Quality control instrument reagent tube taking and placing device with calibration mechanism

Abstract

The utility model discloses a quality control instrument reagent tube taking and placing device with a calibration mechanism, which belongs to the field of quality control instruments and comprises a mechanical gripper arm, a test tube storage module and a calibration module. The test tube storage module comprises a carrier and a plurality of single-row test tube racks, the plurality of single-row test tube racks are arranged on the carrier, and a plurality of reagent tubes are placed in each single-row test tube rack; the mechanical gripper arm is suspended above the test tube storage module and is used for clamping reagent tubes; the calibration module comprises two calibration rings arranged at the two ends of the carrying frame respectively and a calibration column arranged on the mechanical claw arm, and the positions of the reagent tubes can be accurately calibrated through the calibration rings and the calibration column.

Description

Technical Field

[0001] The utility model belongs to the field of quality inspection instruments, and in particular relates to a reagent tube taking and placing device. Background Art

[0002] An automatic quality controller is an automated device used for quality control. Its main function is to monitor and evaluate the quality of a process or system to ensure that it meets specific standards or specifications; automatic quality controllers can be used in a variety of fields, such as manufacturing, laboratory testing, environmental monitoring, etc. It can usually automatically collect samples, perform measurements and analyses, and compare the results with preset quality standards. If the results are outside the specified range, the automatic quality controller may issue an alarm or prompt so that appropriate measures can be taken to resolve the problem;

[0003] During the process of slide sample processing and similar experimental operations, the sample slide needs to be added with the corresponding reagents in the quality control instrument for reaction experiments. First, the reagent tube needs to be grabbed by the mechanical claw arm, and then the reagent in the reagent tube is extracted for reaction experiments. When the different modules in the quality control instrument are assembled on the instrument, there will be a certain cumulative assembly error, and the mechanical claw arm will also accumulate errors during operation. Therefore, the theoretical position parameters of the reagent tube placed on the equipment may not guarantee that the reagent tube can be successfully grabbed every time. Utility Model Content

[0004] The utility model is to overcome the problem that when different modules in a quality control instrument are assembled on the instrument, there will be certain cumulative assembly errors, and the mechanical claw arm will also accumulate errors during operation, resulting in inaccurate grasping of reagent tubes. A quality control instrument reagent tube picking and placing device with a calibration mechanism is provided.

[0005] The embodiment of the utility model adopts the following technical scheme: a reagent tube picking and placing device for a quality control instrument with a calibration mechanism, comprising a mechanical claw arm, a test tube storage module and a calibration module; the test tube storage module comprises a carrier and a plurality of single-row test tube racks, the plurality of single-row test tube racks are arranged on the carrier, and each single-row test tube rack has a plurality of reagent tubes placed therein; the mechanical claw arm is suspended above the test tube storage module for clamping the reagent tube; the calibration module comprises two calibration rings respectively arranged at both ends of the carrier, and a calibration column arranged on the mechanical claw arm, and the position of the reagent tube can be accurately calibrated by the calibration ring and the calibration column.

[0006] Furthermore, the carrier is provided with a long strip slideway, each single-row test tube rack is slidably arranged in the slideway, and a plurality of single-row test tube racks are arranged in parallel in the slideway.

[0007] Furthermore, each single-row test tube rack is provided at the bottom with a strip-shaped slide extending along its length direction, and a strip-shaped guide block is provided at the bottom of the slide in sliding connection with the slide.

[0008] Furthermore, the carrier is also provided with a test tube rack limiting assembly, and the test tube rack limiting assembly includes a limiting block that can be slidably extended to the front end of the slideway, and the limiting block is used to resist multiple single-row test tube racks.

[0009] Furthermore, the test tube rack limit assembly also includes: a mounting plate installed on the right side of the carrier, an outer plate is provided in parallel on the right side of the mounting plate, and the outer plate and the mounting plate are fixedly connected by a connecting plate; an end plate is transversely slidably arranged between the outer plate and the mounting plate, and the limit block is fixedly installed on the left side of the end plate; and an elastic component is arranged between the end plate and the outer plate, and the elastic component elastically contacts the end plate.

