CN219522141U - Chip grabbing assembly and microfluidic system - Google Patents

Abstract

The application relates to a chip grabbing assembly and a microfluidic system, wherein a clamping structural member is slidably arranged under a mounting bracket and is in linkage arrangement with a rotating disc body; the mounting bracket penetrates through the output shaft of the driving motor, the rotating disc body is mounted on the output shaft, and the output shaft drives the rotating disc body to rotate in a reciprocating mode, so that the clamping structural members slide relatively to the mounting bracket when the rotating disc body rotates to form a contracted state or a stretched state, and the clamping structural members form a clamping state and a loosening state together for chips to be grabbed. The clamping structure has the advantages of simple structure, easy adjustment and easy agreement, so that the clamping structure has better stability when in use, the number of clamping structural members can be increased according to actual use conditions, the clamping structure has the advantage of wide adaptability, the influence on the chip in the clamping process is very little, the chip is prevented from being damaged due to clamping or carrying, and the position of the chip in the carrying process is ensured to be unchanged.

Description

Chip grabbing assembly and microfluidic system

Technical Field

The application relates to the field of chip grabbing and automatic processing, in particular to a chip grabbing component and a microfluidic system.

Background

The microfluidic chip is also called as Lab-on-chip, and is mainly characterized by adopting microfluidic technology (Microfluidics), i.e. a technology for controlling fluid in a micrometer scale space, and can realize that part of the process of automatically completing analysis is the whole process by integrating basic operation units of sample preparation, reaction, separation, detection, and the like in biological, chemical and medical analysis processes on one micrometer scale chip.

Chinese patent with publication No. CN217254837U discloses a novel centering clamping jaw, which comprises a fixed base, the draw-in groove, the slide rail, clamp and get moving mechanism, centering mechanism and safety cover, the draw-in groove is located on the fixed base, slide rail plug connection is located on the draw-in groove and is located on the fixed base, clamp and get moving mechanism and locate on the slide rail, centering mechanism locates on the fixed base and locates clamp and get moving mechanism, safety cover plug connection locates on the fixed base, clamp and get moving mechanism and include slide base, connecting plate, push rod, cylinder and finger fixed block, connecting rod one end is articulated to be located on the connecting plate, the connecting rod other end is articulated to be located on the rolling disc.

However, the technology has the defects of complex structure and inconvenient adjustment, and is difficult to realize consistent action when the air cylinders synchronously act, so that the connecting rod is easy to be blocked when in use. In addition, the number of the clamping jaws of the technology cannot be increased according to actual use conditions, so that the problem of single applicability exists.

Disclosure of Invention

Based on this, it is necessary to provide a chip grabbing component and a microfluidic system.

In one embodiment, a chip gripper assembly includes a mounting bracket, a rotating disc, and at least two clamping structures;

the clamping structural member is slidably arranged under the mounting bracket, and is in linkage arrangement with the rotating disc body;

the mounting bracket is arranged to penetrate through an output shaft of the driving motor, the rotating disc body is arranged to be mounted on the output shaft, the output shaft drives the rotating disc body to rotate reciprocally, so that the clamping structural members slide relatively to the mounting bracket to form a contracted state or a stretched state when the rotating disc body rotates, and the clamping structural members form a clamping state and a loosening state together with the chip to be grabbed.

The chip grabbing component can be applied to grabbing chips, especially micro-fluidic chips, has the advantages of simple structure and easy adjustment, and the clamping structural members are easy to realize and agree in a contracted state or a stretched state, so that the chip grabbing component has better stability when in use, the number of the clamping structural members can be increased according to actual use conditions, the chip grabbing component has the advantage of wide adaptability, the influence on the chips in the clamping process is very little, the chips are prevented from being damaged due to clamping or carrying, and the position of the chips in the carrying process can be kept unchanged.

In one embodiment, the number of clamping structures is at least three; and/or the number of the groups of groups,

the position distribution of the clamping structural member or clamping jaws of the clamping structural member is adapted to the shape of the chip; and/or the number of the groups of groups,

the clamping structural member comprises a linear guide rail, a connecting seat, clamping jaws and a limiting rotating structure;

one end of the limiting rotating structure is fixed on the rotating disc body, the other end of the limiting rotating structure and the clamping jaw are respectively fixed on the connecting seat, the connecting seat is in sliding connection with the mounting bracket through the linear guide rail, and the sliding central axis of the linear guide rail passes through the rotating axial center position of the rotating disc body or the rotating axial line of the output shaft;

the limiting rotating structure forms a shrinkage state to drive the clamping jaw to shrink inwards or forms a stretching state to drive the clamping jaw to expand outwards when the rotating disc body rotates, so that the clamping jaws form a clamping state and a loosening state together for chips to be grabbed.

Further, in one embodiment, the limiting rotating structure is driven by the rotating disc body to form a contracted state so as to drive the clamping jaws to move along the centripetal direction D1, so that the clamping jaws form a clamping state together with the chip to be grabbed, and the chip is clamped; or the limiting rotating structure is driven by the rotating disc body to form an overhanging state so as to drive the clamping jaws to move along the centrifugal direction D2, so that the clamping jaws form a loose state together on the chip, and the chip is released.

