CN213731805U - Automatic feeding paw device comprising photoelectric detection assembly - Google Patents
Automatic feeding paw device comprising photoelectric detection assembly Download PDFInfo
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- CN213731805U CN213731805U CN202022553963.8U CN202022553963U CN213731805U CN 213731805 U CN213731805 U CN 213731805U CN 202022553963 U CN202022553963 U CN 202022553963U CN 213731805 U CN213731805 U CN 213731805U
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Abstract
The utility model provides an automatic feeding paw device comprising a photoelectric detection assembly, which comprises an electric clamping jaw, wherein the electric clamping jaw is provided with a first translational jaw and a second translational jaw which can run oppositely or back to back, the first translational jaw is connected with a first clamping block, the second translational jaw is connected with a second clamping block, one side of the first clamping block facing the second clamping block is provided with a first calandria clamping part, and one side of the second clamping block facing the first clamping block is provided with a second calandria clamping part; the first clamping block is further provided with a first chip clamping portion, the first chip clamping portion is located above the first row of pipe clamping portions, the second clamping block is further provided with a second chip clamping portion, and the second chip clamping portion is located above the second row of pipe clamping portions. The utility model discloses simple structure is compact, can snatch, shift and place automatically, accurate, reliably to calandria and chip, satisfies long-time, high speed, the fast beat demand of PCR testing process.
Description
Technical Field
The utility model belongs to the technical field of digital PCR analysis appearance, concretely relates to automatic feeding hand claw device including photoelectric detection subassembly.
Background
Digital PCR is an absolute quantitative technique, and nucleic acid quantification is realized by counting based on a single-molecule PCR method. The commonly used technical route is to prepare a PCR reaction system into tens of thousands of micro-droplets, then store the micro-droplets in eight-row tubes, and place the tubes in a PCR amplification instrument to realize nucleic acid molecule amplification. After the amplification is finished, the micro-droplets in the eight rows of tubes need to be subjected to closed sampling and fluorescence detection. In some detection and analysis occasions, a digital PCR analyzer is required to perform long-time, high-speed and fast-beat detection and analysis, and a clamping and transferring tool is required to accurately, reliably and effectively position, clamp, transfer and place the eight-connected-tube bank and the microfluidic chip. The eight-row tube is a combination formed by eight tubes with the shapes similar to cylinders, the shape is complex, the texture is soft, the size of the microfluidic chip is small and compact, the structure is complex, and the clamping of the eight-row tube and the microfluidic chip is difficult. In order to solve eight even calandrias among the prior art or the automatic centre gripping of micro-fluidic chip at least, shift and propose the utility model discloses.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model is to provide an automatic feeding hand claw device including photoelectric detection subassembly, simple structure is compact, can carry out automation, accuracy, snatch reliably, shift and place calandria and chip, satisfies long-time, high speed, fast beat demand of PCR testing process.
In order to solve the problems, the utility model provides an automatic feeding paw device, including the electric clamping jaw, the electric clamping jaw has relative or back to back the first translation claw, the second translation claw that moves, be connected with first grip block on the first translation claw, be connected with the second grip block on the second translation claw, first grip block one side towards the second grip block is constructed and is had first calandria clamping part, the second grip block one side towards the first grip block is constructed and is had the second calandria clamping part; the first clamping block is also provided with a first chip clamping part which is positioned above the first calandria clamping part, the second clamping block is also provided with a second chip clamping part which is positioned above the second calandria clamping part; and the photoelectric detection component is also included.
Preferably, the first tube bank clamping portion comprises a convex block extending towards one side of the second tube bank clamping portion, and the second tube bank clamping portion comprises a groove corresponding to the convex block.
Preferably, be used for the eight calandria subassemblies that link of centre gripping, eight calandria subassemblies include eight link calandria body and are used for fixing the eight seat of arranging of calandria body that links, the mouth of pipe sealing connection of eight link calandria body has the tube cap, the first end of length of arranging the seat be equipped with the row seat recess that the lug corresponds, the length second end of arranging the seat be equipped with the row seat lug that the recess corresponds.
Preferably, the nest projection has an information carrier member thereon.
Preferably, a chamfer is arranged at the edge of the lug facing the row seat groove; and/or a chamfer is arranged at the edge of the groove facing the row seat bump.
Preferably, the first chip clamping portion comprises a first chip card slot, and the second chip clamping portion comprises a second chip card slot.
