CN216144817U - Full-automatic sample liquid-transfering system - Google Patents
Full-automatic sample liquid-transfering system Download PDFInfo
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- CN216144817U CN216144817U CN202120094453.0U CN202120094453U CN216144817U CN 216144817 U CN216144817 U CN 216144817U CN 202120094453 U CN202120094453 U CN 202120094453U CN 216144817 U CN216144817 U CN 216144817U
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Abstract
The utility model relates to a full-automatic sample pipetting system, which solves the problems of manual operation in the prior art and adopts the following technical scheme: including the base, set up platform, move liquid head manipulator, the mechanical hand of opening the screw cap on the base, the first manipulator of drive liquid moves move liquid actuating mechanism, drive and open the screw cap actuating mechanism that opens the action of screw cap manipulator, open the screw cap actuating mechanism and be used for driving and open the screw cap manipulator and snatch reagent container on the platform and open the screw cap, move liquid actuating mechanism and be used for the drive move liquid head manipulator move reagent container position on the platform, absorb the reagent in the reagent container and move the sample container position on the platform, pour into reagent into to the sample container. The method has the following effects: can accomplish and draw all steps of test tube liquid, degree of automation is high, and whole journey need not artifical the participation for reagent moves liquid and handles can be high-efficient, accurate, safety, repeatedly.
Description
Technical Field
The utility model relates to experimental equipment in the aspects of genetic engineering technology and organic material synthesis, in particular to a full-automatic sample pipetting system for test tube liquid extraction, which is suitable for the fields of biology, chemical experiments and medical treatment.
Background
With the rapid development of scientific technology, biological and chemical experiments require a large number of instruments and samples, not just a few instruments and a few test tubes. Such as genetic engineering techniques and experiments in the synthesis of organic materials, involve hundreds of thousands of instruments and samples.
The action of extracting the sample from the test tube is mainly divided into several steps: unscrewing the test tube cover, loading tip heads on the suction heads, sucking liquid (sample reagent) in the test tubes by the suction heads, injecting the sucked liquid into containers (such as pore plates, test tubes and the like) to be added with liquid, and removing the tip heads by the suction heads.
The prior test tube sample pipetting method used in the experiment is mainly manually operated by personnel. This method mainly has the following problems:
1. manpower consumption: the manual operation is needed, for example, 96 times of repeated manual operation is needed for a 96-well plate, sometimes even more sample reagents need to be processed, and the manpower is greatly wasted.
2. Poor repeatability: there may be a difference between each operation of the manual operation, so that there may be an operation error and the obtained experimental result may be out of the way.
3. Is not safe enough: if the sample reagent is toxic or carries a pathogen, there is a risk that a person will come into contact with the sample.
Disclosure of Invention
The utility model aims to solve the problems in the prior art and provides a full-automatic sample pipetting system, which is suitable for the extraction of test tube liquid in the fields of biological experiments, chemical experiments and medical treatment, can complete all steps of the extraction of the test tube liquid, has high automation degree, does not need manual participation in the whole process, and ensures that the reagent pipetting treatment can be efficient, accurate, safe and repeatable.
The technical purpose of the utility model is mainly solved by the following technical scheme: full-automatic sample pipetting system, including the base, set up platform, pipetting manipulator, the mechanical hand of opening the screw cap on the base, the drive move the liquid-moving actuating mechanism that the pipetting manipulator moved, the drive open the screw cap actuating mechanism of the action of screw cap manipulator, open the screw cap actuating mechanism and be used for the drive open the screw cap manipulator and snatch reagent container on the platform and open the screw cap, move liquid actuating mechanism and be used for the drive move the liquid-moving manipulator move to reagent container position on the platform, absorb the reagent in the reagent container and move to sample container position on the platform, pour into reagent to sample container. The test tube liquid that is applicable to biological assay, chemical assay and medical field draws, can accomplish all steps of drawing test tube liquid, and degree of automation is high, and whole journey need not artifical the participation for reagent moves liquid and handles can be high-efficient, accurate, safe, can repeat. Particularly, the manual operation is replaced by respectively driving the pipetting manipulator and the unscrewing manipulator, and the motors are controlled by the electronic module, so that the pipetting operation has the characteristics of safety, accuracy, high efficiency and repeatability.
