Assembly device and assembly line for nucleic acid detection module

Abstract

The invention discloses an assembling device and an assembling line for a nucleic acid detection module, the assembling device comprises a tray, a conveying mechanism, a jacking mechanism, a clamping mechanism, image acquisition equipment, an assembling mechanism and a controller, the controller is configured to determine that the assembling device enters an assembling mode; determining that the tray reaches a first preset position; the jacking mechanism is controlled to jack the tray, so that the tray reaches a second preset position; controlling the clamping mechanism to clamp the plurality of pins; controlling the image acquisition equipment to acquire the image; determining that the first emission material meets a preset assembly condition according to the image; and the assembling mechanism is controlled to assemble the second emission material and the first emission material together. The assembly device and the assembly line for the nucleic acid detection module have the advantage of simple structure, the assembly efficiency and the assembly quality stability of the nucleic acid detection module are improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of assembly devices, and specifically relates to an assembly device and an assembly line for a nucleic acid detection module. Background Art

[0002] With the development of industry, products in many industries are developing towards miniaturization and thinness. More and more products need to assemble many tiny parts together in a very small space or an extremely thin space. Nucleic acid detection modules (such as PCR modules) are a type of tiny parts. Due to their special application scenarios, the components that make them up need to be accurately assembled to ensure that the nucleic acid detection function can be better realized. In the existing technology, the assembly of nucleic acid detection modules is mostly manual installation, which is difficult and inefficient, and also has the disadvantages of being prone to errors, poor stability and high installation costs. Summary of the Invention

[0003] The purpose of this application is to provide an assembly device and assembly line for a nucleic acid detection module, which has the advantages of simple structure, improved assembly efficiency and assembly quality stability of the nucleic acid detection module, and reduced labor costs.

[0004] In order to achieve the above-mentioned objectives, the present application provides, in a first aspect, an assembly device for a nucleic acid detection module, the assembly device comprising:

[0005] A tray for placing a first launch material and a second launch material;

[0006] A conveying mechanism, wherein an assembly station is formed on the conveying mechanism and is used to convey the pallet;

[0007] Lifting mechanism, used for lifting the pallet;

[0008] A clamping mechanism, used for clamping a plurality of pins on the first launch material;

[0009] An image acquisition device is used to acquire images within an image acquisition area, and the clamping mechanism is within the image acquisition area;

[0010] an assembling mechanism for assembling the second projectile material and the first projectile material together;

[0011] The controller is configured to:

[0012] Determine that the assembly device enters the assembly mode;

[0013] Determining that the tray reaches a first preset position;

[0014] Controlling the lifting mechanism to lift the tray so that the tray reaches a second preset position;

[0015] Controlling the clamping mechanism to clamp a plurality of pins;

[0016] Controlling the image acquisition device to acquire images;

[0017] determining, based on the image, that the first launch material meets a preset assembly condition;

[0018] The assembling mechanism is controlled to assemble the second projectile material and the first projectile material together.

[0019] In an embodiment of the present application, determining, based on the image, whether the first projectile material meets the preset assembly condition includes:

[0020] Determine the actual position of the tip of each pin based on the image;

[0021] Obtaining theoretical positions of the tips of multiple pins;

[0022] Calculate the difference between the actual position of the tip of each pin and the corresponding theoretical position;

[0023] Make sure the difference corresponding to any pin is within the preset range;

[0024] Determine whether the first launch material meets the preset assembly conditions.

[0025] In an embodiment of the present application, the assembly device further includes a first stopper that is liftably disposed at a position close to the first preset position and is used to stop the tray, and the controller is further configured to:

[0026] After determining that the assembly device enters the assembly mode, controlling the first stopper to perform a stopping operation; and

[0027] After determining that the stopping operation is completed and the tray reaches the first preset position, the lifting mechanism is controlled to lift the tray.

[0028] In an embodiment of the present application, the assembly apparatus further includes a fill light device for filling light in the image acquisition area, and the controller is further configured to:

[0029] After determining that the assembly device enters the assembly mode, controlling the fill light device to perform a fill light operation; and

[0030] When it is determined that the fill light device performs a fill light operation, the image acquisition device is controlled to acquire an image.

[0031] In an embodiment of the present application, the clamping mechanism includes a first jaw and a second jaw that can be opened and closed, the first jaw includes an introduction portion and a correction portion located above the introduction portion; on the side facing the second jaw, the introduction portion protrudes laterally from the correction portion and is formed with a plurality of introduction grooves, and a plurality of correction grooves are formed on the correction portion, and the number of correction grooves, the number of introduction grooves and the number of pins are consistent; in the direction away from the second jaw, the width of the introduction groove gradually decreases, and the bottom of the correction groove and the bottom of the introduction groove are vertically connected.

