WO2024007920A1 - 自动过滤设备及自动过滤系统 - Google Patents

自动过滤设备及自动过滤系统 Download PDF

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Publication number
WO2024007920A1
WO2024007920A1 PCT/CN2023/103354 CN2023103354W WO2024007920A1 WO 2024007920 A1 WO2024007920 A1 WO 2024007920A1 CN 2023103354 W CN2023103354 W CN 2023103354W WO 2024007920 A1 WO2024007920 A1 WO 2024007920A1
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WO
WIPO (PCT)
Prior art keywords
push
pull
filter
driving mechanism
seat
Prior art date
Application number
PCT/CN2023/103354
Other languages
English (en)
French (fr)
Inventor
侯安新
高建东
杨名辉
张健
Original Assignee
深圳晶泰科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳晶泰科技有限公司 filed Critical 深圳晶泰科技有限公司
Publication of WO2024007920A1 publication Critical patent/WO2024007920A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D35/00—Filtering devices having features not specifically covered by groups B01D24/00 - B01D33/00, or for applications not specifically covered by groups B01D24/00 - B01D33/00; Auxiliary devices for filtration; Filter housing constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D35/00—Filtering devices having features not specifically covered by groups B01D24/00 - B01D33/00, or for applications not specifically covered by groups B01D24/00 - B01D33/00; Auxiliary devices for filtration; Filter housing constructions
    • B01D35/02—Filters adapted for location in special places, e.g. pipe-lines, pumps, stop-cocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L9/00—Supporting devices; Holding devices

Definitions

  • the present application relates to the technical field of filtration devices, and in particular to an automatic filtration equipment and an automatic filtration system.
  • Filtration is a common operation in the fields of biochemistry and medicine.
  • the solution to be filtered is usually sucked through a filter needle, a filter head is inserted into the front end of the filter needle, and the solution is squeezed out through the filter head.
  • This application provides an automatic filtration equipment and an automatic filtration system to realize the automation of filtration and reduce the workload of experimental personnel.
  • the application provides an automatic filtration equipment, which includes a support component, a clamping claw driving mechanism, a filter needle tube clamping claw, a push-pull driving mechanism and a push-pull seat;
  • the clamping claw driving mechanism is connected to the support component; and the filter needle tube clamp
  • the claws are connected to the clamping claw driving mechanism, and the filter needle tube clamping claws are configured to be driven by the clamping claw driving mechanism to clamp the filter needle tube;
  • the push-pull driving mechanism is connected to the support assembly;
  • the push-pull base is connected to the push-pull driving mechanism, and is used to clamp the filter needle tube clamping jaws
  • the push-pull seat includes a main body and a locking portion connected to the main body.
  • the main body is connected to the push-pull driving mechanism. When the filter needle clamp clamps the filter needle, the locking portion snaps into the filter needle. push-pull head.
  • the support component includes: a support plate, the clamping claw driving mechanism is arranged on the support plate; a push-pull fixed plate connected to the support plate, and the push-pull driving mechanism is arranged on the push-pull fixed plate.
  • a traction screw which is respectively connected to the push-pull driving mechanism and the push-pull seat.
  • the push-pull driving mechanism drives the traction screw to move, so that the traction screw drives the push-pull seat to move; a push-pull guide rail, and the push-pull guide rail is fixed On the push-pull fixed plate, the push-pull seat is movably arranged on the push-pull guide rail.
  • the push-pull seat slides along the push-pull guide rail.
  • a needle tube pick-and-place clamp which is connected to the clamp driving mechanism and is arranged away from the filter needle tube clamp, and the needle tube pick-and-place clamp is configured to be driven by the clamp drive mechanism to clamp the filter. Needle.
  • the support assembly further includes: a clamping jaw fixed seat movably connected to the support plate, and the clamping jaw driving mechanism is arranged on the clamping jaw fixing seat.
  • a buffer component which is connected to the clamping jaw fixed seat and the supporting plate respectively.
  • the buffering component is configured to adjust the relative position of the clamping jaw fixing seat and the supporting plate to buffer the filter needle tube clamp.
  • the buffer component includes a buffer screw and an elastic member.
  • One end of the buffer screw passes through the support plate and is fixedly connected to the clamping jaw fixed seat;
  • the elastic member is arranged between the support plate and the clamping jaw fixed seat; the elastic member It is a buffer spring, and the buffer spring is wound around the buffer screw, and the two ends of the buffer spring are respectively in contact with the support plate and the clamping jaw fixing seat.
  • a female connecting head of the manipulator which is arranged on a side of the support plate away from the clamping jaw fixed seat and is used for connecting with a male connecting head on the manipulator.
  • the clamping surface of the filter needle clamp is formed with a number of serrations, which play an anti-slip reinforcement role when the filter needle clamp clamps the filter needle; the clamping surface is arc-shaped or V-shaped.
  • this application also provides an automatic filtration system.
  • the automatic filtration system includes a manipulator and the automatic filtration equipment provided above.
  • the manipulator is connected to the automatic filtration equipment, and the manipulator is configured to drive the automatic filtration equipment to move.
  • the filter head pick-and-place device includes: a housing, the housing includes a top plate, a limiting slot is formed on the side of the top plate, and the limiting slot is used to limit the inlet pipe string; a compression block, The pressing block is movably arranged on one side of the top plate, and the pressing block is configured to be driven to switch and move between the first position and the second position.
  • the pressing block limits the inlet pipe string to the limiting slot, and Clamp the filter assembly and the outlet pipe string between the compression block and the top plate.
  • the compression driving mechanism is connected to the compression block , used to drive the pressing block to switch between the first position and the second position.
  • the filter head pick-and-place device also includes: a needle tube storage mechanism, which is arranged on a side of the top plate away from the limit slot.
  • the needle tube storage mechanism is used to temporarily store the filter needle tube.
  • the automatic filtration equipment held the filter needle through the filter needle clamp, and uses the push-pull driving mechanism to drive the push-pull seat.
  • the push-pull seat drives the push-pull head that is clamped with it to pull the piston of the filter needle. to the mouth of the tube to extract the solution, or push the piston of the filter needle to the bottom of the tube to squeeze the solution through the filter head to complete the filtration of the solution.
  • the filtration process does not require the experimenter to push and pull the push-pull head of the filter needle, making the operation more labor-saving and reducing the time required. The workload of experimental personnel is reduced and the filtration efficiency is improved.
  • Figure 1 is a schematic structural diagram of an embodiment of the automatic filtering equipment of the present application.
  • FIG. 2 is a schematic structural diagram of an embodiment of the push-pull seat in the automatic filtering equipment of Figure 1;
  • Figure 3 is a schematic structural diagram of an embodiment of the automatic filtration equipment and the filter head pick-and-place device in the automatic filtration system of the present application.
  • each figure in the figure is marked with: 100. Automatic filtering equipment; 111. Filter needle clamp; 120. Push-pull seat; 121. Main body; 122. Locking part; 1221. Connecting part; 1222. First resisting part; 1223. Second resisting part; 1225. Accommodation space; 130. Push-pull fixing plate; 140. Push-pull driving mechanism fixed seat; 150. Traction screw rod ; 160. Push-pull driving mechanism; 170. Clamp holder; 171. Clamp driving mechanism; 112. Needle pick-and-place clamp; 180. Support plate; 190. Buffer component; 191. Buffer screw; 192. Elastic member; 193 , buffer fixed plate; 194, manipulator connection female head; 201, top plate; 202, limit card slot; 203, compression block.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include one or more of these features. In the description of this application, the meaning of "plurality” is two or more, unless otherwise explicitly and specifically limited.
  • the solution needs to be filtered manually by the experimenter.
  • the experimenter pinches the filter needle, manually pulls the push-pull head, sucks the solution into the filter needle, and then manually pushes the push-pull head to squeeze the solution out through the filter head.
  • the filtration operation is completely dependent on the manual operation of the experimenter. The operation process is laborious and the workload is large, which affects the work efficiency.
  • this application proposes an automatic filtration equipment and automatic filtration system, which can effectively solve the above problems.
  • the automatic filtering equipment 100 includes a support assembly (not labeled), a clamping claw driving mechanism 171 , a filter needle clamping claw 111 , a push-pull driving mechanism 160 and a push-pull seat 120 .
