A high-throughput experimental test device based on an orbital seven-axis robotic arm

Abstract

The present invention relates to a high-throughput experimental test device based on an orbital seven-axis robotic arm, which includes a working platform, a slide rail provided on the working platform, a sliding base slidably connected to the slide rail, a six-axis robotic arm detachably connected to the sliding base, and a fixture or a connector detachably connected to the six-axis robotic arm; a multi-station electrochemical tester, an infrared spectroscopy detection component, and an electric pipetting component are provided on the top of the working platform. The present invention can drive the six-axis robotic arm to move through the slide rail and the sliding base. The test sample carriers placed in the multi-station electrochemical tester and the infrared spectroscopy detection component can be replaced through the six-axis robotic arm and the fixture connected thereto. The electric pipetting component can be clamped and fixed through the six-axis robotic arm and the connector connected thereto, and the electric pipetting component can be driven to move and change positions. It has a high degree of automation, reduces the manual workload, and is convenient to use.

Description

Technical Field

[0001] The present invention belongs to the technical field of experimental testing equipment, and particularly relates to a high-throughput experimental testing device based on an orbital seven-axis robotic arm. Background Art

[0002] With the development of technology, robotic arms have been widely used in various fields, such as manufacturing, healthcare, education, etc. However, existing experimental equipment, such as multi-electrochemical testers, infrared spectroscopy detectors, manual pipettes, etc., is mostly not convenient for replacing the test sample carriers placed in the electrochemical tester and infrared spectroscopy detector by a robotic arm. Manually replacing the test sample carriers placed in the electrochemical tester and infrared spectroscopy detector is cumbersome, highly repetitive, requires a large amount of manual work, takes up a lot of time of the staff, and is not very convenient to use.

[0003] For a manual pipette, there are also many problems. Specifically, it cannot automatically aspirate liquid based on the movement driven by a robotic arm and simulate the operation method of manually pressing the manual pipette to the first gear, pausing for a period of time (1 - 3 s), and then pressing to the second gear of the manual pipette to squeeze out all the remaining liquid after the remaining liquid has gathered, resulting in a decrease in the accuracy of the liquid volume during the pipetting process; there is also no structure for tightly fixing the connection between the pipette tip of the manual pipette and the disposable pipette tube, resulting in a weak sealing effect at the connection; moreover, there is no structure for cleaning the position of the manual pipette tip where it is connected to the disposable pipette tube. After each replacement of the disposable pipette tube, there is easily residual liquid stain on the manual pipette tip, thus forming liquid contamination and affecting the test results, etc. Summary of the Invention

[0004] The purpose of the present invention is to provide a high-throughput experimental testing device based on an orbital seven-axis robotic arm to solve the above problems, aiming at the prior art.

[0005] The present invention achieves the above purpose through the following technical solutions:

[0006] A high-throughput experimental testing device based on an orbital seven-axis robotic arm includes a working platform, a slide rail provided on the working platform, a sliding base slidably connected to the slide rail, a six-axis robotic arm detachably connected to the sliding base, and a fixture or connector detachably connected to the six-axis robotic arm.

[0007] A multi-station electrochemical tester, an infrared spectroscopy detection component, and an electric pipetting component are provided on the top of the working platform. The six-axis robotic arm replaces and places the test sample carriers in the multi-station electrochemical tester and the infrared spectroscopy detection component through the fixture connected thereto. The six-axis robotic arm clamps and fixes the electric pipetting component through the connector connected thereto and drives the electric pipetting component to move and change positions.

[0008] The electric pipetting assembly includes a manual pipette having a suction and discharge rod pressing part mounting plate, a tapping tube pressing part fixing plate, and a pipette tip, and a disposable pipette tube clamped to the pipette tip of the manual pipette;

[0009] It further includes a fixing assembly for fixing the manual pipette, a first pusher, a second pusher, a controller provided on the fixing assembly, and a pipette connection seat clamped and fixed to the connector. A pressure sensor is provided at the movable end of the first pusher. The controller controls the first pusher to move or pause the suction and discharge rod pressing part mounting plate according to the resistance detected by the pressure sensor on the suction and discharge rod pressing part mounting plate;

[0010] It further includes a pressing assembly for tightly fixing the connection between the pipette tip of the manual pipette and the disposable pipette tube, and a cleaning assembly for cleaning the pipette tip of the manual pipette after the disposable pipette tube is separated from the pipette tip of the manual pipette.

[0011] As a further optimized solution of the present invention, the multi-station electrochemical tester includes an electrochemical test base, a plurality of reaction cells provided on the top of the electrochemical test base and corresponding one by one, and telescopic members;

[0012] An electrode rod assembly is provided inside the reaction cell. A fixing bracket is provided on the top of the reaction cell. A photoelectric sensor is provided on the fixing bracket. A positioning plate is provided on the reaction cell between the photoelectric sensor and the telescopic member. An insertion slot is opened on the top of the reaction cell. The height of the positioning plate is lower than the height of the photoelectric sensor;

[0013] After the photoelectric sensor detects the signal that the carbon paper is inserted into the reaction cell, the telescopic member extends to press and fix the carbon paper on the positioning plate.