[0032] In an embodiment of the present application, the cross section of the introduction groove is sawtooth-shaped, and the cross section of the correction groove is U-shaped.

[0033] In an embodiment of the present application, the assembly device further includes a kicking mechanism provided at the downstream end of the assembly mechanism and at a position close to the third preset position, and the controller is further configured to:

[0034] When it is determined according to the image that the first shot material does not meet the preset assembly conditions, controlling the clamping mechanism to release the plurality of pins;

[0035] Control the lifting mechanism to descend so that the pallet falls onto the conveyor mechanism;

[0036] controlling the conveying mechanism to convey the tray to a third preset position;

[0037] Control the kicking mechanism to perform the kicking operation.

[0038] In an embodiment of the present application, the kicking mechanism includes:

[0039] a lifting member, which is liftably arranged at a position close to the third preset position;

[0040] The kicking conveyor belt is arranged on one side of the conveying mechanism;

[0041] a pusher, which is horizontally and telescopically arranged at a position close to the third preset position and is used to push the pallet from the conveying mechanism to the kick conveyor belt;

[0042] The controller is also configured to:

[0043] When it is determined that the first projectile material does not meet the preset assembly condition and the tray is transferred to the third preset position, controlling the lifting member to lift the tray to the fourth preset position;

[0044] Controlling the pushing member to perform a pushing operation to push the pallet from the conveying mechanism to the kick conveyor belt;

[0045] Control the kick conveyor to convey the pallet to the conveying end of the kick conveyor.

[0046] In an embodiment of the present application, the assembly device further includes a second stopper that is liftably disposed at a position close to the third preset position, and the controller is further configured to:

[0047] If it is determined that the first projectile material does not meet the preset assembly condition, controlling the second stopper to perform a stopping operation; and

[0048] After determining that the stopping operation is completed and the tray reaches the third preset position, the lifting mechanism is controlled to lift the tray.

[0049] A second aspect of the present application provides an assembly line for a nucleic acid detection module, which assembly line includes the above-mentioned assembly device for a nucleic acid detection module.

[0050] Through the above technical solution, it can be known that the assembly device includes a tray, a conveying mechanism, a lifting mechanism, a clamping mechanism, an image acquisition device, an assembly mechanism and a controller. The controller is configured to: determine that the assembly device enters the assembly mode; determine that the tray reaches the first preset position; control the lifting mechanism to lift the tray so that the tray reaches the second preset position; control the clamping mechanism to clamp the plurality of pins; control the image acquisition device to capture the image; determine that the first launch material meets the preset assembly conditions based on the image; and control the assembly mechanism to assemble the second launch material and the first launch material together. The assembly device has a simple structure and a high degree of automation. It can automatically detect whether the first launch material meets the preset assembly conditions, and can automatically assemble the second launch material and the first launch material together if the first launch material meets the preset assembly conditions. It has high assembly efficiency, low error probability, and is stable and reliable. It is beneficial to improving the consistency and quality stability of nucleic acid detection module products, and is also beneficial to reducing labor costs.

[0051] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the drawings:

[0053] Figure 1 This is a schematic diagram of the control flow of the assembly device in an embodiment of the present invention;

[0054] Figure 2 This is a schematic structural diagram of an assembly device according to an embodiment of the present invention;

[0055] Figure 3 This is a schematic diagram of a first partial structure of an assembly device according to an embodiment of the present invention;

[0056] Figure 4 A second partial structural diagram of the assembly device according to an embodiment of the present invention;

[0057] Figure 5 This is a schematic structural diagram of the clamping mechanism from a first perspective in an embodiment of the present invention;

[0058] Figure 62 is a schematic structural diagram of the clamping mechanism from a second perspective in an embodiment of the present invention.

[0059] Description of Reference Numerals

[0060] 1-tray; 101-first launch material; 1011-pin; 102-second launch material; 2-transmission mechanism; 201-first conveyor belt module; 202-second conveyor belt module; 3-lifting mechanism; 4-clamping mechanism; 401-first clamping claw; 4011-introduction part; 4012-correction part; 4013-introduction slot; 4014-correction slot; 402-second clamping claw; 5-image acquisition device; 6-assembly mechanism; 601-robotic arm; 602-clamping assembly; 7-first stopper; 8-fill light device; 9-workbench. DETAILED DESCRIPTION

[0061] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0062] In one embodiment of the present application, an assembly device for a nucleic acid detection module is provided, such as Figure 2-Figure 4 As shown, the assembly device includes:

[0063] Tray 1, for placing the first launch material 101 and the second launch material 102;

[0064] A conveying mechanism 2, used for conveying the pallet 1;

[0065] A lifting mechanism 3, used for lifting the tray 1;

[0066] A clamping mechanism 4, used for clamping the plurality of pins 1011 on the first launching material 101;

[0067] An image acquisition device 5 is used to acquire images within an image acquisition area, and the clamping mechanism 4 is within the image acquisition area;

[0068] The assembling mechanism 6 is used to assemble the second projectile material 102 and the first projectile material 101 together.

