Mechanical arm mechanism of smear centrifugal machine

Abstract

The utility model relates to the technical field of smear centrifuges, in particular to a mechanical arm mechanism of a smear centrifuge, which comprises a case, a first mechanical arm and a second mechanical arm, and the first mechanical arm and the second mechanical arm are both arranged in the case. Two control chips are installed at the right end in the case, the periphery of the first mechanical arm is slidably sleeved with a first lifting plate, and a first lifting driving assembly is arranged on the inner side of the first mechanical arm; a first adjusting arm is arranged on the right side of the first lifting plate, a grabbing frame is fixed to the lower end of the first adjusting arm, clamping plates are slidably connected to the two sides of the lower end of the grabbing frame, first V-shaped clamping plates are fixed to the inner sides of the clamping plates, a first reciprocating motor is fixed to the outer side of the grabbing frame, and the power end of the first reciprocating motor is connected with a first two-way lead screw; when a sample is sucked and filled, the suction head and the storage bottle do not need to be manually contacted in the whole operation process, so that the risk of secondary pollution is avoided, and the operation process is relatively automatic.

Description

Technical Field

[0001] The utility model relates to the technical field of smear centrifuges, in particular to a mechanical arm mechanism of a smear centrifuge. Background Art

[0002] The smear centrifuge is a special centrifuge that adds a smear rotor to the ordinary centrifuge for thin-layer centrifugal separation. In the field of life sciences, centrifuges are often used for the separation, purification and concentration of cells, viruses, DNA and proteins.

[0003] When the smear centrifuge is working, since it is used to add samples in the chamber, it is necessary to suck or add samples through the pipette tip, and the bottle cap of the preservation bottle needs to be opened or closed to complete the suction of samples in the preservation bottle and the addition of samples in the chamber. However, during the operation, it is often done manually, and manual operation will directly contact the pipette tip or the preservation bottle, posing a risk of secondary contamination. Therefore, the design of the robotic arm mechanism is very important in the smear centrifuge. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a mechanical arm mechanism of a smear centrifuge to solve the problem that manual operation may directly contact with a pipette tip or a storage bottle, resulting in the risk of secondary contamination.

[0005] To achieve the above objectives, the utility model is implemented through the following technical solutions: A mechanical arm mechanism of a smear centrifuge, comprising a chassis, a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are both arranged in the chassis;

[0006] Two control chips are installed at the right end of the chassis, a first lifting plate is slidably sleeved on the outer periphery of the first mechanical arm, and a first lifting drive assembly is provided inside the first mechanical arm;

[0007] A first adjusting arm is provided on the right side of the first lifting plate, a grabbing frame is fixed at the lower end of the first adjusting arm, clamping plates are slidably connected to both sides of the lower end of the grabbing frame, first V-shaped clamping plates are fixed to the inner sides of the clamping plates, a first reciprocating motor is fixed to the outer side of the grabbing frame, a first bidirectional screw rod is connected to the power end of the first reciprocating motor, the first bidirectional screw rod rotates and penetrates into the grabbing frame, the clamping plates are threadedly sleeved with the first bidirectional screw rod, and a clamping position adjustment component is provided between the first adjusting arm and the first lifting plate;

[0008] A second lifting plate is slidably sleeved on the outer periphery of the second mechanical arm, and a second lifting drive assembly is provided on the inner side of the second mechanical arm;

[0009] A second adjusting arm is provided on the right side of the second lifting plate, a rotating motor is fixed to the lower end of the second adjusting arm, an operating frame is connected to the power end of the rotating motor, operating plates are slidably connected to both sides of the lower end of the operating frame, a second V-shaped clamp is fixed to the inner side of the operating plate, a second reciprocating motor is fixed to the outer side of the operating frame, a second bidirectional screw is connected to the power end of the second reciprocating motor, the second bidirectional screw rotates and penetrates into the operating frame, the operating plates are threadedly sleeved with the second bidirectional screw, and a loose position adjustment component is provided between the second adjusting arm and the second lifting plate;

[0010] A rotation position adjustment component is disposed above the first mechanical arm and the second mechanical arm.