  • the clamping claw driving mechanism 171 is connected to the support assembly; the filter needle tube clamping claw 111 is connected to the clamping claw driving mechanism 171, and the filtering needle tube clamping claw 111 is configured to be driven by the clamping claw driving mechanism 171 to clamp the filter needle tube; the push-pull driving mechanism 160 is connected to the supporting assembly Connection; the push-pull seat 120 is connected to the push-pull drive mechanism 160, and is used to clamp the push-pull head of the filter needle when the filter needle clamp 111 clamps the filter needle.
  • the push-pull seat 120 is configured to be driven and moved by the push-pull drive mechanism 160, so that the The push-pull seat 120 drives the push-pull head of the filter needle tube to move.
  • the automatic filtration device 100 of the present application is used to automatically filter the solution through a filter needle.
  • the filter needle clamp 111 is used to clamp and fix the filter needle, wherein the clamping or releasing action of the filter needle clamp 111 is controlled by the clamp driving mechanism 171 .
  • the filter needle includes a barrel, a piston and a push-pull head connected to the piston. When the filter needle clamp 111 clamps the filter needle at a designated position, the push-pull head of the filter needle is clamped on the push-pull seat 120.
  • the push-pull driving mechanism 160 drives the push-pull base 120 to move between the first preset position and the second preset position.
  • the first preset position and the second preset position are two positions at different distances from the filter needle clamp 111 along the piston movement direction.
  • the first preset position is close to the filter needle clamp 111 and the second preset position is far away from the filter needle.
  • the push-pull seat 120 drives the piston to move from the mouth of the filter needle to the bottom of the tube. This process can squeeze out the solution in the filter needle.
  • the automatic filtration device 100 holds the filter needle, moves the automatic filter device 100 to the solution extraction place or moves the solution to be filtered below the filter needle, and after the push-pull seat 120 pulls the push-pull head to extract the solution to be filtered, the mobile automatic The filter equipment 100 moves the filter head to the place where the filter head is placed or moves the filter head below the filter needle. After tying the filter head, push and pull the drive The mechanism 160 drives the push-pull seat 120 to push the piston to squeeze the solution in the filter needle through the filter head to complete the filtration of the solution.
  • the automatic filtration equipment 100 clamps the filter needle through the filter needle clamp 111, and uses the push-pull driving mechanism 160 to drive the push-pull seat 120.
  • the push-pull seat 120 pulls the piston of the filter needle to the nozzle to extract the solution into the filter needle. After the filter head is connected to the front end of the filter needle, push the piston of the filter needle to the bottom of the tube through the push-pull seat 120, so that the solution is squeezed out through the filter head to complete the filtration of the solution.
  • the filtration process does not require the experimenter to push or pull the push-pull head of the filter needle. It is more labor-saving, realizes the automation of filtration operations, reduces the workload of experimental personnel, and improves filtration efficiency and experimental safety.
  • the push-pull seat 120 includes a main body 121 and a clamping part 122 connected to the main body 121 .
  • the main body 121 is connected to the push-pull driving mechanism 160 .
  • the filter needle clamp 111 clamps the filter
  • the locking portion 122 is engaged with the push-pull head of the filter needle.
  • the locking portion 122 includes a connecting portion 1221, a first resisting portion 1222, and a second resisting portion 1223. At least one of the connecting portion 1221, the first resisting portion 1222, and the second resisting portion 1223 is in contact with the main body portion 121. Connected, the first resisting part 1222 and the second resisting part 1223 are respectively connected to both ends of the connecting part 1221.
  • the first resisting part 1222, the connecting part 1221 and the second resisting part 1223 form a U-shaped structure.
  • An accommodating space 1225 is formed between at least part of the filter needle and the U-shaped structure. The push-pull head of the filter needle enters the accommodating space 1225 through the opening of the U-shaped structure, so that the push-pull seat 120 engages with the push-pull head of the filter needle.
  • the push-pull seat 120 is movably arranged on one side of the filter needle clamp 111, and the locking portion 122 of the push-pull seat 120 is close to the filter needle clamp 111.
  • the push-pull seat 120 engages the push-pull head of the filter needle through the locking portion 122 .
  • the first resisting portion 1222 and the second resisting portion 1223 of the engaging portion 122 are respectively fixed at both ends of the connecting portion 1221 to form a U-shaped structure with one end open.
  • the engaging portion 122 connects to the connecting portion 1222 through the first resisting portion 1222
  • the main body part 121 is connected, and a receiving space 1225 is also included between the U-shaped latching part 122 and the main body part 121 .
  • the push-pull head of the filter needle uses the U-shaped structure as a slide rail to partially slide into the accommodation space 1225 and be abutted and fixed by the first resisting part 1222 and the second resisting part 1223. Set in space 1225.
  • the push-pull head of the filter needle tube also slides out through the opening at one end of the U-shaped structure.
  • the automatic filtration equipment 100 further includes a control device (not labeled).
  • the control device is connected to the push-pull drive mechanism 160 and is used to control the push-pull drive when the filter needle clamp 111 clamps the filter needle.
  • the mechanism 160 drives the push-pull seat 120 to move, thereby driving the piston movement of the filter needle, completing the filtration operation of absorbing the solution to be filtered and extruding it through the filter head.
  • the control device can be provided with two control buttons (not labeled). When the two control buttons are pressed simultaneously, the control device controls the push-pull driving mechanism 160 to drive the push-pull seat 120.
  • the advantage of providing two control buttons is to improve For the operational safety of the automatic filtration equipment 100, the experimenter needs to press two control buttons at the same time to drive the push-pull seat 120 to push and pull the piston of the filter needle, thus avoiding filtration errors caused by misoperation by the experimenter.
  • the filter needle clamp 111 can also be provided with a sensing device.
  • the sensing device can be a pressure sensor or an infrared sensor.
  • the sensing device is connected to the control device, and the sensing device senses whether the filter needle clamp 111 is on the filter needle clamp 111 or not.
  • a filter needle is placed.
  • the control device is configured such that only when the control device receives signal feedback from the sensing device sensing the filter needle, the control device controls The advantage of this setting is to further improve the operational safety of the automatic filtering equipment 100 and avoid the situation where the push-pull seat 120 is driven before the filter needle is placed.
  • the automatic filtering equipment 100 of the present application also includes a traction screw 150 and a push-pull guide rail (not labeled).
  • the push-pull guide rail is fixed on the push-pull fixed plate 130, and the push-pull seat 120 is movably arranged on the push-pull guide rail.
  • the traction screw 150 drives the push-pull seat 120 to move, the push-pull seat 120 slides along the push-pull guide rail.
  • the traction screw 150 is connected to the push-pull driving mechanism 160 and the push-pull seat 120 respectively.
  • the push-pull driving mechanism 160 drives the traction screw 150 to move, so that the traction screw 150 drives the push-pull seat 120 to move.
  • a push-pull drive mechanism fixing seat 140 is also included for fixing the push-pull drive mechanism 160 on the push-pull fixing plate 130 .
  • the push-pull drive mechanism fixing seat 140 and the filter needle tube clamp 111 are respectively located at both ends of the push-pull fixing plate 130.
  • the push-pull drive mechanism 160 is fixed on the side of the push-pull drive mechanism fixing seat 140 away from the filter needle tube clamp 111.
  • Push-pull The driving mechanism fixing seat 140 is used to fix the push-pull driving mechanism 160.
  • the traction screw 150 and the push-pull driving mechanism 160 are respectively located on two sides of the push-pull driving mechanism fixing seat 140.
  • the push-pull driving mechanism 160 drives the push-pull base 120 to move by pulling the traction screw rod 150.
  • the extension direction of the push-pull guide rail is the same as the movement direction of the push-pull seat 120 .
  • the push-pull driving mechanism 160 can be a stepper motor, the traction screw 150 is a rotating screw, the push-pull seat 120 is connected to the traction screw 150 through a nut seat, and the stepper motor drives the traction screw 150 to rotate when the stepper motor is working.
  • the screw rod 150 drives the push-pull seat 120 to move linearly along the traction screw rod 150 .
  • the push-pull driving mechanism 160 can also be a linear motor, and the corresponding traction screw 150 is a telescopic screw.
  • the push-pull seat 120 is connected to one end of the traction screw 150, and the linear motor drives the traction screw 150 to telescope when working.
  • the traction screw 150 can also drive the push-pull seat 120 to move linearly along the traction screw 150 .
  • the types of the push-pull driving mechanism 160 and the traction screw 150 are not limited to the two types listed above. When the push-pull driving mechanism 160 is working, it only needs to be able to drive the traction screw 150 to drive the push-pull seat 120 to move along the traction screw 150. should be included in the scope of protection of this application.
