An integrated robot automatic latex particle ultrasonic dispersion device

Abstract

The application discloses a kind of integrated robot latex particle automatic ultrasonic dispersion equipment, including rack, quick-change head device, workpiece fixture rack, ultrasonic water bath and robot;Workpiece fixture rack is equipped with transfer clamp and placement slot, and the movable end of robot is equipped with clamp joint;Robot can drive clamp joint to butt joint or release quick-change head device, and drive quick-change head device to carry out secondary pressing positioning to sample bottle in placement slot;Robot can drive clamp joint to butt joint or release the transfer clamp of workpiece fixture rack, and robot can drive workpiece fixture rack and sample bottle thereon to carry out multidimensional composite motion in ultrasonic water bath.The equipment can realize the semi-automatic linkage operation of "feeding-positioning-ultrasonic dispersion-discharging", reduce manual intervention, guarantee the stability and consistency of latex particle dispersion in sample bottle in large-scale mass production process, significantly improve production efficiency and product quality, and provide key technical support for process upgrading of in-vitro diagnosis industry.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically to an automated ultrasonic dispersion device for latex particles that integrates a robot. Background Technology

[0002] With the rapid development of biotechnology, the application of latex methods in in vitro diagnostic reagents is becoming increasingly widespread, and the synthesis process of latex microspheres has become the core factor determining reagent quality. During latex preparation, stable dispersion of latex particles is a crucial prerequisite for ensuring batch-to-batch consistency and repeatability of detection. Particle size uniformity directly affects detection sensitivity and linear range, representing a significant technical challenge that urgently needs to be overcome in current production processes. Poor dispersion leading to latex particle agglomeration will result in uneven reagent color development; excessive particle size differences will affect antigen-antibody binding efficiency and reduce detection accuracy. Therefore, developing efficient and stable latex particle dispersion technology is of great significance for improving the quality of in vitro diagnostic reagents and promoting industry development.

[0003] Currently, in the production of latex-based test reagents, ultrasonic dispersion is used to disperse latex particles. The principle is to break up the agglomeration between particles and achieve uniform dispersion by using the cavitation effect, mechanical vibration and shear force generated when ultrasound propagates in a liquid medium.

[0004] However, existing processes have significant limitations. They require manual agitation of latex sample bottles placed in an ultrasonic water bath to disperse the latex particles adhering to the bottle walls. This fully manual process is not only inefficient, but the prolonged fixed posture and repetitive movements of operators can easily lead to hand fatigue, directly affecting the dispersion effect. More importantly, in large-scale continuous production scenarios, it is difficult for different operators to synchronize their operating frequencies, which can easily result in inconsistent ultrasonic effects and reduce the stability of product quality. Summary of the Invention

[0005] To address the problems mentioned in the background, this invention provides an automated ultrasonic dispersion device for latex particles integrated with a robot. This device enables fully automated ultrasonic homogenization and dispersion of latex particles, aiming to reduce manpower input and lower the labor intensity of operators. While freeing up manpower in the ultrasonic dispersion process, it ensures the stability and consistency of latex particles during dispersion, improves the uniformity of latex particle dispersion, and significantly enhances production efficiency. As a pioneering solution in China, this equipment can meet the needs of large-scale production for large-scale and standardized dispersion processes.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: An automated ultrasonic dispersion device for latex particles with integrated robots, comprising: The frame is provided with a quick-connect fitting area for placing quick-change head devices and a workpiece preparation area for placing workpiece fixture racks. The workpiece fixture racks are provided with a placement slot for placing sample bottles and a clamping mechanism for locking the sample bottles in the placement slots. An ultrasonic water bath, installed on the frame, is capable of ultrasonically dispersing latex particles in sample vials located therein. A robot with a clamping joint at its movable end, the robot being able to drive the clamping joint to move between a quick connector placement area, a workpiece preparation area and an ultrasonic water bath. The robot can drive the clamping connector to dock with the quick-change head device or release the quick-change head device docked on it onto the quick-change head placement area; when the clamping connector is docked with a quick-change head device, the robot can drive the quick-change head device to press down on the sample bottle located in the placement slot so that the sample bottle is in a positioning and locking state locked by the clamping mechanism. The robot can drive the fixture joint to dock with the workpiece fixture frame or release the docked workpiece fixture frame onto the workpiece preparation area; when the fixture joint is docked with the workpiece fixture frame, the robot can drive the workpiece fixture frame and the sample bottle on it to perform multi-dimensional composite motion in the ultrasonic water bath.