As a further improvement and supplement to the above technical solution, the present invention adopts the following technical measures:
the base 1 is provided with an X-direction guide rail and a Y-direction guide rail arranged on the X-direction guide rail1To the guide rail and arranged in said Y1A Z1 directional component on the directional guide rail, and the pipetting manipulator is arranged on the Z1 directional component.
The liquid-transfering driving mechanism includes first power component, second power component and third power component,
the first power part and the Y1To guide rail to make said Y1Moving the guide rail on the X-direction guide rail;
the second power member and the Z1To the component, make Z1The component is arranged at the Y1Moving the guide rail;
the third power part is matched with the pipetting manipulator to ensure that the pipetting manipulator is along the Z direction1To Z of the component1And (4) moving.
Preferably, the first power member, the second power member, and the third power member are explained in further detail:
the first power part comprises a first motor, a first driving wheel and a first synchronous belt arranged on the first driving wheel and a first motor output wheel, and the first synchronous belt and the Y-shaped power part are connected with each other1Cooperating with guide rails for driving said Y1The guide rail moves along the X-direction guide rail.
The second power part comprises a second motor and a Y1A second driving wheel arranged on the guide rail, and a second synchronous belt arranged on the second driving wheel and the output wheel of the second motor, wherein the second synchronous belt is connected with the Z1To the part for driving said Z1The directional component is along the Y1Move towards the guide rail.
The liquid transferring manipulator is a rotary liquid transferring manipulator which is arranged in a Z position1On the component, the third power member is arranged at Z1The automatic liquid transferring device comprises a third motor, a driving wheel, a transmission belt and a lead screw, wherein the third motor is arranged on the component, the driving wheel is matched with an output wheel of the third motor, the transmission belt is used for transmitting the power of the third motor to the driving wheel, the lead screw is matched with the driving wheel, and the liquid transferring manipulator is matched with the lead screw.
The screw cap opening driving mechanism comprises a fourth power part, a fifth power part and a Y part2To the guide rail and arranged at Y2Z to the guide rail2To the component, the Y2The guide rail is fixed on the base, and the unscrewing mechanical arm is arranged on the Z2The shaft component;
the fourth power part and Y2To guide the Z2The component is arranged at the Y2Moving the guide rail;
the fifth power part is matched with the unscrewing manipulator to ensure that the unscrewing manipulator is along the Z direction1Moving towards the component.
Further optimization is carried out on the opening screw cap driving mechanism:
the fourth power part comprises a fourth motor 17 and a Y2A fourth driving wheel facing the guide rail, and outputs of the fourth driving wheel and a fourth motorA fourth synchronous belt on the wheel, the fourth synchronous belt with Z2To the part for driving said Z2The directional component is along the Y2Move towards the guide rail.
The mechanical arm for opening the screw cap is arranged at Z2On the component, the fifth power element comprises a gear arranged at Z2The mechanical hand comprises a fifth motor on the component, a transmission wheel matched with an output wheel of the fifth motor, a transmission belt for transmitting the power of the fifth motor to the transmission wheel, a screw rod matched with the transmission wheel, and a cover opening and screwing mechanical hand matched with the screw rod.
Set up on the base and sweep the sign indicating number subassembly, grip the manipulator, with grip the sixth power spare of manipulator complex, sixth power spare drive grip the manipulator and open, hold and hold together, sweep the sign indicating number subassembly with it cooperates to open the screw cap manipulator for read sample test tube information, it still includes seventh power spare to open the screw cap manipulator, seventh power spare is used for making it is rotatory to open the screw cap manipulator, it is used for gripping the sample test tube, is used for to open the screw cap centre gripping rotating part on the screw cap manipulator and open the screw cap to the reagent container lid.