The mounting brackets are in sliding connection with the connecting seats in a one-to-one correspondence through the linear guide rails.

The driving motor drives the rotating disc body to reciprocate within a preset range through the output shaft so as to drive the connecting seat to reciprocate within a range limited by the limiting rotating structure, the connecting seat slides reciprocally relative to the mounting bracket under the action of the linear guide rail, and the clamping jaw is driven to reciprocate relative to the rotating shaft center position of the rotating disc body, for example, the output shaft of the driving motor, so that the clamping jaws jointly have a clamping state and a loosening state for a chip to be grabbed.

In one embodiment, the linear guide rail comprises a sliding groove and a sliding rail block;

the sliding central axis of the sliding groove and the sliding rail block passes through the rotation axis position of the rotation disc body or the rotation axis of the output shaft;

the sliding groove is in limiting sliding connection with the sliding rail block, the sliding groove is fixed under the mounting bracket, and the sliding rail block is fixed on the connecting seat, so that the connecting seat is mounted under the mounting bracket and is in a sliding state along the sliding groove.

In one embodiment, the rotating disc body comprises a disc body and a shaft connection part which are fixed with each other;

The shaft connection part is fixed on the disc body and is in driving connection with the output shaft, and the output shaft drives the shaft connection part to drive the disc body to rotate in a reciprocating manner;

one end of each limiting rotating structure is respectively fixed on the disc body, and the sliding central axis of each linear guide rail passes through the rotating axis position of the disc body.

In one embodiment, the rotating disc body rotates to a target position defined by the limiting rotating structure along any direction, the clamping jaws jointly have a loosening state for chips to be grabbed, and the rotating disc body rotates to a position exceeding the target position, and the clamping jaws jointly have a clamping state for the chips to be grabbed;

the rotating disc body rotates to a target position defined by the limiting rotating structure in the reverse direction, the clamping jaws jointly have a loosening state on chips to be grabbed, and the rotating disc body rotates to a position exceeding the target position, and the clamping jaws jointly have a clamping state on the chips to be grabbed;

and/or the number of the groups of groups,

the clamping jaw comprises a body, a first step part and a second step part, wherein the first step part and the second step part are convexly arranged on the body; a clamping groove is formed between the first step part and the second step part, and the clamping groove is used for accommodating the chip in a clamping state formed by the clamping jaw;

The body is provided with an assembly hole, the body is fixedly connected with the connecting seat through the assembly hole in a threaded manner,

and a spacing region is formed between the second step part and the assembly hole.

Further, in one embodiment, the clamping jaw further includes a third step portion protruding on the body, the third step portion is located under the assembly hole, so as to support the connection seat when the body is fixed, and the spacer is formed between the second step portion and the third step portion.

In one embodiment, the mounting bracket comprises a frame body and an extension arm connected with the frame body;

the mounting bracket is provided with a clearance hole in the bracket body, and the bracket body passes through an output shaft of the driving motor through the clearance hole;

the mounting bracket is provided with an assembly groove at the extension arm, the clamping structural member is slidably mounted under the extension arm at the assembly groove, or the sliding groove of the linear guide rail of the clamping structural member is fixed under the extension arm at the assembly groove, and the sliding rail block of the linear guide rail of the clamping structural member is in limiting sliding connection with the sliding groove.

In one embodiment, the chip grabbing assembly further comprises the driving motor, and the driving motor is a stepping motor; and/or the number of the groups of groups,

The chip grabbing assembly is provided with an angle sensor and a controller, the angle sensor is arranged on the mounting bracket or the rotating disc body, the controller is respectively connected with the driving motor and the angle sensor, and the controller is used for controlling the driving motor to stop rotating or reversely rotating when the angle sensor senses that the driving motor rotates to reach or exceed a preset angle; and/or the number of the groups of groups,

the chip grabbing component is provided with a centering structure, the centering structure is arranged below the rotating shaft center of the rotating disc body or on the rotating disc body and penetrates through the rotating shaft center, and the centering structure is used for aligning the center of the chip when grabbing the chip.

In one embodiment, the clamping structural member or the limiting rotation structure of the clamping structural member comprises a rigid connecting member and two pin shafts;

the two pin shafts are a first pin shaft and a second pin shaft, the first pin shaft penetrates through the first end of the rigid connecting piece and is fixed on the rotating disc body, and the second pin shaft penetrates through the second end of the rigid connecting piece and is connected with the clamping jaw of the clamping structural member;

The rotating disc body drives the first pin shaft to move in a rotating state, the first end of the rigid connecting piece rotates relative to the first pin shaft, the second end of the rigid connecting piece rotates relative to the second pin shaft, and the rigid connecting piece drives the clamping jaw to reciprocate within a limited range formed by the position change of the rigid connecting piece.