[0007] Furthermore, the ultrasonic water bath is equipped with a push rod; when the workpiece fixture is connected to the clamping joint and is located above the ultrasonic water bath, the robot can drive the sample bottle on the workpiece fixture to move to the position corresponding to the push rod. The robot can also drive the workpiece fixture and the sample bottle on it to move downward so that the push rod will push the sample bottle upward from the clamping mechanism, and the sample bottle will switch from the positioning and locking state locked by the clamping mechanism to the loose and removable state not locked by the clamping mechanism.

[0008] Furthermore, the workpiece fixture frame includes a support plate with a mounting through hole, the mounting through hole being the opening of the placement groove; the clamping mechanism is connected to the support plate and axially arranged around the mounting through hole, the space enclosed by the clamping mechanism on one side of the support plate being the placement cavity of the placement groove; when the sample bottle is pressed down in the placement groove, the clamping mechanism locks the sample bottle to make the sample bottle in a positioning and locking state; when the sample bottle in the positioning and locking state is pushed up in the placement groove, the clamping mechanism releases the sample bottle to make the sample bottle in the loose and removable state.

[0009] Furthermore, a transfer fixture is fixed to the side of the support plate facing away from the clamping mechanism, and the transfer fixture is used to dock and connect with the clamping joint of the robot.

[0010] Furthermore, the clamping mechanism includes multiple clamping arms arranged circumferentially around the placement groove, with one end of each clamping arm connected to the support plate; each clamping arm includes a main body and a clamping part, one end of the main body is connected to the support plate, and the clamping part is integrally connected to the other end of the main body, and the clamping part bends and extends relative to the main body towards the central axis of the mounting through hole; the sample bottle can be placed in a loosely removable state in the space formed by the multiple main bodies, and when the sample bottle is inserted into the space formed by the multiple clamping parts, the multiple clamping parts are squeezed by the sample bottle to lock the sample bottle in place.

[0011] By adopting the above technical solution, this clamping mechanism allows multiple main bodies of multiple clamping arms to enclose and form a placement cavity for placing sample bottles. This facilitates manual initial positioning of the sample bottles in the placement slot, making the sample bottles within the multiple main bodies loose and removable. Furthermore, the multiple clamping parts work together to lock the sample bottles in a fixed and locked position. This achieves the positioning and locking of the sample bottles, preventing them from easily shaking within the workpiece fixture. This lays the foundation for the robot to drive the workpiece fixture containing the sample bottles through multi-dimensional composite motion in the ultrasonic water bath in subsequent processes.

[0012] Furthermore, the inner inclined surface of the clamping part is provided with outwardly protruding elastic blocks. When the sample bottle is squeezed by the multiple elastic blocks, the elastic force of the multiple elastic blocks cooperates to lock the sample bottle. The provision of elastic blocks on the inner inclined surface of the clamping part facilitates better locking of the sample bottle by the multiple clamping parts.

[0013] Furthermore, the clamping arm also includes an anti-detachment limiting part integrally connected to the end of the clamping part away from the main body. Multiple anti-detachment limiting parts form the bottom wall of the placement groove to prevent the sample bottle from detaching from the bottom of the placement groove, and the multiple anti-detachment limiting parts enclose an ejection channel for the insertion of the push rod. The multiple anti-detachment limiting parts prevent excessive movement of the sample bottle when it is pressed down, and the ejection channel formed by the multiple anti-detachment limiting parts facilitates the push rod loosening the sample bottle.

[0014] Furthermore, the upper part of the top rod is made of nylon.

[0015] Furthermore, the robot is a six-axis robot, which can drive the fixture joint, the workpiece jig holder and the sample bottle on it to perform XYZ three-axis compound motion in the ultrasonic water bath.

[0016] Furthermore, the workpiece preparation area is provided with a guide rail, and the workpiece fixture frame is slidably connected to the guide rail.

[0017] Furthermore, the ultrasonic water bath is connected to a cooling water circulation mechanism, which is used to drive the heat generated during the ultrasonic process to maintain the water temperature in the ultrasonic water bath.

[0018] Furthermore, the frame is also equipped with a sound insulation device and a safety door interlocking device; the sound insulation device and the safety door interlocking device can effectively control noise and protect personnel safety.