[0069] Specifically, the nucleic acid detection module in this embodiment may be selected as a PCR module, the first emission material 101 may be selected as a semi-finished emission module, and the second emission material 102 may be selected as a PD board. The first emission material 101 includes a pin mounting seat and a plurality of pins 1011 extending upward from the top of the pin mounting seat. On the horizontal plane, the plurality of pins 1011 are spaced apart. The tray 1 is provided with a first mounting seat for placing and fixing the first emission material 101 and a second mounting seat for placing and fixing the second emission material 102. The assembly device also includes a workbench 9 arranged in the assembly area, and the conveying mechanism 2 includes a first conveyor belt module 201 and a second conveyor belt module 202 arranged in parallel and spaced apart. The bottom ends of the tray 1 are divided into The first and second conveyor belt modules 201 and 202 are placed on the conveyor belts of the first conveyor belt module 201 and the second conveyor belt module 202, wherein the first conveyor belt module 201 and the second conveyor belt module 202 both include a driving pulley and a driven pulley arranged at intervals in the horizontal direction, and the transmission belt is sleeved on the driving pulley and the driven pulley, and a support base is provided under the first conveyor belt module 201 and the second conveyor belt module 202; the jacking mechanism 3 is located between the first conveyor belt module 201 and the second conveyor belt module 202 and can be optionally a jacking cylinder. This setting position can avoid motion interference between the jacking mechanism 3 and the first conveyor belt module 201 and the second conveyor belt module 202, and is also conducive to making the mechanism arrangement on the workbench 9 more compact.

[0070] An assembly station is formed on the workbench 9. The clamping mechanism 4 includes a clamping mounting base arranged on the assembly station and located on one side of the first conveyor belt module 201 or the second conveyor belt module 202, and a first clamping jaw 401 and a second clamping jaw 402 that can be opened and closed on the clamping mounting base. The first clamping jaw 401 and the second clamping jaw 402 can be brought close to each other to clamp all the pins 1011 on the first launch material 101. Furthermore, after the first clamping jaw 401 and the second clamping jaw 402 complete the clamping, the top of each pin 1011 protrudes upward from the top surface of the first clamping jaw 401 and the second clamping jaw 402. The image acquisition device 5 in this embodiment may be a camera or a still camera; the assembly mechanism 6 includes a robotic arm 601 and a clamping assembly 602. The robotic arm 601 is arranged on the assembly station and is a multi-axis robotic arm 601 (such as a 3-axis robotic arm 601, a 4-axis robotic arm 601, or a 5-axis robotic arm 601). The clamping assembly 602 includes a third clamping jaw and a fourth clamping jaw that are openably arranged at the moving end of the robotic arm 601. The third clamping jaw and the fourth clamping jaw can be brought together to clamp the second projectile 102. The movement of the multi-axis robotic arm 601 can drive the clamping assembly 602 or the combination of the clamping assembly 602 and the second projectile 102 to move.

[0071] The controller is configured to perform the following steps (such as Figure 1 shown):

[0072] Step S101: determining that the assembly device enters the assembly mode;

[0073] Step S102: determining that the tray 1 has reached a first preset position;

[0074] Step S103: controlling the lifting mechanism 3 to lift the tray 1 so that the tray 1 reaches a second preset position;

[0075] Step S104: controlling the clamping mechanism 4 to clamp the plurality of pins 1011;

[0076] Step S105: controlling the image acquisition device 5 to acquire images;

[0077] Step S106: determining, based on the image, that the first emission material 101 meets a preset assembly condition;

[0078] Step S107: controlling the assembling mechanism 6 to assemble the second projectile material 102 and the first projectile material 101 together.

[0079] Specifically, the assembly device in this embodiment further includes an operating device (not shown in the figure), which is provided with a plurality of function buttons. The controller (the controller in this embodiment may be a PLC controller) is communicatively connected with the conveying mechanism 2, the lifting mechanism 3, the clamping mechanism 4, the image acquisition device 5, the assembly mechanism 6, and the operating device. When the operator presses the equipment function button on the operating device, the operating device sends a control signal to the controller. After receiving the above signal, the controller determines that the assembly device enters the assembly mode.

