CN218307635U - Solution mixing equipment and solution mixing system - Google Patents

Abstract

The utility model provides a solution mixing equipment and solution mixing system. The apparatus comprises: the body and set up and be in transportation robot and at least one solution mixing arrangement on the body, the transportation robot includes arm and transport instrument, the one end of arm with this body coupling, the other end of arm with transport instrument connects, the arm can drive transport instrument removes, makes transport instrument remove the splendid attire with the container that remains to mix the solution to at least one on the solution mixing arrangement, with right the container is applyed corresponding effort and is will the solution that waits to mix in the container mixes. The solution mixing apparatus of this application can integrate one kind or multiple solution mixing arrangement, can adapt to the solution mixing requirement under the different experimental conditions, can realize the mixture of the solution that different experiments required on equipment, and the degree of integrating is high, need not to provide different solution mixing apparatus for the solution mixing requirement of difference.

Description

Solution mixing equipment and solution mixing system

Technical Field

The utility model relates to an automation equipment technical field especially relates to a solution mixing equipment and solution mixing system.

Background

In a large batch of biochemical experiments, whether reagent solutions are uniformly mixed is a great variable affecting the experiments, and in order to ensure that the mixing conditions of the experimental samples in each batch are basically consistent, an oscillator is generally used for performing the oscillation experiments. With the rapid development of times and science and technology, higher requirements are put forward on the experimental efficiency. The oscillation experiment has many times, various kinds are complicated, the operation is single and tedious, and the operation of manual participation can cause the experiment to generate human errors. Therefore, nowadays, biochemical experiments performed by manually experimenting oscillators have not met the requirements of high-efficiency and high-quality experiments.

SUMMERY OF THE UTILITY MODEL

The present application is directed to solving at least one of the problems in the prior art.

In order to solve the technical problem, the technical scheme of the application is as follows:

in a first aspect, the present application provides a solution mixing apparatus comprising: the body and set up and be in transportation robot and at least one solution mixing arrangement on the body, the transportation robot includes arm and transport instrument, the one end of arm with this body coupling, the other end of arm with transport instrument connects, the arm can drive transport instrument removes, makes transport instrument remove the splendid attire with the container that remains to mix the solution to at least one on the solution mixing arrangement, solution mixing arrangement is used for right the container exerts corresponding effort will the solution that waits to mix in the container mixes.

In a second aspect, the present application further provides a solution mixing system, comprising at least one solution mixing device of the first aspect and a moving device, wherein the moving device is used for taking and placing the solution before and after mixing in the solution mixing device. Compared with the prior art, the beneficial effect of this application lies in:

the solution mixing apparatus and the solution mixing system of this application can integrate one kind or multiple solution mixing arrangement, can adapt to the solution mixing requirement under the different experimental conditions, can realize the mixture of the solution that different experiments required on an equipment, and the degree of integrating is higher, need not to provide different solution mixing apparatus for the solution mixing requirement of difference, reduces equipment cost, reduces equipment configuration space.

Drawings

FIG. 1 is a schematic perspective view of a solution mixing apparatus according to an embodiment of the present disclosure with an upper frame removed;

FIG. 2 is a top view of a solution mixing apparatus in an embodiment of the present application with the upper housing removed;

fig. 3 is a schematic perspective view of an interaction chamber in an embodiment of the present application;

FIG. 4 is an enlarged view at IV of FIG. 2 in an embodiment of the present application;

FIG. 5 is an enlarged view of FIG. 1 at V in an embodiment of the present application;

fig. 6 is a schematic perspective view of the receiving rack in fig. 1 according to an embodiment of the present disclosure;

FIG. 7 is a front view of a solution mixing apparatus in an embodiment of the present application;

fig. 8 is a top view of a solution mixing device in an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic perspective view of a solution mixing apparatus in an embodiment of the present application, and fig. 2 is a top view of the solution mixing apparatus in the embodiment of the present application. The solution mixing apparatus 1 includes a body 11, and a transfer robot 12 and at least one solution mixing device 13 provided on the body 11. The transfer robot 12 includes a mechanical arm 121 and a transfer tool 122 (as shown in fig. 5), one end of the mechanical arm 121 is connected to the body 11, the other end of the mechanical arm 121 is connected to the transfer tool 122, and the mechanical arm 121 can drive the transfer tool 122 to move, so that the transfer tool 122 moves a container containing a solution to be mixed to at least one solution mixing device 13, so as to apply a corresponding acting force to the container to mix the solution to be mixed in the container. The solution to be mixed may be a mixture of at least two solutions, a mixture of at least one solution and at least one solid powder, a mixture of at least one solution and at least one solid substance, and the like. And are not limited herein.

Therefore, in this application, when the solution that waits to mix in the container needs to be mixed, will be equipped with the container that waits to mix the solution through transporting robot 12 and transport to one of them or arbitrary one or more solution mixing is carried out on the solution mixing device 13, realizes the automation that the container was transported and solution was mixed, when carrying out solution mixing to large batch container, can very big reduction people's work load, alleviates work load.

In this embodiment, the solution mixing apparatus 1 includes three solution mixing devices 13, which are a normal temperature magnetic stirrer 131, a temperature control magnetic stirrer 132, and an oscillator 133. The normal temperature magnetic stirrer 131 is an instrument for mixing liquid at normal temperature, and is mainly used for stirring liquid with low viscosity or solid-liquid mixture, and the basic principle is that the magnetic stirrer placed in a container is pushed by a magnetic field to perform circumferential operation by utilizing the principle that like poles repel and opposite poles attract of the magnetic field, so that the purpose of stirring the mixed liquid is achieved. The temperature-controlled magnetic stirrer 132 has all functions of a normal-temperature magnetic stirrer and a temperature control function, so that the temperature of a sample can be controlled by heating or cooling according to specific experimental requirements, for example, the temperature of the sample is controlled to be-5-90 ℃, temperature conditions required by temperature control and maintenance of experimental conditions are realized, and liquid mixing is guaranteed to meet the experimental requirements. The oscillator 133 drives the eccentric vibrator to move highly by the motor to generate high-frequency micro-amplitude oscillation, thereby achieving the purpose of oscillating the solution. The oscillator 133 may be a normal temperature oscillator or a temperature controlled oscillator integrated with a temperature control module, and specifically, an oscillator with a corresponding function may be selected according to an experiment requirement to perform an oscillation experiment.

