CN215894656U - Sample adding manipulator - Google Patents
Sample adding manipulator Download PDFInfo
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- CN215894656U CN215894656U CN202122048566.XU CN202122048566U CN215894656U CN 215894656 U CN215894656 U CN 215894656U CN 202122048566 U CN202122048566 U CN 202122048566U CN 215894656 U CN215894656 U CN 215894656U
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- sampler
- claw
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Abstract
The utility model discloses a sample adding manipulator which comprises a claw, an electric sampler and a linear driving device, wherein the claw is arranged on the upper part of the sample adding manipulator; the claw, the electric sampler and the linear driving device are distributed in parallel; the claw hand and the electric sampler are both connected with the moving end of the linear driving device; the claw is provided with a gripping finger. This application of sample manipulator's electronic sampler, cleft hand and linear drive device three distribute side by side, and electronic sampler and cleft hand realize linear motion control by linear drive device, and this application of sample manipulator realizes switch cover action and sample action simultaneously to being operated the object such as heparin tube, and then is favorable to this application of sample manipulator to realize the streamlined operation to a plurality of heparin tubes.
Description
Technical Field
The utility model relates to the field of sampling, in particular to a sample adding manipulator.
Background
Currently, a manual pipettor or an electric pipettor is mostly used to transfer the blood sample.
In the process of transferring the blood sample, the cover of the container for containing the blood sample needs to be opened and closed in time, and the sampling amount of a manual liquid transfer device or an electric liquid transfer device needs to be controlled. If the process is controlled manually, the problems of complicated action, low efficiency and low sampling quantity precision exist; if the above process is automatically controlled, the operation has high requirements on the relevant mechanical equipment and the control structure thereof, and the equipment complexity and the control difficulty are increased. Thus, there is currently no suitable device for the transfer of blood samples.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a sample adding manipulator which can simultaneously meet the requirements of opening and closing a cover and sampling actions of a blood collection tube, has a simple structure, is convenient to control and is suitable for streamlined operation.
In order to achieve the above object, the present invention provides a sample-adding manipulator, which comprises a claw, an electric sampler and a linear driving device; the claw, the electric sampler and the linear driving device are distributed in parallel; the claw hand and the electric sampler are both connected with the moving end of the linear driving device; the claw is provided with a gripping finger.
Preferably, the electronic sampler comprises an electronic pipette and a pipette tip mounted to a head of the electronic pipette.
Preferably, the motorized sampler comprises a first motorized sampler and a second motorized sampler; the volume of the liquid-taking suction head of the first motorized sampler is greater than the volume of the liquid-taking suction head of the second motorized sampler.
Preferably, the liquid pick-up head of the first motorized sampler and the liquid pick-up head of the second motorized sampler are spaced side-by-side; the two liquid taking suction heads and the claw are distributed on the same plane.
Preferably, the liquid taking suction head of the first electric sampler is a liquid taking suction head with a volume of 1 ml; the liquid taking suction head of the second electric sampler is specifically a liquid taking suction head with the volume of 50 mu l.
Preferably, the claw comprises a body and two parallel gripping fingers which are distributed at intervals; the body is rotatably connected to the moving end by taking the symmetrical axes of the two grabbing clamp fingers as a rotating shaft;
or the like, or, alternatively,
the claw comprises a body and a plurality of annular grabbing clamping fingers; the body is rotationally connected with the moving end by taking the central shafts of all the grabbing clamp fingers as rotating shafts.
Preferably, the head of any clamping finger is provided with a limit stop used for hooking and pulling the object to be grabbed.
Preferably, the linear drive means comprises a lead screw motor; the screw motor, the claw and the electric sampler are all arranged on the mounting bottom plate; the claw and the electric sampler are respectively arranged on two sides of a lead screw of the lead screw motor; and a sampler guide slide rail for enabling the electric sampler to slide along the rail is arranged on the surface of the mounting bottom plate.
Preferably, the mounting bottom plate is provided with a stroke limit block; the travel limiting block is positioned on the moving track of at least one of the claw, the electric sampler and the moving end.
Preferably, the mounting bottom plate is provided with a zero position sensor and a baffle plate; the zero position sensor is electrically connected with the screw motor.
Compared with the background technology, the sample adding manipulator provided by the utility model comprises a claw, an electric sampler and a linear driving device; the claw, the electric sampler and the linear driving device are distributed in parallel; the claw hand and the electric sampler are both connected with the moving end of the linear driving device; the claw is provided with a gripping finger.
