Variable pitch puncturing device and control method

Abstract

The application discloses a variable-distance puncture device and a control method. The device comprises a needle box module, a variable-distance module, a gripper module and a driving module. The needle box module is provided with a plurality of storage positions and a plurality of puncture needles stored in the plurality of storage positions. The gripper module comprises a plurality of gripper assemblies for clamping and releasing the plurality of puncture needles. The variable-distance module comprises a variable-distance assembly for driving the plurality of gripper assemblies to move away from or close to each other along the X axis, so as to change the distance between adjacent two gripper assemblies. The puncture module is used for driving the variable-distance module and the gripper module to move. The movement track of the variable-distance module is provided with a needle taking and placing station and a puncture station. The number of puncture needles is controlled through the clamping and releasing of the gripper assemblies, and the distance between the puncture needles is controlled through the variable-distance assembly, so that the device is suitable for puncture requirements of holes with any number and any distance, does not need to be provided with a plurality of puncture toolings, effectively saves the cost and the space, and does not need to frequently replace the puncture tooling, and the efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical detection instruments, in particular to a variable-distance puncture device and a control method thereof. Background Art

[0002] Blood typing cards are tools used for blood typing, typically using a microcolumn gel method. A blood sample is reacted with antiserum on the card, and the blood type is determined by observing the results. This efficient and accurate method is widely used in blood transfusions and clinical treatments. During storage, the microcolumn openings of the blood typing card are sealed with aluminum film. During blood typing experiments, the card must be punctured to facilitate sample loading and other experimental procedures.

[0003] Existing aluminum film puncture usually uses a fixed number of needles for one puncture, but the puncture spacing between different microcolumn gel cards is different, and each microcolumn on the microcolumn gel card detects different antigens / antibodies. According to different experiments, the number and position of microcolumns required to be punctured on a card are different, and some of the microcolumns need to be skipped. Therefore, one puncture with a fixed number of needles cannot adapt to all usage situations, which may result in waste of microcolumns. If puncture is performed hole by hole, the puncture time will be long and the efficiency will be low. Puncture can also be performed by replacing various puncture tools with different numbers of needles each time, but the efficiency of each replacement of the puncture tool is low. Configuring multiple puncture tools requires more space, is costly, and has low flexibility and low utilization of various tools. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a variable-distance puncture device and control method, which solves the problem that the existing puncture mechanism has poor flexibility and cannot be applied to puncture holes with different spacings.

[0005] A variable-distance puncture device according to a first aspect of an embodiment of the present invention includes:

[0006] The needle box module is provided with a plurality of storage positions and a plurality of puncture needles, wherein the plurality of storage positions are arranged at intervals and are used to store the plurality of puncture needles;

[0007] A gripper module, comprising a plurality of gripper assemblies, wherein the plurality of gripper assemblies are used to clamp and release the plurality of puncture needles;

[0008] A pitch-changing module, comprising a pitch-changing assembly, wherein the pitch-changing assembly is used to drive the plurality of gripper assemblies to move away from or toward each other along the X-axis to change the distance between two adjacent gripper assemblies;

[0009] The driving module is used to drive the variable distance module and the gripper module to move. The moving tracks of the variable distance module and the gripper module are provided with a needle picking and placing station and a puncture station. The needle box module is arranged at the needle picking and placing station. The puncture station is provided with a puncture table for placing the object to be punctured.

[0010] A variable-distance puncture device according to an embodiment of the present invention has at least the following beneficial effects:

[0011] The present invention controls multiple grippers to move closer to or farther away from each other along the X-axis through a variable pitch component, thereby changing the spacing between two adjacent grippers, thereby controlling the distance between the holes obtained by puncture. By controlling multiple clamping parts to clamp or release the puncture needles, the number of puncture needles clamped on the gripper module is controlled, thereby controlling the number of holes obtained by puncture, and puncture of any holes at any spacing is achieved. There is no need to configure multiple puncture tooling with different spacings and different numbers of puncture needles, which saves space and cost, does not require frequent replacement of puncture tooling, improves puncture efficiency, has high flexibility, and allows the puncture needles to be reused.

[0012] According to some embodiments of the present invention, a plurality of the gripper assemblies are arranged to slide along the X-axis, and the variable pitch assembly includes a variable pitch drive structure and a variable pitch linkage structure. The variable pitch linkage structure is connected between two adjacent gripper assemblies so that one of the gripper assemblies follows the other gripper assembly in relative variable pitch movement along the X-axis. The variable pitch drive structure is used to drive one of the gripper assemblies or the variable pitch linkage structure to move, thereby driving a plurality of the gripper assemblies to change pitch synchronously.

[0013] According to some embodiments of the present invention, the variable pitch linkage structure includes a variable pitch screw extending along the X-axis, the variable pitch drive structure includes a rotary drive mechanism for driving the variable pitch screw to rotate around its own axis, and the outer periphery of the variable pitch screw is provided with a plurality of spiral transmission guide parts, and the plurality of transmission guide parts are connected to the plurality of gripper assemblies one by one.

