CN115228369A - Reagent liquid preparation robot for automatic preparation of powdery reagent - Google Patents
Reagent liquid preparation robot for automatic preparation of powdery reagent Download PDFInfo
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- CN115228369A CN115228369A CN202211011363.6A CN202211011363A CN115228369A CN 115228369 A CN115228369 A CN 115228369A CN 202211011363 A CN202211011363 A CN 202211011363A CN 115228369 A CN115228369 A CN 115228369A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/71—Feed mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F21/00—Dissolving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F33/00—Other mixers; Mixing plants; Combinations of mixers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/20—Measuring; Control or regulation
- B01F35/22—Control or regulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/40—Mounting or supporting mixing devices or receptacles; Clamping or holding arrangements therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/71—Feed mechanisms
- B01F35/713—Feed mechanisms comprising breaking packages or parts thereof, e.g. piercing or opening sealing elements between compartments or cartridges
- B01F35/7131—Breaking or perforating packages, containers or vials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/71—Feed mechanisms
- B01F35/714—Feed mechanisms for feeding predetermined amounts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/80—Forming a predetermined ratio of the substances to be mixed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/80—Forming a predetermined ratio of the substances to be mixed
- B01F35/88—Forming a predetermined ratio of the substances to be mixed by feeding the materials batchwise
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F2101/00—Mixing characterised by the nature of the mixed materials or by the application field
- B01F2101/22—Mixing of ingredients for pharmaceutical or medical compositions
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- Chemical Kinetics & Catalysis (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses a reagent liquid preparation robot facing automatic preparation of a powdery reagent, which comprises a mounting seat, a liquid injection assembly and a first driving piece, wherein the liquid injection assembly comprises a first needle piece and a second needle piece, the first needle piece and the second needle piece are both connected with the mounting seat, the orientations of the first needle piece and the second needle piece are set to be consistent, a needle point of the first needle piece is used for puncturing a sealing piece so as to inject a reagent liquid into a reagent bottle, and a needle point of the second needle piece is used for puncturing the sealing piece so as to balance the air pressure of the reagent bottle; the first driving piece is used for driving the mounting seat to move linearly so that the first needle piece and the second needle piece penetrate through the sealing piece. The first needle is used for injecting reagent solution into the bottle body after penetrating into the inner side of the bottle body, and the reagent solution dissolves medicine powder in the bottle body, so that a required reagent is prepared. The second needle piece is arranged in the reagent bottle in a deep mode and used for balancing air pressure of the reagent bottle, so that the first needle piece can inject a sufficient amount of reagent liquid into the reagent bottle, and reagent preparation is completed.
Description
Technical Field
The invention relates to the technical field of electric energy meters, in particular to a reagent liquid preparation robot for automatic preparation of powdery reagents.
Background
In the related art, in order to enable the liquid medicine to be produced in batches quickly, mechanical equipment is often adopted to automatically complete the preparation of the liquid medicine. However, for some special reagent bottles, the reagent bottle not only has a cap to close the outside of the bottle mouth, but also has a sealing member for inserting into the inside of the bottle mouth. However, the existing reagent dispensing robot for automatic dispensing of powdered reagents cannot meet the requirement of dispensing a liquid medicine in a reagent bottle, so that an operator needs to manually dispense the liquid medicine in the reagent bottle, and the liquid dispensing speed is slow.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a reagent liquid preparation robot for automatic preparation of a powdery reagent, which can quickly prepare a reagent liquid.
According to the embodiment of the invention, the reagent liquid preparation robot for automatic preparation of the powdery reagent comprises:
a mounting seat;
the liquid injection assembly comprises a first needle piece and a second needle piece, the first needle piece and the second needle piece are both connected with the mounting seat and are arranged in the same direction, the needle point of the first needle piece is used for puncturing the sealing piece to inject reagent liquid into the reagent bottle, and the needle point of the second needle piece is used for puncturing the sealing piece to balance the air pressure of the reagent bottle;
the first driving piece is used for driving the mounting seat to move along a straight line, so that the first needle piece and the second needle piece penetrate through the sealing piece.