  • the automatic filtration device 100 of the present application further includes a needle tube picking and placing clamping claw 112.
  • the needle tube picking and placing clamping claw 112 is connected to the clamping claw driving mechanism 171 and is arranged away from the filter needle tube clamping claw 111.
  • the needle tube picking and placing clamping claw 112 It is configured to be driven by the clamping claw driving mechanism 171 to clamp the filter needle tube.
  • the automatic filtering equipment 100 further includes a clamping jaw fixing seat 170, which is movably connected to the support plate 180.
  • the clamping jaw driving mechanism 171 is provided on the clamping jaw fixing seat 170, and one end of the clamping jaw driving mechanism 171 is fixed.
  • filter needle tube clamping jaws 111 and needle tube pick-and-place clamping jaws 112 are respectively provided on both sides of the other end of the clamping jaw driving mechanism 171.
  • One side of the support plate 180 is fixedly connected to the end of the push-pull fixing plate 130 away from the filter needle clamp 111 , and the side of the support plate 180 close to the filter needle clamp 111 is movably connected to the clamp fixing seat 170 .
  • the support plate 180 is relatively fixed to the push-pull fixed plate 130.
  • the clamp driving mechanism 171 is connected to the filter needle clamp 111 and the needle pick-and-place clamp 112.
  • the clamp drive mechanism 171 is used to control the filter needle clamp 111 and the needle pick-and-place clamp. Claw 112 clamping and releasing action of two clamping jaws do.
  • the filter needle clamp 111 is used to clamp and fix the filter needle and cooperate with the push-pull seat 120 to pull the piston of the filter needle to complete filtration.
  • the filter needle tubes to be used are placed on a filter needle tube bearing platform specially placed for filter needle tubes.
  • the filter needle tubes on the filter needle tube bearing platform are generally placed densely.
  • the filter needle tube clamps 111 are large in size, and there is a push-pull function above.
  • Seat 120 the automatic filtering equipment 100 directly takes the filter needle from the filter needle carrying platform through the filter needle clamp 111, which may easily cause interference and collision to the densely placed needle tubes.
  • the advantage of setting up the needle tube pick-and-place clamp 112 is that it facilitates the automatic filtering equipment 100 to take out the filter needle tube from a specific filter needle tube carrying platform for use.
  • the clamping end of the needle tube pick-and-place clamp 112 can be a double thin rod extending outward, and the overall size Smaller than the filter needle clamp 111, a V-shaped groove is formed at the end to limit the filter needle. This structural design enables the needle pick-and-place clamp 112 to accurately and firmly remove the filter needle from the filter needle bearing platform.
  • the automatic filtration equipment 100 of the present application further includes a buffer component 190.
  • the buffer component 190 is connected to the clamping jaw fixing seat 170 and the supporting plate 180 respectively.
  • the buffering component 190 is configured to adjust the clamping jaw fixing seat 170 and the supporting plate 180. relative position to buffer the force exerted by the filter needle tube clamp 111 on the clamp fixing base 170 .
  • the buffer assembly 190 includes a buffer screw 191 and an elastic member 192. One end of the buffer screw 191 passes through the support plate 180 and is fixedly connected to the clamping jaw fixing seat 170.
  • the elastic member 192 is disposed between the supporting plate 180 and the clamping jaw fixing seat 170.
  • a through hole is formed on the support plate 180, and the buffer screw 191 is disposed through the through hole.
  • the nut and screw of the buffer screw 191 are respectively located on both sides of the support plate 180.
  • the buffer screw 191 is movably connected to the support plate 180, the screw rod is fixedly connected to the clamping jaw fixing seat 170, the elastic member 192 is provided between the supporting plate 180 and the clamping jaw fixing seat 170 and is wound around the screw rod.
  • the buffer assembly 190 is used to The jaw driving mechanism 171 plays a buffering and protective role when being squeezed.
  • the automatic filtration equipment 100 further includes a buffer fixing plate 193 and a buffer guide rail (not labeled).
  • the buffer fixation plate 193 is provided on a side of the support plate 180 that is movably connected to the clamping jaw fixing base 170 .
  • the buffer guide rail is fixed on the buffer fixation plate 193 .
  • the clamping jaw fixing seat 170 is movably arranged on the buffer guide rail. When the clamping jaw fixing seat 170 squeezes the buffer assembly 190, the clamping jaw fixing seat 170 slides on the buffer guide rail.
  • the buffer component 190 is used to provide buffering protection when the filter needle clamp 111 clamps the filter needle to pick out the filter head.
  • the filter needle is forced to squeeze the connected clamp fixing seat 170 , then the clamping jaw holder 170 squeezes the buffer assembly 190.
  • the elastic member 192 of the buffer assembly 190 contracts, and the clamping jaw holder 170 slides on the buffer guide rail, causing the automatic filtering equipment 100 to be suddenly squeezed.
  • the pressure is too high, it can relieve the pressure. Avoid equipment damage and extend the service life of the automatic filtration equipment 100.
  • the elastic member 192 is a buffer spring.
  • the buffer spring is wound around the buffer screw 191 , and its two ends are respectively in contact with the support plate 180 and the clamping jaw fixing seat 170 .
  • the elastic member 192 may also be a multi-section bent elastic piece or other elastic device (such as a rubber block, a rubber sleeve, etc.). One end of the elastic piece is fixed on the clamping claw fixing base 170, and the other end of the elastic piece is movable and abuts against the support plate 180, which is not specifically limited here.
  • the automatic filtration equipment 100 of the present application also includes a manipulator connecting female head 194.
  • the manipulator connecting female head 194 is provided on the side of the support plate 180 away from the clamping jaw fixing seat 170, and is used to connect with the male connecting head on the manipulator. .
  • a mobile device such as a manipulator is connected through the manipulator connecting female head 194, and the manipulator moves the automatic filtration equipment 100. Go to the place where the filter needle is placed and hold the filter needle, or move the automatic filtration device 100 to the place where the solution to be filtered is extracted to draw the solution to be filtered.
  • the clamping surface of the filter needle clamp 111 is formed with a plurality of serrations, and the saw teeth play an anti-slip reinforcement role when the filter needle clamp 111 clamps the filter needle. Specifically, the arrangement of the saw teeth prevents the filter needle from sliding on the filter needle clamp 111 when the push-pull seat 120 is driven to push and pull the piston of the filter needle.
  • other anti-slip reinforcement structures such as anti-slip rubber can also be provided on the clamping surface of the filter needle tube clamp 111 . It can be understood that the above-mentioned anti-slip reinforcement structure can also be provided on the clamping surface of the needle tube picking and placing clamp 112, which is not specifically limited here.
  • the clamping surface of the filter needle tube clamp 111 is arc-shaped or V-shaped.
  • the arc-shaped or V-shaped clamping surface has better adaptability to the barrel of the filter needle when clamping the filter needle, and the contact area with the filter needle is larger, which increases the friction force of clamping the filter needle. The filter needle is clamped more securely.
  • the automatic filtration equipment 100 clamps the filter needle through the filter needle clamp 111, and uses the push-pull driving mechanism 160 to drive the push-pull seat 120.
  • the push-pull seat 120 pulls the piston of the filter needle to the nozzle to extract the solution into the filter needle. After the filter head is connected to the front end of the filter needle, push the piston of the filter needle to the bottom of the tube through the push-pull seat 120, so that the solution is squeezed out through the filter head to complete the filtration of the solution.
  • the filtration process does not require the experimenter to pull the push-pull head of the filter needle. It is more labor-saving, reduces the workload of experimental personnel, and improves filtration efficiency and experimental safety.
  • the automatic filtration system includes a manipulator and the above-described automatic filtration device 100; the manipulator is connected to the automatic filtration device 100, and the manipulator is configured to drive the automatic filtration device 100 to move.
  • the robot arm and the automatic filtering equipment 100 may be fixedly connected or detachably connected.
  • the manipulator is provided with a male connection head; the automatic filtration device 100 is provided with a manipulator connection female head 194, and the two cooperate with each other to detachably connect the manipulator and the automatic filtration device 100.
  • the automatic filtration system also includes a processing unit.
  • the processing unit is connected to the robot and the automatic filtering equipment 100. It is used to control the robot to move the automatic filtering equipment 100 to the filter needle storage place to clamp the filter needle, or to control the robot to move automatically.
  • the filtration equipment 100 goes to the filter container to perform automated filtration.
