[go: up one dir, main page]

CN116894319A - Automatic assembly method of pipetting suction head - Google Patents

Automatic assembly method of pipetting suction head Download PDF

Info

Publication number
CN116894319A
CN116894319A CN202310295506.9A CN202310295506A CN116894319A CN 116894319 A CN116894319 A CN 116894319A CN 202310295506 A CN202310295506 A CN 202310295506A CN 116894319 A CN116894319 A CN 116894319A
Authority
CN
China
Prior art keywords
suction head
feeder
pipette tip
mounting box
suction
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.)
Pending
Application number
CN202310295506.9A
Other languages
Chinese (zh)
Inventor
李君�
李素君
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sino Holdings Group Co ltd
Original Assignee
Sino Holdings Group Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sino Holdings Group Co ltd filed Critical Sino Holdings Group Co ltd
Priority to CN202310295506.9A priority Critical patent/CN116894319A/en
Priority to PCT/CN2023/085148 priority patent/WO2024197719A1/en
Publication of CN116894319A publication Critical patent/CN116894319A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
    • B01L3/02—Burettes; Pipettes
    • B01L3/021—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G06F17/13—Differential equations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/18—Manufacturability analysis or optimisation for manufacturability

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Mathematical Analysis (AREA)
  • Data Mining & Analysis (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Operations Research (AREA)
  • Databases & Information Systems (AREA)
  • Algebra (AREA)
  • Evolutionary Biology (AREA)
  • Probability & Statistics with Applications (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • Health & Medical Sciences (AREA)
  • Clinical Laboratory Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
  • Container Filling Or Packaging Operations (AREA)

Abstract

The invention discloses an automatic assembling method of a pipetting suction head, which comprises the following steps of S1, analyzing suction head characteristics and establishing a natural posture model; s2, analyzing a feeding mechanical model of a feeder and selecting a proper feeder transmission suction head; s3, conveying the suction head through the feeder into the mounting box and conveying the suction head to the storage box to realize automatic assembly, and aiming at the pipetting suction heads of different models, selecting a proper feeder and the mounting box and the storage box which are correspondingly assembled through establishing and analyzing a natural posture model of the pipetting suction head and a mechanical model of the pipetting suction head for conveying the suction head in the feeder, so that the assembly efficiency of the pipetting suction head in the assembly process is improved.