[0014] According to some embodiments of the present invention, the variable-length linkage structure includes a connecting rod assembly that is telescopically movably arranged along the X-axis, the connecting rod assembly is provided with multiple center rotation points, and multiple gripper assemblies are hinged one by one to the multiple center rotation points. The variable-length drive structure includes a linear drive mechanism for driving one of the gripper assemblies to move back and forth along the X-axis.

[0015] According to some embodiments of the present invention, the gripper assembly includes a first clamping member and a second clamping member that are arranged relative to each other and slide toward each other, a first elastic member is respectively provided at one end of the first clamping member and the second clamping member that are away from each other, and a clamping hole is vertically provided between the first clamping member and the second clamping member.

[0016] According to some embodiments of the present invention, the puncture needle is provided with a puncture end and a clamping end, and the outer periphery of the clamping end is provided with a clamping portion that matches and engages with the first clamping piece and the second clamping piece respectively.

[0017] According to some embodiments of the present invention, the eccentric hole is provided on both the first clamping member and the second clamping member, and the distance between one end of the eccentric hole close to the needle box module and the clamping hole is greater than the distance between the other end and the clamping hole.

[0018] According to some embodiments of the present invention, a top contact portion is provided on both sides of the storage position. When the gripper assembly clamps the puncture needle on the storage position, the top contact portion extends into the eccentric hole and contacts the inner wall of the eccentric hole, so that the first clamping member and the second clamping member are moved away from each other.

[0019] According to some embodiments of the present invention, a second elastic member that contacts the puncture needle is provided at the bottom end of the clamping hole, and the second elastic member is used to push out the puncture needle.

[0020] A control method according to a second aspect of an embodiment of the present invention includes:

[0021] Obtain the number of holes to be punctured and the spacing between the holes to be punctured;

[0022] The driving module drives the variable distance module and the gripper module to move to the needle taking and placing station, and the plurality of gripper assemblies clamp the puncture needles from the storage position according to the number of holes to be punctured;

[0023] The distance-changing assembly drives the plurality of gripper assemblies to move away from or toward each other according to the spacing of the holes to be punctured, so as to adjust the distance between two adjacent gripper assemblies to be consistent with the spacing of the holes to be punctured;

[0024] The driving module drives the variable distance module and the gripper module to move to the puncture station to puncture the perforated sample;

[0025] The variable distance assembly drives the plurality of gripper assemblies to move away from or approach each other and return to an initial state;

[0026] The driving module drives the variable distance module and the gripper module to move to the needle taking and placing station, and the plurality of gripper assemblies release the puncture needle to the storage position to wait for the next puncture.

[0027] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0029] Figure 1 A schematic structural diagram of an embodiment of a variable-distance puncture device provided by the present invention;

[0030] Figure 2 for Figure 1 an exploded view of the illustrated embodiment;

[0031] Figure 3 for Figure 1 An enlarged structural diagram of the embodiment A is shown;

[0032] Figure 4 for Figure 1 A schematic structural diagram of the variable pitch linkage structure of the illustrated embodiment;

[0033] Figure 5 This is a structural schematic diagram of a second embodiment of a variable-distance puncture device provided by the present invention;

[0034] Figure 6 for Figure 5 an exploded view of the illustrated embodiment;

[0035] Figure 7 for Figure 5 An enlarged structural diagram of the embodiment B is shown;

[0036] Figure 8 This is an exploded view of a needle box module in a variable-distance puncture device provided by the present invention;

[0037] Figure 9 A cross-sectional view of a gripper assembly in a variable-distance puncture device provided by the present invention;

[0038] Figure 10 This is a schematic structural diagram of a puncture needle in a variable-distance puncture device provided by the present invention;

[0039] Figure 11 This is a flow chart of a control method provided by the present invention.

[0040] Figure Number:

[0041] Needle cartridge module 100; puncture needle 110; clamping portion 111; storage position 120; top contact portion 121; upper plate 130; lower plate 140; lifting drive mechanism 150;

[0042] Gripper module 200; gripper assembly 210; first clamping member 211; second clamping member 212; first elastic member 213; clamping hole 214; eccentric hole 215; second elastic member 216;

[0043] Pitch-changing module 300; pitch-changing assembly 310; pitch-changing drive structure 311; pitch-changing linkage structure 312; guide structure 313; pitch-changing screw 320; transmission guide 321;

[0044] Drive module 400; X-axis moving assembly 410; X-axis base plate 411; X-axis guide rail 412; X-axis rack 413; X-axis motor 414; X-axis gear 415; Z-axis moving assembly 420; Z-axis base plate 421; Z-axis guide rail 422; Z-axis rack 423; Z-axis motor 424; Z-axis gear 425; Y-axis moving assembly 430; Y-axis base plate 431; Y-axis guide rail 432; driving pulley 433; driven pulley 434; Y-axis synchronous belt 435; Y-axis motor 436; puncture table 440. DETAILED DESCRIPTION

[0045] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0046] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In the description of the present invention, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features, or implicitly indicating the order of the indicated technical features.

