CN109061211B - A device and method for picking up and placing a reaction cup and equipment containing the device - Google Patents
A device and method for picking up and placing a reaction cup and equipment containing the device Download PDFInfo
- Publication number
- CN109061211B CN109061211B CN201811271348.9A CN201811271348A CN109061211B CN 109061211 B CN109061211 B CN 109061211B CN 201811271348 A CN201811271348 A CN 201811271348A CN 109061211 B CN109061211 B CN 109061211B
- Authority
- CN
- China
- Prior art keywords
- cup
- picking
- reaction cup
- reaction
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 190
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 94
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000000670 limiting effect Effects 0.000 claims description 16
- 238000009423 ventilation Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000003153 chemical reaction reagent Substances 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 3
- 238000007885 magnetic separation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012742 biochemical analysis Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- -1 for example Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/75—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated
- G01N21/76—Chemiluminescence; Bioluminescence
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
Landscapes
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Plasma & Fusion (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
本发明提供了一种用于拾取和放置反应杯的装置，其包括：拾取机构，其与反应杯的内壁接触以用于拾取反应杯；运动机构，其与拾取机构固定连接以带动拾取机构的运动；脱杯机构，其套设于拾取机构的外部，并固定安装至壳体，用于在拾取机构相对于反应杯运动，实现反应杯的放置；以及驱动机构，其固定安装至壳体，并与运动机构连接以驱动运动机构。本发明还涉及一种拾取和放置反应杯的的方法以及含有上述反应杯取放装置的设备。本发明所述的装置依靠反应杯的变形产生摩擦力，其不存在取杯装置耗损的问题，保证了取杯装置的寿命，降低了设备的维护成本；脱杯方案是取杯杆主动从反应杯中退出，没有杯内液体溅出的风险，保证了检测准确率和检测效率。
The present invention provides a device for picking up and placing a reaction cup, which includes: a picking mechanism, which contacts the inner wall of the reaction cup for picking up the reaction cup; a moving mechanism, which is fixedly connected to the picking mechanism to drive the movement of the picking mechanism; a cup-removing mechanism, which is sleeved on the outside of the picking mechanism and fixedly installed to the shell, and is used to place the reaction cup when the picking mechanism moves relative to the reaction cup; and a driving mechanism, which is fixedly installed to the shell and connected to the moving mechanism to drive the moving mechanism. The present invention also relates to a method for picking up and placing a reaction cup and a device containing the above-mentioned reaction cup picking and placing device. The device described in the present invention relies on the deformation of the reaction cup to generate friction, and there is no problem of wear and tear of the cup-taking device, which ensures the life of the cup-taking device and reduces the maintenance cost of the equipment; the cup-removing scheme is that the cup-taking rod actively withdraws from the reaction cup, and there is no risk of liquid splashing out of the cup, which ensures the detection accuracy and efficiency.
Description
Technical Field
The invention relates to the technical field of biochemical analysis devices, in particular to a device and a method for picking up and releasing a reaction cup and equipment comprising the device.
Background
At present, the automation of biological and chemical analysis devices is becoming more and more widespread, which enables the continuous automated detection of a plurality of reaction cups, which need to be transported in different functional areas during the experimental detection process, which means that the reliable pick-up and placement of the reaction cups is very important. In current analytical devices, it is generally necessary to provide a plurality of cuvette grippers for transporting the cuvette between different functional areas.
In the prior art, various types of reaction cup grippers exist, for example, EP2462455A1 discloses a gripper device which is provided with a first movable clamping jaw and a second movable clamping jaw which are arranged along the side surfaces of the gripper, a first finger piece and a second finger piece which are respectively coupled with the first movable clamping jaw and the second movable clamping jaw and are used for gripping a sample container, but the gripper device has a very complex structure, a plurality of moving components are provided, the problem that the maintenance cost of equipment is increased and the efficiency of the gripper cup is influenced is solved, the european EP1355766B1 discloses a gripper assembly for taking and placing the sample container, the gripper assembly comprises a gripper arranged at the bottom end of a cylinder and a piston which is positioned inside the cylinder and is in relative sliding with the gripper cup, and the gripper is used for gripping the sample container by means of elastic deformation of the gripper and pushing the container out of the gripper cup through downward movement of the piston, and the gripper cup is released, and the gripper cup is easily broken, and the gripper assembly is easy to be arranged, the gripper assembly is high in release position of the container is higher than the container, the container is continuously opened and closed, the problem that the gripper assembly is easy to be easily placed, the container is easily is broken, and the problem that the gripper assembly is easily is broken and the gripper assembly is easily is broken, and the problem is easily is broken and the gripper assembly is easily is broken and can cause that the container is easily is broken and can be broken and damaged.
Therefore, a reliable, simple structure reaction cup picking and placing device capable of simultaneously guaranteeing high efficiency and accuracy is urgently needed at present.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a device and a method for picking up and placing a reaction cup and equipment comprising the device.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an apparatus for picking and placing reaction cups, comprising:
a pick-up mechanism in contact with an inner wall of the reaction cup for picking up the reaction cup;
the motion mechanism is fixedly connected with the pick-up mechanism to drive the pick-up mechanism to move;
A cup removing mechanism sleeved outside the picking mechanism and fixedly mounted to the shell for realizing the placement of the reaction cup when the picking mechanism moves relative to the reaction cup, and
And the driving mechanism is fixedly arranged on the shell and connected with the moving mechanism to drive the moving mechanism.