It is understood that, in another embodiment, the solution mixing apparatus 1 includes two solution mixing devices 13, i.e., any two of the normal temperature magnetic stirrer 131, the temperature controlled magnetic stirrer 132 and the oscillator 133. In still another embodiment, the solution mixing apparatus 1 includes a solution mixing device 13, which is any one of a normal temperature magnetic stirrer 131, a temperature controlled magnetic stirrer 132, and an oscillator 133. In other embodiments, the solution mixing apparatus 1 may include four solution mixing devices or more solution mixing devices, and the like.

Thus, in this application, according to the experimental requirement that solution mixes, solution mixing apparatus 1 can integrate one, two kinds or multiple solution mixing arrangement 13 to solution mixing requirement under the different experimental condition of adaptation, for example, the normal atmospheric temperature stirring, accuse temperature stirring, the normal atmospheric temperature oscillation mixes, accuse temperature oscillation mixes etc. can realize the mixture of the solution of different experimental requirements on a equipment, the degree of integrating is higher, need not to provide different solution mixing apparatus for different solution mixing requirements, reduce equipment cost, reduce the shared space of equipment, can realize the more optimal arrangement in laboratory space.

It is to be understood that reference to "containers" in the context of this application may be tubes, vials, beakers, flasks, etc., of various types and configurations.

It is to be understood that each solution mixing means included in the solution mixing apparatus 1 is not limited to one, and may be two or more. For example, when the solution mixing apparatus 1 includes the normal-temperature magnetic stirrer 131, the number of the normal-temperature magnetic stirrers 131 may be 3. When the solution mixing apparatus 1 includes the temperature-controlled magnetic stirrer 132, the number of the temperature-controlled magnetic stirrers 132 may be 4. When the solution mixing apparatus 1 includes the oscillator 133, the number of the oscillator 133 may be 1.

In this embodiment, the normal temperature magnetic stirrer 131, the temperature control magnetic stirrer 132, and the oscillator 133 are disposed on the body 11 at intervals and surround the transfer robot 12. The transfer robot 12 is located in an inner ring formed by the room temperature magnetic stirrer 131, the temperature control magnetic stirrer 132 and the oscillator 133. Therefore, the transfer robot 12 can conveniently transfer the container to be mixed to the room temperature magnetic stirrer 131, the temperature-controlled magnetic stirrer 132 or the oscillator 133, or pick up the container that has been mixed with the solution from the room temperature magnetic stirrer 131, the temperature-controlled magnetic stirrer 132 or the oscillator 133 and move the container out of the solution mixing apparatus 1.

Further, in one embodiment, the body 11 includes a front side 111, a rear side 112, a left side 113 and a right side 114. The front side 111 refers to a side close to the user in a natural use state. The rear side 112 refers to a side away from the user in a natural use state. The left side 113 refers to the left side of the user in the use state. The right side 114 refers to the right side of the user in use. The transfer robot 12 is located at a substantially central position of the body 11. The normal temperature magnetic stirrer 131 is disposed between the right side 114 and the transfer robot 12. The temperature controlled magnetic stirrer 132 is disposed between the left side 113 and the transfer robot 12. The oscillator 133 is disposed between the rear side 112 and the transfer robot 12. Thus, the room temperature magnetic stirrer 131, the temperature-controlled magnetic stirrer 132, and the oscillator 133 are all disposed around the transfer robot 12. It is understood that in other embodiments, the room temperature magnetic stirrer 131 is disposed between the left side 113 and the transfer robot 12. The temperature-controlled magnetic stirrer 132 is disposed between the right side 114 and the transfer robot 12, etc., and is not limited thereto.

Alternatively, in one embodiment, the number of the room temperature magnetic stirrer 131, the temperature-controlled magnetic stirrer 132, and the oscillator 133 may not be limited to 1, respectively, in order to increase the solution stirring efficiency. In this embodiment, the number of the normal temperature magnetic stirrers 131 is 3, and 3 of the normal temperature magnetic stirrers 131 are arranged at intervals along the direction of the right side 114. It is understood that, in other embodiments, the number of the room temperature magnetic stirrers 131 may not be limited to 3, but may also be 2, 1, 4, and so on. In this embodiment, the number of the temperature-controlled magnetic stirrers 132 is 4, and four temperature-controlled magnetic stirrers 132 are arranged at intervals along the direction of the left side 113. It is understood that, in other embodiments, the number of the temperature-controlled magnetic stirrers 132 may not be limited to 4, but may also be 1, 2, 3, 5, or more than 5, which is not limited herein. In this embodiment, the number of the oscillators 133 is 1. It is understood that in other embodiments, the number of oscillators 133 can be, but is not limited to, 2 or more than 2. 2 or more than 2 oscillators 133 are arranged at intervals along the direction of the rear side 112.