Preferably, a positioning pin is further inserted into the first chip clamping groove, and the positioning pin passes through the first chip clamping groove along the vertical direction of the using direction of the automatic feeding paw device so as to horizontally position the microfluidic chip; and/or a positioning pin is also inserted in the second chip clamping groove and penetrates through the second chip clamping groove along the vertical direction of the using direction of the automatic feeding paw device so as to horizontally position the microfluidic chip.
Preferably, the positioning pin is fixedly connected to the first clamping block and/or the second clamping block through a jackscrew.
Preferably, the photoelectric detection assembly comprises a sensor bracket and a photoelectric sensor connected to the sensor bracket, and the photoelectric detection assembly is arranged on the top of the first clamping block and/or the second clamping block.
The utility model provides a pair of automatic material loading hand claw device, through electronic clamping jaw 1 realizes the centre gripping action, and through set up on first grip block and second grip block in the first calandria clamping part of calandria structure looks adaptation, second calandria clamping part and first chip clamping part, the second chip clamping part realizes the clamping action to calandria and chip, and simple structure is compact, can carry out automation to calandria and chip, accurate, snatch reliably, shift and place, satisfy long-time, high speed, fast beat demand of PCR testing process.
Drawings
Fig. 1 is a schematic view of a disassembled structure of an automatic feeding gripper device according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective (disassembled);
fig. 3 is a schematic structural view of an eight-row pipe assembly of a clamping object of the automatic feeding gripper device according to an embodiment of the present invention;
FIG. 4 is a schematic view of the structure of FIG. 3 from another perspective;
FIG. 5 is a schematic view of the automatic feeding gripper apparatus of FIG. 1 before clamping an eight gang tube assembly;
FIG. 6 is a schematic view of the clamping of an eight gang tube assembly using the automatic feed gripper apparatus of FIG. 1;
FIG. 7 is a schematic diagram of the microfluidic chip before being clamped by the automatic feeding gripper of FIG. 1;
fig. 8 is a schematic view of a state in which the microfluidic chip is clamped by the automatic feeding gripper device of fig. 1.
The reference numerals are represented as:
1. an electric jaw; 11. a first translational jaw; 12. a second translational jaw; 2. a first clamping block; 21. a first exhaust pipe clamping portion; 22. a first chip holding section; 23. positioning pins; 24. carrying out top thread; 3. a second clamping block; 31. a second bank of tubes clamping part; 32. a second chip holding portion; 41. eight-connected calandria body; 42. a row seat; 421. a row seat groove; 422. a row seat bump; 43. a tube cover; 51. a sensor holder; 52. a photosensor; 6. a microfluidic chip; 100. a motion mechanism.
Detailed Description
Referring to fig. 1 to 8 in combination, according to an embodiment of the present invention, an automatic feeding gripper device is provided, which can be specifically used with a motion mechanism 100, such as a robot, to achieve a wide range of position shifts, including an electric gripper 1, where the electric gripper 1 has a first translational jaw 11 and a second translational jaw 12 capable of moving opposite to or away from each other, the first translational jaw 11 is connected with a first clamping block 2, the second translational jaw 12 is connected with a second clamping block 3, a side of the first clamping block 2 facing the second clamping block 3 is configured with a first pipe arranging clamping portion 21, a side of the second clamping block 3 facing the first clamping block 2 is configured with a second pipe arranging clamping portion 31, and the electric gripper 1 is configured with a commercially available electric gripper, and is functionally capable of ensuring that there are two components capable of producing opposite or away from each other, still construct first chip clamping part 22 on the first grip block 2, first chip clamping part 22 is in the top of first calandria clamping part 21, second chip clamping part 32 has still been constructed on the second grip block 3, second chip clamping part 32 is in the top of second calandria clamping part 31, first chip clamping part 22 with both form the centre gripping to micro-fluidic chip 6 jointly for second chip clamping part 32. Among this technical scheme, through electronic clamping jaw 1 realizes the centre gripping action, and through set up on first grip block 2 and second grip block 3 in first calandria clamping part 21 of calandria structure looks adaptation, second calandria clamping part 22, and first chip clamping part 22, the clamping action to calandria and chip is realized to second chip clamping part 32, and simple structure is compact, can carry out automation, the accuracy to calandria and chip, snatch reliably, shift and place, satisfy long-time, high speed, fast beat demand of PCR testing process.
