Numerical control needle grinding instrument for glass micromanipulation tube

Abstract

The invention relates to the technical field of grinding of micromanipulation tubes, and discloses a glass micromanipulation tube numerical control needle grinding instrument which comprises a machine table, a mechanical arm, a grinding disc, a cleaning assembly and a loading / unloading assembly are arranged on the machine table, the end of the mechanical arm is connected with a needle holder through a connecting base, when the needle holder clamps a tube blank, gas can be introduced into the tube blank, and the tube blank is placed in the grinding disc. And the manipulator feeds the pipe blank into the millstone, the cleaning assembly and the loading / unloading assembly for treatment according to a set program. According to the numerical control needle grinding instrument for the glass micromanipulation tube, loading, grinding, cleaning, water supply, gas supply and unloading in the whole grinding process are completed at a time, the technical requirements for operators are reduced, the training cost of the operators is saved, the labor production efficiency is improved, and the grade difference precision of products is improved.

Description

Technical Field

[0001] The present application relates to the technical field of grinding micromanipulation tubes, and in particular to a numerically controlled needle grinding instrument for glass micromanipulation tubes. Background Art

[0002] Micromanipulators are one of the indispensable tools in bioengineering and life sciences, including cell nuclear transplantation, intracellular drug injection, embryo genetic testing, intranuclear DNA injection, embryo injection, oocyte cytoplasmic replacement, and single cell separation.

[0003] Traditional grinding methods rely on the operator's long-term training in observing the "bright spot" and developing a sense of control to determine whether the invisible tip contacts the grinding surface. This determines the amount of downward pressure and the duration of the grinding process. The downward pressure is often between 10-20 microns. This manual grinding method makes it difficult to control the differential precision between different specifications. During grinding, water is required to smooth the ground surface and remove a large amount of grinding debris. At the same time, air is supplied to remove grinding debris and abrasive particles that have infiltrated the inner wall of the microscope tube. After grinding, the workpiece must be manually unloaded and cleaned multiple times, and the air supply is activated to remove residual particles adhering to the inner and outer walls that are invisible to the naked eye.

[0004] Even if grinding workers undergo a year or two of rigorous training in eye, hand, and foot coordination, the product qualification rate remains very low. This results in low labor efficiency, poor product consistency, and significant waste of raw materials, keeping production costs high. Summary of the Invention

[0005] This application proposes a CNC needle grinding instrument for a glass micromanipulator. The entire grinding process, including loading, grinding, cleaning, water supply, air supply, and unloading, is completed in one go, which reduces the technical requirements for operators, saves operator training costs, improves labor production efficiency, and enhances the differential accuracy of products.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a glass micromanipulation tube CNC needle grinding instrument, including a machine platform, on which a manipulator, a grinding disc, a cleaning component, and a loading / unloading component are provided. The end of the manipulator is connected to a needle holder via a connecting seat. When the needle holder clamps the tube embryo, gas can be introduced into the tube embryo. The manipulator sends the tube embryo into the grinding disc, the cleaning component, and the loading / unloading component for processing according to a set program. The connecting seat is provided with a highly sensitive micro-vibration sensor. When grinding the tube embryo, the steps include:

[0007] S1: The robot arm descends, and the micro-vibration sensor obtains the oscillation signal and transmits the signal to the controller. The controller uses this as a trigger signal to control the robot arm to stop descending and mark this position as the zero point;

[0008] S2. The controller controls the manipulator to continue to descend at the set feed speed. At the same time, the controller starts to record the descending height and grinding time. When the descending height and grinding time reach the set values, the grinding stops.

[0009] Furthermore, the needle holder includes an upper clamping block, a lower clamping block and a locking buckle. The upper clamping block and the lower clamping block are combined to form an aperture that matches the tube blank. The edges of the upper clamping block and the lower clamping block are provided with locking blocks. When the locking buckle slides on the locking block, the upper clamping block and the lower clamping block can be locked, thereby clamping the tube blank. A pull rod is provided at the bottom of the upper clamping block, and the connecting seat includes an inclined plate and a baffle. The inclined plate is provided with a tightening groove. The bottom of the tightening groove is gradually raised. A pull cap is provided on the top of the pull rod. The pull cap slides to the top along the tightening groove to tighten the upper clamping block. The baffle is connected to a sealing plug. When the pull cap of the pull rod slides to the top of the tightening groove, the sealing plug is inserted into the tube blank.

