CN212402670U - Three-dimensional adjustable transfer equipment for biological samples - Google Patents
Three-dimensional adjustable transfer equipment for biological samples Download PDFInfo
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- CN212402670U CN212402670U CN202022041860.3U CN202022041860U CN212402670U CN 212402670 U CN212402670 U CN 212402670U CN 202022041860 U CN202022041860 U CN 202022041860U CN 212402670 U CN212402670 U CN 212402670U
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Abstract
The utility model discloses a three-dimensional adjustable transfer device for biological samples, which comprises a workbench, a three-axis mechanical arm, a multi-channel pipettor and a mechanical gripper; a plurality of groups of stations are arranged on the upper surface of the workbench; the three-axis mechanical arm comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm which are respectively and independently fixedly installed and moved along the X-axis direction, the Y-axis direction and the Z-axis direction of the horizontal plane of the workbench; the multichannel pipettor is detachably and fixedly arranged at the lower end of the group of Z-axis mechanical arms; the mechanical gripper is fixedly arranged at the lower end of the other group of Z-axis mechanical arms through a mechanical connecting piece. The utility model discloses an integrated triaxial arm, multichannel pipettor and mechanical gripper come the automatic transfer that realizes liquid reagent and consumptive material among the biological sample processing procedure, have quick, nimble characteristics, provide important means for high flux nucleic acid detects, automatic pathogen appraisal etc..
Description
Technical Field
The utility model relates to a mechanical arm device especially relates to a be used for three-dimensional adjustable transfer equipment of biological sample.
Background
The mechanical arm is widely applied to automatic instruments and equipment, and has excellent performance in the fields of traditional industrial manufacturing, goods transportation and the like, emerging intelligent robots, medical equipment and the like.
Along with the development of science and technology, the automatic experiment platform for laboratory or clinical examination function is becoming perfect, can realize automatic experiment process through make up multiple experiment consumptive material, reagent, module etc. on same platform, and is efficient and pollute less, can extensively use in various experiments.
In the automation experiment, need frequently inhale and put operations such as liquid and snatch consumptive material to shift liquid or consumptive material to the position that needs, this requires the platform to have modules such as the reliable liquid of inhaling of high accuracy positioner and function, consumptive material snatch and cooperate, accomplish the sample processing operation in the platform fast.
Disclosure of Invention
The utility model aims at providing a be used for three-dimensional adjustable of biological sample to transfer equipment to solve the problem that above-mentioned prior art exists, can realize the accurate of sample, reagent and consumptive material and shift among the sample processing.
In order to achieve the above object, the utility model provides a following scheme: the utility model provides a be used for three-dimensional adjustable of biological sample to transfer equipment, include: the device comprises a workbench, a three-axis mechanical arm, a multi-channel pipettor and a mechanical gripper; a plurality of groups of stations are arranged on the upper surface of the workbench, and the porous plate is placed on the stations;
the three-axis mechanical arm comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm which are respectively and independently fixedly installed and moved along the X-axis direction, the Y-axis direction and the Z-axis direction of the horizontal plane of the workbench, wherein the X-axis mechanical arm is fixedly installed on one side of the station along the horizontal plane of the workbench; two groups of Y-axis mechanical arms are arranged and are independently installed at two ends of the same side of the upper surface of the X-axis mechanical arm in a sliding mode at intervals; two groups of Z-axis mechanical arms are arranged and are independently and slidably mounted on one side of one group of Y-axis mechanical arms;
the multichannel pipettor is detachably and fixedly mounted at the lower end of the group of Z-axis mechanical arms;
and the mechanical hand grip is fixedly arranged at the lower end of the other group of Z-axis mechanical arms through a mechanical connecting piece.
Preferably, the X-axis mechanical arm, the Y-axis mechanical arm and the Z-axis mechanical arm form an included angle of 90 degrees in the moving direction of the X-axis, the Y-axis and the Z-axis.