According to the invention, the reagent liquid preparation robot for automatic preparation of the powdery reagent at least has the following beneficial effects: the first driving part drives the mounting seat to move towards the sealing part of the reagent bottle, and the first needle part and the second needle part penetrate through the sealing part and further penetrate into the inner side of the bottle body, wherein the first needle part is used for injecting reagent liquid into the bottle body after penetrating into the inner side of the bottle body, and the reagent liquid dissolves medicine powder in the bottle body, so that a required reagent is prepared. The second needle piece is arranged in the reagent bottle in a deep mode and used for balancing air pressure of the reagent bottle, so that the first needle piece can inject a sufficient amount of reagent liquid into the reagent bottle, and reagent preparation is completed.
According to some embodiments of the present invention, a needle point of the first needle is higher than a needle point of the second needle such that the first needle pierces the sealing member before the second needle, wherein the reagent dispensing robot for automation of dispensing powder-oriented reagent is applied to the reagent bottle containing the medicine powder.
According to some embodiments of the invention, the liquid injection assembly further comprises a clamping member assembled on the mounting seat, the clamping member comprises two clamping portions which are spliced with each other, a first clamping groove and a second clamping groove which penetrate through two ends of each clamping portion are formed in the side wall of each clamping portion along a set direction, the two first clamping grooves are oppositely arranged to form a first clamping hole, and the two second clamping grooves are oppositely arranged to form a second clamping hole; the inner wall of the first clamping groove is provided with a first clamping part, the side wall of the first needle piece is provided with a first matching part, the first needle piece is fixed in the first clamping hole, and the first clamping part is matched with the first matching part in an embedding manner; the inner wall of the second clamping groove is provided with a second clamping part, the side wall of the second needle piece is provided with a second matching part, the second needle piece is fixed in the second clamping hole, and the second clamping part is matched with the second matching part in an embedded mode; the first clamping portion and the second clamping portion are arranged in a staggered mode along the set direction, so that the needle point of the first needle piece is higher than the needle point of the second needle piece.
According to some embodiments of the invention, the liquid injection assembly is provided with a plurality of liquid injection assemblies, the plurality of liquid injection assemblies are sequentially arranged at intervals along the circumferential direction of the setting shaft, and each liquid injection assembly is used for injecting different reagent liquid into the reagent bottle; the reagent liquid preparation robot for the automatic preparation of the powdery reagent further comprises a second driving piece, wherein the second driving piece is used for driving the mounting seat to rotate around the setting shaft, so that the liquid injection assemblies can face the sealing piece respectively, and the reagent liquid matched with the liquid injection assemblies can be injected into the reagent bottle.
According to some embodiments of the invention, the first driver comprises at least a stepper motor, and the formula of the peak duration Δ t of the PWM signal of the motor is:
wherein n is the number of wave crest signals corresponding to each circle of operation of the stepping motor, m is the moving distance of the liquid injection assembly each circle of operation of the stepping motor, T is the time required by the liquid injection assembly to move in place, and ts is the total time length of the real-time movement of the stepping motor.
According to some embodiments of the invention, further comprising:
the fixing seat is used for clamping the bottle body;
the working module comprises a cap screwing mechanism, a third driving piece, a fourth driving piece and a manipulator, wherein the third driving piece, the fourth driving piece and the manipulator are connected;
the driving mechanism at least drives the fixing seat and one of the working modules, and is used for enabling the position of the reagent bottle to be matched with the position of the screwing cover mechanism so as to enable the manipulator to subsequently uncover the bottle cap, and enabling the position of the reagent bottle to be matched with the position of the liquid injection assembly so as to enable the liquid injection assembly to subsequently inject reagent liquid into the reagent bottle.
According to some embodiments of the present invention, the reagent dispensing robot further comprises a code scanning mechanism, wherein the code scanning mechanism is used for scanning the two-dimensional code of the bottle body, so as to control the injection of the adapted reagent solution into the reagent bottle and/or control the moving distance of the first driving member for driving the mounting seat; the third driving piece can move the reagent bottle to a set position through the manipulator, and the four driving pieces can drive the reagent bottle to rotate at the set position through the manipulator, so that the code scanning mechanism can scan the two-dimensional code of the bottle body.