In one embodiment, the rigid connection piece comprises a connecting rod, a connecting sheet and a bending piece; and/or the number of the groups of groups,

the second pin shaft penetrates through the second end of the rigid connecting piece and is fixed to the connecting seat of the clamping structural piece, the clamping jaw is fixed to the connecting seat, and the rigid connecting piece drives the connecting seat and the clamping jaw to reciprocate within a limited range formed by position change of the rigid connecting piece when the rotating disc body is in a rotating state.

Further, in one embodiment, the limiting rotation structure includes a rigid connection member and two pins;

the two pin shafts are a first pin shaft and a second pin shaft, the first pin shaft penetrates through the first end of the rigid connecting piece and is fixed on the rotating disc body, and the second pin shaft penetrates through the second end of the rigid connecting piece and is fixed on the connecting seat;

The rotating disc body drives the first pin shaft to move in a rotating state, the first end of the rigid connecting piece rotates relative to the first pin shaft, the second end of the rigid connecting piece rotates relative to the second pin shaft, and the rigid connecting piece drives the connecting seat and the clamping jaw to reciprocate within a limited range formed by the position change of the rigid connecting piece.

In one embodiment, a microfluidic system includes a centrifugal device, a driving device, a microfluidic chip placement base, and the chip grabbing component of any embodiment, where the driving device is connected to the chip grabbing component and is used for driving the chip grabbing component to grab a chip for microfluidic from the microfluidic chip placement base, and convey the chip to the centrifugal device.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following descriptions are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

Fig. 1 is a schematic structural diagram of an embodiment of a chip grabbing assembly according to the present application.

Fig. 2 is a schematic diagram of a driving motor of the embodiment shown in fig. 1.

Fig. 3 is a schematic diagram of a capture chip application of the embodiment shown in fig. 1.

FIG. 4 is another schematic view of the embodiment of FIG. 1.

Fig. 5 is a schematic diagram of a capture chip application of the embodiment shown in fig. 4.

Fig. 6 is an exploded view of the embodiment of fig. 4.

Fig. 7 is a schematic view of a part of the structure of the embodiment shown in fig. 4.

FIG. 8 is another schematic view of the embodiment of FIG. 7.

Fig. 9 is a schematic view of a part of the structure of the embodiment shown in fig. 4.

Fig. 10 is a schematic view of a part of the structure of the embodiment shown in fig. 4.

FIG. 11 is another schematic view of the embodiment of FIG. 4.

Fig. 12 is an exploded view of the embodiment of fig. 11.

Fig. 13 is a schematic structural view of the mounting bracket of the embodiment shown in fig. 12.

Fig. 14 is a schematic view of a part of the structure of the embodiment shown in fig. 11.

Fig. 15 is an exploded view of the embodiment of fig. 14.

FIG. 16 is another schematic view of the embodiment of FIG. 14.

Fig. 17 is an exploded view of the embodiment of fig. 16.

Fig. 18 is a schematic view of the structure of the jaw of the embodiment of fig. 17.

Fig. 19 is a schematic view of an application of another embodiment of the chip gripper assembly according to the present application.

FIG. 20 is a schematic diagram of a completed chip capture of the embodiment of FIG. 19.

Fig. 21 is a schematic application diagram of another embodiment of the chip grabbing assembly according to the present application.

Fig. 22 is a schematic diagram of a completed chip capture of the embodiment of fig. 21.

Reference numerals:

chip grabbing component 100, chip 200, microfluidic chip placement base 300, clamping structure 400, centripetal direction D1, and centrifugal direction D2;

the device comprises a driving motor 110, a mounting bracket 120, a rotating disc 130, a pin shaft 140, a connecting rod 150, a linear guide rail 160, a connecting seat 170, clamping jaws 180 and a limiting rotating structure 190;

the output shaft 111, the rotation axis 112, the frame 121, the extension arm 122, the avoidance hole 123, the assembly groove 124, the disk 131, the shaft connection portion 132, the rotation axis position 133, the first pin 141, the second pin 142, the chute 161, the slide rail block 162, the slide center axis 163, the first step portion 181, the second step portion 182, the third step portion 183, the body 184, the clip groove 185, the spacer 186, and the assembly hole 187.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and the like are used in the description of the present application for the purpose of illustration only and do not represent the only embodiment.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" on a second feature may be that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through intermedial media. Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely under the second feature, or simply indicating that the first feature is less level than the second feature.

Unless defined otherwise, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used in the description of the present application includes any and all combinations of one or more of the associated listed items.

The application discloses a chip grabbing component and a microfluidic system, which comprise part of or all of the structures of the following embodiments; namely, the chip grabbing component and the microfluidic system comprise part of or all of the following technical features. In one embodiment of the application, a chip grabbing assembly comprises a mounting bracket, a rotating disc body and at least two clamping structural members; the clamping structural member is slidably arranged under the mounting bracket, and is in linkage arrangement with the rotating disc body; the mounting bracket is arranged to penetrate through an output shaft of the driving motor, the rotating disc body is arranged to be mounted on the output shaft, the output shaft drives the rotating disc body to rotate reciprocally, so that the clamping structural members slide relatively to the mounting bracket to form a contracted state or a stretched state when the rotating disc body rotates, and the clamping structural members form a clamping state and a loosening state together with the chip to be grabbed. The chip grabbing component can be applied to grabbing chips, especially micro-fluidic chips, has the advantages of simple structure and easy adjustment, and the clamping structural members are easy to realize and agree in a contracted state or a stretched state, so that the chip grabbing component has better stability when in use, the number of the clamping structural members can be increased according to actual use conditions, the chip grabbing component has the advantage of wide adaptability, the influence on the chips in the clamping process is very little, the chips are prevented from being damaged due to clamping or carrying, and the position of the chips in the carrying process can be kept unchanged.

