present invention;

FIG. 14 is a schematic view of a bottle twister of the automatic fluid taking and sample removing system of the present invention;

fig. 15 is a schematic view of the pipetting device of the automated pipetting and sample transfer system of the invention.

Wherein: a-Shimadzu; b-a solution bottle; c-a reaction vessel; d-a tray; e-a storage tray; 1-a nitrogen bin, 11-a feeding chamber, 111-a storage rack and 12-a sealing chamber; 2-transition device, 21-transition box, 211-first box, 2111-upper, 2112-lower, 2113-sealing ring, 212-sealing movable door, 2121-limiting slide rail, 21211-limiting edge, 21212-sliding edge, 213-pressing component, 2131-pressing component, 2132-pressing claw, 2133-pressing driving cylinder, 2134-first wedge block, 2135-first pulley, 214-locking component, 2141-locking hole, 2142-locking component, 2143-locking tongue, 2144-locking driving cylinder, 2145-reset component, 2146-second wedge block, 2147-connecting frame, 2148-sliding block, 21481-transverse projection, 215-elastic pulley module, 2151-movable rod, 2152-rolling wheel, 2153-elastic component, 2154-elastic component, 22-transport bin, 221-second bin, 222-lift cylinder, 223-transport shovel, 2231-transport cylinder, 224-lift assembly, 2241-lift rack, 2242-lift cylinder, 225-push assembly, 2251-push, 2252-push trough, 2253-push cylinder; 3, a mechanical arm; 4-bottle twisting device, 41-frame body, 42-twisting rod, 421-cutting sleeve, 422-motor, 423-clamping piece, 43-tightening module, 431-tightening sleeve, 4311-limiting ring, 432-tightening driving component, 4321-linkage rod, 4322-tightening cylinder, 4323-second pulley and 4324-buffer piece; 5-a workbench; 6-gripping means, 61-jaws, 62-first three-axis motion carrier; 7-liquid taking device, 71-liquid taking gun, 711-TIP head, 72-second triaxial moving carrier; 8-a rectifying device, 81-a sampling platform, 82-a clamping component and 83-a clamping cylinder.

Detailed Description

The utility model provides an automatic get liquid and move appearance system, the test of special former product solution of mainly used, if test (the test procedure does not necessarily need nitrogen environment) rotten, the special character of former product solution lies in, former product solution is apt to deteriorate and need often test, all need test before using at every turn, but former product solution can not contact with water and oxygen in the air again, under such a situation will become comparatively loaded down with trivial details like the method that adopts artifical entering nitrogen chamber and testing will become, waste time and energy, and the in-process still very easily makes former product solution and air contact, lead to the deterioration of former product solution in the whole island jin bottle.

As shown in fig. 1-15, in one embodiment of the present application, the automatic liquid taking and sample moving system includes a nitrogen gas bin 1, a mechanical arm 3, a bottle twisting device 4, a workbench 5, a gripping device 6, a liquid taking device 7 and a collating device 8 to realize automatic liquid taking and sample moving in a laboratory.

The nitrogen gas bin 1 is a large-sized sealed bin body, the nitrogen gas bin 1 comprises a feeding chamber 11 and a sealing chamber 12, two containing frames 111 for placing the trays d are arranged in the feeding chamber 11, the two containing frames 111 are totally arranged in the embodiment, and the sealing chamber 12 is filled with nitrogen gas.

The robot arm 3 is disposed in the loading chamber 11 and transports the tray d between the loading chamber 11 and the transition box 21.

The transition device 2 comprises three transition boxes 21 and a conveying box 22, in the embodiment, the three transition devices 2 are arranged in the nitrogen gas bin 1 and distributed at the junction of the feeding chamber 11 and the sealing chamber 12 and are distributed in a straight line, one of the two transition devices 2 positioned at the left side and the right side is used for inputting a raw product solution to be tested, the other transition device is used for inputting a test solution, the middle transition device 2 is used for outputting a reaction vessel into which the raw product solution and the test solution are added, and the transition device 2 prevents gas in the feeding chamber 11 from entering the sealing chamber 12 by means of an external air pump and an external inflator.