[0048] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0049] The technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention, not all embodiments.

[0050] A blood typing card is a tool used for blood typing, typically using a microcolumn gel method. A blood sample is reacted with antiserum on the card, and the blood type is determined by observing the results. This efficient and accurate method is widely used in blood transfusions and clinical treatments. In actual use, the microcolumn opening of the blood typing card is sealed with aluminum film, requiring puncture to facilitate further processing.

[0051] Existing aluminum film puncture usually uses a fixed number of needles for one puncture, but the puncture spacing between different microcolumn gel cards is different, and each microcolumn on the microcolumn gel card detects different antigens / antibodies. According to different experiments, the number and position of microcolumns required to be punctured on a card are different, and some of the microcolumns need to be skipped. Therefore, one puncture with a fixed number of needles cannot adapt to all usage situations, which may result in waste of microcolumns. If puncture is performed hole by hole, the puncture time will be long and the efficiency will be low. Puncture can also be performed by replacing various puncture tools with different numbers of needles each time, but the efficiency of each replacement of the puncture tool is low. Configuring multiple puncture tools requires more space, is costly, and has low flexibility and low utilization of various tools.

[0052] To solve the above problems, the present invention proposes a variable-distance puncture device and a control method, which can effectively solve the problem that the existing puncture mechanism has poor flexibility and cannot be applied to puncture holes with different spacings.

[0053] refer to Figures 1 to 11 The present invention provides a variable distance puncture device and a control method, and the following embodiments are made: Example 1

[0054] Reference Figure 1 As shown, a variable-distance puncture device according to an embodiment of the present invention includes a needle box module 100 , a gripper module 200 , a variable-distance module 300 and a driving module 400 .

[0055] Among them, reference Figure 1 、 Figure 2 and Figure 8 The needle box module 100 is provided with a plurality of storage positions 120 and a plurality of puncture needles 110 . The plurality of storage positions 120 are arranged at intervals, and the plurality of storage positions 120 are used to store the plurality of puncture needles 110 .

[0056] The gripper module 200 includes a plurality of gripper assemblies 210 , and the plurality of gripper assemblies 210 are used to clamp and release the plurality of puncture needles 110 ;

[0057] The distance changing module 300 includes a distance changing assembly 310 . The distance changing assembly 310 is used to drive the plurality of gripper assemblies 210 to move away from or closer to each other along the X-axis direction, so as to change the distance between two adjacent gripper assemblies 210 .

[0058] The driving module 400 is used to drive the variable distance module 300 and the gripper module 200 to move. The moving tracks of the variable distance module 300 and the gripper module 200 are provided with a needle picking and placing station and a puncture station. The needle box module 100 is provided at the needle picking and placing station. The puncture station is provided with a puncture table 440 for placing the object to be punctured. In this embodiment, the object to be punctured is a microcolumn gel card, and the microcolumn opening needs to be punctured by the puncture needle 110.

[0059] By controlling multiple gripper assemblies 210 to clamp or release multiple puncture needles 110 respectively, the number of puncture needles 110 carried by the gripper module 200 is changed, and the multiple gripper assemblies 210 are driven to move away from or closer to each other through the variable distance assembly 310, thereby changing the distance between the gripper assemblies 210, that is, changing the distance between the clamped puncture needles 110, so that the number and spacing of the puncture needles 110 meet different puncture hole number and spacing requirements.

[0060] Specifically, refer to Figure 1 and Figure 3 As for the connection relationship between the gripper module 200 and the pitch-changing module 300, one end of the gripper assembly 210 is used to clamp the puncture needle 110, and the other end is connected to the pitch-changing assembly 310. Multiple gripper assemblies 210 are arranged to slide along the X-axis. The pitch-changing assembly 310 includes a pitch-changing drive structure 311 and a pitch-changing linkage structure 312. The pitch-changing linkage structure 312 is connected between two adjacent gripper assemblies 210 so that one gripper assembly 210 follows the other gripper assembly 210 to move relative to the pitch along the X-axis. The pitch-changing drive structure 311 is used to drive one of the gripper assemblies 210 or the pitch-changing linkage structure 312 to move, so that only one pitch-changing drive structure 311 is required to drive multiple gripper assemblies 210 to change pitch synchronously.

[0061] Reference Figure 3 and Figure 4 As shown, the specific structure of the variable pitch module 300 is as follows: In this embodiment, the variable pitch linkage structure 312 includes a variable pitch screw 320 extending along the X-axis, and a plurality of spiral transmission guide parts 321 are provided on the outer periphery of the variable pitch screw 320. The plurality of transmission guide parts 321 are groove structures, and the plurality of transmission guide parts 321 are arranged at intervals along the axial direction of the variable pitch screw 320, and extend in a circumferential spiral along the variable pitch screw 320. The spacing between two adjacent transmission guide parts 321 in the X-axis direction gradually increases along the outer peripheral wall, and the plurality of transmission guide parts 321 are gradually dispersed.