[0019] The working process of this integrated robot-based automatic ultrasonic dispersion equipment for latex particles is as follows: During the feeding process, the sample bottle is manually placed in the placement slot of the workpiece fixture frame. The placement slot serves to initially position the sample bottle. Then, the robot drives the fixture connector to move to the quick-connect placement area and docks with the quick-change head device. After the quick-change head device is docked with the fixture connector, the robot drives the fixture connector and quick-change head device to move above the workpiece fixture frame and press down on the sample bottle located in the placement slot to achieve secondary positioning of the sample bottle and eliminate the deviation caused by manual placement of the sample bottle. After the sample bottle is positioned, the robot unloads the quick-change head device and returns it to its original position, proceeding to the next process. In the ultrasonic water bath homogenization and dispersion process, the robot drives the fixture joint to move to the workpiece preparation area and docks with the transfer fixture of the workpiece jig. The robot then drives the fixture joint and the workpiece jig carrying the sample bottle to be transferred as a whole into the ultrasonic water bath. The ultrasonic water bath utilizes the cavitation effect, mechanical vibration and shear force generated when ultrasonic waves propagate in the liquid medium to break up the agglomeration between latex particles in the sample bottle to achieve uniform dispersion. At the same time, the robot drives the workpiece jig carrying the sample bottle to perform multi-dimensional (up and down, left and right, front and back) composite motion in the ultrasonic water bath, vibrating the sample bottle placed in the ultrasonic water bath, which promotes the uniform dispersion of latex particles adhering to the bottle wall and enhances the homogenization and dispersion effect. In the material feeding and recycling process, after the latex particles in the sample bottle have been ultrasonically homogenized and dispersed in the ultrasonic water bath for a preset time, the robot drives the workpiece fixture frame to perform a descent action, triggering the clamping mechanism of the workpiece fixture frame to loosen, and the sample bottle switches from the positioning and locking state to the loose and removable state; then the robot moves the workpiece fixture frame back to the workpiece preparation area, and the sample bottle can be easily removed from the workpiece fixture frame by manually pulling it out.

[0020] The technical solution of this invention has the following advantages: 1. The integrated robot-based automatic ultrasonic dispersion equipment for latex particles provided by this invention is the first domestic integrated equipment for latex preparation and dispersion with biomimetic automated robots. It boasts a high degree of automation, enabling semi-automated operation of "feeding-positioning-ultrasonic water bath homogenization and dispersion-unloading," reducing manual intervention and effectively lowering labor intensity, thus meeting the needs of large-scale production. By employing a robot-driven multi-dimensional composite motion of the fixture joint, workpiece jig, and sample bottles within the ultrasonic water bath, it ensures the stability and consistency of latex particle dispersion within the sample bottles during mass production, significantly improving production efficiency and product quality, and providing key technical support for process upgrades in the in vitro diagnostics industry.

[0021] 2. The integrated robot-based automatic ultrasonic dispersion equipment for latex particles provided by this invention adopts a quick-change head device for secondary positioning technology. The robot grasps the quick-change head device and performs mechanical pressure calibration on the sample bottles on the workpiece fixture rack one by one. Through rigid contact, the gaps and offsets of manually placed sample bottles are eliminated. This design combines precise robot operation with manual feeding, which not only retains the convenience of manual operation, but also ensures the overall uniformity of subsequent ultrasonic dispersion.

[0022] 3. The integrated robot-based automatic ultrasonic dispersion device for latex particles provided by this invention addresses the limitations and insufficient dispersion issues of traditional fixed-station manual operation. The robot employs a flexible combination and alternating operation of various motion modes, which can improve the uniformity of latex particle dispersion within the sample bottle.

[0023] 4. The integrated robot-based automatic ultrasonic dispersion device for latex particles provided by this invention addresses the problem that after the latex particles in the sample bottle are processed, the clamping mechanism on the workpiece fixture may clamp the sample bottle too tightly, leading to difficulties in manual unloading. After the ultrasonic homogenization and dispersion process is completed, the robot drives the workpiece fixture to descend as a whole. The top rod in the ultrasonic water bath triggers the mechanical unlocking of the clamping mechanism, automatically switching the sample bottle from a locked position to a loose and removable state, greatly improving unloading efficiency and ease of operation.

[0024] 5. The integrated robot-based automatic ultrasonic dispersion device for latex particles provided by this invention addresses the problem that rapid temperature rise during ultrasonication can easily lead to latex particle denaturation. It innovatively integrates an ultrasonic water bath with an external cooling water circulation mechanism to form a closed-loop cooling water circulation system. The circulating water quickly removes the heat generated during the ultrasonic process, replacing the traditional manual water changing method, thereby achieving continuous and stable water temperature control and avoiding the impact of temperature fluctuations on the dispersion effect of latex particles in the sample bottle. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural diagram of the automatic ultrasonic dispersion device for latex particles integrating a robot, as described in an embodiment of the present invention. Figure 2 This is a top view of the automated ultrasonic dispersion device for latex particles integrating a robot, as described in an embodiment of the present invention. Figure 3 This is a schematic diagram showing the positional relationship between the robot, workpiece fixture, guide rail, and sliding door in an embodiment of the present invention; Figure 4 This is a three-dimensional structural diagram of a workpiece fixture rack with sample bottles loaded in an embodiment of the present invention; Figure 5 This is a three-dimensional structural diagram of the ultrasonic water bath in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the workpiece fixture frame located in the ultrasonic water bath and the sample bottle in the positioning and locking state of the workpiece fixture frame in an embodiment of the present invention. Figure 7 This is a schematic diagram of the structure in an embodiment of the present invention, in which the push rod inside the ultrasonic water bath pushes out the sample bottle held by the clamping mechanism, and the sample bottle is in a loose and removable state on the workpiece fixture.