[0011] Preferably, the first lifting drive assembly includes a first forward and reverse motor and a first lifting screw rod, the first forward and reverse motor is fixed to the top end of the first mechanical arm, one end of the first lifting screw rod is connected to the power end of the first forward and reverse motor, and the other end of the first lifting screw rod is rotatably connected to the bottom end of the first mechanical arm, and the first lifting plate is threadedly sleeved with the first lifting screw rod.

[0012] Preferably, the clamping position adjustment assembly comprises a first electric cylinder and two first telescopic rods, the first electric cylinder and the first telescopic rods are both connected between the first adjustment arm and the first lifting plate, and the first electric cylinder is located between the two first telescopic rods.

[0013] Preferably, the second lifting drive assembly includes a second forward and reverse motor and a second lifting screw, the second forward and reverse motor is fixed to the top end of the second mechanical arm, one end of the second lifting screw is connected to the power end of the second forward and reverse motor, and the other end of the second lifting screw is rotatably connected to the bottom end of the second mechanical arm, and the second lifting plate is threadedly sleeved on the second lifting screw.

[0014] Preferably, the tension position adjustment assembly comprises a second electric cylinder and two second telescopic rods, wherein the second electric cylinder and the second telescopic rods are both connected between the second adjustment arm and the second lifting plate, and the second electric cylinder is located between the two second telescopic rods.

[0015] Preferably, an anti-slip pad is connected to the inner surface of the second V-shaped clamping plate.

[0016] Preferably, the rotational position adjustment components include a driving motor, a main gear, an adjusting shaft and a sub-gear. The driving motors are fixed at the top of the chassis, the main gears are connected to the power end of the driving motor, one end of the adjusting shaft is rotatably connected to the top of the chassis, the upper end of the first mechanical arm is fixed to the lower end of one of the adjusting shafts, the upper end of the second mechanical arm is fixed to the lower end of the other adjusting shaft, the sub-gear is fixedly sleeved on the outer periphery of the adjusting shaft, and the sub-gears are meshed with adjacent main gears.

[0017] The utility model provides a mechanical arm mechanism of a smear centrifuge, which has the following beneficial effects:

[0018] By setting a second robotic arm and combining it with the second V-shaped clamp, the preservation bottle cap is clamped, and then the second V-shaped clamp is driven to rotate by the rotating motor, and the second V-shaped clamp will automatically loosen the bottle cap on the preservation bottle, so that the preservation bottle can be automatically opened, and then the second V-shaped clamp on the first robotic arm is controlled to automatically clamp the pipette tip, insert the pipette tip into the corresponding preservation bottle, and absorb the sample through the pipette tip. The first robotic arm works again and drives the pipette tip to the corresponding chamber position of the corresponding slide of the centrifuge, and then the sample in the pipette tip is added to the chamber. After the first robotic arm is reset, the pipette tip is reset and put back, and the second robotic arm is started again and retracted into the centrifuge, and then the preservation bottle cap is automatically tightened by the coordinated work of the rotating motor and the second V-shaped clamp. In summary, when the sample is absorbed and filled, the entire operation process does not require manual contact with the pipette tip and the preservation bottle, thereby avoiding the risk of secondary contamination, and the operation process is relatively automated. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the grabbing frame of the utility model;

[0021] Figure 3 This is a schematic diagram of the top view of the structure of the first V-shaped clamping plate of the utility model;

[0022] Figure 4 This is a schematic diagram of the structure of the operating frame of the utility model;

[0023] Figure 5 It is a schematic diagram of the top view of the second V-shaped clamping plate of the utility model.

