Automatic filtration device and automatic filtration system

Abstract

This application discloses an automatic filtration device and system. The automatic filtration device includes a support assembly, a gripper drive mechanism, a filter needle gripper, a push-pull drive mechanism, and a push-pull base. The filter needle gripper is connected to the gripper drive mechanism and is configured to be driven by the gripper drive mechanism to grip the filter needle. The push-pull drive mechanism is connected to the support assembly. The push-pull base is connected to the push-pull drive mechanism and is used to engage the push-pull head of the filter needle when the filter needle gripper grips the filter needle. The push-pull base is configured to be driven by the push-pull drive mechanism to move, thereby moving the push-pull head of the filter needle. The automatic filtration device of this application drives the piston of the filter needle by driving the push-pull base, causing the filter needle to draw out the solution and the solution to be squeezed out through the filter head, thus completing the filtration of the solution. The filtration process does not require the experimenter to push and pull the push-pull head of the filter needle, making the operation more labor-saving, reducing the workload of the experimenter, and improving the filtration efficiency.

Description

Technical Field

[0001] This application relates to the field of filtration device technology, and in particular to an automatic filtration device and an automatic filtration system. Background Technology

[0002] Filtration is a common operation in fields such as biochemistry and medicine. When filtering a solution, the solution to be filtered is usually drawn up through a filter needle, a filter head is attached to the front end of the filter needle, and then the solution is squeezed out through the filter head.

[0003] The existing technology for filtering solutions relies on the experimenter manually pushing and pulling the push-pull head of the filter needle to draw and squeeze out the solution to be filtered. This process is labor-intensive, involves a large workload, and affects the filtration efficiency. Summary of the Invention

[0004] The main technical problem addressed by this application is to provide an automatic filtration device and system to automate filtration and reduce the workload of laboratory personnel.

[0005] To solve the above-mentioned technical problems, the first technical solution adopted in this application is to provide an automatic filtration device, which includes a support assembly, a gripper drive mechanism, a filter needle clamp, a push-pull drive mechanism, and a push-pull base; the gripper drive mechanism is connected to the support assembly; the filter needle clamp is connected to the gripper drive mechanism and is configured to be driven by the gripper drive mechanism to clamp the filter needle; the push-pull drive mechanism is connected to the support assembly; the push-pull base is connected to the push-pull drive mechanism and is used to engage the push-pull head of the filter needle when the filter needle clamp holds the filter needle, and the push-pull base is configured to be driven by the push-pull drive mechanism to move, so that the push-pull base drives the push-pull head of the filter needle to move.

[0006] In one possible implementation, the push-pull seat includes a main body and a locking part connected to the main body. The main body is connected to the push-pull drive mechanism. When the filter needle clamp holds the filter needle, the locking part engages with the push-pull head of the filter needle.

[0007] In one possible implementation, the locking part includes a connecting part, a first blocking part, and a second blocking part. At least one of the connecting part, the first blocking part, and the second blocking part is connected to the main body. The first blocking part and the second blocking part are respectively connected to the two ends of the connecting part. The first blocking part, the connecting part, and the second blocking part form a U-shaped structure. At least a portion of the main body and the U-shaped structure form an accommodating space. The push-pull head of the filter needle enters the accommodating space through the opening of the U-shaped structure, so that the push-pull seat engages with the push-pull head of the filter needle.

[0008] In one possible implementation, the support assembly includes: a support plate, on which a gripper drive mechanism is disposed; and a push-pull fixed plate, connected to the support plate, on which a push-pull drive mechanism is disposed.

[0009] In one possible implementation, it further includes: a traction screw, which is connected to a push-pull drive mechanism and a push-pull seat respectively. The push-pull drive mechanism drives the traction screw to move so that the traction screw drives the push-pull seat to move; and a push-pull guide rail, which is fixed on a push-pull fixed plate. The push-pull seat is movably disposed on the push-pull guide rail. When the traction screw drives the push-pull seat to move, the push-pull seat slides along the push-pull guide rail.

[0010] In one possible implementation, it further includes: a needle pick-and-place gripper connected to a gripper drive mechanism and disposed away from the filter needle gripper, the needle pick-and-place gripper being configured to be driven by the gripper drive mechanism to grip the filter needle.

[0011] In one possible implementation, the support assembly further includes: a gripper fixing seat, movably connected to the support plate, and a gripper drive mechanism disposed on the gripper fixing seat.

[0012] In one possible implementation, it further includes: a buffer assembly, which is connected to the gripper fixing seat and the support plate respectively. The buffer assembly is configured to adjust the relative position of the gripper fixing seat and the support plate to buffer the force exerted by the filter needle gripper on the gripper fixing seat. The buffer assembly includes a buffer screw and an elastic element. One end of the buffer screw passes through the support plate and is fixedly connected to the gripper fixing seat. The elastic element is disposed between the support plate and the gripper fixing seat. The elastic element is a buffer spring, which is wound around the buffer screw, and both ends of the buffer spring abut against the support plate and the gripper fixing seat respectively.

