WO2024012309A1

WO2024012309A1 - Glovebox system

Info

Publication number: WO2024012309A1
Application number: PCT/CN2023/105600
Authority: WO
Inventors: 李伟波; 麦瑞彬; 高建东
Original assignee: 深圳晶泰科技有限公司
Priority date: 2022-07-15
Filing date: 2023-07-03
Publication date: 2024-01-18
Also published as: CN115674278A

Abstract

The present application discloses a glovebox system, comprising a box body, an exchange device, a mechanical arm, a functional unit, and a workpiece. The box body is provided with a sealed chamber, and the exchange device is mounted in the box body for transferring an experimental article between the outside and the sealed chamber. The mechanical arm, the functional unit, and the workpiece are all located in the sealed chamber. The workpiece is connected to the mechanical arm, and the mechanical arm drives the workpiece to move, so that the workpiece drives the experimental article to move from the exchange device to the functional unit, and drives the experimental article to move from the functional unit to the exchange device. The functional unit is used to store the experimental article and/or to perform an experimental task by using the experimental article. An experiment process has a high degree of automation, does not require participation from a large number of experimenters, has a short sample preparation cycle, and has a high experiment success rate.

Description

glove box system

This application claims priority to the Chinese patent application filed with the China Patent Office on July 15, 2022, with application number 2022108442955 and the application name "Glove Box System", the entire content of which is incorporated into this application by reference.

Technical field

The present application relates to the technical field of glove boxes, and in particular to a glove box system.

Background technique

In the process of scientific research such as drug research and development, a large number of samples need to be prepared in an ultrapure environment to ensure experimental accuracy. As a device that provides ultra-pure environment, the glove box has become an indispensable equipment for scientific experiments.

However, the current glove box requires the participation of a large number of experimental personnel, the operation process is very complex, the sample preparation cycle is long, and the probability of human error is high.

Contents of the invention

The purpose of this application is to provide a glove box system that does not require a large number of experimental personnel to participate in sample preparation, has a short sample preparation cycle, reduces or avoids the risk of operational errors, and improves preparation efficiency.

This application provides a glove box system including: a box body, an exchange device, a mechanical arm, a functional unit and a workpiece; the box body is provided with a sealed chamber, and the exchange device is installed in the box body for use between the outside world and the sealed chamber Transfer experimental supplies; the mechanical arm, functional unit and workpiece are all located in the sealed chamber; the workpiece is connected to the mechanical arm, and the mechanical arm drives the workpiece to move. The workpiece moves the experimental supplies from the exchange device to the functional unit, and allows the experimental supplies to move from the exchange device to the functional unit. The functional unit moves to the exchange device; the functional unit is used to store experimental supplies and/or use the experimental supplies to perform experimental tasks.

In some embodiments, the functional unit includes multiple functional units, and the multiple functional units are distributed around the robotic arm.

In some embodiments, the sealed chamber has a bottom wall, and the robotic arm and multiple functional units are installed on the bottom wall; the robotic arm is placed at the center of the bottom wall; the functional units far away from the robotic arm are higher than the functional units close to the robotic arm.

In some embodiments, functional units closer to the switching device are lower than functional units further away from the switching device.

In some embodiments, the functional unit includes at least one of an electromagnetic stirrer, an oscillator, a solution detector, a powder adder, a code reader, a switch cover rotator, and a liquid level stratification detector.

In some embodiments, the cover rotator, liquid level stratification detector, code reader, powder adder, oscillator, solution detector and electromagnetic stirrer are sequentially surrounding the robotic arm; the code reader is exchanged close to Device settings.

In some embodiments, the workpieces include multiple workpieces, and the glove box system further includes a storage warehouse, which is disposed in a sealed chamber. The storage warehouse is used to store multiple workpieces; each workpiece can be detachably connected to the robotic arm.

In some embodiments, the storage library includes a storage plate and a plurality of uprights. One surface of the storage plate is fixedly connected to one end of the plurality of uprights, and the other end of the plurality of uprights is fixedly connected to the bottom wall of the sealed chamber; the storage plate is provided with a work piece. to match the number of A plurality of receiving holes; at least part of the workpiece is placed in the receiving holes.

In some embodiments, the robotic arm is provided with a quick-change male connector, and each workpiece is provided with a quick-change female connector. The quick-change male connector cooperates with the quick-change female connector to achieve detachable connection between the robotic arm and the workpiece.

In some embodiments, the plurality of workpieces include a first workpiece and a second workpiece. In the height direction of the glove box system, the height dimension of the first workpiece is greater than the height dimension of the second workpiece; in the first workpiece When the second workpiece is stored in the storage warehouse, the distance between the first workpiece and the robotic arm is greater than the distance between the second workpiece and the robotic arm.

In some embodiments, the functional unit also includes a solvent library, which is used to store reagents; the workpiece includes a pipette, a robotic arm is connected to the pipette, and the robotic arm drives the pipette to move, and the pipette is used to store reagents in the solvent library. Perform pipetting operations.

In some embodiments, the solvent library includes at least one layer of rack body, the rack body includes a receiving cavity with an opening, a container carrying component for carrying containers is provided in the receiving cavity, and the container carrying component is provided with a plurality of container placement parts; the container The load-bearing component is connected to the frame body through a first movement mechanism. The first movement mechanism is used to drive the container load-bearing component to move linearly at the opening; a container sealing component is also provided in the accommodation cavity, and the container sealing component is connected to the frame body through a second movement mechanism. Connected; the container sealing assembly includes a sealing mechanism corresponding to the container placement part, and the second movement mechanism is used to drive the sealing mechanism close to or away from the container placement part to make the sealing mechanism sealingly fit or separate from the container mouth of the container.

In some embodiments, the functional unit also includes a switch cover rotator, which is disposed on the bottom wall of the sealed chamber; the workpiece also includes a container transfer clamp, and the mechanical arm is connected to the container transfer clamp and drives the container transfer clamp. The claw moves, the container transfer clamp clamps the bottle cap of the container for holding experimental supplies, the switch cover rotator clamps the bottle body of the container, and the container transfer clamp cooperates with the switch cover rotator to perform the opening and closing operation of the container .

In some embodiments, the glove box system also includes a buffer rack, which is arranged on the bottom wall or side wall of the sealed chamber, and the buffer rack is arranged away from the exchange device, and the mechanical arm drives the workpiece to pick up and place the experimental supplies in the buffer rack; the buffer rack It includes at least one layer of storage boards, and the storage boards are provided with compartments for storing experimental supplies.

In some embodiments, the cache rack further includes a fixing member disposed in the storage position, and the fixing member is used to limit the experimental supplies to the storage position; the fixing member is a step pin, and the step pin is used to plug into the pin hole opened at the bottom of the experimental supplies; or The fixing part is an elastic contact part, the position is a positioning groove, and the elastic contact part is arranged in the positioning groove. When the experimental article is placed in the positioning groove, the elastic contact part can contact the experimental article and produce elastic deformation.

In some embodiments, the experimental supplies are placed in a container placed in the tray. The workpiece includes a container transfer clamp and a tray transfer clamp. The glove box system also includes: a transfer rack, and the transfer rack is arranged on the bottom wall of the sealed chamber. On the machine, the robotic arm drives the pallet transfer clamp to place the pallet on the transfer rack, and the robotic arm drives the container transfer clamp to move the containers in the pallet to the functional unit.

In some embodiments, the transfer rack includes multiple transfer racks with different heights, and the transfer rack with a higher height is further away from the robotic arm.

In some embodiments, the transfer rack includes a placement plate, and the placement plate is provided with step pins, and the step pins are used to be plugged into pin holes opened at the bottom of the pallet; and/or, both ends of the placement plate are provided with pallet clamping pieces to Snap-on tray.

In some embodiments, the exchange device includes an exchange chamber, a feeding mechanism, a first closing mechanism, a second closing mechanism, a vacuum mechanism and an inflation mechanism. The exchange chamber is provided with an exchange chamber, a first opening and a second opening. The first opening and The second openings are both connected to the exchange chamber, and the feeding mechanism is located in the exchange chamber; the first closing mechanism is located at the first opening, and the second closing mechanism is located at the second opening; the vacuum mechanism and the inflation mechanism are respectively connected with the exchange chamber ; The first closing mechanism can close or unseal the first opening, and the second closing mechanism can close or unseal the second opening; the feeding mechanism can unseal the first opening; Extending from the first opening; the feeding mechanism can extend from the second opening when the second opening is unsealed; the vacuum mechanism is used to evacuate the exchange chamber, and the filling mechanism is used to fill the exchange chamber under vacuum Experimental gas; the exchange chamber runs through the box, the first closing mechanism is located inside the sealed chamber, and the second closing mechanism is located outside the sealed chamber.

In some embodiments, the feeding mechanism includes a primary driving part, a secondary driving part and a carrying platform. The primary driving part is connected to the bottom surface of the exchange chamber, the secondary driving part is slidingly connected to the primary driving part, and the carrying platform is slidingly connected to the secondary driving part. The primary driving part, the secondary driving part and the bearing platform are stacked and distributed in sequence along the height direction of the exchange chamber.