Specifically, the transition box 21 includes a first box 211, two sets of sealing moving doors 212, a moving pressing module and an elastic pulley module 215, the first box 211 is configured with an upper portion 2111 and a lower portion 2112 for placing a tray d, the first box 211 is opened at two ends, one end is communicated with the feeding chamber 11, the other end is communicated with the sealing chamber 12, the sealing moving doors 212 are configured at two ends, meanwhile, the sidewall of the first box 211 is opened with two ventilation holes, the two ventilation holes are configured with air pipes to connect an external air pump and an external air inflator, when the sealing moving door 212 of the first box 211 communicated with the feeding chamber 11 is opened and the other sealing moving door 212 is closed, the robot arm 3 conveys the tray d of the island jin bottle a containing the raw product solution into the lower portion 2112 of the first box 211, the robot arm 3 leaves the first box 211, and at this time, the opened sealing moving door 212 is closed, i.e. a sealing cavity is formed in the first box 211, the air pump pumps the sealed cavity through an air pipe, the inflator fills the sealed cavity with nitrogen through the air pipe, after the sealed cavity is filled with nitrogen, the sealed movable door 212 at the position communicated with the sealed chamber 12 is opened, the conveying box 22 accesses the tray d of the Shimadzu bottle a filled with the original product solution into the sealed chamber 12, furthermore, the sealed movable door 212 is movably arranged on the end surface of the first box body 211 through a limit slide rail 2121, the limit slide rail 2121 comprises a slide edge 21212 and a limit edge 21211 which are opposite, the slide edge 21212 is formed by the frame edge at one end of the first box body 211, the limit edge 21211 is formed by one right-angle edge of an angle steel fixedly connected on the first box body 211, the press-fit component 213 of the movable press-fit module is arranged on the first box body 211 and is positioned at the closed position of the sealed movable door 212, namely the limit position when the sealed movable door 212 is closed, the press-fit component 213 comprises a press-fit piece 2131 and a press-fit driving cylinder 2133, the pressing piece 2131 is a right-angle piece, the folding angle of the pressing piece 2131, i.e. the middle section of the pressing piece 2131, is hinged on the box body, the first end of the pressing piece 2131 is formed with a pressing claw 2132 for pressing the sealing moving door 212, when the sealing moving door 212 moves to the extreme position, the pressing claw 2132 will rotate under the driving of the pressing cylinder, so that the pressing part of the pressing claw 2132 contacts with the outer end face of the door panel of the sealing moving door 212, and presses the door panel of the sealing moving door 212 towards the outer end face of the first box body 211, further, the end of the piston rod of the pressing driving cylinder 2133 is configured with a first wedge 2134, the second end of the pressing piece 2131 is mounted with a first pulley 2135 which is matched with the wedge of the first wedge 2134, so that the piston rod of the pressing driving cylinder 2133 can push the second end of the pressing piece 2131 to rotate the pressing piece 2131, here, in order to ensure the sealing performance, the outer end face of the first box body 211 is provided with a sealing ring 2113, the sealing effect is realized when the door plate of the sealing moving door 212 is pressed on the sealing ring 2113, the sealing moving door 212 can realize the action of approaching to and departing from the outer end surface of the first box body 211, the sealing moving door is the elastic pulley module 215, four groups of elastic pulley modules 215 are configured on each sealing moving door 212, each elastic pulley module 215 comprises a movable rod 2151 and an elastic member 2153, the first end of the movable rod 2151 is hinged on the side edge of the sealing moving door 212, the second end of the movable rod 2151 is connected with a roller 2152 matched on the sliding edge 21212 of the limit sliding rail 2121, the elastic member 2153 is configured between the movable rod 2151 and the door plate of the sealing moving door 212 to ensure that the door plate of the sealing moving door 212 in a natural state is far away from the sliding edge 21212 of the limit sliding rail 2121, the elastic member 2153 is a spring, one end of the elastic member 2153 is abutted against the rod body of the movable rod 2151, the other end of the elastic member 2153 is abutted against the protruding part 2154 of the door plate of the sealing moving door, in order to realize the locking of the sealing movable door 212, the locking assembly 214 includes a keyhole 2141, a locking member 2142, a locking driving cylinder 2144 and a reset member 2145, the keyhole 2141 is disposed on the edge of the door panel of the sealing movable door 212, the middle section of the locking member 2142 is hinged on the first case 211, a locking tongue 2143 passing through a limit edge 21211 of the limit slide rail 2121 and extending into the keyhole 2141 is formed at a first end of the locking member 2142, a piston rod of the locking driving cylinder 2144 pushes a second end of the locking member 2142 to rotate, further, the end of the piston rod of the locking driving cylinder 2144 is disposed with a second wedge-shaped block 2146, a connecting frame 2147 is disposed at a side of the first case 211, a sliding block 2148 limiting sliding is disposed in the connecting frame 2147, a transverse protrusion 21481 is disposed on the sliding block 2148, the transverse protrusion 21481 is engaged on the wedge-shaped surface of the second wedge-shaped block 2146, the middle section of the locking member 2142 is hinged on the connecting frame 2147, the second end of the locking member 2142 is pushed by the sliding block 2148 to rotate the locking member 2142, the reset member 2145 is a spring, the reset member 2145 is disposed between the locking member 2142 and the limiting edge 21211 of the limiting sliding rail 2121, and the reset member 2145 is disposed near the locking tongue 2143, and in a natural state, the reset member 2145 acts on the locking member 2142 to make the locking tongue 2143 of the locking member 2142 release from the locking hole.