[0027] Explanation of reference numerals in the attached drawings: 100, frame; 110, guide rail; 120, sliding door; 130, sliding bracket; 200, quick head change device; 300, workpiece fixture rack; 310, bearing plate; 311, mounting through hole; 320, transfer fixture; 330, clamping arm; 331, main body; 332, clamping part; 333, anti-detachment limiting part; 334, elastic block; 400, ultrasonic water bath; 410, top rod; 500, robot; 510, fixture joint; 600, sample bottle; 800, sound insulation device; 900, safety door interlock device. Detailed Implementation

[0028] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] like Figure 1 and Figure 2 An integrated robotic automatic ultrasonic dispersion device for latex particles is shown, comprising a frame 100, a quick-change head device 200, a workpiece fixture 300, an ultrasonic water bath 400, and a robot 500. The frame 100 includes a quick-connect fitting area for the quick-change head device 200 and a workpiece preparation area for the workpiece fixture 300. A transfer fixture 320 is fixed to the workpiece fixture 300, which also includes a placement slot for placing sample vials 600. The ultrasonic water bath 400 is fixed within the frame 100 and is used to hold cleaning fluids such as water. The ultrasonic water bath 400 includes an ultrasonic generator. When the sample vial 600 is located within the ultrasonic water bath 400, the ultrasonic waves emitted by the ultrasonic generator can penetrate the cleaning fluid and the wall of the sample vial 600 to perform ultrasonic homogenization and dispersion of the latex particles (e.g., latex particles) within the sample vial 600.

[0032] like Figure 1 and Figure 2 As shown, the rack 100 is also equipped with a sound insulation device 800 and a safety door interlock device 900. The sound insulation device 800 can effectively control noise, and the safety door interlock device 900 can protect personnel safety.

[0033] like Figure 2 and Figure 3As shown, the movable end of the robot 500 is connected to a fixture joint 510, which can dock with the quick-change head device 200 or the transfer fixture 320 of the workpiece jig 300. The robot 500 can drive the fixture joint 510 to move between the quick-change head placement area, the workpiece preparation area, and the ultrasonic water bath 400. The robot 500 can drive the fixture joint 510 to dock with the quick-change head device 200 on the quick-change head placement area or release the docked quick-change head device 200 onto the quick-change head placement area; the robot 500 can also drive the fixture joint 510 to dock with the transfer fixture 320 of the workpiece jig 300 or release the docked transfer fixture 320 and the workpiece jig 300 onto the workpiece preparation area. When the quick-change head device 200 is docked on the fixture joint 510, the robot 500 can drive the fixture joint 510 and the quick-change head device 200 to move above the workpiece fixture holder 300 in the workpiece preparation area, and press down on the sample bottle 600 located in the placement slot to perform secondary positioning of the sample bottle 600. When the transfer fixture 320 and the workpiece fixture holder 300 are docked on the fixture joint 510, the robot 500 can drive the fixture joint 510, the workpiece fixture holder 300 and the sample bottle 600 loaded on it to perform multi-dimensional composite movements in the ultrasonic water bath 400.

[0034] like Figure 2 and Figure 3 As shown, in some embodiments, robot 500 is a six-axis robot, which can drive the fixture joint 510, the workpiece jig holder 300, and the sample bottle 600 on it to perform XYZ three-axis compound motion in the ultrasonic water bath 400. The six-axis robot adopts a flexible combination and alternating operation of multiple motion modes to solve the limitations of traditional fixed-station manual operation and the problem of insufficient dispersion of latex particles in the sample bottle 600, which can effectively improve the uniformity of latex particle dispersion in the sample bottle 600.