The platform comprises an upper platform and a lower platform which are arranged in the vertical direction, a waste pipetting head containing box, a container frame and an eighth power part for pushing the container frame to move are arranged on the lower platform, the container frame is used for containing reagent containers (such as test tubes), a pipetting head frame (for example, a pipetting head is a TIP head) and a sample container mounting frame (for example, a sample container is a 96-well plate) are arranged on the upper platform, the open end of the waste pipetting head containing box penetrates through the upper platform, and an extension section (or the extension section 30-1 can also be called as a TIP head guide channel) is arranged above the upper platform.
The utility model has the following beneficial effects: test tube liquid that is applicable to biological assay, chemical assay and medical field draws, moves liquid manipulator and opens the action of screw cap manipulator and replace manual operation through the drive respectively to through each motor of electronic module control, can accomplish all steps of drawing test tube liquid, degree of automation is high, and whole journey need not artifical the participation, makes reagent move liquid and handle can be high-efficient, accurate, safe, can repeat.
Drawings
Fig. 1 is a schematic diagram of a first perspective structure of the present invention.
Fig. 2 is a schematic diagram of a second viewing angle of the present invention.
Fig. 3 is a schematic diagram of the structure of the third viewing angle of the present invention.
Fig. 4 is a structural diagram of a fourth viewing angle of the present invention.
Detailed Description
The technical scheme of the utility model is further specifically described by the following embodiments and the accompanying drawings.
Example (b): as shown in fig. 1-4, the full-automatic sample pipetting system includes a base 1, a platform disposed on the base, a pipetting manipulator 5, a screw cap opening manipulator, a pipetting driving mechanism for driving the pipetting manipulator to move, a screw cap opening driving mechanism for driving the screw cap opening manipulator to move, the screw cap opening driving mechanism being configured to drive the screw cap opening manipulator to grab a reagent container on the platform and open a screw cap, and the pipetting driving mechanism being configured to drive the pipetting manipulator to move to a reagent container position on the platform, to suck a reagent in the reagent container and move to a sample container position on the platform, and to inject a reagent into the sample container.
The base 1 is provided with an X-direction guide rail 2 and a Y-direction guide rail arranged on the X-direction guide rail1To the guide rail 3 and arranged at said Y1A Z1-oriented component 4 on the oriented guide, and the pipetting robot 5 is arranged on the Z1-oriented component 5.
The liquid-transfering driving mechanism includes first power component, second power component and third power component,
the first power part and the Y1To guide rail to make said Y1Moving the guide rail on the X-direction guide rail;
the second power member and the Z1To the component, make Z1The component is arranged at the Y1Moving the guide rail;
the thirdThe power part is matched with the pipetting manipulator to ensure that the pipetting manipulator is along the Z direction1To Z of the component1And (4) moving.
Preferably, the first power member, the second power member, and the third power member are explained in further detail:
the first power part comprises a first motor 6, a first driving wheel 7 and a first synchronous belt 8 arranged on the first driving wheel and a first motor output wheel, and the first synchronous belt is connected with the Y driving wheel1Is matched with the guide rail 3 and is used for driving the Y1The guide rail moves along the X-guide rail 2.
The second power part comprises a second motor 9 arranged on the Y1A second driving wheel 10 arranged on the guide rail, and a second synchronous belt 11 arranged on the second driving wheel and the output wheel of the second motor, wherein the second synchronous belt is connected with the Z1To the part for driving said Z1The directional component is along the Y1Move towards the guide rail.
The liquid transferring manipulator is a rotary liquid transferring manipulator which is arranged in a Z position1On the component 3, the third power member comprises a gear arranged at Z1The device comprises a third motor 12 on the component, a driving wheel 13 matched with an output wheel of the third motor, a transmission belt 14 for transmitting the power of the third motor to the driving wheel, a screw rod matched with the driving wheel, and a liquid-transferring manipulator matched with the screw rod.