Specifically, the transport box 22 includes a second box body 221, a lifting cylinder 222, a transport shovel 223, a lifting assembly 224, and a pushing assembly 225, the lifting cylinder 222 is disposed in the first box body 211 for lifting the tray d, the lifting cylinder 222 is disposed at the lowermost end in the first box body 211 for lifting the tray d of the lower position 2112, the transport shovel 223 is slid in the horizontal direction by a transport cylinder 2231, the transport shovel 223 is disposed in the hermetic chamber 12, a piston rod of the lifting cylinder 222 is extended to lift the tray d, the transport shovel 223 is extended into the first box body 211 below the tray d of the lower position 2112, the piston rod of the lifting cylinder 222 is retracted, the tray d is dropped onto the transport shovel 223, the transport shovel 223 brings the tray d into the hermetic chamber 12 and transports the tray d to a lifting path of the lifting assembly 2241 of the lifting assembly 224 in the second box body 221, the lifting frame 2241 of the lifting assembly 224 is slid in the vertical direction by a lifting cylinder 2242, and the lifting frames 2241 are configured to be staggered with the carrying shovel 223, the lifting frames 2241 are assembled on the second housing 221, and when the lifting frames 2241 pass through the carrying shovel 223 to move upward, the pallet d is transported from the low position to the high position, after the grabbing device 6 grabs the Shimadzu bottle a and returns to the original position, the tray d is taken out to the loading chamber 11 by the robot arm 3 after being pushed to the upper position 2111 in the first casing 211 by the pushing assembly 225, the pushing assembly 225 includes a pushing member 2251 and a pushing groove 2252, the pushing groove 2252 is horizontally arranged on the inner wall of the second casing 221 to vertically confine the tray d, the pushing groove 2252 is on the same level with the upper position 2111 in the first casing 211, and the horizontal distance between the push groove 2252 and the upper portion 2111 is smaller than the short side length of the bottom of the tray d, the push member 2251 is slid in the horizontal direction by the push cylinder 2253, and the push member 2251 is disposed in the sealing chamber 12 to push the tray d into the push groove 2252 and to push the tray d to the upper portion 2111 of the first casing 211.

