Full-automatic boxing robot for pipetting tips

Abstract

The utility model discloses a full-automatic boxing robot for pipette tips, and relates to the technical field of pipette tip boxing devices, the full-automatic boxing robot comprises a rack main body, the rack main body is provided with a material storage bin, a feeding device, a material collecting groove, a material conveying device and a discharging device, one end of the material conveying device is located at a bottom discharging groove of the material collecting groove, and the other end of the material conveying device is located at a bottom discharging groove of the material collecting groove. The other end of the material conveying device is located at a feeding port of the discharging device. The feeding device comprises a plurality of lifting steps and a plurality of fixed steps, the lifting steps and the fixed steps are distributed in a staggered mode, the discharging end of the storage bin and the feeding end of the collecting groove are adjacent to the lifting steps, and the lower ends of the lifting steps are jointly fixed to a lifting step connecting frame. The lifting step connecting frame is connected with a step lifting device. According to the utility model, the lifting step and the fixed step are matched for feeding, so that the condition that the pipette tips are inserted together can be reduced, and meanwhile, the phenomenon that the tips are damaged due to the movement of the feeding mechanism can be reduced by step feeding.

Description

Technical Field

[0001] The utility model relates to the technical field of a liquid transfer tip boxing device, in particular to a liquid transfer tip full-automatic boxing robot. Background Art

[0002] Pipette tips are commonly used consumables in laboratories. They are used to transfer liquids between different containers. They are often used in scenarios that require moving liquids, such as biology, chemistry, agriculture, forestry, and medical testing. Pipette tips can prevent cross-contamination between samples.

[0003] Usually, pipette tips are placed in tip boxes for use. However, boxed tips are expensive, so laboratory personnel will purchase bulk bagged tips and manually place the tips in boxes for use. However, this operation is inefficient and labor-intensive, and there is also a risk of contaminating the tips.

[0004] To this end, existing patents provide relevant equipment for automatically packing bulk tips into boxes, including but not limited to "a pipette tip arranging robot" disclosed in CN110857154B, "a two-in-one pipette tip arranging robot" disclosed in CN210133649U, and "a fully automatic pipette tip arranging machine" disclosed in CN208217097U.

[0005] However, the commonly used specifications of existing pipette tips are 10μL, 200μL, 350μL, 1000μL, 1250μL, etc. The above patents can only solve the arrangement and packaging of pipette tips of 350μL and below. However, when arranging large-sized pipette tips of 1000μL and above, the efficiency of packaging is usually low or even fails because of the large size of the pipette tips and the fact that two pipette tips are easily inserted together and cannot be separated during the arrangement process. In addition, most of the above existing patents use a loading roller for loading, but the rolling process of the roller will further increase the situation of pipette tips being inserted together, thereby reducing the loading efficiency.

[0006] Therefore, there is an urgent need in the art for a fully automatic boxing robot for pipette tips to solve the above problems. Utility Model Content

[0007] The utility model aims to provide a fully automatic boxing robot for arranging large-sized pipette tips, so as to solve the problems existing in the above-mentioned prior art, and adopts stepped loading, thereby being able to effectively reduce the situation where the pipette tips are mistakenly inserted together.

[0008] To achieve the above purpose, the utility model provides the following solutions:

[0009] The utility model discloses a fully automatic boxing robot for liquid transfer tips, comprising a frame body, on which a storage bin, a loading device, a material collecting trough, a material conveying device and a material unloading device are arranged, wherein the loading device is used to convey the liquid transfer tips in the storage bin to the material collecting trough, one end of the material conveying device is located at the bottom discharge trough of the material collecting trough, and the other end of the material conveying device is located at the material inlet of the unloading device;

[0010] The loading device includes a plurality of lifting steps and a plurality of fixed steps, and the lifting steps and the fixed steps are arranged in an alternating manner. The fixed steps are fixed on the frame body, and the lower ends of the lifting steps are commonly fixed on a lifting step connecting frame. The lifting step connecting frame is connected with a step lifting device, and the step lifting device is used to drive the lifting steps to move synchronously.

