Laminated sample adding and plate moving mechanical arm

Abstract

The utility model provides a stacking sample adding and plate moving mechanical arm which comprises a rack, a sample adding arm and a plate rotating arm, the sample adding arm and the plate rotating arm are arranged on the rack, the sample adding arm is arranged on the upper layer of the rack, the plate rotating arm is arranged on the lower layer of the rack, and the plate rotating arm comprises a plate rotating gripper module. One side of the rotating plate gripper module is connected with a rotating plate arm Z-direction displacement assembly, and the rotating plate arm Z-direction displacement assembly drives the rotating plate gripper module to do Z-axis movement. The layered design is adopted, so that the sample adding arm and the rotating plate arm can work at the same time, the utilization rate is improved, and the waiting time in the experiment process is greatly shortened. In addition, the rotating plate arm Z-direction displacement assembly can drive the rotating plate sample adding module to move in a small distance on the Z axis, and the space utilization rate of the rotating plate sample adding module is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a stacking sample adding and plate moving mechanical arm. Background Art

[0002] In fields such as medical testing, it is often necessary to process and analyze samples accurately and quickly. The emergence of the transfer plate loading arm is mainly to achieve automated, high-throughput sample operations. It is usually integrated with other detection equipment or systems. Through precise motion control and positioning, it can accurately grab sample containers, transfer samples, and accurately add them to specific reaction locations or detection areas. With the development of science and technology, technologies such as precision drive, sensors, and automated control are applied to transfer plate loading arms. The comprehensive application of these technologies makes transfer plate loading arms an important part of modern medical devices to improve detection efficiency and quality.

[0003] At present, in medical devices, the loading arm and the rotating plate arm are two completely independent actuators, which are installed separately in the medical devices, occupying a large space of the equipment. Due to the limitations of the moving space and the experimental process, the two affect each other. When the loading arm is operating, the rotating plate arm is stopped. The two cannot work at the same time, and the utilization rate is not high, which greatly increases the waiting time of the experiment.

[0004] In view of this, we propose a stacking sample loading and plate moving robot. Utility Model Content

[0005] In view of the above problems, the utility model provides a stacking sample loading and plate moving mechanical arm to solve the problems raised by the above background technology.

[0006] A stacking loading and plate moving robot arm comprises a frame and a loading arm and a rotating plate arm arranged on the frame, wherein the loading arm is arranged on the upper layer of the frame, and the rotating plate arm is arranged on the lower layer of the frame, and the rotating plate arm comprises a rotating plate gripper module, and a rotating plate arm Z-direction displacement component is arranged on one side of the rotating plate gripper module, and the rotating plate arm Z-direction displacement component drives the rotating plate gripper module to perform Z-axis movement.

[0007] Furthermore, the transfer plate arm Z-axis displacement assembly includes a transfer plate arm Z-axis motor, the output end of the transfer plate arm Z-axis motor is connected to a first gear, the first gear is meshed with a second gear, the second gear is meshed with a Z-axis rack, the Z-axis rack is mounted on the transfer plate gripper module, a first slider is provided next to the Z-axis rack, the first slider is mounted on the transfer plate arm Z-axis slide rail, and the transfer plate arm Z-axis slide rail is provided on the transfer plate Y moving seat.

[0008] Furthermore, a turn plate arm Y-direction displacement component is connected to the turn plate Y moving seat on one side away from the turn plate arm Z-direction slide rail, and the turn plate arm Y-direction displacement component drives the turn plate gripper module to perform Y-axis movement.

[0009] Furthermore, the Y-axis displacement assembly of the transfer plate arm includes a Y-axis motor of the transfer plate arm, the output end of the Y-axis motor of the transfer plate arm is connected to a second synchronous belt driving wheel, a second synchronous belt driven wheel is provided on one side of the second synchronous belt driving wheel, a second synchronous belt is sleeved between the second synchronous belt driving wheel and the second synchronous belt driven wheel, a second slider is connected to one side of the second synchronous belt, the second slider is arranged on the Y-axis slide rail of the transfer plate arm, and the Y-axis slide rail of the transfer plate arm is arranged on the Y beam of the transfer plate.

[0010] Furthermore, one end of the transfer plate Y beam close to the transfer plate arm Y motor is connected to a transfer plate arm X-direction displacement component, and the transfer plate arm X-direction displacement component drives the transfer plate arm to perform X-axis movement.