According to some embodiments of the present invention, the reagent dispensing robot further includes a force sensor disposed on the fixing base for determining an acting force of the reagent bottle on the fixing base so as to detect a puncturing condition of the first needle and the second needle on the sealing member.
According to some embodiments of the invention, the reagent dispensing robot further comprises a force sensor, the force sensor is arranged at the bottom of the fixing seat and used for judging the acting force of the reagent bottle on the fixing seat so as to measure the liquid injection condition of the first needle on the reagent bottle, thereby controlling the cut-off point of the liquid injection of the first needle.
According to some embodiments of the invention, the reagent dispensing robot further comprises a peristaltic pump and an advance compensator with a proportional-derivative link, wherein the peristaltic pump is used for injecting reagent liquid into the reagent bottle through the first needle, and the advance compensator is used for controlling the liquid supply condition of the peristaltic pump; wherein the lead compensator has the relation:
wherein, V current Is the current liquid volume, medium K P And K d Coefficient of proportional control and integral control, V, respectively add Is the required amount of liquid to be added.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a schematic view of the entire structure of a liquid injection mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a liquid injection assembly of the liquid injection mechanism according to the embodiment of the invention;
FIG. 3 is an exploded view of the clamping member, the first needle and the second needle according to an embodiment of the present invention;
FIG. 4 is a schematic view of the entire structure of the liquid injection mechanism according to the embodiment of the present invention;
fig. 5 is an exploded view of the driving mechanism, the force sensor and the fixing base according to the embodiment of the present invention.
Reference numerals:
100. a liquid injection mechanism; 110. a mounting seat; 120. a liquid injection assembly; 121. a clamping member; 1211. a clamping portion; 1212. a first clamping groove; 1213. a first clamping part; 1214. a second clamping groove; 1215. a second clamping part; 122. a first needle; 1221. a first mating portion; 123. a second needle; 1231. a second fitting portion; 124. a peristaltic pump; 130. a first driving member; 140. a second driving member; 200. a cap screwing mechanism; 210. a third driving member; 220. a fourth drive member; 230. a manipulator; 300. a drive mechanism; 400. a fixed seat; 410. a force sensor; 500. sweep a yard mechanism.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise specifically limited, terms such as set, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The invention provides a reagent liquid preparation robot for automatic preparation of powdery reagents, which comprises a liquid injection mechanism 100, wherein the liquid injection mechanism 100 is applied to a reagent bottle, the reagent bottle comprises a bottle body, a sealing element and a bottle cap, the sealing element is made of an elastic material and is inserted into a bottle mouth of the bottle body so as to seal the bottle body, and the bottle cap is in threaded connection with the outside of the bottle mouth of the bottle body so as to further seal the bottle body; wherein, the inside of bottle is equipped with powder in advance, annotates liquid mechanism 100 and injects reagent liquid into the bottle to dissolve the powder, and then prepare required reagent.
Referring to fig. 1 and 2, the priming mechanism 100 includes a mounting seat 110, a priming assembly 120 and a first driving member 130, the priming assembly 120 includes a first needle 122 and a second needle 123, the first needle 122 and the second needle 123 are both connected to the mounting seat 110 and are arranged in a same orientation, a needle point of the first needle 122 is used for puncturing a sealing member to inject a reagent solution into a reagent bottle, and a needle point of the second needle 123 is used for puncturing the sealing member to balance air pressure of the reagent bottle; the first driving member 130 is used for driving the mounting seat 110 to move linearly so that the first needle 122 and the second needle 123 pierce the sealing member.
Specifically, the first driving member 130 drives the mounting seat 110 to move toward the sealing member of the reagent bottle, and the first needle 122 and the second needle 123 both pierce the sealing member and penetrate into the inner side of the bottle body, wherein the first needle 122 is used to inject the reagent solution into the bottle body after penetrating into the inner side of the bottle body, and the reagent solution dissolves the medicine powder in the bottle body, thereby preparing the required reagent. The second needle 123 is inserted into the reagent bottle, and the second needle 123 is used for balancing the air pressure of the reagent bottle, so that the first needle 122 can inject a sufficient amount of reagent solution into the reagent bottle to complete the preparation of the reagent.