[0035] like Figure 1 , Figure 2 and Figure 3As shown, the workpiece preparation area is equipped with a guide rail 110 located on one side of the robot 500. A sliding bracket 130 is slidably connected to the guide rail 110, and a sliding door 120 is connected to the sliding bracket 130. The workpiece fixture 300 is positioned above the sliding bracket 130. The workpiece fixture 300 cannot move horizontally on the sliding bracket 130; it can only be removed vertically by the robot 500. During loading, the sliding door 120 is pulled outward, and the sliding bracket 130 and the workpiece fixture 300 on it are located outside the frame 100. At this time, the sample bottle 600 can be placed in the placement slot of the workpiece fixture 300. After the sample bottle 600 is placed, the sliding door 120 is pushed inward to its limit position. At this time, the workpiece fixture 300 on the sliding bracket 130 is located in the workpiece preparation area, and then the sample bottle 600 is pressed down and positioned again. This configuration facilitates placing the sample bottle 600 outside the frame 100 on the workpiece fixture 300, and allows the workpiece fixture 300, which carries the sample bottle 600, to move precisely to the predetermined position in the workpiece preparation area. Before the robot 500 clamps the quick-change head device 200 to press down on the sample bottle 600 a second time, there is no need to adjust the movement stroke of the robot 500 according to the position of the workpiece fixture 300. The robot 500 can sequentially perform secondary pressing and positioning operations on multiple sample bottles 600 on the workpiece fixture 300 according to a preset program, which helps to improve production efficiency.

[0036] like Figure 1 , Figure 2 and Figure 5 As shown, the ultrasonic water bath 400 is connected to a cooling water circulation mechanism, which is used to dissipate the heat generated during the ultrasonic process to maintain the water temperature of the ultrasonic water bath 400. Addressing the issue that rapid temperature increases during ultrasonic homogenization and dispersion can easily lead to latex particle denaturation, this invention innovatively establishes a closed-loop cooling water circulation system between the ultrasonic water bath 400 and the external cooling water circulation mechanism. The circulating water quickly removes the heat generated during the ultrasonic homogenization and dispersion process, replacing the traditional manual water change method. This achieves continuous and stable temperature control within the ultrasonic water bath 400, avoiding the impact of temperature fluctuations on the dispersion effect of latex particles in the sample vials 600.

[0037] like Figure 2 , Figure 3 and Figure 4As shown, the workpiece fixture 300 includes a support plate 310, and a transfer fixture 320 is fixed above the support plate 310. The support plate 310 has multiple mounting through holes 311, each corresponding to a placement slot. In some embodiments, the transfer fixture 320 is centrally located on the support plate 310, with twelve mounting through holes 311 and placement slots. Six placement slots are located on one side of the transfer fixture 320, and the other six are located on the other side. Each placement slot can hold a sample bottle 600, with the sample bottle 600 at least partially located above the support plate 310. The workpiece fixture 300 also includes a clamping mechanism connected to the support plate 310 and axially arranged around the mounting through holes 311. The space enclosed by the clamping mechanism on one side of the support plate 310 forms the placement cavity of the placement slot, and the mounting through holes 311 are the openings of the placement slots. The sample vial 600 can be placed into the placement groove formed by the clamping mechanism through the mounting through hole 311. When the sample vial 600 is manually placed into the placement groove, the mounting through hole 311 of the support plate 310 and the clamping mechanism can initially position the sample vial 600 in the placement groove. When the sample vial 600 is pressed down by the quick-change head device 200 in the placement groove, the clamping mechanism can further lock the sample vial 600 to make the sample vial 600 in a locked position. When the sample vial 600 is pushed up in the placement groove, the clamping mechanism can release the sample vial 600 to make the sample vial 600 in a loose and removable state.

[0038] like Figure 2 and Figure 5 As shown, the ultrasonic water bath 400 is equipped with a push rod 410. When the transfer fixture 320 and the workpiece jig 300 are docked on the jig joint 510 and are located above the ultrasonic water bath 400, the robot 500 can drive the sample bottle 600 on the workpiece jig 300 to move to the position corresponding to the push rod 410. The robot 500 can also drive the workpiece jig 300 and the sample bottle 600 on it to move downward so that the push rod 410 pushes the sample bottle 600 upward from the clamping mechanism, and the sample bottle 600 automatically switches from the positioning and locking state to the loose and removable state. Considering that after the ultrasonic homogenization and dispersion of latex particles in the sample bottle 600 is completed, the clamping mechanism on the workpiece fixture 300 may clamp the sample bottle 600 too tightly, which would make manual unloading difficult, after the ultrasonic homogenization and dispersion is completed, the robot 500 drives the workpiece fixture 300 to descend as a whole, and the top rod 410 in the ultrasonic water bath 400 triggers the mechanical unlocking of the clamping mechanism, so that the sample bottle 600 automatically switches from the positioning and locking state to the loose and removable state, which can greatly improve the unloading efficiency and operation convenience.

