CN210081736U

CN210081736U - Manipulator device for transferring liquid and carrying container

Info

Publication number: CN210081736U
Application number: CN201920597541.5U
Authority: CN
Inventors: 居金良; 马青萍; 赵玉军
Original assignee: Shanghai Rendu Biotechnology Co ltd
Current assignee: Shanghai Rendu Biotechnology Co., Ltd
Priority date: 2019-04-28
Filing date: 2019-04-28
Publication date: 2020-02-18
Anticipated expiration: 2029-04-28

Abstract

The utility model discloses a manipulator device for shifting liquid and transport container. The X-axis assembly is arranged on the external working platform. One end of the Y-axis assembly is slidably connected to the X-axis assembly and is movable in the X-direction. One end of a plurality of mechanical fingers is connected with the Y shaft component in a sliding mode and can move in the Y direction. The mechanical finger comprises a liquid taking and pumping unit, a center fixing frame, a mechanical finger center, a liquid level detector and a top end adapter. The first end of the center fixing frame is connected with the mechanical finger, and the inner wall of the hollow pipe of the center fixing frame is provided with a sliding rail along the length of the pipe. The first end of the mechanical finger center is arranged in the hollow pipe of the center fixing frame and connected with the sliding rail, and the mechanical finger center can move in the Z direction. The liquid level detector is arranged at the second end of the mechanical finger center and used for collecting liquid level position data and calculating the volume of the transferred liquid by a circuit. The top end adapter is arranged at the second end of the mechanical finger center, and the first end of the top end adapter is used for being matched with an external suction head.

Description

Manipulator device for transferring liquid and carrying container

Technical Field

The utility model belongs to the manipulator field especially relates to a manipulator device for shifting liquid and transport container.

Background

The handling of containers and the transfer of liquids are necessary operations for the normal performance of many biochemical reactions. The two operations need not be performed at substantially the same time. It is currently common practice to implement the two operations by two different devices. The two different devices automatically realize respective operations under software control, and the method is also popular.

The transfer liquid manipulator and the container handling manipulator are independently or jointly used in the application of laboratory automation instruments, but the manipulators are limited by technical conditions and cannot be multifunctional combined to form a single function, so that the transfer liquid manipulator and the container handling manipulator with different single functions can be suitable for different conditions and structures to form diversified combinations; it is currently common practice to install a single function handling robot in the instrument. The single function robot has the following problems and disadvantages.

1. The multifunctional automatic instrument occupies effective space because the number of the mechanical arms with single functions can interfere with each other;

2. adding a robot increases manufacturing costs and failure rates;

3. each additional manipulator increases the complexity of the control of the instrument, creating a risk of mutual interference and collision damage of the actions.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a manipulator device for shifting liquid and transport container for solve the problem that single function manipulator exists.

In order to solve the above problem, the technical scheme of the utility model is that:

the utility model discloses a manipulator device for transferring liquid and carrying containers, which comprises an X shaft assembly, a Y shaft assembly, a plurality of mechanical fingers and a control device; wherein the content of the first and second substances,

the X shaft assembly is arranged on the external working platform;

one end of the Y shaft assembly is connected with the X shaft assembly in a sliding mode and can move in the X direction;

one end of each mechanical finger is connected with the Y shaft assembly in a sliding mode and can move in the Y direction;

the control device is electrically connected with the X shaft assembly, the Y shaft assembly and the mechanical finger and is used for controlling the X shaft assembly, the Y shaft assembly and the mechanical finger;

the mechanical finger comprises a liquid taking and pouring unit, a center fixing frame, a mechanical finger center, a liquid level detector and a top end adapter;

the first end of the central fixing frame is connected with the manipulator, and the inner wall of a hollow pipe of the central fixing frame is provided with a sliding rail along the length of the pipe;

the first end of the mechanical finger center is arranged in a hollow tube of the center fixing frame and connected with the sliding rail, and the mechanical finger center can move in the Z direction;

the liquid level detector is arranged at the second end of the mechanical finger center and used for collecting liquid level position data;

the top end adapter is arranged at the second end of the mechanical finger center, and the first end of the top end adapter is used for adapting to an external suction head;

and the working end of the liquid taking and pumping unit is connected with the second end of the top end adapter.

