A mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip and a method for using the same

Abstract

The present invention relates to the field of mechanical arm technology, and in particular to a mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip and a method of using the mechanical arm. It comprises a support seat, a first receiving slot is provided on the top of the support seat; a pre-embedded mechanical arm mechanism is provided on the bottom inner wall of the first receiving slot; and a container support block is provided at the edge of one side of the top of the support seat. The present invention controls the rotating seat, the telescopic arm, the first folding arm and the second folding arm to drive the pre-embedded execution component to move to the corresponding position, and then controls the freeze-dried ball loading module to take out the freeze-dried balls from the eight-row tube and concentrate them, and then controls the freeze-dried ball grabbing module to adsorb several groups of freeze-dried balls at one time, and then controls the freeze-dried ball grabbing module to place several groups of freeze-dried balls in the placement cavity on the microfluidic chip, thereby avoiding the problem of easy errors and low efficiency in manual placement of freeze-dried balls, and improving the efficiency and quality of freeze-dried ball pre-embedding work.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical arms, and in particular relates to a mechanical arm for pre-embedding freeze-dried balls of a microfluidic chip and a use method thereof. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration.

[0003] After searching, in the prior art, Chinese patent announcement number: CN117718950B, announcement date: 2024.04.12, discloses a multi-degree-of-freedom automatic grasping robot arm mechanism for plastic cup production, involving the technical field related to the robot arm, including a mechanical mounting seat, an axis adjustment component, a hydraulic cylinder, a deflection adjustment mechanism, a hydraulic rotation component and a cylinder clamp, the top of the mechanical mounting seat is installed with an axis adjustment component, the inner center of the axis adjustment component is installed with a hydraulic cylinder, the output end of the hydraulic cylinder extends to the outside of the axis adjustment component and is connected to the deflection adjustment mechanism; in this invention, when grasping and subsequently finishing the product, multi-degree-of-freedom adjustment can be achieved respectively, so as to improve the accuracy of the product processing, and at the same time, when meeting the requirements of fine processing of the product, the stability during actual operation is improved, the mechanical fatigue of the deflection arm and the eccentric cam during operation is reduced, and the safety of the product during production and processing is improved.

[0004] However, the robot still has the following defects:

[0005] In the production process of microfluidic chips, freeze-dried balls are often pre-embedded. In order to avoid damage to the freeze-dried balls, the freeze-dried balls are usually stored separately. The storage container has eight rows of tubes, etc., and the existing robotic arms and end-effectors cannot complete the process from picking up to placing the freeze-dried balls. Therefore, the freeze-dried balls are mostly placed manually in the placement cavity on the microfluidic chip, which reduces the pre-embedding efficiency and quality of the freeze-dried balls. Summary of the invention

[0006] In view of the above problems, the present invention provides a mechanical arm for pre-embedding freeze-dried balls of a microfluidic chip, comprising a support seat, a first receiving groove is provided on the top of the support seat; a pre-embedded mechanical arm mechanism is provided on the bottom inner wall of the first receiving groove; a container support block is provided at one side edge of the top of the support seat;

[0007] The embedded manipulator mechanism comprises a rotating seat; the rotating seat is mounted on the bottom inner wall of the first receiving slot; a telescopic arm is provided on the top of the rotating seat; a first folding arm is provided at one end of the telescopic arm away from the rotating seat; a second folding arm is provided at one end of the first folding arm away from the telescopic arm; an embedded actuator is provided at one end of the second folding arm away from the first folding arm;

[0008] The pre-buried execution component includes a freeze-dried ball grabbing module and a freeze-dried ball feeding module;

[0009] The freeze-dried ball loading module is controlled to take out and concentrate the freeze-dried balls in the eight-row tube, and then the freeze-dried ball grabbing module is controlled to accurately grab the freeze-dried balls.