The screw cap opening driving mechanism comprises a fourth power part, a fifth power part and a Y part2To the guide rail 15, arranged at Y2Z to the guide rail2To the component 16, the Y2The guide rail is fixed on the base, and the unscrewing mechanical arm is arranged on the Z2The shaft component;
the fourth power part and Y2To guide the Z2The component is arranged at the Y2Move to the guide rail 15;
the fifth power part is matched with the unscrewing manipulator to ensure that the unscrewing manipulator is along the Z direction1Moving towards the component.
Further optimization is carried out on the opening screw cap driving mechanism:
the fourth power part comprises a fourth motor 17 and a Y2A fourth driving wheel 18 arranged on the guide rail, and a fourth synchronous belt 19 arranged on the fourth driving wheel and the output wheel of the fourth motor, wherein the fourth synchronous belt 19 is in contact with the Z2To the part for driving said Z2The directional component is along the Y2Move towards the guide rail.
The mechanical arm for opening the screw cap is arranged at Z2On the component, the fifth power element comprises a gear arranged at Z2The mechanical hand comprises a fifth motor 20 on the component, a transmission wheel 21 matched with an output wheel of the fifth motor, a transmission belt 22 for transmitting the power of the fifth motor to the transmission wheel, a screw rod matched with the transmission wheel, and a cover opening and screwing mechanical hand matched with the screw rod.
Set up on the base and sweep yard subassembly 23, grip the manipulator 24, with grip the sixth power component 25 of manipulator complex, sixth power component drive grip the manipulator and open, hold and hold together, sweep yard subassembly with open the cooperation of twist cap manipulator for read sample test tube information, it still includes seventh power component 26 to open the twist cap manipulator, seventh power component is used for making it is rotatory to open the twist cap manipulator, grip manipulator 24 be used for gripping the sample test tube, be used for open the last twist cap centre gripping rotating part 27 of twist cap manipulator and open the twist cap to the reagent container lid.
The platform is an upper platform 28 and a lower platform 29 which are arranged in the up-down direction, the lower platform 29 is provided with a waste pipetting head accommodating box 30, a container rack 31 and an eighth power part 32 for pushing the container rack to move, the container rack is used for accommodating reagent containers 33 (such as test tubes), the upper platform is provided with a pipetting head rack 34 (such as a pipetting head is a TIP head 35) and a sample container mounting rack 36 (such as a sample container is a 96-well plate 37), the open end of the waste pipetting head accommodating box 30 penetrates through the upper platform, and an extension section 30-1 (or the extension section 30-1 can also be called as a TIP head guide channel) is arranged above the upper platform.
The following is a detailed description of the operation or principle of the fully automated sample pipetting system:
Z1the pipetting robot 5 (otherwise known as a pipette) on the part 3 can be moved in three XYZ directions, Z2The decapping robot on the part 16 can move in both YZ directions. The uncap manipulator snatchs the test tube from the vessel frame 31 of platform lower floor, removes to the yard subassembly 23 department of sweeping on platform upper strata, accomplishes to sweep the sign indicating number back, grips manipulator 24 and cliies the test tube, and the uncap centre gripping rotating part 27 of uncap manipulator unscrews the test tube cap. And the pipetting manipulator 5 loads the tip head, moves and completes the actions of pipetting, pipetting and withdrawing the tip head. And the mechanical arm for unscrewing the screw cap puts the test tube back to the test tube rack and repeats the previous action, and the operation is repeated.