The primary driving part drives the secondary driving part to move in the first direction, and the secondary driving part drives the carrying platform to move in the first direction, so that the carrying platform extends out of the exchange chamber from the first opening; the primary driving part drives the secondary driving part The first direction is opposite to the second direction. The first direction is a direction from the second opening toward the first opening, and the second direction is a direction from the first opening toward the second opening. The first opening and the second opening are located on opposite sides of the exchange chamber.

In some embodiments, the glove box system also includes an identification code calibration component. The identification code calibration component is used for an external mobile robot to identify the position of the glove box system. The identification code calibration component includes: a three-axis calibration bracket, which is provided on the outer wall of the box. , the three-axis calibration bracket includes two X-direction connection plates, Y-direction connection plates and Z-direction connection plates that are arranged perpendicularly to each other. One end of the Y-direction connection plate is connected to one end of the X-direction connection plate, and the other end of the Y-direction connection plate Connected to one end of the Z-direction connecting plate; three identification code calibration plates, two of which are located at both ends of the X-direction connecting plate, and the other identification code calibration plate is located at the other end of the Z-direction connecting plate; Among them, each identification code calibration plate has a built-in identification code, and the identification code is used to position the glove box system of the external mobile robot for sample access operations.

In some embodiments, the glove box system further includes a gas supply device, the gas supply device is connected to the box, and the gas supply device is used to transport gas into the sealed chamber.

In some embodiments, the box includes a peripheral plate, a first enclosure plate and a second enclosure plate. The first enclosure plate and the second enclosure plate are respectively fixedly connected to opposite sides of the perimeter plate. The first enclosure plate, the second enclosure plate and The peripheral plate encloses a sealed chamber; the peripheral plate is provided with a visible transparent area; and the exchange device is arranged on the peripheral plate.

In some embodiments, the box also includes a base, which is fixed to the underside of the second enclosure panel; the glove box system also includes control equipment, electrical equipment and a sealed communicator; the control equipment and electrical equipment are located in the base, and one end of the sealed communicator is Located in the sealed chamber, the other end is located in the base to connect the sealed chamber with the base; the control device is electrically connected to the electrical device, one side of the sealed communicator is connected to the control device and the electrical device, and the other side of the sealed communicator is connected to the robotic arm , functional units and workpieces; the control device controls the robotic arm, functional units and/or workpieces through a sealed communicator.

In some embodiments, the glove box system further includes a mobile robot located outside the box and used to place experimental supplies into or take out experimental supplies from the feeding mechanism when the second opening of the exchange device is opened.

In the glove box system provided by this application, when the robotic arm rotates and moves, it can drive the workpiece to any functional unit that needs to cooperate with the workpiece, and then store the experimental supplies captured by the workpiece in the functional unit, or make the workpiece Experimental supplies at functional units perform experimental tasks. During the experiment, the degree of automation is high, there is no need for a large number of experimental personnel to participate, the sample preparation cycle is short, and the experimental success rate is high.

Description of drawings

In order to explain the technical solution of the present application more clearly, the drawings needed to be used in the implementation will be briefly introduced below.

Figure 1 is a schematic structural diagram of a glove box system provided by an embodiment of the present application;

Figure 2 is a schematic structural diagram of the glove box system shown in Figure 1 from another perspective;

Figure 3 is a structural schematic diagram of the glove box system shown in Figure 1 from another perspective;

Figure 4 is a schematic structural diagram of the exchange device of the glove box system shown in Figure 1;

Figure 5 is a schematic structural diagram of the feeding mechanism of the exchange device shown in Figure 4;

Figure 6 is a schematic structural view of the first closing mechanism of the switching device shown in Figure 4;

Figure 7 is a schematic diagram of the internal structure of the glove box system shown in Figure 1;

Figure 8 is a schematic diagram of the internal structure of the glove box system shown in Figure 1 from another perspective;

Figure 9 is a schematic structural diagram of the pallet transfer clamp of the glove box system shown in Figure 7;

Figure 10 is a schematic structural diagram of the storage warehouse shown in the glove box system in Figure 7;

Figure 11 is a schematic structural diagram of the solvent library of the glove box system shown in Figure 7;

FIG. 12 is a schematic structural diagram of the buffer rack of the glove box system in FIG. 7 .

Explanation of reference signs: 1000-glove box system, 100-box, 110-upper shell, 111-peripheral plate, 112-first enclosure plate, 113-second enclosure plate, 114-first side plate, 115- Second side plate, 116-third side plate, 117-fourth side plate, 120-base, 200-exchange device, 210-exchange bin, 220-first closing mechanism, 221-first closing plate, 222-th A longitudinal driving member, 223-first transverse driving member, 224-first fixed plate, 225-first track, 230-second closing mechanism, 240-first mounting plate, 240a-second mounting plate, 250-feeding Mechanism, 251-primary driving part, 252-first carrier plate, 253-first slide rail, 254-first guide slide block, 255-first driving part, 256-secondary driving part, 257-second carrier Board, 258-second slide rail, 259-second guide slide block, 260-second driving part, 261-bearing platform, 300-robot arm, 400-functional unit, 420-transfer frame, 430-experimental unit, 431 -Electromagnetic stirrer, 432-oscillator, 433-dissolution detector, 434-powder adder, 435-code reader, 436-switch cover rotator, 437-liquid level stratification detector, 440-storage, 441-storage plate, 442-column, 443-first accommodation hole, 444-second accommodation hole, 445-third accommodation hole, 450-solvent library, 451-frame, 4511-weight reduction hole, 455 -Container load-bearing component, 456-support plate, 457-connecting rod, 458-top plate, 459-limiting hole, 460-caching rack, 461-support rod, 462-storage plate, 470-first transfer rack, 480-single Joint pallet rack, 490-second transfer rack, 510-quick change female head, 530-pallet transfer clamp, 531-driving part, 532-first clamp, 533-second clamp, 600-identification code calibration piece , 601-vacuum pump, 601a-pump tube, 602-pipeline, 603-water content detector, 604-oxygen content detector, 605-explosion-proof lighting group, 606-exhaust valve, 607-sealed communicator, 700-operation Gloves.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

Referring to Figures 1, 2 and 7, an embodiment of the present application provides a glove box system 1000, which includes: a box 100, a switching device 200, a robotic arm 300, a functional unit 400, a work piece, an identification code calibration piece 600, and a pipeline. 602. Air supply equipment (not shown), water content detector 603, oxygen content detector 604, explosion-proof lighting group 605, exhaust valve 606, sealed communicator 607, electrical equipment (not shown), control equipment (figure (not shown) and operating gloves 700.

For convenience of description, the width direction of the glove box system 1000 is defined as the Y direction, the length direction of the glove box system 1000 is defined as the X direction, and the height direction of the glove box system 1000 is defined as the Z direction. The X direction, Y direction and Z direction are perpendicular to each other.

The box 100 is used to carry other components. Specifically, the exchange device 200, the robotic arm 300, the functional unit 400, the work piece, the identification code calibration piece 600, the pipeline 602, the water content detector 603, the oxygen content detector 604, the explosion-proof lighting group 605, the exhaust valve 606, The sealed communicator 607, electrical equipment, control equipment and operating gloves 700 can all be installed in the box 100. In addition, the glove box system 1000 may also include a display device for user viewing and interaction, and the display device is disposed on the outer wall of the box body 100 .

The electrical equipment is used to power the remaining equipment in the glove box system 1000 . The control device is used to control the operation of each device in the glove box system 1000 . The box 100 is provided with a sealed chamber. The sealed chamber maintains the environmental conditions required for the experiment (such as pure nitrogen or inert gas, specific water and oxygen content, etc.). Experiments that need to be completed in a specific environment can be performed in the sealed chamber. conduct. Among them, the robot arm 300, the functional unit 400, the workpiece and the sealed communicator 607 are located in the sealed chamber. The sealed communicator 607 is used to transmit signals and power to the equipment inside and outside the sealed chamber. It can realize communication between the inside and outside of the sealed chamber, and has a sealing function itself. The sealed communicator 607 may be an aviation plug. The control equipment and electrical equipment located outside the sealed chamber can be connected to one side of the sealed communicator 607, and the other side of the sealed communicator 607 is connected to the robotic arm 300, the functional unit 400 and the work piece, so that the control equipment can be connected under sealed conditions. Control the operations of the robotic arm 300, the functional unit 400 and the work piece, and enable the electrical equipment to power the robotic arm 300, the functional unit 400 and the work piece under sealed conditions.

The exchange device 200 is installed in the box 100 and is used to transfer experimental supplies between the outside world and the inside of the box 100 . Specifically, the exchange device 200 can be connected with the sealed chamber of the box 100 and serve as an interactive bridge between the outside world and the sealed chamber. The robotic arm 300 is used to cooperate with the workpiece and move the experimental supplies to the functional unit 400 . The functional unit 400 is used to perform experiments using experimental supplies and/or store experimental supplies.