[0010] Furthermore, a second receiving groove is provided on the top of the support seat; the second receiving groove is connected to the first receiving groove; a lifting groove is provided at the bottom of the second receiving groove; a lifting column is movably penetrated in the lifting groove; a rotating disk is provided on the top of the lifting column; a plurality of groups of chip clamping modules are distributed in a circular array on the top of the rotating disk; a plurality of groups of first electric push rods are provided in the support seat; the output ends of the plurality of first electric push rods are transmission-connected to the lifting column; a protective cover is provided at one side edge of the top of the support seat.

[0011] Furthermore, an air duct is movably inserted into the inner wall of the first receiving groove on the side away from the container support block; the air duct is connected to the vacuum pump; an exhaust hole is opened on the outer wall of the air duct; a support ring is sleeved on the outer wall of the air duct; a return spring is provided on one side wall of the support ring; the return spring is movably sleeved on the outer wall of the air duct, and one end away from the support ring is connected to the inner wall of the corresponding side of the first receiving groove.

[0012] Furthermore, the freeze-dried ball grabbing module is installed on one end of the second folding arm away from the first folding arm; the freeze-dried ball loading module is installed on a side wall of the freeze-dried ball grabbing module close to the second folding arm; a vacuum pump is provided on the bottom inner wall of the first storage groove; and the freeze-dried ball grabbing module is connected to the output end of the vacuum pump.

[0013] Furthermore, the freeze-dried ball grabbing module includes a fixed plate; a turntable is provided at the bottom of the fixed plate; a plurality of groups of telescopic tubes are distributed in a circular array and are movable through the bottom of the turntable; a group of vacuum suction cups is provided at the bottom of each group of telescopic tubes; and a positioning camera is provided at the bottom center of the turntable.

[0014] Furthermore, a plurality of electric slides are arranged in a circular array on the side wall of the turntable; the output end of each group of the electric slides is transmission-connected to a corresponding group of telescopic tubes; a first air cavity is arranged in the fixed disk; the first air cavity is connected to the output end of the vacuum pump; a second air cavity is arranged in the turntable; the second air cavity is connected to the first air cavity, and is also connected to a plurality of groups of telescopic tubes.

[0015] Furthermore, the freeze-dried ball loading module includes a mounting frame; the mounting frame is mounted on the top of the fixed plate; and a freeze-dried ball concentrating plate is provided at the bottom of the mounting frame.

[0016] Furthermore, two groups of third electric push rods are symmetrically provided at the edges of both sides of the mounting frame; a group of connecting springs are transmission-connected to the output end of each group of the third electric push rods; a clamp is transmission-connected to one end of the two groups of connecting springs away from the mounting frame; and an exciter is provided on the top of the clamp.

[0017] Furthermore, two groups of fourth electric push rods are transmission-connected to the output end of the clamp; two groups of flip motors are symmetrically transmission-connected to the output ends of the two groups of fourth electric push rods; and a group of clamping blocks are transmission-connected to the output end of each group of flip motors.

[0018] A method for using a mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip, the method comprising:

[0019] Place several groups of eight tubes in a row storing freeze-dried spheres on top of the container support block;

[0020] Control the embedded manipulator mechanism to move to the corresponding position;

[0021] Control the freeze-dried ball loading module to take out and collect the freeze-dried balls in several groups of eight-row tubes;

[0022] Controlling the freeze-dried ball grabbing module to grab multiple groups of freeze-dried balls at one time;

[0023] Controlling the freeze-dried ball grabbing module to place the multiple groups of freeze-dried balls in the placement chambers of the microfluidic chip respectively;

[0024] Complete the placement of freeze-dried balls in the freeze-dried ball pre-embedding.

[0025] The beneficial effects of the present invention are:

[0026] 1. By controlling the rotating seat, the telescopic arm, the first folding arm and the second folding arm, the embedded execution component is driven to move to the corresponding position, and then the freeze-dried ball loading module is controlled to take the freeze-dried balls out of the eight-row tube and concentrate them, and then the freeze-dried ball grabbing module is controlled to adsorb several groups of freeze-dried balls at one time, and then the freeze-dried ball grabbing module is controlled to place several groups of freeze-dried balls in the placement cavity on the microfluidic chip, thereby avoiding the problem of errors and low efficiency caused by manual placement of freeze-dried balls, and improving the efficiency and quality of freeze-dried ball pre-embedding work.