The bottle twister 4 comprises a frame body 41, a screw rod 42 and a tightening module 43, wherein the frame body 41 is fixedly arranged in the sealed chamber 12, the screw rod 42 is rotatably arranged on the frame body 41 by a motor 422, one end of the screw rod 42 is formed with a clamping sleeve 421 connected with a bottle cap of the Shimadzu bottle, the tightening module 43 comprises a tightening sleeve 431 and a tightening driving assembly 432 driving the tightening sleeve 431 to move, and the tightening sleeve 431 is movably arranged on the screw rod 42 along the axial direction of the screw rod 42 to tighten the clamping sleeve 421. Specifically, the cutting sleeve 421 includes a plurality of clamping pieces 423, the fitting portion between the clamping pieces 423 and the tightening sleeve 431 is a conical surface with a wide bottom and a narrow top, so that when the tightening sleeve 431 moves toward the bottle cap, the clamping pieces 423 can be tightened to clamp the bottle cap, the tightening sleeve 431 is provided with a limiting ring 4311, a driving end of a linkage rod 4321 of the tightening driving component 432 is provided with a second pulley 4323, the second pulley 4323 is fitted in the limiting ring 4311 and is in clearance fit, a middle section of the linkage rod 4321 is hinged to the frame body 41, a stressed end of the linkage rod 4321 is fitted with a piston rod of a tightening cylinder 4322 of the tightening driving component 432, a stressed end of the linkage rod 4321 is provided with a small hole, the small hole is penetrated by a piston rod of the tightening cylinder 4322, the piston rod of the tightening cylinder 4322 is in clearance fit, the tightening cylinder 4322 is vertically arranged on the frame body 41, and an outer small hole is formed on a piston rod of the tightening cylinder 4322, the outer convex part is provided with a buffer part 4324, the buffer part 4324 is a spring, the buffer part 4324 is sleeved on the piston rod of the tightening cylinder 4322, one end of the buffer part 4324 abuts against the outer convex part, and the other end abuts against the stressed end of the linkage rod 4321.

The gripping device 6 comprises a first three-axis motion carrier 62 and a clamping jaw 61, the first three-axis motion carrier 62 is arranged in the sealing chamber 12, the clamping jaw 61 is arranged at the tail end of the first three-axis motion carrier 62 to grip the Shimadzu bottle a and realize the transportation of the Shimadzu bottle a, the clamping jaw 61 grips the Shimadzu bottle a positioned at the highest position of the second box body 221 and moves to the bottle opener to open the bottle cap by matching with the bottle opener, specifically, when the twisting rod 42 of the bottle opener performs the action of opening the bottle cap, the clamping jaw 61 is matched with the vertical downward movement of the Shimadzu bottle a to prevent the bottle cap from being limited and being unable to be separated from the Shimadzu bottle a, then the clamping jaw 61 conveys the Shimadzu bottle a after the bottle cap is opened to the workbench 5, after the original product solution is taken out by the liquid taking device 7, the clamping jaw 61 moves reversely, the Shizu bottle a is conveyed to the bottle opener to the bottle cap matched with the bottle cap to twist the bottle cap, specifically, the Shizu bottle a is matched with the vertical upward movement during the twisting process, after the bottle cap is screwed, the clamping force of the clamping sleeve 421 on the bottle cap is far smaller than the clamping force of the clamping jaws 61 on the Shimadzu bottle a, the clamping jaws 61 clamp the Shimadzu bottle a and directly move downwards to enable the Shimadzu bottle a to be separated from the bottle opener, and then the clamping jaws 61 place the Shimadzu bottle a back to the tray d located at the highest position of the second box body 221.

The liquid taking device 7 comprises a second triaxial motion carrier 72 and a liquid taking gun 71, the second triaxial motion carrier 72 is arranged in the sealing chamber 12, the liquid taking gun 71 is arranged at the tail end of the second triaxial motion carrier 72 to match with liquid taking, the liquid taking gun 71 in the embodiment selects the liquid taking gun 71 capable of automatically replacing the TIP head 711, the liquid taking device 7 has two functions, firstly, a test solution is sucked and dripped into a reaction vessel, the TIP head 711 is automatically replaced after the test solution is dripped, then the TIP head 711 of the liquid taking gun 71 extends into an Shimadzu bottle a positioned on the workbench 5 to take liquid, an original product solution is dripped into the reaction vessel, and the TIP head 711 is automatically replaced after the test solution is dripped.