  • the manipulator When filtering, the manipulator is connected to the manipulator connection female head 194 of the automatic filtration equipment 100 through the male connection. After the connection, the manipulator moves the filter needle clamp 111 of the automatic filtration equipment 100 to clamp the filter needle, and at the same time, the push-pull seat 120 is locked The push-pull head of the filter needle is clamped by the part 122. The manipulator moves the filter needle held by the automatic filtration equipment 100 to the solution extraction place. The push-pull driving mechanism 160 drives the push-pull seat 120 to pull the piston of the filter needle to extract the solution. Then the manipulator moves the automatic filtration equipment. 100 allows the front end of the connected filter needle to prick the filter head.
  • the buffer component 190 can buffer the squeezing force to prevent excessive squeezing force from causing damage to the equipment and prolong the service life of the automatic filtering equipment 100. service life.
  • the push-pull driving mechanism 160 drives the push-pull seat 120 to push the piston of the filter needle to squeeze the solution through the filter head into a designated container, thereby completing the filtration of the solution.
  • the automatic filtration system further includes a filter head pick-and-place device for loading and unloading filter heads of a specific structure.
  • the filter head includes an inlet pipe string, a filter component and an outlet pipe string that are connected in sequence.
  • the diameter of the filter component is larger than the diameters of the inlet pipe string and the outlet pipe string.
  • the filter head pick-and-place device includes a housing, a pressing block 203 and a pressing driving mechanism.
  • the housing includes a top plate 201, and a limiting slot 202 is formed on the side of the top plate 201.
  • the limiting slot 202 is used to limit the inlet pipe string.
  • the pressing block 203 is movably arranged on one side of the top plate 201, and is configured to be driven to switch between the first position and the second position. In the first position, the compression block 203 limits the inlet pipe string in the limiting slot 202 and clamps the filter assembly and the outlet pipe string between the compression block 203 and the top plate 201 . In the second position, the filter head is loosened from between the pressing block 203 and the top plate 201 .
  • the pressing driving mechanism is connected to the pressing block 203 and is used to drive the pressing block 203 to switch between the first position and the second position.
  • the housing may also include a side plate and a bottom plate.
  • the top plate 201 and the bottom plate are respectively located at both ends of the side plate.
  • the top plate 201, the side plates and the bottom plate form an accommodation space, and the pressing block 203 is movably arranged in the accommodation space.
  • the filter head pick-and-place device can also include a fixed base and a moving screw rod.
  • the fixed base is connected to the side plate and used to fix the pressing drive mechanism.
  • One end of the moving screw rod is connected to the output end of the pressing driving mechanism, and the other end is connected to the pressing drive mechanism.
  • Block 203 connects. When the pressing driving mechanism drives the moving screw rod to move, the pressing block 203 can be driven to move between the first position and the second position.
  • the filter head pick-and-place device may also include at least one guide post.
  • the pressing block 203 is slidably disposed on the guide post and plays a guiding role when the pressing block 203 moves.
  • the pressing drive mechanism, the fixed seat, the moving screw rod and the guide column can all be located in the accommodation space.
  • the filter head pick-and-place device of the present application is used to assist the filter needle on the automatic filtering equipment 100 in loading and unloading the filter head at the front end of the filter needle.
  • a recessed limiting slot 202 is formed on the side edge of the top plate 201.
  • the shape of the limiting slot 202 is semi-elliptical or semi-square.