[0062] The multiple gripper assemblies 210 are provided with multiple transmission connection parts that are matched and slidably connected with the transmission guide part 321. The multiple transmission connection parts are protrusion structures that are slidably engaged with the groove structure. The multiple gripper assemblies 210 are transmission connected one by one with the multiple transmission guide parts 321 through the transmission connection parts.

[0063] The variable pitch screw 320 is driven to rotate around its own axis by the variable pitch drive structure 311, so that multiple transmission connection parts slide synchronously along the multiple transmission guide parts 321. Since the groove spacing between the multiple transmission guide parts 321 is variable, the spacing between one end of two adjacent transmission guide parts 321 in the X-axis direction is greater than the spacing between the other end in the X-axis direction. During the rotation of the variable pitch screw 320, when the multiple transmission connection parts are at different positions of the multiple transmission guide parts 321, the spacing is different. The two adjacent transmission connection parts approach or move away from each other under the guiding action of the transmission guide part 321, thereby making the two adjacent gripper assemblies 210 approach or move away from each other to achieve a change in spacing.

[0064] The variable pitch drive structure 311 includes a rotary drive motor for driving the variable pitch screw 320 to rotate around its own axis. The rotary drive motor and the variable pitch screw 320 are connected by a synchronous belt, so that the rotary drive motor can drive the variable pitch screw 320 to rotate around its own axis.

[0065] Reference Figure 2 The pitch changing assembly 310 also includes a guide structure 313. The guide structure 313 of this embodiment includes a guide rod extending along the X-axis direction. Multiple gripper assemblies 210 are slidably arranged on the guide rod to ensure that the multiple gripper assemblies 210 are only slidably arranged along the X-axis direction and do not rotate circumferentially with the pitch changing screw 320.

[0066] In some other embodiments, the variable-pitch linkage structure 312 and the guide structure 313 may be in other forms, for example, the variable-pitch linkage structure 312 includes a plurality of guide rails with inconsistent spacing between the two ends, and the guide structure 313 is a linear screw.

[0067] Specifically, refer to Figure 9 The specific structure of the gripper module 200 is as follows: the gripper assembly 210 includes a first clamping member 211 and a second clamping member 212 that are arranged relative to each other and slide toward each other. The first clamping member 211 and the second clamping member 212 are respectively provided with a first elastic member 213 at one end away from each other. The elastic action of the first elastic member 213 makes the first clamping member 211 and the second clamping member 212 approach each other to achieve clamping of the puncture needle 110.

[0068] Accordingly, refer to Figure 9 and Figure 10As shown, the puncture needle 110 is provided with a clamping end and a puncture end, and the outer periphery of the clamping end is provided with a clamping portion 111 that matches and engages with the first clamping piece 211 and the second clamping piece 212 respectively. In this embodiment, the first clamping piece 211 and the second clamping piece 212 are pin structures, and the end close to the first clamping piece 211 and the second clamping piece 212 is a protrusion of a hemispherical structure, and the clamping portion 111 is an annular groove arranged around the outer peripheral wall and matching the protrusion, thereby further enhancing the stability of the clamping and effectively preventing the puncture needle 110 from slipping off the gripper assembly 210, thereby affecting the puncture effect. In addition, the clamping portion 111 is an annular groove, which is not directional in the circumferential direction, and can be engaged without aligning with the first clamping piece 211 and the second clamping piece 212, thereby effectively improving efficiency.

[0069] In some other embodiments, the clamping portion 111 may be of other shapes or structures and only needs to match the ends of the first clamping member 211 and the second clamping member 212 that are close to each other. For example, the clamping portion 111 is an annular boss arranged around the outer periphery, and the ends of the first clamping member 211 and the second clamping member 212 that are close to each other are grooves that match the boss.

[0070] Further, refer to Figure 9 As shown, a clamping hole 214 is vertically provided between the first clamping member 211 and the second clamping member 212. The clamping hole 214 is arranged along the Z-axis and its size matches the puncture needle 110 to guide the puncture needle 110, so that the puncture needle 110 extends between the first clamping member 211 and the second clamping member 212, thereby optimizing the clamping process and facilitating the gripper assembly 210 to clamp the puncture needle 110. The Z-axis is arranged perpendicular to the X-axis.

[0071] Regarding the needle removal process of the gripper assembly 210: the gripper assembly 210 gradually approaches the puncture needle 110 on the storage position 120 along the Z axis, the puncture needle 110 enters the clamping hole 214 and pushes open the first clamping piece 211 and the second clamping piece 212 on both sides, and the gripper assembly 210 continues to approach until the puncture needle 110 extends into the clamping hole 214 for a distance, and the first clamping piece 211 and the second clamping piece 212 are opposite to the clamping part 111. Under the action of the first elastic piece 213, the first clamping piece 211 and the second clamping piece 212 approach each other and are engaged with the clamping part 111 to complete the clamping and fixation of the puncture needle 110.