The identification code calibration component 600 is used for the external mobile robot to identify the position of the glove box system 1000, so that the mobile robot can accurately cooperate with the exchange device 200 to facilitate the transfer of experimental supplies. The identification code calibration component 600 may include: a three-axis calibration bracket and three identification code calibration plates. The three-axis calibration bracket is arranged on the outer wall of the box 100. The three-axis calibration bracket includes two X-direction connecting plates and two Y-direction connecting plates that are arranged perpendicularly to each other. The connecting plate and the Z-directing connecting plate, one end of the Y-directing connecting plate is connected to one end of the X-directing connecting plate, and the other end of the Y-directing connecting plate is connected to one end of the Z-directing connecting plate. Two of the three identification code calibration boards are located at both ends of the X-direction connecting plate, and the other identification code calibration board is located at the other end of the Z-direction connecting board; among them, each identification code calibration board has a built-in There is an identification code, which is used to position the glove box system 1000 by an external mobile robot that performs sample access operations.

The gas supply equipment is used to send experimental gas (such as nitrogen or inert gas) into the sealed chamber of the box 100 through the pipeline 602 to ensure that the experiment is completed under the protection of nitrogen or inert gas. The water content detector 603 is used to detect the moisture content in the sealed chamber, and the oxygen content detector 604 is used to detect the oxygen content in the sealed chamber. The explosion-proof lighting set 605 is used to illuminate the sealed chamber and has an explosion-proof function, which can increase the safety factor of the glove box system 1000 . The operating gloves 700 are used for manual operation by the experimenter.

Referring also to FIG. 3 , the box 100 may be in the shape of a rectangular parallelepiped, a cube or a cylinder, and includes an upper shell 110 and a base 120 . The upper shell 110 is stacked on the upper side of the base 120 . The upper housing 110 includes a peripheral plate 111, a first enclosure plate 112 and a second enclosure plate 113. The first enclosure plate 112 and the second enclosure plate 113 are both rectangular thin plates and are arranged oppositely along the Z-axis direction. The first enclosure plate 112 Located on the upper side of the second enclosure panel 113 . The peripheral plate 111 includes a first side plate 114, a second side plate 115, a third side plate 116 and a fourth side plate 117 connected end to end, wherein the first side plate 114 and the third side plate 116 are arranged oppositely along the Y direction. , the second side plate 115 and the fourth side plate 117 are arranged oppositely along the X direction. The perimeter board 111 is located in the first enclosure Between the plate 112 and the second enclosure plate 113, the two opposite sides of the peripheral plate 111 along the Z-axis direction are fixedly connected to the first enclosure plate 112 and the second enclosure plate 113 respectively. The first enclosing plate 112, the second enclosing plate 113 and the peripheral plate 111 enclose a sealed chamber. The peripheral plate 111 is provided with a visible transparent area. For example, at least one side plate among the first side plate 114, the second side plate 115, the third side plate 116 and the fourth side plate 117 is a transparent baffle. The transparent area is used to allow external light to enter the sealed chamber, so that the experimenter can observe the experimental progress inside the sealed chamber from the outside, and to facilitate the light of the explosion-proof lighting group 605 to illuminate the inside of the sealed chamber through the transparent area. Among them, in order to facilitate the experimenter to perform manual operations in the glove box system 1000 using the operating gloves 700, the second side plate 115 is set as a transparent baffle. In addition, an operating door may be provided on the peripheral plate 111 , for example, an operating door may be provided on the second side plate 115 and/or the fourth side plate 117 . When the equipment needs to be replaced or maintained after the experiment, the experimenter can open the operating door and perform the corresponding operations. The base 120 is located on the lower side of the upper housing 110 and shares the second enclosure plate 113 with the upper housing 110 . The base 120 is provided with an accommodation chamber, which is used to accommodate control equipment, electrical equipment, and the like.

In some embodiments, the exchange device 200 is installed in the box 100 and is used to transfer experimental supplies between the outside world and the sealed chamber; the robotic arm 300, the functional unit 400 and the workpiece are all located in the sealed chamber. The workpiece is connected to the robotic arm 300, and the robotic arm 300 drives the workpiece to move. The workpiece moves the experimental supplies from the exchange device 200 to the functional unit 400, and moves the experimental supplies from the functional unit 400 to the exchange device 200; the functional unit 400 is used for Store laboratory supplies and/or utilize laboratory supplies to perform laboratory tasks.

Therefore, when the robot arm 300 rotates and moves, it can drive the workpiece to any functional unit 400 that needs to cooperate with the workpiece, and then transfer the experimental supplies captured by the workpiece to the functional unit 400, so that the functional unit 400 can complete the experiment. Store supplies and/or perform lab tasks on lab supplies. During the experiment, the degree of automation is high, there is no need for a large number of experimental personnel to participate, the sample preparation cycle is short, and the experimental success rate is high. It can be understood that the glove box system 1000 provided in the embodiment of the present application is provided with operating gloves 700. When the experiment to be performed is relatively simple, the experimenter can also choose manual operation. Specifically, the experimenter wears the operating gloves 700 and performs operations in the sealed chamber through the operating gloves 700 . This increases the suitability of the glove box system 1000 .

Referring to Figures 3, 4 and 5, the exchange device 200 includes an exchange bin 210, a feeding mechanism 250, a first closing mechanism 220, a second closing mechanism 230, a first mounting plate 240, a second mounting plate 240a, a vacuum mechanism and an inflatable mechanism. The exchange device 200 may be installed on at least one side plate of the upper housing 110. For example, the exchange device 200 may be installed on at least one of the first side plate 114, the second side plate 115, the third side plate 116 and the fourth side plate 117. one side. The switching device 200 shown in FIG. 3 is mounted on the third side panel 116 .

The first mounting plate 240 is fixed in the sealed chamber of the box 100 , and the second mounting plate 240 a is fixed on the outside of the sealed chamber of the box 100 , specifically fixed to the outside of the third side plate 116 and between the third side plate 116 There are installation intervals between them.

The exchange chamber 210 is provided with an exchange chamber, a first opening and a second opening, and both the first opening and the second opening are connected with the exchange chamber. The exchange compartment 210 is fixed in the installation interval, and the opposite sides of the exchange compartment 210 are fixedly connected to the first installation plate 240 and the second installation plate 240a respectively. The exchange compartment 210 penetrates the box 100 . Specifically, the side of the exchange compartment 210 with the first opening penetrates the third side plate 116 and extends into the sealed chamber to be fixedly connected to the first installation plate 240 . The side of the exchange compartment 210 with the second opening penetrates the second installation plate 240a and is exposed to the outside world.

The feeding mechanism 250 is located in the exchange chamber and can extend out of the exchange chamber from the first opening or the second opening. The first closing mechanism 220 is provided at the first opening and located in the sealed chamber. The second closing mechanism 230 is provided at the second opening and located outside the sealed chamber. The first closing mechanism 220 can seal or unseal the first opening, and the second closing mechanism 230 can seal or unseal the first opening. Close or unseal the second opening. The vacuum mechanism and the inflation mechanism are respectively connected with the exchange chamber.

The feeding mechanism 250 can extend from the first opening when the first opening is unsealed; the feeding mechanism 250 can extend from the second opening when the second opening is unsealed. The vacuum mechanism is used to evacuate the exchange chamber, and the inflation mechanism is used to fill the exchange chamber under vacuum with experimental gas.

Referring specifically to Figure 1, the vacuum mechanism includes a vacuum pump 601 and a pump tube 601a. Both ends of the pump tube 601a are connected to the vacuum pump 601 and the exchange chamber of the exchange chamber 210 respectively. The vacuum pump 601 evacuates the exchange chamber through the pump tube 601a.

The inflating mechanism may include a switch valve and a communication tube. One end of the communication tube is connected to the exchange chamber, and the other end of the communication tube is connected to the air supply device. The switch valve is provided at one end of the communication tube for opening or closing the communication tube. The gas supply device stores experimental gas and can provide experimental gas to the exchange chamber and the sealed chamber of the glove box system 1000 at the same time. After the vacuum pump 601 evacuates the exchange chamber 210, the switch valve is controlled to open, so that the gas supply device delivers the experimental gas to the inside of the exchange chamber 210 through the connecting pipe. When the inflation is completed, the switch valve is controlled to close to close the communication pipe. In order to ensure that the environment in the exchange chamber 210 can be as close as possible to the environment in the sealed chamber, the above-mentioned vacuuming process and filling of the experimental gas can be carried out multiple times, such as 3-5 times, until the environment in the exchange chamber 210 is consistent with the sealed chamber. The environment in room 101 is consistent.

In addition, the vacuum mechanism may also include a vacuum pressure gauge, which is installed in the exchange chamber 210 and communicates with the exchange chamber for measuring the pressure in the exchange chamber.

Referring to Figure 5, the feeding mechanism 250 specifically includes a primary drive part 251, a secondary drive part 256 and a carrying platform 261. The primary drive part 251 is connected to the bottom surface of the exchange chamber, and the secondary drive part 256 is slidingly connected to the primary drive part 251. The bearing platform 261 is slidingly connected to the secondary driving part 256 . In the depth direction of the exchange chamber, the primary driving part 251 drives the secondary driving part 256 to move in the first direction, and the secondary driving part 256 drives the carrying platform 261 to move in the first direction, so that the carrying platform 261 opens from the first opening. Extend the exchange chamber; the primary drive part 251 drives the secondary drive part 256 to move in the second direction, and the secondary drive part 256 drives the bearing platform 261 to move in the second direction, so that the bearing platform 261 extends out of the second opening for exchange. Chamber; the first direction and the second direction are opposite. The first direction is the direction from the second opening toward the first opening; the second direction is the direction from the first opening toward the second opening. Wherein, the first opening and the second opening are respectively located on opposite sides of the exchange chamber.