[0013] In one possible implementation, it further includes: a buffer fixing plate connected to the support plate; a buffer guide rail disposed on the buffer fixing plate, and a gripper fixing seat movably connected to the buffer guide rail. When the gripper fixing seat is displaced under the action of the buffer assembly, the gripper fixing seat slides along the buffer guide rail.

[0014] In one possible implementation, it further includes: a female connector for the robotic arm, disposed on the side of the support plate away from the gripper fixing seat, for connecting with a male connector on the robotic arm.

[0015] In one possible implementation, the clamping surface of the filter needle clamp is formed with several serrations, which play an anti-slip and reinforcing role when the filter needle clamp is holding the filter needle; the clamping surface is arc-shaped or V-shaped.

[0016] To solve the above-mentioned technical problems, the second technical solution adopted in this application is to provide an automatic filtration system, which includes a robotic arm and the automatic filtration device described above. The robotic arm is connected to the automatic filtration device and is configured to drive the automatic filtration device to move.

[0017] In one possible implementation, it further includes: a filter head pick-and-place device, which is used to assist in removing or installing the filter head at the front end of the filter needle tube on the automatic filtration equipment, wherein the filter head includes an inlet tube, a filter assembly, and an outlet tube connected in sequence, and the diameter of the filter assembly is larger than the diameter of the inlet tube and the outlet tube.

[0018] In one possible implementation, the filter head loading and unloading device includes: a housing, the housing including a top plate, the top plate having a limiting groove formed on its side for limiting the inlet tube; a clamping block movably disposed on one side of the top plate, the clamping block being configured to be driven to switch between a first position and a second position, wherein in the first position the clamping block limits the inlet tube within the limiting groove and clamps the filter assembly and the outlet tube between the clamping block and the top plate, and in the second position the filter head is released from between the clamping block and the top plate; and a clamping drive mechanism connected to the clamping block for driving the clamping block to switch between the first position and the second position.

[0019] In one possible implementation, the filter head taking and placing device further includes a needle storage mechanism, which is disposed on the side of the top plate away from the limiting slot, and the needle storage mechanism is used to temporarily store filter needles.

[0020] The beneficial effects of this application are as follows: Unlike existing technologies, this application provides an automatic filtration device, which includes a support assembly, a gripper drive mechanism, a filter needle gripper, a push-pull drive mechanism, and a push-pull seat. The gripper drive mechanism is connected to the support assembly. The filter needle gripper is connected to the gripper drive mechanism and is configured to be driven by the gripper drive mechanism to grip the filter needle. The push-pull drive mechanism is connected to the support assembly. The push-pull seat is connected to the push-pull drive mechanism and is used to engage the push-pull head of the filter needle when the filter needle gripper grips the filter needle. The push-pull seat is configured to be driven by the push-pull drive mechanism to move, so that the push-pull seat drives the push-pull head of the filter needle to move. The automatic filtration device of this application holds the filter needle tube with a filter needle tube clamp and drives the push-pull seat with a push-pull drive mechanism. During the process of the push-pull seat being driven, the push-pull seat pulls the piston of the filter needle tube to the tube opening to draw out the solution by driving the push-pull head that is clamped to it, or pushes the piston of the filter needle tube to the bottom of the tube, so that the solution is squeezed out through the filter head, thus completing the filtration of the solution. The filtration process does not require the experimental personnel to push and pull the push-pull head of the filter needle tube, making the operation more labor-saving, reducing the workload of the experimental personnel, and improving the filtration efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the automatic filtration device of this application;

[0023] Figure 2 yes Figure 1 A schematic diagram of a push-pull base embodiment in an automatic filtration device;

[0024] Figure 3 This is a schematic diagram of an embodiment of the automatic filtration equipment and filter head handling device in the automatic filtration system of this application.

[0025] Among them, 100 is an automatic filtration device; 111 is a filter needle clamp; 120 is a push-pull seat; 121 is a main body; 122 is a locking part; 1221 is a connecting part; 1222 is a first blocking part; 1223 is a second blocking part; 1225 is a accommodating space; 130 is a push-pull fixing plate; 140 is a push-pull drive mechanism fixing seat; 150 is a traction screw; 160 is a push-pull drive mechanism; 170 is a clamp fixing seat; 171 is a clamp drive mechanism; 112 is a needle picking and placing clamp; 180 is a support plate; 190 is a buffer assembly; 191 is a buffer screw; 192 is an elastic element; 193 is a buffer fixing plate; 194 is a robot arm connecting female head; 201 is a top plate; 202 is a limit slot; and 203 is a clamping block. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, unless otherwise clearly indicated above. “Multiple” generally includes at least two, but does not exclude the inclusion of at least one.

[0028] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0029] It should be understood that the terms "comprising," "including," or any other variations used herein are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0030] In existing technologies, filtering solutions requires manual operation by laboratory personnel. The personnel squeeze the filter needle, manually pull the push-pull head to draw the solution into the filter needle, and then manually push the push-pull head to squeeze the solution through the filter head. The filtration operation is entirely dependent on manual operation, which is labor-intensive, has a large workload, and affects work efficiency.

[0031] Based on the above problems, this application proposes an automatic filtration device and an automatic filtration system that can effectively solve the above problems.