Optionally, in one embodiment, the solution mixing apparatus 1 further comprises an interaction chamber 14. The interaction bin 14 is disposed adjacent to the front side 111 and between the transfer robot 12 and the front side 111. The interaction chamber 14 is used for transferring the solution before and after mixing between the outside and the body 11, such as an interaction container or an interaction tray. The tray is used for containing a plurality of containers. The container is used for containing a solution to be mixed, or can be used for containing a mixed solution for completing solution mixing. Of course, for the sake of convenience of distinction, each of the trays is used only for one of the containers for containing the solutions to be mixed and the containers for completing the mixing of the solutions. In the using process, the tray containing the containers to be mixed can be placed on the interactive bin 14, and when the transfer robot 12 transfers the containers in the tray to the corresponding solution mixing device 13 for solution mixing, or directly transfers the whole tray containing the containers to the corresponding solution mixing device 13 for solution mixing. After the solution is mixed, the transfer robot 12 transfers the tray containing the mixed solution to the interactive chamber 14, so that the operator or an external mobile device (such as a mobile robot) can take the tray containing the mixed solution from the interactive chamber 14. In this embodiment, the temperature-controlled magnetic stirrer 132 and the oscillator 133 are integrated with container holders, so that when the solution mixing operation is performed, the transfer robot 12 needs to transfer the containers in the tray to the corresponding container placing holes of the temperature-controlled magnetic stirrer 132 or the oscillator 133 for solution mixing. The normal temperature magnetic stirrer 131 can be directly provided with a tray. Therefore, the transfer robot 12 transfers the tray together with the plurality of containers thereon to the room temperature magnetic stirrer 131 for solution mixing.

Optionally, in one embodiment, referring to fig. 1, fig. 2 and fig. 3, the interaction chamber 14 includes: a support assembly 141, a holding plate 142, a positioning member 143, and a sensor 144. The supporting member 141 is connected to the body 11. The support assembly 141 includes a bottom plate 1411 and two support plates 1412, and the bottom plate 1411 is disposed on the body 11. Two support plates 1412 are attached to opposite ends of the base plate 1411. Thus, the support member 141 is substantially U-shaped. The receiving plate 142 is connected to the supporting member 141. That is, the receiving plate 142 is coupled to the opening of the supporting member 141. The plate 142 is provided with at least two first bays 1421 for storing containers and/or trays. The positioning element 143 is connected to the containing plate 142 and disposed corresponding to the first storage space 1421, and the positioning element 143 is used for limiting the container and/or the tray at the first storage space 1421. The sensor 144 is connected to the containing plate 142 and disposed corresponding to the first bin 1421, and is configured to sense whether a container and/or a tray is stored in the first bin 1421.

Wherein the first bin 1421 is used for placing trays and/or containers. The at least two first bays 1421 may be arranged to allow the trays and/or containers to be picked and placed at the same time, so as to improve the efficiency of the experiment.

In one embodiment, the first storage 1421 is used for placing a tray, and the positioning element 143 is two step pins arranged at intervals, and is matched with two pin holes formed at the bottom of the tray to fix the tray. Wherein the sensor 144 may be disposed between two step pins. The sensor 144 may be a photoelectric sensor, a pressure sensor, or the like. For example, as shown in fig. 3, the accommodating plate 142 is provided with 3 first locations 1421, each first location 1421 is provided with 2 step pins, and the sensor 144 is disposed between the two step pins. The positioning members 143 may also be tray fasteners, and are disposed on two opposite sides of the containing plate 142, which is not limited herein.

In another embodiment, the first bin 1421 may also be used for placing containers. When the first bin 1421 is used for placing a container, the first bin 1421 is a positioning groove, and the positioning element 143 is an elastic abutting element disposed on an inner wall of the groove to abut against the container placed in the groove to fix the container. Wherein the sensor 144 may be disposed in the positioning groove. The elastic abutting part can fix the container, prevent the container from falling off, and improve the compatibility of the first storage 1421 to adapt to containers with different sizes. The elastic abutting part can be a metal sheet or a POM plastic part with better elastic performance.

Optionally, in one embodiment, referring again to fig. 1 and 2, the solution mixing apparatus 1 further comprises a tray rack 15. The tray rack 15 is disposed between the solution mixing device 13 and the transfer robot 12. In this embodiment, the tray rack 15 is disposed between the temperature-controlled magnetic stirrer 132 and the transfer robot 12, but may be disposed between the oscillator 133 and the transfer robot 12. The pallet rack 15 is used for placing pallets and transferring containers. It will be appreciated that some solution mixing devices 13 are not directly placed in a tray containing containers for solution mixing. Therefore, in this application, the transfer robot 12 will be equipped with the tray of container earlier from mutual storehouse 14 shifts to on the tray frame 15, transfer robot 12 will again container in the tray shifts to one by one the container on the corresponding container frame of corresponding solution mixing arrangement 13 is placed downtheholely and is carried out solution mixing to the transfer container. After the solution is mixed, the containers are transferred from the container placing holes on the corresponding container racks of the solution mixing device 13 to the trays on the tray rack 15. After the containers are loaded on the trays of the tray rack 15, the trays are transferred from the tray rack 15 to the interactive bin 14, so that an operator or an external mobile device can take the trays with the containers which are mixed with the solution from the interactive bin 14.

Optionally, in one embodiment, referring to fig. 1, fig. 2 and fig. 4 together, the solution mixing apparatus 1 further includes a solution cleaning detection module 16. The solution clearing detection module 16 is disposed near the solution mixing device 13. The lysis and clearance detection module 16 is connected with a control device. It will be appreciated that the connections may be electrical or network connections. The solution cleaning detection module 16 performs solution cleaning detection when the solution mixing device 13 stirs or oscillates a solution, detects a first mixing degree of the solution in the mixed container, and controls the solution mixing device 13 to stop working when the first mixing degree meets a first preset threshold value. Therefore, the mixing degree of the solution is not required to be judged when stirring or oscillation is finished, the solution mixing process can be shortened, and the working time can be greatly shortened for large-batch operation.