[0027] 2. Control the embedded manipulator mechanism to fold and store it into the first storage slot, then control the protective cover to close the first storage slot and the second storage slot, and then control the vacuum pump to start, and discharge the air through the exhaust holes on the air duct to the outside of the support seat. When the robot arm is in use, the protective cover will contact one end of the air duct, so that the exhaust holes are transferred to the first storage slot, and the air will be discharged into the first storage slot through the exhaust holes, so that positive air pressure is formed in the first storage slot, avoiding dust and impurities in the air from entering the first storage slot, which not only improves the protection effect of the robot arm, but also improves the service life of the robot arm.

[0028] 3. By controlling the turntable to drive several groups of vacuum suction cups to rotate, the freeze-dried balls concentrated in the freeze-dried ball loading module are adsorbed in turn, and then the freeze-dried ball grabbing module is controlled to place several groups of freeze-dried balls in the placement cavities on several groups of microfluidic chips in turn. The freeze-dried ball grabbing module adsorbs multiple groups of freeze-dried balls at one time, avoiding multiple grabbing of freeze-dried balls for placement, further improving the pre-embedding efficiency of the freeze-dried balls, and when a group of vacuum suction cups fails and cannot be used, the other vacuum suction cups can still perform the pre-embedding placement of the freeze-dried balls, ensuring the continuity of the pre-embedding work of the freeze-dried balls.

[0029] 4. Control the clamp to move horizontally, and then control the two groups of clamps to descend and clamp the two sides of the eight-row tube, tilt the opening of the eight-row tube toward the freeze-dried ball concentration plate, and pour the freeze-dried balls into the freeze-dried ball concentration plate. Since the freeze-dried ball concentration plate is an inclined surface and a groove that can only accommodate one freeze-dried ball is opened at the lowest point, the freeze-dried ball grabbing module can accurately grab several groups of freeze-dried balls. At the same time, the start of the exciter will drive the clamp to vibrate, thereby driving the eight-row tube to vibrate, so that the robotic arm can not only take the freeze-dried balls out of the container when working, but also ensure that the freeze-dried balls will not be stuck in the container.

[0030] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic structural diagram of a mechanical arm according to an embodiment of the present invention is shown;

[0033] Figure 2 A schematic cross-sectional view of a mechanical arm according to an embodiment of the present invention is shown;

[0034] Figure 3 The embodiment of the present invention is shown Figure 2 An enlarged schematic diagram of point A;

[0035] Figure 4 A schematic diagram of the structure of a mechanical arm when idle according to an embodiment of the present invention is shown;

[0036] Figure 5 It shows a schematic diagram of the structure of a pre-embedded execution component according to an embodiment of the present invention;

[0037] Figure 6 It shows a schematic structural diagram of a freeze-dried ball grabbing module according to an embodiment of the present invention;

[0038] Figure 7 A cross-sectional schematic diagram of a freeze-dried ball grabbing module according to an embodiment of the present invention is shown;

[0039] Figure 8 It shows a schematic structural diagram of a freeze-dried ball loading module according to an embodiment of the present invention;

[0040] Fig. 9 The embodiment of the present invention is shown Figure 8 An enlarged schematic diagram of point B.