In order to further optimize the device, the technical measures adopted by the invention further comprise:
Further, the driving mechanism is one of a motor driving mechanism, a pneumatic driving mechanism and an electromagnetic driving mechanism.
Further, the device is provided with 2 detectors for detecting the positions of the movement mechanism and the cup-removing mechanism, respectively.
Further, an air pressure balance opening is arranged on the reaction cup and/or the cup taking mechanism, and the air pressure balance opening is at least one of an air vent hole or an air vent groove.
The reaction cup picking mechanism comprises a cup picking rod, wherein the inner wall of the reaction cup is in contact with the outer wall of the cup picking rod when the reaction cup is picked up, the movement mechanism comprises a nut which is fixedly connected with the cup picking rod, the cup removing mechanism is a sleeve, the sleeve is sleeved outside the cup picking rod, the top end of the sleeve is arranged at the bottom of the shell, the bottom end of the sleeve is used for propping against the top of the reaction cup, the driving mechanism is a motor, the motor is arranged at the top end of the shell, the motor is provided with a main shaft and a screw rod, and the screw rod is sleeved inside the nut to drive the nut and the cup picking rod to move up and down.
Further, the reaction cup form is selected from any one of the following forms:
1) An opening of the reaction cup is provided with an outwards extending annular body, the bottom end of the annular body is downwards extended along the outer wall of the reaction cup and provided with outwards protrusions, and the outwards protrusions are distributed in a spaced mode;
2) The reaction cup is in a step form with different upper and lower diameters, and the inner diameter and the outer diameter of the opening at the upper end of the reaction cup are respectively larger than the inner diameter and the outer diameter of the lower part of the reaction cup.
It is understood that any suitable form may be adopted as long as the inner wall of the upper opening of the reaction cup can be embedded by the cup taking rod to pick up the reaction cup, and the outer wall of the upper opening of the reaction cup can be propped by the sleeve to release the reaction cup. The main body of the reaction cup can be cylindrical, cuboid, square, reverse taper, etc., and the shape of the cup taking rod head of the cup taking rod is matched with the shape of the opening of the reaction cup.
Further, the upper end of the cup taking rod is fixedly arranged at the lower end of the cup taking rod connecting piece, the nut is fixedly connected with the upper end of the cup taking rod connecting piece, the top end of the sleeve is fixed to the sleeve mounting plate, the sleeve mounting plate is mounted at the bottom of the shell, the nut, the screw rod, the cup taking rod connecting piece and part of the cup taking rod are all arranged in the inner cavity of the shell, and the cup taking rod sequentially penetrates through the sleeve, the sleeve mounting plate and the shell.
Further, a nut limiting rod is arranged at the side end of the nut, a nut limiting groove is formed in the shell, and the nut limiting rod extends through the nut limiting groove.
Further, a first sensor is arranged outside the shell at the upper part of the nut limiting groove and used for detecting the position of the nut so as to reset the movement mechanism.
Further, a screw limit groove is sleeved outside the screw, and the screw limit groove is formed in the cup taking rod connecting piece.
The sleeve mounting plate is arranged at the bottom of the shell in a sliding mode, two through holes are symmetrically formed in two sides of the sleeve mounting plate and used for placing a sleeve sliding rod, the diameter of the bottom of the sleeve sliding rod is larger than that of the through holes, and the top of the sleeve sliding rod is fixedly arranged at the bottom of the shell.
Further, a sleeve mounting plate protruding block is arranged outside the sleeve mounting plate, and a second sensor is arranged at the lower part of the shell corresponding to the sleeve mounting plate protruding block and used for detecting the position of the sleeve.
Further, the first sensor and the second sensor are optocoupler sensors. It may also be any suitable sensor in the art for detecting a change in the position of an object.
Further, a cup taking rod sliding sleeve is arranged on the outer side of the top of the cup taking rod in the shell, and the bottom end of the cup taking rod sliding sleeve is fixedly mounted to the inner bottom of the shell.
Further, the sleeve and the sleeve mounting plate are of an integrated structure, and the cup taking rod connecting piece are of an integrated structure.
Further, the sleeve is of a cylindrical step structure with a wide upper part and a narrow lower part, a containing cavity is arranged in the upper part of the sleeve, and a spring sleeved outside the cup taking rod is arranged in the containing cavity, so that the sleeve can slide relative to the cup taking rod when the reaction cup is not picked up and picked up.
Further, the lower part of the cup taking rod is of a hollow structure, at least one cup taking rod vent hole or cup taking rod vent groove is formed in the side wall of the hollow structure, which is not in contact with the cup taking rod of the reaction cup, and the cup taking rod vent holes or the cup taking rod vent grooves are uniformly distributed at intervals.
Further, an elastically deformable member is mounted at the bottom end of the cup-taking rod, and the elastically deformable member includes an O-ring, or any suitable elastically deformable member commonly used in the art.
Further, the diameter of the bottom of the cup taking rod is slightly larger than the inner diameter of the opening of the reaction cup, and the end part of the bottom of the cup taking rod is of an inverted trapezoid structure or an inverted arc structure.