Optionally, in one embodiment, the solvent cleaning detection module 16 is integrated with the oscillator 133. The supernatant detecting module 16 is used for detecting the solution mixing degree of the container on the oscillator 133 during the oscillating solution mixing process of the oscillator 133. It is understood that in other embodiments, the lysis detection module 16 may also be integrated with the temperature-controlled magnetic stirrer 132 or the normal-temperature magnetic stirrer 131. Of course, the lysis clearance detection module 16 may be provided as a separate device and located near the oscillator 133, the temperature-controlled magnetic stirrer 132 and/or the ambient temperature magnetic stirrer 131.

Alternatively, in one embodiment, the lysis-clearing detection module 16 is disposed one for each container placement hole of the oscillator 133. Alternatively, in other embodiments, the lysis detection module 16 may be disposed one corresponding to the plurality of container placement holes of the oscillator 133. Thus, the solution-clear detection module 16 is used to detect the degree of solution mixing of the container on the container placement hole. When the solution mixing degree of all the containers on the shaker 133 reaches the standard, the shaking operation of the shaker 133 is stopped.

Alternatively, in one embodiment, the solution level detecting module 16 is a laser sensor integrated on the container holder of the solution mixing device 13, and a laser transmitter and a laser receiver are respectively installed on two corresponding sides of each container, so as to determine the uniformity of the solution in the container according to the laser signal transmitted by the laser transmitter and the laser signal received by the laser receiver.

Alternatively, in one embodiment, since at least two liquid or solid-liquid substances are mixed together, the substance with higher density will sink to the bottom of the container and the substance with lower density will float on the bottom without stirring or with uneven stirring, and thus, the bottom of the container can be checked for uniformity. Therefore, the solution mixing device 1 further comprises a bottom detection module 17. The bottom detection module 17 is disposed near the solution mixing device 13. The bottom detection module 17 is connected to the control device. It will be appreciated that the connections may be electrical or network connections. Bottom detection module 17 sets up on the body 11 to aim at and place the bottom of the container in the solution mixing arrangement 13 for through the second degree of mixing in the mode detection container of shooing to the container bottom, controlgear is in dissolve clear detection module 16 and detect first degree of mixing satisfies first preset threshold value with bottom detection module 17 detects when the second degree of mixing satisfies the second and preset threshold value, control solution mixing arrangement stop work.

Alternatively, in one embodiment, the bottom detection module 17 may include, but is not limited to, a camera, and the degree of mixing of the solution in the container may be determined by photographing or the like. It is understood that the bottom detection module 17 may also take a picture of the top or body of the container, and is not limited herein.

Optionally, in one embodiment, the bottom detection module 17 is integrated with the oscillator 133. The bottom detection module 17 is used to assist in detecting the solution mixing degree at the bottom of the container on the oscillator 133 during the solution mixing process of the oscillator 133. It is understood that, in other embodiments, the bottom detection module 17 may also be integrated with the temperature-controlled magnetic stirrer 132 or the normal-temperature magnetic stirrer 131 to assist in detecting the solution mixing degree of the bottom of the container on the temperature-controlled magnetic stirrer 132 or the normal-temperature magnetic stirrer 131.

Alternatively, in one embodiment, the bottom inspection module 17 may be angled and realigned to the bottom of the container to be inspected. Therefore, when the placement positions of the container on the oscillator 133, the temperature-controlled magnetic stirrer 132, or the normal-temperature magnetic stirrer 131 are different, the orientation of the bottom detection module 17 can be adjusted to align with the bottom of the container to be detected, the orientation of the bottom detection module 17 does not need to be manually adjusted by a user, and the angle can be automatically adjusted to increase the detection range of the bottom detection module 17. Specifically, the bottom detection module 17 may be configured to be movable in three XYZ axes, that is, the camera thereon can be arbitrarily moved in three XYZ directions.

It is understood that the bottom detection module 17 and the lysis detection module 16 may be operated independently, that is, each solution mixing device 13, for example, the oscillator 133, the temperature-controlled magnetic stirrer 132 or the normal-temperature magnetic stirrer 131, may be integrated with only one of the bottom detection module 17 and the lysis detection module 16.

Optionally, in one embodiment, referring to fig. 1, 2 and 5 together, the solution mixing apparatus 1 further includes a tool magazine 18 disposed on the body 11, and the tool magazine 18 is disposed adjacent to the transfer robot 12. The tool magazine 18 is adapted to store a plurality of the transfer tools 122, each of the transfer tools 122 being removably attachable to the robotic arm 121. The tool magazine 18 is provided with a plurality of placing positions 181 which are matched with the number of the transfer tools 122, the body 11 is provided with a communication hole 182 which is matched with the plurality of placing positions 181, and when the transfer tools 122 are placed at the placing positions 181, at least part of the transfer tools can extend into the communication hole 182. The tool magazine 18 is communicated with the body 11, so that when the transfer tool 122 is placed in the tool magazine 18, a part of the structure can extend into the lower part of the body 11, and therefore, the arrangement space on the body 11 can be further saved. Each placing position 181 may be provided with a limiting member, and when each transferring tool 122 is placed in the placing position 181, the limiting member is matched with the transferring tool 122, so as to stably store the transferring tool 122 in the tool magazine 18.

When the transfer tool 122 is placed on the placement station 181, there may be some structure protruding above the top surface of the placement station 181. Thus, to avoid interference of the robotic arm 121 in changing the transfer tool 122 in the tool magazine 18, the transfer tool 122 protruding above the top surface of the placement site 181 is spaced further from the robotic arm 121.

Optionally, in one embodiment, a quick-change male head 1211 is disposed on the mechanical arm 121, and a quick-change female head 1221 is disposed on each transfer tool 122, where the quick-change male head 1211 cooperates with the quick-change female head 1221 to detachably connect the mechanical arm 121 to the transfer tool 122. The quick-change male head 1211 and the quick-change female head 1221 may be connected in a pneumatic manner, or may be connected in other manners, such as a magnetic connection, without limitation.