[0010] Furthermore, two guide rods are installed transversely between the mounting plate and the outer plate, the two guide rods are distributed in parallel, two guide holes are provided on the end plate, and the two guide rods are respectively slidably matched with the two guide holes; the elastic component includes two springs, the two springs are respectively installed on the two guide rods, and the two springs are both located between the end plate and the outer plate.

[0011] Furthermore, a pull rod is installed on the end plate, a through hole is provided on the outer plate, the pull rod is located in the through hole, and a handle is installed on the outer end of the pull rod.

[0012] At least one of the above technical solutions adopted in the embodiment of the utility model can achieve the following beneficial effects:

[0013] Firstly, the utility model moves the calibration column on the mechanical claw arm into one of the calibration rings, and then moves forward until the calibration column contacts the inner wall of the calibration ring to generate a trigger signal. When the signal is triggered, the Y coordinate y1 of the calibration ring is collected by the host computer. Then the utility model moves backward until the calibration column contacts the inner wall of the calibration ring to generate a trigger signal again. When the signal is triggered, the Y coordinate y2 of the calibration ring is collected by the host computer. The difference between the coordinates of the two points is averaged to calculate the Y center of the calibration ring; the X center of the calibration ring can be calculated by moving left and right in the same way; the bottom position of the calibration ring can be known by the signal trigger after the Z movement; after taking the positions of the two calibration rings in the same way, the mechanical claw arm can obtain the coordinate point of each reagent tube position by calculating the position of the reagent tube and the theoretical position of the calibration ring, thereby ensuring that the mechanical claw arm can accurately grasp the reagent tube.

[0014] Secondly, the utility model uses a limit block to interfere with multiple single-row test tube racks, and the multiple single-row test tube racks are limited and stabilized between the limit block and the tail end of the slide, thereby ensuring the stability and installation accuracy of the multiple single-row test tube racks after installation, and avoiding the single-row test tube racks from being not installed in place or sliding in the slide, which causes the mechanical claw arm to be unable to accurately identify the position of the reagent tube, thereby affecting the normal grasping of the mechanical claw arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a top view of the utility model;

[0016] Figure 2 It is a schematic diagram of the mechanical claw arm and the test tube storage module of the utility model;

[0017] Figure 3 It is a three-dimensional structural schematic diagram of the test tube rack limiting assembly of the utility model;

[0018] Figure 4 The utility model is a test tube rack limit assembly explosion Figure 1 ;

[0019] Figure 5 The utility model is a test tube rack limit assembly explosion Figure 2 ;

[0020] Figure 6 It is a plan view of the carrier of the utility model;

[0021] Figure 7 It is a cross-sectional view of a single-row test tube rack of the utility model.

[0022] In the figure:

[0023] 1. Mechanical claw arm; 2. Test tube storage module; 21. Carrier; 211. Slide; 212. Strip guide block; 22. Single-row test tube rack; 221. Strip slide; 23. Reagent tube; 3. Calibration module; 31. Calibration ring; 32. Calibration column; 4. Test tube rack limit assembly; 41. Limit block; 42. Mounting plate; 43. Outer plate; 431. Perforation; 44. Connecting plate; 45. End plate; 451. Guide hole; 46. Elastic assembly; 461. Spring; 47. Guide rod; 48. Pull rod; 481. Handle; 49. Dust cover. DETAILED DESCRIPTION

[0024] The utility model is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0025] Example 1

[0026] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7As shown, the embodiment of the utility model provides a reagent tube taking and placing device for a quality control instrument with a calibration mechanism, comprising a mechanical claw arm 1, a test tube storage module 2 and a calibration module 3; the test tube storage module 2 comprises a carrier 21 and a plurality of single-row test tube racks 22, the plurality of single-row test tube racks 22 are arranged on the carrier 21, and a plurality of reagent tubes 23 are placed in each single-row test tube rack 22; the mechanical claw arm 1 is suspended above the test tube storage module 2 for clamping the reagent tubes 23; the calibration module 3 comprises two calibration rings 31 respectively arranged at both ends of the carrier 21, and calibration columns 32 respectively arranged on the mechanical claw arm 1;

[0027] The reagent tube taking and placing device of the quality control instrument with a calibration mechanism also includes a host computer (the host computer is a prior art, not shown in the figure, and its specific working principle is not described here), by designing two calibration rings 31 at the corner points of the carrier 21 area, and a calibration column 32 is provided on the mechanical claw arm 1, so as to calibrate the position of the reagent tube 23 in the test tube storage module 2 area;