  • the filter head can be moved along the side of the top plate 201.
  • the edge of the limit slot 202 limits the continued movement of the filter head, thereby limiting filtering. Effect of head position.
  • the outlet pipe string of the filter head is aligned with the pressing block 203 movably provided on one side of the top plate 201.
  • the first position and the second position are two positions perpendicular to the plane of the top plate 201 at different distances from the top plate 201.
  • the first position is close to the top plate 201, and the second position is far away from the top plate 201.
  • the pressing block 203 is driven at the first position. move between the second position.
  • the pressing block 203 and the top plate 201 work together to clamp the filter head, and then the filter needle can be used to prick the filter head. Fix the filter head on the filter head pick-and-place device, or pull out the filter needle connected to the filter head to complete the loading and unloading operation of the filter needle and filter head.
  • the pressing block 203 is driven to a second position away from the top plate 201. At this moment, the pressing block 203 and the top plate 201 no longer clamp the filter head. At this time, the filter head can be taken out and recycled.
  • the robot can drive the automatic filtering equipment again 100 moves the filter needle to the solution extraction place to extract the solution, and then moves it to the filter head picking and placing device to pick up the previously removed filter head for the next filtering operation.
  • the filter head picking and placing device to pick up the previously removed filter head for the next filtering operation.
  • the filter head pick-and-place device of the automatic filtration system is also provided with a needle storage mechanism.
  • the needle storage mechanism is provided on the side of the top plate 201 away from the limit slot 202.
  • the needle storage mechanism is used to temporarily store the filter needle. After the needle tube pick-and-place clamp 112 of the automatic filtration equipment 100 clamps the filter needle tube from the filter needle tube carrying platform, the filter needle tube can be temporarily placed on the needle tube storage mechanism, waiting for the filter needle tube clamp claw 111 to pick it up.
  • the manipulator is connected to the automatic filtration equipment. After the manipulator moves the automatic filtration equipment to clamp the filter needle, it moves to the place where the solution to be filtered is extracted.
  • the automatic filtration equipment automatically pulls the piston of the filter needle to suck out the solution.
  • the manipulator drives the automatic filtration.
  • the equipment uses the filter head pick-and-place device to pick up the filter head, and then the automatic filtration equipment pushes the filter needle piston to squeeze out the solution to complete filtration.
  • the filtration process does not require the experimenter to push and pull the push-pull head of the filter needle, making the operation more labor-saving, and the filter at the front end of the filter needle is loaded and unloaded. It prevents experimenters from coming into contact with the filter head containing chemical residues, which is safer, realizes the automation of filtration operations, reduces the workload of experimenters, and improves filtration efficiency and experimental safety.

Abstract

本申请公开了一种自动过滤设备及自动过滤系统，自动过滤设备包括支撑组件、夹爪驱动机构、过滤针管夹爪、推拉驱动机构和推拉座，过滤针管夹爪与夹爪驱动机构连接，过滤针管夹爪配置成能被夹爪驱动机构驱动夹持过滤针管；推拉驱动机构与支撑组件连接；推拉座与推拉驱动机构连接，用于在过滤针管夹爪夹持过滤针管时，卡接过滤针管的推拉头，推拉座配置成能被推拉驱动机构驱动移动，以使推拉座带动过滤针管的推拉头移动。本申请的技术方案能够实现过滤的自动化，减轻实验人员工作量，提高过滤效率。

Description

自动过滤设备及自动过滤系统
【相关申请的交叉引用】
本申请要求2022年07月07日提交的申请号为CN202210807923.2，申请名称为“自动过滤设备及自动过滤系统”的中国专利申请的优先权，其全部内容通过引用并入本申请中。
【技术领域】
本申请涉及过滤装置技术领域，特别是涉及一种自动过滤设备及自动过滤系统。
【背景技术】
过滤是生物化学医药等领域常见的操作，对溶液进行过滤时，一般通过过滤针管吸取待过滤溶液后，在过滤针管前端扎取过滤头，再将溶液透过过滤头挤出。
现有技术对溶液进行过滤的上述操作，依靠实验人员用手推拉过滤针管的推拉头，来进行待过滤溶液的吸取与挤出，该过程操作流程费力，工作量大，影响了过滤效率。
【发明内容】
本申请提供一种自动过滤设备及自动过滤系统，以实现过滤的自动化，减轻实验人员工作量。
第一方面，本申请提供一种自动过滤设备，该自动过滤设备包括支撑组件、夹爪驱动机构、过滤针管夹爪、推拉驱动机构和推拉座；夹爪驱动机构与支撑组件连接；过滤针管夹爪与夹爪驱动机构连接，过滤针管夹爪配置成能被夹爪驱动机构驱动夹持过滤针管；推拉驱动机构与支撑组件连接；推拉座与推拉驱动机构连接，用于在过滤针管夹爪夹持过滤针管时，卡接过滤针管的推拉头，推拉座配置成能被推拉驱动机构驱动移动，以使推拉座带动过滤针管的推拉头移动。