[0010] Furthermore, the loading / unloading assembly includes a base and a rotating platform, the base and the rotating platform are hinged, the rotating platform is fixedly connected to a rotating rod, and a locking slider capable of locking the rotating rod is provided on the base.

[0011] Furthermore, the rotating table is slidably connected to a push plate, and the push plate is provided with a positioning block capable of clamping the lower clamping block.

[0012] Furthermore, a magnet is provided on the push plate, which can attract the end of the needle holder.

[0013] Furthermore, two sets of needle holders are provided on the rotating table, and two sets of positioning blocks are provided on the push plate. One set of needle holders is used for unloading the tube embryo, and the other set of needle holders is used for loading the tube embryo.

[0014] Furthermore, a push-pull rod is provided on the rotating platform, and the push-pull rod has a lateral short rod, and the short rod can drive the pull rod.

[0015] Furthermore, a screw is provided in the rotating table, and the screw is threadedly connected to a moving block, the moving block is connected to the push plate through a spring, the moving block is fixedly connected to the push-pull rod, and the push-pull rod is slidably connected to the rotating table. When the needle holder is close to the baffle, the pull cap of the pull rod has not yet reached the inclined surface of the tightening groove, and the pull rod is connected to the lower clamping block through the slider.

[0016] Furthermore, the rotating rod is elastic, and a positioning rod is provided on the base. When the rotating rod is clamped by the locking slider, the side wall of the rotating rod is pressed against the positioning rod, so that the angle after each rotation of the rotating platform is the same. A detector is provided at the end of the rotating platform, and a detection point corresponding to the detector is provided on the upper clamping block. The beneficial effects of the present invention are as follows:

[0017] This application provides a CNC needle grinding instrument for glass micromanipulators. The entire grinding process, including loading, grinding, cleaning, water supply, air supply, and unloading, is completed in one go. During this process, it can automatically detect the tip position, automatically determine the downward pressure amplitude, automatically interrupt the grinding duration, and automatically control the inching air supply and duration. Compared with traditional models, this has the following advantages: improved labor production efficiency, enhanced product grade accuracy, increased product qualification rate, reduced technical requirements for operators, and reduced operator training costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present invention. Those skilled in the art can also derive other drawings based on the provided drawings without inventive work.

[0019] Figure 1 This is a schematic structural diagram of Embodiment 1 of the present invention;

[0020] Figure 2 This is a schematic diagram of the connection between the manipulator and the needle holder in the first embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the connection between the manipulator, the needle holder, and the loading / unloading assembly in the second embodiment of the present invention;

[0022] Figure 4 For the present invention Figure 3 a cross-sectional view along the axis of the needle holder;

[0023] Figure 5 This is a schematic diagram of the loading / unloading assembly in the second embodiment of the present invention when it is laid flat;

[0024] Figure 6 For the present invention Figure 3 Schematic diagram of the three-dimensional structure;

[0025] Figure 7 Schematic diagram of the locking buckle in the second embodiment of the present invention;

[0026] Figure 8 A top view of the manipulator, needle holder, and loading / unloading assembly in Example 2;

[0027] Figure 9 This is a bottom view of the manipulator, needle holder and loading / unloading assembly in Example 2 (when the pull rod is tightened).