Description

Automatic assembly method of pipetting suction head
Technical Field
The invention relates to the field of injection molding, in particular to an automatic assembly method of a pipetting suction head.
Background
In the fields of biology, medicine, chemistry, chemical industry and the like, it is often necessary to transfer liquid in a container by using a pipetting station, and in order to cope with a part of liquid containing containers which are large in number and compact in arrangement, the pipetting station is often required to be equipped with a plurality of pipette head mechanisms which are compact in arrangement. Because of the compact arrangement of the plurality of tip mechanisms, it is difficult to individually install the unloading and assembling structure for each tip mechanism, and it is only possible to unload and assemble the tips on the plurality of tip mechanisms as a whole or in a specific arrangement. This will result in poor flexibility of the various pipette tip mechanisms and failure to achieve a fully independent workflow, rendering automatic assembly of pipette tips unfeasible.
Chinese patent document CN107921435B discloses a "pipette tip accommodating container and a method for providing a pipette tip accommodating container". The pipette tip accommodating container includes: a receiving case having a bottom and a side wall protruding from the bottom to at least partially surround the receiving opening and defining a receiving space together with the bottom; a lid having a lid top wall and lid side walls extending from the lid top wall, the lid side walls to define a lid interior space with the lid top wall; wherein the cover covers the receiving opening of the receiving shell in its closed position and is held removably on the receiving shell, characterized in that the cover defines, at least in sections, a standardized receiving surface in the peripheral region thereof, which standardized receiving surface has a length dimension having a value of 27.76mm + -0.25 mm and a width dimension oriented at right angles thereto, which width dimension has a value of 85.48mm + -0.25 mm, on the cover a positioning device having a plurality of positioning elements arranged distributed over the periphery of the cover, which positioning devices are arranged or configured in the cover interior space and in the region of the cover top wall of the cover, which in the open position removed from the receiving shell forms an adapter element for the receiving shell, which in the open position removed from the cover is inserted into the cover interior space and with the bottom of the receiving shell being supported in the cross-sectional position of the receiving shell from the bottom wall into the receiving shell and in the cross-sectional position of the receiving shell is oriented in the cross-sectional direction of the receiving shell, which is oriented from the top wall into the receiving shell and is oriented in the cross-sectional direction of the receiving shell, the positioning device is arranged or configured in the region of the receiving shell, which is located in the cross-sectional direction of the receiving shell. But this patent is directed only to how to quickly mount a pipette tip and to an efficient automated assembly.
Disclosure of Invention
The invention mainly solves the technical problem that the automatic assembly of the pipetting tips of different types cannot be realized in high efficiency, and provides an automatic assembly method of the pipetting tips.
The technical problems of the invention are mainly solved by the following technical proposal: the invention includes
S1, analyzing suction head characteristics and establishing a natural gesture model;
s2, analyzing a feeding mechanical model of a feeder and selecting a proper feeder transmission suction head;
s3, conveying the suction head into the mounting box by the feeder and conveying the suction head to the storage box to realize automatic assembly.
The pipette tip has very big demand in daily life, in order to be convenient for the transportation of pipette tip, the pipette tip need pack it after having produced, and the mode of using plastic bag packing is convenient, but the pipette tip orientation in the packing is chaotic, and the user is very inconvenient when using. Secondly, the plastic bags are softer in texture, and a large number of plastic bags with the pipetting tips are mutually extruded in the transportation process, so that the pipetting tips deform and cannot be used normally, and the mode of packaging the pipetting tips by using the plastic bags is not ideal. However, if the hard mounting box is used for bearing the pipetting tips, the protection of the pipetting tips is greatly improved, but the tips are put into the slots of the mounting box one by one manually, so that the production efficiency of the production line is greatly reduced, and the production cost is also increased. Therefore, the patent provides an automatic assembling method of a liquid-transfering suction head, before assembling a liquid-transfering suction head of a certain model, firstly analyzing the characteristics of the liquid-transfering suction head of the model, then establishing a natural gesture model when the liquid-transfering suction head of the model falls, further establishing a mechanical model when the suction head is transported and transferred in a feeder according to the natural gesture model, and selecting a feeder which is adapted to the suction head of the model for feeding through the analysis of the mechanical model. After selecting a feeder, selecting a mounting box with a proper size according to a natural posture model of a suction head and a feeding mechanical model of the feeder, placing the mounting box in front of the feeder, starting the feeder, sucking the manufactured suction head by a suction machine, conveying the suction head into a conveying belt to a distributing machine, conveying the suction head to the mounting box by the distributing machine, falling into a slotted hole of the mounting box, uniformly conveying the assembled mounting box to a large storage box by the feeder, and installing a plurality of mounting boxes into the storage box to finish automatic assembly. Because the corresponding mathematical model and the mechanical model are established before the assembly, the suction head can be selected to be more suitable for suction head equipment in advance according to mechanical analysis and model characteristics when the suction heads of different models are assembled, so that the suction head can be ensured to have higher speed on the basis of ensuring correct entering into the mounting box in the assembly process, and the high-efficiency automatic assembly is realized.