Preferably, the multichannel pipettor is arranged in an air replacement mode structure and used for sucking and/or discharging reagents or objects, and comprises a pipette head and a third motor, wherein the pipette head is detachably and fixedly mounted at the front end of the multichannel pipettor and is arranged in a pipette head structure with an air filter element; and the third motor is used for driving the pipette tip to move along the Z-axis direction.
Preferably, the mechanical gripper comprises a mechanical finger, a transmission structure shell, a rolling bearing, a transmission structure, a second motor and a speed reducer; one side of the mechanical finger is fixedly arranged at one end of the bottom of the shell of the transmission structure; the other end of the transmission structure shell is connected with the transmission structure through a rolling bearing; the upper end of the transmission structure is fixedly connected with the speed reducer through a second motor.
Preferably, still include reverse pivot, first motor, mechanical finger one end is through screw thread and reverse pivot fixed mounting, reverse pivot is connected with first motor transmission, and reverse pivot passes through mechanical connecting piece fixed mounting in transmission structure shell bottom
Preferably, each group of mechanical fingers is independently provided with a group of pressure sensors, and the pressure sensors are fixedly arranged on the inner surfaces of the mechanical fingers and used for transmitting and/or collecting the grabbing force data of the mechanical fingers.
Preferably, each group of mechanical arms of the three-axis mechanical arm and the multi-channel liquid transfer device are respectively and independently provided with a group of limit sensors for transmitting and/or collecting position movement data of the mechanical arms.
Preferably, the intelligent control system further comprises a control module, wherein the control module is independently connected with each group of limit sensors, each group of pressure sensors, the motor, the first motor and the second motor in a communication mode through a CAN bus and used for exchanging data and working instructions.
The utility model discloses a following technological effect: the utility model discloses on the basis of triaxial arm, integrated multichannel pipettor and mechanical tongs realize biological sample processing in-process, and the automation of sample, reagent and consumptive material shifts, and has installed film pressure sensor on mechanical tongs, has guaranteed that the consumptive material snatchs the reliability, realizes providing important basis with the operation for automatic experiment platform.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is an appearance schematic diagram of the three-dimensional adjustable transfer device for biological samples according to the present invention;
fig. 2 is a schematic view of a mechanical gripper used in a three-dimensional adjustable transfer apparatus for biological samples according to the present invention;
fig. 3 is a side view of a mechanical gripper used in a three-dimensional adjustable transfer device for biological samples according to the present invention;
fig. 4 is a block diagram of a control device for a three-dimensional adjustable transfer apparatus for biological samples according to the present invention;
in the figure, 1 is a three-axis mechanical arm, 2 is a multifunctional pipette, 3 is a mechanical gripper, 11 is an X-axis mechanical arm, 12 is a Y-axis mechanical arm, 13 is a Z-axis mechanical arm, 21 is a disposable pipette tip, 31 is a mechanical finger, 32 is a reverse rotating shaft, 33 is a first motor, 34 is a film pressure sensor, 35 is a transmission structure, 36 is a second motor, 37 is a speed reducer, 38 is a ball bearing, and 39 is a transmission structure shell.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
The utility model provides a be used for three-dimensional adjustable of biological sample to transfer equipment, include: the device comprises a workbench, a three-axis mechanical arm, a multi-channel pipettor and a mechanical gripper; a plurality of groups of stations are arranged on the upper surface of the workbench, and the porous plate is placed on the stations;
the three-axis mechanical arm comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm which are respectively and independently fixedly installed and moved along the X-axis direction, the Y-axis direction and the Z-axis direction of the horizontal plane of the workbench, wherein the X-axis mechanical arm is fixedly installed on one side of the station along the horizontal plane of the workbench; two groups of Y-axis mechanical arms are arranged and are independently installed at two ends of the same side of the upper surface of the X-axis mechanical arm in a sliding mode at intervals; two groups of Z-axis mechanical arms are arranged and are independently and slidably mounted on one side of one group of Y-axis mechanical arms; the Y-axis and Z-axis directions of the three-axis mechanical arm are both double-arm structures, move simultaneously and are driven by a servo system and a moving lead screw. Wherein the X-axis mechanical arm, the Y-axis mechanical arm and the Z-axis mechanical arm form an included angle of 90 degrees in the X-axis direction, the Y-axis direction and the Z-axis direction.