[0014] As a further optimized solution of the present invention, the infrared spectrum detection assembly includes a placement rack, a moving conversion member, an infrared spectrometer body, and a calcium fluoride window substrate. A support seat is provided inside the infrared spectrometer body;

[0015] The moving conversion member includes a support part and a clamping part connected to each other, a clamping groove, a clamping slot, a first fixing groove and a second fixing groove opened on the support part, an infrared spectrometer body, and a clamping ring gasket provided inside the clamping groove. The clamping slots are symmetrically provided on both sides of the clamping groove. The clamping ring gasket is used for clamping the calcium fluoride window substrate;

[0016] Mutually attracting accessories one are provided between the first fixing groove and the placement rack, and mutually attracting accessories two are provided between the second fixing groove of the infrared spectrometer body and the support seat.

[0017] As a further optimized solution of the present invention, a drying box is provided on the top of the placement rack. The drying box includes two protection plates and drying lamps provided on the protection plates;

[0018] There are prying slots opened at the tops of the two protective plates, and passing channels for the clamping parts to pass through are opened on the sides.

[0019] As a further optimized solution of the present invention, the fixing assembly includes a pipette fixing seat, a fastener and a temporary storage bracket provided on the pipette fixing seat, and the manual pipette is located between the pipette fixing seat, the fastener and the temporary storage bracket.

[0020] As a further optimized solution of the present invention, the pressing assembly includes a suction and discharge rod pressing part mounting plate provided on the pipette fixing seat or the fastener, a tapping tube pressing part fixing plate fixedly provided on the suction and discharge rod pressing part mounting plate, a third driving part, a push rod connected to the movable end of the third driving part, a push block connected to the end of the push rod away from the third driving part, two symmetrically arranged clamping parts both slidably connected to the tapping tube pressing part fixing plate, and a plurality of connecting rods rotatably connected to the push block and the clamping parts; the push rod penetrates through the tapping tube pressing part fixing plate and is slidably connected to the tapping tube pressing part fixing plate;

[0021] The (includes a connecting section and a clamping section connected to each other, and a storage groove is opened on the inner wall of the clamping section;

[0022] The cleaning assembly includes an inflatable airbag strip provided inside the storage groove, a liquid absorption pad provided on the outer surface of the inflatable airbag strip, a gas delivery tube detachably connected to the inflatable airbag strip, a pressing type inflator connected to the gas delivery tube, and a push plate provided on the push rod for pressing or pulling the pressing type inflator;

[0023] When the push rod extends and moves to drive the push plate to press the pressing type inflator, the inflatable airbag strip is inflated;

[0024] When the push rod retracts and moves to drive the push plate to pull the pressing type inflator, the gas inside the inflatable airbag strip is extracted.

[0025] As a further optimized solution of the present invention, the fixture includes a push-press type fixture and a carbon paper fixture, the connector includes a pipette connector, and cameras are provided on the push-press type fixture, the carbon paper fixture and the pipette connector.

[0026] As a further optimized solution of the present invention, the push-press type fixture includes a housing, a connecting plate provided on the front end face of the housing, moving rails symmetrically arranged up and down with respect to the connecting plate, two moving blocks respectively slidably connected to the two moving rails, two clamping heads respectively detachably connected to the two moving blocks, and a driving assembly for driving the two clamping heads to move towards or away from each other;

[0027] The driving assembly is any one of a gear type driving part and a chain type driving part.

[0028] The beneficial effects of the present invention are as follows:

[0029] The present invention can drive the six-axis robotic arm to move through the slide rail and the sliding base. The test sample carrier placed in the multi-station electrochemical tester and the infrared spectrum detection component can be replaced through the six-axis robotic arm and the fixture connected thereto. The electric pipetting component can be clamped and fixed through the six-axis robotic arm and the connector connected thereto and driven to move and change positions. The automation degree is high, the manual workload is reduced, and it is convenient to use;

[0030] The present invention can convert and move the position of the conversion part through the six-axis robotic arm and the push-type fixture connected thereto, install the calcium fluoride window substrate and the conversion part, close and open the two protective plates of the drying oven. The structural design of the infrared spectrum detection component enables all operations to be realized through the six-axis robotic arm and the push-type fixture connected thereto, which can greatly reduce the manual operation actions and has high convenience;

[0031] In the electric pipetting component of the present invention, when the resistance received by the pressing part of the liquid suction and discharge rod detected by the pressure sensor is within the target value range, the first pusher pauses first and then continues to extend, which can simulate the operation mode of manually pressing the pipette gun to the first gear, pausing for a period of time, waiting for the remaining liquid to gather, and then pressing the pipette gun to the second gear to press out all the remaining liquid, which can better discharge all the liquid, thereby realizing precise control of the pipetting volume and reducing the loss of liquid during the pipetting process.