[0072] The first clamping member 211 and the second clamping member 212 can be separated from each other, so that the gripper assembly 210 can release the puncture needle 110. By controlling each gripper assembly 210 to grasp and release the puncture needle 110, the number of puncture needles 110 on the gripper module 200 can be adjusted to adapt to samples to be punctured with different numbers of puncture holes.

[0073] Reference Figure 9In this embodiment, the structure that enables the first clamping member 211 and the second clamping member 212 to be separated from each other includes two eccentric holes 215. The two eccentric holes 215 are respectively provided on the first clamping member 211 and the second clamping member 212. The eccentric holes 215 are inclined along the Z-axis direction. The distance between the end of the eccentric hole 215 close to the needle box module 100 and the clamping hole 214 is greater than the distance between the other end and the clamping hole 214. When subjected to a thrust from one end close to the needle box module 100 to the other end, the first clamping member 211 and the second clamping member 212 move away from each other under the action of the thrust, thereby releasing the puncture needle 110.

[0074] Specifically, refer to Figure 8 In this embodiment, a top contact portion 121 is provided on both sides of each storage position 120 in the needle box module 100. The top contact portion 121 in this embodiment is a top column structure that matches and plugs into the eccentric hole 215. Multiple top contact portions 121 are arranged along the Z-axis. When the driving module 400 drives the variable pitch module 300 and the gripper module 200 to approach the needle box module 100, the clamping hole 214 is opposite to the storage position 120, and the eccentric hole 215 corresponds to the top contact portion 121. The gripper module 200 continues to approach the needle box module 100 along the Z-axis until the top contact portion 121 extends into the eccentric hole 215. The first clamping member 211 and the second clamping member 212 are moved away from each other through the thrust, thereby releasing the puncture needle 110.

[0075] In this embodiment, the needle box module 100 includes an upper plate 130, a lower plate 140 and a lifting drive mechanism 150. The upper plate 130 and the lower plate 140 are arranged relative to each other along the Z axis. The lifting drive mechanism 150 is used to drive the upper plate 130 and the lower plate 140 to move closer to or away from each other. The upper plate 130 and the lower plate 140 are respectively provided with multiple through holes matching the puncture needle 110. The two through holes correspondingly arranged along the Z axis define a storage position 120, and multiple top contact portions 121 are provided on the lower plate 140 and penetrate the upper plate 130.

[0076] When the gripper module 200 takes out the needle, the needle box module 100 is in the first state, the distance between the upper plate 130 and the lower plate 140 is the farthest, the top contact portion 121 does not extend out of the upper plate 130, and the top contact portion 121 does not contact the eccentric hole 215, which does not affect the smooth clamping of the puncture needle 110 during the needle removal process; when the gripper module 200 places the needle, the upper plate 130 and the lower plate 140 are driven close to each other by the lifting drive mechanism 150 to control multiple top contact portions 121 to extend from the upper plate 130, and the needle box module 100 is in the second state. When the needle is placed, the top contact portion 121 can extend into the eccentric hole 215, thereby achieving the smooth release of the puncture needle 110.

[0077] Further, refer to Figure 9As shown, a second elastic member 216 is further provided at the bottom of the clamping hole 214. When the gripping assembly 210 clamps the puncture needle 110, the puncture needle 110 contacts the second elastic member 216. The second elastic member 216 is used to provide a thrust to the puncture needle 110, so that when the gripping assembly 210 releases the puncture needle 110, the puncture needle 110 can be smoothly pushed out to avoid being stuck in the clamping hole 214 and affecting the puncture efficiency.

[0078] Regarding the needle placement process of the gripper assembly 210: the needle box module 100 is in the second state, and multiple contact parts 121 protrude from the upper plate 130. The gripper assembly 210 clamping the puncture needle 110 approaches the needle box module 100 along the Z axis. The puncture needle 110 enters the storage position 120 and continues to approach. The contact part 121 extends into the eccentric hole 215 and contacts the inner wall of the eccentric hole 215, applying a thrust toward the first elastic part 213 to the first clamping part 211 and the second clamping part 212, so that the first clamping part 211 and the second clamping part 212 move away from each other, and the puncture needle 110 is pushed out under the action of the second elastic part 216, completing the release of the puncture needle 110.

[0079] In some other embodiments, the gripper assembly 210 can clamp and release the puncture needle 110 in other ways, for example, by magnetizing and demagnetizing an electromagnet, by mutually clamping grippers and a drive mechanism that controls the opening and closing of the grippers, etc.