[0011] Preferably, the upper surfaces of the lifting step and the fixed step are not perpendicular to the direction of gravity, so that the suction head can move in a fixed direction on the upper surface of the lifting step or the fixed step under the action of gravity.

[0012] Preferably, a material guiding inclined block is fixed on the upper surface of each of the lifting step and the fixed step, the upper surface of the material guiding inclined block is a material guiding inclined surface, the height of the end of the material guiding inclined surface close to the material storage bin is higher than the height of the end of the material guiding inclined surface away from the material storage bin; a plurality of long holes are provided on the material guiding inclined block, and the material guiding inclined block is fixed to the lifting step or the fixed step by screws;

[0013] Alternatively, the lifting step and the fixed step are arranged at an incline.

[0014] Preferably, the step lifting device comprises a lifting drive motor, a first connecting rod and a second connecting rod, the lifting drive motor is fixed to the frame body, the first end of the first connecting rod is fixed to the output shaft of the lifting drive motor, the second end of the first connecting rod is hinged to the first end of the second connecting rod, the second end of the second connecting rod is fixed with a lifting cross rod, and the two ends of the lifting cross rod are respectively fixed to the two ends of the lifting step connecting frame;

[0015] Both ends of the lifting step connecting frame are respectively provided with step limiting protrusions, and the frame body is provided with two vertical step limiting sliding grooves, and the two step limiting protrusions are respectively slidably connected to the two step limiting sliding grooves.

[0016] Preferably, a counterweight bearing seat is provided on the frame body, a counterweight pulley is connected to the counterweight bearing seat, a counterweight drive belt is connected to the counterweight pulley, a counterweight body is fixed to one side of the counterweight drive belt, and the other side of the counterweight drive belt is connected to the lifting step connecting frame;

[0017] A counterweight sliding block is fixed on the counterweight body, a counterweight sliding rail is arranged on the frame body, and the counterweight sliding block is slidably connected with the counterweight sliding rail.

[0018] Preferably, a step guide wheel is provided on one side of the lifting step;

[0019] A step slider and a step slide rail are provided between the lifting step and the fixed step, and the lifting step is kept moving up and down by the step slide rail and the step slider.

[0020] Preferably, the material conveying device comprises a material conveying motor, a material conveying driving wheel is fixed on the output shaft of the material conveying motor, the material conveying driving wheel is connected to one end of a material conveying conveyor belt, and the other end of the material conveying conveyor belt is provided with a material conveying driven wheel.

[0021] Preferably, the feeding device comprises a magnetic feeding tube back plate, an opening and closing nozzle body and an opening and closing nozzle driving device, and the opening and closing nozzle driving device is used to drive the opening and closing nozzle body to rotate.

[0022] Preferably, a double-plug suction head separation device is also fixed on the frame body, and the double-plug suction head separation device includes a fixed bottom plate and an intermediate movable plate fixed panel, and the fixed bottom plate is fixed on the frame body;

[0023] The fixed bottom plate is provided with a moving plate vertical driving device, a suction head clamping claw and a clamping claw driving device, the moving plate vertical driving device is used to drive the middle moving plate to move up and down, and the clamping claw driving device is used to drive the suction head clamping claw to clamp the suction head in the lower middle of the double-insert liquid transfer suction head;

[0024] The middle movable plate is provided with a tip separation clamp and a separation clamp driving device, and the separation clamp driving device is used to drive the tip separation clamp to clamp the upper tip in the double-insertion liquid transfer tip and can drive the upper tip in the double-insertion liquid transfer tip to move upward.