[0032] The automatic filtration device and automatic filtration system provided in this application will be described in detail below with reference to the accompanying drawings and embodiments.

[0033] The first aspect of this application provides an automatic filtration device 100. See also... Figure 1 , Figure 1 This is a schematic diagram of the structure of an embodiment of the automatic filtration device 100 of this application. In a specific embodiment, the automatic filtration device 100 of this application includes a support component (not shown), a gripper drive mechanism 171, a filter needle gripper 111, a push-pull drive mechanism 160, and a push-pull base 120.

[0034] The gripper drive mechanism 171 is connected to the support assembly; the filter needle clamp 111 is connected to the gripper drive mechanism 171, and the filter needle clamp 111 is configured to be driven by the gripper drive mechanism 171 to clamp the filter needle; the push-pull drive mechanism 160 is connected to the support assembly; the push-pull seat 120 is connected to the push-pull drive mechanism 160, and is used to engage the push-pull head of the filter needle when the filter needle clamp 111 clamps the filter needle, and the push-pull seat 120 is configured to be driven by the push-pull drive mechanism 160 to move, so that the push-pull seat 120 drives the push-pull head of the filter needle to move.

[0035] Specifically, the automatic filtration device 100 of this application is used for automated filtration of solutions through a filter needle tube. A filter needle tube gripper 111 is used to hold and fix the filter needle tube, wherein the gripping or releasing action of the filter needle tube gripper 111 is controlled by a gripper drive mechanism 171. The filter needle tube includes a tube, a piston, and a push-pull head connected to the piston. When the filter needle tube gripper 111 clamps the filter needle tube at a designated position, the push-pull head of the filter needle tube engages with a push-pull seat 120. After the push-pull head and the push-pull seat 120 are engaged, when the push-pull drive mechanism 160 drives the push-pull seat 120 to move, the push-pull seat 120 drives the piston of the filter needle tube to move in and out of the tube.

[0036] In one specific scenario, the push-pull drive mechanism 160 moves the push-pull seat 120 between a first preset position and a second preset position. The first and second preset positions are two locations at different distances from the filter needle clamp 111 along the piston's movement direction. The first preset position is closer to the filter needle clamp 111, and the second preset position is farther from the filter needle clamp 111. The push-pull seat 120 is driven by the push-pull drive mechanism 160 to move between the first and second preset positions. When the push-pull seat 120 is driven to move from the first preset position to the second preset position, it causes the piston to move from the bottom of the filter needle tube to the opening, allowing the filter needle tube to draw in the solution to be filtered. When the push-pull seat 120 is driven to move from the second preset position to the first preset position, it causes the piston to move from the opening of the filter needle tube to the bottom, squeezing out the solution from inside the filter needle tube. When filtering a solution, the automatic filtration device 100 clamps the filter needle and drives the push-pull seat 120 to the second preset position. The experimenter or robot moves the automatic filtration device 100 to the solution extraction point. After the push-pull seat 120 pulls the push-pull head to extract the solution to be filtered, the experimenter or robot moves the filter needle connected to the automatic filtration device 100 to pierce the filter head. After piercing the filter head, the push-pull drive mechanism 160 drives the push-pull seat 120 to push the piston, squeezing the solution in the filter needle through the filter head, thus completing the filtration of the solution.

[0037] Unlike existing technologies, this application proposes an automatic filtration device 100, which includes a support assembly, a gripper drive mechanism 171, a filter needle gripper 111, a push-pull drive mechanism 160, and a push-pull seat 120. The filter needle is held by the filter needle gripper 111, and the push-pull drive mechanism 160 drives the push-pull seat 120. The push-pull seat 120 pulls the piston of the filter needle to the opening to draw solution into the filter needle. After connecting a filter head to the front end of the filter needle, the push-pull seat 120 pushes the piston of the filter needle to the bottom of the tube, causing the solution to be squeezed out through the filter head, thus completing the filtration. The filtration process does not require manual operation of the filter needle, making operation more labor-saving, automating the filtration process, reducing the workload of laboratory personnel, and improving filtration efficiency.

[0038] Please refer to the following: Figure 2 , Figure 2 yes Figure 1 A schematic diagram of the structure of a push-pull seat 120 in an automatic filtration device 100. In some embodiments, the push-pull seat 120 includes a main body 121 and a locking part 122 connected to the main body 121. The main body 121 is connected to a push-pull drive mechanism 160. When the filter needle clamp 111 clamps the filter needle, the locking part 122 engages with the push-pull head of the filter needle. The locking part 122 includes a connecting part 1221, a first blocking part 1222 and a second blocking part 1223. At least one of the connecting part 1221, the first blocking part 1222 and the second blocking part 1223 is connected to the main body part 121. The first blocking part 1222 and the second blocking part 1223 are respectively connected to the two ends of the connecting part 1221. The first blocking part 1222, the connecting part 1221 and the second blocking part 1223 form a U-shaped structure. At least a portion of the main body part 121 and the U-shaped structure form an accommodating space 1225. The push-pull head of the filter needle enters the accommodating space 1225 through the opening of the U-shaped structure, so that the push-pull seat 120 locks the push-pull head of the filter needle.