The transfer tool 122 includes a container transfer jaw 1222 and a tray transfer jaw 1223, the robot arm 121 drives the tray transfer jaw 1223 to place the tray on the tray rack 15, and the robot arm 121 drives the container transfer jaw 1222 to transfer the container in the tray to the solution mixing device 13.

When the transfer robot 12 needs to grip a container and the jaws of the transfer robot 12 are now tray transfer jaws 1223, the robotic arm 121 of the transfer robot 12 needs to move to the tool magazine 18 to replace the container transfer jaw 1222. When the transfer robot 12 needs to grip a pallet and the gripper of the transfer robot 12 is now a container transfer gripper 1222, the robot arm 121 of the transfer robot 12 needs to move to the tool magazine 18 to replace the pallet transfer gripper 1223.

The container transfer jaw 1222 is used for container transfer, and may be a single jaw having a gripping surface of a V-shaped structure, or a jaw having a plurality of cylindrical structures, such as four cylindrical bodies arranged in parallel, to cooperate with each other to grip and release a container. The container transfer jaw 1222 may also be a double-sided jaw, one side jaw being a V-shaped structure and the other side jaw being a structure consisting of four cylinders, both sides of which may be used to achieve container gripping and releasing. When gripping different types of containers, different jaws may be used, such as a V-shaped jaw for gripping a test tube and a cylindrical jaw for gripping a solvent bottle.

Tray transfer jaws 1223 are used to carry trays such as test tube trays, solvent bottle trays, tip head trays, and the like. Tray shifts clamping jaw 1223 includes driving piece, first arm lock and second arm lock, and first arm lock and second arm lock are connected with the driving piece respectively, and the driving piece can drive first arm lock and second arm lock and be close to each other or keep away from. One end of the first clamping arm, which is far away from the driving part, is provided with a first clamping jaw finger, and the first clamping arm is connected with the first clamping jaw finger in a floating manner. An elastic part is arranged between the first clamping arm and the first clamping jaw finger, and two ends of the elastic part are respectively abutted against the first clamping arm and the first clamping jaw finger. And a second clamping jaw finger is arranged at one end of the second clamping arm far away from the driving part, and the second clamping arm is connected with the second clamping jaw finger in a floating manner. An elastic piece is also arranged between the second clamping arm and the second clamping jaw finger, and two ends of the elastic piece are respectively abutted against the second clamping arm and the second clamping jaw finger. The elastic element can be a spring arranged at intervals, and can also be an elastic sheet or a rubber block and the like. Through connecting the clamping jaw finger in the arm lock floatingly, when the clamping jaw finger clamping face has slight nonparallel with the tray, the adjustable clamp of clamping jaw finger gets the direction and successfully gets the clamp and get the tray, makes the tray can not drop when getting and the transportation.

Optionally, in one embodiment, the tool magazine 18 is further disposed adjacent the front side 111 and adjacent the temperature controlled magnetic stirrer 132 and the tray rack 15.

Optionally, in one embodiment, the solution mixing device 13 includes an ambient temperature magnetic stirrer 131 and/or a temperature-controlled magnetic stirrer 132, and the transferring tool 122 includes a magnet pick-and-place device, and the robot 121 drives the magnet pick-and-place device to pick and place magnets into the container. The magnetic sub taking and placing device at least comprises a main body, a driving mechanism arranged on the main body, a magnetic rod connected with the driving mechanism and a tip head arranged on the main body, wherein one end of the tip head is sealed, and the driving mechanism is used for driving the magnetic rod to move so that the magnetic rod can enter and exit from the tip head of the seal. When the mechanical arm 121 drives the magnet taking and placing device to move, and the tip head to be sealed is immersed in a container, the driving mechanism drives the magnet rod to enter the tip head and to be close to the bottom of the tip head, the magnet in the container is adsorbed on the outer wall of the tip head at the moment, the mechanical arm 121 drives the magnet taking and placing device to move to a magnet recovery position, the driving mechanism drives the magnet rod to withdraw from the tip head, and the magnet on the tip head falls off. Further, the driving mechanism drives the magnetic rod into the tip head and continuously extends into and presses against the bottom of the tip head, and the tip head is separated from the main body.

Optionally, in one embodiment, the solution mixing apparatus 1 further includes a recycling assembly 27, and the recycling assembly 27 is disposed through the body 11 and is communicated with a recycling device disposed below the body 11. Thus, contaminated magnetons, contaminated tip heads and the like can be recovered by the recovery unit 27.

Optionally, in one embodiment, referring again to fig. 1 and 2, the solution mixing apparatus 1 further comprises a code scanner 19. The scanner 19 is connected to the control device. It will be appreciated that the connections may be electrical or network connections. The scanner 19 is disposed on the body 11. The code scanner 19 is configured to scan the identification code on the container and/or the tray containing the container and obtain code scanning information, where the code scanning information includes solution mixing parameters of the container. Wherein the solution mixing parameters comprise oscillation time, oscillation intensity, oscillation temperature and the like. The transfer robot 12, after holding a pallet, first moves to the scanning range of the code scanner 19, so that the code scanner 19 scans the identification code thereon and obtains code scanning information, the control device of the solution mixing device 1 determines the solution mixing requirements of all the containers on the pallet based on the code scanning information, then transfers the pallet to the pallet rack 15, and then transfers the containers on the pallet rack 15 to the corresponding solution mixing device 13 based on the solution mixing requirements to perform the solution mixing operation. Alternatively, when the solution mixing device 13 may place a tray, the tray is directly transferred onto the solution mixing device 13 to perform a solution mixing operation. Alternatively, the transfer robot 12, after holding a container, first moves into the scanning range of the code scanner 19, so that the code scanner 19 scans the identification code thereon and obtains code scanning information, the control device of the solution mixing apparatus 1 determines the solution mixing requirement of the container based on the code scanning information, and then transfers the container to the corresponding solution mixing device 13 to perform the solution mixing operation based on the solution mixing requirement.