Further, a reaction cup vent hole or a reaction cup vent groove is formed in the cup wall at the opening of the upper end of the reaction cup.
Further, the inner cup wall of the reaction cup in the step form is inwards recessed to form at least one reaction cup ventilation groove or at least one reaction cup ventilation hole is formed in the cup wall of the upper end opening, and the reaction cup ventilation grooves or the reaction cup ventilation holes are uniformly distributed at intervals.
A second object of the invention is to provide an apparatus comprising any of the above mentioned means for picking and placing reaction cups.
Further, the apparatus has an external drive mechanism connected to the means for picking and placing the cuvette for driving the movement of the whole of the means, said movement comprising at least one of a Z-movement, an X-movement, a Y-movement, a swing arm rotation movement in an XY-plane.
Further, the apparatus is provided with a rotation mechanism connected with the device for picking up and placing the cuvette, which enables the cuvette to rotate in the picked-up state.
Further, the apparatus includes, but is not limited to, a swing arm mechanism containing the means for picking and placing the cuvette, a magnetic separation apparatus containing the means for picking and placing the cuvette, a cuvette unloading apparatus containing the means for picking and placing the cuvette.
A third object of the present invention is to provide the use of any of the above mentioned devices for picking and placing reaction cups. The application includes any application requiring the cuvette pick-and-place device, for example, the application of the device in a full-automatic chemiluminescence apparatus, the application of the device in the field of mechanical arms, and the like.
The fourth object of the invention is to provide a method for picking up and placing a reaction cup by any one of the above devices, which comprises the following steps that the whole device moves downwards, a cup taking rod enters into an upper end opening of the reaction cup, the upper end opening of the reaction cup deforms slightly under the action of force to wrap the cup taking rod, so that the reaction cup is picked up, a nut moves upwards under the drive of a motor screw rod, so that the cup taking rod is driven to move upwards, the reaction cup cannot move upwards along with the cup taking rod due to the limiting effect of a sleeve, and the reaction cup is separated from the cup taking rod, so that the placement of the reaction cup is realized.
Further, the method further comprises the step of detecting by the second sensor whether the cuvette has been picked up during the picking up of the cuvette.
Further, the detection process of the reaction cup picking up comprises the following steps that when no reaction cup exists, the sleeve is kept at a lower position under the action force of the spring, after the reaction cup is picked up, the sleeve is propped up at an upper position by the reaction cup, and the second sensor indirectly detects whether the reaction cup is picked up or not through detecting the position change of the sleeve.
Further, the method comprises the step of resetting the nut and the cup taking rod by detection of the first sensor before picking up the cuvette or after placing the cuvette.
Further, the method includes the step of positioning the unitary device to a grasping position and a placement position.
The fixing installation mode of the components is screw connection, bolt-nut connection, butt welding connection or adhesive connection, and the like, and any suitable connection mode in the field can be adopted. The material of each component is any suitable material, for example, stainless steel, plastic, etc.
Compared with the prior art, the invention has the following technical effects:
the device for picking up and placing the reaction cup adopts the screw rod motor to drive the nut to move so as to realize the movement of the cup taking rod, has simple structure, high safety performance and reliable grabbing, and simultaneously is also provided with the sensor for detecting whether the reaction cup is picked up or not and realizing the resetting of the nut, thereby avoiding the phenomenon of empty grabbing and improving the grabbing efficiency.
The cup taking scheme adopted by the invention is that friction force is generated by deformation of the reaction cup, and the reaction cup belongs to disposable consumable materials, and can be replaced in each experiment, so that the problem of loss of the cup taking device is avoided, the service life of the cup taking device is ensured, and the maintenance cost of equipment is reduced.
The cup removing scheme adopted by the invention is that the cup taking rod actively withdraws from the reaction cup, the reaction cup can be placed at a designated position and then removed, and the risk of liquid in the cup splashing is avoided, so that the loss of a sample is avoided, and the detection accuracy and the detection efficiency are ensured.
Drawings
FIG. 1 is a schematic view of an apparatus for picking up a cuvette according to an embodiment of the present invention;
FIGS. 2 and 3 are schematic views showing an apparatus for picking up and not picking up a cuvette according to another embodiment of the present invention;
FIG. 4 is a front view of the device shown in FIG. 3;
FIG. 5 is a cross-sectional view taken along the A-A plane of the device of FIG. 4;
FIGS. 6A and 6B are a schematic structural view and a front view, respectively, of a reaction cup according to an embodiment of the present invention;
FIGS. 7A and 7B are schematic and front views, respectively, of a reaction cup according to another embodiment of the present invention;
FIGS. 8A and 8B are schematic structural and front views, respectively, of a reaction cup according to another embodiment of the present invention;
FIGS. 9A and 9B are schematic structural and front views, respectively, of a reaction cup according to another embodiment of the present invention;
The reference numerals in the figures are:
1. The device comprises a motor, 11, a screw rod, 12, a screw rod limiting groove, 15, a cylinder, 16, a piston, 2, a shell, 3, a sleeve, 31, a sleeve mounting plate, 32, a sleeve sliding rod, 33, a sleeve mounting plate lug, 4, a cup taking rod, 41, a cup taking rod connecting piece, 42, a cup taking rod sliding sleeve, 43, a cup taking rod vent hole, 44, an elastic deformation piece, 5, a first sensor, 6, a second sensor, 7, a nut, 71, a nut limiting rod, 72, a nut limiting groove, 8, a spring, 9, a reaction cup, 91, a flange body, 92, an outward bulge, 93, a boss, 94, a reaction cup vent groove, 95 and a reaction cup vent hole.