[0039] like Figure 5As shown, in some embodiments of this example, the upper part of the push rod 410 is made of nylon. Nylon has a certain cushioning effect, which can prevent the bottom of the sample bottle 600 from being damaged due to excessive instantaneous force when the push rod 410 pushes out of the sample bottle 600.

[0040] like Figure 6 and Figure 7 As shown, in some embodiments of this example, the clamping mechanism includes multiple clamping arms 330 arranged circumferentially around the placement groove, with one end of each clamping arm 330 connected to the support plate 310. Each clamping arm 330 includes a main body 331 and a clamping part 332. One end of the main body 331 is connected to the support plate 310, and the clamping part 332 is integrally connected to the other end of the main body 331, extending in a bent direction relative to the main body 331 towards the central axis of the mounting through hole 311. The sample bottle 600 can be placed in a loosely removable state within the space formed by the multiple main bodies 331. When the sample bottle 600 extends into the space formed by the multiple clamping parts 332, the multiple clamping parts 332 are pressed by the sample bottle 600, at which point the multiple clamping parts 332 cooperate to lock the sample bottle 600, placing the sample bottle 600 in a locked, positioned state. This clamping mechanism allows multiple clamping arms 330 with multiple main body parts 331 to enclose and form a placement cavity for placing the sample bottle 600. This facilitates manual initial positioning of the sample bottle 600 within the placement slot, making the sample bottle 600 within the multiple main body parts 331 loose and removable. Furthermore, the multiple clamping parts 332 work together to lock the sample bottle 600 in a locked and positioned state. This ensures that the sample bottle 600 is not easily shaken within the workpiece fixture 300, creating a foundation for the robot 500 to drive the workpiece fixture 300, which carries the sample bottle 600, to perform multi-dimensional composite movements within the ultrasonic water bath 400 in subsequent processes. In some alternative embodiments, one end of each of the multiple clamping arms 330 is hinged to the support plate 310 via a hinge shaft. A torsion spring is sleeved on the hinge shaft, with one end of the torsion spring abutting against the support plate 310 and the other end abutting against the clamping arm 330. The elastic force of the torsion spring drives the clamping arm 330 to retract towards the central axis of the mounting through hole 311. When the sample bottle 600 is manually placed into the placement slot surrounded by the multiple clamping arms 330, the clamping arms 330 overcome the elastic force of the torsion spring and rotate outward to unfold a certain angle, achieving initial positioning of the sample bottle 600. When the sample bottle 600 is pressed down by the quick-change head device 200 of the robot 500's clamping fixture, the sample bottle 600 again pushes the multiple clamping arms 330 to rotate outward to unfold a certain angle. At this time, the elastic force of the torsion spring further increases, and the torsion spring drives the multiple clamping arms 330 to cooperate in locking the sample bottle 600, achieving positioning and locking of the sample bottle 600.

[0041] like Figure 6 and Figure 7As shown, in some embodiments of this example, the clamping arm 330 further includes an anti-detachment limiting part 333 integrally connected to the end of the clamping part 332 away from the main body part 331. Multiple anti-detachment limiting parts 333 form the bottom wall of the placement groove to prevent the sample bottle 600 from detaching from the bottom of the placement groove. The multiple anti-detachment limiting parts 333 also enclose an ejection channel into which the push rod 410 can be inserted. The multiple anti-detachment limiting parts 333 can prevent excessive movement of the sample bottle 600 when it is pressed down, and the ejection channel formed by the multiple anti-detachment limiting parts 333 facilitates the push rod 410 in dislodging the sample bottle 600.

[0042] like Figure 6 and Figure 7 As shown, in some embodiments of this example, the inner inclined surface of the clamping part 332 is provided with outwardly protruding elastic blocks 334. When the sample bottle 600 presses the multiple elastic blocks 334, the elastic force of the multiple elastic blocks 334 cooperates to lock the sample bottle 600. The provision of elastic blocks 334 on the inner inclined surface of the clamping part 332 facilitates the gradual compression of the multiple elastic blocks 334 when the sample bottle 600 is pressed down, and the elastic force generated after the multiple elastic blocks 334 are compressed can better lock the sample bottle 600. When the sample bottle 600 is pushed upward, since the multiple elastic blocks 334 are located on the inner inclined surface of the clamping part 332, the sample bottle 600 is easily pushed upward to unlock the sample bottle 600.

