A centrifuge tube taking and fixing mechanism of a full-automatic cell harvester

Abstract

The present application relates to cell harvester equipment technical field, especially to a kind of centrifugal tube taking and fixing mechanism of full-automatic cell harvester.It includes disc-shaped tube rack disc, the center of tube rack disc is provided with lock rod, multiple centrifugal tube mounting holes are uniformly distributed around the lock rod, centrifugal tube mounting hole is used to install centrifugal tube, the lock rod is passed through tube rack disc and can be axially moved, the upper end of lock rod is hinged with pressure rod, and pressure rod is hinged on tube rack disc by connecting rod;The lower end of the lock rod is provided with push mechanism for pushing the axial movement of the lock rod.The present application can cooperate with mechanical arm to realize automatic placement of centrifugal tube, and adopts automatic mechanical device to press or release centrifugal tube.The automation degree of centrifugal tube taking and pressing is high, and manual operation is not needed, to provide technical support for realizing full-automatic cell harvester without manual operation.

Description

Technical Field

[0001] This invention relates to the field of cell harvesting equipment technology, and in particular to a centrifuge tube loading, unloading and fixing mechanism for a fully automatic cell harvester. Background Technology

[0002] The automated cell harvester is used for harvesting cells from samples such as peripheral blood, bone marrow, and amniotic fluid. The instrument is a pretreatment device for chromosome karyotype, aberration, and micronucleus analysis. A traditional cell harvester consists of a centrifuge disc and multiple centrifuge baskets mounted on the edge of the disc. The centrifuge baskets are disc-shaped with multiple mounting holes around their perimeter for holding centrifuge tubes. The upper end of the centrifuge tubes near the opening has a protrusion that can be secured to the edge of the mounting holes. In use, centrifuge tubes are placed one by one into the mounting holes of the centrifuge baskets. First, the vibration motor is started, causing the centrifuge baskets to vibrate along with the centrifuge tubes. Then, the centrifuge motor is started, causing the centrifuge disc to rotate, and the centrifuge tubes, secured in the mounting holes, move in a circular motion with the centrifuge disc. Traditional cell harvesters require manual handling of centrifuge tubes. Furthermore, the tubes are densely packed in the centrifuge basket, making it impossible to use a robotic arm. Additionally, to prevent tubes from falling or samples from splashing during mixing, the tube caps must be manually opened, closed, and tightened; automatic tube tightening is not possible, and the tubes cannot coordinate with robotic arm grippers. This makes full automation of cell harvesters impossible globally. Chinese Patent 202011622911X discloses "A Fully Automated Cell Harvester with an Integrated Liquid Flow System," publication number CN112816720B, which includes a liquid flow module, a pipetting module, and a centrifugation module. In this embodiment, the liquid path module, pipetting module, and centrifugation module are centrally located within the frame. Reagents can be automatically, quantitatively, and separately introduced into injection syringe groups A and B. The aspiration syringe group automatically aspirates the shaken cell suspension. All these processes are performed according to a preset program under the control of the control module, eliminating potential errors from manual operation and effectively reducing the error in subsequent instrument detection results. However, the centrifugation module of this cell harvester uses a traditional structure of manually placing centrifuge tubes and manually tightening caps, therefore it cannot achieve fully automated operation without manual intervention. Another Chinese patent, 202121096504X, discloses "A Centrifuge Tube Picking, Placing, and Fixing Mechanism for a Fully Automated Cell Harvesting Instrument," publication number CN215390022U. It includes a centrifuge tube rack and a clamping mechanism mounted on the rack. The rack has an array of centrifuge tube mounting holes. The clamping mechanism presses against the centrifuge tube openings at its bottom, restricting the vertical movement of the tubes. The clamping mechanism includes a baffle pressing against the tube openings, a locking element detachably mounted on the rack, and a connecting component connecting the locking element and the baffle. This connecting component is detachably mounted on the lower end of the baffle. The locking element has an insertion hole, and the connecting component has an insertion shaft that passes through the insertion hole, allowing the baffle to rotate and move vertically around the axis of the insertion hole. The clamping mechanism clamps the centrifuge tubes by manually rotating a handle. Its structural characteristics prevent fully automated mechanized operation. Summary of the Invention

[0003] To address the aforementioned problems, the purpose of this invention is to provide a centrifuge tube loading, unloading, and fixing mechanism for a fully automated cell harvester that is highly automated and requires no manual operation. This mechanism works in conjunction with a robotic arm to automatically place centrifuge tubes and uses automated mechanical devices to press or release the centrifuge tubes.