In some embodiments, referring to fig. 1 to 3, the needlepoint of the first needle 122 is higher than the needlepoint of the second needle 123, and the distance between the needlepoint of the first needle 122 and the reagent bottle is greater than the distance between the needlepoint of the second needle 123 and the reagent bottle, so that the first driving member 130 simultaneously drives the first needle 122 and the second needle 123 to move downwards through the mounting seat 110, the first needle 122 pierces the sealing member with respect to the second needle 123 first, so as to inject the reagent solution into the reagent bottle, and the second needle 123 pierces the sealing member with respect to the first needle 122 later, so as to balance the air pressure of the reagent bottle. It can be understood that, first needle 122 inserts the bottle earlier in, and first needle 122 improves the atmospheric pressure in the bottle when annotating the liquid, and consequently, second needle 123 is when inserting the balanced atmospheric pressure of bottle, and the bottle passes through second needle 123 and exhausts to the outside of bottle to avoid outside gas to get into in the bottle, and then guarantee that the reagent in the bottle can not be contaminated.
Further, the liquid injection assembly 120 further includes a clamping member 121 assembled to the mounting base 110, the clamping member 121 includes two clamping portions 1211 joined to each other, a facing surface of each clamping portion 1211 is provided with a first clamping groove 1212 and a second clamping groove 1214 along a set direction (vertical direction), and the first clamping groove 1212 and the second clamping groove 1214 are arranged in parallel and both penetrate through to the upper end and the lower end of the clamping portion 1211; wherein, when the two clamping portions 1211 are spliced together, the two first clamping grooves 1212 are oppositely disposed to form a first clamping hole to which the first needle 122 is fixed, and the two second clamping grooves 1214 are oppositely disposed to form a second clamping hole to which the second needle 123 is fixed.
Further, the inner wall of the first clamping groove 1212 is provided with a first clamping portion 1213, the side wall of the first needle 122 is provided with a first matching portion 1221, and the first clamping portion 1213 is engaged with the first matching portion 1221, so that the first needle 122 is stably assembled between the two clamping portions 1211. One of the first clamping portion 1213 and the first matching portion 1221 is a protrusion, and the other is a groove. Similarly, the inner wall of the second holding groove 1214 is provided with a second clamping portion 1215, the side wall of the second needle 123 is provided with a second matching portion 1231, and the second clamping portion 1215 is embedded and matched with the second matching portion 1231, so that the second needle 123 is stably assembled between the two holding portions 1211. One of the second clamping part 1215 and the second matching part 1231 is a protrusion, and the other two are grooves.
In the set direction, i.e., the up-down direction, the first engaging portion 1213 and the second engaging portion 1215 are staggered up and down, and the height of the first engaging portion 1213 is lower than that of the second engaging portion 1215, so that the height of the needle point of the first needle 122 is lower than that of the needle point of the second needle 123, i.e., the needle point of the first needle 122 is closer to the reagent bottle than the needle point of the second needle 123.
In summary, the clamping member 121 has the above structure, the first needle 122 and the second needle 123 can be conveniently and stably assembled on the clamping member 121, and the needle point of the first needle 122 is closer to the reagent bottle.