Further, as a specific embodiment, calandria structure is eight calandria subassembly even, also automatic feeding hand claw device is used for the eight calandria subassemblies that link of centre gripping, eight link calandria subassemblies include eight link calandria body 41 and be used for fixing eight link calandria body 41's row seat 42, eight link calandria body 41's mouth of pipe sealing connection has tube cap 43, the first end of the length of arranging seat 42 be equipped with the row seat recess 421 that the lug corresponds, the length second end of arranging seat 42 be equipped with the row seat lug 422 that the recess corresponds, the setting of arranging seat 42 can prevent the problem that the structure that first calandria clamping part 21 and second calandria clamping part 31 and eight link between calandria body 41 is complicated to realize takes place. At this time, the first tube clamping portion 21 includes a convex protrusion extending toward the second tube clamping portion 31, and the second tube clamping portion 31 includes a groove corresponding to the position of the convex protrusion, corresponding to the structure of the bank seat 42. The row seat bump 422 preferably has an information carrier component, such as a two-dimensional code information label, etc., which can store the sample information in the eight-row tube body 41, and specifically, the row seat bump 422 has a plane of 6mm by 7mm, and can store information by laser printing a two-dimensional code.
A chamfer is arranged at the edge of the lug facing the row seat groove 421; and/or, the edge of the groove facing the row seat bump 422 is provided with a chamfer, so that the position error of +/-0.1 mm is allowed, and the self-adaptive clamping can be realized within the error range.
Specifically, the first chip clamping portion 22 includes a first chip clamping groove, the second chip clamping portion 32 includes a second chip clamping groove, and the edge of the microfluidic chip 6 is inserted into the first chip clamping groove and the second chip clamping groove, so that the microfluidic chip 6 can ascend or descend along with the automatic feeding gripper device. Preferably, a positioning pin 23 is further inserted into the first chip clamping groove, and the positioning pin 23 passes through the first chip clamping groove along the vertical direction of the using direction of the automatic feeding paw device so as to horizontally position the microfluidic chip 6; and/or a positioning pin 23 is further inserted into the second chip clamping groove, the positioning pin 23 passes through the second chip clamping groove along the vertical direction of the using direction of the automatic feeding paw device to horizontally position the microfluidic chip 6, at this time, the positioning pin 23 limits and positions the horizontal degree of freedom of the microfluidic chip 6, specifically, a semicircular arc-shaped groove is formed on the edge wall body of the microfluidic chip 6, and the semicircular arc-shaped groove is matched with the cylindrical surface of the positioning pin 23 to limit the horizontal degree of freedom, so that the microfluidic chip 6 can be effectively prevented from slipping from the chip clamping groove in the transferring process. In the same way, the edges of the first chip clamping groove and the second chip clamping groove, which are matched with the edge of the microfluidic chip 6, are also provided with oblique angles, so that a position error of +/-0.1 mm is allowed, and self-adaptive clamping can be realized within the error range.
The diameter of the positioning pins 23 matches the size of the semicircular arc-shaped grooves on the edge walls of the microfluidic chip 6, which in one embodiment is provided as cylindrical positioning pins 23 with a diameter of 4 mm. It should be further noted that more semicircular arc-shaped grooves can be provided on the edge wall of the microfluidic chip 6 and the semicircular arc-shaped grooves for other purposes, such as placement and positioning, but should be different in size from the positioning pins 23 to ensure the convenience of clamping and positioning. The positioning pin 23 is fixedly connected to the first clamping block 2 and/or the second clamping block 3 through a jackscrew 24.
Preferably, the automatic feeding gripper device further comprises a photoelectric detection assembly, the photoelectric detection assembly comprises a sensor bracket 51 and a photoelectric sensor 52 connected to the sensor bracket 51, and the photoelectric detection assembly is arranged on the top of the first clamping block 2 and/or the second clamping block 3. The photoelectric detection assembly is used for detecting the positions of the eight-row tube assembly or the microfluidic chip 6 and judging whether the positions exist or not. The specific effective detection distance of the photoelectric sensor 52 is 2mm-25mm, the electric clamping jaw 1 drives the first translational jaw 11 and the second translational jaw 12 to open, the first translational jaw and the second translational jaw are driven by the movement mechanism 100 to move to the position where the eight-row tube assembly or the micro-fluidic chip 6 is placed, the photoelectric sensor 52 is used for detecting, whether the eight-row tube assembly or the micro-fluidic chip 6 is located at the position can be judged, and when the judgment is 'available', the grabbing action can be executed to grab and move. When the electric clamping jaw 1 grabs the eight-row tube assembly or the micro-fluidic chip 6, the photoelectric sensor 52 can judge that the eight-row tube assembly or the micro-fluidic chip 6 is grabbed, and when the electric clamping jaw 1 puts down the eight-row tube assembly or the micro-fluidic chip 6 and leaves a certain distance, the photoelectric sensor 52 can judge that the eight-row tube assembly or the micro-fluidic chip is not grabbed.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The automatic feeding paw device comprises a photoelectric detection assembly and is characterized by comprising an electric clamping jaw (1), wherein the electric clamping jaw (1) is provided with a first translational jaw (11) and a second translational jaw (12) which can run oppositely or back to back, a first clamping block (2) is connected onto the first translational jaw (11), a second clamping block (3) is connected onto the second translational jaw (12), a first calandria clamping part (21) is constructed on one side, facing the second clamping block (3), of the first clamping block (2), and a second calandria clamping part (31) is constructed on one side, facing the first clamping block (2), of the second clamping block (3); the first clamping block (2) is further provided with a first chip clamping part (22), the first chip clamping part (22) is positioned above the first tube bank clamping part (21), the second clamping block (3) is further provided with a second chip clamping part (32), and the second chip clamping part (32) is positioned above the second tube bank clamping part (31); and the photoelectric detection component is also included.