After the second closing mechanism 230 closes the second opening, and the first closing mechanism 220 opens to expose the first opening, the primary driving part 251 drives the secondary driving part 256 to move in the first direction. At this time, with reference to FIG. 5 , the primary driving part The portion 251 drives the carrying platform 261 to move a first distance in the first direction. The secondary driving part 256 drives the carrying platform 261 to move the second distance in the first direction, so the total stroke of the carrying platform 261 moving in the first direction is the sum of the first distance and the second distance. As a result, the carrying platform 261 can completely extend out of the exchange chamber and extend into the sealed chamber, which facilitates the robotic arm 300 to pick up experimental materials from the carrying platform 261 and facilitates the robotic arm 300 to place experiments on the carrying platform 261. Material.

In some embodiments, the primary driving part 251, the secondary driving part 256 and the bearing platform 261 are stacked and distributed in sequence along the height direction of the exchange chamber. The bearing platform 261 is located on the uppermost side, and the primary driving part 251 is located on the lowermost side. Therefore, the structure of the feeding mechanism 250 is relatively compact, the volume is small, and the space occupied is small, and it is easy to be installed in the exchange bin 210 .

In some embodiments, the primary driving part 251 includes a first carrier plate 252, a first slide rail 253, a first guide slide block 254 and a first driving member 255. The first carrier plate 252 is fixedly connected to the bottom surface of the exchange chamber. A slide rail 253 is fixedly connected to the first carrier plate 252, a first guide slide block 254 is slidably connected to the first slide rail 253, and a secondary drive part 256 is connected to the first guide slide block 254; the first drive part 255 is installed on the first carrier plate 252, the driving part of the first driving part 255 is connected to the secondary driving part 256; the first driving part 255 drives the secondary driving part 256 to move. The first driving component 255 may be a motor or a cylinder.

Among them, the first carrier plate 252 is used to support the first slide rail 253 and the first guide slide block 254, and the first slide rail 253 and the first guide slide block 254 are used to guide the sliding of the secondary driving part 256, so that the two The stage driving part 256 slides more smoothly. The first driving member 255 is used to drive the secondary driving part 256 so that the secondary driving part 256 can slide smoothly. The entire primary driving part 251 has a simple structure and low cost, and can drive the secondary driving part 256 efficiently and smoothly.

In some embodiments, the secondary driving part 256 includes a second carrier plate 257, a second slide rail 258, a second guide slide block 259 and a second driving member 260. The second carrier plate 257 is fixedly connected to the first guide slide block 254; The driving part of the first driving member 255 is connected to the second carrier plate 257, and the first driving member 255 drives the second carrier plate 257 to move in the first direction or the second direction. The second slide rail 258 is fixedly connected to the second carrier plate 257, the second guide slide block 259 is slidingly connected to the second slide rail 258, the bearing platform 261 is fixedly connected to the second guide slide block 259; the second driving member 260 is installed on the second carrier plate 257. The driving part of the second driving member 260 is connected to the bearing platform 261, and the second driving member 260 drives the bearing platform 261 to move.

Among them, the second carrier plate 257 is used to support the second slide rail 258 and the second guide slide block 259. The second slide rail 258 and the second guide slide block 259 are used to guide the sliding of the load bearing platform 261, so that the load bearing platform 261 The glide is smoother. The second driving member 260 is used to drive the bearing platform 261 so that the bearing platform 261 can slide smoothly. The entire secondary driving part 256 has a simple structure and low cost, and can drive the carrying platform 261 efficiently and smoothly.

In some embodiments, the carrying platform 261 includes at least one storage board, and the storage board is provided with at least one placement position for placing experimental supplies. The placement position is provided with a positioning piece, and the positioning piece is used to limit the experimental supplies to the placement position. The placement position can also be provided with a sensor, and the sensor is used to sense whether there are experimental supplies stored in the placement position. The placement position can be used to place test tube trays with test tubes, solvent bottle trays with solvent bottles, tip trays with tips and other tray supplies. It can also be used to place test tubes, solvent bottles and other container supplies. The positioning piece is connected to the experimental supplies to position the experimental supplies so that the experimental supplies remain stable during the transfer process. Sensor placement can increase transmission accuracy. Among them, the sensor can be a photoelectric sensor or a pressure sensor, etc.

In some embodiments, when the placement position is used to place pallet products, the positioning member is a step pin, and the step pin is used to be plugged into a pin hole opened at the bottom of the pallet product. When the pallet supplies are placed in the placement position, the step pins are inserted into the pin holes at the bottom of the pallet supplies to position the pallet supplies. The structure is simple, the cost is low, and the positioning stability is good. For example, 3 placement positions can be set on the storage board. Each placement position is fixed with two step pins set at intervals, which are used to match the two pin holes at the bottom of the pallet supplies to position the pallet supplies in the placement position. middle. Among them, the sensor can be arranged between two step pins for sensing the presence or absence of pallet supplies.

In other embodiments, when the placement position is used to place containers and supplies, the positioning member is an elastic member, the placement position is a positioning groove, and the elastic member is disposed in the positioning groove. When the container supplies are placed in the positioning groove, the elastic member can be in contact with the container. The articles come into contact and produce elastic deformation. The elastic parts can be metal sheets, POM plastic parts with good elasticity, etc. The combination of elastic parts and positioning grooves is used to position the container supplies, and the positioning stability is good. For example, 12 placement positions can be provided on the storage board, each placement position is groove-shaped to form a positioning groove, and three elastic members are evenly arranged on the inner wall of the positioning groove to form a claw shape. When the container product is placed in the positioning groove, at least part of the structure of each elastic member contacts the container product and undergoes elastic deformation to position the container product in the positioning groove. In addition, providing the elastic member can also increase the compatibility and flexibility of the positioning groove so that it can be compatible with containers of different diameters. Wherein, the sensor can be arranged at the bottom of the positioning groove.

The first closing mechanism 220 is located in the sealing chamber, is installed on the first mounting plate 240, and is used to seal or unseal the first opening. After the first closing mechanism 220 is opened, the exchange chamber communicates with the sealing chamber. As shown in Figure 6, the first closing mechanism 220 includes a first closing plate 221, a first longitudinal driving member 222, a first transverse driving member 223, a first fixing plate 224 and a first track 225. The first fixing plate 224 is slidingly connected to the first track 225, and the first track 225 is slidably connected to the first track 225. It extends in the Z direction and is fixedly connected to the first mounting plate 240 . The first closing plate 221 is connected to the driving end of the first transverse driving member 223. The first transverse driving member 223 is installed on the first fixed plate 224. The first longitudinal driving member 222 is installed on the first installing plate 240. The first fixed plate 224 Connected to the driving end of the first longitudinal driving member 222, the first closing plate 221 is used to seal or unseal the first opening. The first transverse driving member 223 can drive the first closing plate 221 to move along the depth direction of the exchange chamber; the depth direction of the exchange chamber is the direction from the first opening to the second opening. The first longitudinal driving member 222 can drive the first fixed plate 224 to move along the height direction of the exchange device 200 , and the first fixed plate 224 drives the first closing plate 221 to move along the height direction of the exchange device 200 .

The structure of the second closing mechanism 230 is similar to that of the first closing mechanism 220. The second closing mechanism 230 is installed on the second mounting plate 240a and is used to seal or unseal the second opening. After the second closing mechanism 230 is opened, the exchange chamber is connected to the outside world. In some embodiments, the second closing mechanism 230 includes a second closing plate, a second longitudinal driving member, a second transverse driving member, a second fixing plate and a second track. The second fixing plate is slidingly connected to the second track. The second track The second mounting plate 240a is fixedly connected, and the second track extends along the Z direction. The second closing plate is connected to the driving end of the second transverse driving member, the second transverse driving member is installed on the second fixed plate, the second longitudinal driving member is installed on the second mounting plate 240a, the second fixed plate and the second longitudinal driving member The driving end is connected, and the second closing plate is used to close or unseal the second opening. The second transverse driving member can drive the second closing plate to move in the depth direction of the exchange chamber. The second longitudinal driving member can drive the second fixed plate to move along the height direction of the exchange device 200 , and the second fixed plate drives the second closing plate to move along the height direction of the exchange device 200 .

When external experimental supplies need to be transferred into the sealed chamber, the first closing mechanism 220 is closed and the second closing mechanism 230 is opened. Specifically, the second transverse driving member drives the second closing plate away from the second opening, and then the second longitudinal driving member drives the second fixing plate to move upward in the Z direction. At this time, the second opening is exposed. Then the primary driving part 251 and the secondary driving part 256 drive the carrying platform 261 to extend out of the exchange chamber from the second opening, place the experimental supplies on the carrying platform 261, and then the primary driving part 251 and the secondary driving part 256 drives the carrying platform 261 back into the exchange chamber. Then the second closing mechanism 230 is closed, and then the vacuum pump 601 evacuates the exchange chamber through the pump tube 601a, and then the control switch valve is opened, so that the experimental gas stored in the gas supply device flows into the exchange chamber, so that the exchange chamber and The environment inside the sealed chamber is consistent. Then the first closing mechanism 220 is opened, and the primary driving part 251 and the secondary driving part 256 drive the carrying platform 261 to extend out of the exchange chamber from the first opening and enter the sealed chamber. At this time, the robotic arm 300 moves the experimental supplies Take it out from the carrying platform 261.