In some embodiments, the first driving member 130 includes at least a stepping motor, and the stepping motor drives the mounting base 110 and the injection assembly 120 to move up and down in combination with a transmission structure, for example, in combination with a screw rod structure or a cam structure. To optimize noise and vibration problems caused by excessive instantaneous acceleration of the mounting base 110 and its injection assembly 120 during start-up and shut-down of the stepper motor. In the scheme of the application, the characteristic that the stepping motor has better mechanical property at low rotating speed is combined, and the speed control of the stepping motor is changed from initial constant speed to variable acceleration motion. A variable acceleration motion is a speed control function in which acceleration decreases as the rotational speed increases. Through the sectional control, the stepping motor firstly performs acceleration motion with reduced acceleration until the acceleration is 0, then performs uniform motion, and finally performs deceleration motion with gradually increased acceleration, and an acceleration and deceleration curve simulates a trigonometric function. By changing the acceleration movement, the vibration of the system during starting and stopping can be reduced to a certain extent. By setting and controlling the peak time delta t of the PWM signal of the stepping motor, the variable acceleration movement of the stepping motor can be realized. By calculating the time required by each step in the trigonometric function, the derivation formula is obtained as follows:
ts＝ts+2*Δt；
from the above equation, the piecewise function of the velocity is derived as follows:
wherein n is the number of peak signals of the stepping motor corresponding to each rotation of the stepping motor, m is the distance for driving the mounting seat 110 and the liquid injection assembly 120 to move each rotation of the stepping motor, T is the time required for the liquid injection assembly 120 to move in place, ts is the total time length of real-time movement of the stepping motor, and Δ T is the time length of the peak of the PWM signal for controlling the stepping motor.
In some embodiments, the injection assembly 120 is provided in plurality, and the plurality of injection assemblies 120 are sequentially arranged at intervals along the circumferential direction of the setting shaft, and each injection assembly 120 is used for injecting different reagent liquid into the reagent bottle. The reagent dispensing robot further includes a second driving member 140, the second driving member 140 is fixedly mounted on the movable portion of the first driving member 130, and the second driving member 140 is configured to drive the mounting base 110 to rotate around the set axis, so that the plurality of liquid injection assemblies 120 move circumferentially around the set axis.
Specifically, in the reagent dispensing process, the second driving member 140 drives the mounting base 110 to rotate around the setting axis according to the reagent to be dispensed, so that the corresponding liquid dispensing assembly 120 just moves to the position right above the reagent bottle. The first driving member 130 drives the mounting seat 110 to move downward, so that the first needle 122 and the second needle 123 of the corresponding injection assembly 120 are inserted into the inner side of the bottle body, and a required reagent solution is injected into the bottle body to prepare a required reagent.
Referring to fig. 1 to 5, the reagent dispensing robot further includes a holder 400, a working module and a driving mechanism 300, wherein the holder 400 is used for clamping the bottle body, so as to fix the bottle body at a predetermined position. The working module comprises a cap screwing mechanism 200 and the liquid injection mechanism 100, the cap screwing mechanism 200 comprises a third driving part 210, a fourth driving part 220 and a manipulator 230, the fourth driving part 220 is fixedly assembled on a movable part of the third driving part 210, the manipulator 230 is fixedly assembled on the movable part of the fourth driving part 220, the third driving part 210 controls the manipulator 230 to move up and down by driving the fourth driving part 220, the fourth driving part 220 drives the manipulator 230 to rotate around a vertical shaft, and the manipulator 230 is used for clamping the circumferential surface of a bottle cap. The driving mechanism 300 drives at least one of the fixing base 400 and the working module to match the position of the reagent bottle with the position of the cap screwing mechanism 200 so that the manipulator 230 can subsequently remove the cap, and to match the position of the reagent bottle with the position of the liquid injection mechanism so that the liquid injection mechanism 100 can subsequently inject the reagent liquid into the reagent bottle.
Specifically, in the cap opening process, under the action of the driving mechanism 300, the reagent bottle is located right below the cap screwing mechanism 200, the third driving member 210 drives the fourth driving member 220 to move downward, the manipulator 230 and the fourth driving member 220 synchronously move downward until the manipulator moves to the position of the reagent bottle, and at this time, the manipulator 230 clamps the circumferential surface of the bottle cap. The fourth driving member 220 drives the robot 230 to rotate, and the robot 230 controls the bottle cap to rotate relative to the bottle body, so as to uncover the bottle cap. It should be noted that, during the process of screwing the cap, the manipulator 230 moves upwards to remove the cap during rotation; in the liquid injection process, under the action of the driving mechanism 300, the reagent bottle is located right below the liquid injection assembly 120, the first driving member 130 drives the mounting seat 110 to move downward, the first needle 122 and the second needle 123 pierce the sealing member, and the first needle 122 injects the reagent liquid into the bottle body to dispose the reagent.