[0032] In the electric pipetting component of the present invention, the third pusher retracts to drive the push rod and the push block to retract and move, and the two clamping parts are pulled to move towards each other through the connecting rod, so as to tightly fix the connection between the manual pipette gun tip and the disposable pipette tube through the closing of the two clamping parts, which can increase the connection stability between the manual pipette gun tip and the disposable pipette tube, making the disposable pipette tube not easy to loosen. The pressing type inflating part inflates the inflatable airbag strip under the pressing of the push plate. The inflation makes the inflatable airbag strip gradually expand and bulge, so that the liquid suction pad contacts the manual pipette gun tip, and the liquid stains on the manual pipette gun tip are adsorbed through the liquid suction pad to achieve the cleaning effect. Description of the Drawings

[0033] Figure 1 It is a schematic diagram of the overall structure of the working platform, slide rail, sliding base, six-axis robotic arm, and push-type fixture of the present invention.

[0034] Figure 2 It is a schematic diagram of the structure of the multi-station electrochemical tester placed on the working platform of the present invention.

[0035] Figure 3 It is a schematic diagram of the overall structure of the multi-station electrochemical tester of the storage box of the present invention.

[0036] Figure 4 It is a partial structural schematic diagram of the multi-station electrochemical tester of the present invention.

[0037] Figure 5 It is a partial structural schematic diagram of the multi-station electrochemical tester of the present invention.

[0038] Figure 6 It is a structural schematic diagram of placing an infrared spectrum detection component on the working platform of the present invention;

[0039] Figure 7 It is a structural schematic diagram of the infrared spectrum detection component of the present invention;

[0040] Figure 8 It is a structural schematic diagram of placing a mobile conversion part on the placement rack of the present invention;

[0041] Figure 9 It is an exploded view of the placement rack and the mobile conversion part of the present invention;

[0042] Figure 10 It is a structural schematic diagram of placing a mobile conversion part on the support base of the present invention;

[0043] Figure 11 It is a structural schematic diagram of the drying oven of the present invention (A. Side view; B. Stereogram; C. Side sectional view);

[0044] Figure 12 It is a structural schematic diagram of placing an electric pipetting component and a disposable pipette support frame on the working platform of the present invention;

[0045] Figure 13 It is a stereogram of the electric pipetting component of the present invention;

[0046] Figure 14 It is a bottom view of the electric pipetting component of the present invention;

[0047] Figure 15 It is a structural schematic diagram of the pressing component and the cleaning component of the electric pipetting component of the present invention (A. Front view; B. Top sectional view; C. Side sectional view of the clamping section);

[0048] Figure 16 It is an overall structural schematic diagram of the push-type clamp of the present invention;

[0049] Figure 17 It is a partial structural schematic diagram of the push-type clamp of the present invention.

[0050] In the figure: 1. Working platform; 2. Slide rail; 3. Sliding base; 4. Six-axis robotic arm;

[0051] 51. Pushing clamp; 511. Outer housing; 512. Connecting plate; 513. Moving rail; 514. Moving block; 515. Clamping head; 516. Gear drive; 517. Chain drive;

[0052] 52. Carbon paper clamp;

[0053] 53. Pipette connector;

[0054] 599. Camera;

[0055] 6. Multi-station electrochemical tester; 61. Electrochemical test base; 62. Reaction cell; 63. Electrode rod assembly; 64. Fixed bracket; 65. Photoelectric sensor; 66. Positioning plate; 67. Protective pad; 68. Telescopic member; 69. Carbon paper;

[0056] 7. Infrared spectroscopy detection component; 71. Placing rack; 72. Moving conversion member; 721. Support part; 722. Clamping part; 723. Clamping groove; 724. Clamping slot; 725. First fixing groove; 726. Second fixing groove; 73. Infrared spectrometer body; 74. Support base; 75. Calcium fluoride window substrate; 76. Clamping ring pad; 77. First adsorbing member; 78. Second adsorbing member; 79. Drying oven;

[0057] 9. Electric pipetting component; 91. Manual pipette; 911. Suction and discharge rod pressing part; 912. Tap tube pressing part; 92. Pipette fixing seat; 93. Fastener; 94. Temporary storage bracket; 95. First pushing member; 96. Pressure sensor; 97. Second pushing member; 98. Controller; 99. Pipette connecting seat; 911. Mounting plate; 912. Fixing plate; 913. Third pushing member; 914. Push rod; 915. Pushing block; 916. Clamping member; 9161. Connecting section; 9162. Clamping section; 917. Link rod; 918. Pushing plate; 919. Pressing type inflating member; 920. Placing groove; 921. Inflatable airbag strip; 922. Suction pad; 923. Gas delivery pipe;

[0058] 10. Disposable pipette support frame. Detailed implementation manners

[0059] The following further describes the present application in detail with reference to the drawings. It is necessary to point out here that the following detailed implementation manners are only used to further explain the present application and cannot be understood as limiting the protection scope of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application according to the above application content.