[0004] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a centrifuge tube loading, unloading and fixing mechanism for a fully automatic cell harvester, comprising a disc-shaped tube rack, a locking rod disposed at the center of the tube rack, and a plurality of centrifuge tube mounting holes evenly distributed around the locking rod, the centrifuge tube mounting holes being used to install centrifuge tubes, the locking rod penetrating the tube rack and being axially movable, a pressure rod hinged to the upper end of the locking rod, the pressure rod being hinged to the tube rack via a connecting rod; and a pushing mechanism for pushing the locking rod axially.

[0005] This solution utilizes a jacking mechanism to push the locking rod axially, which can raise or lower the pressure rod, thereby releasing or pressing the centrifuge tube in the centrifuge tube mounting hole, thus realizing an automated mechanical device for pressing or releasing the centrifuge tube.

[0006] Preferably, the jacking mechanism is an electric push rod fixedly installed on the axis of the locking rod, and a jacking platform is fixedly installed on the telescopic rod of the electric push rod, the jacking platform being located directly below the locking rod; a return spring is fitted in the middle section of the locking rod, the lower end of the return spring is fixedly connected to the locking rod, and the upper end of the return spring abuts against the bottom of the tube rack plate.

[0007] This solution utilizes an electric push rod to push the locking rod upwards and a return spring to drive the locking rod downwards to return it to its original position. The structure is simple and the operation is flexible.

[0008] Preferably, a liftable receiving tray is provided below the tube rack, and a central hole for accommodating the pushing mechanism is provided in the center of the receiving tray. Multiple truncated cones are evenly distributed around the central hole, and the positions of the truncated cones are directly below the centrifuge tube mounting holes, and the number of truncated cones is half the number of centrifuge tube mounting holes.

[0009] This solution allows for two-stage installation of centrifuge tubes by the robotic arm. First, the first batch of tubes is installed in the mounting holes without frustums at the bottom. These mounting holes are spaced apart from the mounting holes with frustums, providing ample operating space for the robotic arm to grip the outer surface of the tubes without touching adjacent tubes. After the first batch is installed, the second batch is installed in the mounting holes with frustums. Because of the frustums, the tubes do not completely sink to the bottom of the mounting holes; the openings of the second batch are higher than the first. Therefore, the robotic arm still has considerable operating space during the second batch installation. Once all tubes are installed, the height of the receiving tray is lowered to detach the frustums from the tubes, allowing the second batch to sink completely to the bottom of the mounting holes and be on the same plane as the first batch. This effectively solves the problems of densely packed mounting holes, small gaps between tubes, and insufficient operating space for the robotic arm in existing technologies, enabling automated tube handling by the robotic arm.

[0010] Preferably, a locking rod disc is fixedly connected to the upper end of the locking rod, and multiple notches for installing pressure rods are evenly distributed on the edge of the locking rod disc. The pressure rod is installed in the notches through a hinge shaft, the hinge shaft of the pressure rod is located in the middle section of the pressure rod, the front end of the pressure rod has an arc-shaped pressure block that matches the edge of the centrifuge tube opening, the rear end of the pressure rod is hinged to the upper end of the connecting rod, and the lower end of the connecting rod is hinged to the tube rack disc.

[0011] This design expands the installation space for the pressure bar by using a larger diameter locking bar disc, providing ample space for its installation.

[0012] Preferably, a connecting rod fixing seat is fixedly installed on the tube rack plate, and the lower end of the connecting rod is hinged to the connecting rod fixing seat.

[0013] This solution facilitates the installation of the lower end of the connecting rod.

[0014] Through the above technical solution, this invention can automatically place centrifuge tubes in conjunction with a robotic arm, and use automated mechanical devices to press or release the centrifuge tubes. The high degree of automation in picking up, placing, and pressing the centrifuge tubes eliminates the need for manual operation, providing technical support for realizing a fully automated cell harvester that requires no manual intervention. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a tube rack tray according to an embodiment of the present invention.

[0016] Figure 2 This is a schematic diagram of the structure of the push mechanism lifting the locking rod and opening the pressure rod.

[0017] Figure 3 This is a structural diagram showing the cooperation between the pallet receiving mechanism and the push mechanism.

