CN212855819U

CN212855819U - Three-degree-of-freedom liquid transfer device based on delta robot and closed clamping box

Info

Publication number: CN212855819U
Application number: CN202021696840.3U
Authority: CN
Inventors: 袁庆明
Original assignee: Shanghai 3D Medicines Co Ltd
Current assignee: Shanghai 3D Medicines Co Ltd
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2021-04-02
Anticipated expiration: 2030-08-14

Abstract

The utility model relates to a three degree of freedom pipettor devices and seal card box based on delta robot, through three lead screws synchronous, asynchronous rotation drive pipettor injection head carry out the free movement in x of vertically z axle and horizontal plane, y axle, simple structure, with low costs is applicable to the complicated procedure that miniaturized equipment and need more reagent hole to participate in, has greatly expanded closed library preparation system's range of application.

Description

Three-degree-of-freedom liquid transfer device based on delta robot and closed clamping box

Technical Field

The utility model relates to a library prepares equipment technical field, especially relates to a three degree of freedom pipettor device and seal card box based on delta robot.

Background

After the 50 s of the 20 th century, with the development of molecular genetics, it became increasingly recognized that the nature of genes is a DNA fragment with a genetic effect that controls biological traits. On one hand, the gene can faithfully carry out self-replication so as to ensure the basic characteristics of organisms; on the other hand, the gene can be mutated, resulting in the occurrence of diseases. The gene sequencing can quickly and accurately acquire biological genetic information, reveal the complexity and diversity of a genome and play an important role in life science research; similarly, gene sequencing is of great importance and value to clinical medicine, and the research on the mechanism and clinical diagnosis of many diseases gradually depends on gene sequencing technology.

Library preparation is one of the essential important steps in gene sequencing work. In the traditional library preparation by manual operation, the processes of sample adding, warm bath reaction, purification, elution and the like all need to be completed by human participation, and meanwhile, the whole process is completed in a relatively open laboratory environment. The operation has the defects that the probability of errors in manual operation is high, the result is uncontrollable, the samples easily pollute the environment, and the risk of cross contamination among the samples is greatly increased. Thus, automated, closed library preparation devices and methods are one of the major directions of research. The prior art provides various closed and automatic solutions for the library preparation process, but problems still exist in the practical library preparation process, and particularly how to provide a multi-degree-of-freedom pipettor device which is simple in structure and easy to operate in a limited closed space so that the closed library preparation device can adapt to more complicated amplicon sequencing and target capturing processes, and the technical problem to be solved urgently is presented.

SUMMERY OF THE UTILITY MODEL

For solving prior art's not enough, the utility model provides a three degree of freedom pipettor device and seal card box based on delta robot, through three lead screws synchronous, asynchronous rotation drive pipettor injection head carry out the free movement in x, the y axle of vertically z axle and horizontal plane, simple structure, with low costs are applicable to miniaturized equipment and the complicated procedure that needs more reagent hole to participate in, have greatly expanded closed library preparation system's range of application.

In order to achieve the above object, the utility model discloses the technical scheme who adopts includes:

a three-degree-of-freedom liquid transfer device based on a delta robot is characterized by comprising three rotatable lead screws fixedly arranged in a closed cassette, three nut seats respectively sleeved in the three lead screws, a horizontal positioning plate respectively connected with the three nut seats through three non-telescopic equal-length connecting shafts, and a liquid transfer device injection head fixedly arranged in the center of the horizontal positioning plate;

the lead screw is vertically arranged in the closed card box and close to the inner wall; the three lead screws form an equilateral triangle at the opposite positions in the closed cassette; the three lead screws can synchronously or asynchronously rotate forwards and backwards;

the nut seat moves vertically up and down along the lead screw through forward and reverse rotation of the lead screw sleeved by the nut seat;

the connecting shaft comprises a first universal connecting structure connected with the nut seat and a second universal connecting structure connected with the horizontal positioning plate;

the horizontal positioning disc performs vertical displacement and/or horizontal plane position movement along with synchronous and/or asynchronous vertical displacement of the three nut seats on the lead screw, and the horizontal positioning disc is always kept in a horizontal state in the vertical displacement and/or horizontal plane position movement process;

the liquid transfer device injection head is always kept vertical to the surface of a reagent hole of the porous reagent disk in the process of vertical displacement and/or horizontal plane position movement of the horizontal positioning disk; the liquid transfer device injection head is connected with a pump assembly arranged in the closed cassette, and the pump assembly is used for controlling liquid suction or liquid injection operation of the reagent holes in the porous reagent disc.