Specifically, referring to fig. 4, the driving mechanism 300 drives the fixing base 400 to move left and right, so as to control the reagent bottle to move right below the manipulator 230, and the capping mechanism 200 unscrews the cap of the reagent bottle; after the bottle cap of the reagent bottle is unscrewed, the driving mechanism 300 drives the fixing seat 400 to move rightwards to the position right below the liquid injection mechanism 100, and the liquid injection mechanism 100 injects the reagent liquid into the reagent bottle. And/or the driving mechanism drives the liquid injection mechanism 100 and the capping mechanism 200 to move left and right, so that the capping mechanism 200 and the capping mechanism 200 move right above the fixing seat 400 successively, thereby completing the preparation of the reagent.
In some embodiments, the two-dimensional code is attached to the circumferential surface of the reagent bottle, and the two-dimensional code contains some information of the reagent bottle, such as the size of the reagent bottle, the liquid medicine to be disposed in the reagent bottle, and the like. The reagent dispensing robot further comprises a code scanning mechanism 500, wherein the code scanning mechanism 500 is higher than the fixed seat 400 and lower than the manipulator 230. Specifically, initially, the third driving member 210 drives the manipulator 230 to move downward to the position of the fixing base 400, the manipulator 230 clamps the cap of the bottle, and the fixing base 400 releases the clamping of the bottle. Then, the third driving element 210 lifts the reagent bottle to a set position, namely the height position of the code scanning mechanism 500, by the manipulator 230, and the camera of the code scanning mechanism 500 just faces the two-dimensional code; finally, the fourth driving component 220 rotates through the manipulator 230, so that the reagent bottle rotates at the set position, and the camera scans and obtains the information of the reagent bottle. In summary, the third driving element 210 and the fourth driving element 220 are configured to unscrew the bottle cap at the bottle opening of the bottle body, and control the movement of the bottle body, so that the code scanning mechanism 500 can scan the two-dimensional codes arranged on the circumferential surface of the bottle body to obtain the information of the reagent bottle.
In the liquid injection process, according to the obtained information, the second driving member 140 drives the mounting seat 110 to rotate, and the mounting seat 110 rotates the corresponding liquid injection assembly 120 to a position right above the corresponding reagent bottle. Then, the first driving member 130 drives the mounting seat 110 to move downward, so that the first needle 122 and the second needle 123 of the corresponding priming assembly 120 are inserted into the reagent bottle, thereby dispensing the required reagent solution.
Moreover, according to the information of the reagent bottle, the first driving member 130 drives the first needle 122 to move down by a distance, so that the first needle 122 and the second needle 123 move down to appropriate positions, thereby ensuring that the second needle 123 can penetrate into the reagent bottle, balancing the air pressure in the bottle body, and preventing the needle point of the first needle 122 from immersing into the reagent during the reagent dispensing process because the first needle 122 penetrates into the bottle body too much.
In some embodiments, the reagent dispensing robot further includes a force sensor 410, the force sensor 410 is disposed at the movable portion of the driving mechanism 300, the holder 400 is fixedly mounted on the force sensor 410, and the force sensor 410 is configured to determine an acting force of the reagent bottle on the holder 400, so as to detect a piercing condition of the first needle 122 and the second needle 123 on the sealing member. Specifically, when the first needle 122 and the second needle 123 pierce the sealing member, the force sensor 410 measures the acting force of the reagent bottle on the fixing base 400, and when the second needle 123 pierces the sealing member, the force sensor 410 senses the stress condition of the reagent bottle, so that when the second needle 123 pierces the sealing member, the first driving member 130 is controlled to stop driving the mounting base 110 downwards, and the second needle 123 is made to just go deep into the reagent bottle to a proper position, so as to avoid the first needle 122 from going deep into the reagent bottle excessively.