[0018] Figure 4 This is a schematic diagram showing the usage of the centrifuge tube rack of the present invention.

[0019] Figure 5 yes Figure 4 A magnified view of a portion of the image. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the drawings, and the terms "bottom surface," "top surface," "inner," and "outer" refer to directions away from the geometric center of a specific component.

[0021] like Figure 1 , Figure 2 As shown, the centrifuge tube loading and fixing mechanism of the fully automated cell harvester of the present invention includes a disc-shaped tube rack 6. A locking rod 3 is provided at the center of the tube rack 6, and a plurality of centrifuge tube mounting holes 41 are evenly distributed around the locking rod 3. The centrifuge tube mounting holes 41 are used to install centrifuge tubes 4. The centrifuge tube mounting holes 41 correspond one-to-one with centrifuge tubes 4, and there can be 4, 6, 8 or more.

[0022] The locking rod 2 passes through the pipe rack disk 1 and is axially movable. A pressure rod 9 is hinged to the upper end of the locking rod 3, and the pressure rod 9 is hinged to the pipe rack disk 6 via a connecting rod 8. A pushing mechanism is provided at the lower end of the locking rod 3 to push it axially. The pressure rod 9 has two hinge points, one connected to the locking rod 3 and the other connected to the connecting rod 8, which in turn is connected to the pipe rack disk 6. Thus, as... Figure 1 As shown, when the locking rod 3 is not pushed, it is in a low position. The hinge point 91 between the pressure rod 9 and the locking rod 3 is also in a low position, and the pressure rod 9 is in a horizontal state. At this time, if the centrifuge tube 4 is in the centrifuge tube mounting hole 41, the horizontal pressure rod 9 can press against the edge of the centrifuge tube 4, fixing the centrifuge tube 4 in place and preventing it from jumping in the centrifuge tube mounting hole 41 due to vibration. Figure 2 As shown, when the push mechanism pushes the locking rod 3 upward, the locking rod 3 moves upward, causing the hinge point 91 to move to a high position. At this time, since the length of the connecting rod 8 remains unchanged, the position of the hinge point between the locking rod 3 and the connecting rod 8 does not change. The rise of the hinge point 91 causes the pressure rod 9 to flip upward, opening the centrifuge tube mounting hole 41, at which time the centrifuge tube 4 can be taken out and put in.

[0023] Furthermore, as a further improvement of the present invention, when the diameter of the locking rod 3 is small, but the number of centrifuge tube mounting holes 41 is large, requiring the same number of pressure rods 9 to be installed on the locking rod 3, a locking rod disc 10 is fixedly connected to the upper end of the locking rod 3. The diameter of the locking rod disc 10 is larger than that of the locking rod 3, but the locking rod disc 10 as a whole is still surrounded by multiple centrifuge tube mounting holes 41. The locking rod disc 10 can be integrated with the locking rod 3, or it can be a separate structure that is fixed together with screws or clips. Multiple notches for installing pressure rods 9 are evenly distributed on the edge of the locking rod disc 10. The number of notches is the same as the number of centrifuge tube mounting holes 41, and the position of each notch is directly opposite a centrifuge tube mounting hole 41, so that when the pressure rod 9 is pressed down, it can be precisely locked on the edge of the centrifuge tube mounting hole 41. The pressure rod 9 is installed in the notch via a hinge shaft. The hinge shaft of the pressure rod 9 is located in the middle section of the pressure rod 9. The front end of the pressure rod 9 has an arc-shaped pressure block that matches the edge of the centrifugal tube 4. The rear end of the pressure rod 9 is hinged to the upper end of the connecting rod 8, and the lower end of the connecting rod 8 is hinged to the tube rack 6.