In summary, the actions of the whole pipetting process are controlled by the circuit, and all the actions are as follows:
1. loading a tip head by a liquid transfer head;
2. the test tube is grabbed from the lower layer of the double-layer platform by the mechanical arm for opening the screw cap;
3. the mechanical arm for opening the screw cap moves to the code scanning part, and the code scanning is finished by rotating;
4. the mechanical arm for opening the screw cap descends by a certain range, the mechanical arm for holding the test tube is held, the mechanical arm for opening the screw cap unscrews the bottle cap, and the mechanical arm for opening the screw cap moves away to leave a space for the liquid transferring head;
5. the liquid transferring head moves to the position of the test tube with the cover opened and finishes liquid suction, and then moves to the position of the 96-hole plate and adds liquid to finish liquid transferring action;
6. after the pipetting of the pipetting head is finished, the pipetting head is moved to a waste pipetting head containing box, the tip head is faded down, and the tip head falls into the waste pipetting head containing box;
7. the mechanical arm for opening the screw cap moves and screws the bottle cap of the test tube, and the test tube is put back to the lower layer of the double-layer platform.
8. Repeating the steps 1-7, and repeating the steps.
In addition, the part of the sample container mounting rack 36 for accommodating and contacting the sample container (96-well plate) and the part of the pipetting head frame 34 for accommodating and contacting the pipetting head (tip head) are both of elastic structures, so that the microplate and the tip head frame with different specifications can be arranged, and the clamping stability is kept.
The whole operation process is controlled by a circuit. Specifically, the circuit controls the motors, the pipetting manipulator 5 (pipetting gun) for pipetting, the screw cap opening and clamping rotating part 27 (rotating gripper) for clamping and rotating, and the holding manipulator 24 (horizontal gripper) for clamping, so as to control the position and the action of the rotating gripper and the position and the action of the pipetting gun, and further complete the whole pipetting action.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. In the above embodiments, the present invention may be variously modified and changed. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Full-automatic sample pipetting system, its characterized in that includes the base, sets up platform, pipetting manipulator, the mechanical hand of opening the screw cap on the base, the drive move the pipetting actuating mechanism that pipetting manipulator moved, the drive open the drive mechanism of screw cap of the action of mechanical hand, it is used for driving to open the drive mechanism of screw cap and be used for driving open the mechanical hand of screw cap and snatch the reagent container on the platform and open the screw cap, it is used for driving to move the pipetting actuating mechanism move to reagent container position on the platform, absorb the reagent in the reagent container and move to sample container position on the platform, pour into reagent to sample container.
2. The system for automatically pipetting sample according to claim 1, wherein the base is provided with an X-guide rail and a Y-guide rail1To the guide rail and arranged in said Y1Z to the guide rail1A direction component, wherein the pipetting manipulator is arranged on the Z1 direction component;
the liquid-transfering driving mechanism includes first power component, second power component and third power component,
the first power part and the Y1To guide rail to make said Y1To the guide rail on the X-direction guide railMoving;
the second power member and the Z1To the component, make Z1The component is arranged at the Y1Moving the guide rail;
the third power part is matched with the pipetting manipulator to ensure that the pipetting manipulator is along the Z direction1To Z of the component1And (4) moving.
3. The fully automatic sample pipetting system of claim 2, wherein the first power element comprises a first motor, a first drive wheel, a first timing belt disposed on the first drive wheel and a first motor output wheel, the first timing belt and the Y-axis1Cooperating with guide rails for driving said Y1The guide rail moves along the X-direction guide rail.
4. The fully automated sample pipetting system of claim 2, wherein the second motive element comprises a second motor disposed at the Y1A second driving wheel arranged on the guide rail, and a second synchronous belt arranged on the second driving wheel and the output wheel of the second motor, wherein the second synchronous belt is connected with the Z1To the part for driving said Z1The directional component is along the Y1Move towards the guide rail.
5. The fully automated sample pipetting system of claim 2 wherein the pipetting robot is a rotary pipetting robot disposed at Z1On the component, the third power member is arranged at Z1The automatic liquid transferring device comprises a third motor, a driving wheel, a transmission belt and a lead screw, wherein the third motor is arranged on the component, the driving wheel is matched with an output wheel of the third motor, the transmission belt is used for transmitting the power of the third motor to the driving wheel, the lead screw is matched with the driving wheel, and the liquid transferring manipulator is matched with the lead screw.