Two arms have carried on multichannel pipettor and mechanical tongs respectively for the transfer of sample, reagent and consumptive material. Wherein servo adopts current conventional model to can accomplish the technical scheme of the utility model servo all is in the utility model discloses a within the scope of protection.
The multichannel pipettor is detachably and fixedly arranged at the lower end of the group of Z-axis mechanical arms; the multichannel pipettor is arranged in an air replacement mode structure and used for sucking and/or discharging reagents or objects, and comprises a pipette head and a third motor, wherein the pipette head is detachably and fixedly arranged at the front end of the multichannel pipettor and is arranged in a pipette head structure with an air filter element; and the third motor is used for driving the pipette tip to move along the Z-axis direction.
Optionally, the pipette tip is configured to automatically load a disposable filter element tip at the lower end of the multichannel pipette, and an air replacement mode is adopted to suck or release a sample or a reagent in a consumable, and each channel of the multichannel pipette works independently and can suck and release liquid synchronously or asynchronously.
Preferably, the mechanical gripper is fixedly arranged at the lower end of the other group of Z-axis mechanical arms through a mechanical connecting piece.
The mechanical gripper comprises a mechanical finger, a transmission structure shell, a rolling bearing, a transmission structure, a second motor and a speed reducer; one side of the mechanical finger is fixedly arranged at one end of the bottom of the shell of the transmission structure; the other end of the transmission structure shell is connected with the transmission structure through a rolling bearing; the upper end of the transmission structure is fixedly connected with the speed reducer through a second motor.
Preferably, still include reverse pivot, first motor, mechanical finger one end is through screw thread and reverse pivot fixed mounting, reverse pivot is connected with first motor transmission, and reverse pivot passes through mechanical connecting piece fixed mounting in transmission structure shell bottom.
The mechanical gripper is mounted on the mechanical arm, can rotate integrally, is provided with two mechanical fingers, can be automatically opened and closed, and is used for clamping and loosening consumables.
Each group of mechanical fingers is independently provided with a group of pressure sensors, and the pressure sensors are fixedly arranged on the inner surfaces of the mechanical fingers and used for transmitting and/or collecting grabbing force data of the mechanical fingers. The pressure sensor is preferably set as a film pressure sensor, can sense the grabbing strength of the mechanical finger and judges the grabbing state.
Preferably, each group of mechanical arms of the three-axis mechanical arm and the multi-channel liquid transfer device are respectively and independently provided with a group of limit sensors for transmitting and/or collecting position movement data of the mechanical arms.
The control module is independently connected with each group of limit sensors, each group of pressure sensors, the motor, the first motor and the second motor in a communication mode through a CAN bus and used for exchanging data and working instructions.
As a specific embodiment of the present invention, the control module is a main control circuit using the microprocessor as a core, and is used for being responsible for communicating with each circuit unit and exchanging data and instructions. The circuit unit is arranged as a control circuit of the three-axis mechanical arm, the multi-channel pipettor and the mechanical gripper and is responsible for controlling the operation of each actuating mechanism. Wherein the utility model discloses well control module and circuit unit main control chip are STM32 embedded chip, communicate through the CAN bus between control module and each circuit unit.
The multi-channel pipettor and the mechanical gripper are hung on the three-axis mechanical arm and move to working positions through the mechanical arm, the movement of each mechanism is controlled by the control module, the control module sends instructions and data to the circuit units of each mechanism, and then each circuit unit drives the corresponding mechanism to execute specific functions.
The utility model discloses a following technological effect: the utility model discloses on the basis of triaxial arm, integrated multichannel pipettor and mechanical tongs realize biological sample processing in-process, and the automation of sample, reagent and consumptive material shifts, and has installed film pressure sensor on mechanical tongs, has guaranteed that the consumptive material snatchs the reliability, realizes providing important basis with the operation for automatic experiment platform.