[0060] Example 1

[0061] As Figures 1-5As shown in the figure, a high-throughput experimental test device based on an orbital seven-axis robotic arm includes a working platform 1, a slide rail 2 provided on the working platform 1, a sliding base 3 slidably connected to the slide rail 2, a six-axis robotic arm 4 detachably connected to the sliding base 3, and a fixture detachably connected to the six-axis robotic arm 4;

[0062] A multi-station electrochemical tester 6 is provided on the top of the working platform 1. The six-axis robotic arm 4 replaces and places the test sample carrier placed in the multi-station electrochemical tester 6 through the fixture connected thereto.

[0063] Preferably, the multi-station electrochemical tester 6 includes an electrochemical test base 61, a number of reaction cells 62 provided on the top of the electrochemical test base 61 and corresponding one by one, and a telescopic member 68;

[0064] An electrode rod assembly 63 is provided inside the reaction cell 62. A fixed bracket 64 is provided on the top of the reaction cell 62. A photoelectric sensor 65 is provided on the fixed bracket 64. A positioning plate 66 is provided on the reaction cell 62 between the photoelectric sensor 65 and the telescopic member 68. An insertion slot is opened on the top of the reaction cell 62. The height of the positioning plate 66 is lower than the height of the photoelectric sensor 65;

[0065] After the photoelectric sensor 65 detects the signal that the carbon paper 69 is inserted into the reaction cell 62, the telescopic member 68 extends to press and fix the carbon paper 69 on the positioning plate 66.

[0066] Preferably, a protective pad 67 is laid on one side of the positioning plate 66 close to the telescopic member 68, which has a certain protective and buffering effect.

[0067] In this embodiment, the fixture is a carbon paper fixture 52, and a camera 599 is provided on the carbon paper fixture 52.

[0068] It should be noted that, in this embodiment, the test sample carrier is the carbon paper 69;

[0069] The electrode rod assembly 63 includes a cathode and an anode electrode rod;

[0070] The telescopic member 68 is an impact electromagnet or an electric push rod;

[0071] The photoelectric sensor 65 is selected as a photoelectric sensor of model WR-M12150N;

[0072] The multi-station electrochemical tester 6 further includes a timer, an ammeter, and a voltmeter. The current is measured by the ammeter, the voltage is measured by the voltmeter, and the timing is performed by the timer. These are all prior arts and will not be elaborated here;

[0073] The electrochemical test base 61 further includes a bottom support base, a power supply component, a boat-shaped switch, a power socket, a network cable interface, and a USB interface. These are all prior arts and will not be elaborated here.

[0074] When in use, place the multi-station electrochemical tester 6 on the top of the working platform 1. Drive the six-axis robotic arm 4 to move through the slide rail 2 and the sliding base 3 to adjust the position of the six-axis robotic arm 4. The carbon paper clamp 52 connected to the six-axis robotic arm 4 can hold the carbon paper 69. Take pictures of the environment around the push-type clamp 51 through the camera 599. Then drive the carbon paper clamp 52 and the carbon paper 69 to move through the six-axis robotic arm 4 to align the carbon paper 69 with the insertion slot at the top of the reaction cell 62. When the photoelectric sensor 65 detects the signal that the carbon paper 69 is inserted into the reaction cell 62, the telescopic member 68 will start to work and press the carbon paper 69 against the positioning plate 66 to form a fixing effect on the multi-station electrochemical tester 6. Then start the electrode rod assembly 63 to work to detect the sample to be tested. After the test, when the photoelectric sensor 65 detects that the carbon paper clamp 52 holds the carbon paper 69, at this time, the telescopic member 68 retracts to release the carbon paper 69, and then the carbon paper 69 can be extracted from the reaction cell 62 through the carbon paper clamp 52 and moved to other positions.

[0075] Furthermore, an extrusion plate is provided at the telescopic end of the telescopic member 68; by controlling the retraction length of the telescopic member 68, a gap can be left between the protective pad 67 and the extrusion plate that allows the multi-station electrochemical tester 6 to be withdrawn and also has a certain squeezing effect on the electric pipetting component 9. Thus, the carbon paper 69 is extruded with liquid through the positioning plate 66, the protective pad 67, and the extrusion plate, avoiding excessive liquid dripping everywhere when the carbon paper 69 is removed.

[0076] Embodiment 2

[0077] As Figure 1 、 Figures 6-11 、 Figure 16 、 Figure 17 shown, a high-throughput experimental test device based on an orbital seven-axis robotic arm includes a working platform 1, a slide rail 2 provided on the working platform 1, a sliding base 3 slidably connected to the slide rail 2, a six-axis robotic arm 4 detachably connected to the sliding base 3, and a clamp detachably connected to the six-axis robotic arm 4;

[0078] An infrared spectrum detection component 7 is provided on the top of the working platform 1, and the six-axis robotic arm 4 replaces the test sample carrier placed in the infrared spectrum detection component 7 through the clamp connected thereto.