[0039] Specifically, the push-pull seat 120 is movably disposed at one end of the filter needle clamp 111, and the locking part 122 of the push-pull seat 120 is close to the filter needle clamp 111. When the filter needle clamp 111 clamps the filter needle, the push-pull seat 120 engages the push-pull head of the filter needle through the locking part 122. In this embodiment, the first blocking part 1222 and the second blocking part 1223 of the locking part 122 are respectively fixed to both ends of the connecting part 1221 to form a U-shaped structure with one end open. The locking part 122 is connected to the main body part 121 through the first blocking part 1222. The locking part 122 of the U-shaped structure and the main body part 121 also include a receiving space 1225. When the filter needle is fixed on the automatic filtration device 100, the push-pull head of the filter needle slides into the receiving space 1225 with the help of the U-shaped structure as a slide rail. It is abutted and fixed in the receiving space 1225 by the first blocking part 1222 and the second blocking part 1223. When it is necessary to remove the filter needle, the push-pull head of the filter needle also slides out through the opening at one end of the U-shaped structure.

[0040] Please continue reading. Figure 1 In some embodiments, the automatic filtration device 100 further includes a control device (not shown). The control device is connected to a push-pull drive mechanism 160, which is used to control the push-pull drive mechanism 160 to drive the push-pull seat 120 to move when the filter needle clamp 111 holds the filter needle, thereby driving the piston of the filter needle to move and completing the filtration operation of drawing the solution to be filtered and squeezing it through the filter head. Specifically, in this embodiment, the control device consists of two control buttons (not shown). When both control buttons are pressed simultaneously, the control device controls the push-pull drive mechanism 160 to drive the push-pull seat 120. The advantage of having two control buttons is to improve the operational safety of the automatic filtration device 100. The experimenter needs to press both control buttons simultaneously to drive the push-pull seat 120 to push and pull the piston of the filter needle, avoiding filtration errors caused by the experimenter's misoperation.

[0041] Furthermore, in some embodiments, a sensing device can be provided on the filter needle clamp 111. The sensing device can be a pressure sensor or an infrared sensor, etc. The sensing device is connected to the control device and senses whether a filter needle is placed on the filter needle clamp 111. At the same time, the control device is configured to control the push-pull drive mechanism 160 to work only when the control device receives a signal feedback from the sensing device that the filter needle has been sensed. The advantage of this setting is to further improve the operational safety of the automatic filtration device 100 and avoid the situation where the push-pull seat 120 is driven before the filter needle is placed.

[0042] In some embodiments, the support assembly of this application includes a support plate 180 and a push-pull fixing plate 130, and a gripper drive mechanism 171 is disposed on the support plate 180; the push-pull fixing plate 130 is connected to the support plate 180, and the push-pull drive mechanism 160 is disposed on the push-pull fixing plate 130.

[0043] The automatic filtration device 100 of this application also includes a traction screw 150 and a push-pull guide rail (not shown). The push-pull guide rail is fixed on the push-pull fixing plate 130, and the push-pull seat 120 is movably disposed on the push-pull guide rail. When the traction screw 150 drives the push-pull seat 120 to move, the push-pull seat 120 slides along the push-pull guide rail. The traction screw 150 is connected to the push-pull drive mechanism 160 and the push-pull seat 120 respectively. The push-pull drive mechanism 160 drives the traction screw 150 to move, so that the traction screw 150 drives the push-pull seat 120 to move.

[0044] Specifically, in this embodiment, a push-pull drive mechanism fixing seat 140 is also included. The push-pull drive mechanism fixing seat 140 and the filter needle clamp 111 are located at opposite ends of the push-pull fixing plate 130. The push-pull drive mechanism 160 is fixed to the side of the push-pull drive mechanism fixing seat 140 away from the filter needle clamp 111. The push-pull drive mechanism fixing seat 140 is used to fix the push-pull drive mechanism 160. The traction screw 150 and the push-pull drive mechanism 160 are located on opposite sides of the push-pull drive mechanism fixing seat 140. One end of the traction screw 150 is fixed to the push-pull seat 120, and the other end passes through the push-pull drive mechanism fixing seat 140 and is pulled by the push-pull drive mechanism 160. The push-pull drive mechanism 160 drives the push-pull seat 120 to move by pulling the traction screw 150. The extension direction of the push-pull guide rail is the same as the movement direction of the push-pull seat 120. When the push-pull seat 120 is driven to move, it slides on the push-pull guide rail.

[0045] Furthermore, in this embodiment, the push-pull drive mechanism 160 is a stepper motor, the traction lead screw 150 is a rotary lead screw, and the push-pull seat 120 is connected to the traction lead screw 150 through a lead screw and nut pair. When the stepper motor is working, it drives the traction lead screw 150 to rotate, and the traction lead screw 150 drives the push-pull seat 120 to move linearly along the traction lead screw 150. In some other embodiments, the push-pull drive mechanism 160 can also be a linear motor, and the corresponding traction lead screw 150 is a telescopic lead screw. The push-pull seat 120 is connected to one end of the traction lead screw 150. When the linear motor is working, it drives the traction lead screw 150 to extend or retract, and the traction lead screw 150 can also drive the push-pull seat 120 to move linearly along the traction lead screw 150. The types of the push-pull drive mechanism 160 and the traction lead screw 150 are not limited to the two types listed above. As long as the push-pull drive mechanism 160 can drive the traction lead screw 150 to move the push-pull seat 120 along the traction lead screw 150 when it is working, it should be included within the scope of protection of this application.