[0080] Furthermore, the assembly device further includes a first proximity switch (not shown) provided on the workbench 9 and located at a first preset position. The proximity switch is provided on one side of the first conveyor module 201 or the second conveyor module 202 and is in communication with the controller. When the pallet 1 is transported to the first preset position, the first proximity switch can detect the pallet 1 and send a signal to the controller. Upon receiving the signal, the controller can determine that the pallet 1 has reached the first preset position.

[0081] The bottom of the tray 1 is formed with a cavity that is recessed upward and is used for the lifting mechanism 3 to be inserted upward. After the controller determines that the tray 1 has reached the first preset position, it controls the lifting mechanism 3 to extend upward so as to lift the tray 1 upward and separate it from the conveying mechanism 2.

[0082] In this embodiment, the assembly device further includes a first jacking-in-place detector (such as a magnetic detection switch) that is communicatively connected to the controller and is used to detect whether the jacking mechanism 3 is jacked into place. After controlling the jacking mechanism 3 to extend upward, the controller controls the first jacking-in-place detector to start a detection function. After detecting that the jacking mechanism 3 is jacked into place, the first jacking-in-place detector sends a corresponding signal to the controller. After receiving the above signal, the controller can determine that the jacking mechanism 3 is jacked into place, and then controls the image acquisition device 5 to acquire an image in the image acquisition area. The image acquisition device 5 then sends the acquired image to the controller, and the image includes at least the first clamping claw 401, The controller then uses an image recognition algorithm (such as a template matching algorithm or an image segmentation algorithm) to recognize the above image and determines, based on the recognition result, that the first launch material 101 meets the preset assembly conditions. (In this embodiment, only when the first launch material 101 meets the preset assembly conditions can the pins 1011 be inserted into the pin holes on the second launch material 102 when the second launch material 102 is assembled with the first launch material 101.) In this case, the controller can control the assembly mechanism 6 to assemble the second launch material 102 and the first launch material 101 together.

[0083] The assembly device in this embodiment has a simple structure and a high degree of automation. It can automatically detect whether the first launching material 101 meets the preset assembly conditions, and can automatically assemble the second launching material 102 and the first launching material 101 together when the first launching material 101 meets the preset assembly conditions. The assembly efficiency is high, the error probability is low, and it is stable and reliable, which is beneficial to improving the consistency and quality stability of nucleic acid detection module products, and is also beneficial to reducing labor costs.

[0084] In one embodiment of the present application, determining, based on the image, that the first projectile 101 meets the preset assembly conditions includes the following steps:

[0085] Step S201: determining the actual position of the top of each pin 1011 according to the image;

[0086] Step S202: obtaining the theoretical position of the top of each pin 1011;

[0087] Step S203: Calculating the difference between the actual position of the top of each pin 1011 and the corresponding theoretical position;

[0088] Step S204: Determine whether the difference corresponding to any pin 1011 is within a preset range;

[0089] Step S205: Determine whether the first projectile material 101 meets the preset assembly conditions.

[0090] Specifically, the controller pre-stores the theoretical position of the tip of each pin 1011 and can retrieve it as needed. After recognizing the image and determining the actual position of the tip of each pin 1011 based on the recognition result, the controller retrieves the theoretical position corresponding to the tip of each pin 1011 and calculates the difference between the actual position of the tip of each pin 1011 and its corresponding theoretical position (e.g., calculating the difference between the actual position of the tip of the first pin 1011 and the theoretical position of the tip of the first pin 1011). The corresponding differences for all pins 1011 are then compared with a preset range. If the corresponding differences for any pin 1011 are within the preset range (e.g., 0 mm-0.5 mm), it indicates that the tips of all pins 1011 have not significantly deviated. At this point, each pin 1011 can be inserted into its corresponding pin hole when the second launch material 102 is assembled with the first launch material 101, meaning that the first launch material 101 meets the preset assembly conditions.

[0091] In one embodiment of the present application, the assembly device further includes a first stopper 7 that is liftably disposed at a position close to the first preset position and is used to stop the tray 1. The controller is further configured to perform the following steps:

[0092] After determining that the assembly device enters the assembly mode, controlling the first stopper 7 to rise to perform a stopping operation; and,

[0093] After determining that the first stopper 7 is raised and the pallet 1 reaches the assembly station, the lifting mechanism 3 is controlled to lift the pallet 1 .

[0094] Specifically, the first stop member 7 is located between the first conveyor belt module 201 and the second conveyor belt module 202 and close to the first preset position. The first stop member 7 can be optionally a telescopic cylinder. After determining that the assembly device has entered the assembly mode, the controller controls the first stop member 7 to perform a stopping operation to prevent the pallet 1 from moving away from the first preset position due to unexpected situations (such as deviations in the detection results of the first proximity switch, or delays in the first proximity switch sending signals to the controller). After the pallet 1 is stopped at the first preset position by the first stop member 7, the lifting mechanism 3 lifts the pallet 1 again, so that the lifting mechanism 3 can be accurately inserted into the concave cavity of the pallet 1 to avoid the situation of overturning the pallet 1.