When the experimental supplies in the sealed chamber need to be transferred to the outside world, the second closing mechanism 230 is closed and the first closing mechanism 220 is opened. Specifically, the first transverse driving member 223 drives the first closing plate 221 away from the first opening, and then the first longitudinal driving member 222 drives the first fixing plate 224 to move upward in the Z direction, at which time the first opening is exposed. Then the primary driving part 251 and the secondary driving part 256 drive the carrying platform 261 to extend out of the exchange chamber from the first opening and enter the sealed chamber. The robotic arm 300 places the experimental supplies on the carrying platform 261, and then makes a The first-stage driving part 251 and the second-stage driving part 256 drive the carrying platform 261 back into the exchange chamber. Then the first closing mechanism 220 is closed, the second closing mechanism 230 is opened, and then the feeding mechanism 250 extends out of the exchange chamber from the second opening and extends to the outside world. At this time, the experimental supplies are transferred to the outside world.

In some embodiments, the glove box system 1000 may also include a mobile robot located outside the box 100 for placing experimental supplies into the feeding mechanism 250 of the switching device 200 or from the feeding mechanism 200 when the second opening of the switching device 200 is opened. Take out the experimental supplies from the feeding mechanism 250. The use of mobile robots for interaction can reduce manual work intensity, improve transmission efficiency, and achieve a fully automated experimental process. Among them, the identification code calibration component 600 can be used to assist the mobile robot in positioning the box 100 .

The robotic arm 300 is located in the sealed chamber, and the robotic arm 300 is connected to the bottom wall of the sealed chamber. The robotic arm 300 may be a six-axis robotic arm. The robotic arm 300 includes a movable arm, a mounting base and a quick-change male head. The movable arm can move in the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, the negative direction of the Y-axis, Z Rotate and move in six directions, the positive direction of the axis and the negative direction of the Z axis. One end of the movable arm is rotatably connected to the mounting base, and the quick-change male head is fixedly connected to the other end of the movable arm. The mounting base is used to connect to the bottom wall of the sealed chamber, and the quick-change male head is used to connect to the work piece. In other embodiments, the robot arm 300 can also be a three-axis robot, a four-axis robot, or a robot built with an XYZ three-axis module; the robot arm 300 can also be connected to the top wall or side wall of the sealed chamber.

Referring to FIGS. 7 and 8 , the number of functional units 400 is multiple, and the multiple functional units 400 are distributed around the robotic arm 300 . Each functional unit 400 is distributed around the robotic arm 300, which can increase the compactness of the distribution of each functional unit 400, thereby making full use of the area of the bottom wall of the sealed chamber, making the glove box system 1000 more compact and smaller, which is beneficial to saving money. It is cost-effective and takes up less space, which helps save laboratory space, allowing more glove box systems to be laid out in the limited space of the laboratory. Specifically, the robotic arm 300 is installed at the center of the bottom wall of the sealed chamber. Multiple functional units 400 are installed in the surrounding area around the central position of the sealed chamber, and are connected to the bottom wall of the sealed chamber. Thus, the position of the bottom wall of the sealed chamber is fully utilized, and the robotic arm 300 and multiple functional units 400 are connected to the bottom wall, which is easy to install and not easy to loosen, making the robotic arm 300 and each functional unit 400 stable. Sex is better. It can be understood that there may be only one functional unit 400 to implement a single-function experiment.

In some embodiments, the plurality of functional units 400 include a first functional unit and a second functional unit, and in the height direction of the glove box system 1000, the height dimension of the first functional unit is greater than the height dimension of the second functional unit; the first The distance between the functional unit and the robotic arm 300 is greater than the distance between the second functional unit and the robotic arm 300 . In other words, the higher the height of the functional unit 400, the farther the distance is from the robot arm 300, and the shorter the height of the functional unit 400 is, the closer the distance is to the robot arm 300. Therefore, when the robot arm 300 cooperates with the shorter functional unit 400, the robot arm 300 is prevented from touching other functional units 400, ensuring that the robot arm 300 smoothly cooperates with the shorter functional unit 400.

In some embodiments, the distance between the first functional unit and the switching device 200 is greater than the distance between the second functional unit and the switching device 200 . In other words, the higher the functional unit 400 is, the farther the distance is from the switching device 200 , and the shorter the functional unit 400 is, the closer the distance is to the switching device 200 . Therefore, when the robotic arm 300 takes the experimental supplies from the feeding mechanism 250 of the exchange device 200, there will be no interference between the functional unit 400 and the robotic arm 300, so that the robotic arm 300 can smoothly take the experimental supplies.

Among the multiple functional units 400, some are used to store experimental supplies such as reagents, and the other are used to complete experimental tasks. Part of the functional units 400 used to complete the experimental tasks is the experimental unit 430. The experimental unit 430 may specifically include but is not limited to an electromagnetic stirrer 431, an oscillator 432, a solution detector 433, a powder adder 434, a code reader 435, and a switch. At least one of a cap rotator 436 and a liquid level stratification detector 437. When the experimental unit 430 includes all the above-mentioned instruments, the switch cover rotator 436, the liquid level stratification detector 437, the code reader 435, the powder adder 434, the oscillator 432, the solution detector 433 and the electromagnetic stirrer 431 surrounds the robotic arm 300 in sequence. The code reader 435 is set close to the exchange device 200, so that after the robotic arm 300 takes the experimental supplies from the exchange warehouse 210, it can scan the codes of the experimental supplies in time to learn the experimental procedures and experimental parameters that need to be carried out on the experimental supplies, and Move experimental supplies to the corresponding functional unit for processing. Functional unit 400 for storing reagents may include, but is not limited to, solvent library 450. The experimental unit 430 may also include instruments such as filters and centrifuges, which are not limited here.

Specifically, among the multiple functional units 400 , the height of the solvent library 450 and the powder adder 434 is relatively high, and the solvent library 450 and the powder adder 434 are set farthest from the robotic arm 300 . The height of the code reader 435, oscillator 432, and solution detector 433 is second, and the height of the switch cover rotator 436, the liquid level stratification detector 437, and the electromagnetic stirrer 431 is the shortest. There may be no obstacles between the surface delamination detector 437, the electromagnetic stirrer 431 and the robotic arm 300. It can be understood that when setting the positions of multiple functional units 400, it is necessary to comprehensively consider the distance between the functional unit 400 and the robotic arm 300, the distance between the functional unit 400 and the switching device 200, and the distance between the robotic arm 300 and each functional unit 400 during operation. Matching order. Considering the above three factors, the position of the functional unit 400 is comprehensively set.

The experimental unit 430, that is, the electromagnetic stirrer 431, the oscillator 432, the solution detector 433, the powder adder 434, the code reader 435, the switch cover rotator 436, and the liquid level stratification detector 437 are all used to perform experimental tasks. , among which, the electromagnetic stirrer 431 is used to use magnetic force to stir the reagents in the test tube at room temperature or hot and cold according to the experimental requirements. The electromagnetic stirrer 431 can be a normal temperature electromagnetic stirrer and/or a temperature-controlled electromagnetic stirrer, and an electromagnetic stirrer with corresponding functions can be selected for experiments according to experimental requirements. The oscillator 432 is used to oscillate the reagent in the test tube.

The dissolution detector 433 may be a camera device, or a laser sensor integrated on the electromagnetic stirrer 431 or the oscillator 432 . The dissolution detector 433 is used to detect the dissolution state of the reagent, such as the uniformity and crystallization state of the reagent. For example, take photos of reagents that have been shaken or stirred to facilitate observation of solvent crystallization and other conditions. During specific implementation, the solution detector 433 may include a camera device for capturing images. The camera device can move on the XYZ three axes. When the reagent in the test tube is oscillated by the oscillator 432 or the stirring by the electromagnetic stirrer 431 is completed. Finally, the dissolution detector 433 can be used to take pictures from the bottom or top of the test tube on the oscillator 432 or the electromagnetic stirrer 431, and the image can be analyzed to obtain the clarity, crystallization and other states of the reagent. Of course, the dissolution detector 433 can also be integrated with the container rack on the oscillator 432 for placing the container to be shaken or the container rack on the electromagnetic stirrer 431 to obtain the uniformity of the reagent through a laser sensor.

The powder adder 434 is used to add powder required for experiments into the container. Among them, a weighing unit can be integrated into the powder adder 434 to quantitatively add powder samples to improve experimental accuracy. The code reader 435 is used to identify the identification code (such as barcode, QR code, etc.) on the container or tray to identify the type of reagents in the container or tray and the required experimental operations (such as experimental procedures, experimental parameters, etc.) wait. The lid rotator 436 is used to cooperate with the robot arm 300 to open or close the lid of the container. The liquid level stratification detector 437 is used to detect the stratification of the reagent. For example, images of reagents after shaking or stirring experiments can be obtained to analyze the layering of the reagents and to observe the experimental results.