Preferably, in the step S1, a natural posture model of the suction head existing under several natural probabilities is established:
p in the formula i Representing the probability of falling off of one natural gesture in a plurality of gestures s i Represents the area of a containing surface when one natural gesture in a plurality of gestures falls, h i Representing the distance from the mass center to the containing surface in one natural posture in a plurality of postures, and obtaining the posture type when the suction head falls off by establishing a natural posture model of the suction headAnd the corresponding probabilities. Because the space between the slotted holes in the mounting box is smaller, the liquid-transfering suction head is easy to deviate in the process of being put into the mounting box, and simultaneously, the suction head is easy to be in the states of overlapping, embedding, winding and the like in the transportation process. Therefore, in order to determine the type and the corresponding probability of the occurrence of the suction head in the assembling process, the embodiment uses the natural probability to determine the probability of the existence of the suction head in the natural gesture model and the corresponding natural probability. Through the natural gesture model, can adjust the size adaptation different models of pipette tips of the relevant equipment device of feeder according to probability, improve the efficiency of suction head assembly.
Preferably, in the step S1, before establishing the natural posture model of the suction head, the characteristics of the suction head and the matched mounting box are firstly analyzed, and the suction head specification comprises a length L and an outer diameter D of an opening circle 1 The mounting box comprises the size and the number of slots of the mobile suction head in the mounting box. The size data of different types of pipette tips are different, and the size of the tip itself directly affects the nature and the possibility of the natural posture of the tip, so that the size and the characteristics of the tip itself can be analyzed and confirmed before the natural posture model is established. The mounting box is used for directly bearing the suction head, and the size of the mounting box is directly connected with the size of the suction head, so that after the suction head is analyzed, the size characteristics of the mounting box are also required to be analyzed, the adaptation degree of the mounting box and the suction head is further increased, the wedge-fit degree during assembly is improved, and the assembly efficiency is improved.
Preferably, in the step S2, when the feeder picks up a large number of scattered suction heads to be conveyed upwards, the suction heads are subjected to forces in a plurality of directions, the displacement S of the suction heads in the track is calculated according to the inclination angle and the vibration displacement of the feeder track, and the displacement S is decomposed into displacement components S in the x and y directions x And S is y The velocity and acceleration components can be obtained through deriving the displacement components, so that a motion equation of the suction head is obtained, and the motion equation and the stress are combined to obtain a motion differential equation when the suction head slides in the feeder. In order to maximize the stability and efficiency of the transfer of the pipette tips, the present patent uses a vibratory feeder, this shapeThe vibratory feeder comprises an electromagnetic vibrator, a spring, a base and a rotary track, wherein the vibratory feeder shakes and breaks up the pipetting tips and simultaneously transports the tips located in the bottom layer stack to the mounting box along the rotary track. The force of the pipetting suction head in the x direction on the track is thatStress in y direction is +.> A is the included angle between the vibration direction and the horizontal plane 0 The vibration amplitude is obtained, the acceleration a of the suction head on the vibration feeder can be divided into x and y directions, and the equation of the suction head sliding can be known by combining the friction force and the supporting force of the rotating track on the suction headIn->The sliding distance of the suction head is represented, mu is a friction coefficient, theta is the inclination angle of the rotary track, the sliding state of the suction head in the vibration feeder can be known according to a sliding equation, the inclination angle and the track width of the rotary track of the vibration feeder can be changed according to the equation, so that the suction head can adjust the posture in the track operation, and the suction head which is originally disordered is adjusted to an orderly state as much as possible, so that the suction head can be conveniently and quickly installed in the installation box.
Preferably, in the step S3, the angle between the suction head with the length l and the axis of the opening of the suction head is set to be ∈δ, which is the deviation between the axis of the suction head and the slot center line of the mounting box, in the process that the suction head falls into the mounting box, so that the relation that the suction head falls into the mounting box can be obtained:
wherein D is the aperture of the slot hole of the installation box; d isDiameter of the open end of the tip, so that the geometric relationship for placement of the tip into the mounting box is: d=l BC sin∝+d csc∝
Combining the two equations to obtainThe angular limit of the suction head entering the mounting box can be known. After the suction head passes through the conveying track of the feeder, the suction head enters the step of loading the suction head into the mounting box, the state that the suction head falls into the mounting box can be simulated in advance through the relational expression, and the relevant size of the mounting box can be adjusted through the relational expression while the relevant data of the liquid-transfering suction head is determined, so that the liquid-transfering suction head can be loaded into the slot hole of the mounting box as quickly and accurately as possible.