[0024] like Figure 2 , Figure 3 As shown, the jacking mechanism is an electric push rod 1 fixedly installed on the axis of the locking rod 3. A jacking platform 2 is fixedly installed on the telescopic rod of the electric push rod 1, and the jacking platform 2 is located directly below the locking rod 3. A return spring 5 is fitted into the middle section of the locking rod 3. The lower end of the return spring 5 is fixedly connected to the locking rod 3, and the upper end of the return spring 5 abuts against the bottom of the pipe rack plate 6. Figure 2As shown, a large-diameter spring cavity 51 is provided on the lower end face of the tube rack 6 to accommodate the return spring 5. The upper end of the spring cavity 51 is a small-diameter locking rod cavity that can only accommodate the locking rod 3. A high step is formed at the connection between the spring cavity 51 and the locking rod cavity, and the upper end of the return spring 5 abuts against this high step. The lower end of the spring cavity 51 is connected to a lower plug 52 by a thread. The center of the lower plug 52 has a through hole that can only accommodate the small-diameter locking rod 3. The locking rod 3 extends downward through this through hole, and a low step is formed between the spring cavity 51 and the lower plug 52. This low step is used to limit the lowest position of the return spring 5's rebound. A spring seat 53 is fixedly connected to the locking rod 3 below the return spring 5 and above the low step. The spring seat 53 is disc-shaped, and its diameter matches the diameter of the spring cavity 51 so that it can move axially in the spring cavity 51. The lower end of the return spring 5 abuts against the upper surface of the spring seat 53. When the locking rod 3 is pushed upward, the spring seat 53 pushes the lower end of the return spring 5 upward. However, the upper end of the return spring 5 is blocked by the high step at the upper end of the spring cavity 51 and cannot move upward. The return spring 5 is compressed and accumulates potential energy. Once the force pushing the locking rod 3 disappears, the potential energy of the return spring 5 is released, pushing the spring seat 53 and the locking rod 3 downward until the spring seat 53 is blocked by the low step. Of course, as another embodiment of the present invention, the upper and lower ends of the return spring 5 can also be directly hooked onto the tube rack plate 6 and the locking rod 3 by spring hooks.

[0025] like Figure 3As shown, a liftable receiving tray 31 is provided below the tube rack 6. This receiving tray 31 is disc-shaped and is raised and lowered by an electric telescopic rod 32 located below it. To maintain balance, multiple sliding rods 33 are evenly distributed along the edge of the receiving tray 31. These sliding rods 33 are located below the receiving tray 31 and penetrate a horizontally arranged base plate 34. The electric telescopic rod 32 and the electric push rod 1 are both mounted on the upper surface of the base plate 34. A central hole for accommodating a pushing mechanism is provided in the center of the receiving tray 31. The telescopic rod of the electric push rod 1 extends through this central hole to the top of the receiving tray 31, ensuring that the movement of the electric push rod 1 is not interfered with by the receiving tray 31. Multiple frustums 35 are evenly distributed around the central hole. Each frustum 35 is a cylindrical structure with a diameter matching the centrifuge tube mounting hole 41, allowing it to accurately support the centrifuge tube 4 in the centrifuge tube mounting hole 41 without interfering with adjacent centrifuge tubes. The frustum 35 is located directly below the centrifuge tube mounting hole 41, and the number of frustums 35 is half the number of centrifuge tube mounting holes 41. That is, among the multiple centrifuge tube mounting holes 41, half have frustums 35 at the bottom and half do not, and they are arranged at intervals. Each centrifuge tube mounting hole 41 with a frustum 35 at the bottom is frustums without frustums 35 on both sides; conversely, each centrifuge tube mounting hole 41 without a frustum 35 at the bottom is frustums with frustums 35 at the bottom on both sides.

[0026] The robotic arm installs centrifuge tubes in two batches. First, the first batch of tubes is installed in the mounting holes without a frustum at the bottom. These mounting holes are spaced apart from the mounting holes with frustums, providing ample operating space for the robotic arm to grip the outer surface of the tubes without touching adjacent tubes. Since the first batch of tubes lacks a frustum 35, they all sink to the lowest point of the mounting holes after installation. After the first batch is installed, the second batch of tubes is installed in the mounting holes with frustums. Because of the frustums, these tubes do not completely sink to the bottom of the mounting holes; the openings of the second batch are higher than the first. Therefore, the robotic arm still has considerable operating space during the installation of the second batch. Once all tubes are installed, the height of the receiving tray is lowered to detach the frustums from the tubes, allowing the second batch to sink completely to the bottom of the mounting holes and be on the same plane as the first batch. This effectively solves the problems of densely packed centrifuge tube mounting holes, small gaps between centrifuge tubes, and lack of operating space for the robotic arm in existing technologies, enabling the robotic arm to automatically pick up and place centrifuge tubes.