Optionally, in one embodiment, the code scanner 19 is disposed in the corner formed by the front side 111 and the right side 114, and is disposed adjacent to the ambient temperature magnetic stirrer 131 and the interactive chamber 14.

Alternatively, in one embodiment, when the solution mixing apparatus 1 needs to mix a large amount of container solutions, the receiving space of the interactive chamber 14 is limited, and a large number of trays cannot be placed at one time, and for this purpose, the solution mixing apparatus 1 further includes at least one receiving rack 20. The receiving rack 20 is disposed on a side of the solution mixing device 13 away from the transfer robot 12. The receiving rack 20 is used for placing trays, containers, and the like, including but not limited to test tubes, solvent bottles, and the like.

In this embodiment, the at least one receiving rack 20 includes a first receiving rack 201 and a second receiving rack 202. The first receiving shelf 201 is disposed between the oscillator 133 and the rear side 112. The second receiving rack 202 is disposed between the room temperature magnetic stirrer 131 and the right side 114. The first storage rack 201 and the second storage rack 202 form an outer ring, and an inner ring formed by surrounding the normal temperature magnetic stirrer 131, the temperature control magnetic stirrer 132 and the oscillator 133 is positioned on the inner side of the outer ring. Thus, the tray housing capacity of the solution mixing apparatus 1 can be greatly improved.

Alternatively, in other embodiments, one of the first storage rack 201 and the second storage rack 202 may be omitted.

Alternatively, in another embodiment, the at least one receiving rack 20 may further include three or more receiving racks, so as to further increase the receiving capacity of the receiving rack, and further improve the solution mixing processing capacity of the solution mixing apparatus 1 without human intervention.

Optionally, in one embodiment, referring to fig. 1, fig. 2 and fig. 6, the receiving rack 20 includes at least one layer of object placing plate 203, and a second storage space 2031 for placing containers and/or trays is disposed on the object placing plate 203. The second position 2031 is provided with a fixing member 2032, and the fixing member 2032 is used for limiting the container and/or the tray at the second position 2031. The fixing piece 2032 is a step pin, and the step pin is used for being inserted into a pin hole formed in the bottom of the tray; or the fixing member 2032 is an elastic abutting member, the second cavity 2031 is a positioning groove, the elastic abutting member is disposed in the positioning groove, and the elastic abutting member can abut against the container and elastically deform when the container is placed in the positioning groove. Accordingly, a tray, a container, or the like placed on the second position 2031 can be positioned, and the storage capacity can be further improved.

In addition, the storage rack 20 further includes two opposite supporting members 204, and the object placing plate 203 is disposed between the two supporting members 204. The object placing plate 203 and the supporting member 204 may be fixedly connected or slidably connected. When the sliding connection is made, the supporting member 204 may be provided with at least one sliding slot, and a nut is disposed in the sliding slot and can move along the sliding slot. The both ends of putting thing board 203 can be fixed with the angle sign indicating number, and the angle sign indicating number is connected with the nut through the bolt, and the position of adjusting nut in the spout before the locking to the position that realizes putting thing board 203 is adjustable, thereby can be applicable to the container and/or the tray of different height dimensions.

The storage plate 203 can be configured to have multiple layers for storing different quantities and/or different types of materials according to different requirements, so as to relieve the pressure of the interaction chamber 14. For example one layer for placing containers and one layer for placing pallets.

In one embodiment, during operation, a plurality of trays with containers are transferred to the interactive bin 14, and then the transfer robot 12 transfers the trays to the first storage rack 201 or the second storage rack 202 for storage, so that it can be understood that the plurality of trays with containers placed on the interactive bin 14 and the transfer robot 12 transfers the trays to the first storage rack 201 or the second storage rack 202 can be performed simultaneously, and thus, the problem of limited storage capacity of the interactive bin 14 can be overcome until all trays in the batch are transferred or the first storage rack 201 and the second storage rack 202 are filled with trays.

It is understood that both the first receiving rack 201 and the second receiving rack 202 are used for placing trays for incomplete solution mixing. In another embodiment, one of the first receiving rack 201 and the second receiving rack 202 is used for placing the tray of incomplete solution mixing, and the other is used for placing the tray of complete solution mixing, because the receiving capacity of the interactive bin 14 is limited.

Optionally, in some embodiments, referring again to fig. 1 and 2, the solution mixing apparatus 1 further comprises a delamination detection device 21. The delamination detection means 21 is provided on the body 11. The layering detection means 21 is connected to the control device. It will be appreciated that the connections may be electrical or network connections. The layering detection device 21 is used for performing layering detection on the solution after the mixing operation is completed. It is understood that the delamination detection may be implemented by taking a picture or the like. When the layering detection parameter of one container exceeds the threshold value, the tray is taken to the tray rack 15 by the transfer robot 12 again, the transfer robot 12 takes the container with unqualified layering detection to the corresponding solution mixing device 13 again for the second solution mixing operation, and the container is clamped and moved to the interaction bin 14 by the transfer robot 12 to be taken out after the detection is qualified.

Referring to fig. 7 and 8, the solution mixing apparatus 1 further includes a lower frame 22 and an upper frame 23. The body 11 is disposed above the lower frame 22. The upper frame 23 covers the body 11. The upper frame 23 is hollow to form a working area with the body 11 so that all components of the solution mixing apparatus 1 except the body 11, the upper frame 23 and the lower frame 22 are accommodated in the working area.