[0011] Furthermore, the turntable arm X-axis displacement assembly includes a turntable Y-beam seat, and a third slider is provided at the top and bottom ends of the turntable Y-beam seat, and the side of the third slider away from the turntable Y-beam seat is connected to the turntable arm X-axis slide rail, one end of the turntable Y-beam seat is connected to a third synchronous belt, one end of the third synchronous belt is connected to a third synchronous belt driven wheel, and the other end of the third synchronous belt is connected to a third synchronous belt driving wheel, and the third synchronous belt driving wheel is installed at the output end of the turntable arm X-axis motor.

[0012] Compared with the prior art, the utility model has the following technical effects:

[0013] The sample loading arm is set on the upper layer of the frame, and the plate transfer arm is set on the lower layer of the frame. Through the layered design, the sample loading arm and the plate transfer arm can be operated independently without interfering with each other, so that sample loading and plate transfer can be carried out simultaneously. The two work at the same time to quickly complete the transfer and addition of samples, greatly shortening the waiting time of the experimental process, improving the utilization rate, experimental efficiency, accuracy and reliability, and reducing errors and fatigue in manual operation. In addition, the plate transfer arm Z-direction displacement component has the characteristics of compact structure and stability. The plate transfer arm Z-direction displacement component drives the plate transfer loading module to move a small distance in the Z axis, increasing the space utilization rate of the plate transfer loading module. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of the stacking sample loading and plate moving mechanical arm according to an embodiment of the utility model;

[0015] Figure 2 It is a structural schematic diagram of the rotating plate arm of an embodiment of the utility model;

[0016] Figure 3 for Figure 2 The enlarged schematic diagram at A in the middle;

[0017] Figure 4 for Figure 2 The enlarged schematic diagram of point B in the middle;

[0018] Figure 5 It is a schematic structural diagram of the Z-direction displacement assembly of the rotating plate arm according to an embodiment of the utility model.

[0019] The accompanying drawings indicate: 1. frame, 2. turntable gripper module, 3. control board, 4. 96-well ELISA plate, 5. turntable arm Z-direction displacement assembly, 51. turntable arm Z-direction motor, 52. first gear, 53. second gear, 54. Z-direction rack, 55. first slider, 56. turntable arm Z-direction slide rail, 6. turntable Y moving seat, 7. turntable arm Y-direction displacement assembly, 71. turntable arm Y-direction motor, 72. second synchronous belt driving wheel, 73. second synchronous belt driven wheel, 74. second synchronous belt, 75. second slider, 76. turntable arm Y-direction slide rail, 8. turntable Y beam, 9. turntable arm X-direction displacement assembly, 91. turntable Y beam seat, 92. third slider, 93. turntable arm X-direction slide rail, 94. third synchronous belt, 95. third synchronous belt driven wheel, 96. turntable arm X-direction motor. DETAILED DESCRIPTION

[0020] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0021] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0022] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0023] As an example, see Figures 1 to 5 The present embodiment provides a stacking loading and plate moving robot arm, comprising a frame 1 and a loading arm and a rotating plate arm arranged on the frame 1, the loading arm is arranged on the upper layer of the frame 1, the rotating plate arm is arranged on the lower layer of the frame 1, the rotating plate arm comprises a rotating plate gripper module 2, one side of the rotating plate gripper module 2 is provided with a rotating plate arm Z-direction displacement component 5, and the rotating plate arm Z-direction displacement component 5 drives the rotating plate gripper module 2 to perform Z-axis movement.

[0024] In the present embodiment, the loading arm is installed on the upper layer of the frame 1, and the rotating plate arm is installed on the lower layer of the frame 1. The loading arm runs on the upper layer of the frame 1, and the loading arm can efficiently absorb, transfer and inject liquids. The rotating plate arm runs on the lower layer of the frame 1, and the rotating plate arm can flexibly move objects such as ELISA plates. Through the layered layout, the loading arm and the rotating plate arm can operate independently without interfering with each other. When the loading arm performs a task, the rotating plate arm can also perform a task, and can realize the simultaneous movement and work of the two, improve the use efficiency, and shorten the waiting time of the experimental process. In addition, the rotating plate arm Z-direction displacement component 5 can drive the rotating plate loading module 2 to move a small distance in the Z axis, which increases the space utilization rate of the rotating plate loading module 2.