In one embodiment, a chip gripper assembly 100 is shown in fig. 1, and includes a mounting bracket 120, a rotating disk 130, and at least two clamping structures 400; the clamping structure 400 is slidably mounted under the mounting bracket 120, and the clamping structure 400 is disposed in linkage with the rotating disc 130.

In this embodiment, the chip grabbing assembly 100 further includes the driving motor 110, with reference to fig. 2, the mounting bracket 120 is disposed to pass through an output shaft 111 of the driving motor 110, the rotating disc 130 is disposed to be mounted on the output shaft 111, and the output shaft 111 drives the rotating disc 130 to reciprocate, so that the clamping structural members 400 slide relative to the mounting bracket 120 to form a contracted state or a stretched state when the rotating disc 130 rotates, and with reference to fig. 3, the clamping structural members 400 jointly form a clamping state and a releasing state of the chip 200 to be grabbed. The clamping structures 400 shown in fig. 3 form a contracted state, so that the clamping structures 400 form a clamping state together with the chip 200 to be grasped.

In one embodiment, the drive motor 110 is a stepper motor; further, in one embodiment, the stepper motor is stopped after each rotation of a first preset angle, and then controlled to reversely rotate a second preset angle; then the controlled reverse rotation is stopped after a first preset angle, and then the controlled reverse rotation is stopped after a second preset angle. And so on, to enable the clamping structural members 400 to slide relative to the mounting bracket 120 to form a contracted state or an extended state when the rotating disc 130 rotates, so that the clamping structural members 400, for example, the clamping jaws of the clamping structural members 400, jointly form a clamping state and a releasing state for the chip 200 to be grabbed. Thus, a uniform supporting force can be formed, and the negative pressure adsorption or two-sided pressing clamping mode in the conventional technology is not needed, so that the chip 200 to be grabbed is protected.

To facilitate uniform force application, in combination with fig. 4 and 5, in one embodiment, the number of the clamping structures 400 is at least three; in this embodiment, the chip 200 is a circular chip, such as a circular microfluidic chip, and in other embodiments, the chip 200 may be a chip with other shapes, such as an oval chip, a polygonal chip, or a special-shaped chip. In various embodiments, the clamping structure 400 or the position distribution of the clamping jaws 180 of the clamping structure 400 is adapted to the shape of the chip 200; for example, for a chip 200 having a rotationally symmetrical shape, the clamping structure 400 or the position distribution of the clamping jaws 180 of the clamping structure 400 is also rotationally symmetrical. The location of the clamping structure 400 or its clamping jaws 180 can be flexibly set by those skilled in the art as desired.

In order to keep the direction effective, so as to form a clamping state together with the chip to be grabbed or form a releasing state together with the chip to be grabbed, in combination with fig. 6, in one embodiment, the clamping structure 400 includes a linear guide 160, a connection seat 170, a clamping jaw 180, and a limiting rotation structure 190; one end of the limiting rotation structure 190 is fixed to the rotation disc 130, the other end of the limiting rotation structure 190 and the clamping jaw 180 are respectively fixed to the connection base 170, the connection base 170 is slidably connected to the mounting bracket 120 through the linear guide rail 160, and, referring to fig. 7 and 8, a sliding central axis 163 of the linear guide rail 160 passes through a rotation axis position 133 of the rotation disc 130 or a rotation axis 112 of the output shaft 111; the limiting rotation structure 190 forms a contracted state to drive the clamping jaw 180 to contract inwards or forms a stretched state to drive the clamping jaw 180 to expand outwards when the rotation disc 130 rotates, so that the clamping jaws 180 form a clamping state and a releasing state together with the chip 200 to be grabbed. In this embodiment, the mounting bracket 120 is slidably connected to each of the connection seats 170 through each of the linear guide rails 160 in a one-to-one correspondence. Further, in one embodiment, the limiting rotation structure 190 is driven by the rotation disc 130 to form a contracted state, so as to drive the clamping jaws 180 to move along the centripetal direction D1, so that the clamping jaws 180 form a clamping state together with the chip 200 to be grabbed, and thus the chip 200 is clamped; or the limiting rotation structure 190 is driven by the rotation disc 130 to form an overhanging state so as to drive the clamping jaws 180 to move along the centrifugal direction D2, so that the clamping jaws 180 together form a releasing state for the chip 200, and the chip 200 is released.