The arrangement device 8 is disposed in the loading chamber 11, and after the robot arm 3 takes out the tray d containing the reaction cuvette from the first box 211 at the intermediate position, the robot arm 3 transports the tray d containing the reaction cuvette to the arrangement device 8, and the arrangement device 8 takes out the reaction cuvette from one of the trays d, puts in the receiving tray e, and completes the whole procedure of taking out the liquid and transferring the sample. Specifically, the arrangement device 8 comprises a sampling platform 81 capable of moving horizontally and linearly, a plurality of groups of clamping assemblies 82 and a clamping cylinder 83 for driving the plurality of groups of clamping assemblies 82, the sampling platform 81 is used for placing a tray d and a storage tray e, and meanwhile, the clamping assemblies 82 can be matched to facilitate clamping of a reaction vessel, the plurality of clamping assemblies 82 can be used for selecting a most appropriate group according to the size and shape of the reaction vessel, when the sampling platform 81 moves to the most groups of clamping assemblies 82, the clamping assemblies 82 can arrange the reaction vessel into the storage tray e.

The working process of the automatic liquid taking and sample transferring system of the embodiment is as follows: a preparation stage, manually placing an Shimadzu bottle a which is filled with a raw product solution and has a bottle cap screwed, a solution bottle b which is filled with a test solution and has an opening, and a reaction vessel into a bracket, placing the bracket on a storage rack 111 of a feeding chamber 11, then placing the bracket which is filled with the test solution into a lower position 2112 of a first box body 211 of a transition device 2 which is not at the middle position of a nitrogen bin 1 by a mechanical arm 3, placing the bracket which is filled with the reaction vessel into the lower position 2112 of the first box body 211 of the transition device 2 which is at the middle position of the nitrogen bin 1 by the mechanical arm 3, and moving the bracket which is to be filled with the test solution and the bracket which is filled with the reaction vessel to the respective high positions of a second box body 221; in the testing stage, the mechanical arm 3 grabs and puts the tray d of the Shimadzu bottle a containing the raw product solution into the first box body 211 of the other transition device 2 which is positioned at the non-intermediate position of the nitrogen bin 1, specifically, the lower position 2112 of the box body, in the putting process, the first box body 211 firstly opens the sealing movable door 212 communicated with the feeding chamber 11, after the mechanical arm 3 leaves, the sealing movable door 212 communicated with the feeding chamber 11 is closed, the air extractor and the inflator work till the first box body 211 is filled with nitrogen, the sealing movable door 212 communicated with the sealing chamber 12 is opened, the tray d is lifted by the lifting cylinder 222, the conveying shovel 223 extends to the lower part of the tray d to bring the tray d into the sealing chamber 12, specifically, the lower position of the second box body 221, the tray d at the lower position is conveyed to the higher position of the second box body 221 by the lifting frame 2241, then the grabbing device 6 carries out the Shimadzu bottle a to the bottle twisting device 4 to open the bottle, the grabbing device 6 transports the prepared Shimadzu bottles a to the workbench 5, while the grabbing device 6 operates, the liquid taking device 7 firstly extracts the test solution from the second box 221 where the test solution is located and drops the test solution into the reaction cuvette, the liquid taking device 7 moves to the workbench 5 after the TIP head 711 is replaced to extract a small amount of original product solution and drops the original product solution into the reaction cuvette, then the grabbing device 6 transports the opened Shimadzu bottles a back to the bottle twisting device 4 to twist the bottle caps, then the grabbing device 6 places the Shimadzu bottles a back to the original tray d, the sealing movable door 212 of the first box 211 communicated with the sealing chamber 12 is opened, the pushing component 225 pushes the tray d to the upper part 2111 close to the first box 211, the sealing movable door 212 of the first box 211 communicated with the sealing chamber 12 is closed, the sealing movable door 212 of the first box 211 communicated with the feeding chamber 11 is opened, the tray d of the first box 211 positioned at the upper part 2111 is taken out by the mechanical arm 3 and placed back to the receiving rack 111, in the taking-out process, the taking-out process of the other two trays d containing the solution bottles b and the reaction vessels is the same as the taking-out process of the tray d containing the Shimadzu bottles a, and the details are not repeated.