Detailed Description
The invention provides a device for picking and placing a reaction cup, which comprises a picking mechanism, a moving mechanism, a cup removing mechanism and a driving mechanism, wherein the picking mechanism is in contact with the inner wall of the reaction cup and is used for picking the reaction cup, the moving mechanism is fixedly connected with the picking mechanism and drives the picking mechanism to move, the cup removing mechanism is sleeved outside the picking mechanism and is fixedly mounted to a shell and is used for realizing placement of the reaction cup when the picking mechanism moves relative to the reaction cup, and the driving mechanism is fixedly mounted to the shell and is connected with the moving mechanism to drive the moving mechanism. The invention also provides a device comprising the device and a method for picking up and placing the reaction cup by adopting the device
The following describes the embodiments of the present invention further with reference to examples and drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1
This embodiment is a preferred means for picking and placing the reaction cup.
As shown in fig. 1, the device for picking up and placing a reaction cup according to the present embodiment includes a picking mechanism, a moving mechanism, a cup removing mechanism, a driving mechanism and a housing, wherein the picking mechanism includes a cup taking rod 4, the moving mechanism includes a piston 16, the cup removing mechanism includes a sleeve 3, and the driving mechanism includes a cylinder 15.
In this embodiment, when the reaction cup 9 is picked up, the inner wall of the reaction cup 9 is in contact with the outer wall of the cup taking rod 4, the inner diameter of the reaction cup is slightly smaller than the outer diameter of the end of the cup taking rod (such as 0.1mm,0.2mm,0.25mm,0.3mm,0.4mm, etc.), the bottom of the cup taking rod 4 is of an inverted arc structure so as to be beneficial to being embedded into the upper opening of the reaction cup 9, the cup taking rod 4 is a cylindrical rod-shaped object which is made of materials which are not easy to wear and react with reagents (such as stainless steel, etc.), the cup taking rod 4 is fixed to the bottom of the piston 16 in a screwed manner, the sleeve 3 is sleeved outside the cup taking rod 4, the sleeve 3 is a cylindrical annular body, the cup taking rod 4 can slide relative to the sleeve 3, the top end of the sleeve 3 is fixed to the bottom of the shell 2 in a welded manner, the bottom end of the sleeve 3 is used for propping against the top of the reaction cup 9 when the reaction cup is picked up, the side wall of the cylinder 15 is fixedly connected to the top of the shell 2 in a welded manner, the piston 16 is arranged on the inner side of the cylinder 15 and can move up and move to the inner part 15 of the cylinder 15 to the inner part of the cylinder 15 by driving the piston.
In this embodiment, as shown in fig. 6A and 6B, the reaction cup 9 is in the form of a cylinder, the upper end of the reaction cup 9 is provided with an opening, the lower end of the reaction cup is provided with a circular sealing end, an outwardly extending flange 91 is arranged at the opening of the reaction cup 9, outwardly extending protrusions 92 are downwardly extending along the outer wall of the reaction cup 9 at the bottom end of the flange 91, the outwardly extending protrusions 92 are distributed at the outer wall of the reaction cup 9 in a spaced manner, the length of the outwardly extending protrusions 91 can be 1/5-1/2 of the length of the reaction cup 9, and the reaction cup 9, the flange 91 arranged on the reaction cup and the outwardly extending protrusions 92 are in an integrally formed structure, and the material of the reaction cup is plastic.
The operation steps of the device for picking and placing the reaction cup according to the embodiment are as follows:
The device is integrally positioned to a picking position of the reaction cup, the device integrally moves downwards through an external driving mechanism, a cup taking rod enters an opening at the upper end of the reaction cup, the opening at the upper end of the reaction cup slightly deforms under the action of force, the cup taking rod is tightly wrapped and maintained by friction force, the reaction cup is picked up, the device for picking up the reaction cup is integrally positioned to a placing position of the reaction cup, then a piston moves upwards under the driving of an external air source, and the cup taking rod is driven to move upwards.
Example two
The embodiment is an optimized implementation manner of the device for picking and placing a reaction cup according to the first embodiment, and the main optimization points are that different driving mechanisms and moving mechanisms are provided, the connection manner of the cup taking rod and the connection manner of the sleeve are adopted, different shell forms are adopted, and the vent holes of the cup taking rod are additionally arranged, so that the concrete improvement is as follows:
as shown in fig. 2 to 5, the movement mechanism in the device for picking up and placing a cuvette according to the present embodiment includes a nut 7, and the driving mechanism includes a motor 1.