To ensure accuracy of the released state of the clamping state on the premise of improving adaptability, and further, in one embodiment, the driving motor 110 drives the rotating disc body 130 to reciprocally rotate within a predetermined range through the output shaft 111, so as to drive the connecting seat 170 to reciprocally move within a range defined by the limiting rotating structure 190, the connecting seat 170 reciprocally slides relative to the mounting bracket 120 under the action of the linear guide rail 160, and drives the clamping jaw 180 to reciprocally move relative to the rotation axis position 133 of the rotating disc body 130, for example, the output shaft 111 of the driving motor 110, so that the clamping jaws 180 together have the clamped state of the chip 200 to be clamped as shown in fig. 9, and the clamping jaws 180 together have the released state of the chip 200 to be clamped as shown in fig. 10. The design has the advantages of simple structure, single power and high motion consistency of the clamping jaw, is suitable for clamping various chips, particularly various round microfluidic chips, and has high applicability; and in the clamping process, the position of the chip in the carrying process can be ensured to be unchanged.

Referring to fig. 11 and 12, in one embodiment, the linear guide 160 includes a chute 161 and a slide block 162; the sliding groove 161 and the sliding central axis 163 of the sliding rail block 162 pass through the rotation axis position 133 of the rotation disc 130 or the rotation axis 112 of the output shaft 111; the sliding groove 161 is in sliding connection with the sliding rail block 162 in a limiting manner, the sliding groove 161 is fixed under the mounting bracket 120, and the sliding rail block 162 is fixed on the connection seat 170, so that the connection seat 170 is mounted under the mounting bracket 120 and is in a sliding state along the sliding groove 161. Such sliding fit structure is favorable to realizing the sliding connection of installing support and connecting seat on the one hand, and on the other hand is favorable to bearing heavier gravity relative to the chip, guarantees the long-term steady operation of structures such as connecting seat and clamping jaw to ensure the design life of product.

Referring to fig. 13, in one embodiment, the mounting bracket 120 includes a frame 121 and an extension arm 122 connected to the frame 121; the mounting bracket 120 is provided with a avoidance hole 123 in the frame 121, and the frame 121 passes through the output shaft 111 of the driving motor 110 through the avoidance hole 123; the mounting bracket 120 is provided with an assembly groove 124 at the extension arm 122, the clamping structural member 400 is slidably mounted under the extension arm 122 at the assembly groove 124, or a sliding groove 161 of a linear guide rail 160 of the clamping structural member 400 is fixed under the extension arm 122 at the assembly groove 124, and a sliding rail block 162 of the linear guide rail 160 of the clamping structural member 400 is in limited sliding connection with the sliding groove 161. By the design, the installation requirement of the sliding groove is met, and the material of the installation support is saved.

In one embodiment, as shown in fig. 14 and 15, the clamping structure 400 or the limit rotation structure 190 of the clamping structure 400 includes a rigid connection member and two pins 140; the two pins 140 are a first pin 141 and a second pin 142, the first pin 141 passes through a first end of the rigid connection member and is fixed on the rotating disc 130, and the second pin 142 passes through a second end of the rigid connection member and is connected to the clamping jaw 180 of the clamping structure 400; the rotating disc 130 drives the first pin shaft 141 to move in a rotating state, the first end of the rigid connecting piece rotates relative to the first pin shaft 141, the second end of the rigid connecting piece rotates relative to the second pin shaft 142, and the rigid connecting piece drives the clamping jaw 180 to reciprocate within a limited range formed by the position change of the rigid connecting piece. In one embodiment, the second pin 142 passes through the second end of the rigid connection member and is fixed to the connection seat 170 of the clamping structure 400, the clamping jaw 180 is fixed to the connection seat 170, and the rotating disc 130 drives the connection seat 170 and the clamping jaw 180 to reciprocate within a limited range formed by the position variation of the rigid connection member in a rotating state. The design skillfully balances the technical design between the rotation connection and the traction limit, so that the position change of the rigid connecting piece is kept within a limited range, the clamping jaws are matched together, and the clamping state and the loosening state are respectively formed for the chip at different positions.

Further, in one embodiment, the limiting rotation structure 190 includes a rigid connection member and two pins 140; the two pins 140 are a first pin 141 and a second pin 142, the first pin 141 passes through a first end of the rigid connection member and is fixed to the rotating disc 130, and the second pin 142 passes through a second end of the rigid connection member and is fixed to the connection seat 170; the rotating disc 130 drives the first pin shaft 141 to move in a rotating state, the first end of the rigid connecting piece rotates relative to the first pin shaft 141, the second end of the rigid connecting piece rotates relative to the second pin shaft 142, and the rigid connecting piece drives the connecting seat 170 and the clamping jaw 180 to reciprocate within a limited range formed by the position change of the rigid connecting piece. In one embodiment, the rigid connection member includes a connecting rod 150, a connecting sheet, and a bending member; in each embodiment, taking the rigid connection piece as an example, the connecting rod 150 is adopted, and the limiting rotation structure 190 includes the connecting rod 150 and two pins 140; the two pins 140 are a first pin 141 and a second pin 142, the first pin 141 passes through a first end of the connecting rod 150 and is fixed to the rotating disc 130, and the second pin 142 passes through a second end of the connecting rod 150 and is fixed to the connecting seat 170; the rotating disc 130 drives the first pin shaft 141 to move in a rotating state, the first end of the connecting rod 150 rotates relative to the first pin shaft 141, the second end of the connecting rod 150 rotates relative to the second pin shaft 142, and the connecting rod 150 drives the connecting seat 170 and the clamping jaw 180 to reciprocate within a limited range formed by the position variation of the connecting rod 150. The rest of the embodiments are analogized and will not be described in detail.