In some embodiments, specifically, the number of solvent libraries 450 is two. The solvent library 450 specifically includes at least one layer of racks. The frame body includes an accommodating cavity with an opening. A container carrying component 455 for carrying containers is provided in the accommodating cavity. The container carrying component 455 is provided with a plurality of container placing parts. The container carrying component 455 is connected to the frame through a first movement mechanism, and the first movement mechanism is used to drive the container carrying component 455 to move linearly at the opening. A container sealing assembly is also provided in the accommodation cavity, and the container sealing assembly is connected to the frame body through a second movement mechanism. The container sealing assembly includes a sealing mechanism corresponding to the container placing part, and the second movement mechanism is used to drive the sealing mechanism close to or away from the container placing part, so as to seal the sealing mechanism with or disengage from the container mouth of the container. The solvent library 450 is located on one side of the bottom surface of the sealed chamber, away from other functional units. No functional unit may be provided between the solvent library 450 and the robotic arm 300, or a functional unit with a lower height may be provided, so that interference can be avoided.

Specifically, referring to Figure 11, the solvent library 450 is provided with a two-layer shelf 451. Each frame body 451 is in the shape of a square frame with one side open to form an accommodation cavity. Two layers of racks 451 are stacked, and each layer of rack 451 is provided with weight-reducing holes 4511 to reduce the weight of the rack 451. Therefore, the solvent library 450 has a simple structure and can store a large number of test tubes, reagent bottles and other containers, so that the storage capacity of the solvent library 450 is large. In other embodiments, only one layer of frame is provided, or three, four, or five layers of frame may be provided.

In some embodiments, the frame 451 is used to accommodate the container carrying assembly 455 . The container carrying assembly 455 includes a support plate 456, a connecting rod 457 and a top plate 458. The support plate 456 and the top plate 458 are spaced apart and opposed to each other. The opposite ends of the connecting rod 457 are respectively fixedly connected to the support plate 456 and the top plate 458; the top plate 458 is provided with multiple limits. The hole 459 and the limiting hole 459 are the above-mentioned container placement portion. The limiting hole 459 penetrates the top plate 458 along the thickness direction. When storing containers such as reagent bottles, the reagent bottles pass through the limiting holes 459 , a part of the reagent bottles is located above the top plate 458 , and the other part of the reagent bottles is located in the gap between the top plate 458 and the support plate 456 . Therefore, the reagent bottle is limited by the hole wall of the limiting hole 459, which can prevent the reagent bottle from tipping or falling, thereby increasing the reliability and safety of the experiment.

The first movement mechanism can drive the container carrying component 455 to move linearly at the opening of the accommodating cavity, for example, to move outside or into the accommodating cavity through the opening, making liquid storage and pipetting operations more convenient. Multiple containers in each shelf 451 can be stably placed on the container carrying assembly 455, which can accommodate more containers in the same space and reduce the space occupied by multiple containers.

The container sealing assembly is located above the container carrying assembly 455, and drives the container sealing mechanism away from or close to the container mouth through the second movement mechanism. During the pipetting process, there is no need to open and seal multiple containers one by one, which reduces the complexity of the pipetting process. Operating time. The first motion mechanism and the second motion mechanism may be motors or cylinders, etc.

In some embodiments, the glove box system 1000 further includes a storage library 440 disposed in a sealed chamber, and the storage library 440 is used to store a plurality of workpieces. Referring to Figure 10, the storage library 440 includes a storage plate 441 and a plurality of uprights 442. One surface of the storage plate 441 is fixedly connected to one end of the plurality of uprights 442, and the other end of the plurality of uprights 442 is fixedly connected to the bottom wall; the storage plate 441 is provided with a plurality of uprights. accommodating holes, and the number of accommodating holes can be adapted to the number of workpieces. For example, the storage plate 441 is provided with a first accommodating hole 443, a second accommodating hole 444 and a third accommodating hole 445, each accommodating hole is used to store a workpiece respectively; the first accommodating hole 443, the second accommodating hole 445 Both the receiving hole 444 and the third receiving hole 445 penetrate the storage plate 441 along the thickness direction of the glove box system 1000 . The storage plate 441 is in the shape of a rectangular thin plate, and the number of uprights 442 can be four. The four uprights 442 are respectively fixedly connected to the four corners of the surface of the storage plate 441 facing the bottom wall of the sealed chamber, so that the uprights 442 can accommodate the required storage space. It avoids the placed workpiece and can better support the storage board 441.

There are multiple workpieces, and each workpiece can be detachably connected to the robotic arm 300 . The workpiece is provided with a quick-change female connector, which is used for detachable connection with the quick-change male connector of the robotic arm 300 . This makes it easy to replace different workpieces to cooperate with the robotic arm 300 . Workpieces may be temporarily stored in repository 440 when they are not in use.

In some embodiments, the plurality of workpieces include a first workpiece and a second workpiece, and in the height direction of the glove box system 1000 , the height dimension of the portion of the first workpiece protruding from the storage plate 441 is greater than that of the second workpiece protruding from the storage plate. The height dimension of the plate 441 portion; when the first workpiece and the second workpiece are stored in the storage warehouse 440, the distance between the first workpiece and the robotic arm 300 is greater than the distance between the second workpiece and the robotic arm 300 . That is, the higher the workpiece is, the farther it is from the robot arm 300 , and the shorter the workpiece is, the farther it is from the robot arm 300 . In this way, when the robot arm 300 replaces the workpiece, it can prevent the taller workpiece from interfering with the shorter workpiece.

In some embodiments, the distance between the first workpiece and the exchange device 200 is greater than the distance between the second workpiece and the exchange device 200 the distance between. In other words, when placing workpieces into the storage warehouse 440 , it is also necessary to follow the principle that taller workpieces are farther away from the exchange device 200 and shorter workpieces are closer to the exchange device 200 , thereby preventing the workpieces from interfering with the robotic arm. 300 job.

Specifically, the workpiece may include a pipette, a container transfer jaw, and a tray transfer jaw 530 . When each workpiece is placed in the storage 440 , the height of the pipette protruding from the storage plate 441 is relatively high, and the height of the tray transfer clamp 530 and the container transfer clamp protruding from the storage plate 441 is relatively short. Therefore, the pipette is set farther from the robot arm 300 , and the tray transfer jaw 530 and the container transfer jaw are closer to the robot arm 300 . The pipette is farther from the exchange device 200 , and the tray transfer jaw 530 and the container transfer jaw are closer to the exchange device 200 .

The pipette can also be called a pipette gun, and can be accommodated in the first receiving hole 443 when not working. Specifically, the pipette passes through the first accommodating hole 443, a part of the pipette is located on the upper side of the first accommodating hole 443, and the other part is located on the lower side of the first accommodating hole 443, and the lowermost end of the pipette is in contact with the first accommodating hole 443. The bottom wall of the sealed chamber has a certain gap. In addition, a positioning member, such as a step pin, is provided around the first receiving hole 443, and the positioning member cooperates with the pin hole provided on the pipette, so that the pipette is stably stored in the storage library 440.

The pallet transfer clamp 530 is received in the second accommodation hole 444. Specifically, the pallet transfer clamp 530 passes through the second accommodation hole 444, and a part of the pallet transfer clamp 530 abuts the second accommodation hole 444. Wall surface, the remaining portion of the pallet transfer clamp 530 is located on the lower side of the second accommodation hole 444, and has a certain gap with the bottom wall surface of the sealed chamber. In addition, positioning parts are provided on both sides of the second accommodation hole 444 , and the positioning parts cooperate with the pallet transfer clamp 530 so that the pallet transfer clamp 530 is stably stored in the storage library 440 .

The container transfer clamp is accommodated in the third accommodating hole 445. Specifically, the container transfer clamp passes through the third accommodating hole 445, and a part of the container transfer clamp abuts the wall surface of the third accommodating hole 445. The container The remaining portion of the transfer jaw is located on the lower side of the third receiving hole 445 and has a certain gap with the bottom wall of the sealed chamber. In addition, positioning members are provided on both sides of the third accommodation hole 445 , and the positioning members cooperate with the container transfer clamps so that the container transfer clamps are stably stored in the storage library 440 .

When the pipette needs to be used, the robotic arm 300 moves above the pipette, and then the quick-change male head of the robotic arm 300 is quickly connected to the quick-change female head on the pipette. Then the robotic arm 300 drives the pipette to move, and the pipette performs a pipetting operation in the solvent library 450 .

The pallet transfer clamp 530 is used to transport pallets, such as test tube pallets, solvent bottle pallets, tip pallets, etc. Referring to FIG. 9 , the pallet transfer jaw 530 includes a driving member 531 , a first clamping jaw 532 and a second clamping jaw 533 . The first clamping jaw 532 and the second clamping jaw 533 are respectively connected to the driving member 531 , and the control device controls the driving member 531 When activated, the driving member 531 drives the first clamping jaw 532 and the second clamping jaw 533 to move away from or approach each other. In addition, the pallet transfer clamp 530 also includes a quick-change female head 510, which can be fixed above the driving member 531 through a connecting plate for detachable connection with the quick-change male head on the robot arm 300.