Preferably, in the step S3, the feeder picks up the suction head by the suction machine and dispersedly installs the suction head into the installation box by the distributor, and the suction head is stressed when being adsorbed by the suction machine
∑F x ＝ma cx ，F f ＝ma cx
∑F y ＝ma cy ，F c -F v -F N ＝ma cy
F in the formula x F is the resultant force of the suction head in the x direction y A is the resultant force of the suction head in the y direction cx Acceleration of the suction head in the x direction, a cy Acceleration of the suction head in the y direction, F f F is the static friction force to which the suction head is subjected c F is the adsorption force to which the suction head is subjected v For loading the suction head in the vertical direction F N In order to ensure that the suction head receives the reaction force of the suction head machine, the stress condition of the suction head in the suction head machine can be known by combining the static friction coefficient, the stress condition of the suction head when moving in the distributing machine is also analyzed, and a suction head stress model is established to select the suction head machine and the distributing machine which are matched with the suction head model. Before transporting the suction heads, the feeder needs to suck the stacked scattered suction heads through a suction machine and convey the suction heads to a conveying track of the feeder. Because the types of the pipetting tips are different, the forces of the material sucking machine on the pipetting tips are different, and in order to suck the tips at a uniform speed and effectively, the forces of the pipetting tips of the material sucking machine on the pipetting tips are picked up for analysisAnd the suction force of the suction head is regulated according to the result, so that the problem that the suction force excessively large in short time and excessive in the suction force of the suction head of the liquid-transfering device gushes into to cause blockage of the material sucking machine to interfere with the working progress is avoided, or the suction force is too small to suck the suction head of the liquid-transfering device, so that the process cannot be normally carried out is avoided.
Preferably, the step is described. In S3, in order to adapt to the automatic assembling and installing box of the suction head, the automatic assembling and installing box has directional feeding and separating functions, and when the suction head is conveyed to the position of the installing box by the feeder through the track, the installing box is fixed at the position according to the established suction head natural posture model and the mechanical model of feeding of the feeder, and the suction head falls into the installing box to be naturally separated and continuously maintain the conveying flow. When the pipette tip directly gets into the assembly of mounting box after the feeder, according to preceding mechanical model and gesture model for can further adapt pipette tip whereabouts for pipette tip can accurately fall into the slotted hole of mounting box, consequently according to present mathematical model, behind the definite pipette tip model, calculate the distance of mounting box and pipette tip whereabouts position, can ensure that pipette tip falls into the slotted hole of mounting box fast accurate.
Preferably, in the step S3, after the suction head is placed into the mounting box by the dispenser, the mounting box is continuously transported to the storage box along with the conveyor belt, and the suction heads of the complete storage boxes are placed side by the plurality of columns of mounting boxes. When the pipette tip is installed in the installation box, the installation box filled with the pipette tip in the next step is uniformly contained in the storage box according to the quantity requirement, the pipette tips which are orderly arranged can greatly facilitate the use of users, and meanwhile, the inner and outer two-layer packages can also protect the quality of the pipette tip to the greatest extent.
The beneficial effects of the invention are as follows: according to the pipetting tips of different models, through establishing and analyzing a natural posture model of the pipetting tip and a mechanical model of the pipetting tip for conveying the pipette tip in a feeder, a proper feeder and a correspondingly assembled mounting box and storage box are selected, and the assembly efficiency of the pipetting tip in the assembly process is improved.
Drawings
FIG. 1 is a flow chart of a method of automated pipette tip assembly of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
Examples: the automatic assembly method of the pipetting tip of the embodiment, as shown in FIG. 1, comprises
S1, analyzing suction head characteristics and establishing a natural gesture model;
s2, analyzing a feeding mechanical model of a feeder and selecting a proper feeder transmission suction head;
s3, conveying the suction head into the mounting box by the feeder and conveying the suction head to the storage box to realize automatic assembly.
In the step S1, a natural gesture model existing under a plurality of natural probabilities of the suction head is established:
p in the formula i Representing the probability of falling off of one natural gesture in a plurality of gestures s i Represents the area of a containing surface when one natural gesture in a plurality of gestures falls, h i Representing the distance from the mass center to the containing surface in one of a plurality of gestures, and obtaining the gesture type and the corresponding probability when the suction head falls down by establishing a natural gesture model of the suction head.
In step S1, the characteristics of the suction head and a matched mounting box are firstly required to be analyzed before a suction head natural posture model is established, and the suction head specification comprises a length L and an outer diameter D of an opening circle 1 The mounting box comprises the size and the number of slots of the mobile suction head in the mounting box. In the step S2, when the feeder picks up a large amount of scattered suction heads to convey upwards, the suction heads are subjected to forces in a plurality of directions, the displacement S of the suction heads in the track is calculated according to the inclination angle and the vibration displacement of the feeder track, and the displacement S is decomposed into displacement components S in the x direction and the y direction x And S is y The velocity and acceleration components can be obtained through deriving the displacement components, so that a motion equation of the suction head is obtained, and the motion equation and the stress are combined to obtain a motion differential equation when the suction head slides in the feeder. In step S3 the suction head falls into the mounting boxThe angle between the suction head with the length of l and the axis of the opening of the suction head is set as oc in the process, delta is the deviation between the axis of the suction head and the central line of the slot hole of the mounting box, and the relation that the suction head falls into the mounting box can be obtained:
wherein D is the aperture of the slot hole of the installation box; d is the diameter of the open end of the tip, so that the geometric relationship of the tip placed into the mounting box is: d=l BC sin∝+d csc∝
Combining the two equations to obtainThe angular limit of the suction head entering the mounting box can be known. The feeder picks up the suction head through the suction machine and then dispersedly installs the suction head into the installation box through the distribution machine, and the force of the suction head during the suction of the suction machine is that
∑F x ＝ma cx ，F f ＝ma cx
∑F y ＝ma cy ，F c -F v -F N ＝ma cy
F in the formula x F is the resultant force of the suction head in the x direction y A is the resultant force of the suction head in the y direction cx Acceleration of the suction head in the x direction, a cy Acceleration of the suction head in the y direction, F f F is the static friction force to which the suction head is subjected c F is the adsorption force to which the suction head is subjected v For loading the suction head in the vertical direction F N In order to ensure that the suction head receives the reaction force of the suction head machine, the stress condition of the suction head in the suction head machine can be known by combining the static friction coefficient, the stress condition of the suction head when moving in the distributing machine is also analyzed, and a suction head stress model is established to select the suction head machine and the distributing machine which are matched with the suction head model. In order to adapt to the automatic assembling and installing box of the suction head, the automatic assembling and installing box has the functions of directional feeding and separating, and when the suction head is conveyed to the position of the installing box by a feeder through a track, the installing box is fixed at the position according to the established suction head natural posture model and the mechanical model of feeding of the feeder, and the suction head is naturally separated and continuously maintained in the process of falling into the installing boxAnd (5) conveying flow. After the suction head is placed into the mounting box by the feeder, the mounting box is continuously conveyed to the storage box along with the conveyor belt, and the suction heads of the complete storage boxes are obtained by placing the multi-row mounting boxes side by side.
In this embodiment, a vibratory feeder is selected as the primary means of transporting the pipette tips, and most of the packages currently in existence for holding pipette tips include bags and boxes. However, the bagged liquid-transferring suction heads cannot be properly protected in the transportation process, meanwhile, the liquid-transferring suction heads in the bags are distributed in a scattered manner, so that a user is very inconvenient in the picking process, and even if the user purchases the bagged suction heads, the suction heads can be placed in a mounting box with a hard appearance, and thus, great inconvenience is brought to the user. However, the existing production line still needs to rely on the manual work to put the pipette tip into the mounting box, the assembly efficiency is low, the production cost is relatively high, and if modern facilities such as an intelligent mechanical arm are used, the production cost is further expanded. According to the embodiment, the vibration type feeder is used, after the size of the automatic assembling suction head is determined, the size and the dimension of the liquid-transferring suction head are obtained through analysis, the natural posture and the occurrence probability of the liquid-transferring suction head can be obtained according to the size and the dimension of the liquid-transferring suction head, and then the inclination angle, the vibration frequency and the diameter of the annular track of the vibration type feeder are determined according to the loading mechanical model of the feeder and the stress condition of the liquid-transferring suction head in the annular track of the vibration type feeder. The size and shape characteristics of the mounting box are analyzed according to the size and shape characteristics of the pipette tip to be assembled. By means of the relation that the pipette tip falls into the slot hole of the installation box, the installation boxes with proper overall size and spacing arrangement of the slot holes are selected. The vibration type feeder needs to be assisted with a suction machine when picking up the scattered liquid-transferring suction heads, and the suction force released by the suction heads of the suction machine needs to be adjusted due to different size characteristics of the liquid-transferring suction heads, so that the suction heads are prevented from blocking a pipeline to cause the suction machine to work abnormally, and the suction force is prevented from being too small to cause the suction machine to suck the suction heads abnormally, so that the whole assembly process cannot be performed normally. After the tips have passed through the track of the feeder, the vast majority of the tips have been oriented and the step of loading them into the mounting box is then performed. Because the natural attitude model and the mechanical model are calculated, the placement position of the mounting box is set according to the calculation result of the model, so that the material distributor can distribute the pipetting tips into the slots of the mounting box as stably and correctly as possible when the pipetting tips leave from the feeder, and when the mounting box is completely filled, the mounting box is uniformly placed and integrated to the storage box to complete the assembly, and finally the automatic assembly of the pipetting tips is realized.