In one embodiment, as shown in fig. 16 and 17, the rotating disc 130 includes a fixed disc 131 and a shaft 132; the shaft connection part 132 is fixed on the disc 131, and the shaft connection part 132 is in driving connection with the output shaft 111, and the output shaft 111 drives the shaft connection part 132 to drive the disc 131 to rotate reciprocally; one end of each of the limiting and rotating structures 190 is fixed to the disc 131, and the sliding central axis 163 of each of the linear guide rails 160 passes through the rotation axis position 133 of the disc 131. In one embodiment, the rotating disc 130 rotates to a target position defined by the limit rotating structure 190 in any direction, the clamping jaws 180 together have a release state for the chip 200 to be gripped, and the rotating disc 130 rotates to a position beyond the target position, the clamping jaws 180 together have a clamping state for the chip 200 to be gripped; the rotating disc 130 rotates in the opposite direction to the target position defined by the limit rotating structure 190, the clamping jaws 180 together have a release state for the chip 200 to be gripped, and the rotating disc 130 rotates beyond the target position, and the clamping jaws 180 together have a clamping state for the chip 200 to be gripped. Further, in one embodiment, the rotating disc 130 is a disc, and in other embodiments, the rotating disc 130 may be a square disc, an elliptic disc, a sphere, or the like.

In one embodiment, as shown in fig. 18, the clamping jaw 180 includes a body 184, and a first step portion 181 and a second step portion 182 protruding on the body 184; a clamping groove 185 is formed between the first step portion 181 and the second step portion 182, and the clamping groove 185 is used for accommodating the chip 200 in a clamping state formed by the clamping jaw 180; the body 184 is provided with an assembly hole 187, the body 184 is screwed and fixed to the connection base 170 through the assembly hole 187, and a spacer 186 is formed between the second step 182 and the assembly hole 187. Further, in this embodiment, the clamping jaw 180 further includes a third step portion 183 protruding on the body 184, the third step portion 183 is located below the assembly hole 187 to support the connection seat 170 when the body 184 is fixed, and the spacing area 186 is formed between the second step portion 182 and the third step portion 183. Further, in one embodiment, the first step portion 181 is configured to support the chip 200, and the second step portion 182 has a gap with the chip 200 in the clamped state, that is, is not in contact with the chip 200. The chip 200 is supported by the first step portion, and the chip 200 is supported by the first step portion, so that the influence on the chip in the clamping process is very little, the chip is prevented from being damaged due to clamping or carrying, and the position of the chip in the carrying process is kept unchanged.

In one embodiment, the chip grabbing assembly 100 is provided with an angle sensor and a controller, the angle sensor is disposed on the mounting bracket 120 or the rotating disc 130, the controller is respectively connected with the driving motor 110 and the angle sensor, and the controller is used for controlling the driving motor 110 to stop rotating or reversely rotating when the angle sensor senses that the driving motor 110 rotates to reach or exceed a preset angle, so as to realize the cycle control of clamping, loosening, clamping and loosening … …. In one embodiment, the chip grabbing assembly 100 is provided with a centering structure, where the centering structure is disposed below the rotation axis position 133 of the rotation disc 130 or disposed on the rotation disc 130 and passes through the rotation axis position 133, and the centering structure is used to align the center of the chip 200 when grabbing the chip 200. The design has the advantages of simple structure, single power and high motion consistency of the clamping jaw, is suitable for clamping various chips, especially various round microfluidic chips, and has high applicability. And in the clamping process, the micro-fluidic chip can be clamped in a centering manner, so that the position of the chip in the carrying process is unchanged.

Further, in one embodiment, as shown in fig. 19 and 20, the chip grabbing assembly 100 grabs the chip 200 from the microfluidic chip placement base 300, and in combination with fig. 21 and 22, it can be seen that, in the process of grabbing the chip 200 and even carrying the chip 200, since the clamping jaw 180 of the chip grabbing assembly 100 actually plays a role of supporting, in combination with fig. 18, in the process of grabbing the chip 200, the chip 200 only contacts the first step portion 181 of the clamping jaw 180, and does not contact the body 184, and even in the process of translating and carrying the chip 200, the chip 200 may not contact the body 184, so that the grabbing force borne by the chip 200 is the weight of the chip 200 itself; at too high a handling rate or tilting, the interaction force between the chip 200 and the body 184 is typically very low, and is normally also lower than the weight of the chip 200 itself. By the design, the possibility of damage to the chip 200 in the clamping process is extremely low, the chip 200 is prevented from being damaged due to clamping or carrying, and the position of the chip 200 in the carrying process can be kept unchanged.