Further, in one embodiment, the upper frame 23 is provided with an operation door 231. The operation door 231 may open or close the work area. Wherein the operation door 231 is arranged at the side close to the interaction chamber 14. When solution mixing operation needs to be carried out in batches, the operation door 231 is opened, a plurality of trays with containers are transferred to the interaction bin 14, and then the transfer robot 12 transfers the trays to the first storage rack 201 or the second storage rack 202 for storage until all the trays in the batch are transferred or the first storage rack 201 and the second storage rack 202 are filled with the trays. The operation door 231 is closed, and the subsequent solution mixing operation is automatically performed by the solution mixing apparatus 1. After the solution mixing is completed, the operation door 231 is opened. The transfer robot 12 transfers the trays that have completed the mixing of the solutions one by one onto the interactive bin 14 to be manually moved out of the working area of the transfer robot 12.

Optionally, in one embodiment, the lower frame 22 is provided with a receiving space, and the control equipment and the electrical equipment of the transfer robot 12 and the solution mixing device 13 are placed in the receiving space. Wherein, electrical equipment is used for supplying power for each part in solution mixing equipment 1, and control equipment is used for controlling the operation of each part.

The solution mixing device 1 further comprises a display device 24 for users to view and interact, wherein the display device 24 is arranged on the outer wall of the upper frame 23, and is used for displaying the state, parameters and the like in the solution mixing work in real time and also used for experimenters to input instruction parameters to update experimental parameters.

Optionally, in one embodiment, the solution mixing apparatus 1 further comprises an identification code calibration component 25, and the identification code calibration component 25 is used for an external mobile apparatus to position the solution mixing apparatus 1;

the identification code calibration component 25 includes:

the three-axis calibration bracket 251 is arranged on the outer wall of the upper frame 23 and close to the operating door 231, the three-axis calibration bracket 251 comprises an X-direction connecting plate 2511, a Y-direction connecting plate 2512 and a Z-direction connecting plate 2513 which are arranged in a mutually perpendicular mode, one end of the Y-direction connecting plate 2512 is connected with one end of the X-direction connecting plate 2511, and the other end of the Y-direction connecting plate 2512 is connected with one end of the Z-direction connecting plate 2513;

three identification code calibration plates 252, wherein two identification code calibration plates 252 are respectively arranged at two ends of the X-direction connecting plate 2511, and the other identification code calibration plate 252 is arranged at the other end of the Z-direction connecting plate 2513;

wherein, each identification code calibration plate 252 is provided with an identification code inside, and the identification code is used for positioning the operation door 231 by an external mobile device.

Optionally, in one embodiment, the solution mixing apparatus 1 further comprises an air duct assembly 26. The air duct assembly 26 is provided at the top of the upper frame 23 for controlling the working temperature of the working area and replacing air.

It will be appreciated that all of the above-described actions with respect to the transfer robot 12 are performed in response to the control device issuing control commands. The control device may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, and the control device may be disposed on the solution mixing device 1, may also be disposed in the cloud or disposed separately from the solution mixing device 1, and when the control device is disposed outside the solution mixing device 1, the control device interacts with the solution mixing device 1 through a network to transmit various control instructions and transmission data. The network can be internet (internet), on-Demand virtual private Line (On-Demand virtual Line), wireless network (wireless network) including WIFI and Bluetooth, telephone network including GPRS network and CDMA network, broadcast network, and the like. Of course, the control device not only controls the relevant actions of the transfer robot 12, but also controls all other operational processes of the solution mixing device 1, so as to realize automation of the solution mixing process.

Optionally, in one embodiment, the present application further provides a solution mixing system, which includes at least one solution mixing device 1 as described above and a moving device for taking and placing the solution before and after mixing in the solution mixing device 1. In addition, when there are a plurality of solution mixing apparatuses 1, the mobile apparatus may also be used to realize experimental interaction between the plurality of solution mixing apparatuses 1.

The subject technical solution and the corresponding details of the present invention are introduced above, and it is understood that the above description is only some embodiments of the subject technical solution of the present invention, and some details can be omitted when the subject technical solution is implemented.

In addition, in some embodiments of the above utility model, there is a possibility that a plurality of embodiments may be combined to be implemented, and various combinations are not limited to space and are not listed. The implementation embodiments can be freely combined according to the requirements when the technical personnel in the field carry out the implementation so as to obtain better application experience.

In summary, the present application is provided with the above-mentioned excellent characteristics, so that the application can be used to enhance the effectiveness of the prior art and provide practicability, and become a product with practical value.

The above description is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims (19)

1. A solution mixing apparatus, comprising: the body and set up and be in transportation robot and at least one solution mixing arrangement on the body, the transportation robot includes arm and transport instrument, the one end of arm with this body coupling, the other end of arm with transport instrument connects, the arm can drive transport instrument removes, makes transport instrument remove the splendid attire with the container that remains to mix the solution to at least one on the solution mixing arrangement, solution mixing arrangement is used for right the container exerts corresponding effort will the solution that waits to mix in the container mixes.

2. The solution mixing apparatus according to claim 1, wherein the solution mixing device comprises at least one of an ambient temperature magnetic stirrer, a temperature controlled magnetic stirrer, and a shaker, each of the solution mixing devices comprising at least one.

3. The solution mixing apparatus according to claim 2, wherein the solution mixing device comprises at least two of a normal temperature magnetic stirrer, a temperature controlled magnetic stirrer, and an oscillator, and at least two of the solution mixing devices are spaced apart and arranged around the transfer robot.

4. The solution mixing apparatus according to claim 2, wherein the solution mixing device comprises a normal temperature magnetic stirrer, a temperature-controlled magnetic stirrer, and an oscillator, the body comprises a front side, a rear side, a left side, and a right side, the normal temperature magnetic stirrer is disposed between the right side and the transfer robot, the temperature-controlled magnetic stirrer is disposed between the left side and the transfer robot, and the oscillator is disposed between the rear side and the transfer robot.