[0041] In the figure: 1, support seat; 2, first storage slot; 3, embedded manipulator mechanism; 4, second storage slot; 5, lifting column; 6, rotating disk; 7, chip clamping module; 8, container support block; 9, protective cover; 10, lifting slot; 11, first electric push rod; 12, vacuum pump; 13, third storage slot; 14, support plate; 15, support column; 16, universal wheel; 17, second electric push rod; 18, air guide tube; 19, exhaust hole; 20, support ring; 21, reset spring; 301, rotating seat; 302, telescopic arm; 303, first folding arm; 304, second folding arm; 305, embedded execution assembly; 3051. freeze-dried ball grabbing module; 3052. freeze-dried ball loading module; 30511. fixed plate; 30512. turntable; 30513. telescopic tube; 30514. vacuum suction cup; 30515. positioning camera; 30516. electric slide; 30517. first air cavity; 30518. second air cavity; 30521. mounting frame; 30522. freeze-dried ball concentrating plate; 30523. third electric push rod; 30524. connecting spring; 30525. clamp; 30526. vibrator; 30527. fourth electric push rod; 30528. flip motor; 30529. clamping block. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] The embodiment of the present invention provides a mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip, comprising a support base 1. For example, Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, a first receiving groove 2 is provided on the top of the support seat 1; a pre-buried manipulator mechanism 3 is provided on the bottom inner wall of the first receiving groove 2; a second receiving groove 4 is provided on the top of the support seat 1; the second receiving groove 4 is communicated with the first receiving groove 2; a lifting groove 10 is provided at the bottom of the second receiving groove 4; a lifting column 5 is movably penetrated in the lifting groove 10; a rotating disk 6 is provided on the top of the lifting column 5; a plurality of groups of chip clamping modules 7 are distributed in a circular array on the top of the rotating disk 6; a plurality of groups of first electric push rods 11 are provided in the support seat 1; the output ends of the plurality of first electric push rods 11 are transmission-connected with the lifting column 5; a vacuum pump 12 is provided on the bottom inner wall of the first receiving groove 2; a container support block 8 is provided at one side edge of the top of the support seat 1; a protective cover plate 9 is provided at one side edge of the top of the support seat 1; a third A storage groove 13; a support plate 14 is slidably connected in the third storage groove 13 along the vertical direction; a plurality of groups of support columns 15 are arranged at the bottom edge of the support plate 14; a group of universal wheels 16 are arranged on one side wall of each group of the support columns 15; a second electric push rod 17 is arranged at the center of the top inner wall of the third storage groove 13; the output end of the second electric push rod 17 is transmission-connected with the support plate 14; an air guide tube 18 is movably penetrated through the inner wall of the side of the first storage groove 2 away from the container support block 8; the air guide tube 18 is connected to the vacuum pump 12; an exhaust hole 19 is opened on the outer wall of the air guide tube 18; a support ring 20 is sleeved on the outer wall of the air guide tube 18; a reset spring 21 is arranged on one side wall of the support ring 20; the reset spring 21 is movably sleeved on the outer wall of the air guide tube 18, and the end away from the support ring 20 is connected to the corresponding inner wall of the first storage groove 2.

[0044] When placing the freeze-dried balls on the microfluidic chip, first place several groups of eight-row tubes storing the freeze-dried balls on the corresponding support frames, then fix the support frames to the top of the container support block 8, then fix several groups of microfluidic chips to the top of the auxiliary pre-embedded components, then control the pre-embedded robot mechanism 3 to take the freeze-dried balls out of the several groups of eight-row tubes and perform limited position grabbing, then control the pre-embedded robot mechanism 3 to place several groups of freeze-dried balls in the freeze-dried ball placement cavity of the microfluidic chip, thereby avoiding the problem of errors and inefficiency caused by manual placement of freeze-dried balls, and improving the efficiency and quality of the freeze-dried ball pre-embedded work. When the robot arm is idle, the embedded robot arm mechanism 3 is controlled to fold and store into the first storage slot 2, and then the protective cover plate 9 is controlled to close the first storage slot 2 and the second storage slot 4, and then the vacuum pump 12 is controlled to start, and the air in the first storage slot 2 and the second storage slot 4 is discharged to the outside of the support seat 1 through the exhaust hole 19 on the air duct 18. When the robot arm is in use, the protective cover plate 9 is controlled to open and abut against one end of the air duct 18, so that the exhaust hole 19 is transferred to the first storage slot 2. When the embedded robot arm mechanism 3 is performing the placement of freeze-dried balls, the vacuum pump 12 will be started for a long time, and the air will be discharged into the first storage slot 2 through the exhaust hole 19, so that positive air pressure is formed in the first storage slot 2, and dust and impurities in the air are prevented from entering the first storage slot 2, which not only improves the protection effect of the robot arm, but also improves the service life of the robot arm. Before the robotic arm is used, several groups of universal wheels 16 can be controlled to move to the bottom of several groups of support columns 15, and then the output end of the second electric push rod 17 can be controlled to drive the support plate 14 to descend, so that several groups of universal wheels 16 can be in contact with the ground, and then the robotic arm can be moved, thereby improving the convenience of using the robotic arm.