In this embodiment, the cup taking rod 4 is integrally fixed to the bottom of the cup taking rod connector 41, the nut 7 is integrally fixed to the top of the cup taking rod connector 41, the top end of the sleeve 3 is integrally fixed to the bottom of the sleeve mounting plate 31, the bottom end of the sleeve 3 is used for supporting the top of the reaction cup 9 when the reaction cup is picked up, the sleeve mounting plate 31 is provided with a middle hole to pass through a disc-shaped structure of the cup taking rod 4 and is mounted to the bottom of the shell 2 in a screwed mode, the bottom of the motor 1 is mounted to the top of the shell 2 in a screwed mode, the motor 1 is provided with a main shaft and a screw rod 11, and the screw rod 11 is sleeved inside the nut 7 to drive the nut 7 and the cup taking rod 4 to move up and down. In this embodiment, the lower part of the cup taking rod 4 is a hollow structure (for example, the hollow structure is in a cylindrical form), and the side wall of the hollow structure corresponding to the cup taking rod 4 which is not in contact with the reaction cup 9 is provided with 2 cup taking rod ventilation holes 43, and the cup taking rod ventilation holes 43 are arranged at the same height and are symmetrically distributed, so that the reaction cup 9 is consistent with the air pressure of the outside, and the cup taking effect is ensured not to be affected by different air pressures.
In this embodiment, the nut 7, the screw rod 11, the cup-taking rod connecting piece 41 and part of the cup-taking rod 4 are all disposed at the inner cavity of the housing 2, the cup-taking rod 4 sequentially penetrates through the sleeve 3, the sleeve mounting plate 31 and the housing 2, and the reaction cup 9, the cup-taking rod 4, the cup-taking rod connecting piece 41 and the screw rod 11 are coaxially disposed, so that movement of each component can be better realized and a better grabbing effect can be achieved.
The operation steps of the device for picking and placing the reaction cup according to the embodiment are as follows:
The device is integrally positioned to a picking position of the reaction cup, the device integrally moves downwards through an external driving mechanism, a cup taking rod enters an opening at the upper end of the reaction cup, the opening at the upper end of the reaction cup slightly deforms under the action of force, the cup taking rod is tightly wrapped and maintained by friction force, the reaction cup is picked up, the device for picking up the reaction cup is integrally positioned to a placing position of the reaction cup, then a nut moves upwards under the driving of a motor screw rod, and the cup taking rod is driven to move upwards.
Example III
This embodiment is an optimized implementation of the apparatus for picking and placing reaction cups described in embodiment two. The main optimization point is that detectors for detecting the positions of the sleeve and the nuts are arranged, reaction cups and driving mechanisms in different forms are adopted, and meanwhile, the installation form of the sleeve is optimized, and the concrete improvement is as follows:
In this embodiment, as shown in fig. 2 to 5, a screw limit groove 12 is sleeved outside the screw 11, the screw limit groove 12 is opened in the cup taking rod connecting piece 41 to prevent the screw 11 from driving the nut 7 to move down excessively to damage the device, a nut limit rod 71 is mounted at the side end of the nut 7, a nut limit groove 72 is opened in the housing 2, the nut limit rod 71 extends through the nut limit groove 72, and a first sensor 5 is mounted outside the housing 2 at the upper part of the nut limit groove 72 to detect the position of the nut 7 so as to reset the nut 7 and the cup taking rod 4. The resetting process of the moving mechanism comprises the steps that in the initial stage, the nut is at the lowest end or the lower end, if the nut is not at the lowest end, the motor is driven to reset, when the reaction cup is picked up, the motor is not driven, when the reaction cup is placed, the motor screw rod drives the nut and the cup taking rod to move upwards, release of the reaction cup is achieved through the limiting effect of the sleeve, and after the reaction cup is released, the nut is reset to the lowest end or the lower end.
In this embodiment, as shown in fig. 2 to 5, two through holes are symmetrically arranged on two sides of the sleeve mounting plate 31 for placing the sleeve sliding rod 32, the bottom diameter of the sleeve sliding rod 32 is larger than that of the through holes for limiting the sleeve 3 and preventing the sleeve sliding rod from falling off, the top of the sleeve sliding rod 32 is fixedly mounted to the bottom of the shell 2 in a screw connection mode, a sleeve mounting plate bump 33 is arranged on one side of the sleeve mounting plate 31, a second sensor 6 is mounted on the lower portion of the shell 2 corresponding to the sleeve mounting plate bump 33 and used for detecting the position of the sleeve 3, the sleeve 3 is of a cylindrical step structure with a wide upper portion and a narrow lower portion, a containing cavity is built in the upper portion of the sleeve 3, a spring 8 sleeved outside the cup taking rod 4 is arranged in the containing cavity, and the sleeve 3, the sleeve mounting plate 31 and the sleeve mounting plate bump 33 are of an integrally formed structure, so that the sleeve 3 slides relative to the cup taking rod 4 and whether a reaction cup is picked up or not can be detected. After the structure is optimized, the sleeve can be kept at a lower position under the action force of the spring when no reaction cup exists, the sleeve can be propped against an upper position by the reaction cup when the reaction cup exists, and the second sensor can indirectly detect whether the reaction cup is picked up or not by detecting the position change of the sleeve, so that the cup grabbing efficiency is improved.