6. Fully automatic sample pipetting system according to one of claims 2 to 5, characterized in that the unscrewing drive mechanism comprises a fourth power element, a fifth power elementPower element, Y2To the guide rail and arranged at Y2Z to the guide rail2To the component, the Y2The guide rail is fixed on the base, and the unscrewing mechanical arm is arranged on the Z2The shaft component;
the fourth power part and Y2To guide the Z2The component is arranged at the Y2Moving the guide rail;
the fifth power part is matched with the unscrewing manipulator to ensure that the unscrewing manipulator is along the Z direction1Moving towards the component.
7. The fully automated sample pipetting system of claim 6, wherein the fourth motive element comprises a fourth motor disposed in the Y position2A fourth driving wheel arranged on the guide rail, and a fourth synchronous belt arranged on the fourth driving wheel and the output wheel of the fourth motor, wherein the fourth synchronous belt is connected with the Z2To the part for driving said Z2The directional component is along the Y2Move towards the guide rail.
8. Fully automatic sample pipetting system according to claim 7, characterised in that the unscrewing robot is arranged in Z2On the component, the fifth power element comprises a gear arranged at Z2The mechanical hand comprises a fifth motor on the component, a transmission wheel matched with an output wheel of the fifth motor, a transmission belt for transmitting the power of the fifth motor to the transmission wheel, a screw rod matched with the transmission wheel, and a cover opening and screwing mechanical hand matched with the screw rod.
9. The full-automatic sample pipetting system according to any one of claims 1-5, wherein the base is provided with a code sweeping assembly, a holding manipulator and a sixth power element matched with the holding manipulator, the sixth power element drives the holding manipulator to open and close, the code sweeping assembly is matched with the cap opening manipulator and used for reading information of a sample test tube, the cap opening manipulator further comprises a seventh power element, the seventh power element is used for rotating the cap opening manipulator, and the holding manipulator is used for holding the sample test tube and used for opening the cap of the reagent container by the cap opening manipulator.
10. The fully automatic sample pipetting system according to any one of claims 1 to 5, wherein the platforms are an upper platform and a lower platform which are arranged up and down, the lower platform is provided with a waste pipetting head containing box, a container frame and an eighth power part for pushing the container frame to move, the container frame is used for bearing a reagent container, the upper platform is provided with a pipetting head frame and a sample container mounting frame, and the open end of the waste pipetting head containing box penetrates through the upper platform and is provided with an extension section above the upper platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120094453.0U CN216144817U (en) | 2021-01-14 | 2021-01-14 | Full-automatic sample liquid-transfering system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120094453.0U CN216144817U (en) | 2021-01-14 | 2021-01-14 | Full-automatic sample liquid-transfering system |
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| CN216144817U true CN216144817U (en) | 2022-03-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115463438A (en) * | 2022-09-16 | 2022-12-13 | 河北科技大学 | Automatic distillation and extraction integrated machine and automatic distillation and extraction method |
| CN115505526A (en) * | 2022-09-22 | 2022-12-23 | 山东省高精生物诊断分析产业技术研究院有限公司 | Full-automatic nucleic acid detection assembly line and workflow |
-
2021
- 2021-01-14 CN CN202120094453.0U patent/CN216144817U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115463438A (en) * | 2022-09-16 | 2022-12-13 | 河北科技大学 | Automatic distillation and extraction integrated machine and automatic distillation and extraction method |
| CN115505526A (en) * | 2022-09-22 | 2022-12-23 | 山东省高精生物诊断分析产业技术研究院有限公司 | Full-automatic nucleic acid detection assembly line and workflow |
| CN115505526B (en) * | 2022-09-22 | 2023-07-04 | 山东省高精生物诊断分析产业技术研究院有限公司 | Full-automatic nucleic acid detection assembly line and use method |
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