In some embodiments, the reagent dispensing robot further includes a force sensor 410, the force sensor 410 is disposed at the movable portion of the driving mechanism 300, the fixing base 400 is fixedly mounted on the force sensor 410, and the force sensor 410 is configured to determine an acting force of the reagent bottle on the fixing base 400 and measure a filling condition of the first needle 122 on the reagent bottle. Specifically, when the first needle 122 injects the reagent solution into the reagent bottle, the force applied by the reagent bottle to the force sensor 410 is different until the reagent solution in the reagent bottle reaches a set amount, and at this time, when the force sensor 410 reaches the set value, the first needle 122 is controlled to stop the injection of the reagent solution into the reagent bottle, and further, the reagent solution is injected into the reagent bottle in an appropriate amount to dispose the required reagent. Since the amount of reagent solution injected into the first needle 122 is different when different reagents are arranged, the control system of the reagent solution dispensing robot satisfies the requirement of arranging different reagents when the force sensor 410 controls the first needle 122 to stop injecting the reagent according to the information of the reagent bottle acquired by the code scanning mechanism 500. Specifically, the pressure sensor converts a physical signal into an electric signal by detecting the weight of injected liquid and transmits the electric signal to a stepping motor in the peristaltic pump, and the motor of the peristaltic pump is controlled by a closed-loop control algorithm with a lead compensator to carry out quantitative and constant-speed liquid injection.
Specifically, in the system of the present invention, for a specific type of reagent bottle, the volume of a single liquid addition is a fixed value, and the feedback control of the control system is used to adjust the amount of liquid addition to the reagent bottle according to the sensed pressure of the pressure sensor, i.e., the weight of the liquid already in the reagent bottle. The invention can reduce the interference inside and outside the system, such as temperature, speed, and the influence of manual problems on liquid adding by using feedback control, and the specific formula is as follows:
V add ＝V need -V current
N∝V add
the number of motor advance steps of the peristaltic pump is calculated by the above formula. W is the mass of the liquid currently detected by the pressure sensor, P is the density of the reagent to be dispensed, g is the gravitational acceleration, typically 9.81m/s 2 . Wherein N is the number of steps required for the motor of the peristaltic pump to advance, V add Is the required amount of liquid added, V need Is provided with the total required liquid adding amount of the reagent V cirremt Is the current liquid volume.
In order to improve the efficiency of testing and configuring reagents, enhance the precision of configuring reagents, improve the response speed of a peristaltic pump motor, improve the dynamic performance and the steady-state performance of a system and enhance the feedback speed of the system, a lead compensator with a proportional-derivative (PD) link is generally used for control. PD control has the relation of
Wherein, K P And K d The coefficients of the proportional control and the integral control, respectively, are determined by the actual situation.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Claims (10)
1. The utility model provides a towards automatic reagent of likepowder reagent preparation and join in marriage liquid robot, is applied to the reagent bottle, the reagent bottle includes bottle and the sealing member of being made by elastic material, the sealing member be used for pegging graft in the bottleneck of bottle, its characterized in that includes:
a mounting seat;
the liquid injection assembly comprises a first needle piece and a second needle piece, the first needle piece and the second needle piece are both connected with the mounting seat and are arranged in the same direction, the needle point of the first needle piece is used for puncturing the sealing piece to inject reagent liquid into the reagent bottle, and the needle point of the second needle piece is used for puncturing the sealing piece to balance the air pressure of the reagent bottle;
the first driving piece is used for driving the mounting seat to move along a straight line, so that the first needle piece and the second needle piece penetrate through the sealing piece.
2. The automated reagent dispensing robot for powdered reagent dispensing of claim 1, wherein the needle point of the first needle is higher than the needle point of the second needle such that the first needle pierces the seal before the second needle, wherein the automated reagent dispensing robot for powdered reagent dispensing is applied to the reagent bottle containing the powder.
3. The reagent dispensing robot for automation of powder reagent preparation according to claim 2, wherein the liquid injection assembly further comprises a clamping member assembled to the mounting seat, the clamping member comprises two clamping portions spliced with each other, a first clamping groove and a second clamping groove penetrating to two ends of each clamping portion are formed in a side wall of each clamping portion along a set direction, the two first clamping grooves are oppositely arranged to form a first clamping hole, and the two second clamping grooves are oppositely arranged to form a second clamping hole;
the inner wall of the first clamping groove is provided with a first clamping part, the side wall of the first needle piece is provided with a first matching part, the first needle piece is fixed in the first clamping hole, and the first clamping part is matched with the first matching part in an embedding manner; the inner wall of the second clamping groove is provided with a second clamping part, the side wall of the second needle piece is provided with a second matching part, the second needle piece is fixed in the second clamping hole, and the second clamping part is matched with the second matching part in an embedding manner; the first clamping portion and the second clamping portion are arranged in a staggered mode along the set direction, so that the needle point of the first needle piece is higher than the needle point of the second needle piece.