Taking a round microfluidic chip grabbing as an example, the chip grabbing component is a microfluidic chip grabbing component and comprises a clamping jaw motor, a rotating disc, a pin shaft 140, a connecting rod 150, a linear guide rail 160 and a clamping jaw 180; wherein a jaw motor is used as the driving motor 110, and a rotating disc is used as the rotating disc body 130. The clamping jaw motor drives the rotating disc to rotate, and the rotating disc pulls the connecting rod to drive the clamping jaw to move, so that the chip is clamped. The clamping jaw motor is reversed, so that the loosening of the chip can be realized. The first step portion 181 and the second step portion 182 on the clamping jaw can effectively prevent the chip from falling off. And the design adopts the single power control of the driving motor, the control precision is high, the consistency is good, the driving motor only provides the action of rotating and clamping, and after clamping, the linear guide rail is stressed, so that the linear guide rail can bear great gravity and is not easy to damage. In addition, because the structure is evenly distributed, the chip can be centered during clamping, so that the stress is balanced, and the chip can be protected.

In one embodiment, a microfluidic system includes a centrifugal device, a driving device, a microfluidic chip placement base 300, and the chip grabbing assembly 100 according to any embodiment, where the driving device is connected to the chip grabbing assembly 100 and is used for driving the chip grabbing assembly 100 to grab a chip 200 for microfluidic from the microfluidic chip placement base 300 and convey the chip 200 to the centrifugal device. Further, in one embodiment, the driving device is connected to the mounting bracket 120 of the chip grabbing assembly 100 and the driving motor 110. The design can be applied to micro-fluidic chip grabbing, has the advantages of simple structure and easy adjustment, the clamping structural members are easy to realize in a contracted state or a stretched state and easy to agree with each other, so that the micro-fluidic chip grabbing device has better stability when in use, the number of the clamping structural members can be increased according to actual use conditions, the micro-fluidic chip grabbing device has the advantage of wide adaptability, the micro-fluidic chip grabbing device has little influence on the micro-fluidic chip in the clamping process, the micro-fluidic chip is prevented from being damaged due to clamping or carrying, and the position of the micro-fluidic chip in the carrying process can be kept unchanged.

It should be noted that other embodiments of the present application further include a chip capturing component and a microfluidic system that are formed by combining the technical features of the foregoing embodiments.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be determined from the following claims.

Claims (10)

1. A chip grabbing assembly (100) is characterized by comprising a mounting bracket (120), a rotating disc body (130) and at least two clamping structural members (400);

the clamping structural member (400) is slidably mounted under the mounting bracket (120), and the clamping structural member (400) and the rotating disc body (130) are arranged in a linkage manner;

The mounting bracket (120) is arranged to penetrate through an output shaft (111) of the driving motor (110), the rotating disc body (130) is arranged to be mounted on the output shaft (111), the output shaft (111) drives the rotating disc body (130) to rotate reciprocally, so that the clamping structural members (400) slide relative to the mounting bracket (120) to form a contracted state or a stretched state when the rotating disc body (130) rotates, and the clamping structural members (400) form a clamping state and a loosening state together for the chip (200) to be grabbed.

2. The chip gripper assembly (100) according to claim 1, wherein the number of gripping structures (400) is at least three; and/or the number of the groups of groups,

-said clamping structure (400) or the position distribution of the clamping jaws (180) of said clamping structure (400) is adapted to the shape of said chip (200); and/or the number of the groups of groups,

the clamping structural member (400) comprises a linear guide rail (160), a connecting seat (170), clamping jaws (180) and a limiting rotating structure (190);

one end of the limiting rotating structure (190) is fixed on the rotating disc body (130), the other end of the limiting rotating structure (190) and the clamping jaw (180) are respectively fixed on the connecting seat (170), the connecting seat (170) is in sliding connection with the mounting bracket (120) through the linear guide rail (160), and a sliding central axis (163) of the linear guide rail (160) passes through a rotating axial center position (133) of the rotating disc body (130) or a rotating axial axis (112) of the output shaft (111);

The limiting rotating structure (190) forms a shrinkage state to drive the clamping jaw (180) to shrink inwards when the rotating disc body (130) rotates, or forms a stretching state to drive the clamping jaw (180) to expand outwards, so that the clamping jaws (180) form a clamping state and a loosening state together for the chip (200) to be grabbed.

3. The chip gripper assembly (100) according to claim 2, wherein the linear guide (160) comprises a chute (161) and a slide block (162);

the sliding central axis (163) of the sliding chute (161) and the sliding rail block (162) passes through the rotating axial center position (133) of the rotating disc body (130) or the rotating axial line (112) of the output shaft (111);

the sliding chute (161) is in limiting sliding connection with the sliding rail block (162), the sliding chute (161) is fixed under the mounting bracket (120), and the sliding rail block (162) is fixed on the connecting seat (170), so that the connecting seat (170) is mounted under the mounting bracket (120) and is in a sliding state along the sliding chute (161).