[0025] Preferably, the movable plate vertical driving device comprises a claw driving motor and two movable plate vertical guide rails, the output shaft of the claw driving motor is provided with a movable plate driving screw, the movable plate driving screw is threadedly connected with a movable plate driving nut, the movable plate driving nut is fixed to one side of the middle movable plate, the two movable plate vertical guide rails are arranged in parallel, each movable plate vertical guide rail is slidably connected to a movable plate fixed slider, and the two movable plate fixed sliders are respectively fixed on both sides of the middle movable plate;

[0026] The two ends of the bottom plate transverse guide rail are slidably connected to a first bottom plate slider and a second bottom plate slider, and the two first bottom plate sliders are located between the two second bottom plate sliders. The suction head clamping jaws include two clamping jaw bodies, the clamping jaw body is fixed on the first bottom plate slider, and the clamping jaw driving block is fixed on the second bottom plate slider, and a clamping driving spring is connected between the clamping jaw body and the clamping jaw driving block on the same side. Each clamping jaw driving block is provided with a driving block track groove, and a clamping driving bearing is respectively fixed on both sides of the middle moving plate, and the two clamping driving bearings are respectively slidably connected to the two driving block track grooves.

[0027] The separation jaw driving device comprises a moving plate transverse guide rail arranged on the middle moving plate, and both ends of the moving plate transverse guide rail are slidably connected to a first moving plate slider and a second moving plate slider, and the two moving plate first sliders are located between the two moving plate second sliders, and the suction head separation jaw comprises two separation jaw bodies, a separation jaw body is fixed on the first moving plate slider, and a separation jaw driving block is fixed on the second moving plate slider, and a separation driving spring is connected between the separation jaw body and the separation jaw driving block located on the same side, and each separation jaw driving block is connected to a separation driving bearing. A fixed panel is fixed on the frame body, and a panel track groove is respectively provided on both sides of the fixed panel, and the two separation driving bearings are respectively slidably connected to the two panel track grooves;

[0028] A photoelectric sensor is provided at the middle portion of the middle moving plate.

[0029] Preferably, the opening and closing mouth driving device includes an opening and closing driving motor, an opening and closing driving rotating arm, a flexible belt, an opening and closing rotating block and a rotating block fixed base, the opening and closing driving rotating arm is connected to the output shaft of the opening and closing driving motor, the opening and closing driving rotating arm is connected to the lower end of the opening and closing mouth body through the flexible belt, the opening and closing rotating block is rotatably connected to the rotating block fixed base, and the opening and closing rotating block is connected to the upper end of the opening and closing mouth through a connecting plate.

[0030] Preferably, the cross section of the aggregate trough is V-shaped;

[0031] The material conveying conveyor belt is also provided with a residual material cleaning device, which includes a residual material cleaning motor and a cleaning wheel, and the cleaning wheel is connected to the output shaft of the residual material cleaning motor;

[0032] A recovery material guide trough is provided below the residual material cleaning device, and one side of the recovery material guide trough is communicated with the material storage bin.

[0033] Preferably, a flip support block is fixed on the side of the lifting step at the discharge end of the loading device away from the storage bin, the upper end of the flip support block is hinged with a flip feeding block, and the upper end of the flip feeding block is provided with a feeding chute;

[0034] An arc-shaped guide plate is also fixed on the frame body, and the arc-shaped guide plate is located on the side of the feeding device away from the storage bin. An arc-shaped guide surface is provided on the arc-shaped guide plate. When the lifting step at the discharge end of the feeding device performs a lifting motion, the flip feeding block performs a lifting motion along the arc-shaped guide surface and can also flip.

[0035] Preferably, a first flip magnet is provided on the flip support block, and a second flip magnet is provided on the flip feeding block, and the first flip magnet and the second flip magnet can be attracted to each other.