Claims

1. An automatic liquid taking and sample transferring system is characterized by comprising:

the nitrogen bin (1) comprises a feeding chamber (11) and a sealing chamber (12), wherein the feeding chamber (11) is provided with a storage rack (111) for placing a tray (d) provided with an Shimadzu bottle (a) or a reaction vessel, and the sealing chamber (12) is filled with nitrogen;

a plurality of transition devices (2), wherein each transition device (2) comprises a transition box (21) and a conveying box (22), the transition boxes (21) are arranged between the feeding chamber (11) and the sealing chamber (12) through an external air pump and an external inflator to prevent the gas of the feeding chamber (11) from entering the sealing chamber (12), and the conveying boxes (22) are arranged in the sealing chamber (12) and used for conveying trays (d) between the sealing chamber (12) and the transition boxes (21);

a robot arm (3), said robot arm (3) being arranged within said loading chamber (11) for transporting pallets (d) between said loading chamber (11) and said transition box (21);

a bottle twister (4), said bottle twister (4) being arranged inside said sealed chamber (12) for opening and screwing the cap of the Shimadzu bottle (a);

a work table (5), wherein the work table (5) is arranged in the sealed chamber (12) and used for placing an Shimadzu bottle (a);

the grabbing device (6) is arranged in the sealing chamber (12), the grabbing device (6) takes the Shimadzu bottle (a) out of the tray (d) to the bottle twisting device (4) and the workbench (5), and then the Shimadzu bottle (a) is put back to the original position;

and the liquid taking device (7) is used for taking out the solution in the Shimadzu bottle (a) and loading the solution into a reaction vessel.

2. The automatic liquid taking and sample transferring system according to claim 1, wherein the transition box (21) comprises:

the tray comprises a first box body (211), wherein an upper position (2111) and a lower position (2112) for placing a tray (d) are arranged in the first box body (211), two ventilation holes are formed in the first box body (211), an air pipe is arranged at each ventilation hole to be respectively connected with an external air extractor and an external inflator, and a sealing ring (2113) is arranged on the outer end face of the first box body (211);

two groups of sealing movable doors (212), wherein the sealing movable doors (212) are movably arranged on the first box body (211) through a limiting slide rail (2121), one group of sealing movable doors (212) is arranged at the communication position of the first box body (211) and the feeding chamber (11), and the other group of sealing movable doors (212) is arranged at the communication position of the first box body (211) and the sealing chamber (12);

the movable laminating module is arranged between the first box body (211) and the movable door, the movable laminating module comprises a laminating component (213) and a locking component (214), the laminating component (213) is arranged on the first box body (211) and is positioned at the closed position of the sealing movable door (212), and the locking component (214) is arranged on the first box body (211) and is positioned on the moving path of the sealing movable door (212);

a plurality of elastic pulley modules (215), the elastic pulley modules (215) being disposed at the fitting of the sealing moving door (212) and the first case (211).

3. The automated fluid withdrawal and sample removal system of claim 2, wherein the pressing assembly (213) comprises:

a pressing piece (2131), the middle section of the pressing piece (2131) is hinged on the box body, and a pressing claw (2132) for pressing the sealing movable door (212) is formed at the first end of the pressing piece (2131);

and a pressing driving cylinder (2133), wherein a piston rod of the pressing driving cylinder (2133) pushes a second end of the pressing piece (2131) to enable the pressing piece (2131) to rotate.

4. The automated fluid access and sample transfer system of claim 2, wherein the lock assembly (214) comprises:

a keyhole (2141), wherein the keyhole (2141) is arranged on the edge of the door panel of the sealed movable door (212);

the middle section of the locking piece (2142) is hinged to the first box body (211), and a lock tongue (2143) which penetrates through a limiting edge (21211) of the limiting sliding rail (2121) and extends into the lock hole (2141) is formed at the first end of the locking piece (2142);

a locking driving cylinder (2144), wherein a piston rod of the locking driving cylinder (2144) pushes the second end of the locking piece (2142) to enable the locking piece (2142) to rotate;

the reset piece (2145), the reset piece (2145) is configured between the locking piece (2142) and the limiting edge (21211) of the limiting slide rail (2121), and the reset piece (2145) is configured near the locking tongue (2143).