A first finger is provided at an end of the first clamping claw 532 away from the driving member 531, and the first clamping claw 532 is floatingly connected to the first finger. An elastic member is provided between the first clamping claw 532 and the first finger, and the two ends of the elastic member abut the first clamping claw 532 and the first finger respectively. A second finger is provided at an end of the second clamping claw 533 away from the driving member 531, and the second clamping claw 533 is floatingly connected to the second finger. An elastic member is also provided between the second clamping claw 533 and the second finger, and the two ends of the elastic member abut the second clamping claw 533 and the second finger respectively. The elastic member may be a spring arranged at intervals, or may be a spring piece or a rubber block. By connecting the gripper fingers to the jaws in a floating manner, when the gripping surface of the gripper fingers is slightly non-parallel to the pallet, The gripper fingers can adjust the gripping direction to successfully grip the pallet, so that the pallet will not fall during the gripping and transfer process.

When it is necessary to use the container transfer clamp to open and close the lid, the robot arm 300 moves above the container transfer clamp, and then the quick-change male head of the robot arm 300 is quickly connected to the quick-change female head on the container transfer clamp. Then the robot arm 300 drives the container transfer clamp to clamp the container and move it to the switch cover rotator 436. The switch cover rotator 436 clamps the bottle body of the container. The container transfer clamp clamps the bottle cap of the container. The container transfer clamp and the switch The lid rotator 436 cooperates to open and close the lid of the container. Specifically, the switch cap rotator 436 clamps the bottle body of the container, and then rotates the bottle body so that the bottle cap and the bottle body are closed or separated. Of course, the container transfer clamp can also be used to transfer containers such as test tubes and reagent bottles, for example, to transfer the containers to the exchange device 200 or to transfer the containers to the solvent library 450 that stores the containers.

Optionally, the container transfer clamping jaw can be a single clamping jaw, and the clamping surface of the clamping jaw can be a V-shaped structure, or the clamping jaw can be a combination of multiple columnar structures, such as four parallel columns. Work together to achieve container clamping and release. The container transfer clamp can also be a double-sided clamp. One side of the clamp has a V-shaped structure, and the other side has a structure composed of four columns. Both sides can be used to clamp and release containers. When opening and closing the lid, you can use one side of the gripper to grip the container, and then change to the other side of the gripper to grip the bottle cap. For example, use a V-shaped gripper to grip the container, and use a cylindrical gripper to grip the bottle cap.

It can be understood that the workpiece may also include other modules, such as grippers capable of achieving a specific function, needle filters, etc., which are not limited here.

In some embodiments, referring to Figure 12, the glove box system 1000 also includes a buffer rack 460, which is disposed on the bottom wall or side wall of the sealed chamber, and the buffer rack 460 is disposed away from the exchange device 200, and the robotic arm 300 drives the workpiece in Experimental supplies are taken and placed in the cache rack 460; the cache rack 460 includes at least one storage board 462, and the storage board 462 is provided with positions for storing experimental supplies.

Specifically, when the buffer rack 460 is disposed on the bottom wall of the sealed chamber, the buffer rack 460 includes two support rods 461 and multiple storage plates 462; the support rods 461 and the storage plates 462 are perpendicular to each other; the two support rods 461 are spaced opposite to each other. , and one ends of the two support rods 461 are fixedly connected to the bottom wall; a plurality of storage plates 462 are spaced apart between the two support rods 461, and the opposite ends of the storage plates 462 are respectively connected to the two support rods 461. The number of storage boards 462 may be two, three, four, and so on. The cache rack 460 can place a large number of containers or trays containing containers, which is convenient for experimental use and increases experimental convenience and efficiency. When obtaining experimental supplies in multiple containers or trays from the exchange device 200, if the experimental unit is not idle, these experimental supplies can be temporarily stored in the buffer rack 460. After the experimental unit is idle, they can be promptly retrieved from the buffer rack 460. Experimental supplies are moved to the experimental unit for experiments.

The storage plate 462 and the support rod 461 may be fixedly connected or slidably connected. When it is a sliding connection, the support rod 461 can be provided with at least one chute, and a nut is provided in the chute, and the nut can move along the chute. Corner codes can be fixed at both ends of the storage plate 462, and the corner codes are connected to nuts through bolts. The position of the nuts in the chute is adjusted before locking, so that the position of the storage plate 462 can be adjusted, so that it can be adapted to different heights. size experimental supplies.

In some embodiments, the buffer rack 460 further includes a fixing member disposed in the storage position, and the fixing member is used to limit the experimental supplies to the storage position. Specifically, when the cache rack 460 is used to store pallets, the fixing member may be a step pin, and the step pin is used to be plugged into a pin hole opened at the bottom of the pallet. Optionally, the fixing member can be two spaced-apart step pins, which cooperate with the two pin holes at the bottom of the tray to fix the tray in the cache rack 460, thereby positioning the tray and preventing the tray from shaking or falling. Among them, multiple storage positions can be set on the storage board 462, such as 4, 6, 8, 10 or other values.

In other embodiments, when the buffer rack 460 is used to store containers, the fixing member is an elastic contact member, the position is a positioning groove, the elastic contact member is disposed in the positioning groove, and the elastic contact member is when the container is placed in the positioning groove. It can contact the container and produce elastic deformation to position the container and prevent the container from shaking or falling.

Different experimental supplies can be placed on different storage boards 462 in the buffer rack 460, for example, one layer is used to place containers, and the other layer is used to place trays.

In some embodiments, when the buffer rack 460 is disposed on the side wall of the sealed chamber, the buffer rack 460 directly disposes the storage plate 462 on the side wall, thereby further saving space.

The distance between the lowest storage board 462 in the buffer rack 460 (that is, the storage board closest to the bottom wall) and the bottom wall is greater than the height of the functional unit 400 placed between the buffer rack 460 and the robot arm 300, so that the robot arm 300 can be avoided When taking and placing experimental supplies from the storage plate 462, the functional unit 400 interferes with the storage plate 462.

In some embodiments, the glove box system 1000 also includes a transfer rack 420. The transfer rack 420 is disposed on the bottom wall of the sealed chamber. The robot arm 300 drives the pallet transfer clamp 530 to place the pallet on the transfer rack 420. The robot arm 300 drives the transfer rack 420. The container transfer gripper moves the containers in the pallet to the functional unit 400 . The transfer rack 420 is specifically used for container transfer. For example, when the experimental supplies obtained by the exchange warehouse 210 are trays containing multiple test tubes, when the test tubes in the tray are to be tested, the entire tray cannot be sent to the functional unit 400 for experiments. At this time, the tray can be placed on the transfer rack 420, and the test tubes can be taken out one by one.

The transfer rack 420 includes a plurality of transfer racks 420 with different heights. The higher the transfer rack 420, the farther away from the robotic arm 300 is. This can prevent the high transfer rack 420 from interfering with the low transfer rack 420. The transfer rack 420 may be disposed close to the switching device 200 . The plurality of transfer racks 420 include a first transfer rack 470 , a single pallet rack 480 and a second transfer rack 490 . Among them, the height of the first transfer rack 470 can be set to 120mm, the height of the second transfer rack 490 and the single pallet rack 480 can be set to 90mm, and the first transfer rack 470 and the second transfer rack 490 can be used to place container pallets. The single pallet rack 480 can be used to place tip trays or filter tip trays.

The transfer rack 420 includes a placement plate. The placement plate is provided with step pins, and the step pins are used to be plugged into pin holes provided at the bottom of the pallet. And/or, both ends of the placement plate are provided with tray clamping parts to clamp the tray. The step pins or clamping parts position the pallet to prevent the pallet from shaking or being picked up by the robotic arm 300 . For example, the placement plates of the first transfer rack 470 and the second transfer rack 490 are provided with step pins, and the placement plates of the single pallet rack 480 are provided with step pins and clamping parts.

The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and the core idea of the present application.