The sample-adding mechanical hand provided by the utility model controls the linear driving device to simultaneously control the linear motion of the electric sampler and the claw, the electric sampler and the linear driving device are distributed side by side, so that when the linear driving device is started, the claw and the electric sampler respectively approach to the respectively aligned operated objects, and further when the claw carries out cover opening and closing operation on one of the operated objects, such as a blood-taking tube cover of a blood-taking tube, the electric sampler carries out sampling operation on the other blood-taking tube which is already opened and closed. Particularly, when a plurality of blood sampling tubes are distributed side by side according to a specific position relation, the sample adding manipulator can perform pipelining operation on the plurality of blood sampling tubes, and the operation control of the sample adding manipulator is simplified.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a sample-adding manipulator provided in an embodiment of the present invention in a first direction;
fig. 2 is a schematic structural diagram of a sample-adding manipulator provided in an embodiment of the present invention in a second direction.
The device comprises a sample acquisition device, a sampling device, a linear driving device, a mounting base plate, a sampling device, a sampling driving device, a sampling device and a sampling device, wherein the sampling device comprises 1-claw hands, 11-grabbing clamping fingers, 2-linear driving devices, 3-mounting base plates, 4-first electric samplers, 5-second electric samplers, 6-stroke limiting blocks, 7-zero position sensors, 8-blocking sheets, 9-sampling driving devices, 10-driving guide slide rails and 20-sampler guide slide rails.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the utility model will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural view of a sample-adding manipulator provided in an embodiment of the present invention in a first direction; fig. 2 is a schematic structural diagram of a sample-adding manipulator provided in an embodiment of the present invention in a second direction.
The utility model provides a sample adding manipulator which comprises a claw hand 1, an electric sampler and a linear driving device 2; the claw 1, the electric sampler and the linear driving device 2 are distributed side by side, for example, the claw 1 and the electric sampler are respectively positioned at two sides of the linear driving device 2.
In the sample adding manipulator, a claw hand 1 is provided with a grabbing clamping finger 11 for clamping an object, and an electric sampler is provided with a sampling head for collecting samples; wherein, the claw 1 and the electric sampler are both connected to the moving end of the linear driving device 2, such as a slide block or a push rod.
Take the sample-adding manipulator for sampling the substance in the blood-sampling tube as an example. The moving end of the linear driving device 2 reciprocates along the linear direction, and referring to fig. 1, when the moving end is not moved, the claw 1 is positioned above the blood sampling tube and the blood sampling tube cover; when the moving end moves from top to bottom, the claw hand 1 moves downwards and approaches the blood sampling tube cover, and the claw hand 1 and the blood sampling tube cover can be positioned and connected by combining the grabbing action of the claw hand 1 in the process; when the moving end moves from bottom to top, the claw 1 drives the blood sampling tube cover to move upwards until the blood sampling tube cover is separated from the blood sampling tube. In addition to the opening of the blood collection tube, the gripper 1 can be used to close the blood collection tube. Of course, the sample adding manipulator can also be provided with a sampling driving device 9 for providing sampling kinetic energy for the electric sampling device.
In the process, the electric sampler is also arranged at the moving end of the linear driving device 2, and the electric sampler, the claw 1 and the linear driving device 2 are distributed side by side, so that the electric sampler does not enter the blood sampling tube when the claw 1 is positioned above the blood sampling tube and the blood sampling tube cover; when the claw 1 moves downwards and grabs the blood sampling tube cover, the electric sampler is inserted into the blood sampling tube with the cover opened and performs automatic sampling; when the claw 1 drives the blood sampling tube cover to move upwards to be separated from the blood sampling tube, the electric sampler finishes automatic sampling and moves upwards to be separated from the blood sampling tube. Wherein, it should be noted that, because electronic sampler, cleft hand 1 and 2 three of linear drive device distribute side by side, consequently, the heparin tube that the blood sampler that the cleft hand 1 corresponds and electronic sampler correspond is two different heparin tubes, and these two heparin tubes can be adjacent, also can interval one or more heparin tubes.
Therefore, the sample adding manipulator provided by the utility model can realize streamlined operation on a plurality of blood sampling tubes distributed side by side, so that the actions of opening and closing the cover of the blood sampling tubes and the sampling action are realized simultaneously, the structure and the operation of the sample adding manipulator are simplified, and the control structure for controlling the actions of the sample adding manipulator is also facilitated to be simplified.
The sample adding manipulator provided by the utility model is further described below with reference to the accompanying drawings and embodiments.
Aiming at the sample adding manipulator, an electric pipettor and a liquid taking suction head can be adopted as an electric sampler. The liquid taking suction head is arranged at a sampling port of the head part of the electric mover; the length direction of the tube body of the liquid taking suction head can be parallel to the linear motion direction of the linear driving device 2. Generally, the sampling amount of the electric sampler is controlled by a liquid taking tip, and the capacity of the electric pipette may be equal to or greater than the capacity of the liquid taking tip.