[0028] In the figure: 1. Machine; 2. Robot; 3. Needle holder; 31. Upper clamping block; 32. Lower clamping block; 33. Pull rod; 34. Locking block; 35. Locking buckle; 4. Grinding disc; 5. Observation assembly; 6. Flushing head; 7. Cleaning assembly; 8. Loading / unloading assembly; 81. Base; 82. Turntable; 83. Push plate; 84. Push-pull rod; 85. Positioning rod; 86. Locking slider; 87. Turntable; 88. Moving block; 89. Spring; 810. Detector; 9. Connecting seat; 91. Inclined plate; 92. Baffle; 93. Sealing plug; 94. Tensioning groove. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] For example 1, please refer to Figure 1-Figure 2 A glass micromanipulation tube CNC needle grinding instrument includes a machine 1, on which a manipulator 2, a grinding disc 4, a cleaning component 7 and a loading / unloading component 8 are provided. The end of the manipulator 2 is connected to a needle holder 3 through a connecting seat 9. The needle blank is clamped in the needle holder 3. When the needle holder 3 clamps the tube blank, gas can be introduced into the tube blank. The cleaning component 7 has multiple cleaning cups. The manipulator 2 sends the tube blank into the grinding disc 4, the cleaning component 7 and the loading / unloading component 8 for processing according to the set program. An observation component 5 and a flushing head 6 are provided on one side of the grinding disc 4. The observation component 5 includes a lighting and image acquisition system that can obtain the grinding status of the tube embryo in real time so that the operator can make timely adjustments. The flushing head 6 promptly rinses the grinding disc 4 to reduce the amount of grinding debris that penetrates into the inner wall of the tube embryo. The connecting seat 9 is equipped with a highly sensitive micro-vibration sensor. The needle holder 3 has an aperture that is compatible with the tube embryo. When loading, the tube embryo is placed in to complete the loading. The loading / unloading component 8 is equipped with a claw-type hand grip. When unloading, the tube embryo is placed in the hand grip (clamping groove), the hand grip is tightened, and the robotic arm retreats. The ground microneedles remain in the hand grip, completing the unloading.

[0031] When grinding the tube blank, after the tube blank is loaded into the needle holder 3, the following steps are included:

[0032] S1, the robot arm descends, and the tube embryo contacts the grinding surface of the grinding disc 4 at a set angle. When in contact, an oscillation signal is generated between the end of the tube embryo and the robot arm 2. The oscillation signal is transmitted through the tube embryo to the micro-vibration sensor on the connecting seat 9. The micro-vibration sensor acquires the oscillation signal and transmits the signal to the controller. The controller uses this as a trigger signal to control the robot arm 2 to stop descending and mark this position as the zero point;

[0033] S2, the controller controls the manipulator 2 to continue to descend, and the manipulator 2 descends at the set feed speed. At the same time, the controller starts to record the descending height and grinding time. When the descending height and grinding time reach the set values, the grinding is stopped, and the manipulator 2 is lifted to keep the tube away from the grinding disc 4.

[0034] S3, the robot 2 moves to sequentially deliver the polished tip of the tube embryo into the cleaning cup on the cleaning assembly 7, immersing the needle tip in water while allowing the tube embryo to be intermittently ventilated. Each cleaning cup is set with corresponding cleaning parameters. When the cleaning conditions are met, the cleaning stops;

[0035] S4. The robot 2 transports the tube blank to the loading / unloading assembly 8. The loading / unloading assembly 8 clamps the tube blank to complete the unloading, thereby completing a grinding process.