[0036] Compared with the prior art, the utility model has achieved the following technical effects:

[0037] The utility model adopts a step-type structure for loading, which can effectively reduce the situation where the pipette tips are inserted together. In addition, a double-insertion tip separation device is provided, so that even if two pipette tips are mistakenly inserted together, they can be separated during the unloading process, and then unloaded one by one. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 This is a schematic diagram of the structure of removing the rear cover in the fully automatic box-packing robot for pipette tips in Example 1;

[0040] Figure 2 This is a schematic diagram of a loading device in a fully automatic boxing robot for pipette tips in Example 1;

[0041] Figure 3 This is a schematic diagram of a material conveying device in a fully automatic box-packing robot for pipette tips in Example 1;

[0042] Figure 4 It is a front view of the fully automatic box-packing robot for liquid transfer tips in Example 1;

[0043] Figure 5 This is a schematic diagram of the structure of the unloading device in the fully automatic box-packing robot for pipette tips in Example 1;

[0044] Figure 6 This is a structural schematic diagram of the first embodiment of the fully automatic box-packing robot for pipette tips without the fixed panel of the unloading device;

[0045] Figure 7 This is a schematic diagram of the structure of the opening and closing nozzle drive device in the fully automatic box-packing robot for pipette tips in Example 1;

[0046] Figure 8 It is a side view of the fully automatic boxing robot for pipette tips in Example 1 when the opening and closing nozzle is closed;

[0047] Fig. 9 It is a side view of the opening and closing nozzle of the fully automatic box-packing robot for pipette tips in Example 1 when it is opened;

[0048] Fig.10 This is a schematic diagram of the double-insertion pipette tip separation device in the fully automatic box-loading robot for pipette tips in Example 1 when it is in a clamping state;

[0049] Fig.11 It is a schematic diagram of the double-insertion pipette tip separation device in the fully-automatic box-loading robot for pipette tips in Example 1 when it is in a separated state;

[0050] Fig.12 This is a schematic diagram of the structure of removing the rear cover in the fully automatic box-packing robot for pipette tips in Example 2;

[0051] Fig.13 A diagram showing the connection relationship between the flip support block and the flip feed block in the fully automatic boxing robot for liquid transfer tips in Example 2;

[0052] In the figure: 1-frame body; 2-storage bin; 3-loading device; 301-lifting step; 302-fixed step; 303-material guide inclined block; 304-lifting drive motor; 305-first connecting rod; 306-second connecting rod; 307-counterweight bearing seat; 308-counterweight body; 309-counterweight slider; 310-counterweight slide rail; 4-collecting trough; 5-material conveying device; 501-material conveying motor; 502-material conveying conveyor belt; 503-material conveying driving wheel; 6 - unloading device; 601- magnetic unloading tube back plate; 6011- material guide groove; 602- fixed bottom plate; 6021- bottom plate horizontal guide rail; 60211- bottom plate first slider; 60212- bottom plate second slider; 60213- clamping claw body; 60214- clamping claw drive block; 60215- drive block track groove; 60216- clamping drive spring; 603- clamping claw drive motor; 604- moving plate vertical guide rail; 605- moving plate fixed slider; 606- Middle moving plate; 6061-moving plate transverse guide rail; 60611-moving plate first slider; 60612-moving plate second slider; 60613-separation jaw body; 60614-separation jaw drive block; 60615-separation drive bearing; 60616-separation drive spring; 6062-first photoelectric sensor; 6063-second photoelectric sensor; 6064-clamping drive bearing; 607-fixed panel; 6071-panel track groove; 608-opening and closing drive motor ;609-opening and closing driving arm;610-flexible belt;611-opening and closing nozzle body;612-opening and closing rotating block;613-rotating block fixed base;7-sucker box moving platform;8-first cleaning device;801-cleaning arm;9-residual material cleaning device;901-residual material cleaning motor;902-cleaning wheel;10-recovery guide trough;11-flip support block;1101-first flip magnet;12-flip feeding block;1201-second flip magnet;13-arc guide plate. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0054] The utility model aims to provide a fully automatic boxing robot for arranging large-sized pipette tips, so as to solve the problems existing in the above-mentioned prior art, and adopts stepped loading, thereby being able to effectively reduce the situation where the pipette tips are mistakenly inserted together.