[0046] Furthermore, in some embodiments, the automatic filtration device 100 of this application further includes a needle pick-and-place gripper 112 and a gripper fixing seat 170; the needle pick-and-place gripper 112 is connected to the gripper driving mechanism 171 and is disposed away from the filter needle gripper 111, and the needle pick-and-place gripper 112 is configured to be driven by the gripper driving mechanism 171 to grip the filter needle.

[0047] The gripper fixing seat 170 is movably connected to the support plate 180. The gripper drive mechanism 171 is disposed on the gripper fixing seat 170. One end of the gripper drive mechanism 171 is fixed to the gripper fixing seat 170, and the filter needle gripper 111 and the needle pick-and-place gripper 112 are respectively disposed on both sides of the other end of the gripper drive mechanism 171. One side of the support plate 180 is fixedly connected to the end of the push-pull fixing plate 130 away from the filter needle gripper 111, and the side of the support plate 180 near the filter needle gripper 111 is movably connected to the gripper fixing seat 170. The support plate 180 and the push-pull fixing plate 130 are fixed relative to each other. The filter needle gripper 111 and the needle pick-and-place gripper 112 are connected to the gripper drive mechanism 171. The gripper drive mechanism 171 is used to control the gripping and releasing actions of the two grippers, the filter needle gripper 111 and the needle pick-and-place gripper 112. The filter needle clamp 111 is used to hold and fix the filter needle tube, and works with the push-pull seat 120 to pull the piston of the filter needle tube to complete the filtration.

[0048] The filter needles to be used are placed on a dedicated filter needle support platform. The filter needles on this platform are typically densely packed. Furthermore, the filter needle grippers 111 are relatively large and have a push-pull seat 120 on top. If the automatic filtration device 100 directly retrieves the filter needles from the support platform using the grippers 111, it could easily cause interference and collisions with the densely packed needles. The advantage of providing a needle-retrieving gripper 112 is that it facilitates the automatic filtration device 100 in retrieving filter needles from the designated support platform. The gripping end of the needle-retrieving gripper 112 has two thin rods extending outwards, and its overall size is smaller than that of the filter needle grippers 111. A V-shaped groove is also formed at the end to limit the position of the filter needle. This structural design allows the needle-retrieving gripper 112 to accurately and firmly retrieve the filter needles from the support platform.

[0049] Furthermore, in some embodiments, the automatic filtration device 100 of this application further includes a buffer assembly 190, a buffer fixing plate 193, and a buffer guide rail (not shown). The buffer assembly 190 is connected to the gripper fixing seat 170 and the support plate 180 respectively. The buffer assembly 190 is configured to adjust the relative position of the gripper fixing seat 170 and the support plate 180 to buffer the force exerted by the filter needle gripper 111 on the gripper fixing seat 170. The buffer assembly 190 includes a buffer screw 191 and an elastic element 192. One end of the buffer screw 191 passes through the support plate 180 and is fixedly connected to the gripper fixing seat 170. The elastic element 192 is disposed between the support plate 180 and the gripper fixing seat 170.

[0050] Specifically, in this embodiment, a through hole is formed on the support plate 180, and a buffer screw 191 is disposed through the through hole. The nut and screw of the buffer screw 191 are respectively located on both sides of the support plate 180. The buffer screw 191 is movably connected to the support plate 180, and the screw is fixedly connected to the gripper fixing seat 170. An elastic element 192 is disposed between the support plate 180 and the gripper fixing seat 170 and is wound around the screw. The buffer assembly 190 plays a buffering and protective role when the gripper driving mechanism 171 is squeezed. The buffer fixing plate 193 is disposed on the side of the support plate 180 that is movably connected to the gripper fixing seat 170. The buffer guide rail is fixed on the buffer fixing plate 193, and the gripper fixing seat 170 is movably disposed on the buffer guide rail. When the gripper fixing seat 170 squeezes the buffer assembly 190, the gripper fixing seat 170 slides on the buffer guide rail. The buffer assembly 190 serves as a buffer and protector when personnel or robotic arms grip the automatic filtration device 100 to remove the filter head. During the process of gripping the filter needle to remove the filter head, the filter needle is pressed against the connecting gripper fixing seat 170, which in turn presses against the buffer assembly 190. When the pressure is too great, the elastic element 192 of the buffer assembly 190 contracts, and the gripper fixing seat 170 slides on the buffer guide rail. This allows the automatic filtration device 100 to release pressure when suddenly subjected to excessive pressure, preventing equipment damage and extending the service life of the automatic filtration device 100.

[0051] In this embodiment, the elastic element 192 is a buffer spring, which is wound around the buffer screw 191, and its two ends abut against the support plate 180 and the gripper fixing seat 170, respectively. In other embodiments, the elastic element 192 may also be a multi-segment bent elastic sheet or other elastic devices (such as rubber blocks, rubber sleeves, etc.). The buffer screw 191 passes through the elastic sheet, one end of which is fixed to the gripper fixing seat 170, and the other end of which movably abuts against the support plate 180; no specific limitation is made here.