[0045] For example, Figure 2 and Figure 5 As shown, the embedded manipulator mechanism 3 includes a rotating seat 301; the rotating seat 301 is installed on the bottom inner wall of the first receiving slot 2; a telescopic arm 302 is provided at the top of the rotating seat 301; a first folding arm 303 is provided at one end of the telescopic arm 302 away from the rotating seat 301; a second folding arm 304 is provided at one end of the first folding arm 303 away from the telescopic arm 302; and an embedded actuator 305 is provided at one end of the second folding arm 304 away from the first folding arm 303.

[0046] The embedded execution component 305 includes a freeze-dried ball grabbing module 3051 and a freeze-dried ball loading module 3052; the freeze-dried ball grabbing module 3051 is installed at one end of the second folding arm 304 away from the first folding arm 303; the freeze-dried ball grabbing module 3051 is connected to the output end of the vacuum pump 12; the freeze-dried ball loading module 3052 is installed on a side wall of the freeze-dried ball grabbing module 3051 close to the second folding arm 304.

[0047] When the pre-embedded freeze-dried balls are placed, the rotating seat 301, the telescopic arm 302, the first folding arm 303 and the second folding arm 304 drive the pre-embedded execution component 305 to move to the corresponding position, and then control the freeze-dried ball loading module 3052 to take out the freeze-dried balls from the eight-row tube and concentrate them, and then control the freeze-dried ball grabbing module 3051 to adsorb several groups of freeze-dried balls at one time, and then control the freeze-dried ball grabbing module 3051 to place several groups of freeze-dried balls in the placement cavity on the microfluidic chip.

[0048] For example, Figure 6 and Figure 7 As shown, the freeze-dried ball grabbing module 3051 includes a fixed plate 30511; a rotating plate 30512 is provided at the bottom of the fixed plate 30511; a plurality of groups of telescopic tubes 30513 are arranged in a circular array at the bottom of the rotating plate 30512; a group of vacuum suction cups 30514 are arranged at the bottom of each group of telescopic tubes 30513; a positioning camera 30515 is arranged at the center of the bottom of the rotating plate 30512; and a plurality of groups of vacuum suction cups 30514 are arranged at the bottom of the rotating plate 30512. A plurality of electric slides 30516 are arranged; the output end of each group of the electric slides 30516 is transmission-connected with a corresponding group of telescopic tubes 30513; a first air cavity 30517 is arranged in the fixed disk 30511; the first air cavity 30517 is connected with the output end of the vacuum pump 12; a second air cavity 30518 is arranged in the rotating disk 30512; the second air cavity 30518 is connected with the first air cavity 30517, and is connected with a plurality of groups of telescopic tubes 30513.

[0049] When the freeze-dried balls are pre-embedded, the vacuum pump 12 is started to generate suction through the first air cavity 30517, the second air cavity 30518 and the several groups of telescopic tubes 30513 to make the several groups of vacuum suction cups 30514 generate suction, and then the turntable 30512 is controlled to drive the several groups of vacuum suction cups 30514 to rotate, and the freeze-dried balls concentrated in the freeze-dried ball loading module 3052 are adsorbed in turn, and then the freeze-dried ball grabbing module 3051 is controlled to place the several groups of freeze-dried balls in the placement cavities on the several groups of microfluidic chips in turn. The freeze-dried ball grabbing module 3051 adsorbs multiple groups of freeze-dried balls at one time, avoiding multiple grabbing of freeze-dried balls for placement, further improving the pre-embedded efficiency of the freeze-dried balls, and when a group of vacuum suction cups 30514 fails and cannot be used, the other vacuum suction cups 30514 can still perform the pre-embedded placement of the freeze-dried balls, ensuring the continuity of the pre-embedded work of the freeze-dried balls.