在一种可能的设计方式中，推拉座包括主体部及与主体部连接的卡置部，主体部与推拉驱动机构连接，当过滤针管夹爪夹持过滤针管时，卡置部卡接过滤针管的推拉头。
在一种可能的设计方式中，卡置部包括连接部、第一抵挡部与第二抵挡部，连接部、第一抵挡部和第二抵挡部三者中的至少一个与主体部相连接，第一抵挡部与第二抵挡部分别连接在连接部的两端，第一抵挡部、连接部以及第二抵挡部三者形成一U形结构，主体部的至少部分与U形结构之间形成有容置空间，过滤针管的推拉头经由U形结构的开口进入容置空间内，使推拉座卡接过滤针管的推拉头。
在一种可能的设计方式中，支撑组件包括：支撑板，夹爪驱动机构设置于支撑板；推拉固定板，与支撑板连接，推拉驱动机构设置于推拉固定板。
在一种可能的设计方式中，还包括：牵引丝杆，分别连接推拉驱动机构和推拉座，推拉驱动机构驱动牵引丝杆运动，以使牵引丝杆带动推拉座移动；推拉导轨，推拉导轨固定在推拉固定板上，推拉座活动设置在推拉导轨上，当牵引丝杆带动推拉座移动时，推拉座沿推拉导轨滑动。
在一种可能的设计方式中，还包括：针管取放夹爪，与夹爪驱动机构连接，且背离过滤针管夹爪设置，针管取放夹爪配置成能被夹爪驱动机构驱动夹持过滤针管。
在一种可能的设计方式中，支撑组件还包括：夹爪固定座，与支撑板活动连接，夹爪驱动机构设置于夹爪固定座。
在一种可能的设计方式中，还包括：缓冲组件，缓冲组件分别与夹爪固定座和支撑板连接，缓冲组件被配置为调节夹爪固定座与支撑板的相对位置，以缓冲过滤针管夹爪对夹爪固定座的作用力；缓冲组件包括缓冲螺钉与弹性件，缓冲螺钉一端穿过支撑板与夹爪固定座固定连接，弹性件设置在支撑板与夹爪固定座之间；弹性件为缓冲弹簧，缓冲弹簧绕设于缓冲螺钉，且缓冲弹簧的两端分别抵接支撑板和夹爪固定座。
在一种可能的设计方式中，还包括：缓冲固定板，与支撑板连接；缓冲导轨，设置在缓冲固定板上，夹爪固定座与缓冲导轨活动连接，当夹爪固定座在缓冲组件的作用下发生移位时，夹爪固定座沿缓冲导轨滑动。
在一种可能的设计方式中，还包括：机械手连接母头，设置在支撑板远离夹爪固定座的一面，用于与机械手上的连接公头进行连接。
在一种可能的设计方式中，过滤针管夹爪的夹持面形成有若干锯齿，锯齿在过滤针管夹爪夹持过滤针管时起到防滑加固作用；夹持面呈弧形或V形。
第二方面，本申请还提供一种自动过滤系统，该自动过滤系统包括机械手和上述提供的自动过滤设备，机械手与自动过滤设备连接，机械手被配置为能够带动自动过滤设备移动。
在一种可能的设计方式中，还包括：过滤头取放装置，过滤头取放装置用于协助自动过滤设备上的过滤针管取下或安装过滤针管前端的过滤头，其中，过滤头包括依次相连的入口管柱、过滤组件和出口管柱，过滤组件的直径大于入口管柱和出口管柱的直径。
在一种可能的设计方式中，过滤头取放装置包括：壳体，壳体包括有顶板，顶板侧边形成有限位卡槽，限位卡槽用于限位入口管柱；压紧块，活动设置在顶板一面，压紧块配置成能被驱动而在第一位置和第二位置之间切换移动，在第一位置时，压紧块将入口管柱限位于限位卡槽内，并将过滤组件和出口管柱夹持在压紧块与顶板之间，在第二位置时，过滤头从压紧块与顶板之间松脱；压紧驱动机构，压紧驱动机构连接压紧块，用于驱动压紧块在第一位置和第二位置之间切换移动。
在一种可能的设计方式中，过滤头取放装置还包括：针管存放机构，设置于顶板远离限位卡槽的一侧，针管存放机构用于暂存过滤针管。
本申请提供的自动过滤设备通过过滤针管夹爪夹持住过滤针管，利用推拉驱动机构驱动推拉座，推拉座被驱动过程中，推拉座通过带动与其卡接在一起的推拉头拉动过滤针管的活塞至管口来抽取溶液，或推动过滤针管的活塞至管底，使溶液经过滤头挤出，完成对溶液的过滤，过滤过程不需要实验人员推拉过滤针管的推拉头，操作更省力，减轻了实验人员工作量，提高了过滤效率。
【附图说明】
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请自动过滤设备一实施例的结构示意图；
图2是图1自动过滤设备中推拉座一实施例的结构示意图；
图3是本申请自动过滤系统中自动过滤设备与过滤头取放装置一实施例的结构示意图。
其中，图中各附图标记：
100、自动过滤设备；111、过滤针管夹爪；120、推拉座；121、主体部；
122、卡置部；1221、连接部；1222、第一抵挡部；1223、第二抵挡部；1225、容置空间；130、推拉固定板；140、推拉驱动机构固定座；150、牵引丝杆；160、推拉驱动机构；170、夹爪固定座；171、夹爪驱动机构；112、针管取放夹爪；180、支撑板；190、缓冲组件；191、缓冲螺钉；192、弹性件；193、缓冲固定板；194、机械手连接母头；201、顶板；202、限位卡槽；203、压紧块。
【具体实施方式】
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的系统、装置及电路的详细说明，以免不必要的细节妨碍本申请的描述。
现有技术中对溶液进行过滤，需通过实验人员手工完成，实验人员捏紧过滤针管，手动拉动推拉头，将溶液吸取进过滤针管内，再手动推动推拉头将溶液透过过滤头挤出，过滤操作完全依赖实验人员手动完成，操作流程费力，工作量大，影响了工作效率。
基于上述问题，本申请提出了一种自动过滤设备和自动过滤系统，能有效解决上述问题。
下面结合附图和实施例对本申请提供的一种自动过滤设备和自动过滤系统进行详细描述。
本申请提供了一种自动过滤设备100。请参阅图1，该自动过滤设备100包括支撑组件(未标示)、夹爪驱动机构171、过滤针管夹爪111、推拉驱动机构160和推拉座120。
夹爪驱动机构171与支撑组件连接；过滤针管夹爪111与夹爪驱动机构171连接，过滤针管夹爪111配置成能被夹爪驱动机构171驱动夹持过滤针管；推拉驱动机构160与支撑组件连接；推拉座120与推拉驱动机构160连接，用于在过滤针管夹爪111夹持过滤针管时，卡接过滤针管的推拉头，推拉座120配置成能被推拉驱动机构160驱动移动，以使推拉座120带动过滤针管的推拉头移动。
具体地，本申请的自动过滤设备100用于通过过滤针管对溶液进行自动化过滤。过滤针管夹爪111用于夹持固定过滤针管，其中，过滤针管夹爪111的夹持或松开动作被夹爪驱动机构171控制。过滤针管包括管筒，活塞及与活塞连接的推拉头，当过滤针管夹爪111夹住过滤针管的指定位置，过滤针管的推拉头卡接在推拉座120上，在推拉头与推拉座120卡接在一起后，当推拉驱动机构160驱动推拉座120运动时，推拉座120带动过滤针管的活塞在管筒内抽拉活塞运动。
其中，在一具体场景中，推拉驱动机构160驱动推拉座120在第一预设位置和第二预设位置间移动。第一预设位置与第二预设位置为沿活塞运动方向上距离过滤针管夹爪111不同距离的两个位置，第一预设位置靠近过滤针管夹爪111，第二预设位置远离过滤针管夹爪111。当推拉座120被驱动从第一预设位置向第二预设位置移动时，推拉座120带动活塞从过滤针管的管底运动至管口，该过程能使过滤针管吸取待过滤的溶液。当推拉座120被驱动从第二预设位置向第一预设位置移动时，推拉座120带动活塞从过滤针管的管口运动至管底，该过程能挤出过滤针管内的溶液。当进行溶液过滤时，自动过滤设备100夹持过滤针管，移动自动过滤设备100至溶液抽取处或将待过滤溶液移动至过滤针管下方，在推拉座120拉动推拉头抽取待过滤溶液后，移动自动过滤设备100至过滤头放置处或将过滤头移动至过滤针管下方，在扎取过滤头后，推拉驱动 机构160驱动推拉座120推动活塞，将过滤针管内的溶液透过过滤头挤出，完成对溶液的过滤。
本申请提供的自动过滤设备100，通过过滤针管夹爪111夹持住过滤针管，利用推拉驱动机构160驱动推拉座120，推拉座120拉动过滤针管的活塞至管口来抽取溶液至过滤针管中，在过滤针管前端连接过滤头后，通过推拉座120推动过滤针管的活塞至管底，使溶液经过滤头挤出，完成对溶液的过滤，过滤过程不需要实验人员推拉过滤针管的推拉头，操作更省力，实现了过滤操作的自动化，减轻了实验人员工作量，提高了过滤效率和实验安全性。
请结合参阅图2，在一些实施例中，推拉座120包括主体部121及与主体部121连接的卡置部122，主体部121与推拉驱动机构160连接，当过滤针管夹爪111夹持过滤针管时，卡置部122卡接过滤针管的推拉头。
可选的，卡置部122包括连接部1221、第一抵挡部1222与第二抵挡部1223，连接部1221、第一抵挡部1222和第二抵挡部1223三者中的至少一个与主体部121相连接，第一抵挡部1222与第二抵挡部1223分别连接在连接部1221的两端，第一抵挡部1222、连接部1221以及第二抵挡部1223三者形成一U形结构，主体部121的至少部分与U形结构之间形成有容置空间1225，过滤针管的推拉头经由U形结构的开口进入容置空间1225内，使推拉座120卡接过滤针管的推拉头。
具体地，推拉座120活动设置在过滤针管夹爪111一侧，且推拉座120的卡置部122靠近过滤针管夹爪111。当过滤针管夹爪111夹持过滤针管时，推拉座120通过卡置部122卡接过滤针管的推拉头。本实施例中，卡置部122的第一抵挡部1222与第二抵挡部1223分别固定在连接部1221的两端形成有一端开口的U形结构，卡置部122通过第一抵挡部1222与主体部121连接，U形结构的卡置部122与主体部121之间还包括有容置空间1225。将过滤针管固定在自动过滤设备100上时，过滤针管的推拉头借助U形结构作为滑轨，部分滑入容置空间1225内被第一抵挡部1222及第二抵挡部1223抵接固定在容置空间1225内。当需要取下过滤针管时，过滤针管的推拉头同样经U形结构一端的开口滑出。
请继续参阅图1，在一些实施例中，自动过滤设备100还包括控制装置(未标示)，控制装置连接推拉驱动机构160，用于在过滤针管夹爪111夹持过滤针管时，控制推拉驱动机构160驱动推拉座120移动，从而带动过滤针管的活塞运动，完成吸取待过滤溶液及透过过滤头挤出的过滤操作。可选的，控制装置可以为设置的两个控制按钮(未标示)，当两个控制按钮被同时按压时，控制装置控制推拉驱动机构160驱动推拉座120，设置两个控制按钮的好处是提高自动过滤设备100的操作安全性，实验人员需同时按下两个控制按钮，才会驱动推拉座120推拉过滤针管的活塞，避免了实验人员误操作造成过滤差错。