[0024] Figure 1-5 In: chassis 1, first mechanical arm 2, second mechanical arm 3, first lifting plate 4, first forward and reverse motor 5, first lifting screw rod 6, first electric cylinder 7, first telescopic rod 8, first adjusting arm 9, grabbing frame 10, clamping plate 11, first V-shaped clamping plate 12, first reciprocating motor 13, first bidirectional screw rod 14, second forward and reverse motor 15, second lifting screw rod 16, second lifting plate 17, second electric cylinder 18, second telescopic rod 19, second adjusting arm 20, operating frame 21, operating plate 22, second V-shaped clamping plate 23, second reciprocating motor 24, second bidirectional screw rod 25, anti-slip pad 26, drive motor 27, main gear 28, adjusting shaft 29, sub gear 30, rotating motor 31. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0026] See also Figure 1-5 The utility model provides a technical solution: a mechanical arm mechanism of a smear centrifuge, comprising a chassis 1, a first mechanical arm 2 and a second mechanical arm 3, wherein the first mechanical arm 2 and the second mechanical arm 3 are both arranged in the chassis 1, two control chips are installed at the right end of the chassis 1, a second lifting plate 17 is slidably sleeved on the outer periphery of the second mechanical arm 3, and a second lifting drive assembly is arranged on the inner side of the second mechanical arm 3, the second lifting drive assembly comprises a second forward and reverse motor 15 and a second lifting screw rod 16, the second forward and reverse motor 15 is fixed to the top end of the second mechanical arm 3, one end of the second lifting screw rod 16 is connected to the power end of the second forward and reverse motor 15, and the other end of the second lifting screw rod 16 is rotatably connected to the bottom end of the second mechanical arm 3, the second lifting plate 17 is threadedly sleeved with the second lifting screw rod 16, and the second lifting plate 1 7 is provided with a second adjustment arm 20 on the right side, a rotating motor 31 is fixed at the lower end of the second adjustment arm 20, the power end of the rotating motor 31 is connected to the operating frame 21, the lower end of the operating frame 21 is slidably connected to the operating plate 22 on both sides, the inner side of the operating plate 22 is fixed with a second V-shaped clamping plate 23, a second reciprocating motor 24 is fixed to the outer side of the operating frame 21, the power end of the second reciprocating motor 24 is connected to the second bidirectional screw rod 25, the second bidirectional screw rod 25 rotates and penetrates into the operating frame 21, the operating plate 22 is threadedly sleeved with the second bidirectional screw rod 25, a loose position adjustment component is provided between the second adjustment arm 20 and the second lifting plate 17, the loose position adjustment component includes a second electric cylinder 18 and two second telescopic rods 19, the second electric cylinder 18 and the second telescopic rod 19 are connected to. Between the second adjustment arm 20 and the second lifting plate 17, and the second electric cylinder 18 is located between the two second telescopic rods 19, the inner surface of the second V-shaped clamping plate 23 is connected with an anti-slip pad 26.

[0027] When the mechanical arm mechanism is working, under the premise that the mechanical arm mechanism is installed on the centrifuge, by setting the second mechanical arm 3, that is, starting the second forward and reverse motor 15 to drive the second lifting screw 16 to rotate forward, the second lifting screw 16 will drive the second lifting plate 17, the second adjusting arm 20, the rotating motor 31, the operating frame 21, the operating plate 22 and the second V-shaped clamping plate 23 to move downward. At this time, the preservation bottle is located between the lower ends of the two second V-shaped clamping plates 23, so that the two second V-shaped clamping plates 23 are moved to both sides of the bottle cap, and then the second reciprocating motor 24 drives the second bidirectional screw 25 to rotate forward, and the second bidirectional screw 25 will drive the two operating plates 22 to approach each other, and at the same time, it will drive the second V-shaped clamping plate 23 to clamp the bottle cap. The sliding pad 26 and the anti-skid pad 26 contact with the bottle cap to enhance the friction force. Therefore, the operation frame 21, the operation plate 22 and the second V-shaped clamping plate 23 are driven to rotate by the operation of the rotating motor 31. At the same time, the second forward and reverse motor 15 works and drives the second screw rod to reverse. Therefore, the second lifting plate 17 drives the second adjusting shaft 29, the rotating motor 31, the operating frame 21, the operation plate 22 and the second V-shaped clamping plate 23 to move upward. Therefore, the second V-shaped clamping plate 23 will automatically loosen the bottle cap on the preservation bottle. After loosening, the preservation bottle can be automatically opened. Then, the rotation drive component above the second mechanical arm 3 works, that is, the corresponding drive motor 27 drives the main gear 28, the sub-gear 30, the adjusting shaft 29 and the second adjusting arm 20 to rotate until the bottle cap is driven away from the top of the preservation bottle.