5. The automated liquid taking and sample moving system according to claim 2, wherein the transport box (22) comprises:

a second case (221);

a lifting cylinder (222), wherein the lifting cylinder (222) is arranged in the first box body (211) and used for lifting a tray (d) of a lower position (2112);

a carrying shovel (223), the carrying shovel (223) being arranged in the sealing chamber (12) in a sliding manner in the horizontal direction, the carrying shovel (223) extending into the first box body (211) and bringing the tray (d) into the second box body (221) in cooperation with the lifting cylinder (222);

a lifting assembly (224), the lifting assembly (224) comprising a lifting frame (2241) slidably fitted on the second case (221) in a vertical direction, the lifting frame (2241) being disposed to be staggered with the carrying shovel (223) to carry the tray (d) on the carrying shovel (223) from a lower position to a higher position;

a push assembly (225), the push assembly (225) comprising a push member (2251) and a push slot (2252), the push slot (2252) being horizontally arranged at an inner wall of the second casing (221) to vertically confine the tray (d), the push slot (2252) being on the same horizontal plane as the upper part (2111) in the first casing (211), and a horizontal distance between the push slot (2252) and the upper part (2111) being smaller than a short side length of a bottom of the tray (d), the push member (2251) being slidably arranged in the sealed chamber (12) in a horizontal direction to push the tray (d) into the push slot (2252) and to push the tray (d) to the upper part (2111) of the first casing (211).

6. The automated fluid access and sample transfer system of claim 2, wherein the resilient pulley module (215) comprises:

the first end of the movable rod (2151) is hinged to the side edge of the sealing movable door (212), and the second end of the movable rod (2151) is connected with a roller (2152) matched with the sliding edge (21212) of the limiting sliding rail (2121);

and an elastic member (2153), wherein the elastic member (2153) is disposed between the movable rod (2151) and the door panel of the sealing movable door (212) so that the door panel of the sealing movable door (212) in a natural state is away from the sliding edge (21212) of the stopper slide rail (2121).

7. The automatic liquid taking and sample moving system according to claim 1, wherein the bottle twisting device (4) comprises:

a frame body (41), the frame body (41) being fixedly arranged within the sealed chamber (12);

the screw rod (42) is rotatably arranged on the frame body (41), and a clamping sleeve (421) connected with a bottle cap of the Shimadzu bottle (a) is formed at one end of the screw rod (42);

a tightening module (43), the tightening module (43) comprising a tightening sleeve (431) and a tightening drive assembly (432) that drives the tightening sleeve (431) to move, the tightening sleeve (431) being movably arranged on the screw rod (42) along an axial direction of the screw rod (42) to tighten the ferrule (421).

8. The automated liquid taking and sample removing system of claim 7, wherein the tightening drive assembly (432) comprises:

the middle section of the linkage rod (4321) is hinged to the frame body (41), the driving end of the linkage rod (4321) is movably matched with the tightening sleeve (431) to push the tightening sleeve (431) to move, and the stress end of the linkage rod (4321) is movably matched with the tightening cylinder (4322);

a tightening cylinder (4322), wherein the tightening cylinder (4322) is arranged on the frame body (41), and a piston rod of the tightening cylinder (4322) extends out to push the force bearing end of the linkage rod (4321).

9. The automatic liquid and sample taking and transferring system according to claim 1, wherein the gripping device (6) comprises:

a first three-axis motion carrier (62), the first three-axis motion carrier (62) disposed within the sealed chamber (12);

a gripper (61), the gripper (61) being disposed at the end of the first three-axis motion carrier (62) to grip and transport the Shimadzu bottle (a).

10. The automatic liquid taking and sample transferring system according to claim 1, wherein the liquid taking device (7) comprises:

a second three-axis motion carrier (72), the second three-axis motion carrier (72) being disposed within the sealed chamber (12);

a liquid extraction gun (71), wherein the liquid extraction gun (71) is arranged at the tail end of the second triaxial movement carrier (72).