Claims

A glove box system, characterized by including: a box body, a switching device, a mechanical arm, a functional unit and a work piece;

The box is provided with a sealed chamber, and the exchange device is installed in the box for transferring experimental supplies between the outside world and the sealed chamber; the mechanical arm, the functional unit and the work The components are all located in the sealed chamber;

The workpiece is connected to the mechanical arm, and the mechanical arm drives the workpiece to move. The workpiece allows experimental supplies to move from the exchange device to the functional unit, and allows experimental supplies to move from the functional unit to the functional unit. Move to the exchange device; the functional unit is used to store experimental supplies and/or use experimental supplies to perform experimental tasks.
The glove box system according to claim 1, wherein the functional units include a plurality of functional units, and the plurality of functional units are distributed around the robotic arm.
The glove box system according to claim 2, wherein the sealed chamber has a bottom wall, and the mechanical arm and the plurality of functional units are installed on the bottom wall;

The mechanical arm is placed at the center of the bottom wall;

Functional units far away from the robot arm are higher than functional units close to the robot arm.
The glove box system according to claim 2, characterized in that the functional units close to the exchange device are lower than the functional units remote from the exchange device.
The glove box system according to claim 1, characterized in that the functional unit includes an electromagnetic stirrer, an oscillator, a solution detector, a powder adder, a code reader, a switch cover rotator and a liquid level stratification detection at least one of the devices.
The glove box system according to claim 5, characterized in that the switch cover rotator, the liquid level stratification detector, the code reader, the powder adder, the oscillator, the The solution detector and the electromagnetic stirrer surround the robotic arm in sequence;

The code reader is arranged close to the exchange device.
The glove box system according to claim 1, wherein the workpiece includes a plurality of workpieces, the glove box system further includes a storage library, the storage library is disposed in the sealed chamber, and the storage library is for storing a plurality of said workpieces;

Each of the workpieces can be detachably connected to the robotic arm.
The glove box system according to claim 7, characterized in that the mechanical arm is provided with a quick-change male head, and each of the workpieces is provided with a quick-change female head, and the quick-change male head is connected to all the workpieces. The quick-change female head cooperates to realize detachable connection between the mechanical arm and the work piece.
The glove box system according to claim 7, wherein the storage library includes a storage board and a plurality of uprights, a surface of the storage board is fixedly connected to one end of the plurality of uprights, and the plurality of uprights are The other end is fixedly connected to the bottom wall of the sealed chamber; the storage plate is provided with a plurality of accommodation holes matching the number of the workpieces; at least part of the workpieces are placed in the accommodation holes Inside.
The glove box system according to claim 7, wherein a plurality of the work pieces includes a first work piece and a second work piece, and in the height direction of the glove box system, the length of the first work piece is The height dimension is greater than the height dimension of the second workpiece; when the first workpiece and the second workpiece are stored in the storage library, the distance between the first workpiece and the robotic arm The distance is greater than the distance between the second workpiece and the robotic arm.
The glove box system according to claim 1, wherein the functional unit includes a solvent library, and the solvent library is used to store reagents;

The workpiece includes a pipette, the mechanical arm is connected to the pipette, the mechanical arm drives the pipette to move, and pipetting operations are performed in the solvent library through the pipette.
The glove box system according to claim 11, wherein the solvent library includes at least one layer of rack body, the rack body includes an accommodating cavity with an opening, and a container for carrying the container is provided in the accommodating cavity. A container carrying component, the container carrying component is provided with a plurality of container placing parts;

The container carrying component is connected to the frame body through a first movement mechanism, and the first movement mechanism is used to drive the container carrying component to move linearly at the opening;

A container sealing assembly is also provided in the accommodation cavity, and the container sealing assembly is connected to the frame body through a second movement mechanism;

The container sealing assembly includes a sealing mechanism corresponding to the container placement portion, and a second movement mechanism is used to drive the sealing mechanism closer to or away from the container placement portion to align the sealing mechanism with the container mouth of the container. Seal fit or disengagement.
The glove box system according to claim 1, characterized in that the functional unit includes a switch cover rotator, the switch cover rotator is arranged on the bottom wall of the sealed chamber; the work piece includes a container transfer Clamp, the mechanical arm is connected to the container transfer clamp and drives the container transfer clamp to move, the container transfer clamp clamps the bottle cap of the container for holding experimental supplies, and the switch cover rotates The device clamps the bottle body of the container, and the container transfer clamping claw cooperates with the lid opening and closing rotator to operate the lid opening and closing of the container.
The glove box system according to claim 1, characterized in that the glove box system further includes a buffer rack, which is disposed on the bottom wall or side wall of the sealed chamber, and the buffer rack is away from the exchange device. Set, the mechanical arm drives the workpiece to pick up and place experimental supplies in the cache rack;

The buffer rack includes at least one storage board, and the storage board is provided with a compartment for storing experimental supplies.
The glove box system according to claim 14, wherein the buffer rack further includes a fixing member disposed in the storage position, and the fixing member is used to limit experimental supplies to the storage position;

The fixing member is a step pin, and the step pin is used to be plugged into a pin hole opened at the bottom of the experimental supplies; or

The fixing part is an elastic contact part, the position is a positioning groove, the elastic contact part is arranged in the positioning groove, and when the experimental supplies are placed in the positioning groove, the elastic contact part can contact with the positioning groove. The experimental items come into contact and produce elastic deformation.
The glove box system according to claim 1, wherein the experimental supplies are contained in a container placed in a tray, and the work piece includes a container transfer clamp and a tray transfer clamp. The glove box system Also includes:

Transfer rack, the transfer rack is arranged on the bottom wall of the sealed chamber, the robot arm drives the pallet transfer clamp to place the tray on the transfer rack, the robot arm drives the container The transfer jaw moves the containers in the tray to the functional unit.
The glove box system according to claim 16, wherein the transfer rack includes a plurality of transfer racks with different heights, and the transfer rack with a higher height is further away from the robotic arm.
The glove box system according to claim 16, wherein the transfer rack includes a placement plate, the placement plate is provided with step pins, and the step pins are used to be plugged into pin holes opened at the bottom of the pallet. ;and / or, Tray clamping parts are provided at both ends of the placement plate to clamp the tray.
The glove box system according to any one of claims 1 to 18, wherein the exchange device includes an exchange chamber, a feeding mechanism, a first closing mechanism, a second closing mechanism, a vacuum mechanism and an inflation mechanism, The exchange chamber is provided with an exchange chamber, a first opening and a second opening. The first opening and the second opening are both connected to the exchange chamber. The feeding mechanism is located in the exchange chamber; the third opening is connected to the exchange chamber. A closing mechanism is provided at the first opening, and the second closing mechanism is provided at the second opening; the vacuum mechanism and the inflation mechanism are respectively connected with the exchange chamber;

The first closing mechanism can close or unseal the first opening, and the second closing mechanism can close or unseal the second opening; the feeding mechanism can start from all the openings when the first opening is unseald. The first opening extends out; the feeding mechanism can extend from the second opening when the second opening is unsealed; the vacuum mechanism is used to vacuum the exchange chamber, and the inflating The mechanism is used to fill the exchange chamber under vacuum with experimental gas;

The exchange chamber penetrates the box body, the first closing mechanism is located inside the sealed chamber, and the second closing mechanism is located outside the sealed chamber.
The glove box system according to claim 19, wherein the feeding mechanism includes a primary driving part, a secondary driving part and a carrying platform, the primary driving part is connected to the bottom surface of the exchange chamber, and the The secondary driving part is slidingly connected to the primary driving part, and the bearing platform is slidingly connected to the secondary driving part; the primary driving part, the secondary driving part and the bearing platform are along the exchange chamber. The height direction of is layered in sequence;

The primary driving part drives the secondary driving part to move in the first direction, and the secondary driving part drives the carrying platform to move in the first direction, so that the carrying platform extends from the first opening. The exchange chamber; the primary driving part drives the secondary driving part to move in the second direction, and the secondary driving part drives the carrying platform to move in the second direction, so that the carrying platform moves from the The second opening extends out of the exchange chamber; the first direction and the second direction are opposite;

The first direction is a direction from the second opening toward the first opening, and the second direction is a direction from the first opening toward the second opening;

The first opening and the second opening are located on opposite sides of the exchange chamber.
The glove box system according to any one of claims 1 to 18, characterized in that the glove box system further includes an identification code calibration component, and the identification code calibration component is used for an external mobile robot to identify the gloves. The location of the box system;

The identification code calibration parts include:

A three-axis calibration bracket is provided on the outer wall of the box. The three-axis calibration bracket includes two X-direction connecting plates, a Y-direction connecting plate and a Z-direction connecting plate that are arranged perpendicularly to each other. One end of the Y-direction connecting plate It is connected to one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected to one end of the Z-direction connecting plate;

Three identification code calibration plates, two of which are located at both ends of the X-direction connection plate, and the other identification code calibration plate is provided at the other end of the Z-direction connection plate;

Wherein, each identification code calibration plate has an identification code built in, and the identification code is used to position the glove box system by an external mobile robot that performs sample access operations.
The glove box system according to any one of claims 1 to 18, wherein the box body includes a peripheral plate, a first enclosure plate and a second enclosure plate, and the first enclosure plate and the second enclosure plate The enclosure plates are respectively fixedly connected to opposite sides of the perimeter plate, and the first enclosure plate, the second enclosure plate and the perimeter plate enclose the sealed chamber; the perimeter plate is provided with a visible transparent area ;

The exchange device is arranged on the peripheral plate.
The glove box system according to claim 22, wherein the box body further includes a base fixed to the lower side of the second enclosure panel; the glove box system further includes control equipment and electrical equipment. and a sealed communicator; the control device and the electrical device are located in the base, one end of the sealed communicator is located in the sealed chamber, and the other end is located in the base, so that the sealed chamber is connected to the The base is connected; the control device is electrically connected to the electrical device, one side of the sealed communicator is connected to the control device and the electrical device, and the other side of the sealed communicator is connected to the mechanical arm and the electrical device. the functional unit and the work piece;

The control device controls the robotic arm, the functional unit and/or the workpiece through the sealed communicator.
The glove box system according to claim 19, characterized in that the glove box system further includes a mobile robot located outside the box for when the second opening of the exchange device is opened, Place experimental supplies into the feeding mechanism or take out experimental supplies from the feeding mechanism.