[0055] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0056] Embodiment 1

[0057] like Figure 1-Figure 11 As shown, this embodiment provides a fully automatic boxing robot for pipette tips, including a frame body 1, which is a frame structure assembled from profiles and is provided with baffles around it (the baffles are hidden in the figure to show the interior of the structure). The frame body 1 is provided with a storage bin 2, a loading device 3, a collection trough 4, a material conveying device 5 and a discharge device 6. The loading device 3 is used to convey the pipette tips in the storage bin 2 to the collection trough 4. One end of the material conveying device 5 is located at the bottom discharge trough of the collection trough 4, and the other end of the material conveying device 5 is located at the feed inlet of the discharge device 6. The material conveying device 5 is used to convey the material that falls out of the bottom discharge trough of the collection trough 4 to the discharge device 6, and finally the discharge device 6 puts the materials (i.e., pipette tips) one by one into the tip box below. In addition, a control device is also provided, and the control device includes but is not limited to an existing control host, a PLC controller or a single-chip microcomputer controller. The above-mentioned loading device 3, material conveying device 5 and unloading device 6 are all electrically connected to the control device, and the control device controls the operation of each device.

[0058] Different from the prior art, the loading device 3 in this embodiment includes a plurality of lifting steps 301 and a plurality of fixed steps 302, specifically, three lifting steps 301 and two fixed steps 302, and the lifting steps 301 and the fixed steps 302 are staggered. It should be noted that the lifting steps 301 are arranged at the feeding end and the discharging end of the loading device 3, and the lifting steps 301 are arranged at both ends of the loading device 3. The fixed step 302 is fixed on the frame body 1, and the lower ends of each lifting step 301 are fixed together on a lifting step connecting frame. The lifting step connecting frame includes three vertical connecting members and one horizontal connecting member. The lower ends of the three vertical connecting members are fixed to the upper ends of the horizontal connecting members in sequence, and the upper ends of the three vertical connecting members are fixed to the lower ends of the three lifting steps 301 respectively. The three vertical connecting members gradually increase in height from the storage bin 2 to the aggregate trough 4. The three vertical connecting members and one horizontal connecting member are an integrated structure, similar to a "mountain"-shaped member, but can also be other shapes, and their function is only to connect the three lifting steps 301 together for synchronous movement. The lifting step connecting frame is connected to a step lifting device. When the step lifting device performs lifting movement, it can drive each lifting step 301 to move synchronously through the lifting step connecting frame.

[0059] In actual use, first pour enough pipette tips into the storage bin 2, then start the loading device 3, and use the step lifting device to drive the lifting step connecting frame and the three lifting steps 301 on the lifting step connecting frame to move up and down synchronously. When the lifting step 301 close to the storage bin 2 is at the lowest position of the descent, the pipette tips in the storage bin 2 will move along its discharge point to the lifting step 301 and fall to the first lifting step 301. When the first lifting step 301 rises to the highest point, the first lifting step 301, due to the influence of the material guide slope on its upper surface, causes the pipette tips on the first lifting step 301 to slide toward the first fixed step 302, and all fall onto the first fixed step 302. Then, as the lifting step connecting frame descends to the lowest position, the lowest point of the material guide slope on the first fixed step 302 is connected with the highest point of the material guide slope on the second lifting step 301, so that the pipette tips on the first fixed step 302 slide to the second lifting step 301. As the lifting step connection frame rises again, the lowest point of the guide slope on the second lifting step 301 will connect with the highest point of the guide slope on the second fixed step 302, so that the pipette tip on the second lifting step 301 will slide onto the second fixed step 302. Then the lifting step connection frame descends to the lowest point again, and the highest point of the guide slope on the third lifting step 301 connects with the lowest point of the guide slope on the second fixed step 302, so that the pipette tip on the second fixed step 302 slides onto the third lifting step 301. Then, when the lifting step connection frame rises to the highest point again, the pipette tip on the third lifting step 301 will slide into the collecting tank 4. It should be noted that, as the lifting step connection frame rises or falls, the three lifting steps 301 work synchronously. When the lifting step connection frame falls to the lowest point, the lifting step 301 is for receiving materials, while the fixed step 302 is for discharging materials; when the lifting step connection frame rises to the highest point, the lifting step 301 is for discharging materials, while the fixed step 302 is for receiving materials. Subsequently, the materials entering the aggregate trough 4 will fall from the discharge trough at the bottom of the aggregate trough 4 to the material conveying device 5, and then be conveyed by the material conveying device 5 to the unloading device 6, and finally the unloading device 6 will drop them one by one into the suction head box.