[0028] In this embodiment, a first lifting plate 4 is slidably sleeved on the outer periphery of the first mechanical arm 2, and a first lifting drive component is provided on the inner side of the first mechanical arm 2, the first lifting drive component includes a first forward and reverse motor 5 and a first lifting screw rod 6, the first forward and reverse motor 5 is fixed to the inner top of the first mechanical arm 2, one end of the first lifting screw rod 6 is connected to the power end of the first forward and reverse motor 5, and the other end of the first lifting screw rod 6 is rotatably connected to the inner bottom end of the first mechanical arm 2, the first lifting plate 4 is threadedly sleeved with the first lifting screw rod 6, a first adjusting arm 9 is provided on the right side of the first lifting plate 4, a grabbing frame 10 is fixed at the lower end of the first adjusting arm 9, both sides of the lower end of the grabbing frame 10 are slidably connected with clamping plates 11, the inner sides of the clamping plates 11 are fixed with first V-shaped clamping plates 12, a first reciprocating motor 13 is fixed on the outer side of the grabbing frame 10, the power end of the first reciprocating motor 13 is connected with a first bidirectional screw rod 14, the first bidirectional screw rod 14 rotates and penetrates into the grabbing frame 10, and the clamping plates 11 are connected to the first bidirectional screw rod 14. The rod 14 is threadedly sleeved, and a clamping position adjustment component is provided between the first adjusting arm 9 and the first lifting plate 4, and the clamping position adjustment component includes a first electric cylinder 7 and two first telescopic rods 8, the first electric cylinder 7 and the first telescopic rod 8 are both connected between the first adjusting arm 9 and the first lifting plate 4, and the first electric cylinder 7 is located between the two first telescopic rods 8, and a rotation position adjustment component is provided above the first mechanical arm 2 and the second mechanical arm 3, and the rotation position adjustment component includes a driving motor 27, a main gear 28, an adjusting shaft 29 and a sub-gear 30, the driving motor 27 is fixed to the top of the chassis 1, the main gear 28 is connected to the power end of the driving motor 27, one end of the adjusting shaft 29 is rotatably connected to the top of the chassis 1, the upper end of the first mechanical arm 2 is fixed to the lower end of one of the adjusting shafts 29, and the upper end of the second mechanical arm 3 is fixed to the lower end of the other adjusting shaft 29, the sub-gear 30 is fixedly sleeved on the outer periphery of the adjusting shaft 29, and the sub-gear 30 is meshed with the adjacent main gear 28.

[0029] Then, the first lifting screw rod 6 is driven to rotate forwardly through the operation of the first forward and reverse motor 5, and the first lifting screw rod 6 will drive the first lifting plate 4 to move downward, and the suction head is located between the lower ends of the two first V-shaped clamps 12 plates, until the two first V-shaped clamps 12 plates are located on the left and right sides of the suction head, the first bidirectional screw rod 14 is driven to rotate forwardly through the operation of the first reciprocating motor 13, and the first bidirectional screw rod 14 will drive the two clamping plates 11 to approach each other, so that the two first V-shaped clamps 12 plates clamp the suction head, and then the first lifting screw rod 6 is driven to rotate reversely through the operation of the first forward and reverse motor 5, and the first lifting screw rod 6 is driven to move downward. The screw lowering rod 6 will drive the first lifting plate 4, the first adjusting arm 9, the grabbing frame 10, the clamping plate 11, the first V-shaped clamp 12 and the suction head to move up, and then the first electric cylinder 7 will extend to drive the first adjusting arm 9, the first V-shaped clamp 12 and the suction head to move until the suction head is above the preservation bottle, and then the first forward and reverse motor 5 will work to drive the first adjusting arm 9 and the suction head to move down, and the suction head will be inserted into the preservation bottle to absorb the sample. After the sample is absorbed, the first forward and reverse motor 5 will work to drive the first adjusting arm 9 and the suction head to move up, thereby automatically completing the sample absorption operation.