5. The solution mixing device according to any one of claims 1 to 4, wherein the body comprises a front side, the solution mixing device further comprising an interaction chamber disposed in the body between the front side and the transfer robot, the interaction chamber being configured to transfer the solution before and after mixing between the outside and the body.

6. The solution mixing device according to claim 5, wherein the interaction cartridge comprises:

a support assembly connected to the body;

the containing plate is connected to the supporting assembly and is provided with at least two first bin positions for storing containers and/or trays;

the positioning piece is connected to the containing plate and arranged corresponding to the first bin, and the positioning piece is used for limiting the container and/or the tray at the first bin;

and the sensor is connected with the containing plate and arranged corresponding to the first bin position and is used for sensing whether the first bin position is stored with a container and/or a tray.

7. The solution mixing device according to claim 5, wherein the container is placed in a tray, the solution mixing device further comprising at least one tray rack, the tray rack being disposed at the body, the tray rack being for placing a tray;

the tray frame is arranged between the solution mixing device and the transfer robot;

the transfer tool comprises a container transfer clamping jaw and a tray transfer clamping jaw, the mechanical arm drives the tray transfer clamping jaw to place the tray on the tray frame, and the mechanical arm drives the container transfer clamping jaw to transfer the container in the tray to the solution mixing device.

8. The solution mixing apparatus according to claim 1, further comprising a solution clearing detection module disposed near the solution mixing device, wherein the solution clearing detection module performs solution clearing detection when the solution mixing device mixes the solution, detects a first mixing degree of the solution in the mixed container, and controls the solution mixing device to stop operating when the first mixing degree satisfies a first preset threshold; and/or

Solution mixing apparatus still includes bottom detection module, is close to solution mixing device sets up, bottom detection module aligns and places the bottom of the container among the solution mixing device for detect the second degree of mixing of the solution in the container when the second degree of mixing satisfies the second and predetermines the threshold value, solution mixing device is controlled stop work.

9. The solution mixing device according to claim 1, wherein the transfer tool comprises a plurality of types, the solution mixing device further comprising a tool magazine provided on the body for storing a plurality of types of the transfer tools, each of the transfer tools being detachably connectable to the robot arm;

the instrument storehouse be provided with a plurality of places of transporting instrument quantity looks adaptation, be provided with on the body with a plurality of place the intercommunicating pore of phase adaptation, the transportation instrument is arranged in at least part can stretch into when placing the position in the intercommunicating pore.

10. The solution mixing device according to claim 9, wherein a quick-change male head is arranged on the mechanical arm, and a quick-change female head is arranged on each transferring tool, and the quick-change male head is matched with the quick-change female head to realize detachable connection of the mechanical arm and the transferring tool.

11. The solution mixing apparatus according to claim 1, wherein the solution mixing device comprises a normal temperature magnetic stirrer and/or a temperature control magnetic stirrer, the transportation tool comprises a magneton taking and placing device, and the mechanical arm drives the magneton taking and placing device to take and place magnetons into the container.

12. The solution mixing apparatus according to claim 11, further comprising a recovery assembly disposed through the body and in communication with a recovery device disposed below the body.

13. The solution mixing device according to claim 1, further comprising a scanner disposed on the body for scanning an identification code on the container and/or a tray holding the container.

14. The solution mixing apparatus according to claim 1, further comprising at least one receiving rack disposed on a side of the solution mixing device remote from the transfer robot; the storage rack comprises at least one layer of object placing plate, and a second bin for placing containers and/or trays is arranged on the object placing plate;

the second position is provided with a fixing part, and the fixing part is used for limiting the container and/or the tray in the second position.

15. The solution mixing device according to claim 14, wherein the fixing member is a step pin for being inserted into a pin hole formed in the bottom of the tray; or

The fixing piece is an elastic abutting piece, the second bin is a positioning groove, the elastic abutting piece is arranged in the positioning groove, and when the container is placed in the positioning groove, the elastic abutting piece can abut against the container and generate elastic deformation.

16. The solution mixing apparatus according to claim 1, further comprising a layering detection device disposed on the body, the layering detection device configured to perform layering detection on the mixed solution.

17. The solution mixing apparatus according to any one of claims 1 to 16, further comprising a lower frame and an upper frame, wherein the body is disposed on the lower frame, the upper frame is covered on the body, the upper frame is hollow to form a working area with the body so as to accommodate all components of the solution mixing apparatus except the body, the upper frame and the lower frame in the working area, and the upper frame is provided with an operation door capable of opening or closing the working area;

the lower rack is provided with an accommodating space, and control equipment and electrical equipment of the transfer robot and the solution mixing device are placed in the accommodating space;

the solution mixing device further comprises a display device for user viewing and interaction, and the display device is arranged on the outer wall of the upper rack.

18. The solution mixing device according to claim 17, further comprising an identification code calibration component for an external mobile device to locate the solution mixing device;

the identification code calibration assembly includes:

the three-axis calibration support is arranged on the outer wall of the upper rack and close to the operating door, and comprises an X-direction connecting plate, a Y-direction connecting plate and a Z-direction connecting plate which are arranged in a mutually perpendicular mode, one end of the Y-direction connecting plate is connected with one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected with one end of the Z-direction connecting plate;

the three identification code calibration plates are respectively arranged at two ends of the X-direction connecting plate, and the other identification code calibration plate is arranged at the other end of the Z-direction connecting plate;

and each identification code calibration plate is internally provided with an identification code, and the identification code is used for positioning the operation door by external mobile equipment.

19. A solution mixing system comprising at least one solution mixing device as claimed in any one of claims 1 to 18 and a moving means for taking and placing the solution before and after mixing in the solution mixing device.

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