[0095] In one embodiment of the present application, if the controller determines from the image that the first projectile 101 meets the preset assembly conditions, it first controls the robotic arm 601 to perform a first movement operation to move the clamping mechanism 4 to a fifth preset position. It then controls the first clamping assembly 602 to clamp the second projectile 102. It then controls the robotic arm 601 to perform a second movement operation to align the pin holes on the second projectile 102 with the pins 1011 below. The robotic arm 601 then controls the second projectile 102 to move downward so that the top of each pin 1011 extends into the corresponding pin hole on the second projectile 102. After the top of the pin 1011 extends into the pin hole, the clamping mechanism 4 is controlled to open to a preset width to reserve sufficient operating space for subsequent operations. After the clamping mechanism 4 is fully opened, the controller controls the robotic arm 601 to continue moving the second projectile 102 downward to complete the assembly of the second projectile 102 with the first projectile 101.

[0096] In one embodiment of the present application, the assembly apparatus further includes a fill light device 8 for filling light in the image acquisition area, and the controller is further configured to perform the following steps:

[0097] After determining that the assembly device enters the assembly mode, controlling the fill light device 8 to perform a fill light operation; and

[0098] When it is determined that the fill light device 8 performs the fill light operation, the image acquisition device 5 is controlled to acquire an image.

[0099] Specifically, in this embodiment, the image capture device 5 is mounted at the end of the robot arm 601 via a mounting bracket. The fill light device 8 is disposed below the image capture device 5 and is a ring-shaped light source. The image capture device 5 can capture the clamping assembly 602 and the plurality of pins 1011 in the image capture area through the hollow area of ​​the ring-shaped light source. The provision of the ring-shaped light source ensures that the image capture area is illuminated with sufficient and even distribution. Furthermore, in this embodiment, after determining that the assembly device has entered assembly mode, the controller controls the fill light device 8 to be in a constant on state, thereby reducing the difficulty of control. Under the fill light of the ring-shaped light source, the image captured by the image capture device 5 is of higher quality, which is conducive to improving the accuracy of subsequent image recognition results.

[0100] In one embodiment of the present application, Figure 4-Figure 5As shown, the clamping mechanism 4 includes a first jaw 401 and a second jaw 402 that can be opened and closed, and the first jaw 401 includes an introduction portion 4011 and a correction portion 4012 located above the introduction portion 4011; on the side facing the second jaw 402, the introduction portion 4011 protrudes laterally from the correction portion 4012 and is formed with a plurality of introduction grooves 4013, and a plurality of correction grooves 4014 are formed on the correction portion 4012, and the number of correction grooves 4014, the number of introduction grooves 4013 and the number of pins 1011 are consistent; in the direction away from the second jaw 402, the width of the introduction groove 4013 gradually decreases, and the bottom of the correction groove 4014 and the bottom of the introduction groove 4013 are vertically connected.

[0101] Specifically, the introduction part 4011, the correction part 4012 and the second clamping jaw 402 are all flat-plate-shaped. Before the clamping mechanism 4 clamps, the first clamping jaw 401 and the second clamping jaw 402 are in an open state and the multiple pins 1011 are all between the first clamping jaw 401 and the second clamping jaw 402. In the longitudinal direction, the positions of the multiple pins 1011 correspond one to one with the positions of the multiple introduction grooves 4013 and the positions of the multiple correction grooves 4014; when the first clamping jaw 401 and the second clamping jaw 402 are closed, each pin 1011 first enters its corresponding introduction groove 4013, and under the guidance of the side wall of the introduction groove 4013, the pin 1011 in the inclined state is gradually corrected to a vertical state. When the pin 1011 is about to reach the bottom of the introduction groove 4013, each pin 1011 will enter its corresponding correction groove 4014 and will be clamped and fixed in a corrected posture.

[0102] In one embodiment of the present application, the cross-section of the introduction groove 4013 is sawtooth-shaped, and the cross-section of the correction groove 4014 is U-shaped. Specifically, the cross-section of the introduction groove 4013 in this embodiment is V-shaped. The introduction groove 4013 and the correction groove 4014 of the above-mentioned shape can not only play a better role in introduction, correction and movement restriction, but also facilitate production and manufacturing.

[0103] Furthermore, the pin 1011 in this embodiment is made of silver metal, and the first clamping jaw 401 and the second clamping jaw 402 are made of black material (such as rubber). The contrast between the above two colors is large, which facilitates the rapid identification of the pin 1011 in the image, and is conducive to further improving the accuracy of the image recognition results.