In this embodiment, as shown in fig. 7A and 7B, the reaction cup 9 is in the form of steps with different diameters from top to bottom, the opening at the upper end of the reaction cup 9 is a boss 93, the inner diameter and the outer diameter of the boss 93 are respectively larger than those of the lower part of the reaction cup 9, the boss 93 is a hollow cylinder, the lower part of the reaction cup 9 is also a hollow cylinder with a circular closed bottom, the hollow cylinder of the boss 93 is connected with the hollow cylinder of the lower part of the reaction cup 9 through a horizontal annular body, in the embodiment, the sample adding position of the reaction cup 9 is located at the lower part of the horizontal annular body, so that when the cup taking rod is embedded into the opening at the upper end of the reaction cup, the cup wall possibly containing a sample or a reagent is not contacted, and a trace of foreign matters can accumulate on the steps at the position of the horizontal annular body, so that the sample or the reagent in the reaction cup cannot be polluted. In this embodiment, the lower portion of the cup taking rod 4 is a hollow structure (for example, the hollow structure is in a rectangular body form), and 1 cup taking rod ventilation groove (not shown in the figure) is formed on the side wall of the hollow structure corresponding to the cup taking rod 4 which is not in contact with the reaction cup 9.
Meanwhile, in this embodiment, a cup taking rod sliding sleeve 42 is arranged at the outer side of the top of the cup taking rod 4 in the shell 2, the bottom end of the cup taking rod sliding sleeve 42 is fixedly mounted at the inner bottom of the shell 2 in a screw connection mode so as to achieve a better sliding effect of the cup taking rod, and an elastic deformation piece 44 (such as an O-shaped ring) is mounted at the bottom end of the cup taking rod 4 so that the cup taking rod has better adaptability to a reaction cup.
Example IV
In this embodiment, the balance air pressure opening is not formed at the cup taking rod, that is, the cup taking rod is not provided with a hollow structure, and the side wall of the cup taking rod is not provided with an air vent or an air vent groove. As shown in fig. 8A-8B and 9A-9B, the reaction cup 9 of the present embodiment is in a step form, and has a main structure similar to that of the reaction cup used in the third embodiment, but the inner arm at the opening of the upper end is concave inwards to form at least one reaction cup ventilation slot 94, or the cup wall at the opening of the upper end is provided with at least one reaction cup ventilation hole 95, where the reaction cup ventilation slots 94 or the reaction cup ventilation holes 95 are uniformly arranged at intervals.
Example five
The present embodiment is a swing arm mechanism including the apparatus for picking and placing a reaction cup according to any one of the first to fourth embodiments, the swing arm mechanism being transversely mounted to a housing of the reaction cup picking and placing apparatus by a connecting rod, the connecting rod being connected to a spindle which is driven by a motor to realize Z-directional movement, the spindle being further connected to a rotating mechanism by a belt connection to realize swing arm movement on an XY plane.
Example six
The reaction cup handling device is longitudinally mounted on a shell of the reaction cup picking and placing device through a connecting rod, the connecting rod is connected to a mechanism with an X-direction moving device, a Y-direction moving device and a Z-direction moving device, and the mechanism is provided with an X-direction sliding rail, a driving motor, a Y-direction sliding rail, a driving motor and a Z-direction driving motor respectively, so that three-way linear motion of the reaction cup is realized, and the reaction cup is transferred from a reaction cup storage area to other functional areas.
Example seven
The magnetic separation device comprises a motor, a screw rod and a reaction cup taking and placing device with external nuts, wherein the motor, the screw rod and the reaction cup taking and placing device are arranged in the device in the first embodiment to the fourth embodiment, a rotating mechanism is arranged on the outer side of a shell of the reaction cup taking and placing device and is connected to a rotating mechanism mounting plate, nut holes are formed in the mounting plate, the screw rod is connected to an external screw rod, and the screw rod is connected to an external motor. The magnetic separation device can enable the reaction cup to rotate in the picking state.
According to the embodiment, the device for picking and placing the reaction cup is simple in structure, high in safety performance and reliable in picking and placing the reaction cup, meanwhile, the sensor is arranged to detect whether the reaction cup is picked up or not and reset of a nut is achieved, so that the phenomenon of empty claw is avoided, the grabbing efficiency is improved, the problem of loss of the cup picking device is avoided, the service life of the cup picking device is guaranteed, the maintenance cost of equipment is reduced, meanwhile, the risk of liquid in the cup splashing is avoided, loss of a sample is avoided, and the detection accuracy and the detection efficiency are guaranteed.
The above description of the specific embodiments of the present invention has been given by way of example only, and the present invention is not limited to the above described specific embodiments. Any equivalent modifications and substitutions for this practical use will also occur to those skilled in the art, and are within the scope of the present invention. Accordingly, equivalent changes and modifications are intended to be included within the scope of the present invention without departing from the spirit and scope thereof.