[0030] In this embodiment, the first lifting drive assembly includes a first forward and reverse motor 5 and a first lifting screw rod 6, the first forward and reverse motor 5 is fixed to the top end of the first mechanical arm 2, one end of the first lifting screw rod 6 is connected to the power end of the first forward and reverse motor 5, and the other end of the first lifting screw rod 6 is rotatably connected to the bottom end of the first mechanical arm 2, the first lifting plate 4 is threadedly sleeved with the first lifting screw rod 6, and the rotation position adjustment assembly includes a driving motor 27, a main gear 28, an adjusting shaft 29 and a sub gear 30, the driving motor 27 is fixed to the top end of the chassis 1, the main gear 28 is connected to the power end of the driving motor 27, one end of the adjusting shaft 29 is rotatably connected to the top end of the chassis 1, the upper end of the first mechanical arm 2 is fixed to the lower end of one of the adjusting shafts 29, the upper end of the second mechanical arm 3 is fixed to the lower end of another adjusting shaft 29, the sub gear 30 is fixedly sleeved on the outer periphery of the adjusting shaft 29, and the sub gear 30 is meshed with the adjacent main gear 28.

[0031] When the sample suction operation is completed, the second V-shaped clamp 23 and the bottle cap are reset through the operation of the rotating drive component on the second mechanical arm 3 until the bottle cap is located above the preservation bottle, and then the second V-shaped clamp 23 and the bottle cap are moved downward through the operation of the second lifting drive component, and at the same time, the rotating motor 31 works and drives the second V-shaped clamp 23 and the bottle cap to rotate until the bottle cap is tightened onto the preservation bottle, and then the first mechanical arm 2, the first V-shaped clamp 12 and the suction head are rotated through the operation of the rotating drive component on the first mechanical arm 2, and then the first V-shaped clamp 12 and the suction head are translated through the operation of the clamping position adjustment component, and the first V-shaped clamp 12 and the suction head are moved up and down through the operation of the first lifting drive component, so that the suction head with the sample can be conveniently and automatically inserted into the centrifuge chamber for sample filling.

[0032] In summary, by setting the second robotic arm 3 and combining with the second V-shaped clamping plate 23 to clamp the preservation bottle cap, and then driving the second V-shaped clamping plate 23 to rotate by the operation of the rotating motor 31, the second V-shaped clamping plate 23 will automatically loosen the bottle cap on the preservation bottle, so that the preservation bottle can be automatically opened, and then the second V-shaped clamping plate 23 on the first robotic arm 2 is controlled to automatically clamp the pipette tip, insert the pipette tip into the corresponding preservation bottle, and absorb the sample through the pipette tip. The first robotic arm 2 works again and drives the pipette tip to the corresponding chamber position of the corresponding slide of the centrifuge, and then the sample in the pipette tip is filled into the chamber. After the first robotic arm 2 is reset, the pipette tip is reset and put back, and the second robotic arm 3 is started again and extended into the centrifuge, and then the preservation bottle cap is automatically tightened by the coordinated operation of the rotating motor 31 and the second V-shaped clamping plate 23. Therefore, when the sample is absorbed and filled, the entire operation process does not require manual contact with the pipette tip and the preservation bottle, thereby avoiding the risk of secondary contamination, and the operation process is more automated.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm mechanism of a smear centrifuge, comprising a chassis (1), a first mechanical arm (2) and a second mechanical arm (3), wherein the first mechanical arm (2) and the second mechanical arm (3) are both arranged in the chassis (1), characterized in that: Two control chips are installed at the right end of the chassis (1); a first lifting plate (4) is slidably sleeved on the outer periphery of the first mechanical arm (2); and a first lifting drive assembly is provided on the inner side of the first mechanical arm (2); A first adjusting arm (9) is provided on the right side of the first lifting plate (4), a grabbing frame (10) is fixed at the lower end of the first adjusting arm (9), clamping plates (11) are slidably connected to both sides of the lower end of the grabbing frame (10), a first V-shaped clamping plate (12) is fixed on the inner side of the clamping plate (11), a first reciprocating motor (13) is fixed on the outer side of the grabbing frame (10), a first bidirectional screw rod (14) is connected to the power end of the first reciprocating motor (13), the first bidirectional screw rod (14) rotates and penetrates into the grabbing frame (10), the clamping plates (11) are threadedly sleeved with the first bidirectional screw rod (14), and a clamping position adjustment component is provided between the first adjusting arm (9) and the first lifting plate (4); A second lifting plate (17) is slidably sleeved on the outer periphery of the second mechanical arm (3), and a second lifting drive assembly is provided on the inner side of the second mechanical arm (3); A second adjusting arm (20) is provided on the right side of the second lifting plate (17); a rotating motor (31) is fixed at the lower end of the second adjusting arm (20); the power end of the rotating motor (31) is connected to an operating frame (21); operating plates (22) are slidably connected to both sides of the lower end of the operating frame (21); a second V-shaped clamping plate (23) is fixed on the inner side of the operating plate (22); a second reciprocating motor (24) is fixed on the outer side of the operating frame (21); a second bidirectional screw rod (25) is connected to the power end of the second reciprocating motor (24); the second bidirectional screw rod (25) rotates and penetrates into the operating frame (21); the operating plates (22) are threadedly sleeved with the second bidirectional screw rod (25); and a loose position adjustment component is provided between the second adjusting arm (20) and the second lifting plate (17); A rotation position adjustment component is provided above each of the first mechanical arm (2) and the second mechanical arm (3).