在一些实施例中，在过滤针管夹爪111还能设置有感应装置，感应装置具体可以为压力传感器或红外感应器等，感应装置与控制装置连接，通过感应装置感应过滤针管夹爪111上是否有过滤针管放置。同时，将控制装置配置成：只有当控制装置接收到感应装置感应到过滤针管的信号反馈时，控制装置才控 制推拉驱动机构160工作，该设置的好处是进一步提高自动过滤设备100的操作安全性，避免过滤针管还未放置，推拉座120就被驱动的情况。
在一些实施例中，本申请支撑组件包括支撑板180与推拉固定板130，夹爪驱动机构171设置于支撑板180；推拉固定板130与支撑板180连接，推拉驱动机构160设置在推拉固定板130上。
本申请自动过滤设备100还包括牵引丝杆150和推拉导轨(未标示)。推拉导轨固定在所述推拉固定板130上，所述推拉座120活动设置在所述推拉导轨上，当牵引丝杆150带动推拉座120移动时，推拉座120沿推拉导轨滑动。牵引丝杆150分别连接推拉驱动机构160和推拉座120，推拉驱动机构160驱动牵引丝杆150运动，以使牵引丝杆150带动推拉座120移动。
本实施例中，还包括推拉驱动机构固定座140，用于将推拉驱动机构160固定在推拉固定板130上。推拉驱动机构固定座140与过滤针管夹爪111分别位于所述推拉固定板130的两端，其中，推拉驱动机构160固定在推拉驱动机构固定座140远离所述过滤针管夹爪111的一面，推拉驱动机构固定座140用来固定推拉驱动机构160，牵引丝杆150和推拉驱动机构160分别位于推拉驱动机构固定座140的两面。牵引丝杆150一端固定在推拉座120上，另一端贯穿推拉驱动机构固定座140被推拉驱动机构160牵引，推拉驱动机构160通过对牵引丝杆150牵引来驱动推拉座120移动。其中，推拉导轨的延伸方向和推拉座120的运动方向相同。当推拉座120被驱动移动时，推拉座120在推拉导轨上滑动。
本实施例中，推拉驱动机构160可以为步进电机，牵引丝杆150为旋转丝杆，推拉座120通过螺母座与牵引丝杆150连接，步进电机工作时驱动牵引丝杆150旋转，牵引丝杆150带动推拉座120沿牵引丝杆150做直线运动。在一些其他实施例中，推拉驱动机构160还可以为直线电机，对应的牵引丝杆150为伸缩丝杆，推拉座120连接在牵引丝杆150的一端，直线电机工作时驱动牵引丝杆150伸缩，牵引丝杆150同样能带动推拉座120沿牵引丝杆150做直线运动。其中，推拉驱动机构160与牵引丝杆150的类型并不局限于上述列举的两种类型，只需推拉驱动机构160工作时能驱动牵引丝杆150带动推拉座120沿牵引丝杆150移动，均应包含在本申请所保护的范围内。
在一些实施例中，本申请自动过滤设备100还包括针管取放夹爪112，针管取放夹爪112与夹爪驱动机构171连接，且背离过滤针管夹爪111设置，针管取放夹爪112配置成能被夹爪驱动机构171驱动夹持过滤针管。
在一些实施例中，自动过滤设备100还包括夹爪固定座170，夹爪固定座170与支撑板180活动连接，夹爪驱动机构171设置于夹爪固定座170，夹爪驱动机构171一端固定在夹爪固定座170上，夹爪驱动机构171另一端的两侧分别设置过滤针管夹爪111和针管取放夹爪112。支撑板180一侧与所述推拉固定板130远离过滤针管夹爪111的一端固定连接，支撑板180靠近过滤针管夹爪111的一面活动连接夹爪固定座170。支撑板180与推拉固定板130相对固定，夹爪驱动机构171上连接有过滤针管夹爪111和针管取放夹爪112，夹爪驱动机构171用来控制过滤针管夹爪111和针管取放夹爪112两个夹爪的夹持和松开动 作。其中，过滤针管夹爪111用来夹持固定过滤针管配合推拉座120对过滤针管的活塞进行抽拉完成过滤。
其中，待使用的过滤针管摆放在专门放置过滤针管的过滤针管承载台上，过滤针管承载台上的过滤针管摆放一般较密集，此外过滤针管夹爪111尺寸较大，且上方又有推拉座120，自动过滤设备100通过过滤针管夹爪111直接从过滤针管承载台上取过滤针管容易对密集摆放的针管造成干涉碰撞。设置针管取放夹爪112的好处是方便自动过滤设备100从特定的过滤针管承载台上取出过滤针管待使用，针管取放夹爪112夹持端可以为双细杆向外伸出，整体尺寸小于过滤针管夹爪111，在末尾还形成有限位过滤针管的V形凹槽，该结构设计能使针管取放夹爪112准确牢固取出过滤针管承载台上的过滤针管。
在一些实施例中，本申请自动过滤设备100还包括缓冲组件190，缓冲组件190分别与夹爪固定座170和支撑板180连接，缓冲组件190被配置为调节夹爪固定座170与支撑板180的相对位置，以缓冲过滤针管夹爪111对夹爪固定座170的作用力。缓冲组件190包括缓冲螺钉191与弹性件192，缓冲螺钉191一端穿过支撑板180与夹爪固定座170固定连接，弹性件192设置在支撑板180与夹爪固定座170之间。
具体地，支撑板180上形成有通孔，缓冲螺钉191贯穿通孔设置，缓冲螺钉191的螺帽与螺杆分别位于支撑板180的两面。其中，缓冲螺钉191与支撑板180活动连接，螺杆与夹爪固定座170固定连接，弹性件192设置在支撑板180与夹爪固定座170之间且绕设在螺杆上，通过缓冲组件190在夹爪驱动机构171受到挤压时起到缓冲保护作用。
在一些实施例中，自动过滤设备100还包括缓冲固定板193和缓冲导轨(未标示)，缓冲固定板193设置在支撑板180活动连接有夹爪固定座170的一面，缓冲导轨固定在缓冲固定板193上，夹爪固定座170活动设置在缓冲导轨上，当夹爪固定座170挤压缓冲组件190，夹爪固定座170在缓冲导轨上滑动。缓冲组件190用于过滤针管夹爪111夹持过滤针管扎取过滤头时起到缓冲保护作用，在持过滤针管扎取过滤头的过程中，过滤针管受力挤压连接的夹爪固定座170，随之夹爪固定座170挤压缓冲组件190，当挤压力过大时，缓冲组件190的弹性件192收缩，夹爪固定座170在缓冲导轨上滑动，使自动过滤设备100突然受挤压力过大时，能缓释压力。避免设备损坏，延长自动过滤设备100的使用寿命。
本实施例中，弹性件192为缓冲弹簧，缓冲弹簧绕设于缓冲螺钉191，且缓冲弹簧的两端分别抵接支撑板180和夹爪固定座170。在其他实施例中，弹性件192还可以为多段弯折的弹性片等其他弹性装置(如橡胶块、橡胶套等)。弹性片一端固定在夹爪固定座170上，弹性片另一端活动抵接支撑板180，在此不作具体限定。
在一些实施例中，本申请自动过滤设备100还包括机械手连接母头194，机械手连接母头194设置在支撑板180远离夹爪固定座170的一面，用于与机械手上的连接公头进行连接。具体地，在自动过滤设备100进行过滤前，通过机械手连接母头194连接移动装置例如机械手等，由机械手移动自动过滤设备100 至过滤针管放置处夹持过滤针管，或移动自动过滤设备100至待过滤溶液抽取处抽取待过滤溶液。
在一些实施例中，过滤针管夹爪111的夹持面形成有若干锯齿，锯齿在过滤针管夹爪111夹持过滤针管时起到防滑加固作用。具体地，锯齿的设置，使推拉座120被驱动推拉过滤针管的活塞时，不会带动过滤针管在过滤针管夹爪111上滑动。在另外一些实施例中，还能在过滤针管夹爪111的夹持面设置有防滑橡胶等其他防滑加固结构。可以理解地，在针管取放夹爪112的夹持面同样能设置有上述防滑加固结构，在此不作具体限定。
在另一些实施例中，过滤针管夹爪111的夹持面呈弧形或V形。具体地，弧形或V形的夹持面在夹持过滤针管时与过滤针管的管筒适配性更好，与过滤针管的接触面积更大，增大了夹持过滤针管的摩擦力，过滤针管的夹持更牢固。
本申请提供的自动过滤设备100，通过过滤针管夹爪111夹持住过滤针管，利用推拉驱动机构160驱动推拉座120，推拉座120拉动过滤针管的活塞至管口来抽取溶液至过滤针管中，在过滤针管前端连接过滤头后，通过推拉座120推动过滤针管的活塞至管底，使溶液经过滤头挤出，完成对溶液的过滤，过滤过程不需要实验人员拉过滤针管的推拉头，操作更省力，减轻了实验人员工作量，提高了过滤效率和实验安全性。
本申请还提供了一种自动过滤系统。该自动过滤系统包括机械手和上述描述的自动过滤设备100；机械手与自动过滤设备100相连接，机械手被配置为能够带动自动过滤设备100移动。机械手与自动过滤设备100可以固定连接或可拆卸连接。在一些实施例中，机械手设置有连接公头；自动过滤设备100上设置有机械手连接母头194，两者相互配合使机械手与自动过滤设备100可拆卸连接。
本实施例中，自动过滤系统还包括处理单元，处理单元与机械手及自动过滤设备100连接，用于控制机械手移动自动过滤设备100至过滤针管存放处进行过滤针管的夹持，或控制机械手移动自动过滤设备100至过滤容器处进行自动化过滤。
在进行过滤时，机械手通过连接公头与自动过滤设备100的机械手连接母头194连接，连接后，机械手移动自动过滤设备100的过滤针管夹爪111夹持过滤针管，同时推拉座120的卡置部122卡置住过滤针管的推拉头，机械手移动自动过滤设备100夹持的过滤针管至溶液抽取处，推拉驱动机构160驱动推拉座120拉动过滤针管的活塞进行溶液抽取，接着机械手移动自动过滤设备100使连接的过滤针管前端扎取过滤头，在挤压扎取过滤头过程中，缓冲组件190能对挤压力进行缓冲，防止挤压力度过大对设备造成损坏，延长自动过滤设备100的使用寿命。待过滤针管吸取待过滤溶液后，推拉驱动机构160驱动推拉座120推动过滤针管的活塞将溶液透过过滤头挤到指定容器内，完成溶液的过滤。
在一些实施例中，自动过滤系统还包括过滤头取放装置，用于装卸特定结构的过滤头。过滤头包括依次相连的入口管柱、过滤组件和出口管柱，过滤组件的直径大于入口管柱和出口管柱的直径。请结合参阅图3，该过滤头取放装置包括壳体、压紧块203和压紧驱动机构。
壳体包括有顶板201，顶板201侧边形成有限位卡槽202，限位卡槽202用于限位入口管柱。压紧块203活动设置在顶板201一面，压紧块203配置成能被驱动而在第一位置和第二位置之间切换移动。在第一位置时，压紧块203将入口管柱限位于限位卡槽202内，并将过滤组件和出口管柱夹持在压紧块203与顶板201之间。在第二位置时，过滤头从压紧块203与顶板201之间松脱。压紧驱动机构连接压紧块203，用于驱动压紧块203在第一位置和第二位置之间切换移动。