[0052] The automatic filtration device 100 of this application also includes a robotic arm connector 194, which is located on the side of the support plate 180 away from the gripper fixing seat 170 and is used to connect with the male connector on the robotic arm. Specifically, before the automatic filtration device 100 performs filtration, a moving device, such as a robotic arm, is connected via the robotic arm connector 194. The robotic arm moves the automatic filtration device 100 to the filter needle placement area to clamp the filter needle, or moves the automatic filtration device 100 to the solution extraction area to extract the solution to be filtered.

[0053] Furthermore, in some embodiments, the clamping surface of the filter needle clamp 111 is formed with several serrations, which serve as anti-slip reinforcement when the filter needle clamp 111 clamps the filter needle. Specifically, the serrations prevent the filter needle from sliding on the filter needle clamp 111 when the piston of the push-pull seat 120 is driven to push and pull the filter needle. In other embodiments, anti-slip rubber or other anti-slip reinforcement structures can also be provided on the clamping surface of the filter needle clamp 111. It is understood that the above-mentioned anti-slip reinforcement structures can also be provided on the clamping surface of the needle pick-up and drop gripper 112, which is not specifically limited here.

[0054] In other embodiments, the clamping surface of the filter needle clamp 111 is arc-shaped or V-shaped. Specifically, the arc-shaped or V-shaped clamping surface has better compatibility with the filter needle tube when clamping the filter needle, a larger contact area with the filter needle, and increases the frictional force for clamping the filter needle, resulting in a more secure clamping of the filter needle.

[0055] Unlike existing technologies, this application proposes an automatic filtration device 100. The automatic filtration device 100 is equipped with a filter needle clamp 111, a push-pull seat 120, and a push-pull drive mechanism 160. The filter needle clamp 111 holds the filter needle, and the push-pull drive mechanism 160 drives the push-pull seat 120 to pull the piston of the filter needle to the tube opening to draw the solution into the filter needle. After connecting the filter head to the front end of the filter needle, the push-pull seat 120 pushes the piston of the filter needle to the bottom of the tube, so that the solution is squeezed out through the filter head, completing the filtration of the solution. The filtration process does not require the experimenter to pull the push-pull head of the filter needle, making the operation more labor-saving, reducing the workload of the experimenter, and improving the filtration efficiency.

[0056] A second aspect of this application provides an automatic filtration system. In one specific embodiment, the automatic filtration device of this application includes a robotic arm and the automatic filtration device described above; the robotic arm is connected to the automatic filtration device and is configured to drive the automatic filtration device to move. Specifically, the robotic arm is provided with a male connector; the automatic filtration device is the automatic filtration device described above; and a piston for automatically pulling the filter needle tube completes the filtration.

[0057] In this embodiment, the automatic filtration system further includes a processing unit connected to the robotic arm and the automatic filtration device. The processing unit is used to control the robotic arm to move the automatic filtration device to the filter needle storage area to clamp the filter needle, or to control the robotic arm to move the automatic filtration device to the filter container for automated filtration.

[0058] During filtration, the robotic arm connects to the female connector of the automatic filtration equipment via a male connector. After connection, the robotic arm moves the filter needle gripper of the automatic filtration equipment to hold the filter needle, while the locking part of the push-pull seat locks the push-pull head of the filter needle. The robotic arm moves the filter needle held by the automatic filtration equipment to the solution extraction point. The push-pull drive mechanism drives the push-pull seat to pull the piston of the filter needle to extract the solution. Then, the robotic arm moves the automatic filtration equipment so that the front end of the connected filter needle pierces the filter head. During the piercing process, the buffer component buffers the extrusion force to prevent excessive extrusion from damaging the equipment and extend the service life of the automated equipment. After the filter needle has drawn up the solution to be filtered, the push-pull drive mechanism drives the push-pull seat to push the piston of the filter needle, squeezing the solution through the filter head into the designated container, completing the filtration.

[0059] Furthermore, in some embodiments, the automatic filtration system also includes a filter head pick-and-place device, please refer to [reference needed]. Figure 3 , Figure 3 This is a schematic diagram of an embodiment of the automatic filtration equipment and filter head loading / unloading device in the automatic filtration system of this application. In a specific embodiment, the filter head loading / unloading device of this application includes a housing, a clamping block 203, and a clamping drive mechanism. It is used for loading and unloading filter heads with a specific structure. The filter head includes an inlet tube, a filter assembly, and an outlet tube connected in sequence. The diameter of the filter assembly is larger than the diameter of the inlet tube and the outlet tube.

[0060] The housing includes a top plate 201, with a limiting groove 202 formed on the side of the top plate 201 for limiting the inlet tube; a clamping block 203, movably disposed on one side of the top plate 201, configured to be driven to switch between a first position and a second position. In the first position, the clamping block limits the inlet tube within the limiting groove and clamps the filter assembly and the outlet tube between the clamping block and the top plate. In the second position, the filter head is released from between the clamping block and the top plate; and a clamping drive mechanism connected to the clamping block for driving the clamping block to switch between the first position and the second position.