[0079] The infrared spectrum detection component 7 includes a placement rack 71, a moving conversion member 72, an infrared spectrometer body 73, and a calcium fluoride window substrate 75. A support seat 74 is provided inside the infrared spectrometer body 73;

[0080] The mobile conversion member 72 includes a supporting portion 721 and a clamping portion 722 connected to each other, a clamping groove 723, a clamping groove 724, a fixing groove 1 725 and a fixing groove 2 726 provided on the supporting portion 721, and a clamping ring gasket 76 provided inside the clamping groove 723. The clamping groove 724 is symmetrically provided on both sides of the clamping groove 723. The clamping ring gasket 76 is used for clamping the calcium fluoride window substrate 75.

[0081] The fixing groove 1 725 and the placement rack 71 are provided with a suction member 1 77 that attracts each other, and the fixing groove 2 726 and the support seat 74 are provided with a suction member 2 78 that attracts each other.

[0082] It should be noted that, in this embodiment, the first adsorption member 77 and the second adsorption member 78 are both magnets;

[0083] In this embodiment, the infrared spectrometer body 73 is a Fourier transform infrared spectrometer.

[0084] A drying box 79 is provided on the top of the placement rack 71, and the drying box 79 includes two protective plates and a drying lamp provided on the protective plates;

[0085] In this embodiment, the two protection plates are mutually clamped, and the protection plates are hinged to the working platform 1 .

[0086] The two protective plates are provided with a push-out groove on the top and a pass-through channel for the clamping portion 722 to pass through on the side.

[0087] The clamp is a push-type clamp 51, which includes an outer shell 511, a connecting plate 512 arranged on the front end surface of the outer shell 511, a moving rail 513 symmetrically arranged with the connecting plate 512, two moving blocks 514 respectively connected to the two moving rails 513 in a sliding manner, two clamping heads 515 respectively connected to the two moving blocks 514 in a detachable manner, and a driving component for driving the two clamping heads 515 to move toward or away from each other;

[0088] The driving component is any one of a gear-type driving component 516 and a chain-type driving component 517 .

[0089] It should be noted that the two clamping heads 515 move toward each other to clamp the test object carrier, and the two clamping heads 515 move away from each other to release the test object carrier.

[0090] In this embodiment, the movable conversion member 72 is a test article carrier.

[0091] Preferably, the gear drive member 516 includes a first servo motor, a first rotating shaft connected to the output shaft of the first servo motor, a gear sleeved on the first rotating shaft, and two toothed plates respectively disposed on opposite sides of the two moving blocks 514. The first rotating shaft is rotatably connected to the outer housing 511 and the connecting plate 512, and the gear meshes with the two toothed plates.

[0092] Preferably, the chain drive member 517 includes two second rotating shafts rotatably connected to the outer housing 511 and the connecting plate 512, two sprockets respectively sleeved on the two rotating shafts, a chain disposed on the two sprockets, two mounting seats respectively disposed on opposite sides of the two moving blocks 514, and a second servo motor connected to one of the second rotating shafts. The mounting seats are fixedly disposed on the chain.

[0093] During use, the infrared spectrum detection assembly 7 is placed on the top of the working platform 1, and the six-axis robotic arm 4 is driven to move through the slide rail 2 and the sliding base 3 to adjust the position of the six-axis robotic arm 4. The clamping groove 724 facilitates the clamping, removal, or placement of the calcium fluoride window substrate 75 with the calcium fluoride window by the push-type clamp 51. The sample to be tested is dropped on the calcium fluoride window, and the calcium fluoride window substrate 75 is used to place the calcium fluoride window.

[0094] The push-type clamp 51 connected to the six-axis robotic arm 4 can clamp the clamping portion 722. First, the moving conversion member 72 is placed on the placement rack 71, and then it is clamped outside the two protective plates of the drying oven 79 by the clamping head 515. Then, the clamping heads 515 move towards each other, so as to combine the two protective plates of the drying oven 79 together. After the sample to be tested is dried, the push-type clamp 51 extends into the separating groove of the drying oven 79 to separate the two protective plates of the drying oven 79 by pushing. Then, the push-type clamp 51 clamps the clamping portion 722 to move the moving conversion member 72 and insert it into the support base 74. After the infrared spectrum of the sample to be tested is detected, the push-type clamp 51 clamps the clamping portion 722 to extract the moving conversion member 72 from the support base 74 and move it to other positions.

[0095] It should be noted that when the previous moving conversion member 72 with the sample to be tested is placed in the support base 74 for infrared spectrum detection, the push-type clamp 51 can perform operations such as the installation of the next calcium fluoride window substrate 75 and the moving conversion member 72, the transfer of the moving conversion member 72, and drying.