[0028] During the calibration process, the calibration column 32 on the robotic gripper arm 1 moves into one of the calibration rings 31, and then moves forward until the calibration column 32 contacts the inner wall of the calibration ring 31 to generate a trigger signal. At the same time as the signal is triggered, the Y coordinate y1 of the calibration ring 31 is collected by the host computer, and then moves backward until the calibration column 32 contacts the inner wall of the calibration ring 31 to generate a trigger signal again. At the same time as the signal is triggered, the Y coordinate y2 of the calibration ring 31 is collected by the host computer, and the difference between the coordinates of the two points is averaged to calculate the Y center of the calibration ring 31; by moving left and right in the same way, the X center of the calibration ring 31 can be calculated; the bottom position of the calibration ring 31 can be known by the signal trigger after the Z movement; after taking the positions of the two calibration rings 31 in the same way, and then calculating the positions of the reagent tubes 23 and the theoretical positions of the calibration rings 31, the robotic gripper arm 1 can obtain the coordinate points of the positions of each reagent tube 23, thereby ensuring that the robotic gripper arm 1 can accurately grasp the reagent tubes 23;

[0029] A QR code is provided on the top of the reagent tube 23, and the robotic gripper arm 1 is provided with a camera for scanning the QR code. The QR code is used to identify the identity of the reagent tube 23. The robotic gripper arm 1 scans and identifies the reagent through the camera, and can identify the type of reagent in the reagent tube 23 through the control system, thereby meeting the needs of automated processing.

[0030] Specifically, the carrier 21 is provided with a long strip slide 211, and each single-row test tube rack 22 is slidably arranged in the slide 211, and multiple single-row test tube racks 22 are arranged in parallel in the slide 211; by providing a strip slide groove 221 extending along the length direction at the bottom of each single-row test tube rack 22, a strip guide block 212 slidably connected to the slide groove is provided at the bottom of the slide 211, so that multiple single-row test tube racks 22 can be slidably installed in the slide 211, and the staff can take the single-row test tube rack 22 out of the slide 211 by pulling, which is convenient for installing or taking out the reagent tubes 23.

[0031] Example 2

[0032] like Figure 3 , Figure 4 , Figure 5 As shown, in this embodiment, further improvements are made with respect to Embodiment 1, and a test tube rack limiting assembly 4 is further provided on the carrier 21, and the test tube rack limiting assembly 4 includes a limiting block 41 that can be slidably extended to the front end of the slideway 211, and the limiting block 41 is used to prevent multiple single-row test tube racks 22 from sliding in the slideway 211;

[0033] The test tube rack limit assembly 4 also includes: a mounting plate 42 mounted on the right side of the carrier 21, an outer plate 43 is provided in parallel on the right side of the mounting plate 42, and the outer plate 43 and the mounting plate 42 are fixedly connected by a connecting plate 44; an end plate 45 is transversely slidably arranged between the outer plate 43 and the mounting plate 42, and the limit block 41 is fixedly installed on the left side of the end plate 45; and an elastic assembly 46 is arranged between the end plate 45 and the outer plate 43, and the elastic assembly 46 elastically contacts the end plate 45, and a dust cover plate 49 is also provided above the mounting plate 42 and the outer plate 43;

[0034] Two guide rods 47 are installed transversely between the mounting plate 42 and the outer plate 43, and the two guide rods 47 are distributed in parallel. Two guide holes 451 are provided on the end plate 45, and the two guide rods 47 are respectively slidably matched with the two guide holes 451, so that the end plate 45 can slide transversely between the outer plate 43 and the mounting plate 42, and the end plate 45 can drive the limit block 41 to move toward the head end of the slideway 211 while sliding; the elastic component 46 includes two springs 461, and the two springs 461 are respectively installed on the two guide rods 47, and the two springs 461 are located between the end plate 45 and the outer plate 43;

[0035] A pull rod 48 is also installed on the end plate 45 . A through hole 431 is provided on the outer plate 43 . The pull rod 48 is located in the through hole 431 . A handle 481 is installed on the outer end of the pull rod 48 .