[0060] In this embodiment, the upper surfaces of the lifting step 301 and the fixed step 302 are not perpendicular to the direction of gravity, that is, the upper surfaces of the lifting step 301 and the fixed step 302 are inclined, so that the suction head can move in a fixed direction on the upper surface of the lifting step 301 or the fixed step 302 under the action of gravity.

[0061] In this embodiment, a material guiding inclined block 303 is fixed on the upper surface of the lifting step 301 and the fixed step 302. The upper surface of the material guiding inclined block 303 is a material guiding inclined surface. The height of the end of the material guiding inclined surface close to the material storage bin 2 is higher than the height of the end of the material guiding inclined surface away from the material storage bin 2. Figure 1 or Figure 2 It is not difficult to see that the discharge end of the storage bin 2 is also an inclined plate structure, so when the lifting step 301 close to the storage bin 2 drops to a position lower than the storage bin 2, the pipette tip in the storage bin 2 will slide onto the lifting step 301 under the action of its own weight and the inclined surface. Similarly, the feed end of the collection trough 4 is also an inclined plate structure, and only when the adjacent lifting step 301 rises to the top of the collection trough 4, the pipette tip on the lifting step 301 will slide into the collection trough 4, and the pipette tip in the collection trough 4 will not return to the lifting step 301.

[0062] Alternatively, the lifting step 301 and the fixed step 302 may be arranged to be inclined, so that the upper surfaces of the lifting step 301 and the fixed step 302 can be in an inclined state.

[0063] In this embodiment, the step lifting device includes two lifting drive motors 304, two first connecting rods 305 and a second connecting rod 306. The two lifting drive motors 304 are fixed on the frame body 1. The output shafts of the two lifting drive motors 304 are arranged relatively to each other. The first ends of the two first connecting rods 305 are respectively fixed on the output shafts of the two lifting drive motors 304. The second ends of the two first connecting rods 305 are hinged to the first end of the second connecting rod 306. The second end of the second connecting rod 306 is fixed with a lifting cross bar. The two ends of the lifting cross bar are respectively fixed to the connecting plates at both ends of the lifting step connecting frame.

[0064] In order to ensure that the lifting step connection frame can only move up and down, it is necessary to add a limit device to limit its movement. Specifically, step limit sliders are respectively provided at both ends of the lifting step connection frame, and two vertical step limit slide rails are provided on the frame body 1, and the two step limit sliders are respectively slidably connected to the two step limit slide rails. Of course, step limit slide rails can also be provided at both ends of the lifting step connection frame, but step limit sliders can also be provided at the corresponding positions of the frame body 1.

[0065] When the lifting drive motor 304 rotates, the two lifting drive devices will drive the two first connecting rods 305 to rotate, and the two first connecting rods 305 will move synchronously with the first end of the second connecting rod 306. Since the second connecting rod 306 is located between the two first connecting rods 305, the first connecting rod 305 will not cause any obstruction to the rotation of the second connecting rod 306. However, since the second end of the second connecting rod 306 is connected to the lifting step connecting frame through the lifting cross bar, and the lifting step connecting frame can only move up and down due to the limiting effect between the step limiting protrusion and the step limiting sliding groove, the second end of the second connecting rod 306 can only move up and down with it, and finally drive the three lifting steps 301 to move up and down synchronously through the lifting step connecting frame.