As shown in fig. 1, a three-dimensional adjustable transfer device for biological samples comprises a three-axis mechanical arm 1, a multi-channel pipettor 2 and a mechanical gripper 3, wherein the three-axis mechanical arm 1 comprises an X-axis mechanical arm 11, a Y-axis mechanical arm 12 and a Z-axis mechanical arm 13, the multi-channel pipettor 2 can automatically load and unload a disposable pipette tip 21, the disposable pipette tip is mounted on the Z-axis mechanical arm 13, and the three-axis mechanical arm 1 is used for respectively realizing the motion positioning in a three-dimensional space. The mechanical gripper 3 comprises a mechanical finger 31, a reverse rotating shaft 32, a first motor 33, film pressure sensors 34, a transmission structure 35, a second motor 36, a speed reducer 37, a ball bearing 38 and a transmission structure shell 39, wherein the two film pressure sensors 34 are respectively mounted at the front ends of the two mechanical fingers 31, and when a consumable material is gripped, the pressure of the mechanical finger 31 can be sensed, and whether the current gripping is reliable or not is judged. The first motor 33 drives the direction rotating shaft 32 to move to control the opening and closing of the mechanical finger 31. The second motor 36 rotates to drive the reducer 37 and the transmission structure 35 to control the rotation of the mechanical finger 31. The mechanical gripper 3 is mounted on the other Z-axis mechanical arm 13 and moves and positions in the three-dimensional space of the workbench along with the three-axis mechanical arm 1. One side of the mechanical finger 31 is fixedly arranged at one end of the bottom of the transmission structure shell 39; the other end of the transmission structure shell 39 is connected with the transmission structure 35 through a rolling bearing 38; the upper end of the transmission structure 35 is fixedly connected with a speed reducer 37 through a second motor 36.
Still include reverse pivot 32, first motor 33, mechanical finger 31 one end is passed through slide rail and reverse pivot 32 fixed mounting, reverse pivot 32 is connected with the transmission of first motor 33, and reverse pivot 32 passes through mechanical connecting piece fixed mounting in transmission structure shell 39 bottoms.
For example, in an automated experiment workstation for nucleic acid extraction by a magnetic bead method, a centrifuged blood sample is placed in a 96-well deep-well plate and then placed in the workstation before nucleic acid extraction. The mechanical arm 1 drives the multi-channel pipettor 2 to a disposable pipette tip 21 storage station, and the Z-axis mechanical arm 13 drives the multi-channel pipettor 2 to descend to load the disposable pipette tip 21. Arm 1 drives multichannel pipettor 2 and fixes a position to the reagent board of depositing the magnetic bead in, transfers to the 96 hole deep hole boards of depositing the sample after absorbing the magnetic bead and releases the magnetic bead, and triaxial arm 1 drive multichannel pipettor 2 is to the discarded object station, and multichannel pipettor 2 automatic uninstallation has used the liquid-transfering gun point. The three-axis mechanical arm 1 drives the mechanical hand 3 to a sample station, and a 96-hole deep hole plate for storing samples is grabbed to a vibration station, so that nucleic acid is combined with magnetic beads. And finally, driving the mechanical gripper 3 by the three-axis mechanical arm 1 to transfer the 96-hole deep-hole plate on the oscillation station to a magnetic separation station, and performing nucleic acid extraction operation by matching the multi-channel pipettor 2 with the mechanical gripper 3.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description of the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
The above-mentioned embodiments are only intended to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and those skilled in the art should also be able to make various modifications and improvements to the technical solution of the present invention without departing from the spirit of the present invention, and all such modifications and improvements are intended to fall within the scope of the present invention as defined in the appended claims.