[0104] In one embodiment of the present application, the assembly device further includes a kicking mechanism provided at the downstream end of the assembly mechanism 6 and near the third preset position, and the controller is further configured to perform the following steps:

[0105] Step S301: when it is determined based on the image that the first emission material 101 does not meet the preset assembly conditions, controlling the clamping mechanism 4 to release the plurality of pins 1011;

[0106] Step S302: Control the lifting mechanism 3 to descend so that the tray 1 falls onto the conveying mechanism 2;

[0107] Step S303: controlling the conveying mechanism 2 to convey the tray 1 to a third preset position;

[0108] Step S304: controlling the kicking mechanism to perform the kicking operation.

[0109] Specifically, the controller uses an image recognition algorithm (such as a template matching algorithm or an image segmentation algorithm) to recognize the above image and determines, based on the recognition result, that the first launch material 101 does not meet the preset assembly conditions. In this case, if the second launch material 102 is assembled with the first launch material 101, one or more pins 1011 may not be inserted into their corresponding pin holes. Therefore, if the first launch material 101 does not meet the preset assembly conditions, the second launch material 102 and the first launch material 101 cannot be assembled. In the above situation, the controller controls the lifting mechanism 3 to descend so that the tray 1 falls onto the conveying mechanism 2. The conveying mechanism 2 in motion (in this embodiment, the conveying function of the conveying mechanism 2 can be kept on in the assembly mode of the assembly device; or the conveying function can be turned off after the lifting mechanism 3 lifts the tray 1, and then turned on again after the lifting mechanism 3 is lowered) can convey the tray 1 to the third preset position so that the kicking mechanism near the third preset position can perform a kicking operation on the first launch material 101, the second launch material 102 and / or the tray 1.

[0110] In one embodiment of the present application, determining, based on the image, that the first emission material 101 does not meet the preset assembly condition includes:

[0111] Step S401: determining the actual position of the top of each pin 1011 according to the image;

[0112] Step S402: obtaining the theoretical position of the top of each pin 1011;

[0113] Step S403: Calculating the difference between the actual position of the top of each pin 1011 and the corresponding theoretical position;

[0114] Step S404: determining that the difference corresponding to at least one pin 1011 is not within a preset range;

[0115] Step S405: determining that the first projectile material 101 does not meet the preset assembly condition.

[0116] Specifically, the controller pre-stores the theoretical position of the tip of each pin 1011 and can retrieve it as needed. After recognizing the image and determining the actual position of the tip of each pin 1011 based on the recognition result, the controller retrieves the theoretical position corresponding to the tip of each pin 1011 and calculates the difference between the actual position of the tip of each pin 1011 and its corresponding theoretical position (e.g., calculating the difference between the actual position of the tip of the first pin 1011 and the theoretical position of the tip of the first pin 1011). The corresponding differences for all pins 1011 are then compared with a preset range. If the difference corresponding to at least one pin 1011 is not within the preset range (e.g., 0 mm-0.5 mm), it indicates that the tip of at least one pin 1011 has significantly deviated. In this case, the pin 1011 with the deviated tip cannot be inserted into the corresponding pin hole when the second launch material 102 is assembled with the first launch material 101, and the first launch material 101 does not meet the preset assembly conditions.

[0117] In one embodiment of the present application, the kicking mechanism includes:

[0118] a lifting member, which is liftably arranged at a position close to the third preset position;

[0119] The kicking conveyor belt is arranged on one side of the conveying mechanism 2;

[0120] The pushing member is horizontally and telescopically arranged at a position close to the third preset position and is used to push the pallet 1 from the conveying mechanism 2 to the kicking conveyor belt.

[0121] Specifically, the jacking member is located between the first conveyor belt module 201 and the second conveyor belt module 202 and on one side of the second stop member. The jacking member can be selected as a jacking cylinder. The setting position of the jacking member can avoid motion interference with the first conveyor belt module 201 and the second conveyor belt module 202, and is also conducive to making the mechanism layout on the workbench 9 more compact; the pushing member can be selected as a pushing cylinder distributed in the horizontal direction, and the setting direction of the pushing cylinder is perpendicular to the conveying direction of the conveying mechanism 2; the kicking conveyor is on the side of the conveying mechanism 2 away from the pushing member, which is convenient for transporting the pallet 1 removed from the conveying mechanism 2 (at this time the pallet 1 is still loaded with the first launch material 101 and the second launch material 102).

[0122] The controller is further configured to perform the following steps:

[0123] Step S501: When it is determined that the first projectile material 101 does not meet the preset assembly condition and the tray 1 is transferred to the third preset position, controlling the lifting member to lift the tray 1 to the fourth preset position;

[0124] Step S502: Control the pusher to perform a push operation to move the tray 1 from the conveying mechanism 2.