2. The automatic feeding gripper device according to claim 1, characterized in that said first row of pipe grippers (21) comprises a protruding tab extending towards one side of said second row of pipe grippers (31), said second row of pipe grippers (31) comprising a recess corresponding to the position of said tab.
3. The automatic feeding gripper device according to claim 2, wherein the gripper device is used for clamping an eight-row pipe assembly, the eight-row pipe assembly comprises an eight-row pipe body (41) and a row seat (42) for fixing the eight-row pipe body (41), a pipe cover (43) is hermetically connected to a pipe orifice of the eight-row pipe body (41), a row seat groove (421) corresponding to the projection is formed in a first length end of the row seat (42), and a row seat projection (422) corresponding to the groove is formed in a second length end of the row seat (42).
4. An automatic feeding gripper unit according to claim 3, characterized in that said nest projection (422) has an information carrier member thereon.
5. The automatic feeding gripper device according to claim 3, characterized in that said projection is chamfered at the edge facing said row seat recess (421); and/or the edge of the groove facing the row seat bump (422) is provided with a chamfer.
6. The automated feeding gripper apparatus of claim 1, wherein the first die holder (22) comprises a first die slot and the second die holder (32) comprises a second die slot.
7. The automatic loading gripper unit according to claim 6, wherein the first chip clamping slot is further inserted with a positioning pin (23), and the positioning pin (23) passes through the first chip clamping slot along a vertical direction of a use orientation of the automatic loading gripper unit so as to horizontally position the microfluidic chip (6); and/or a positioning pin (23) is also inserted into the second chip clamping groove, and the positioning pin (23) penetrates through the second chip clamping groove along the vertical direction of the using direction of the automatic feeding paw device so as to horizontally position the microfluidic chip (6).
8. An automatic feeding gripper device according to claim 7, characterized in that said positioning pins (23) are fixedly connected to said first gripping block (2) and/or second gripping block (3) by means of jackscrews (24).
9. An automatic feeding gripper device according to claim 1, characterized in that said photoelectric detection assembly comprises a sensor support (51) and a photoelectric sensor (52) connected to said sensor support (51), said photoelectric detection assembly being arranged on top of said first gripping block (2) and/or second gripping block (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022553963.8U CN213731805U (en) | 2020-11-08 | 2020-11-08 | Automatic feeding paw device comprising photoelectric detection assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022553963.8U CN213731805U (en) | 2020-11-08 | 2020-11-08 | Automatic feeding paw device comprising photoelectric detection assembly |
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| Publication Number | Publication Date |
|---|---|
| CN213731805U true CN213731805U (en) | 2021-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022553963.8U Active CN213731805U (en) | 2020-11-08 | 2020-11-08 | Automatic feeding paw device comprising photoelectric detection assembly |
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| CN (1) | CN213731805U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959347A (en) * | 2020-11-08 | 2021-06-15 | 新羿制造科技（北京）有限公司 | Automatic feeding paw device |
| CN116277083A (en) * | 2022-12-06 | 2023-06-23 | 北京思灵机器人科技有限责任公司 | Clamping device |
-
2020
- 2020-11-08 CN CN202022553963.8U patent/CN213731805U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959347A (en) * | 2020-11-08 | 2021-06-15 | 新羿制造科技（北京）有限公司 | Automatic feeding paw device |
| CN116277083A (en) * | 2022-12-06 | 2023-06-23 | 北京思灵机器人科技有限责任公司 | Clamping device |
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