[0027] Furthermore, as a further improvement of the present invention, a connecting rod fixing seat 7 is fixedly installed on the pipe rack disk 6, and the lower end of the connecting rod 8 is hinged to the connecting rod fixing seat 7. Since the volume of the end of the connecting rod 8 is small, for ease of assembly, the lower end of the connecting rod 8 can be assembled with the fixing seat 7 first, and then the fixing seat 7 can be fixedly connected to the pipe rack disk 6.

[0028] like Figure 4 , Figure 5 As shown, in use, the tube rack 6 is mounted on the edge of the centrifuge turntable 61 via rotating shafts on both sides. The control device rotates the tube rack 6 to directly above the receiving tray 31. The electric push rod 1 extends, lifting the locking rod 3 at the center of the tube rack 6, raising the pressure rod 9, and the arc-shaped pressure block at the front end of the pressure rod 9 clears the edge of the centrifuge tube mounting hole 41. Then, the electric telescopic rod 32 moves, raising the receiving tray 31. At this time, centrifuge tubes 4 can be installed in two batches. After all centrifuge tubes 4 are installed, the electric telescopic rod 32 returns to its original position, lowering the height of the receiving tray 31 so that all centrifuge tubes 4 sink to the lowest end of the centrifuge tube mounting hole 41. The centrifuge tubes 4 are held in place only by the annular rib at their upper end of the tube opening. Finally, the electric push rod 1 returns to its original position, the locking rod 3 lowers its height under the action of the return spring 5, the pressure rod 9 is lowered, and the arc-shaped pressure block at the front end of the pressure rod 9 presses against the edge of the centrifuge tube 4. Subsequently, when the tube rack 6 vibrates or rotates centrifugally, the pressure rod 9 always holds the centrifuge tube 4 in place, which can prevent the centrifuge tube 4 from falling off or shifting.

[0029] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A centrifuge tube loading and fixing mechanism for a fully automated cell harvester, comprising a disc-shaped tube rack (6) mounted on the edge of a centrifuge turntable (61), wherein a locking rod (3) is provided at the center of the tube rack (6), and a plurality of centrifuge tube mounting holes (41) are evenly distributed around the locking rod (3), wherein the centrifuge tube mounting holes (41) are used to install centrifuge tubes (4), characterized in that: The tube rack (6) is mounted on the centrifugal turntable (61) via rotating shafts located on both sides thereon. The locking rod (3) passes through the pipe rack disk (6) and can move axially. The upper end of the locking rod (3) is hinged to a pressure rod (9). The pressure rod (9) is hinged to the pipe rack disk (6) through a connecting rod (8). When the locking rod (3) moves axially, it drives the pressure rod (9) to press or release the centrifuge tube (4) installed in the centrifuge tube mounting hole (41). The lower end of the locking rod (3) is provided with a push mechanism to push the locking rod (3) to move axially. The push mechanism is an electric push rod (1) fixedly installed on the axis of the locking rod (3). A lifting platform (2) is fixedly installed on the telescopic rod of the electric push rod (1). The lifting platform (2) is located directly below the locking rod (3). A return spring (5) is fitted in the middle section of the locking rod (3). The lower end of the return spring (5) is fixedly connected to the locking rod (3). The upper end of the return spring (5) abuts against the bottom of the pipe rack disk (6). Below the tray (6) is a liftable receiving tray (31). The center of the receiving tray (31) is provided with a central hole for accommodating the pushing mechanism. Multiple frustums (35) are evenly distributed around the central hole. The frustums (35) are located directly below the centrifuge tube mounting holes (41), and the number of frustums (35) is half the number of centrifuge tube mounting holes (41) and they are spaced apart. The upper end of the locking rod (3) is fixedly connected to the locking rod plate (10). Multiple notches for installing the pressure rod (9) are evenly distributed on the edge of the locking rod plate (10). The pressure rod (9) is installed in the notch through a hinge shaft. The hinge shaft of the pressure rod (9) is located in the middle section of the pressure rod (9). The front end of the pressure rod (9) has an arc-shaped pressure block that matches the edge of the centrifuge tube (4) opening. The rear end of the pressure rod (9) is hinged to the upper end of the connecting rod (8), and the lower end of the connecting rod (8) is hinged to the tube rack plate (6).

2. The centrifuge tube loading, unloading, and fixing mechanism of a fully automated cell harvester according to claim 1, characterized in that: A connecting rod fixing seat (7) is fixedly installed on the tube rack plate (6), and the lower end of the connecting rod (8) is hinged to the connecting rod fixing seat (7).

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