The utility model discloses a manipulator device for shifting liquid and transport container, mechanical finger maincenter is last to be equipped with the transport fixture block corresponding with outside container frame.

The utility model discloses a manipulator device for shifting liquid and transport container, the first end of top adapter is the circular arc terminal surface.

The utility model discloses a manipulator device for shifting liquid and transport container, the slide rail is the linear rack.

The utility model discloses owing to adopt above technical scheme, make it compare with prior art and have following advantage and positive effect:

the utility model discloses an embodiment is through setting up the X axle subassembly on external work platform, the Y axle subassembly, a plurality of mechanical finger, controlling means, this mechanical finger is including getting liquid and beating the liquid unit, the maincenter mount, mechanical finger maincenter, liquid level detector, the top adapter, for liftable mechanical finger, be equipped with the top adapter on the mechanical finger and get liquid and beat the liquid unit, accessible X axle subassembly and Y axle subassembly move mechanical finger earlier to outside suction head top, mechanical finger descends and with outside suction head adaptation, mechanical finger drives the suction head and shifts up and move to outside reagent or sample top afterwards, and absorb required reagent or sample, move to outside container top again, put into outside container with the reagent or sample that absorb, mechanical finger moves back the suction head after accomplishing, and repeat a plurality of times above-mentioned operation according to the demand; after the operation is finished, the mechanical fingers can move to the upper part of the external container, descend and are matched with each other to clamp the external container rack, the external container rack is moved to the next station, two functions of conveying the container and transferring the liquid are finished by the same mechanical arm at different time through a preset command, and the two functions of transferring the liquid and conveying the container are combined into a whole.

Drawings

FIG. 1 is a schematic view of a robot apparatus for transferring liquids and handling containers according to the present invention;

fig. 2 is a schematic view of the fingers of the robot apparatus for transferring liquid and carrying containers according to the present invention.

Description of reference numerals: 1: an X-axis assembly; 2: a Y-axis assembly; 3: a mechanical finger; 301: a central pivot fixing frame; 302: a mechanical finger hub; 303: a tip adapter; 4: an external work platform; 5: a first mechanical finger; 6: a second mechanical finger; 7: a third mechanical finger; 8: an outer container rack; 9: an outer container.

Detailed Description

The following provides a more detailed description of a robot apparatus for transferring liquid and handling containers according to the present invention with reference to the accompanying drawings and embodiments. The advantages and features of the present invention will become more fully apparent from the following description and appended claims.