2. The mechanical arm mechanism of a smear centrifuge according to claim 1, characterized in that: The first lifting drive assembly comprises a first forward and reverse motor (5) and a first lifting screw (6); the first forward and reverse motor (5) is fixed to the top end of the first mechanical arm (2); one end of the first lifting screw (6) is connected to the power end of the first forward and reverse motor (5); the other end of the first lifting screw (6) is rotatably connected to the bottom end of the first mechanical arm (2); the first lifting plate (4) is threadedly sleeved with the first lifting screw (6).

3. The mechanical arm mechanism of a smear centrifuge according to claim 1, characterized in that: The clamping position adjustment assembly comprises a first electric cylinder (7) and two first telescopic rods (8), wherein the first electric cylinder (7) and the first telescopic rods (8) are both connected between the first adjustment arm (9) and the first lifting plate (4), and the first electric cylinder (7) is located between the two first telescopic rods (8).

4. The mechanical arm mechanism of a smear centrifuge according to claim 1, characterized in that: The second lifting drive assembly comprises a second forward and reverse motor (15) and a second lifting screw (16); the second forward and reverse motor (15) is fixed to the top end of the second mechanical arm (3); one end of the second lifting screw (16) is connected to the power end of the second forward and reverse motor (15); the other end of the second lifting screw (16) is rotatably connected to the bottom end of the second mechanical arm (3); and the second lifting plate (17) is threadedly sleeved with the second lifting screw (16).

5. The mechanical arm mechanism of a smear centrifuge according to claim 1, characterized in that: The tension position adjustment assembly comprises a second electric cylinder (18) and two second telescopic rods (19); the second electric cylinder (18) and the second telescopic rods (19) are both connected between the second adjustment arm (20) and the second lifting plate (17), and the second electric cylinder (18) is located between the two second telescopic rods (19).

6. The mechanical arm mechanism of a smear centrifuge according to claim 1, characterized in that: The inner surface of the second V-shaped clamping plate (23) is connected with an anti-slip pad (26).

7. The mechanical arm mechanism of a smear centrifuge according to claim 1, characterized in that: The rotation position adjustment components each comprise a driving motor (27), a main gear (28), an adjusting shaft (29) and a sub-gear (30); the driving motor (27) is fixed to the top of the chassis (1); the main gear (28) is connected to the power end of the driving motor (27); one end of the adjusting shaft (29) is rotatably connected to the top of the chassis (1); the upper end of the first mechanical arm (2) is fixed to the lower end of one of the adjusting shafts (29); the upper end of the second mechanical arm (3) is fixed to the lower end of the other adjusting shaft (29); the sub-gear (30) is fixedly sleeved on the outer periphery of the adjusting shaft (29), and the sub-gear (30) is meshed with the adjacent main gear (28).

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