[0025] Specifically, the bottom of the turntable gripper module 2 is connected to a 96-well ELISA plate 4, and the upper part of the turntable gripper module 2 is provided with a control board 3, and the control board 3 is electrically connected to the turntable arm Z-direction displacement assembly 5. The turntable arm Z-direction displacement assembly 5 includes a turntable arm Z-direction motor 51, and the output end of the turntable arm Z-direction motor 51 is connected to a first gear 52, one side of the first gear 52 is meshed with a second gear 53, and the second gear 53 is meshed with a Z-direction rack 54, and the Z-direction rack 54 is installed on one side of the turntable gripper module 2, and a first slider 55 is provided on one side of the Z-direction rack 54, and the first slider 55 is installed on the turntable arm Z-direction slide rail 56, and the turntable arm Z-direction slide rail 56 is arranged on the turntable Y moving seat 6. The control board 3 is electrically connected to the Z-direction motor 51 of the turntable arm. The control board 3 transmits the control signal to the Z-direction motor 51 of the turntable arm. The Z-direction motor 51 of the turntable arm operates according to the control signal. The Z-direction motor 51 of the turntable arm drives the first gear 52 to rotate. The first gear 52 is meshed with the second gear 53. The second gear 53 is meshed with the Z-direction rack 54. The Z-direction rack 54 drives the first slider 55 and the turntable gripper module 2 to move along the Z-direction slide rail 56 of the turntable arm, thereby increasing the space utilization rate of the turntable loading module 2 and facilitating the turntable gripper module 2 to perform tasks.

[0026] Specifically, the side of the turntable Y-moving seat 6 away from the turntable arm Z-direction slide rail 56 is connected to the turntable arm Y-direction displacement assembly 7, and the turntable arm Y-direction displacement assembly 7 drives the turntable gripper module 2 to perform Y-axis movement. The turntable arm Y-direction displacement assembly 7 includes a turntable arm Y-direction motor 71, which is installed at one end of the turntable Y-beam 8, and the output end of the turntable arm Y-direction motor 71 is connected to the second synchronous belt driving wheel 72, and the second synchronous belt driving wheel 72 is connected to the second synchronous belt driven wheel 73 through the second synchronous belt 74, and the outer side of the second synchronous belt 74 is connected to the second slider 75, and the second slider 75 is arranged on the turntable arm Y-direction slide rail 76, and the turntable arm Y-direction slide rail 76 is arranged on the turntable Y-beam 8, and the second slider 75 is fixedly connected to the turntable Y-moving seat 6 on the side away from the turntable arm Y-direction slide rail 76. The control board 3 is also electrically connected to the Y-axis motor 71 of the turntable arm. The control board 3 transmits the control signal to the Y-axis motor 71 of the turntable arm. The Y-axis motor 71 of the turntable arm operates according to the control signal. The Y-axis motor 71 of the turntable arm drives the second synchronous belt driving wheel 72 to rotate. The second synchronous belt driving wheel 72 is meshed with the second synchronous belt 74. The second synchronous belt driven wheel 73 is also meshed with the second synchronous belt 74. The second synchronous belt driving wheel 72 rotates, and the second synchronous belt driven wheel 73 and the second synchronous belt 74 rotate accordingly. The outer side of the second synchronous belt 74 is meshed with the second slider 75. The second synchronous belt 74 drives the turntable gripper module 2 to perform Y-axis movement along the Y-axis slide rail 76 of the plate arm structure, so as to facilitate the turntable gripper module 2 to perform tasks.