[0036] Example 2: In Example 1, the structures of the needle holder 3 and the loading / unloading assembly 8 are relatively simple. When loading the tube blank, since the manipulator 2 is tilted and suspended in the air, the hand may slip or operate incorrectly during loading, thereby damaging the tube blank. In addition, a large amount of gas may be wasted during cleaning. Therefore, Example 2 is based on Example 1 and changes the structures of the connecting seat 9, the needle holder 3 and the loading / unloading assembly 8. Please refer to Figure 3-Figure 6 The needle holder 3 includes an upper clamping block 31, a lower clamping block 32 and a locking buckle 35. The upper clamping block 31 and the lower clamping block 32 are combined to form an aperture that matches the tube blank. The edges of the upper clamping block 31 and the lower clamping block 32 are provided with a locking block 34. The locking block 34 has a guide slope on the side facing the opening, and the locking buckle 35 has a slider corresponding to the guide slope. When the locking buckle 35 slides on the locking block 34, the upper clamping block 31 and the lower clamping block 32 are tightened to clamp the tube blank. A pull rod 33 is provided at the bottom of the upper clamping block 31. The connecting seat 9 includes an inclined plate 91 corresponding to the bottom of the upper clamping block 31 and a slider corresponding to the upper clamping block The baffle 92 corresponds to the end of 31, and a tightening groove 94 is provided on the inclined plate 91. The bottom of the tightening groove 94 is gradually raised. The pull rod 33 passes through the inclined plate 91 and the tightening groove 94. A pull cap is provided on the top of the pull rod 33. The pull cap slides to the top along the tightening groove 94 to tighten the upper clamping block 31, so that there is a greater pressure between the upper clamping block 31 and the inclined plate 91, thereby generating a greater friction force. The friction force is used to fix the needle holder 3 on the inclined plate 91, and the baffle 92 is connected to a sealing plug 93. When the pull cap of the pull rod 33 slides to the top of the tightening groove 94, the sealing plug 93 is inserted into the tube embryo, and the sealing plug 93 is connected to the air source to supply air to the tube embryo.

[0037] When loading the tube blank, place the lower clamping block 32 horizontally, put the tube blank into the hole groove of the lower clamping block 32, cover the upper clamping block 31, push the locking buckles 35 on both sides, lock the upper clamping block 31 and the lower clamping block 32, and then slide the needle holder 3 as a whole against the inclined plate 91, align the pull rod 33 with the tightening groove 94, push the needle holder 3, so that the needle holder 3 is pulled tightly against the inclined plate 91, and static friction fixes the needle holder 3. At the same time, the sealing plug 93 is inserted into the tube blank to provide an air source for the tube blank. The above structure is simple to install and lock, and has high reliability and low matching accuracy requirements.

[0038] The loading / unloading assembly 8 includes a base 81 and a rotating platform 82. The base 81 and the rotating platform 82 are hingedly connected. The rotating platform 82 is fixedly connected to a rotating rod 87. A locking slider 86 capable of locking the rotating rod 87 is provided on the base 81. The locking slider 86 is a longitudinally sliding slider with a spring. A wedge block is provided on the side near the rotating rod 87. When the rotating rod 87 moves downward, it interacts with the wedge block to retract the locking slider 86. After the rotating rod 87 moves below the locking slider 86, the locking slider 86 is reset under the action of the spring, locking the rotating rod 87 and tilting the rotating rod 87. This allows the rotating platform 82 to be placed either horizontally or tilted.

[0039] The rotating platform 82 is slidably connected to a push plate 83, which pushes the needle holder 3 toward the inclined plate 91. A positioning block is provided on the push plate 83, and the needle holder 3 is placed in the space surrounded by the positioning block to keep the placement position of the needle holder 3 consistent.

[0040] During loading, the manipulator 2 adjusts the position of the connecting seat 9 so that the top of the inclined plate 91 and the top of the rotating table 82 are in the same plane, the tightening groove 94 is aligned with the pull rod 33, and the push plate 83 moves to push the needle holder 3, pushing the needle holder 3 onto the inclined plate 91. When the push plate 83 moves to the extreme position, the pull cap of the pull rod 33 just slides to the top of the tightening groove 94, and the sealing plug 93 is inserted into the tube blank. In this embodiment, a magnet is provided on the push plate 83, which can absorb the end of the needle holder 3. On the one hand, it is convenient for positioning, and on the other hand, it absorbs the needle holder 3. When the center of gravity of the needle holder 3 exceeds the range of the rotating table 82, it will not overturn, reducing the length requirement of the needle holder 3. In other embodiments, the length of the needle holder 3 can also be set to be long enough so that the center of gravity of the needle holder 3 does not exceed the range of the rotating table 82 when sliding.

[0041] Two groups of needle holders 3 are provided on the rotating table 82, and two groups of positioning blocks are provided on the push plate 83. One group of needle holders 3 is used to unload the tube embryo, and the other group of needle holders 3 is used to load the tube embryo. When loading or unloading the tube embryo, the manipulator 2 places the ground operating tube and the needle holder 3 as a whole on a group of positioning blocks on the push plate 83, and then aligns them with the other group of needle holders 3. The push plate 83 moves to load the needle holder 3 and the tube embryo.