[0080] Reference Figure 1 and Figure 2 As shown, with respect to the movement mode of the variable pitch module 300 and the gripper module 200, the variable pitch module 300 and the gripper module 200 are driven to move by the driving module 400, wherein the driving module 400 includes an X-axis moving component 410, a Z-axis moving component 420 and a Y-axis moving component 430, the variable pitch module 300 and the gripper module 200 are installed on the X-axis moving component 410, the X-axis moving component 410 is used to drive the variable pitch module 300 and the gripper module 200 to move along the X-axis, the X-axis moving component 410 is installed on the Z-axis moving component 420, the Z-axis moving component 420 is used to drive the X-axis moving component 410 to move along the Z-axis, the Z-axis moving component 420 is installed on the Y-axis moving component 430, the Y-axis moving component 430 is used to drive the Z-axis moving component 420 to move along the Y-axis, wherein the X-axis, Y-axis and Z-axis directions are respectively perpendicular to each other.

[0081] Among them, the X-axis moving component 410 includes an X-axis substrate 411, an X-axis guide rail 412, an X-axis rack 413, an X-axis motor 414 and an X-axis gear 415. The X-axis substrate 411 is fixed to the Z-axis moving component 420. The X-axis guide rail 412 and the X-axis rack 413 extending along the X-axis are arranged side by side on the X-axis substrate 411. The pitch changing module 300 and the gripper module 200 are slidably installed on the X-axis guide rail 412. The shaft of the X-axis motor 414 is fixedly connected to the X-axis gear 415. The X-axis gear 415 is driven to roll along the X-axis rack 413 by the X-axis motor 414. The X-axis motor 414 is connected to the pitch changing module 300 and the gripper module 200, thereby driving the pitch changing module 300 and the gripper module 200 to slide along the X-axis guide rail 412, thereby realizing the movement of the pitch changing module 300 and the gripper module 200 along the X-axis.

[0082] Among them, the X-axis moving component 410 is used to drive the variable distance module 300 and the gripper module 200 to move along the X-axis, so that when the number of grabbing needles is less than the number of holes to be punctured, all holes to be punctured can be fully covered. For example, when the number of holes to be punctured is eight and the number of grabbing needles is four, a maximum of four puncture needles 110 are grabbed. After completing the puncture of four of the holes to be punctured, the X-axis moving component 410 drives the variable distance component 310 to move along the X-axis, so that the other four holes to be punctured can be punctured.

[0083] The Z-axis moving assembly 420 includes a Z-axis base plate 421, a Z-axis guide rail 422, a Z-axis rack 423, a Z-axis motor 424 and a Z-axis gear 425. The Z-axis base plate 421 is fixed to the Y-axis moving assembly 430. The Z-axis guide rail 422 and the Z-axis rack 423 extending along the Z-axis are arranged side by side on the Z-axis base plate 421. The X-axis moving assembly 410 is slidably mounted on the Z-axis guide rail 422 through the X-base plate. The shaft of the Z-axis motor 424 is fixedly connected to the Z-axis gear 425. The Z-axis gear 425 is driven to roll along the Z-axis rack 423 by the Z-axis motor 424. The Z-axis motor 424 is connected to the X-axis moving assembly 410, thereby driving the X-axis moving assembly 410 to slide along the Z-guide rail 422, thereby realizing the movement of the X-axis moving assembly 410 along the Z-axis.

[0084] Among them, the Z-axis moving component 420 drives the X-axis moving component 410 to move along the Z-axis, so that the variable-pitch module 300 and the gripper module 200 can approach and move away from the needle box module 100 during the needle removal and placement process, and can approach and move away from the puncture table 440 during the puncture process. On the one hand, the Z-axis moving component 420 cooperates with other components of the variable-pitch puncture device to complete the needle removal and placement and puncture process, and on the other hand, ensures that the variable-pitch module 300 and the gripper module 200 do not collide with the needle box module 100 or the sample to be punctured when moving along the X-axis and Y-axis, thereby ensuring the safety of the experimental operation.

[0085] The Y-axis moving assembly 430 includes a Y-axis base plate 431, a Y-axis guide rail 432, a driving wheel 433, a driven wheel 434, a Y-axis synchronous belt 435 and a Y-axis motor 436. The Y-axis guide rail 432 extends along the Y-axis and is installed on the Y-axis base plate 431. The driving wheel 433 and the driven wheel 434 are respectively arranged at the two ends of the Y-axis guide rail 432. A Y-axis synchronous belt 435 is connected between the driving wheel 433 and the driven wheel 434. The shaft of the Y-axis motor 436 is fixedly connected to the driving wheel 433. The Z-axis base plate 421 is slidably installed on the Y-axis guide rail 432 and is fixedly connected to the Y-axis synchronous belt 435. The Y-axis synchronous belt 435 is driven by the Y-axis motor 436 to rotate, thereby driving the Z-axis moving assembly 420 to slide along the Y-axis guide rail, thereby realizing the movement of the Z-axis moving assembly 420 along the Y-axis.