Furthermore, the bottom end of the lead screw is provided with a rotatable fixed connection position, and the top end of the lead screw is provided with a driving shaft connection position; the bottom end of the lead screw is fixedly arranged on a fixed position which is arranged on the inner wall of the closed card box in a protruding way through the rotatable fixed connecting position; the screw rod is connected with a motor driving shaft through the driving shaft connecting position and transmits torque force to drive the screw rod to rotate forwards and reversely.

Furthermore, the nut seat is provided with a vertical sliding groove towards one side of the inner wall of the closed card box, the inner wall of the closed card box is provided with a vertical positioning strip in a protruding mode corresponding to the sliding groove, and the nut seat provides rotation limiting through sliding contact of the sliding groove and the positioning strip in the vertical up-and-down moving process.

Furthermore, the first universal connecting structure is a first spherical universal bearing connecting structure, and the second universal connecting structure is a second spherical universal bearing connecting structure; the first spherical universal bearing connecting structure and the second spherical universal bearing connecting structure are both double-spherical universal bearing connecting structures fixedly connected by a horizontal rod.

Furthermore, a tension spring is connected between the horizontal rod of the first spherical universal bearing connecting structure and the horizontal rod of the second spherical universal bearing connecting structure; the tension spring is preloaded with tension during installation, so that the distance between the first spherical universal bearing and the second spherical universal bearing is fixed and unchanged.

Furthermore, the screw rod, the nut seat, the connecting shaft and the horizontal positioning plate are all made of plastic materials.

The utility model discloses still relate to a seal card box, a serial communication port, seal and be provided with in the card box as above three degree of freedom pipettor devices based on delta robot.

Furthermore, the closed card box is cylindrical, and the porous reagent disk matched with the closed card box for use is of a disk shape; the reagent hole surface of the porous reagent disk is covered with a thin film which can be punctured by a pipette injection head.

Furthermore, the porous reagent disk rotates freely with the circle center as an axis.

Furthermore, a heat cover capable of being opened/sealed is arranged in the closed cassette, and the position of the heat cover corresponds to a reagent hole in the porous reagent disk, which needs to be heated or insulated.

The utility model has the advantages that:

by adopting the three-degree-of-freedom pipettor device based on the delta robot and the closed card box, the delta robot with the simple screw rod combination structure realizes the three-degree-of-freedom displacement capacity of the pipettor injection head relative to a porous reagent disk in the vertical and horizontal planes, so that the pipettor injection head can perform liquid suction or liquid injection operation on any reagent hole as required, and the three-degree-of-freedom pipettor device is particularly suitable for small closed card boxes; and simultaneously, device overall structure is simple, the cost is low, can reduce the use cost of disposable closed card box.

Drawings

Fig. 1 is a schematic view of an embodiment of a delta robot-based three-degree-of-freedom pipette device according to the present invention.

Fig. 2 is the vertical displacement schematic diagram of the horizontal positioning plate of the present invention.

Fig. 3 is a schematic view of the horizontal plane displacement of the horizontal positioning plate of the present invention.

Figure 4 is a schematic view of an embodiment of a closed cartridge for use with the device of the present invention.

Description of the figure numbering: the device comprises a screw rod 1, a rotatable fixed connecting position 11, a driving shaft connecting position 12, a nut seat 2, a sliding groove 21, a connecting shaft 3, a first universal connecting structure 31, a second universal connecting structure 32, a tension spring 33, a horizontal positioning plate 4, a pipette injection head 5, a pump assembly 6, a fixing position 7, a porous reagent plate 8 and a hot cover 9.

Detailed Description

For a clearer understanding of the present invention, reference will be made to the following detailed description of the embodiments with reference to the accompanying drawings.