[0125] Push it onto the kick conveyor belt;

[0126] Step S503: Control the kick conveyor to convey the pallet 1 to the conveying end of the kick conveyor.

[0127] Specifically, when it is determined that the first launch material 101 does not meet the preset assembly conditions, the controller first controls the clamping mechanism 4 to release the multiple pins 1011, and then controls the lifting mechanism 3 to descend, so that the tray 1 falls onto the conveying mechanism 2, and then the conveying mechanism 2 again conveys the tray 1 and the first launch material 101 and the second launch material 102 thereon; further, the assembly device also includes a second proximity switch (not shown in the figure) provided on the workbench 9 and located at a third preset position, and the second proximity switch is provided on one side of the first conveyor belt module 201 or the second conveyor belt module 202 and is communicatively connected to the controller. When the tray 1 is transported to the third preset position, the second proximity switch can detect the tray 1 and send a signal to the controller. After receiving the above signal, the controller can determine that the tray 1 has reached the third preset position; after determining that the tray 1 has reached the third preset position, the controller controls the lifting member to extend upward, and the lifting member is inserted into the concave cavity at the bottom of the tray 1, so as to lift the tray 1 upward so that it is separated from the conveying mechanism 2 again, and the controller controls After the jacking member is extended upward for a preset time (such as 3s or 5s), the pallet 1 is lifted to the fourth preset position; in this embodiment, the assembly device also includes a second jacking-in-place detector (such as a magnetic detection switch) that is communicatively connected to the controller and is used to detect whether the jacking member is lifted into place. After controlling the jacking member to extend upward, the controller controls the second jacking-in-place detector to turn on the detection function. After detecting that the jacking member is lifted into place, the second jacking-in-place detector sends a corresponding signal to the controller. After receiving the above signal, the controller can determine that the jacking member is lifted into place, and then control the pushing member to perform the pushing operation. The pallet 1 is pushed from the conveying mechanism 2 to the kicking conveyor belt by the horizontal driving force, and then the kicking conveyor belt in motion can convey the pallet 1 to the conveying end of the kicking conveyor belt (in this embodiment, the kicking conveyor belt can be kept on the conveying function in the assembly mode of the assembly device; or when it is determined that the first launched material 101 does not meet the preset assembly conditions and the pallet 1 is conveyed to the third preset position, the kicking conveyor belt can be controlled to turn on the conveying function.).

[0128] In one embodiment of the present application, the kicking mechanism further includes a second stopper (not shown) that is liftably disposed at a position close to the third preset position, and the controller is further configured to perform the following steps:

[0129] If it is determined that the first projectile 101 does not meet the preset assembly condition, controlling the second stopper to rise to perform a stopping operation; and

[0130] After determining that the stopping operation is completed and the tray 1 reaches the third preset position, the lifting member is controlled to lift the tray 1 .

[0131] Specifically, the second stopper is located between the first conveyor belt module 201 and the second conveyor belt module 202 and close to the third preset position. The second stopper can be optionally a telescopic cylinder. When the controller determines that the first launched material 101 does not meet the preset assembly conditions, the controller controls the second stopper to perform a stopping operation to prevent the pallet 1 from moving away from the third preset position due to unexpected situations (such as deviations in the detection results of the second proximity switch, or delays in the second proximity switch sending signals to the controller). After the pallet 1 is stopped at the third preset position by the second stopper, the lifting member lifts the pallet 1 again, so that the lifting member can be accurately inserted into the concave cavity of the pallet 1 to avoid the situation of overturning the pallet 1.

[0132] In another embodiment of the present application, an assembly line for a nucleic acid detection module is provided, which assembly line includes the assembly device for the nucleic acid detection module in the above embodiment.

[0133] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0134] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0135] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0136] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An assembly device for a nucleic acid detection module, characterized in that: The assembly device comprises: A tray (1) for placing a first projectile material (101) and a second projectile material (102); A conveying mechanism (2) for conveying the tray (1); A lifting mechanism (3) for lifting the tray (1); A clamping mechanism (4) for clamping a plurality of pins on the first launching material (101); An image acquisition device (5) is used to acquire images within an image acquisition area, wherein the clamping mechanism (4) is within the image acquisition area; an assembling mechanism (6) for assembling the second projectile material (102) and the first projectile material (101) together; The controller is configured to: Determining that the assembly device enters an assembly mode; Determining that the tray (1) reaches a first preset position; controlling the lifting mechanism (3) to lift the tray (1) so that the tray (1) reaches a second preset position; controlling the clamping mechanism (4) to clamp the plurality of pins (1011); controlling the image acquisition device (5) to acquire the image; Determining, based on the image, that the first emission material (101) meets a preset assembly condition; The assembling mechanism (6) is controlled to assemble the second projectile material (102) and the first projectile material (101) together.