[0061] Specifically, the filter head loading and unloading device of this application is used to assist experimental personnel in loading and unloading the filter head at the front end of the filter needle tube. A limiting groove 202 with a recessed edge is formed on the side of the top plate 201. The limiting groove 202 is semi-elliptical or semi-square in shape. The moving device moves the filter head along the side of the top plate 201. When the inlet tube of the filter head moves and is embedded in the groove of the limiting groove 202, the edge of the limiting groove 202 restricts the continued movement of the filter head, thus limiting the position of the filter head. When the inlet tube of the filter head is in the correct position on the top plate 201, the outlet tube of the filter head is aligned with the clamping block 203 movably disposed on one side of the top plate 201.

[0062] The first position and the second position are two locations at different distances from the top plate 201, perpendicular to the plane where the top plate 201 is located. The first position is closer to the top plate 201, and the second position is farther away from the top plate 201. The clamping block 203 is driven to move between the first position and the second position. When the inlet tube of the filter head is limited in the limiting slot 202, and the clamping block 203 is driven to the first position, the clamping block 203 and the top plate 201 work together to clamp the filter head. Then, the filter head fixed on the filter head picking device can be pierced with the filter needle tube, or the filter needle tube connected to the filter head can be pulled out to complete the loading and unloading operation of the filter needle tube filter head. After the filter head is removed, the clamping block 203 is driven to the second position, farther away from the top plate 201. At this time, the clamping block 203 and the top plate 201 no longer clamp the filter head, and the moving device can remove the filter head for recycling.

[0063] In a specific application scenario, after the automatic filtration equipment completes one filtration cycle, if the filter needle needs to be reused for the next filtration, the filter head at the front end of the filter needle must be removed. A robotic arm drives the automatic filtration equipment to move the filter head connected to the filter needle to the limiting slot 202. Then, the clamping block 203 is driven so that it and the top plate 201 work together to clamp the filter head. Subsequently, the robotic arm drives the automatic filtration equipment upwards, pulling the filter needle, which is clamped and fixed by the automatic filtration equipment, out of the filter head, separating the filter needle from the filter head. The filter head is then removed from the filter needle with the assistance of a filter head removal and placement device. Furthermore, after the filter head is removed from the filter needle, the robotic arm can again drive the automatic filtration equipment to move the filter needle to the solution extraction point to extract the solution, and then move it to the filter head removal and placement device to retrieve the previously removed filter head for the next filtration operation. This filtration process, including the removal of the filter head at the front end of the filter needle, can be repeated.

[0064] In another specific application scenario, after filtration is completed by an automatic filtration device, the used filter needles and filter heads need to be disposed of. A robotic arm drives the automatic filtration device to move the filter head connected to the filter needle to the limiting slot 202. The clamping block 203 is driven until it and the top plate 201 work together to clamp the filter head. Then, the filter needle gripper releases, and the robotic arm drives the automatic filtration device's push-pull seat to disengage from the filter needle's push-pull head, separating the filter needle gripper from the filter needle. Subsequently, the robotic arm moves the automatic filtration device so that the needle pick-and-place gripper picks up the needle. After the clamping block 203 is driven to release the clamped filter head, the needle pick-and-place gripper, holding the filter needle along with the filter head, discards it to the recycling point.

[0065] In some embodiments, the filter head picking and placing device of the automatic filtration system is provided with a needle storage mechanism. The needle storage mechanism is located on the side of the top plate 201 away from the limiting slot 202 and is used to temporarily store filter needles. After the needle picking and placing claws of the automatic filtration equipment clamp the filter needle from the filter needle carrier, the filter needle can be temporarily placed on the needle storage mechanism, waiting for the filter needle claws to pick it up.

[0066] Unlike existing technologies, this application proposes an automatic filtration system. This automatic filtration system includes the automatic filtration device and robotic arm described in the above embodiments. The robotic arm connects to the automatic filtration device via a male connector. After the robotic arm moves the automatic filtration device to grasp the filter needle, it moves to the point where the solution to be filtered is extracted. The automatic filtration device automatically pulls the piston of the filter needle to draw in the solution. The robotic arm drives the automatic filtration device to remove the filter head using a filter head pick-and-place device. Then, the automatic filtration device pushes the piston of the filter needle to expel the solution, completing the filtration process. The filtration process eliminates the need for manual operation of pushing and pulling the filter needle, making operation more labor-saving. Furthermore, when loading and unloading the filter head at the front end of the filter needle, it avoids contact with filter heads containing chemical residues, enhancing safety. This system automates the filtration operation, reduces the workload of laboratory personnel, and improves filtration efficiency.