[0086] Among them, the Y-axis moving component 430 is arranged between the needle picking and placing station and the puncture station, driving the Z-axis moving component 420 to move along the Y-axis, so that the variable distance module 300 and the gripper module 200 can move back and forth between the puncture station and the needle picking and placing station, so that after clamping the puncture needle 110 at the needle picking and placing station, it can move to the puncture station to complete the puncture.

[0087] Free movement of three degrees of freedom in space is achieved through the X-axis moving component 410, the Y-axis moving component 430 and the Z-axis moving component 420, so that the variable distance module 300 and the gripper module 200 can move back and forth between the puncture station and the needle removal and placement station and flexibly adjust their positions. In some other embodiments, the driving module 400 can be implemented in other forms, such as: a multi-joint robotic arm, etc., as long as the moving trajectory includes the puncture station and the needle removal and placement station. Example 2

[0088] Reference Figure 5 、 Figure 6 and Figure 7 As shown, the structure of the variable distance puncture device provided in this embodiment is different from that of the embodiment in the form and structure of the variable distance component 310.

[0089] In this embodiment, the variable-pitch linkage structure 312 includes a connecting rod assembly that is telescopically movably arranged along the X-axis, the connecting rod assembly includes multiple scissor-type connecting rod groups, the scissor-type connecting rod group includes two connecting rods hinged to each other at the center, the hinge of the two connecting rods is set as a central rotation point, and multiple gripper assemblies 210 are hinged one by one at the multiple central rotation points. The variable-pitch drive structure 311 includes a linear drive mechanism for driving one of the gripper assemblies 210 to move back and forth along the X-axis, and one of the gripper assemblies 210 drives the remaining gripper assemblies 210 to move back and forth along the X-axis through the scissor-type connecting rod. During the movement, two adjacent gripper assemblies 210 approach or move away from each other, thereby realizing variable pitch between multiple gripper assemblies 210.

[0090] Reference Figure 11 As shown, the present invention also provides a control method applicable to the above-mentioned variable-distance puncture device, the method comprising:

[0091] S100: Obtaining the number of holes to be punctured and the spacing between the holes to be punctured;

[0092] S200: The driving module 400 drives the variable pitch module 300 and the gripper module 200 to move to the needle placement station, and the multiple gripper assemblies 210 clamp the puncture needles 110 from the storage position 120 according to the number of holes to be punctured;

[0093] S300: The distance-changing assembly 310 drives the plurality of gripper assemblies 210 to move away from or toward each other according to the spacing of the holes to be punctured, so as to adjust the distance between two adjacent gripper assemblies 210 to be consistent with the spacing of the holes to be punctured;

[0094] S400: The driving module 400 drives the variable distance module 300 and the gripper module 200 to move to the puncture station to puncture the object to be punctured;

[0095] S500: The variable distance assembly 310 drives the multiple gripper assemblies 210 to move away from or closer to each other until returning to the initial state;

[0096] S600: The driving module 400 drives the variable distance module 300 and the gripper module 200 to move to the needle placement station, and the multiple gripper assemblies 210 release the puncture needle 110 to the storage position 120, waiting for the next puncture.

[0097] Specifically, in S200, the variable distance module 300 adjusts the spacing of the gripper assembly 210 until it is consistent with the spacing of the storage position 120, and the driving module 400 drives the variable distance module 300 and the gripper module 200 to move to the needle picking and placing station. A number of gripper assemblies 210 that are consistent with the number of holes to be punctured are opposite to a number of puncture needles 110 located in the storage position 120. The needle box module 100 is in the first state, and the driving module 400 drives the variable distance module 300 and the gripper module 200 to gradually approach the needle box module 100 until the puncture needle 110 extends into the clamping hole 214 and is clamped and fixed by the first clamping member 211 and the second clamping member 212.

[0098] In S300, the variable distance assembly 310 drives the multiple gripper assemblies 210 to move closer to or away from each other, adjusts the spacing between the gripper assemblies 210, and thus changes the spacing between the puncture needles 110, and controls the spacing between the puncture needles 110 to be consistent with the spacing of the holes to be punctured, so as to achieve puncture of holes of any spacing.

[0099] In S400, the driving module 400 drives the variable distance module 300 and the gripper module 200 to move to the puncture station. The driving module 400 controls the variable distance module 300 to move directly above the position of the hole to be punctured, so as to realize puncturing of a hole at any position. The driving module 400 drives the variable distance module 300 and the gripper module 200 to approach the object to be punctured until a puncture is completed.

[0100] In S500 , the distance changing module 300 adjusts the distance between the gripper assemblies 210 until the distance is consistent with the distance between the storage positions 120 .