[0096] Embodiment 3

[0097] As Figure 1 、 Figures 12-15As shown in the figure, a high-throughput experimental test device based on an orbital seven-axis robotic arm includes a working platform 1, a slide rail 2 provided on the working platform 1, a sliding base 3 slidably connected to the slide rail 2, a six-axis robotic arm 4 detachably connected to the sliding base 3, and a connector detachably connected to the six-axis robotic arm 4;

[0098] The connector is a pipette connector 53;

[0099] An electric pipetting assembly 9 is provided at the top of the working platform 1. The six-axis robotic arm 4 clamps and fixes the electric pipetting assembly 9 through the connector connected thereto and drives the electric pipetting assembly 9 to move and change positions;

[0100] The electric pipetting assembly 9 includes a manual pipette 91 having a suction and discharge rod pressing part mounting plate 911, a tap tube pressing part fixing plate 912, and a pipette tip, and a disposable pipette tube snap-connected to the pipette tip of the manual pipette 91;

[0101] It further includes a fixing component for fixing the manual pipette 91, a first pusher 95, a second pusher 97, a controller 98 provided on the fixing component, and a pipette connector seat 99 snap-connected and fixed to the connector. A pressure sensor 96 is provided at the movable end of the first pusher 95. The controller 98 controls the first pusher 95 to push the suction and discharge rod pressing part mounting plate 911 to move or pause according to the resistance detected by the pressure sensor 96 on the suction and discharge rod pressing part mounting plate 911;

[0102] It further includes a pressing component for tightly fixing the connection between the pipette tip of the manual pipette 91 and the disposable pipette tube, and a cleaning component for cleaning the pipette tip of the manual pipette 91 after the disposable pipette tube is separated from the pipette tip of the manual pipette 91.

[0103] The fixing component includes a pipette fixing seat 92, a fastener 93 provided on the pipette fixing seat 92, and a temporary storage bracket 94. The manual pipette 91 is located between the pipette fixing seat 92, the fastener 93, and the temporary storage bracket 94.

[0104] The pressing component includes a suction and discharge rod pressing part mounting plate 911 provided on the pipette fixing seat 92 or the fastener 93, a tap tube pressing part fixing plate 912 fixedly provided on the suction and discharge rod pressing part mounting plate 911, a third pusher 913, a push rod 914 connected to the movable end of the third pusher 913, a push block 915 connected to the end of the push rod 914 away from the third pusher 913, two symmetrically arranged clamping members 916 both slidably connected to the tap tube pressing part fixing plate 912, and a plurality of connecting rods 917 rotatably connected to the push block 915 and the clamping members 916. The push rod 914 penetrates through the tap tube pressing part fixing plate 912 and is slidably connected to the tap tube pressing part fixing plate 912;

[0105] The clamping member 916 includes a connecting section 9161 and a clamping section 9162 which are connected to each other. A storage groove 920 is formed on the inner wall of the clamping section 9162.

[0106] The cleaning assembly includes an inflatable airbag strip 921 disposed inside the storage groove 920, a liquid absorption pad 922 disposed on the outer surface of the inflatable airbag strip 921, a gas delivery pipe 923 detachably connected to the inflatable airbag strip 921, a push-type inflator 919 connected to the gas delivery pipe 923, and a push plate 918 disposed on the push rod 914 for pressing or pulling the push-type inflator 919.

[0107] In this embodiment, the push-type inflator 919 includes an outer cylinder, a piston disposed inside the outer cylinder and fitting with the inner wall of the outer cylinder, and a piston rod connected to the piston and extending out of the outer cylinder. Among them, the push plate 918 is fixedly connected to the piston rod, and the outer cylinder is fixedly connected to the tap tube pressing part fixing plate 912.

[0108] When the push rod 914 extends and moves to drive the push plate 918 to press the piston rod of the push-type inflator 919, the inflatable airbag strip 921 is inflated.

[0109] After inflation, the inflatable airbag strip 921 expands, and the liquid absorption pad 922 contacts the tip of the manual pipette 91 to adsorb the liquid stain on the tip of the manual pipette 91.

[0110] When the push rod 914 retracts and moves to drive the push plate 918 to pull the piston rod of the push-type inflator 919, the gas inside the inflatable airbag strip 921 is extracted.

[0111] After air extraction, the inflatable airbag strip 921 collapses, and the two clamping sections 9162 press the disposable pipette tightly against the tip of the electric pipetting assembly 9. The inflatable airbag strip 921 and the liquid absorption pad 922 play a role in enhancing the sealing performance between the clamping section 9162 and the disposable pipette.

[0112] When the third pusher 913 extends, it drives the push rod 914 to move away from the tap tube pressing part fixing plate 912, so as to drive the two clamping members 916 to move away from each other through the push rod 914, the push block 915, and the connecting rod 917. At this time, the push plate 918 presses the piston rod of the push-type inflator 919.