Claims (8)
1. A three-dimensional adjustable transfer device for biological samples is characterized by comprising a workbench, a three-axis mechanical arm, a multi-channel liquid transfer device and a mechanical gripper; a plurality of groups of stations are arranged on the upper surface of the workbench, and the porous plate is placed on the stations;
the three-axis mechanical arm comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm which are respectively and independently fixedly installed and moved along the X-axis direction, the Y-axis direction and the Z-axis direction of the horizontal plane of the workbench, wherein the X-axis mechanical arm is fixedly installed on one side of the station along the horizontal plane of the workbench; two groups of Y-axis mechanical arms are arranged and are independently installed at two ends of the same side of the upper surface of the X-axis mechanical arm in a sliding mode at intervals; two groups of Z-axis mechanical arms are arranged and are independently and slidably mounted on one side of one group of Y-axis mechanical arms;
the multichannel pipettor is detachably and fixedly mounted at the lower end of the group of Z-axis mechanical arms;
and the mechanical hand grip is fixedly arranged at the lower end of the other group of Z-axis mechanical arms through a mechanical connecting piece.
2. The three-dimensional adjustable transfer device for biological samples according to claim 1, wherein the X-axis mechanical arm, the Y-axis mechanical arm and the Z-axis mechanical arm are arranged at an included angle of 90 ° with respect to each other.
3. The three-dimensional adjustable transfer device for biological samples according to claim 1, wherein the multi-channel pipette is configured in an air replacement mode structure and used for sucking and/or discharging reagents or objects, and comprises a pipette head and a third motor, wherein the pipette head is detachably and fixedly mounted at the front end of the multi-channel pipette and is configured in a pipette head structure with an air filter element; and the third motor is used for driving the pipette tip to move along the Z-axis direction.
4. The three-dimensional adjustable transfer device for biological samples according to claim 1, wherein the mechanical hand comprises a mechanical finger, a transmission structure shell, a rolling bearing, a transmission structure, a second motor and a speed reducer; one side of the mechanical finger is fixedly arranged at one end of the bottom of the shell of the transmission structure; the other end of the transmission structure shell is connected with the transmission structure through a rolling bearing; the upper end of the transmission structure is fixedly connected with the speed reducer through a second motor.
5. The three-dimensional adjustable transfer device for the biological samples according to claim 4, further comprising a reverse rotating shaft and a first motor, wherein one end of the mechanical finger is fixedly installed on the reverse rotating shaft through a thread, the reverse rotating shaft is in transmission connection with the first motor, and the reverse rotating shaft is fixedly installed at the bottom of the transmission structure shell through a mechanical connecting piece.
6. The three-dimensional adjustable transfer device for biological samples according to claim 4 or 5, wherein each set of mechanical fingers is independently provided with a set of pressure sensors which are fixedly arranged on the inner surfaces of the mechanical fingers and used for transmitting and/or collecting the grabbing force data of the mechanical fingers.
7. The three-dimensional adjustable transfer device for biological samples according to claim 6, wherein each group of mechanical arms of the three-axis mechanical arm and the multi-channel pipettor are independently provided with a group of limit sensors for transmitting and/or collecting position movement data of the mechanical arms.
8. The three-dimensional adjustable transfer device for biological samples according to claim 7, further comprising a control module which is connected with each group of limit sensors, each group of pressure sensors, the motor, the first motor and the second motor in a communication mode independently through a CAN bus and used for exchanging data and working instructions.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022041860.3U CN212402670U (en) | 2020-09-17 | 2020-09-17 | Three-dimensional adjustable transfer equipment for biological samples |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022041860.3U CN212402670U (en) | 2020-09-17 | 2020-09-17 | Three-dimensional adjustable transfer equipment for biological samples |
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| CN212402670U true CN212402670U (en) | 2021-01-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060067A (en) * | 2020-09-17 | 2020-12-11 | 南京中大生物信息研究院有限公司 | Mechanical arm device for automatically processing biological samples |
| CN118393159A (en) * | 2024-06-27 | 2024-07-26 | 天津海关工业产品安全技术中心 | Biological sample detection platform based on biosensor |
-
2020
- 2020-09-17 CN CN202022041860.3U patent/CN212402670U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060067A (en) * | 2020-09-17 | 2020-12-11 | 南京中大生物信息研究院有限公司 | Mechanical arm device for automatically processing biological samples |
| CN118393159A (en) * | 2024-06-27 | 2024-07-26 | 天津海关工业产品安全技术中心 | Biological sample detection platform based on biosensor |
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