2. The assembly device for nucleic acid detection module according to claim 1, characterized in that: Determining, based on the image, that the first emission material (101) meets a preset assembly condition comprises: determining the actual position of the top end of each of the pins (1011) according to the image; Obtaining theoretical positions of the top ends of the plurality of pins (1011); Calculating the difference between the actual position of the top end of each pin (1011) and the corresponding theoretical position; Determining that the difference corresponding to any one of the pins (1011) is within a preset range; It is determined that the first launch material (101) meets the preset assembly condition.

3. The assembly device for nucleic acid detection module according to claim 1, characterized in that: The assembly device further comprises a first stopper (7) which is liftably arranged at a position close to the first preset position and is used to stop the tray (1), and the controller is further configured to: After determining that the assembly device enters the assembly mode, controlling the first stopper (7) to perform a stopping operation; and After determining that the stopping operation is completed and the tray (1) reaches the first preset position, the lifting mechanism (3) is controlled to lift the tray (1).

4. The assembly device for nucleic acid detection module according to claim 1, characterized in that: The assembly device further comprises a light-filling device (8) for filling light in the image acquisition area, and the controller is further configured to: After determining that the assembly device enters the assembly mode, controlling the fill light device (8) to perform a fill light operation; and When it is determined that the fill light device (8) performs a fill light operation, the image acquisition device (5) is controlled to acquire the image.

5. The assembly device for nucleic acid detection module according to claim 1, characterized in that: The clamping mechanism (4) comprises a first clamping jaw (401) and a second clamping jaw (402) which can be opened and closed, wherein the first clamping jaw (401) comprises an introduction portion (4011) and a correction portion (4012) located above the introduction portion (4011); on the side facing the second clamping jaw (402), the introduction portion (4011) protrudes laterally from the correction portion (4012) and is formed with a plurality of introduction grooves (4013); the correction portion (4012) is formed with a plurality of correction grooves (4014), and the number of the correction grooves (4014), the number of the introduction grooves (4013) and the number of the pins (1011) are consistent; in the direction away from the second clamping jaw (402), the width of the introduction groove (4013) gradually decreases, and the bottom of the correction groove (4014) is vertically connected to the bottom of the introduction groove (4013).

6. The assembly device for nucleic acid detection module according to claim 5, characterized in that: The cross section of the introduction groove (4013) is sawtooth-shaped, and the cross section of the correction groove (4014) is U-shaped.

7. The assembly device for a nucleic acid detection module according to any one of claims 1 to 6, characterized in that: The assembly device further comprises a kicking mechanism provided at the downstream end of the assembly mechanism (6) and at a position close to the third preset position, and the controller is further configured to: When it is determined according to the image that the first emission material (101) does not meet the preset assembly condition, controlling the clamping mechanism (4) to release the plurality of pins (1011); Controlling the lifting mechanism (3) to descend so that the tray (1) falls onto the conveying mechanism (2); controlling the conveying mechanism (2) to convey the tray (1) to the third preset position; Control the kicking mechanism to perform the kicking operation.

8. The assembly device for nucleic acid detection module according to claim 7, characterized in that: The kicking mechanism comprises: a lifting member, which is liftably arranged at a position close to the third preset position; A kicking conveyor belt is arranged on one side of the conveying mechanism (2); a pushing member, which is horizontally and telescopically arranged at a position close to the third preset position and is used to push the tray (1) from the conveying mechanism (2) to the kicking conveyor belt; The controller is further configured to: When it is determined that the first projectile material (101) does not meet the preset assembly condition and the tray (1) is transferred to the third preset position, controlling the lifting member to lift the tray (1) to a fourth preset position; Controlling the pushing member to perform a pushing operation to push the tray (1) from the conveying mechanism (2) onto the kicking conveyor belt; The kick conveyor belt is controlled to convey the pallet (1) to the conveying end of the kick conveyor belt.

9. The assembly device for nucleic acid detection module according to claim 7, characterized in that: The assembly device further includes a second stopper that is liftably disposed at a position close to the third preset position, and the controller is further configured to: When it is determined that the first projectile (101) does not meet the preset assembly condition, controlling the second stopper to perform a stopping operation; and After determining that the stopping operation is completed and the tray (1) reaches the third preset position, the lifting mechanism (3) is controlled to lift the tray (1).

10. An assembly line for a nucleic acid detection module, characterized in that: The assembly line includes an assembly device for a nucleic acid detection module according to any one of claims 1-9.

Images