[0066] In addition, those skilled in the art may also change the step lifting device to a motor that pulls the lifting step connecting frame through a belt to perform lifting and moving, that is, one end of the belt is connected to the output end of the motor, and the other end of the belt is connected to the lifting step connecting frame, and the motor is arranged at the upper end of the frame body 1, and the lifting step connecting frame is raised or lowered by the motor's retraction and extension of the belt; of course, the step lifting device may also be directly replaced by an existing linear motor or a linear drive device such as a cylinder or a hydraulic cylinder, and is not limited to this embodiment.

[0067] In this embodiment, if Figure 2 As shown, two counterweight bearing seats 307 are provided on the frame body 1, and the two counterweight bearing seats 307 are distributed up and down, and each counterweight bearing seat 307 is rotatably connected to a counterweight pulley, and a counterweight transmission belt is connected between the two counterweight pulleys. A counterweight body 308 is fixed on one side of the counterweight transmission belt, and the other side of the counterweight transmission belt is connected to the lifting step connecting frame, that is, the lifting step connecting frame and the counterweight body 308 are respectively located on both sides of the counterweight bearing seat 307. Alternatively, only one counterweight bearing seat 307, that is, the upper counterweight bearing seat 307, can be provided, and a counterweight transmission belt can be provided on the upper counterweight pulley, and the two ends of the counterweight transmission belt are respectively used to connect the counterweight body 308 and the lifting step connecting frame.

[0068] It should be noted that the weight of the counterweight body 308 is the same as the weight of the lifting step connecting frame and the lifting step 301. The purpose of this setting is that when the lifting drive motor 304 rotates, it only needs to overcome the friction of its system, and does not need to bear the gravity of the lifting step connecting frame and the lifting step 301, thereby reducing its burden and thus increasing its service life.

[0069] Furthermore, in order to ensure that the counterweight body 308 can only be lifted and lowered, a counterweight slider 309 is fixed to the counterweight body 308, and a counterweight slide rail 310 is provided at a corresponding position on the frame body 1. The counterweight slider 309 and the counterweight slide rail 310 are slidably connected to limit the counterweight body 308.

[0070] In this embodiment, in order to fix the material guide bevel 303, a plurality of long holes are provided on the material guide bevel 303, generally two holes are provided, and the material guide bevel 303 is fixed to the corresponding lifting step 301 or fixed step 302 by screws. It should be noted that the purpose of providing the long holes is to be able to adjust the position of the material guide bevel 303 forward and backward, so that there is a gap between the rear end of the material guide bevel 303 (i.e., the end close to the collection tank 4) and the next lifting step 301 or fixed step 302, and the gap is smaller than the smallest head of the pipette tip. Generally speaking, the gap width is 0.5 mm. Of course, in the face of different types of pipette tips, the front and rear positions of the material guide bevel 303 can be adjusted by the bevel screws.

[0071] One side of the lifting step 301 (i.e. Figure 1 A side surface near the lower right corner is provided with a step guide wheel. During the movement of the lifting step 301, the lifting step 301 will inevitably deform. When it is deformed, the lifting step 301 can be offset against the fixed step 302 or the collecting trough 4 at the rear through the step guide wheel to control the distance between the lifting step and the fixed step, thereby ensuring the long-term normal use of the loading device 3.