[0036] In this embodiment, when all the single-row test tube racks 22 are in the slide 211 and installed in place, the limit block 41 is also extended under the elastic force of the spring 461 and placed at the head end of the slide 211, and the limit block 41 just contacts with the multiple single-row test tube racks 22, and the multiple single-row test tube racks 22 are limited and stabilized between the limit block 41 and the tail end of the slide 211, so as to ensure the stability and installation accuracy of the multiple single-row test tube racks 22 after installation, and avoid the single-row test tube racks 22 not being installed in place or the single-row test tube racks 22 sliding in the slide 211, which causes the mechanical claw arm 1 to be unable to accurately identify the position of the reagent tube 23, thereby affecting the normal grasping of the mechanical claw arm 1;

[0037] When the staff needs to take out multiple single-row test tube racks 22 from the slide 211, they only need to pull the handle 481, the spring 461 is compressed, and the limit block 41 also moves to the right side of the carrier 21 until the limit block 41 is completely separated from the head end of the slide 211, and then the multiple single-row test tube racks 22 can be taken out.

[0038] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A reagent tube taking and placing device for a quality control instrument with a calibration mechanism, characterized in that: It comprises a mechanical claw arm (1), a test tube storage module (2) and a calibration module (3); The test tube storage module (2) comprises a carrier (21) and a plurality of single-row test tube racks (22); the plurality of single-row test tube racks (22) are arranged on the carrier (21), and a plurality of reagent tubes (23) are placed in each single-row test tube rack (22); The mechanical gripper arm (1) is suspended above the test tube storage module (2) and is used to clamp the reagent tube (23); The calibration module (3) comprises two calibration rings (31) respectively arranged at two ends of the carrier (21), and a calibration column (32) arranged on the mechanical claw arm (1).

2. A reagent tube taking and placing device for a quality control instrument with a calibration mechanism according to claim 1, characterized in that: The carrier (21) is provided with a long strip slideway (211), each single-row test tube rack (22) is slidably arranged in the slideway (211), and a plurality of single-row test tube racks (22) are arranged in parallel in the slideway (211).

3. A reagent tube taking and placing device for a quality control instrument with a calibration mechanism according to claim 2, characterized in that: Each single-row test tube rack (22) is provided with a strip-shaped slide groove (221) extending along its length direction at the bottom, and a strip-shaped guide block (212) is provided at the bottom of the slideway (211) in sliding connection with the slide groove.

4. The reagent tube taking and placing device of a quality control instrument with a calibration mechanism according to claim 2, characterized in that: The carrier (21) is also provided with a test tube rack limiting assembly (4), the test tube rack limiting assembly (4) comprising a limiting block (41) that can be slidably extended to the front end of the slideway (211), the limiting block (41) being used to resist a plurality of single-row test tube racks (22).

5. The reagent tube taking and placing device of a quality control instrument with a calibration mechanism according to claim 4, characterized in that: The test tube rack limiting assembly (4) further comprises: A mounting plate (42) mounted on the right side of the carrier (21), an outer plate (43) being provided in parallel on the right side of the mounting plate (42), and the outer plate (43) and the mounting plate (42) being fixedly connected via a connecting plate (44); An end plate (45) is transversely slidably disposed between the outer plate (43) and the mounting plate (42), wherein the limit block (41) is fixedly mounted on the left side of the end plate (45); and an elastic component (46) disposed between the end plate (45) and the outer plate (43), wherein the elastic component (46) elastically contacts the end plate (45).

6. The reagent tube taking and placing device of a quality control instrument with a calibration mechanism according to claim 5, characterized in that: Two guide rods (47) are transversely mounted between the mounting plate (42) and the outer plate (43), the two guide rods (47) are arranged in parallel, two guide holes (451) are formed on the end plate (45), and the two guide rods (47) are respectively slidably matched with the two guide holes (451); The elastic component (46) comprises two springs (461), the two springs (461) are respectively mounted on two guide rods (47), and the two springs (461) are both located between the end plate (45) and the outer side plate (43).

7. The reagent tube taking and placing device of a quality control instrument with a calibration mechanism according to claim 5, characterized in that: A pull rod (48) is also mounted on the end plate (45), a through hole (431) is provided on the outer plate (43), the pull rod (48) is located in the through hole (431), and a handle (481) is mounted on the outer end of the pull rod (48).

Images