4. The chip gripper assembly (100) according to claim 2, wherein the rotating disc (130) comprises a fixed disc (131) and a shaft (132);

the shaft connection part (132) is fixed on the disc body (131), the shaft connection part (132) is in driving connection with the output shaft (111), and the output shaft (111) drives the shaft connection part (132) to drive the disc body (131) to rotate in a reciprocating manner;

One end of each limiting rotating structure (190) is fixed on the disc body (131) respectively, and the sliding central axis (163) of each linear guide rail (160) passes through the rotating axial center position (133) of the disc body (131) respectively.

5. The chip gripper assembly (100) of claim 2, wherein the rotating disc (130) rotates in any direction to a target position defined by the limit rotation structure (190), each of the jaws (180) has a released state for a chip (200) to be gripped in common, and the rotating disc (130) rotates beyond the target position, each of the jaws (180) has a gripping state for a chip (200) to be gripped in common;

the rotating disc body (130) rotates to a target position defined by the limiting rotating structure (190) in the reverse direction, the clamping jaws (180) jointly obtain a loosening state of the chip (200) to be grabbed, and the rotating disc body (130) rotates to a position exceeding the target position, and the clamping jaws (180) jointly obtain a clamping state of the chip (200) to be grabbed;

and/or the number of the groups of groups,

the clamping jaw (180) comprises a body (184), and a first step part (181) and a second step part (182) which are convexly arranged on the body (184); a clamping groove (185) is formed between the first step part (181) and the second step part (182), and the clamping groove (185) is used for accommodating the chip (200) in a clamping state formed by the clamping jaw (180);

The body (184) is provided with an assembly hole (187), the body (184) is fixedly connected with the connecting seat (170) through the assembly hole (187) in a threaded manner,

a spacer (186) is formed between the second step (182) and the fitting hole (187).

6. The chip gripper assembly (100) according to claim 1, wherein the mounting bracket (120) comprises a frame body (121) and an extension arm (122) connected to the frame body (121);

the mounting bracket (120) is provided with a avoidance hole (123) in the frame body (121), and the frame body (121) passes through the output shaft (111) of the driving motor (110) through the avoidance hole (123);

the mounting bracket (120) is provided with an assembly groove (124) at the extension arm (122), the clamping structural member (400) is slidably mounted under the extension arm (122) at the position of the assembly groove (124), or a sliding groove (161) of a linear guide rail (160) of the clamping structural member (400) is fixed under the extension arm (122) at the position of the assembly groove (124), and a sliding rail block (162) of the linear guide rail (160) of the clamping structural member (400) is in limiting sliding connection with the sliding groove (161).

7. The chip gripper assembly (100) according to claim 1, further comprising the drive motor (110), the drive motor (110) being a stepper motor; and/or the number of the groups of groups,

The chip grabbing assembly (100) is provided with an angle sensor and a controller, the angle sensor is arranged on the mounting bracket (120) or the rotating disc body (130), the controller is respectively connected with the driving motor (110) and the angle sensor, and the controller is used for controlling the driving motor (110) to stop rotating or reversely rotating when the angle sensor senses that the driving motor (110) rotates to reach or exceed a preset angle; and/or the number of the groups of groups,

the chip grabbing component (100) is provided with a centering structure, the centering structure is arranged below a rotating shaft center position (133) of the rotating disc body (130) or on the rotating disc body (130) and penetrates through the rotating shaft center position (133), and the centering structure is used for aligning the center of the chip (200) when grabbing the chip (200).

8. The chip gripper assembly (100) according to any one of claims 1 to 7, wherein the clamping structure (400) or the limit rotation structure (190) of the clamping structure (400) comprises a rigid connection and two pins (140);

the two pin shafts (140) are a first pin shaft (141) and a second pin shaft (142), the first pin shaft (141) passes through the first end of the rigid connecting piece and is fixed on the rotating disc body (130), and the second pin shaft (142) passes through the second end of the rigid connecting piece and is connected with the clamping jaw (180) of the clamping structural member (400);

The rotating disc body (130) drives the first pin shaft (141) to move in a rotating state, the first end of the rigid connecting piece rotates relative to the first pin shaft (141), the second end of the rigid connecting piece rotates relative to the second pin shaft (142), and the rigid connecting piece drives the clamping jaw (180) to reciprocate within a limited range formed by the position change of the rigid connecting piece.

9. The chip gripper assembly (100) according to claim 8, wherein the rigid connection member comprises a link (150), a connecting piece, and a bending piece; and/or the number of the groups of groups,

the second pin shaft (142) passes through the second end of the rigid connecting piece and is fixed on a connecting seat (170) of the clamping structural piece (400), the clamping jaw (180) is fixed on the connecting seat (170), and the rotating disc body (130) drives the connecting seat (170) and the clamping jaw (180) to reciprocate within a limited range formed by the position change of the rigid connecting piece in a rotating state.

10. A microfluidic system, comprising a centrifugal device, a driving device, a microfluidic chip placement base (300) and the chip grabbing component (100) according to any one of claims 1 to 9, wherein the driving device is connected with the chip grabbing component (100) and is used for driving the chip grabbing component (100) to grab a chip (200) for microfluidic from the microfluidic chip placement base (300) and convey the chip to the centrifugal device.