[0113] When the third pusher 913 retracts, it drives the push rod 914 to move closer to the tap tube pressing part fixing plate 912, so as to drive the two clamping members 916 to move towards each other through the push rod 914, the push block 915, and the connecting rod 917. At this time, the push plate 918 pulls the piston rod of the push-type inflator 919.

[0114] It should be noted that in this embodiment, a disposable pipette support frame 10 is further placed on the top of the working platform 1, and a number of disposable pipettes are placed on the disposable pipette support frame 10;

[0115] The first pusher 95, the second pusher 97, and the third pusher 913 are all electric push rods.

[0116] During use, the electric pipetting assembly 9 is placed on the top of the working platform 1. The six-axis robotic arm 4 is driven to move through the slide rail 2 and the sliding base 3 to adjust the position of the six-axis robotic arm 4. The pipette connector 53 and the pipette connection seat 99 are clamped, so that the pipette fixing seat 92 is fixedly connected to the six-axis robotic arm 4. Thus, the six-axis robotic arm 4 drives the manual pipette 91 and the pipette fixing seat 92 to move together;

[0117] First, drive the manual pipette 91 to move until the tip of the manual pipette 91 is aligned with one of the disposable pipettes, and move downward to make the disposable pipette clamped on the tip of the electric pipetting assembly 9; then drive the manual pipette 91 to move until the tip of the manual pipette 91 is aligned with the test sample storage bottle, and push the suction and discharge rod pressing part mounting plate 911 to move by the first pusher 95, so as to aspirate the test sample; drive the manual pipette 91 to move until the tip of the manual pipette 91 is aligned with the test sample dispensing bottle, and push the suction and discharge rod pressing part mounting plate 911 to move by the first pusher 95. The pressure sensor 96 detects the resistance received by the suction and discharge rod pressing part mounting plate 911. When the resistance is within the target value range, the first pusher 95 pauses first and then continues to extend, simulating manual operation;

[0118] It should be noted that the target value range of the received resistance is set according to the actual situation;

[0119] Drive the manual pipette 91 to move to the position for removing the disposable pipette. The pressing component opens, and the second pusher 97 extends to push the tap tube pressing part fixing plate 912 to move towards the tip of the manual pipette 91, so as to push off the disposable pipette clamped on the tip of the manual pipette 91 and separate it from the tip of the manual pipette 91. Among them, after the pressing component opens, the liquid stain on the tip of the manual pipette 91 is cleaned by the cleaning component, that is, the liquid stain on the tip of the manual pipette 91 is adsorbed by the liquid absorption pad 922.

[0120] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A high-throughput experimental test device based on a track-type seven-axis robotic arm, characterized in that: It comprises a working platform (1), a slide rail (2) arranged on the working platform (1), a sliding base (3) slidably connected to the slide rail (2), a six-axis mechanical arm (4) detachably connected to the sliding base (3), and a clamp or a connector detachably connected to the six-axis mechanical arm (4); The top of the working platform (1) is provided with a multi-station electrochemical tester (6), an infrared spectrum detection component (7), and an electric liquid transfer component (9); the six-axis mechanical arm (4) replaces the test sample carrier placed in the multi-station electrochemical tester (6) and the infrared spectrum detection component (7) through the fixture connected thereto; the six-axis mechanical arm (4) fixes the electric liquid transfer component (9) through the connector connected thereto and drives the electric liquid transfer component (9) to move and change its position; The infrared spectrum detection assembly (7) comprises a placement frame (71), a movable conversion member (72), an infrared spectrometer body (73), and a calcium fluoride window substrate (75); a support seat (74) is provided inside the infrared spectrometer body (73); The mobile conversion member (72) comprises a supporting portion (721) and a clamping portion (722) connected to each other, a clamping groove (723) provided on the supporting portion (721), a clamping groove (724), a first fixing groove (725) and a second fixing groove (726), and a clamping ring gasket (76) provided inside the clamping groove (723), wherein the clamping groove (724) is symmetrically provided on both sides of the clamping groove (723), and the clamping ring gasket (76) is used for clamping the calcium fluoride window substrate (75); The first fixing groove (725) and the placement rack (71) are provided with a first adsorption member (77) that attracts each other, and the second fixing groove (726) and the support seat (74) are provided with a second adsorption member (78) that attracts each other; The electric liquid transfer assembly (9) comprises a manual liquid transfer gun (91) having a suction head, and a disposable liquid transfer tube that is clamped to the suction head of the manual liquid transfer gun (91); It also includes a fixing assembly for fixing a manual liquid transfer gun (91), a pusher member 1 (95) and a pusher member 2 (97) arranged on the fixing assembly, a controller (98), and a liquid transfer gun connecting seat (99) fixedly connected to the connecting head, wherein a pressure sensor (96) is provided at the movable end of the pusher member 1 (95).