[0027] Specifically, a turntable arm X-direction displacement assembly 9 is provided at one end of the turntable Y beam 8 close to the turntable arm Y-direction motor 71, and the turntable arm X-direction displacement assembly 9 drives the turntable arm to move in the X-axis. The turntable arm X-direction displacement assembly 9 includes a turntable Y beam seat 91, and a third slider 92 is provided at the top and bottom ends of the turntable Y beam seat 91. The third slider 92 is slidably connected to the turntable arm X-direction slide rail 93 on the side away from the turntable Y beam seat 91. The upper end of the turntable Y beam seat 91 is connected to a third synchronous belt 94, one end of the third synchronous belt 94 is connected to a third synchronous belt driven wheel 95, and the other end of the third synchronous belt 94 is connected to a third synchronous belt driving wheel. The third synchronous belt driving wheel is installed at the output end of the turntable arm X-direction motor 96, and the turntable arm X-direction motor 96 is installed on the turntable arm X-direction motor flange seat to increase the stability of the turntable arm X-direction motor 96. The control board 3 is also electrically connected to the turntable arm X-axis motor 96. The control board 3 transmits the control signal to the turntable arm X-axis motor 96. The turntable arm X-axis motor 96 acts according to the control signal. The turntable arm X-axis motor 96 drives the third synchronous belt driving wheel to rotate. The third synchronous belt driving wheel is meshed with the third synchronous belt 94. The third synchronous belt driven wheel 95 is also meshed with the third synchronous belt 94. The third synchronous belt driving wheel rotates, and the third synchronous belt driven wheel 95 and the third synchronous belt 94 rotate accordingly. The outer side of the third synchronous belt 94 is meshed with the turntable Y-beam seat 91. The third synchronous belt 94 drives the turntable gripper module 2 to perform X-axis motion along the turntable arm X-axis slide rail 93, which facilitates the turntable gripper module 2 to perform tasks.

[0028] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

[0029] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A stacking sample loading and plate moving robot, characterized in that: The invention comprises a frame (1) and a loading arm and a rotating plate arm arranged on the frame (1), wherein the loading arm is arranged on the upper layer of the frame (1), and the rotating plate arm is arranged on the lower layer of the frame (1); the rotating plate arm comprises a rotating plate gripper module (2); a rotating plate arm Z-direction displacement component (5) is arranged on one side of the rotating plate gripper module (2); and the rotating plate arm Z-direction displacement component (5) drives the rotating plate gripper module (2) to perform Z-axis movement.

2. A stacking sample loading and plate moving robot according to claim 1, characterized in that: The transfer plate arm Z-axis displacement assembly (5) comprises a transfer plate arm Z-axis motor (51), the output end of the transfer plate arm Z-axis motor (51) is connected to a first gear (52), the first gear (52) is meshed with a second gear (53), the second gear (53) is meshed with a Z-axis rack (54), the Z-axis rack (54) is mounted on the transfer plate gripper module (2), a first slider (55) is provided next to the Z-axis rack (54), the first slider (55) is installed on a transfer plate arm Z-axis slide rail (56), and the transfer plate arm Z-axis slide rail (56) is provided on the transfer plate Y moving seat (6).

3. The stacking sample loading and plate moving robot arm according to claim 2, characterized in that: A side of the turntable Y-moving seat (6) away from the turntable arm Z-direction slide rail (56) is connected to a turntable arm Y-direction displacement assembly (7), and the turntable arm Y-direction displacement assembly (7) drives the turntable gripper module (2) to perform Y-axis movement.

4. The stacking sample loading and plate moving robot arm according to claim 3, characterized in that: The transfer plate arm Y-direction displacement assembly (7) comprises a transfer plate arm Y-direction motor (71), the output end of the transfer plate arm Y-direction motor (71) is connected to a second synchronous belt driving wheel (72), a second synchronous belt driven wheel (73) is provided on one side of the second synchronous belt driving wheel (72), a second synchronous belt (74) is sleeved between the second synchronous belt driving wheel (72) and the second synchronous belt driven wheel (73), a second sliding block (75) is connected on one side of the second synchronous belt (74), the second sliding block (75) is provided on a transfer plate arm Y-direction slide rail (76), and the transfer plate arm Y-direction slide rail (76) is provided on a transfer plate Y beam (8).

5. The stacking sample loading and plate moving robot arm according to claim 4, characterized in that: One end of the turntable Y beam (8) close to the turntable arm Y motor (71) is connected to a turntable arm X displacement assembly (9), and the turntable arm X displacement assembly (9) drives the turntable arm to perform X-axis movement.

6. The stacking sample loading and plate moving robot arm according to claim 5, characterized in that: The turntable arm X-direction displacement assembly (9) comprises a turntable Y-beam seat (91), the top and bottom ends of the turntable Y-beam seat (91) are both provided with a third slider (92), the side of the third slider (92) away from the turntable Y-beam seat (91) is connected to a turntable arm X-direction slide rail (93), one end of the turntable Y-beam seat (91) is connected to a third synchronous belt (94), one end of the third synchronous belt (94) is connected to a third synchronous belt driven wheel (95), the other end of the third synchronous belt (94) is connected to a third synchronous belt driving wheel, and the third synchronous belt driving wheel is installed at the output end of the turntable arm X-direction motor (96).

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