Example 1

Referring to fig. 1 and 2, in one embodiment, a robot apparatus for transferring liquid and handling containers includes an X-axis assembly 1, a Y-axis assembly 2, a plurality of robot fingers 3, and a control device. The X-axis assembly 1 is provided on a first side of an outer work platform 4. One end of the Y-axis assembly 2 is slidably connected with the X-axis assembly 1 and can move in the X direction. One end of a plurality of mechanical fingers 3 is connected with the Y shaft component 2 in a sliding mode and can move in the Y direction. The control device is electrically connected with the X shaft assembly 1, the Y shaft assembly 2 and the mechanical finger 3 and is used for controlling the X shaft assembly 1, the Y shaft assembly 2 and the mechanical finger 3. The mechanical finger 3 comprises a liquid taking and pouring unit, a center fixing frame 301, a mechanical finger center 302, a liquid level detector and a top end adapter 303. The first end of pivot mount 301 links to each other with mechanical finger 3, and the hollow tube inner wall of pivot mount 301 is equipped with the slide rail along the pipe length. The first end of the mechanical finger pivot 302 is disposed in the hollow tube of the pivot fixing frame 301 and connected to the slide rail, and the mechanical finger pivot 302 can move in the Z direction. The liquid level detector is arranged at the second end of the mechanical finger center 302 and is used for collecting liquid level position data and calculating the volume of the transferred liquid by a circuit. A tip adapter 303 is provided at a second end of the robotic finger hub 302, and a first end of the tip adapter 303 is adapted to fit an external suction head. The working end of the liquid taking and pouring unit is connected with the second end of the top end adapter 303. By arranging the X-axis assembly 1, the Y-axis assembly 2, a plurality of mechanical fingers 3 and a control device on the external working platform 4, the mechanical finger 3 comprises a liquid taking and pouring unit, a center fixing frame 301, a mechanical finger center 302, a liquid level detector and a top end adapter 303, and is a lifting mechanical finger, the mechanical finger 3 is provided with the top end adapter 303 and the liquid taking and pouring unit, the mechanical finger 3 can be moved to the upper part of the external sucker through the X-axis assembly 1 and the Y-axis assembly 2, the mechanical finger 3 descends and is matched with the external sucker, then the mechanical finger 3 drives the external sucker to move upwards and move to the upper part of the external reagent or sample, sucking a required reagent or sample, moving the reagent or sample to the upper part of the external container 8, placing the sucked reagent or sample into the external container 8, removing the suction head by a mechanical finger after the reagent or sample is sucked, and repeating the operation for a plurality of times according to the requirement; after the operation is finished, the mechanical fingers 3 can move to the upper part of the outer container 8, the mechanical fingers 3 descend and are matched with each other to clamp the outer container rack 9, the outer container rack 9 is moved to the next detection station, two functions of conveying the container and transferring liquid are finished by the same mechanical arm at different time through a preset command, and the two functions of transferring the liquid and conveying the container are combined into a whole.

Furthermore, the mechanical finger center 302 is provided with a carrying fixture block corresponding to the external container frame 9. The arrangement of the carrying clamping blocks can ensure that the mechanical fingers 3 are more reliable in carrying the external container frame 9, and the risk that the external container frame 9 falls off or even falls off is avoided.

Preferably, referring to FIG. 2, the first end of the tip adapter 303 is a radiused end surface. The shape of the top end adapter 303 is matched with the port of the disposable suction head when the liquid is transferred, the circular arc end surface connected with the external suction head is ensured to be sealed when the external suction head is taken by mechanical pressure, the circular arc end surface is reduced to a small circular column by a transition inclined plane with certain taper after passing through a section of large circular center column with the same size as the top end along the length direction of the mechanical finger 3, the small circular column is matched with the grooves at two ends of the external container 8, the large circular column supports the bottom at the lower parts of the grooves at two ends of the external container 8, and the external container 8 is prevented from falling when the large circular column is in a carrying state.

Preferably, the number of mechanical fingers 3 comprises a first mechanical finger 5, a second mechanical finger 6 and a third mechanical finger 7. The first mechanical finger 5, the second mechanical finger 6 and the third mechanical finger 7 can be respectively adapted to external suction heads according to requirements to extract different reagents or samples, and can also be matched with each other to carry the external container rack 9.

Preferably, the external tip can also be a permanent sample application needle arranged at the top end of the top end adapter 303.

Further, the slide rail is a linear rack.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, the changes are still within the scope of the present invention if they fall within the scope of the claims and their equivalents.

Claims

1. A manipulator device for transferring liquid and carrying containers is characterized by comprising an X-axis assembly, a Y-axis assembly, a plurality of mechanical fingers and a control device; wherein the content of the first and second substances,

the X shaft assembly is arranged on the external working platform;

2. The robot apparatus for transferring liquids and handling containers of claim 1, wherein said robot finger hub is provided with handling dogs corresponding to the outer container racks.

3. The robot apparatus for transferring liquids and handling containers of claim 1, wherein the first end of the top end adapter is a radiused end surface.

4. The robot apparatus for transferring liquids and handling containers of claim 1, wherein said slide is a linear rack.