Taking a subject to be operated as a blood collection tube as an example, a sample application manipulator for sampling a blood collection tube is generally provided with two different types of motorized samplers, for example, a first motorized sampler 4 and a second motorized sampler 5, and the volume of the liquid taking tip of the first motorized sampler 4 is larger than the volume of the liquid taking tip of the second motorized sampler 5. When the sample-adding manipulator with the structure is adopted to carry out sampling operation on the blood-sampling tube, the claw 1, the first electric sampler 4 and the second electric sampler 5 operate the same blood-sampling tube one by one, for example, at T1、T2、T3At three sequentially distributed times, the paw 1 is at T1Constantly pick and remove the blood collection tube cover of the blood collection tube, the first electric sampler 4 is at T2Constantly extending into the blood collection tube to collect a fixed amount of sample, the second electrical sampler 5 being at T3The blood sampling tube is extended into the blood sampling tube at any time to collect quantitative samples.
On the basis of the structure, in order to simplify the action of the sample adding manipulator, the liquid taking suction heads of the first electric sampler 4 and the second electric sampler 5 are distributed at intervals side by side, and the two liquid taking suction heads can be positioned on the same plane with the claw 1, so that the sample adding manipulator can conveniently operate a plurality of blood sampling tubes placed according to a specific order.
Wherein the liquid-taking tip of the first electric sampler 4 may be specifically set as a 1ml liquid-taking tip, and the liquid-taking tip of the second electric sampler 5 may be specifically set as a 50. mu.l liquid-taking tip
The liquid taking suction head of the first electric sampler 4 is a liquid taking suction head with the volume of 1 ml; the liquid-taking tip of the second electric sampler 5 is specifically a liquid-taking tip having a volume of 50. mu.l. In other words, the first electric sampler 4 performs quantitative sampling in units of 1ml at a time, and the second electric sampler 5 performs quantitative sampling in units of 50. mu.l at a time.
As for the grip of the sample application manipulator, it may have two or more gripping fingers 11 for gripping and releasing an object to be gripped, such as a cap of a blood collection tube. When the sample adding manipulator is provided with two grabbing clamp fingers 11, generally, the two grabbing clamp fingers 11 are distributed at intervals and oppositely, the two grabbing clamp fingers can be used for clamping objects to be grabbed when being close to each other, and the objects to be grabbed can be loosened when being far away from each other. When the sample loading box is provided with three or more grabbing clamp fingers 11, all grabbing clamp fingers 11 are arranged around the same central shaft in a circular mode, and when all grabbing clamp fingers 11 move towards the central shaft, all grabbing clamp fingers 11 can be used for clamping objects to be grabbed; all gripping fingers 11 can be used to release the object to be gripped when all gripping fingers 11 are moved outwards away from the aforementioned central axis.
In the above structure, the gripper 1 may be provided with a body for positioning and mounting any one of the gripping fingers 11, in addition to the gripping fingers 11. In addition, in order to improve the operation of the gripper 1, in the sample application manipulator, the plurality of gripping fingers 11 have not only freedom of movement for moving toward and away from each other but also freedom of rotation about the central axis of all the gripping fingers 11; the former is used for realizing the chucking of waiting to snatch the thing and unclamps, and the latter is used for driving when the chucking waits to snatch the thing and waits to snatch the thing dead axle rotation, conveniently will wait to snatch the thing installation or split in by the operation object.
If the gripper 1 comprises two parallel gripping fingers 11 which are distributed at intervals, the central axis of all the gripping fingers 11 refers to the symmetry axis of the two gripping fingers 11; if the gripper 1 comprises a plurality of gripping fingers 11 arranged in a ring, the central axis of all gripping fingers 11 is the center of the ring of the gripping brackets. Therefore, in order to satisfy the rotational freedom of the gripper fingers 11, the body of the gripper 1 may be rotatably connected to the moving end of the linear driving device 2 by using the central axis of all the gripper fingers 11 as a rotation axis.
Furthermore, in order to facilitate the operation of the gripping fingers 11 on the object to be gripped, such as a blood collection tube cap, in the gripper 1 adopted by the utility model, the heads of the gripping fingers 11 are provided with limit stops, and when all the gripping fingers 1 move oppositely to be clamped on the peripheral side of the object to be gripped, the limit stops are attached to the surface of the object to be gripped, which is far away from the gripper 1, so that the object to be gripped is hooked and pulled.
As for the linear driving device 2 adopted in the present invention, it may include a lead screw motor, and the moving end of the linear driving device 2 specifically refers to a slide block of the lead screw motor. Accordingly, the claw 1 of the sample-adding manipulator and the electric sampler are mounted on the slide block. Generally, the claw 1 and the electric sampler are respectively provided on both sides of a screw motor.