Claims (8)

1. An automatic assembly method of a pipetting tip is characterized by comprising the following steps of
S1, analyzing suction head characteristics and establishing a natural gesture model;
s2, analyzing a feeding mechanical model of a feeder and selecting a proper feeder transmission suction head;
s3, conveying the suction head into the mounting box by the feeder and conveying the suction head to the storage box to realize automatic assembly.
2. The automatic assembling method of the pipette tip according to claim 1, wherein in the step S1, a natural posture model of the pipette tip existing under several natural probabilities is established:
p in the formula i Representing the probability of falling off of one natural gesture in a plurality of gestures s i Represents the area of a containing surface when one natural gesture in a plurality of gestures falls, h i Representing the distance from the mass center to the containing surface in one of a plurality of gestures, and obtaining the gesture type and the corresponding probability when the suction head falls down by establishing a natural gesture model of the suction head.
3. The automatic assembling method of pipette tip as set forth in claim 2, wherein in said step S1, the characteristics of the pipette tip and the mounting box matched with the same are analyzed before the natural posture model of the pipette tip is established, and the specifications of the pipette tip include the length L and the outer diameter D of the open circle 1 The installation box is then packagedIncluding the size of the slot and the number of slots of the mobile suction head in the mounting box.
4. The automatic assembling method of pipette tips as set forth in claim 1, wherein in the step S2, when the pipette tips scattered in a large number are picked up and conveyed upwards, the pipette tips are subjected to forces in several directions, the displacement S of the pipette tips in the rails is calculated according to the inclination angle and the vibration displacement of the dispenser rails, and S is decomposed into displacement components S in both x and y directions x And S is y The velocity and acceleration components can be obtained through deriving the displacement components, so that a motion equation of the suction head is obtained, and the motion equation and the stress are combined to obtain a motion differential equation when the suction head slides in the feeder.
5. The automatic assembling method of the pipette tip according to claim 1, wherein in the step S3, an angle between the pipette tip with a set length l and an axis of an opening of the pipette tip is ≡δ, which is a deviation between the axis of the pipette tip and a slot center line of the mounting box, in a process that the pipette tip falls into the mounting box, so as to obtain a relational expression that the pipette tip falls into the mounting box:wherein D is the aperture of the slot hole of the installation box; d is the diameter of the open end of the tip, so that the geometric relationship of the tip placed into the mounting box is: d=l BC sin∝+dcsc∝
Combining the two equations to obtainThe angular limit of the suction head entering the mounting box can be known.
6. The automatic assembling method of pipette tips according to claim 1, wherein in the step S3, the feeder picks up the pipette tips by a suction machine and dispersedly installs the pipette tips into the mounting box by a distribution machine, and the pipette tips are stressed when being adsorbed by the suction machine
∑F x ＝ma cx ，F f ＝ma cx
∑F y ＝ma cy ，F c -F v -F N ＝ma cy
F in the formula x F is the resultant force of the suction head in the x direction y A is the resultant force of the suction head in the y direction cx Acceleration of the suction head in the x direction, a cy Acceleration of the suction head in the y direction, F f F is the static friction force to which the suction head is subjected c F is the adsorption force to which the suction head is subjected v For loading the suction head in the vertical direction F N In order to ensure that the suction head receives the reaction force of the suction head machine, the stress condition of the suction head in the suction head machine can be known by combining the static friction coefficient, the stress condition of the suction head when moving in the distributing machine is also analyzed, and a suction head stress model is established to select the suction head machine and the distributing machine which are matched with the suction head model.
7. The automatic assembling method of pipette tip according to claim 1, wherein in step S3, the automatic assembling and installing box for adapting to the pipette tip has directional feeding and separating functions, and when the feeder conveys the pipette tip to the installing box through the track, the installing box is fixed in position according to the established natural posture model of the pipette tip and the mechanical model of feeding the feeder, and the pipette tip is naturally separated and kept in the conveying process in the process of falling into the installing box.
8. The automatic assembling method of pipette tips according to claim 1, wherein in the step S3, after the pipette tips are placed into the mounting boxes by the dispenser, the mounting boxes are continuously transported to the storage boxes along with the conveyor belt, and the pipette tips of the complete storage boxes are obtained by placing the plurality of rows of mounting boxes side by side.
CN202310295506.9A 2023-03-24 2023-03-24 Automatic assembly method of pipetting suction head Pending CN116894319A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202310295506.9A CN116894319A (en) 2023-03-24 2023-03-24 Automatic assembly method of pipetting suction head
PCT/CN2023/085148 WO2024197719A1 (en) 2023-03-24 2023-03-30 Automatic assembly method for pipette tips