[0050] For example, Figure 8 and Fig. 9As shown, the freeze-dried ball loading module 3052 includes a mounting frame 30521; the mounting frame 30521 is mounted on the top of the fixed plate 30511; a freeze-dried ball concentrating plate 30522 is provided at the bottom of the mounting frame 30521; two groups of third electric push rods 30523 are symmetrically provided at the edges of both sides of the mounting frame 30521; a group of connecting springs 30524 are transmission-connected to the output end of each group of the third electric push rods 30523; the two groups of connecting springs One end of the spring 30524 away from the mounting frame 30521 is transmission-connected with a clamp 30525; a vibrator 30526 is provided on the top of the clamp 30525; two groups of fourth electric push rods 30527 are transmission-connected to the output end of the clamp 30525; two groups of flip motors 30528 are symmetrically transmission-connected to the output ends of the two groups of fourth electric push rods 30527; and a group of clamping blocks 30529 are transmission-connected to the output end of each group of flip motors 30528.

[0051] When placing the pre-buried freeze-dried balls, first, control the two groups of third electric push rods 30523 to drive the clamp 30525 to move horizontally, then control the two groups of fourth electric push rods 30527 to drive the two groups of flip motors 30528 to descend to the corresponding height, and then control the two groups of flip motors 30528 to drive the two groups of clamps 30529 to clamp the two sides of the eight-row tube, and tilt the openings of the eight-row tube toward the freeze-dried ball concentration plate 30522, so that the freeze-dried balls are poured into the freeze-dried ball concentration plate 30522. Since the freeze-dried ball concentration plate 30522 is an inclined surface and a groove that can only accommodate one freeze-dried ball is opened at the lowest point, the freeze-dried ball grabbing module 3051 can accurately grab several groups of freeze-dried balls. At the same time, the start-up of the vibrator 30526 will drive the clamp 30525 to vibrate, thereby driving the eight-row tube to vibrate, so that the robotic arm can not only take the freeze-dried balls out of the container when working, but also ensure that the freeze-dried balls will not be stuck in the container.

[0052] By controlling the rotating seat 301, the telescopic arm 302, the first folding arm 303 and the second folding arm 304 to drive the embedded execution component 305 to move to the corresponding position, and then controlling the freeze-dried ball loading module 3052 to take out the freeze-dried balls from the eight-row tube and concentrate them, and then controlling the freeze-dried ball grabbing module 3051 to adsorb several groups of freeze-dried balls at one time, and then controlling the freeze-dried ball grabbing module 3051 to place several groups of freeze-dried balls in the placement cavity on the microfluidic chip, thereby avoiding the problem of errors and inefficiency caused by manual placement of freeze-dried balls, and improving the efficiency and quality of the freeze-dried ball pre-embedding work.

[0053] By controlling the embedded manipulator mechanism 3 to fold and store it into the first storage slot 2, and then controlling the protective cover 9 to close the first storage slot 2 and the second storage slot 4, and then controlling the vacuum pump 12 to start, the air is discharged to the outside of the support seat 1 through the exhaust hole 19 on the air duct 18. When the manipulator is in use, the protective cover 9 will abut against one end of the air duct 18, so that the exhaust hole 19 is transferred to the first storage slot 2, and the air will be discharged into the first storage slot 2 through the exhaust hole 19, so that positive air pressure is formed in the first storage slot 2, and dust and impurities in the air are prevented from entering the first storage slot 2, which not only improves the protection effect of the manipulator, but also improves the service life of the manipulator.