Fig. 1 shows a schematic diagram of a preferred embodiment of a delta robot-based three-degree-of-freedom pipette device according to the present invention, which includes three rotatable screws 1 fixedly disposed in a closed cassette, three nut seats 2 respectively nested in the three screws 1, a horizontal positioning plate 4 respectively connected to the three nut seats 2 via three non-retractable isometric connecting shafts 3, and a pipette injection head 5 fixedly disposed at the center of the horizontal positioning plate 4, wherein the connection between the components does not require any screws, clips or magnetic parts. The lead screw 1 is fixedly arranged on a fixed position 7 which is arranged on the inner wall of the closed card box in a protruding way through a rotatable fixed connecting position 11 arranged at the bottom end; the three lead screws 1 form an equilateral triangle at the opposite positions in the closed cassette, namely the connecting positions of the three lead screws 1 are the vertexes of the equilateral triangle under the depression; the three lead screws 1 are connected with a motor driving shaft through driving shaft connecting positions 12 arranged at the top ends and transmit torque force to drive the synchronous or asynchronous forward and reverse rotation. The nut seat 2 moves vertically up and down along the screw rod 1 through the forward and reverse rotation of the screw rod 1 sleeved by the nut seat; preferably, a vertical sliding groove 21 is formed in one surface, facing the inner wall of the closed clamping box, of the nut seat 2, a vertical positioning strip is convexly arranged on the inner wall of the closed clamping box corresponding to the sliding groove 21, and the nut seat 2 provides rotation limitation through sliding contact between the sliding groove 21 and the positioning strip in the vertical up-down moving process. The connecting shaft 3 comprises a first universal connecting structure 31 connected with the nut seat 2 and a second universal connecting structure 32 connected with the horizontal positioning plate 4. The horizontal positioning disk 4 moves vertically and/or horizontally along with the synchronous and/or asynchronous vertical displacement of the three nut seats 2 on the lead screw 1, and the horizontal positioning disk 4 is always kept in a horizontal state in the process of moving vertically and/or horizontally; preferably, the first universal connecting structure 31 is a first spherical universal bearing connecting structure, the second universal connecting structure 32 is a second spherical universal bearing connecting structure, the first spherical universal bearing connecting structure and the second spherical universal bearing connecting structure are both double-spherical universal bearing connecting structures fixedly connected by a horizontal rod, wherein the double-spherical structure part of the first spherical universal bearing connecting structure is fixedly arranged on the nut seat 2, the double-spherical structure part of the second spherical universal bearing connecting structure is fixedly arranged on the horizontal positioning plate 4, the two ends of the connecting shaft 3 main body are respectively clamped into the double-spherical structure parts of the first spherical universal bearing connecting structure and the second spherical universal bearing connecting structure, so that the connecting shaft 3 main body can realize multidirectional rotation by means of relative sliding between the connecting shaft 3 main body and the double-spherical structure; furthermore, a tension spring 33 is connected between the horizontal rod of the first spherical universal bearing connecting structure and the horizontal rod of the second spherical universal bearing connecting structure, and tension is preloaded when the tension spring 33 is installed, so that the distance between the first spherical universal bearing and the second spherical universal bearing is constant, and the accuracy of the device in the operation process is improved. The pipette injection head 5 is always kept vertical to the surface of the reagent hole of the porous reagent disk 8 in the process of vertical displacement and/or horizontal plane position movement of the horizontal positioning disk 4; the liquid transfer device injection head 5 is connected with a pump assembly 6 arranged in the closed cassette, and the pump assembly 6 controls the liquid suction or liquid injection operation of the reagent holes on the porous reagent disk 8. Preferably, the lead screw 1, the nut seat 2, the connecting shaft 3 and the horizontal positioning disk 4 are made of plastic materials so as to reduce the manufacturing cost and the processing difficulty, and meanwhile, parts with different working strengths can be made of different plastic materials, for example, a first spherical universal bearing and a second spherical universal bearing which need to bear sliding friction can be made of PA66 materials, and a main body part of the connecting shaft 3 can be made of PTFE and GF materials.

As shown in fig. 2, the principle schematic diagram of the delta robot for realizing the vertical displacement of the horizontal positioning disk 4 of the present invention is shown, and the screw rods 1 on the left and right sides rotate synchronously to make the connected nut seat 2 move downwards by a distance l synchronously, so as to realize the vertical downward displacement of the horizontal positioning disk 4 by the distance l; during this movement, the lengths a and B of the two connecting shafts 3 and the distance C between the two nut sockets 2 are kept constant. For the convenience of illustration, the attached drawings show the process of driving the horizontal positioning disk 4 to vertically displace by the two lead screws 1 by adopting a front-view plane visual angle, but a person skilled in the art can realize the same technical effect in a three-dimensional space through the three lead screws 1 by the barrier-free understanding delta robot.

As shown in fig. 3, the principle and schematic diagram of the delta robot for realizing the horizontal displacement of the horizontal positioning disk 4 of the present invention is that the screw rods 1 on the left and right sides rotate asynchronously to make the connected nut seats 2 move asynchronously and vertically, for example, the screw rods 1 on the left side rotate in opposite directions to the screw rods 1 on the right side, so that the nut seat 2 on the left side moves upward by a distance m while the nut seat 2 on the right side moves downward by a distance n, and the horizontal positioning disk 4 moves leftward in the horizontal direction (x-axis direction in the horizontal plane); during this movement, the lengths a and B of the two connecting shafts 3 remain unchanged, but the distance between the two nut sockets 2 changes from C to C'. For the convenience of demonstration, the process of two lead screws 1 drive horizontal positioning disk 4 horizontal displacement (x axle direction in the horizontal plane) is shown to the attached drawing adoption front view plane visual angle, but technical effect that accessible understanding delta robot realizes the arbitrary displacement under the horizontal plane (x axle direction and y axle direction in the horizontal plane) through three lead screws 1 in three-dimensional space through the technical effect of this utility model. Can know at the horizontal displacement process through horizontal positioning dish 4, the effective displacement space of horizontal positioning dish 4 is approximately for a circular that uses the equilateral triangle center that lead screw 1 formed as the centre of a circle under three lead screw 1 drives, consequently the preferred being used for of pipettor device is cylindrical to seal the card box in, can realize the best effect, but also does not exclude simultaneously and realize better technological effect in sealing the card box of being applied to other shapes.