4. The reagent dispensing robot for automation of powdered reagent preparation according to claim 1, wherein a plurality of the liquid injection assemblies are arranged, the plurality of liquid injection assemblies are sequentially arranged at intervals along a circumferential direction of a setting shaft, and each liquid injection assembly is used for injecting different reagent liquid into the reagent bottle;
the automatic reagent liquid preparation robot for preparing the powdery reagent further comprises a second driving piece, wherein the second driving piece is used for driving the mounting seat to rotate around the setting shaft, so that the liquid injection assemblies can face the sealing piece respectively, and the adaptive reagent liquid can be injected into the reagent bottle.
5. The reagent dispensing robot for automation of powdered reagent dispensing according to claim 1, wherein the first driving member comprises at least a stepping motor, and the formula of the peak duration Δ t of the PWM signal of the stepping motor is:
wherein n is the number of wave crest signals corresponding to each circle of operation of the stepping motor, m is the moving distance of the liquid injection assembly each circle of operation of the stepping motor, T is the time required by the liquid injection assembly to move in place, and ts is the total time length of the real-time movement of the stepping motor.
6. The reagent dispensing robot for automation of powdered reagent preparation according to claim 1, wherein the reagent bottle further comprises a bottle cap, the bottle cap is in threaded connection with the outside of the mouth of the bottle body, and the reagent dispensing robot further comprises:
the fixing seat is used for clamping the bottle body;
the bottle cap screwing mechanism comprises a third driving piece, a fourth driving piece and a manipulator which are connected, the manipulator is used for clamping the peripheral surface of the bottle cap, the third driving piece is used for driving the manipulator to move to the position of the bottle cap, and the fourth driving piece is used for driving the manipulator to rotate so as to screw off the bottle cap;
the driving mechanism at least drives one of the fixing seat and the working module, is used for matching the position of the reagent bottle with the position of the cover screwing mechanism so as to enable the manipulator to uncover the bottle cover subsequently, and is used for matching the position of the reagent bottle with the position of the liquid injection assembly so as to enable the liquid injection assembly to inject reagent liquid into the reagent bottle subsequently.
7. The reagent dispensing robot for powder reagent dispensing automation of claim 6, further comprising a code scanning mechanism for scanning the two-dimensional code of the bottle body to control the injection of the adapted reagent solution into the reagent bottle and/or to control the moving distance of the first driving member to drive the mounting seat;
the third driving piece can move the reagent bottle to a set position through the manipulator, and the four driving pieces can drive the reagent bottle to rotate at the set position through the manipulator, so that the code scanning mechanism can scan the two-dimensional code of the bottle body.
8. The robot for automatically dispensing reagent powder according to claim 6, further comprising a force sensor disposed on the fixing base for determining an acting force of the reagent bottle on the fixing base so as to detect the penetration of the first needle and the second needle on the sealing member.
9. The robot for automatically dispensing reagent powder according to claim 6, further comprising a force sensor disposed at the bottom of the fixing base for determining the acting force of the reagent bottle on the fixing base so as to measure the filling condition of the first needle on the reagent bottle, thereby controlling the cut-off point of the first needle for filling liquid.
10. The reagent dispensing robot for automatic powdered reagent dispensing of claim 9, further comprising a peristaltic pump and a lead compensator with a proportional-derivative link, wherein the peristaltic pump is used for injecting reagent solution into the reagent bottle through the first needle, and the lead compensator is used for controlling the liquid supply condition of the peristaltic pump; wherein the lead compensator has the relation:
wherein, V current Is the current liquid volume, K P And K d Coefficient of proportional control and integral control, V, respectively add Is the required amount of liquid to be added.
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