[0054] By controlling the turntable 30512 to drive several groups of vacuum suction cups 30514 to rotate, the freeze-dried balls concentrated in the freeze-dried ball loading module 3052 are adsorbed in turn, and then the freeze-dried ball grabbing module 3051 is controlled to place several groups of freeze-dried balls in the placement cavities on several groups of microfluidic chips in turn. The freeze-dried ball grabbing module 3051 adsorbs multiple groups of freeze-dried balls at one time, avoiding multiple grabbing of freeze-dried balls for placement, further improving the pre-embedding efficiency of the freeze-dried balls, and when a group of vacuum suction cups 30514 fails and cannot be used, other vacuum suction cups 30514 can still perform the pre-embedding placement work of the freeze-dried balls, ensuring the continuity of the pre-embedding work of the freeze-dried balls.

[0055] By controlling the clamp 30525 to move horizontally, and then controlling the two groups of clamps 30529 to descend and clamp the two sides of the eight-row tube, the opening of the eight-row tube is tilted toward the freeze-dried ball concentration plate 30522, so that the freeze-dried balls are poured into the freeze-dried ball concentration plate 30522. Since the freeze-dried ball concentration plate 30522 is an inclined surface and a groove that can only accommodate one freeze-dried ball is opened at the lowest point, the freeze-dried ball grabbing module 3051 can accurately grab several groups of freeze-dried balls. At the same time, the start of the exciter 30526 will drive the clamp 30525 to vibrate, thereby driving the eight-row tube to vibrate, so that the robotic arm can not only take the freeze-dried balls out of the container when working, but also ensure that the freeze-dried balls will not be stuck in the container.

[0056] Based on the above-mentioned mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip, an embodiment of the present invention further proposes a method for using the mechanical arm. Exemplarily, the method includes:

[0057] Placing several groups of eight tubes in a row storing freeze-dried spheres on top of the container support block;

[0058] Control the embedded manipulator mechanism to move to the corresponding position;

[0059] Control the freeze-dried ball loading module to take out and collect the freeze-dried balls in several groups of eight-row tubes;

[0060] Controlling the freeze-dried ball grabbing module to grab multiple groups of freeze-dried balls at one time;

[0061] Controlling the freeze-dried ball grabbing module to place the multiple groups of freeze-dried balls in the placement chambers of the microfluidic chip respectively;

[0062] Complete the placement of freeze-dried balls in the freeze-dried ball pre-embedding.

[0063] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip, comprising a support seat (1), characterized in that: A first receiving groove (2) is provided on the top of the support base (1); a pre-buried manipulator mechanism (3) is provided on the bottom inner wall of the first receiving groove (2); and a container support block (8) is provided at one side edge of the top of the support base (1); The embedded manipulator mechanism (3) comprises a rotating seat (301); the rotating seat (301) is mounted on the bottom inner wall of the first receiving groove (2); a telescopic arm (302) is provided on the top of the rotating seat (301); a first folding arm (303) is provided at one end of the telescopic arm (302) away from the rotating seat (301); a second folding arm (304) is provided at one end of the first folding arm (303) away from the telescopic arm (302); and an embedded actuator component (305) is provided at one end of the second folding arm (304) away from the first folding arm (303); The pre-embedded execution component (305) comprises a freeze-dried ball grabbing module (3051) and a freeze-dried ball loading module (3052); The freeze-dried ball loading module (3052) comprises a mounting frame (30521); the mounting frame (30521) is mounted on the top of the fixed plate (30511); a freeze-dried ball concentrating plate (30522) is provided at the bottom of the mounting frame (30521); two groups of third electric push rods (30523) are symmetrically provided at the edges of both sides of the mounting frame (30521); a group of connecting springs (30524) are transmission-connected to the output end of each group of the third electric push rods (30523); the two groups of connecting springs (3 0524) is connected to a clamp (30525) at one end away from the mounting frame (30521); a vibrator (30526) is provided on the top of the clamp (30525); two groups of fourth electric push rods (30527) are connected to the output end of the clamp (30525); two groups of flip motors (30528) are symmetrically connected to the output ends of the two groups of fourth electric push rods (30527); and a group of clamping blocks (30529) are connected to the output end of each group of flip motors (30528); The freeze-dried ball loading module is controlled to take out and concentrate the freeze-dried balls in the eight-row tube, and then the freeze-dried ball grabbing module is controlled to accurately grab the freeze-dried balls.