[0043] like Figure 6 and Figure 7 As shown, in some embodiments of this example, a flexible pad is provided on the inner side of the main body 331 of the clamping arm 330. The flexible pad can reduce the rigid contact between the clamping arm 330 and the sample bottle 600 and prevent the sample bottle 600 from being damaged.

[0044] The working process of this integrated robot-based automatic ultrasonic dispersion equipment for latex particles is as follows: During the feeding process, a manual person places the sample bottle 600 into the placement slot of the workpiece fixture rack 300. The placement slot serves to initially position the sample bottle 600. The workpiece fixture rack 300 is pushed into the workpiece preparation area within the frame via the sliding door 120 and guide rail 110. Then, the robot 500 drives the fixture connector 510 to move to the quick-connect placement area and docks with the quick-change head device 200. After the fixture connector 510 docks with the quick-change head device 200, the robot 500 drives the fixture connector 510 and the quick-change head device 200 to move above the workpiece fixture rack 300 and presses down on the sample bottles 600 located in the placement slots one by one, achieving secondary positioning of the sample bottles 600 and eliminating deviations caused by manual placement. After the sample bottles 600 are positioned, the robot 500 unloads and returns the quick-change head device 200 to its original position, proceeding to the next process. In the ultrasonic water bath homogenization and dispersion process, the robot 500 drives the fixture joint 510 to move to the workpiece preparation area and dock with the transfer fixture 320 of the workpiece jig holder 300. The robot 500 drives the fixture joint 510 and the workpiece jig holder 300 carrying the sample bottle 600 to be transferred as a whole into the ultrasonic water bath 400. The ultrasonic water bath 400 uses the cavitation effect, mechanical vibration and shear force generated when the ultrasonic waves propagate in the liquid medium to break up the agglomeration between latex particles in the sample bottle 600 to achieve uniform dispersion. At the same time, the robot 500 drives the workpiece jig holder 300 carrying the sample bottle 600 to perform multi-dimensional (up and down, left and right, front and back) composite motion in the ultrasonic water bath 400, oscillating the sample bottle 600 placed in the ultrasonic water bath 400, promoting the uniform dispersion of latex particles adhering to the bottle wall and enhancing the homogenization and dispersion effect. In the material unloading and recycling process, after the latex particles in the sample bottle 600 have been ultrasonically homogenized and dispersed in the ultrasonic water bath 400 for a preset time, the robot 500 drives the workpiece fixture 300 to perform a descent action. The push rod 410 in the ultrasonic water bath 400 triggers the clamping mechanism of the workpiece fixture 300 to release, and the sample bottle 600 switches from a locked position to a loose and removable state. Subsequently, the robot 500 moves the workpiece fixture 300 back to the workpiece preparation area, and the sample bottle 600 can be easily removed by manually pulling out the workpiece fixture 300.

[0045] In summary, the integrated robot-based automatic ultrasonic dispersion equipment for latex particles provided by this invention, as the first domestic integrated robot-based equipment for latex preparation, dispersion, and biomimetic automation, boasts a high degree of automation integration. It can achieve semi-automatic linkage operation of "feeding-positioning-ultrasonic water bath homogenization dispersion-unloading," reducing manual intervention and effectively lowering labor intensity, thus meeting the needs of large-scale production. By employing a multi-dimensional composite motion method where the robot 500 drives the fixture joint 510, the workpiece jig holder 300, and the sample bottle 600 on it within the ultrasonic water bath 400, the stability and consistency of latex particle dispersion within the sample bottle 600 can be ensured during mass production, significantly improving production efficiency and product quality, and providing key technical support for process upgrading in the in vitro diagnostics industry. Furthermore, employing the quick-change head device 200 secondary positioning technology, the robot 500 grasps the quick-change head device 200 and mechanically presses down on each sample bottle 600 on the workpiece fixture rack 300 for calibration. Rigid contact eliminates gaps and offsets caused by manual placement of the sample bottles 600. This design combines the precise operation of the robot 500 with manual loading, retaining the convenience of manual operation while ensuring the overall uniformity of subsequent ultrasonic dispersion. Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the implementation. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all embodiments here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An automated ultrasonic dispersion device for latex particles integrating a robot, characterized in that, include: The frame (100) is provided with a quick-connect fitting area for placing the quick-change head device (200) and a workpiece preparation area for placing the workpiece fixture rack (300); the workpiece fixture rack (300) is provided with a placement slot for placing sample bottles (600) and a clamping mechanism for locking the sample bottles (600) in the placement slot. An ultrasonic water bath (400), installed on the frame (100), is capable of ultrasonically dispersing latex particles in sample vials (600) located therein; A robot (500) has a fixture joint (510) at its movable end; the robot (500) can drive the fixture joint (510) to move between the quick connector placement area, the workpiece preparation area and the ultrasonic water bath (400); The robot (500) can drive the clamp connector (510) to dock with the quick-change head device (200) or release the quick-change head device (200) docked on it onto the quick-change head placement area; when the clamp connector (510) is docked with the quick-change head device (200), the robot (500) can drive the quick-change head device (200) to press down the sample bottle (600) located in the placement slot so that the sample bottle (600) is in a positioning and locking state locked by the clamping mechanism; The robot (500) can also drive the fixture joint (510) to dock with the workpiece fixture frame (300) or release the docked workpiece fixture frame (300) on it onto the workpiece preparation area; when the fixture joint (510) is docked with the workpiece fixture frame (300), the robot (500) can drive the workpiece fixture frame (300) and the sample bottle (600) on it to perform multi-dimensional composite motion in the ultrasonic water bath (400).

2. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 1, characterized in that, The ultrasonic water bath (400) is provided with a push rod (410); when the workpiece fixture frame (300) is docked on the clamping joint (510) and is located above the ultrasonic water bath (400), the robot (500) can drive the sample bottle (600) on the workpiece fixture frame (300) to move to the position corresponding to the push rod (410). The robot (500) can also drive the workpiece fixture frame (300) and the sample bottle (600) on it to move downward so that the push rod (410) pushes the sample bottle (600) upward from the clamping mechanism. The sample bottle (600) is switched from the positioning and locking state locked by the clamping mechanism to the loose and removable state not locked by the clamping mechanism.

3. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 2, characterized in that, The workpiece fixture holder (300) includes a support plate (310) with a mounting through hole (311), which is the opening of the placement groove; the clamping mechanism is connected to the support plate (310) and is arranged axially around the mounting through hole (311), and the space enclosed by the clamping mechanism on one side of the support plate (310) is the placement cavity of the placement groove; when the sample bottle (600) is pressed down in the placement groove, the clamping mechanism locks the sample bottle (600) so that the sample bottle (600) is in a positioning and locking state; when the sample bottle (600) in the positioning and locking state is pushed up in the placement groove, the clamping mechanism releases the sample bottle (600) so that the sample bottle (600) is in the loose and removable state.

4. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 3, characterized in that, The support plate (310) has a transfer fixture (320) fixed on the side opposite to the clamping mechanism. The transfer fixture (320) is used to dock with the fixture connector (510) of the robot (500).

5. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 3, characterized in that, The clamping mechanism includes multiple clamping arms (330) arranged circumferentially around the placement slot, with one end of each clamping arm (330) connected to the support plate (310). Each clamping arm (330) includes a main body (331) and a clamping part (332). One end of the main body (331) is connected to the support plate (310), and the clamping part (332) is integrally connected to the other end of the main body (331). The main body (331) bends and extends in the direction of the central axis of the mounting through hole (311); the sample bottle (600) can be placed in a loosely removable state in the space formed by the plurality of main bodies (331), and when the sample bottle (600) is inserted into the space formed by the plurality of clamping parts (332), the plurality of clamping parts (332) are squeezed by the sample bottle (600) so that the plurality of clamping parts (332) cooperate to lock the sample bottle (600).

6. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 5, characterized in that, The inner inclined surface of the clamping part (332) is provided with an outwardly protruding elastic block (334). When the multiple elastic blocks (334) are squeezed by the sample bottle (600), the elastic force of the multiple elastic blocks (334) cooperates to lock the sample bottle (600).

7. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 5, characterized in that, The clamping arm (330) also includes an anti-detachment limiting part (333) integrally connected to the clamping part (332) at the end away from the main body part (331). The multiple anti-detachment limiting parts (333) constitute the bottom wall of the placement groove to prevent the sample bottle (600) from falling out of the bottom of the placement groove, and the multiple anti-detachment limiting parts (333) surround to form an ejection channel into which the push rod (410) can be inserted.

8. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 1, characterized in that, The robot (500) is a six-axis robot, which can drive the fixture joint (510), the workpiece jig holder (300) and the sample bottle (600) on it to perform XYZ three-axis compound motion in the ultrasonic water bath (400).

9. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 1, characterized in that, The workpiece preparation area is provided with a guide rail (110), and the workpiece fixture frame (300) is slidably connected to the guide rail (110).

10. The integrated robot-based automatic ultrasonic dispersion device for latex particles according to claim 1, characterized in that, The ultrasonic water bath (400) is connected to a cooling water circulation mechanism, which is used to drive the heat generated during the ultrasonic process to maintain the water temperature in the ultrasonic water bath (400).

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