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310295506.9A CN116894319A (en) 2023-03-24 2023-03-24 Automatic assembly method of pipetting suction head

Publications (1)

Publication Number Publication Date
CN116894319A true CN116894319A (en) 2023-10-17

Family

ID=88312554

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310295506.9A Pending CN116894319A (en) 2023-03-24 2023-03-24 Automatic assembly method of pipetting suction head

Country Status (2)

Country Link
CN (1) CN116894319A (en)
WO (1) WO2024197719A1 (en)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100219093A1 (en) * 2009-01-13 2010-09-02 Biotix, Inc. Manufacture processes for assessing pipette tip quality
AT517655B1 (en) * 2015-08-21 2019-08-15 Greiner Bio One Gmbh Pipette tip receptacle and method for its provision
US20180259544A1 (en) * 2017-03-08 2018-09-13 aBioBot, Inc. Robotic Device with Machine Vision and Natural Language Interface for Automating a Laboratory Workbench
CN108583991A (en) * 2018-05-21 2018-09-28 马瑜良 Full-automatic liquid-transfering sucker arranges machine
CN109940605B (en) * 2019-01-29 2021-04-20 中国工程物理研究院激光聚变研究中心 Compliant assembly system and method integrating three-dimensional vision and contact force analysis
CN111752231A (en) * 2019-03-28 2020-10-09 华南理工大学 Automated terminal assembly method based on adaptive force and attitude control
CN111161981B (en) * 2020-01-02 2021-09-21 温州大学 Flexible automatic assembly manufacturing process for circuit breaker and matched production line thereof
CN111216960A (en) * 2020-03-17 2020-06-02 盐城工业职业技术学院 Automatic boxing equipment for pipette suction head
CN111752252A (en) * 2020-07-18 2020-10-09 大连交通大学 An automatic flexible docking assembly control system and method

Also Published As

Publication number Publication date
WO2024197719A1 (en) 2024-10-03

Similar Documents

Publication Publication Date Title
US20060254048A1 (en) Automatic electronic component supplying apparatus and components inventory management apparatus
EP1568611B1 (en) Apparatus and method of filing microscopic powder
CN107499563A (en) Multistation crystal oscillator testing classification mark braid equipment integrating
CN107416536A (en) One plant feed bin automatic distributing material mechanism
CN105292623A (en) Counting machine, working method of counting machine and packing production line adopting counting machine
US20240140729A1 (en) High-output flexible feeding of discrete parts
KR20170013665A (en) Box packing system for tray
CN116894319A (en) Automatic assembly method of pipetting suction head
US20210127743A1 (en) Cartridge filling system and method
CN101518776A (en) Electronic parts containing apparatus
CN102046030A (en) System of devices for transporting rod shaped elements in production arrangement of tobacco industry
EP4051459B1 (en) Modular apparatus for filling and closing articles, plant and system
JP2015051773A (en) Bag-in-box production device and method
WO2022072889A3 (en) Bulk material receiving, conveying, storing, and dispensing
JP6622539B2 (en) Container supply device
CN215323447U (en) Automatic material packaging equipment with adsorption track
CN114104375B (en) Full-automatic manufacturing system for testing and braiding integrated semiconductor
CN105292564B (en) material conveying and packaging method and device
US12187471B2 (en) Fruit packaging tray, apparatus and process
CN217625779U (en) Discharging channel, feeding device and labeling and code spraying equipment
JP2020001929A (en) Container supply device
JP2022078682A (en) Distribution device and packing/distributing machine
KR20120130356A (en) System for automatic package of chartula
CN221458918U (en) Bellows support conveyor
CN114206733A (en) Machine for making capsules

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