2. A mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip according to claim 1, characterized in that: The top of the support seat (1) is provided with a second receiving groove (4); the second receiving groove (4) is connected to the first receiving groove (2); the bottom of the second receiving groove (4) is provided with a lifting groove (10); a lifting column (5) movably penetrates the lifting groove (10); a rotating disk (6) is provided on the top of the lifting column (5); a plurality of groups of chip clamping modules (7) are distributed in a circular array on the top of the rotating disk (6); a plurality of groups of first electric push rods (11) are provided in the support seat (1); the output ends of the plurality of groups of the first electric push rods (11) are transmission-connected to the lifting column (5); and a protective cover plate (9) is provided at one side edge of the top of the support seat (1).

3. A mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip according to claim 1, characterized in that: An air guide tube (18) is movably inserted through the inner wall of a side of the first receiving groove (2) away from the container support block (8); the air guide tube (18) is in communication with the vacuum pump (12); an exhaust hole (19) is provided on the outer wall of the air guide tube (18); a support ring (20) is sleeved on the outer wall of the air guide tube (18); a return spring (21) is provided on one side wall of the support ring (20); the return spring (21) is movably sleeved on the outer wall of the air guide tube (18), and one end of the return spring (21) away from the support ring (20) is connected to the inner wall of the corresponding side of the first receiving groove (2).

4. A mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip according to claim 1, characterized in that: The freeze-dried ball grabbing module (3051) is installed on an end of the second folding arm (304) away from the first folding arm (303); the freeze-dried ball loading module (3052) is installed on a side wall of the freeze-dried ball grabbing module (3051) close to the second folding arm (304); a vacuum pump (12) is provided on the bottom inner wall of the first receiving groove (2); and the freeze-dried ball grabbing module (3051) is connected to the output end of the vacuum pump (12).

5. The mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip according to claim 1, characterized in that: The freeze-dried ball grabbing module (3051) comprises a fixed disk (30511); a rotating disk (30512) is provided at the bottom of the fixed disk (30511); a plurality of groups of telescopic tubes (30513) are arranged in a circular array and are movable through the bottom of the rotating disk (30512); a group of vacuum suction cups (30514) is provided at the bottom of each group of telescopic tubes (30513); and a positioning camera (30515) is provided at the center of the bottom of the rotating disk (30512).

6. A mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip according to claim 5, characterized in that: A plurality of groups of electric slides (30516) are arranged in a circular array on the side wall of the rotating disk (30512); the output end of each group of the electric slides (30516) is transmission-connected to a corresponding group of telescopic tubes (30513); a first air cavity (30517) is arranged in the fixed disk (30511); the first air cavity (30517) is connected to the output end of the vacuum pump (12); a second air cavity (30518) is arranged in the rotating disk (30512); the second air cavity (30518) is connected to the first air cavity (30517) and to the plurality of groups of telescopic tubes (30513).

7. A method for using the mechanical arm for pre-embedding freeze-dried balls in a microfluidic chip according to any one of claims 1 to 6, characterized in that: The method of use includes: Placing several groups of eight tubes in a row storing freeze-dried spheres on top of the container support block; Control the embedded manipulator mechanism to move to the corresponding position; Control the freeze-dried ball loading module to take out and collect the freeze-dried balls in several groups of eight-row tubes; Controlling the freeze-dried ball grabbing module to grab multiple groups of freeze-dried balls at one time; Controlling the freeze-dried ball grabbing module to place the multiple groups of freeze-dried balls in the placement chambers of the microfluidic chip respectively; Complete the placement of freeze-dried balls in the freeze-dried ball pre-embedding.

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