[0101] In S600, the driving module 400 drives the variable distance module 300 and the gripper module 200 to move to the needle placement and removal station. The several puncture needles 110 clamped by the variable distance module 300 are opposite to the several storage positions 120 one by one. The needle box module 100 is in the second state, and the top contact part 121 protrudes from the upper plate 130. The driving module 400 drives the variable distance module 300 and the gripper module 200 to gradually approach the needle box module 100 until the puncture needle 110 extends into the storage position 120. The top contact part 121 pushes the first clamping part 211 and the second clamping part 212 apart. The puncture needle 110 is pushed out by the second elastic part 216 and falls into the storage position 120, completing the needle placement. The driving module 400 drives the variable distance module 300 and the gripper module 200 away from the needle box module 100, waiting for the next puncture.

[0102] Throughout this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" indicate that a particular feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of these terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

[0103] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A variable distance puncture device, characterized in that: include: The needle box module is provided with a plurality of storage positions and a plurality of puncture needles, wherein the plurality of storage positions are arranged at intervals and are used to store the plurality of puncture needles; A gripper module, comprising a plurality of gripper assemblies, wherein the plurality of gripper assemblies are used to clamp and release the plurality of puncture needles; A pitch-changing module, comprising a pitch-changing assembly, wherein the pitch-changing assembly is used to drive the plurality of gripper assemblies to move away from or toward each other along the X-axis to change the distance between two adjacent gripper assemblies; A driving module is used to drive the variable pitch module and the gripper module to move. The movement tracks of the variable pitch module and the gripper module are provided with a needle placement station and a puncture station. The needle box module is provided at the needle placement station. The puncture station is provided with a puncture table for placing an object to be punctured. Multiple gripper assemblies are arranged to slide along the X-axis, and the variable pitch assembly includes a variable pitch drive structure and a variable pitch linkage structure. The variable pitch linkage structure is connected between two adjacent gripper assemblies so that one of the gripper assemblies follows the other gripper assembly to move relative to the X-axis. The variable pitch drive structure is used to drive one of the gripper assemblies or the variable pitch linkage structure to move, thereby driving multiple gripper assemblies to change pitch synchronously.

2. The variable distance puncture device according to claim 1, characterized in that: The variable pitch linkage structure includes a variable pitch screw extending along the X-axis, and the variable pitch drive structure includes a rotary drive mechanism for driving the variable pitch screw to rotate around its own axis. The outer periphery of the variable pitch screw is provided with multiple spiral transmission guide parts, and the multiple transmission guide parts are connected to the multiple gripper assemblies one by one.

3. The variable distance puncture device according to claim 1, characterized in that: The variable-pitch linkage structure includes a connecting rod assembly that can be telescopically arranged along the X-axis, the connecting rod assembly is provided with multiple center rotation points, and multiple gripper assemblies are hinged one by one to the multiple center rotation points. The variable-pitch drive structure includes a linear drive mechanism for driving one of the gripper assemblies to move back and forth along the X-axis.

4. The variable distance puncture device according to claim 1, characterized in that: The gripper assembly includes a first clamping member and a second clamping member that are arranged opposite to each other and slide toward each other. A first elastic member is provided at one end of the first clamping member and the second clamping member that are away from each other. A clamping hole is vertically provided between the first clamping member and the second clamping member.

5. The variable distance puncture device according to claim 4, characterized in that: The puncture needle is provided with a puncture end and a clamping end. The outer periphery of the clamping end is provided with a clamping portion that matches and engages with the first clamping piece and the second clamping piece respectively.

6. The variable distance puncture device according to claim 4, characterized in that: The first clamping member and the second clamping member are both provided with an eccentric hole, and the distance between one end of the eccentric hole close to the needle box module and the clamping hole is greater than the distance between the other end and the clamping hole.

7. The variable distance puncture device according to claim 6, characterized in that: A contact portion is provided on both sides of the storage position. When the gripper assembly clamps the puncture needle on the storage position, the contact portion extends into the eccentric hole and contacts the inner wall of the eccentric hole, so that the first clamping member and the second clamping member are separated from each other.

8. The variable distance puncture device according to claim 4, characterized in that: A second elastic member that contacts the puncture needle is provided at the bottom end of the clamping hole, and the second elastic member is used to push out the puncture needle.

9. A control method, characterized in that: Applicable to the variable distance puncture device according to any one of claims 1 to 8, the control method comprises: Obtain the number of holes to be punctured and the spacing between the holes to be punctured; The driving module drives the variable distance module and the gripper module to move to the needle taking and placing station, and the plurality of gripper assemblies clamp the puncture needles from the storage position according to the number of holes to be punctured; The distance-changing assembly drives the plurality of gripper assemblies to move away from or toward each other according to the spacing of the holes to be punctured, so as to adjust the distance between two adjacent gripper assemblies to be consistent with the spacing of the holes to be punctured; The driving module drives the variable distance module and the gripper module to move to the puncture station to puncture the sample to be punctured; The variable distance assembly drives the plurality of gripper assemblies to move away from or approach each other and return to an initial state; The driving module drives the variable distance module and the gripper module to move to the needle taking and placing station, and the plurality of gripper assemblies release the puncture needle to the storage position to wait for the next puncture.

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