In order to enable the linear driving device 2 to more stably drive the claw 1 and the electric sampler to move, the sample adding manipulator further comprises a mounting bottom plate 3, and the screw motor, the claw 1 and the electric sampler are all mounted on the mounting bottom plate 3. The mounting bottom plate 3 can be provided with a sampler guide slide rail 20; the sampler guide rail 20 is slidably fitted to the electric sampler for restraining the linear movement of the electric sampler with respect to the mounting base plate 3. Further, a driving guide rail 10 for restricting the moving direction of the moving end may be further provided.
In addition, the surface of the mounting base plate 3 may be further provided with a stroke stopper 6 for restricting the range of motion of the linear driving device 2. Because the claw 1 and the electric sampler are both mounted at the moving end of the linear driving device 2, the stroke limiting block 6 can be arranged on the moving track of any one of the claw 1, the electric sampler and the moving end. Of course, the stroke stoppers 6 may be provided on the moving tracks of the gripper 1, the electric sampler, and the moving end.
Taking fig. 1 as an example, the above-mentioned stroke limiting block 6 is usually provided at the end of the movement of the linear driving device 2, i.e. at the lower part of the mounting base plate 3 in fig. 1, for restraining the linear driving device 2 at the lowest position in fig. 1. Therefore, in the sample adding manipulator, the mounting bottom plate 3 is also provided with a zero position sensor 7 and a baffle plate 8; the zero position sensor 7 is electrically connected with the linear driving device 2, and the zero position sensor 7 can be used for judging the movement starting point, namely the zero position, of the linear driving device 2 by combining with the baffle plate 8.
The sample application manipulator provided by the utility model is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The sample adding manipulator is characterized by comprising a claw (1), an electric sampler and a linear driving device (2); the claw (1), the electric sampler and the linear driving device (2) are distributed in parallel; the claw (1) and the electric sampler are both connected with the moving end of the linear driving device (2); the gripper (1) has gripping fingers (11).
2. The sample application manipulator according to claim 1, wherein the electric sampler comprises an electric pipette and a liquid-taking tip mounted to a head of the electric pipette.
3. Sample application manipulator according to claim 2, wherein the motorized sampler comprises a first motorized sampler (4) and a second motorized sampler (5); the volume of the liquid-taking suction head of the first electric sampler (4) is greater than the volume of the liquid-taking suction head of the second electric sampler (5).
4. A sample application manipulator according to claim 3, wherein the liquid pick-up tips of the first motorized sampler (4) and the second motorized sampler (5) are spaced side by side; the two liquid taking suction heads and the claw (1) are distributed on the same plane.
5. Sample application manipulator according to claim 4, wherein the liquid pick-up tip of the first motorized sampler (4) is in particular a liquid pick-up tip with a volume of 1 ml; the liquid taking suction head of the second electric sampler (5) is a liquid taking suction head with the volume of 50 mu l.
6. Sample application manipulator according to any one of claims 1 to 5,
the claw (1) comprises a body and two grabbing clamping fingers (11) which are distributed in parallel at intervals; the body is rotationally connected to the moving end by taking the symmetrical axes of the two grabbing clamp fingers (11) as a rotating shaft;
or the like, or, alternatively,
the gripper (1) comprises a body and a plurality of gripping fingers (11) arranged in a ring; the body is rotationally connected with the moving end by taking the central shafts of all the grabbing clamp fingers (11) as rotating shafts.
7. The manipulator for sample application according to any one of claims 1 to 5, wherein the head of any gripping finger (11) is provided with a limit stop for hooking and pulling the object to be gripped.
8. Sample application manipulator according to any one of claims 1 to 5, wherein the linear drive (2) comprises a screw motor; the screw motor, the claw (1) and the electric sampler are all arranged on a mounting bottom plate (3); the claw (1) and the electric sampler are respectively arranged on two sides of a lead screw of the lead screw motor; and a sampler guide sliding rail (20) for the electric sampler to slide along is arranged on the surface of the mounting bottom plate (3).
9. Sample application manipulator according to claim 8, wherein the mounting base plate (3) is provided with a travel limit block (6); the travel limiting block (6) is positioned on the moving track of at least one of the claw (1), the electric sampler and the moving end.
10. Sample application manipulator according to claim 8, wherein the mounting base plate (3) is provided with a zero sensor (7) and a stop (8); the zero position sensor (7) is electrically connected with the screw motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122048566.XU CN215894656U (en) | 2021-08-27 | 2021-08-27 | Sample adding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122048566.XU CN215894656U (en) | 2021-08-27 | 2021-08-27 | Sample adding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215894656U true CN215894656U (en) | 2022-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122048566.XU Active CN215894656U (en) | 2021-08-27 | 2021-08-27 | Sample adding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215894656U (en) |
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2021
- 2021-08-27 CN CN202122048566.XU patent/CN215894656U/en active Active
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