[0042] A push-pull rod 84 is provided on the rotating table 82. The push-pull rod 84 has a short lateral rod. When unloading, the push-pull rod 84 moves first, and the manipulator 2 moves to align the inclined plate 91 with the rotating table 82. The push-pull rod 84 is reset, and the push-pull rod 84 hooks the pull rod 33, so that the needle holder 3 slides onto the rotating table 82.

[0043] When the pull rod 33 pulls the cap along the tensioning groove 94, as the pressure between the inclined plate 91 and the lower clamping block 32 increases, the resistance increases and it becomes difficult to push. Figure 8 and Figure 9 , a screw is provided in the rotating table 82, and the screw is threadedly connected to a moving block 88, and the moving block 88 is connected to the push plate 83 through a spring 89, and the moving block 88 is fixedly connected to the push-pull rod 84. Since the lateral distance between the moving block 88 and the push-pull rod 84 is relatively far, the two are connected by a lateral connecting rod, and the push-pull rod 84 is slidably connected to the rotating table 82. When the needle holder 3 is close to the baffle 92, the pull cap of the pull rod 33 has not yet reached the inclined surface of the tightening groove 94. The pull rod 33 is connected to the lower clamping block 32 through the slider. The initial point of the slider is at the rear side, and the rear side refers to On the side near the base 81, the distance between the end face of the needle holder 3 and the end face of the baffle 92 is smaller than the distance between the initial point of the pull rod 33 and the starting point of the inclined surface of the tightening groove 94. When the push plate 83 pushes the needle holder 3, the screw rotates to drive the moving block 88 to move, and the moving block 88 drives the push plate 83 to move through the spring. When the needle holder 3 is close to the baffle 92, it stops moving, and the moving block 88 continues to move, driving the push-pull rod 84 to move. The push-pull rod 84 pushes the pull rod 33 to continue to move, so that the pull cap of the pull rod 33 continues to slide along the inclined surface of the tightening groove 94, tightening the needle holder 3.

[0044] During unloading, the moving block 88 moves first, causing the push-pull rod 84 to reach the frontmost side. At this time, the short rod of the push-pull rod 84 is located in front of the pull rod 33 pull cap. When the connecting seat 9 and the needle holder 3 are in place, the push-pull rod 84 resets and preferentially pulls the pull rod 33 to reduce the friction between the needle holder 3 and the inclined plate 91. Then, it resets synchronously with the push plate 83, and the needle holder 3 enters the unloading position of the rotating table 82. During loading, the push plate 83 stops moving first. At this time, the short rod of the push-pull rod 84 is located behind the pull rod 33 pull cap. The push-pull rod 84 continues to move to push the pull rod 33 to move, so that the pull rod 33 tightens the needle holder 3.

[0045] See also Figure 6 The rotating rod 87 is elastic, and a positioning rod 85 is provided on the base 81. When the rotating rod 87 is stuck by the locking slider 86, the side wall of the rotating rod 87 is close to the positioning rod 85, so that the angle of the rotating platform 82 after each rotation is the same. A detector 810 is provided at the end of the rotating platform 82, and a detection point corresponding to the detector 810 is provided on the upper clamping block 31. When the detector 810 detects the base 81, it indicates that the connecting seat 9 is in place, and the inclination angle of the inclined plate 91 is the same as the set angle. The movement state of the manipulator 2 is detected by the detectors 810 on the two needle holders 3.