Claims (11)
1. An apparatus for picking and placing reaction cups, comprising:
a pick-up mechanism in contact with an inner wall of the reaction cup for picking up the reaction cup;
the motion mechanism is fixedly connected with the pick-up mechanism to drive the pick-up mechanism to move;
A cup removing mechanism sleeved outside the picking mechanism and fixedly mounted to the shell for realizing the placement of the reaction cup when the picking mechanism moves relative to the reaction cup, and
A driving mechanism fixedly mounted to the housing and connected to the moving mechanism to drive the moving mechanism;
Wherein, the device is provided with 2 detectors which are respectively used for detecting the positions of the moving mechanism and the cup removing mechanism;
The cup picking mechanism comprises a cup picking rod (4), wherein when the reaction cup (9) is picked up, the inner wall of the reaction cup (9) is in contact with the outer wall of the cup picking rod (4), the moving mechanism comprises a nut (7), the nut (7) is fixedly connected with the cup picking rod (4), the cup taking mechanism is a sleeve (3), the sleeve (3) is sleeved outside the cup picking rod (4), the top end of the sleeve is arranged at the bottom of the shell (2), the bottom end of the sleeve (3) is used for propping against the top of the reaction cup (9), the driving mechanism comprises a motor (1), the motor (1) is arranged at the top end of the shell (2), the motor (1) is provided with a main shaft and a screw rod (11), and the screw rod (11) is sleeved inside the nut (7) to drive the nut (7) and the cup picking rod (4) to move up and down;
the top end of the sleeve (3) is fixed on a sleeve mounting plate (31), a sleeve mounting plate projection (33) is arranged outside the sleeve mounting plate (31), and a second sensor (6) is arranged at the lower part of the shell (2) corresponding to the sleeve mounting plate projection (33) and used for detecting the position of the sleeve (3).
2. The apparatus for picking and placing a cuvette as defined in claim 1, wherein the driving mechanism is one of a motor driving mechanism, a pneumatic driving mechanism, and an electromagnetic driving mechanism.
3. The device for picking and placing reaction cups as claimed in claim 1, wherein air pressure balance openings are provided on said reaction cups and/or cup taking mechanism, said air pressure balance openings being at least one of ventilation holes or ventilation slots.
4. A device for picking and placing reaction cups according to claim 1, characterized in that said reaction cup (9) is in a form selected from any one of the following forms:
1) An outwards extending flange body (91) is arranged at the opening of the reaction cup (9), outwards protrusions (92) are downwards arranged at the bottom end of the flange body (91) along the outer wall of the reaction cup (9), and the outwards protrusions (92) are distributed at intervals around the cup wall of the reaction cup (9);
2) The reaction cup (9) is in a step form with different upper and lower diameters, a boss (93) is arranged at an opening at the upper end of the reaction cup (9), and the inner diameter and the outer diameter of the boss (93) are respectively larger than those of the lower part of the reaction cup (9).
5. The device for picking up and placing the reaction cup according to claim 1, wherein a nut limiting rod (71) is installed at the side end of the nut (7), a nut limiting groove (72) is formed in the shell (2), the nut limiting rod (71) extends through the nut limiting groove (72), and a first sensor (5) is installed outside the shell (2) and located at the upper part of the nut limiting groove (72) and used for detecting the position of the nut (7) so as to reset the movement mechanism.
6. The device for picking up and placing a reaction cup according to claim 1, wherein the upper end of the cup taking rod (4) is fixedly installed to the lower end of a cup taking rod connecting piece (41), and the nut (7) is fixedly connected to the upper end of the cup taking rod connecting piece (41);
The nut (7), the screw rod (11), the cup taking rod connecting piece (41) and part of the cup taking rod (4) are all arranged at the inner cavity part of the shell (2), and the cup taking rod (4) sequentially penetrates through the sleeve (3), the sleeve mounting plate (31) and the shell (2).
7. An apparatus comprising the device for picking and placing a cuvette as defined in any one of claims 1 to 6.
8. Use of a device for picking and placing reaction cups as claimed in any one of claims 1-6.
9. A method of using the apparatus of any one of claims 1 to 6 for picking and placing reaction cups, comprising the steps of:
the whole device moves downwards, the cup taking rod (4) enters into the upper end opening of the reaction cup (9), the upper end opening of the reaction cup (9) deforms slightly under the action of force, and the cup taking rod (4) is tightly wrapped, so that the reaction cup (9) is picked up;
Under the drive of motor (1), lead screw (11) drive nut (7) upward movement to drive get cup pole (4) upward movement, because the restriction of sleeve (3), reaction cup (9) can't follow and get cup pole (4) upward movement, reaction cup (9) break away from with getting cup pole (4), realize placing of reaction cup (9).
10. Method according to claim 9, characterized in that the method further comprises the step of detecting by means of the second sensor (6) whether a cuvette (9) has been picked up during the picking up of the cuvette.