2. A high-throughput experimental testing device based on a track-type seven-axis robotic arm according to claim 1, characterized in that: The multi-station electrochemical tester (6) comprises an electrochemical test base (61), a plurality of reaction cells (62) and a telescopic member (68) arranged on the top of the electrochemical test base (61) and corresponding to each other. An electrode rod assembly (63) is provided inside the reaction pool (62); a fixing bracket (64) is provided on the top of the reaction pool (62); a photoelectric sensor (65) is provided on the fixing bracket (64); a positioning plate (66) is provided on the reaction pool (62) between the photoelectric sensor (65) and the telescopic member (68); an insertion slot is provided on the top of the reaction pool (62); and the height of the positioning plate (66) is lower than the height of the photoelectric sensor (65); After the photoelectric sensor (65) detects a signal that the carbon paper (69) is inserted into the reaction pool (62), the telescopic member (68) is extended to press and fix the carbon paper (69) onto the positioning plate (66).

3. The high-throughput experimental testing device based on a track-type seven-axis robotic arm according to claim 1, characterized in that: A drying box (79) is provided on the top of the placement rack (71), and the drying box (79) comprises two protective plates and a drying lamp provided on the protective plates; The two protection plates are provided with a push-open groove on the top and a pass-through channel for the clamping portion (722) to pass through on the side.

4. The high-throughput experimental testing device based on a track-type seven-axis robotic arm according to claim 1, characterized in that: The fixing assembly comprises a pipette fixing seat (92), a fastener (93) provided on the pipette fixing seat (92), and a temporary storage bracket (94); the manual pipette (91) is located between the pipette fixing seat (92), the fastener (93), and the temporary storage bracket (94).

5. A high-throughput experimental testing device based on a track-type seven-axis robotic arm according to claim 4, characterized in that: It also includes a pressing component for pressing and fixing the connection between the manual pipette tip (91) and the disposable pipette, and a cleaning component for cleaning the manual pipette tip (91) after the disposable pipette is separated from the manual pipette tip (91); The clamping assembly comprises a suction and discharge rod pressing portion mounting plate (911) arranged on a pipette fixing seat (92) or a fastener (93), a tap tube pressing portion fixing plate (912) and a pusher member 3 (913) fixedly arranged on the suction and discharge rod pressing portion mounting plate (911), a push rod (914) connected to a movable end of the pusher member 3 (913), a push block (915) connected to an end of the push rod (914) away from the pusher member 3 (913), two clamping members (916) symmetrically arranged and both slidably connected to the tap tube pressing portion fixing plate (912), and a plurality of connecting rods (917) rotatably connected to the push block (915) and the clamping member (916); the push rod (914) passes through the tap tube pressing portion fixing plate (912) and is slidably connected to the tap tube pressing portion fixing plate (912); The clamping member (916) comprises a connecting section (9161) and a clamping section (9162) which are connected to each other, and a storage groove (920) is provided on the inner wall of the clamping section (9162); The cleaning component comprises an inflatable airbag strip (921) disposed inside the storage groove (920), a liquid absorbing pad (922) disposed on the outer surface of the inflatable airbag strip (921), a gas delivery tube (923) detachably connected to the inflatable airbag strip (921), a push-type inflatable member (919) connected to the gas delivery tube (923), and a push plate (918) disposed on the push rod (914) for pressing or pulling the push-type inflatable member (919); When the push rod (914) extends and moves to drive the push plate (918) to press the push-type inflatable member (919), the inflatable airbag strip (921) is inflated; When the push rod (914) retracts and moves to drive the push plate (918) to pull the press-type inflatable member (919), gas inside the inflatable airbag strip (921) is extracted.

6. A high-throughput experimental testing device based on a track-type seven-axis robotic arm according to claim 5, characterized in that: The controller (98) controls the pusher member 1 (95) to push the suction and discharge rod pressing portion mounting plate (911) to move or pause according to the resistance experienced by the suction and discharge rod pressing portion mounting plate (911) detected by the pressure sensor (96).

7. The high-throughput experimental testing device based on a track-type seven-axis robotic arm according to claim 1, characterized in that: The clamp comprises a push-type clamp (51) and a carbon paper clamp (52); the connector comprises a pipette connector (53); and cameras (599) are provided on the push-type clamp (51), the carbon paper clamp (52) and the pipette connector (53).

8. The high-throughput experimental testing device based on a track-type seven-axis robotic arm according to claim 7, characterized in that: The push-type clamp (51) comprises an outer shell (511), a connecting plate (512) arranged on the front end surface of the outer shell (511), a moving rail (513) symmetrically arranged with the connecting plate (512) up and down, two moving blocks (514) respectively slidably connected to the two moving rails (513), two clamping heads (515) respectively detachably connected to the two moving blocks (514), and a driving component for driving the two clamping heads (515) to move toward or away from each other; The driving component is any one of a gear-type driving component (516) and a chain-type driving component (517).

Images