[0067] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or principle transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic filtration device, characterized in that, include: The support assembly includes a support plate and a push-pull fixing plate, wherein the push-pull fixing plate is connected to the support plate; The gripper fixing seat is movably connected to the support plate; A gripper drive mechanism is connected to the gripper fixing seat; A filter needle clamp is connected to the clamp drive mechanism, and the filter needle clamp is configured to be driven by the clamp drive mechanism to clamp the filter needle. A push-pull drive mechanism is connected to the push-pull fixed plate; A push-pull seat, connected to the push-pull drive mechanism, is used to engage the push-pull head of the filter needle tube when the filter needle tube clamps the filter needle tube. The push-pull seat is configured to be driven to move by the push-pull drive mechanism so that the push-pull seat drives the push-pull head of the filter needle tube to move. A buffer assembly is connected to the gripper fixing seat and the support plate respectively. The buffer assembly is configured to adjust the relative position of the gripper fixing seat and the support plate to buffer the force exerted by the filter needle gripper on the gripper fixing seat. A buffer fixing plate is connected to the support plate; A buffer guide rail is disposed on the buffer fixing plate, and the gripper fixing seat is movably connected to the buffer guide rail. When the gripper fixing seat is displaced under the action of the buffer assembly, the gripper fixing seat slides along the buffer guide rail.

2. The automatic filtration device according to claim 1, characterized in that, The push-pull seat includes a main body and a locking part connected to the main body. The main body is connected to the push-pull drive mechanism. When the filter needle tube clamps the filter needle tube, the locking part engages with the push-pull head of the filter needle tube.

3. The automatic filtration device according to claim 2, characterized in that, The locking part includes a connecting part, a first blocking part, and a second blocking part. At least one of the connecting part, the first blocking part, and the second blocking part is connected to the main body. The first blocking part and the second blocking part are respectively connected to the two ends of the connecting part. The first blocking part, the connecting part, and the second blocking part form a U-shaped structure. At least a portion of the main body and the U-shaped structure form an accommodating space. The push-pull head of the filter needle enters the accommodating space through the opening of the U-shaped structure, so that the push-pull seat engages with the push-pull head of the filter needle.

4. The automatic filtration device according to claim 1, characterized in that, Also includes: A traction screw is connected to the push-pull drive mechanism and the push-pull seat respectively. The push-pull drive mechanism drives the traction screw to move, so that the traction screw drives the push-pull seat to move. A push-pull guide rail is fixed to the push-pull fixing plate, and a push-pull seat is movably disposed on the push-pull guide rail. When the traction screw drives the push-pull seat to move, the push-pull seat slides along the push-pull guide rail.

5. The automatic filtration device according to claim 1, characterized in that, Also includes: The needle pick-and-place gripper is connected to the gripper drive mechanism and is positioned away from the filter needle gripper. The needle pick-and-place gripper is configured to be driven by the gripper drive mechanism to grip the filter needle.

6. The automatic filtration device according to claim 1, characterized in that, The buffer assembly includes a buffer screw and an elastic element. One end of the buffer screw passes through the support plate and is fixedly connected to the gripper fixing seat. The elastic element is disposed between the support plate and the gripper fixing seat. The elastic element is a buffer spring, which is wound around the buffer screw, and the two ends of the buffer spring abut against the support plate and the clamp fixing seat, respectively.

7. The automatic filtration device according to claim 1, characterized in that, Also includes: The female connector of the robotic arm is located on the side of the support plate away from the gripper fixing seat, and is used to connect with the male connector on the robotic arm.

8. The automatic filtration device according to any one of claims 1-7, characterized in that, The clamping surface of the filter needle clamp is formed with several serrations, which play an anti-slip and reinforcing role when the filter needle clamp is holding the filter needle. The clamping surface is arc-shaped or V-shaped.

9. The automatic filtration device according to any one of claims 1-7, characterized in that, Also includes: A sensing device is provided on the filter needle clamp to sense whether a filter needle is placed on the filter needle clamp; A control device, connected to the push-pull drive mechanism and the sensing device, is used to control the push-pull drive mechanism to drive the push-pull base to move when the sensing device senses that the filter needle clamp is holding the filter needle.

10. An automatic filtration system, characterized in that, It includes a robotic arm and an automatic filtration device as described in any one of claims 1-9, wherein the robotic arm is connected to the automatic filtration device and is configured to move the automatic filtration device.

11. The automatic filtration system according to claim 10, characterized in that, Also includes: A filter head pick-and-place device is provided to assist in removing or installing the filter head at the front end of the filter needle tube on the automatic filtration equipment. The filter head includes an inlet tube, a filter assembly, and an outlet tube connected in sequence. The diameter of the filter assembly is larger than the diameters of the inlet tube and the outlet tube.

12. The automatic filtration system according to claim 11, characterized in that, The filter head pick-and-place device includes: The housing includes a top plate, and a limiting groove is formed on the side of the top plate for limiting the inlet column; A clamping block is movably disposed on one side of the top plate. The clamping block is configured to be driven to switch between a first position and a second position. In the first position, the clamping block confines the inlet tube column within the limiting slot and clamps the filter assembly and the outlet tube column between the clamping block and the top plate. In the second position, the filter head is released from between the clamping block and the top plate. A clamping drive mechanism is connected to the clamping block and is used to drive the clamping block to switch between the first position and the second position.

13. The automatic filtration system according to claim 12, characterized in that, The filter head pick-and-place device further includes: A needle storage mechanism is provided on the side of the top plate away from the limiting slot, and the needle storage mechanism is used to temporarily store the filter needle.

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