壳体还可以包括侧板与底板，顶板201与底板分别位于侧板的两端，顶板201、侧板以及底板形成一容纳空间，压紧块203活动设置在该容纳空间内。过滤头取放装置还可以包括固定座和移动丝杆，固定座与侧板连接，用于固定压紧驱动机构，移动丝杆的一端与压紧驱动机构的输出端连接，另一端与压紧块203连接。当压紧驱动机构驱动移动丝杆运动时，可以带动压紧块203在第一位置和第二位置之间移动。可选的，过滤头取放装置还可以包括至少一个导柱，压紧块203滑动设置在导柱上，在压紧块203移动时起到导向作用。其中，压紧驱动机构、固定座、移动丝杆和导柱均可以位于容纳空间内。
压紧块203面向顶板201的一面形成有限位凹槽，限位凹槽与限位卡槽202对应设置，压紧块203位于第一位置时，入口管柱位于限位卡槽202，过滤组件和出口管柱位于限位凹槽。
具体地，本申请的过滤头取放装置用来协助自动过滤设备100上的过滤针管装卸过滤针管前端的过滤头。顶板201的侧边边沿形成有凹陷的限位卡槽202，限位卡槽202的形状为半椭圆形或半方形等。可以沿顶板201侧边移动过滤头，当过滤头的入口管柱移动嵌入至限位卡槽202的槽口内时，限位卡槽202的槽边限制过滤头的继续移动，起到限位过滤头位置的作用。当过滤头的入口管柱位于顶板201的正确位置时，过滤头的出口管柱对准活动设置在顶板201一面的压紧块203。
其中，第一位置与第二位置为垂直于顶板201所在平面距离顶板201不同距离的两个位置，第一位置靠近顶板201，第二位置远离顶板201，压紧块203被驱动在第一位置与第二位置间移动。当过滤头的入口管柱被限位在限位卡槽202，压紧块203被驱动至第一位置时，压紧块203与顶板201共同作用夹紧过滤头，随即可用过滤针管扎取被固定在过滤头取放装置上的过滤头，或拔出与过滤头连接的过滤针管，完成过滤针管过滤头的装卸操作。当取下过滤头后，压紧块203被驱动至远离顶板201的第二位置，此刻压紧块203与顶板201不再夹紧过滤头，此时可取出过滤头，对过滤头进行回收。
在一具体应用场景中，自动过滤设备100完成一次过滤后，如果需要重复使用过滤针管进行下一次过滤，需取下过滤针管前端的过滤头。机械手带动自动过滤设备100将过滤针管上连接的过滤头移动至限位卡槽202后，压紧块203被驱动至压紧块203和顶板201共同作用夹紧过滤头。随后机械手带动自动过滤设备100向上移动，将自动过滤设备100夹持固定的过滤针管从过滤头中拔出，使过滤针管与过滤头分离，通过过滤头取放装置协助取下过滤针管上的过滤头。此外，在过滤针管上过滤头被取下后，机械手能再次带动自动过滤设备 100使过滤针管移动至溶液抽取处抽取溶液，再移动至过滤头取放装置处扎取之前卸下的过滤头，以进行下一次过滤操作，且上述过滤动作，取下过滤针管前端过滤头的操作可反复进行。
在又一具体应用场景中，在通过自动过滤设备100完成过滤后，需处理使用过的过滤针管和过滤头。机械手带动自动过滤设备100将过滤针管上连接的过滤头移动至限位卡槽202，压紧块203被驱动至压紧块203和顶板201共同作用夹紧过滤头后，过滤针管夹爪111松开，机械手带动自动过滤设备100的推拉座120脱离过滤针管的推拉头，使过滤针管夹爪111与过滤针管分离，随后机械手移动自动过滤设备100使针管取放夹爪112夹取过滤针管，在压紧块203被驱动松开被夹持的过滤头后，针管取放夹爪112夹持过滤针管连同过滤头丢弃至回收处。
在一些实施例中，自动过滤系统的过滤头取放装置还设置有针管存放机构，针管存放机构设置于顶板201远离限位卡槽202的一侧，针管存放机构用于暂存过滤针管。自动过滤设备100的针管取放夹爪112从过滤针管承载台上夹持过滤针管后，可暂时将过滤针管放置在针管存放机构上，等待过滤针管夹爪111夹取。
本申请提供的自动过滤系统，机械手与自动过滤设备连接，通过机械手移动自动过滤设备夹取过滤针管后，移动至待过滤溶液抽取处，自动过滤设备自动拉动过滤针管活塞吸取溶液，机械手带动自动过滤设备借助过滤头取放装置扎取过滤头，接着自动过滤设备推动过滤针管活塞挤出溶液完成过滤，过滤过程不需要实验人员推拉过滤针管的推拉头，操作更省力，且装卸过滤针管前端的过滤头时避免实验人员接触有药剂残留的过滤头，安全性更高，实现了过滤操作的自动化，减轻了实验人员工作量，提高了过滤效率和实验安全性。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (15)

  1. 一种自动过滤设备，其中，包括：
    支撑组件；
    夹爪驱动机构，与所述支撑组件连接；
    过滤针管夹爪，与所述夹爪驱动机构连接，所述过滤针管夹爪配置成能被所述夹爪驱动机构驱动夹持过滤针管；
    推拉驱动机构，与所述支撑组件连接；
    推拉座，与所述推拉驱动机构连接，用于在所述过滤针管夹爪夹持所述过滤针管时，卡接所述过滤针管的推拉头，所述推拉座配置成能被所述推拉驱动机构驱动移动，以使所述推拉座带动所述过滤针管的推拉头移动。
  2. 根据权利要求1所述的自动过滤设备，其中，所述推拉座包括主体部及与所述主体部连接的卡置部，所述主体部与所述推拉驱动机构连接，当所述过滤针管夹爪夹持所述过滤针管时，所述卡置部卡接所述过滤针管的推拉头。
  3. 根据权利要求2所述的自动过滤设备，其中，所述卡置部包括连接部、第一抵挡部与第二抵挡部，所述连接部、所述第一抵挡部和所述第二抵挡部三者中的至少一个与所述主体部相连接，所述第一抵挡部与所述第二抵挡部分别连接在所述连接部的两端，所述第一抵挡部、所述连接部以及所述第二抵挡部三者形成一U形结构，所述主体部的至少部分与所述U形结构之间形成有容置空间，所述过滤针管的所述推拉头经由所述U形结构的开口进入所述容置空间内，使所述推拉座卡接所述过滤针管的推拉头。
  4. 根据权利要求1所述的自动过滤设备，其中，所述支撑组件包括：
    支撑板，所述夹爪驱动机构设置于所述支撑板；
    推拉固定板，与所述支撑板连接，所述推拉驱动机构设置于所述推拉固定板。
  5. 根据权利要求4所述的自动过滤设备，其中，还包括：
    牵引丝杆，分别连接所述推拉驱动机构和所述推拉座，所述推拉驱动机构驱动所述牵引丝杆运动，以使所述牵引丝杆带动所述推拉座移动；
    推拉导轨，所述推拉导轨固定在所述推拉固定板上，所述推拉座活动设置在所述推拉导轨上，当所述牵引丝杆带动所述推拉座移动时，所述推拉座沿所述推拉导轨滑动。
  6. 根据权利要求1所述的自动过滤设备，其中，还包括：
    针管取放夹爪，与所述夹爪驱动机构连接，且背离所述过滤针管夹爪设置，所述针管取放夹爪配置成能被所述夹爪驱动机构驱动夹持过滤针管。
  7. 根据权利要求4所述的自动过滤设备，其中，所述支撑组件还包括：
    夹爪固定座，与所述支撑板活动连接，所述夹爪驱动机构设置于所述夹爪固定座。
  8. 根据权利要求7所述的自动过滤设备，其中，还包括：
    缓冲组件，所述缓冲组件分别与所述夹爪固定座和所述支撑板连接，所述缓冲组件被配置为调节所述夹爪固定座与所述支撑板的相对位置，以缓冲所述 过滤针管夹爪对所述夹爪固定座的作用力；
    所述缓冲组件包括缓冲螺钉与弹性件，所述缓冲螺钉一端穿过所述支撑板与所述夹爪固定座固定连接，所述弹性件设置在所述支撑板与所述夹爪固定座之间；
    所述弹性件为缓冲弹簧，所述缓冲弹簧绕设于所述缓冲螺钉，且所述缓冲弹簧的两端分别抵接所述支撑板和所述夹爪固定座。
  9. 根据权利要求8所述的自动过滤设备，其中，还包括：
    缓冲固定板，与所述支撑板连接；
    缓冲导轨，设置在所述缓冲固定板上，所述夹爪固定座与所述缓冲导轨活动连接，当所述夹爪固定座在所述缓冲组件的作用下发生移位时，所述夹爪固定座沿所述缓冲导轨滑动。
  10. 根据权利要求7所述的自动过滤设备，其中，还包括：
    机械手连接母头，设置在所述支撑板远离所述夹爪固定座的一面，用于与机械手上的连接公头进行连接。
  11. 根据权利要求1-10任一项所述的自动过滤设备，其中，所述过滤针管夹爪的夹持面形成有若干锯齿，所述锯齿在所述过滤针管夹爪夹持所述过滤针管时起到防滑加固作用；
    所述夹持面呈弧形或V形。
  12. 一种自动过滤系统，其中，包括机械手和如权利要求1-11任一项所述的自动过滤设备，所述机械手与所述自动过滤设备连接，所述机械手被配置为能够带动所述自动过滤设备移动。
  13. 根据权利要求12所述的自动过滤系统，其中，还包括：
    过滤头取放装置，所述过滤头取放装置用于协助所述自动过滤设备上的过滤针管取下或安装所述过滤针管前端的过滤头，其中，所述过滤头包括依次相连的入口管柱、过滤组件和出口管柱，所述过滤组件的直径大于所述入口管柱和所述出口管柱的直径。
  14. 根据权利要求13所述的自动过滤系统，其中，所述过滤头取放装置包括：
    壳体，所述壳体包括有顶板，所述顶板侧边形成有限位卡槽，所述限位卡槽用于限位所述入口管柱；
    压紧块，活动设置在所述顶板一面，所述压紧块配置成能被驱动而在第一位置和第二位置之间切换移动，在所述第一位置时，所述压紧块将所述入口管柱限位于所述限位卡槽内，并将所述过滤组件和所述出口管柱夹持在所述压紧块与所述顶板之间，在所述第二位置时，所述过滤头从所述压紧块与所述顶板之间松脱；
    压紧驱动机构，所述压紧驱动机构连接所述压紧块，用于驱动所述压紧块在所述第一位置和所述第二位置之间切换移动。
  15. 根据权利要求14所述的自动过滤系统，其中，所述过滤头取放装置还包括：
    针管存放机构，设置于所述顶板远离所述限位卡槽的一侧，所述针管存放 机构用于暂存所述过滤针管。
PCT/CN2023/103354 2022-07-07 2023-06-28 自动过滤设备及自动过滤系统 WO2024007920A1 (zh)

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