As can be seen from the displacement process of the horizontal positioning plate 4 in the vertical and horizontal directions shown in fig. 2 and 3, the specific position of the horizontal positioning plate 4 in the three-dimensional space is determined by the relative vertical position between the three connected nut seats 2, so that in practical use, a stepped displacement manner of vertical displacement and horizontal displacement can be adopted, and a direct displacement manner of directly positioning the height of the nut seat 2 can be adopted, that is, the horizontal positioning plate 4 can move in any direction in the three-dimensional space without being limited to vertical or horizontal movement.

The utility model discloses still relate to one kind and be provided with as above three degree of freedom closed card box based on three degree of freedom pipettor devices of delta robot, as shown in figure 4 for adopt as above one kind closed card box preferred structure schematic diagram under the condition of shown pipettor device embodiment, include cylindrical card box shell, the rotatable porous reagent dish 8 of disc type except that the pipettor device, and correspond need heat or the heat retaining hot lid 9 in the reagent hole of heat preservation among the porous reagent dish 8.

The above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A three-degree-of-freedom liquid transfer device based on a delta robot is characterized by comprising three rotatable lead screws fixedly arranged in a closed cassette, three nut seats respectively sleeved in the three lead screws, a horizontal positioning plate respectively connected with the three nut seats through three non-telescopic equal-length connecting shafts, and a liquid transfer device injection head fixedly arranged in the center of the horizontal positioning plate;

the liquid transfer device injection head is always kept vertical to the surface of a reagent hole of the porous reagent disk in the process of vertical displacement and/or horizontal plane position movement of the horizontal positioning disk; the liquid transfer device injection head is connected with a pump assembly arranged in the closed cassette.

2. The device as claimed in claim 1, wherein the bottom end of the lead screw is provided with a rotatable and fixed connecting position, and the top end is provided with a driving shaft connecting position; the bottom end of the lead screw is fixedly arranged on a fixed position which is arranged on the inner wall of the closed card box in a protruding way through the rotatable fixed connecting position; the screw rod is connected with a motor driving shaft through the driving shaft connecting position and transmits torque force to drive the screw rod to rotate forwards and reversely.

3. The device as claimed in claim 1, wherein the nut seat has a vertical sliding groove on a surface facing the inner wall of the closed cartridge, the inner wall of the closed cartridge is provided with a vertical positioning strip protruding corresponding to the position of the sliding groove, and the nut seat provides a rotational limit during vertical up and down movement by sliding contact between the sliding groove and the positioning strip.

4. The apparatus of claim 1, wherein the first gimbal connection structure is a first spherical gimbal bearing connection structure and the second gimbal connection structure is a second spherical gimbal bearing connection structure; the first spherical universal bearing connecting structure and the second spherical universal bearing connecting structure are both double-spherical universal bearing connecting structures fixedly connected by a horizontal rod.

5. The apparatus of claim 4, wherein a tension spring is connected between the horizontal bar of the first spherical gimbal bearing connection structure and the horizontal bar of the second spherical gimbal bearing connection structure; the tension spring is preloaded with tension when installed.

6. The device of claim 1, wherein the lead screw, the nut block, the connecting shaft and the horizontal positioning plate are all made of plastic.

7. A closed cartridge, characterized in that a device according to any of claims 1 to 6 is arranged in the closed cartridge.

8. The enclosed cartridge of claim 7, wherein the enclosed cartridge is cylindrical and the porous reagent disk used with the enclosed cartridge is a disk-shaped; the reagent hole surface of the porous reagent disk is covered with a thin film which can be punctured by a pipette injection head.

9. The enclosed cartridge of claim 8, wherein the porous reagent disk is free to rotate about a center of the circle.

10. The closed cartridge of claim 9, further comprising a heat cover that is openable/sealable and located to correspond to a reagent well of the multi-well reagent tray that is to be heated or incubated.