11. The method according to claim 9, characterized in that the method further comprises the step of resetting the nut by detection of the first sensor (5) before picking up the cuvette (9) or after placing the cuvette (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811271348.9A CN109061211B (en) | 2018-10-29 | 2018-10-29 | A device and method for picking up and placing a reaction cup and equipment containing the device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811271348.9A CN109061211B (en) | 2018-10-29 | 2018-10-29 | A device and method for picking up and placing a reaction cup and equipment containing the device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109061211A CN109061211A (en) | 2018-12-21 |
| CN109061211B true CN109061211B (en) | 2025-02-18 |
Family
ID=64767682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811271348.9A Active CN109061211B (en) | 2018-10-29 | 2018-10-29 | A device and method for picking up and placing a reaction cup and equipment containing the device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109061211B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293577A (en) * | 2019-07-29 | 2019-10-01 | 南京诺尔曼生物技术有限公司 | Manipulator and mechanical arm assembly |
| CN110308298B (en) * | 2019-07-31 | 2024-04-23 | 深圳麦科田生物医疗技术股份有限公司 | Light detection device and test method thereof |
| CN114414821B (en) * | 2021-12-24 | 2024-10-18 | 广州蓝勃生物科技有限公司 | Reaction cup grabbing device and immunoassay appearance |
| CN114348634A (en) * | 2021-12-31 | 2022-04-15 | 南京国科医工科技发展有限公司 | Reaction cup carrying device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209102735U (en) * | 2018-10-29 | 2019-07-12 | 苏州新波生物技术有限公司 | It is a kind of for picking up and the device of placing response cup and containing the equipment of the device |
| CN209496044U (en) * | 2018-10-29 | 2019-10-15 | 苏州新波生物技术有限公司 | A kind of transfer device of reaction cup and equipment containing the transfer device |
| CN209507020U (en) * | 2018-10-29 | 2019-10-18 | 苏州新波生物技术有限公司 | A kind of pick-and-place mechanism of reaction cup and equipment containing the pick-and-place mechanism |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2693977T3 (en) * | 2005-07-27 | 2018-12-17 | Sysmex Corporation | Bucket |
| JP2013501633A (en) * | 2009-08-07 | 2013-01-17 | シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレーテッド | Method, system and apparatus adapted to transport sample containers |
| CN202994646U (en) * | 2012-12-27 | 2013-06-12 | 深圳雷杜生命科学股份有限公司 | Reaction cup conveniently clamped and transferred by mechanical arm |
| CN204694619U (en) * | 2015-06-30 | 2015-10-07 | 四川新健康成生物股份有限公司 | For the cup-fetching device of Biochemical Analyzer |
| CN204694710U (en) * | 2015-06-30 | 2015-10-07 | 四川新健康成生物股份有限公司 | A kind of cup-fetching device for quartz glass reaction cup |
| CN206447278U (en) * | 2016-12-30 | 2017-08-29 | 无锡明珠钢球有限公司 | One kind takes a glass handling equipment automatically |
| CN206818712U (en) * | 2017-05-18 | 2017-12-29 | 宏葵生物（中国）有限公司 | A kind of cup-fetching device of biochemical instrument |
-
2018
- 2018-10-29 CN CN201811271348.9A patent/CN109061211B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209102735U (en) * | 2018-10-29 | 2019-07-12 | 苏州新波生物技术有限公司 | It is a kind of for picking up and the device of placing response cup and containing the equipment of the device |
| CN209496044U (en) * | 2018-10-29 | 2019-10-15 | 苏州新波生物技术有限公司 | A kind of transfer device of reaction cup and equipment containing the transfer device |
| CN209507020U (en) * | 2018-10-29 | 2019-10-18 | 苏州新波生物技术有限公司 | A kind of pick-and-place mechanism of reaction cup and equipment containing the pick-and-place mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109061211A (en) | 2018-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109061211B (en) | A device and method for picking up and placing a reaction cup and equipment containing the device | |
| CN105339141B (en) | Grasping mechanism | |
| CN103635808B (en) | Stopper opening/closing mechanism and automatic analysis system provided therewith | |
| EP1355766B1 (en) | Method and system for picking and placing vessels | |
| US9335337B2 (en) | Apparatus for gripping and holding diagnostic cassettes | |
| KR102233207B1 (en) | Substrate gripping mechanism, substrate transfer device, and substrate processing system | |
| CN113990798B (en) | Wafer clamping device and wafer post-processing equipment | |
| CN209496044U (en) | A kind of transfer device of reaction cup and equipment containing the transfer device | |
| WO2018025608A1 (en) | Plug processing device and specimen test automation system including same | |
| CN209507020U (en) | A kind of pick-and-place mechanism of reaction cup and equipment containing the pick-and-place mechanism | |
| CN115020317A (en) | Wafer lifting and rotating mechanism, semiconductor equipment processing unit and semiconductor equipment | |
| CN209102735U (en) | It is a kind of for picking up and the device of placing response cup and containing the equipment of the device | |
| CN209830843U (en) | Fuel pump assembly line | |
| CN213231474U (en) | Actuator and sample processing device | |
| JP4168814B2 (en) | Dispensing device and dispensing method | |
| CN209784387U (en) | Sample injector device for automatically detecting sample bottles | |
| CN114104673A (en) | Cylindrical shell guiding mechanism and cylindrical shell peripheral wall defect detection device | |
| CN118594643B (en) | Automated liquid transfer device | |
| CN209835583U (en) | Container cap changing device | |
| CN114952281B (en) | Stainless steel pipe fitting dress circle marking detection machine | |
| CN115308429B (en) | Reaction cup, sample transfer device and sample transfer method | |
| CN113260866A (en) | Method and system for picking and placing containers and for aligning instruments | |
| CN105547688B (en) | Solenoid valve movable valve plug test device | |
| CN216670013U (en) | Reaction cup loading module | |
| CN112405495B (en) | Industrial robot particle accurate pickup device based on automatic production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |