CN219092386U - Automatic centrifugal system of application of sample and transport - Google Patents

Abstract

The utility model provides a centrifugal system for automatic sample feeding and carrying, which comprises a centrifugal machine and an automatic sample feeding and carrying system; the automatic sample feeding and carrying system comprises a frame body, a horizontal plane driving module, a vertical driving module and a control module; the horizontal plane driving module can adjust the position of the vertical driving module on the same horizontal plane; the vertical driving module comprises a sample needle Z-axis driving module and a manipulator Z-axis driving module, wherein the sample needle Z-axis driving module comprises a sample needle, and the manipulator Z-axis driving module comprises a manipulator capable of grabbing a test tube; the sample needle Z-axis driving module and the manipulator Z-axis driving module can independently move in the vertical direction. In the centrifugal system, the sample needle and the mechanical claw are arranged in the vertical driving module, so that the problem of mutual interference between the sample needle and the mechanical claw during use is solved, the system can be ensured to have the capability of carrying test tubes and adding samples, and the efficiency of automatic centrifugal treatment can be effectively improved.

Description

Automatic centrifugal system of application of sample and transport

Technical Field

The utility model relates to the technical field of biochemical detection devices, in particular to a centrifugal system capable of automatically adding samples and carrying.

Background

Centrifuges are machines that utilize centrifugal force to separate components of a liquid from solid particles or a mixture of liquid and liquid. Centrifuges are used in chemical, petroleum, food, pharmaceutical, mineral separation, coal, water treatment, and marine sectors. Common centrifuges include tripodia centrifuges, horizontal screw centrifuges, disk separators, tube separators, and the like.

The centrifuge is a common device in biochemical detection, the centrifuge tube needs to be manually placed and taken out in the operation process, operators are required to further separate contents after the centrifuge tube is taken out, the operation steps are more, the efficiency is low, the possibility of pollution is easily increased due to manual operation, and therefore, the centrifuge capable of realizing full-automatic operation is needed in the field.

Disclosure of Invention

According to the centrifugal system capable of automatically feeding and carrying the centrifugal tube, the sample needle and the manipulator which can independently move in the vertical direction are arranged, and the horizontal plane driving module capable of adjusting the horizontal positions (the Z axis and the Y axis) of the sample needle and the manipulator is matched, so that automatic centrifuge tube placement and taking out, automatic reagent feeding and extracting can be realized, the centrifugal efficiency of biochemical detection can be effectively improved, artificial pollution is prevented, and the detection efficiency and accuracy are improved.

The utility model provides a centrifugal system for automatic sample feeding and carrying, which comprises a centrifugal machine and an automatic sample feeding and carrying system; the automatic sample feeding and carrying system comprises a frame body, a horizontal plane driving module, a vertical driving module and a control module; the horizontal plane driving module comprises an X-axis driving module and a Y-axis driving module, and the positions of the vertical driving modules on the same horizontal plane can be adjusted; the vertical driving module comprises a sample needle Z-axis driving module and a manipulator Z-axis driving module, wherein the sample needle Z-axis driving module comprises a sample needle, and the manipulator Z-axis driving module comprises a manipulator capable of grabbing a test tube; the sample needle Z-axis driving module and the manipulator Z-axis driving module can independently move in the vertical direction; the control module is used for controlling the operation of the X-axis driving module, the Y-axis driving module, the sample needle Z-axis driving module and the manipulator Z-axis driving module; the centrifuge is arranged below the automatic sample loading and carrying system, and the sample needle and the manipulator can independently move to the designated position of the centrifuge for sample loading and test tube carrying.

Preferably, the X-axis driving module, the Y-axis driving module, the sample needle Z-axis driving module and the manipulator Z-axis driving module independently comprise driving modules, and the driving modules comprise a stepping motor and a synchronous pulley.

Preferably, the sample needle Z-axis driving module and the manipulator Z-axis driving module are arranged on two sides of a Z-axis fixing structure, and the top end of the Z-axis fixing structure is connected with the X-axis driving module or the Y-axis driving module.

Preferably, the Y-axis driving module drives the X-axis driving module to move in the Y-axis direction.

Preferably, the centrifuge comprises a centrifuge base and a plurality of centrifugal test tube slots, each centrifugal test tube slot is connected with the centrifuge base, and the centrifugal test tube slots are vertical and open upwards when stationary.

Preferably, the bottom of the centrifuge is provided with a buffer pad.

Preferably, the centrifuge base comprises a stepping motor and a synchronous pulley.

Compared with the prior art, the utility model has the beneficial effects that:

1) The centrifugal system provided by the utility model comprises two sample needle Z-axis driving modules and a manipulator Z-axis driving module which can independently move in the vertical direction, and can control the sample needle and the manipulator to move in a three-dimensional space (three dimensions of XYZ axes) by being matched with the horizontal plane driving module with adjustable horizontal position, so that the centrifugal system can be matched with centrifuges of various types for use, achieves the purposes of automatically placing and taking out a centrifugal test tube and automatically adding samples, is efficient and convenient, does not need manual participation, and reduces the possibility of manually polluting samples in biochemical detection.

2) According to the utility model, the sample needle and the mechanical claw are jointly arranged in the vertical driving module, so that the problem of mutual interference when the sample needle and the mechanical claw are used is solved, the sample needle and the mechanical claw are respectively driven by independent Z shafts, the system can be ensured to have the capability of carrying test tubes and adding samples, and the efficiency of automatic centrifugal treatment can be effectively improved.

3) In some preferred embodiments, each driving module and each centrifugal machine in the centrifugal system are controlled by adopting the stepping motor and the synchronous belt wheel, so that the control module can realize accurate driving by adjusting the driving parameters of the driving motor and the pitch line length of the driving belt, the driving precision can reach +/-0.1 mm, and high-precision automatic control is realized.

Drawings

FIG. 1 is a schematic diagram of a centrifuge system for automated sample loading and handling;

FIG. 2 is an exploded view of a centrifuge;

FIG. 3 is a schematic diagram of the overall structure of the centrifuge;

wherein 100 is a centrifuge, 110 is a centrifuge base, 120 is a centrifuge tube groove, 130 is a centrifuge buffer pad, 210 is a frame body, 220 is a Y-axis driving module, 221 is a Y-axis stepping motor, 230 is an X-axis driving module, 231 is an X-axis stepping motor, 240 is a sample needle Z-axis driving module, 241 is a sample needle, 250 is a manipulator Z-axis driving module, 251 is a manipulator, and 260 is a Z-axis fixing structure.

Detailed Description

The technical scheme of the present utility model will be described below with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, of the implementations of the present application; and the structures shown in the drawings are merely schematic and do not represent a physical object. It is intended that all other embodiments obtained by those skilled in the art based on these embodiments of the present utility model fall within the scope of the present application.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the utility model and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the utility model. The X, Y, Z axis direction of the utility model is shown in figure 1.

As shown in FIG. 1, the present utility model provides an automatic sample loading and handling centrifuge system, comprising a centrifuge 100 and an automatic sample loading and handling system; the centrifuge 100 is positioned at the bottom of the automated loading and handling system. The automatic sample loading and handling system comprises a frame 210, a horizontal driving module, a vertical driving module and a control module. The horizontal plane driving module comprises an X-axis driving module 220 and a Y-axis driving module 230, and the positions of the vertical driving modules on the same horizontal plane can be adjusted; wherein the Y-axis driving module 220 includes a Y-axis stepper motor 221 and a Y-axis synchronous pulley, and the X-axis driving module 230 includes an X-axis stepper motor 231 and an X-axis synchronous pulley. The frame 210 includes four vertical support rods, the top ends of the support rods are connected with the Y-axis driving module 220, the Y-axis driving module 230 is slidably connected with the X-axis driving module 220, and the Y-axis driving module 230 can drive the X-axis driving module 230 to move in the Y-axis direction.

In the present utility model, the vertical driving module includes a sample needle Z-axis driving module 240, a manipulator Z-axis driving module 250, and a Z-axis fixing structure 260; the sample needle Z-axis driving module 240 and the manipulator Z-axis driving module 250 are respectively connected to two sides of the Z-axis fixing structure 260 and independently move in the Z-axis direction, so that accurate control can be realized, mutual interference can be avoided, the structure is more optimized, and the occupied space is small. The sample needle Z-axis drive module 240 includes a sample needle 241, a sample needle Z-axis stepper motor, and a sample needle Z-axis synchronous pulley, the sample needle 241 being connectable to a fluid input and/or output conduit for filling and/or drawing samples into a centrifuge tube placed in a centrifuge tube well. The gripper Z-axis driving module 250 comprises a gripper 251, a gripper Z-axis stepping motor and a gripper Z-axis synchronous pulley, wherein the gripper 251 is used for placing or grabbing a centrifuge tube in a centrifuge tube groove.

In the utility model, the control module is used for controlling the operation of the X-axis driving module, the Y-axis driving module, the sample needle Z-axis driving module and the manipulator Z-axis driving module. The control module comprises a chip and a control element for loading a control program, wherein the control module calculates the distance between a current coordinate and a zero point (the zero point is a starting point in an XYZ three-dimensional space which is virtual in the control module and can be a zero point) and stores the distance between the current coordinate and the zero point (the zero point is a starting point in the XYZ three-dimensional space which is virtual in the control module) through driving parameters of a driving motor (the driving parameters refer to the rotation angle controlled by the motor, the rotation angle is controlled by software through pulses, the rotation motion of the motor is controlled by the software, the synchronous belt and the synchronous belt are utilized to convert the rotation angle into linear motion, the distance between the rotation angle and the linear motion is converted into the distance between the rotation angle) and the pitch line of the driving belt, the current coordinate and the zero point are stored, the current coordinate is accurately driven by the driving motor, the driving precision is +/-0.1 mm, and after a manipulator and a sample needle are driven to a corresponding target coordinate point station, the motor and the driving belt are operated in the Z direction, so that the manipulator and/or the manipulator can operate each coordinate point of a centrifugal mechanism to work, and finally full-automatic operation is realized.

The centrifuge in the centrifuge system of the present utility model may be as shown in fig. 2-3. Specifically, the centrifuge 100 includes a centrifuge base 110 and 4 centrifugal test tube slots 120 distributed in a cross shape, each centrifugal test tube slot 120 is connected with the centrifuge base 110, when the centrifuge test tube slot is stationary, the opening is upward (fig. 3), when the centrifuge is running, the centrifuge test tube slot 120 is gradually changed from the opening in the vertical direction to the opening in the horizontal direction due to the centrifugal force, and is kept until centrifugation is finished, and the centrifuge is restored to a stationary state.

In some embodiments of the present utility model, centrifuge base 110 includes a stepper motor and a synchronous pulley, which are also controllable by the control system to achieve accurate driving.

In some embodiments of the present utility model, the bottom of the centrifuge 100 is provided with a cushion 130, 4 cushions as shown in fig. 2-3 being provided at the bottom of the centrifuge 100 to further cushion the centrifuge.

When the centrifugal system is used, the control module can control the X-axis driving module 220 and the Y-axis driving module 230 to adjust the positions of the vertical driving modules, and then drive the sample needle Z-axis driving module 240 and the manipulator Z-axis driving module 250 to move in the Z-axis direction (vertical direction) according to the requirements, so that automatic sample loading and centrifuge tube conveying in an XYZ three-dimensional space are realized. The gripper 251 can grasp the centrifuge tube from some tube fixing structures (for example, tube rack or tube fixing structure of the preceding step) and put into the centrifuge tube slot 120 of the centrifuge, the centrifuge is started to centrifuge, and after the centrifugation is finished, the gripper 251 moves to the upper side of the target centrifuge tube to grasp and place in some designated tube fixing structures. The loading needle 241 may perform sample loading or sampling as desired to a centrifuge tube placed in the centrifuge tube slot 120. In the utility model, the sample needle and the mechanical claw are jointly arranged in the vertical driving module, so that the problem of mutual interference when the sample needle and the mechanical claw are used is solved, the sample needle and the mechanical claw are respectively driven by independent Z shafts, the system can be ensured to have the capability of carrying test tubes and adding samples, and the efficiency of automatic centrifugal treatment can be effectively improved.

The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model, which are intended to be comprehended within the scope of the present utility model.

Claims (7)

1. The centrifugal system for automatic sample feeding and carrying is characterized by comprising a centrifugal machine and an automatic sample feeding and carrying system;

the automatic sample feeding and carrying system comprises a frame body, a horizontal plane driving module, a vertical driving module and a control module;

the horizontal plane driving module comprises an X-axis driving module and a Y-axis driving module, and the positions of the vertical driving modules on the same horizontal plane can be adjusted;

the vertical driving module comprises a sample needle Z-axis driving module and a manipulator Z-axis driving module, wherein the sample needle Z-axis driving module comprises a sample needle, and the manipulator Z-axis driving module comprises a manipulator capable of grabbing a test tube; the sample needle Z-axis driving module and the manipulator Z-axis driving module can independently move in the vertical direction;

the control module is used for controlling the operation of the X-axis driving module, the Y-axis driving module, the sample needle Z-axis driving module and the manipulator Z-axis driving module;

the centrifuge is arranged below the automatic sample loading and carrying system, and the sample needle and the manipulator can independently move to the designated position of the centrifuge for sample loading and test tube carrying.

2. The centrifuge system of claim 1, wherein the X-axis drive module, Y-axis drive module, sample needle Z-axis drive module, and manipulator Z-axis drive module independently comprise a drive module comprising a stepper motor and a synchronous pulley.

3. The centrifuge system of claim 1, wherein the sample needle Z-axis drive module and the manipulator Z-axis drive module are disposed on opposite sides of a Z-axis fixture, the top of the Z-axis fixture being connected to the X-axis drive module or the Y-axis drive module.

4. The centrifugal system of claim 1, wherein the Y-axis drive module moves the X-axis drive module in the Y-axis direction.

5. The centrifuge system of claim 1 wherein the centrifuge comprises a centrifuge base and a plurality of centrifuge tube slots, each centrifuge tube slot being connected to the centrifuge base, the centrifuge tube slots being vertically oriented and open upwardly when stationary.

6. The centrifuge system of claim 5, wherein the bottom of the centrifuge is provided with a buffer pad.

7. The centrifuge system of claim 5 wherein said centrifuge base comprises a stepper motor and a synchronous pulley.

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