[0046] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A glass micromanipulation tube numerical control needle grinding instrument, comprising a machine platform (1), wherein a manipulator (2), a grinding disc (4), a cleaning component (7) and a loading / unloading component (8) are provided on the machine platform (1); the end of the manipulator (2) is connected to a needle holder (3) via a connecting seat (9); when the needle holder (3) clamps the tube embryo, gas can be introduced into the tube embryo; the manipulator (2) sends the tube embryo into the grinding disc (4), the cleaning component (7) and the loading / unloading component (8) for processing according to a set program; the connecting seat (9) is provided with a highly sensitive micro-vibration sensor; and the invention is characterized in that When grinding the tube embryo, the steps include: S1, the manipulator descends, the micro-vibration sensor obtains the oscillation signal and transmits the signal to the controller, which uses this as a trigger signal to control the manipulator (2) to stop descending and mark this position as the zero point; S2, the controller controls the manipulator (2) to continue to descend at the set feed speed, and at the same time the controller starts to record the descending height and grinding time. When the descending height and grinding time both reach the set values, the grinding is stopped.

2. A glass micromanipulator CNC needle grinding instrument according to claim 1, characterized in that: The needle holder (3) comprises an upper clamping block (31), a lower clamping block (32) and a locking buckle (35). The upper clamping block (31) and the lower clamping block (32) are combined to form an aperture that matches the tube embryo. The edges of the upper clamping block (31) and the lower clamping block (32) are both provided with locking blocks (34). When the locking buckle (35) slides on the locking block (34), it can lock the upper clamping block (31) and the lower clamping block (32), thereby clamping the tube embryo. A pull rod (33) is provided at the bottom, and the connecting seat (9) includes an inclined plate (91) and a baffle (92). A tightening groove (94) is provided on the inclined plate (91), and the bottom of the tightening groove (94) is gradually raised. A pull cap is provided on the top of the pull rod (33), and the pull cap slides to the top along the tightening groove (94) to tighten the upper clamping block (31). The baffle (92) is connected to a sealing plug (93). When the pull cap of the pull rod (33) slides to the top of the tightening groove (94), the sealing plug (93) is inserted into the tube blank.

3. A glass micromanipulator CNC needle grinding instrument according to claim 2, characterized in that: The loading / unloading assembly (8) comprises a base (81) and a rotating platform (82), wherein the base (81) and the rotating platform (82) are hinged, the rotating platform (82) is fixedly connected to a rotating rod (87), and the base (81) is provided with a locking slider (86) capable of locking the rotating rod (87).

4. A glass micromanipulator CNC needle grinding instrument according to claim 3, characterized in that: The rotating platform (82) is slidably connected to a push plate (83), and a positioning block capable of clamping the lower clamping block (32) is provided on the push plate (83).

5. A glass micromanipulator numerical control needle grinding instrument according to claim 4, characterized in that: The push plate (83) is provided with a magnet capable of attracting the end of the needle holder (3).

6. A glass micromanipulator CNC needle grinding instrument according to claim 4, characterized in that: Two groups of needle holders (3) are provided on the rotating platform (82), and two groups of positioning blocks are provided on the pushing plate (83). One group of needle holders (3) is used for unloading tube embryos, and the other group of needle holders (3) is used for loading tube embryos.

7. A glass micromanipulator numerical control needle grinding instrument according to claim 4, characterized in that: The rotating platform (82) is provided with a push-pull rod (84), which has a lateral short rod capable of driving the pull rod (33).

8. A glass micromanipulator CNC needle grinding instrument according to claim 7, characterized in that: A screw is provided in the rotating table (82), and a moving block (88) is threadedly connected to the screw. The moving block (88) is connected to the push plate (83) through a spring (89). The moving block (88) is fixedly connected to the push-pull rod (84). The push-pull rod (84) is slidably connected to the rotating table (82). When the needle holder (3) is pressed against the baffle (92), the pull cap of the pull rod (33) has not yet reached the inclined surface of the tightening groove (94), and the pull rod (33) is connected to the lower clamping block (32) through a slider.

9. A glass micromanipulator numerical control needle grinding instrument according to claim 4, characterized in that: The rotating rod (87) is elastic, and a positioning rod (85) is provided on the base (81). When the rotating rod (87) is clamped by the locking slider (86), the side wall of the rotating rod (87) is pressed against the positioning rod (85), so that the angle of the rotating platform (82) after each rotation is the same. A detector (810) is provided at the end of the rotating platform (82), and a detection point corresponding to the detector (810) is provided on the upper clamping block (31).

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