[0072] In actual use, the long hole should be used in conjunction with the step guide wheel, because the function of the long hole on the material guide bevel block 303 and the step guide wheel is to control the spacing between the lifting step 301 and the fixed step 302. The larger the spacing between the two, the simpler the processing and manufacturing. However, because the material is a pipette tip, the tip of the material is easily stuck in the gap between the structures, which requires the gap between the lifting step 301 and the fixed step 302 to be kept very small. However, if the spacing is small, the lifting step 301 and the fixed step 302 may get stuck due to processing and installation errors when the lifting step 301 or the fixed step 302 is operated alone without adding material. The long hole and the step guide wheel of the material guide bevel block 303 are introduced, one can adjust the step gap and spacing during installation, and the other can adjust and maintain the step gap and spacing during operation.

[0073] A step slider and a step rail are provided between the lifting step 301 and the fixed step 302, and the lifting step 301 is kept moving up and down by the step rail and the step slider.

[0074] Specifically, a step slider is provided on the side of the lifting step 301 close to the storage bin 2, and a step slide rail is provided on the side of the storage bin 2 or the fixed step 302 close to the aggregate trough 4. The step slider is slidably connected to the step slide rail adjacent to it. Of course, the positions of the step slider and the step slide rail can be interchanged. The provision of the step slider and the step slide rail can ensure the lifting verticality of the lifting step 301, and even if one lifting step 301 is deformed, it will not affect the operation of other lifting steps 301.

[0075] In this embodiment, if Figure 3 As shown, the material conveying device 5 includes two material conveying motors 501, the output shafts of the two material conveying motors 501 are arranged oppositely, and a material conveying driving wheel 503 is fixed on the output shaft of each material conveying motor 501. The annular groove on the material conveying driving wheel 503 can be connected to one end of the material conveying conveyor belt 502, and the other end of the material conveying conveyor belt 502 is provided with a material conveying driven wheel connected, and the material conveying driven wheel is rotatably connected to the lower end of the collecting trough 4. The pipette tips in the collecting trough 4 will fall directly from the bottom discharge trough to between the two material conveying conveyor belts 502, and will be clamped and conveyed by the two material conveying conveyor belts 502. The spacing between the two material conveying conveyor belts 502 is adjustable, and is usually adjusted to be slightly smaller than the maximum diameter of the arranged pipette tips.

[0076] In this embodiment, if Figure 5-Figure 9 As shown, the feeding device 6 comprises a magnetic feeding tube back plate 601, an opening and closing nozzle body 611 and an opening and closing nozzle driving device. The opening and closing nozzle driving device is used to drive the opening and closing nozzle body 611 to rotate.

[0077] In this embodiment, if Figure 5-Figure 6 As shown, a double-plug suction head separation device is also installed on the frame body, and the magnetic suction type feeding tube back plate 601 is connected to the front side of the double-plug suction head separation device (the front side is the side facing the user). Specifically, the magnetic suction type feeding tube back plate 601 and the front side of the double-plug suction head separation device are respectively provided with a magnet with opposite magnetic properties, so that the magnetic suction type feeding tube back plate 601 can be installed on the front side of the double-plug suction head separation device only by magnetic attraction. The upper end of the magnetic suction type feeding tube back plate 601 is provided with a material receiving guide groove 6011, which is used to better receive the pipette tip from the material conveying device 5. The lower end of the material receiving guide groove 6011 is connected to a feeding pipe, and the lower end of the feeding pipe cooperates with the opening and closing nozzle body 611 to control the feeding of the feeding device 6. The opening and closing nozzle drive device is fixed to the back side of the double-plug suction head separation device (the back side is the side facing the inside of the frame body 1), and the opening and closing nozzle body 611 is located at the lower end of the double-plug suction head separation device.

[0078] In actual use, the pipette tips from the material conveying device 5 will fall into the material discharge pipeline along the material receiving guide groove 6011. During the material discharge pipeline, if the double-plug tip separation device detects that there are two pipette tips plugged together, the double-plug tip separation device is first used to separate them and fix the pipette tip located at the top at the same time, and then the opening and closing nozzle driving device is used to open the opening and closing nozzle body 611, so that the pipette tip located at the bottom can be discharged. After the pipette tip located at the bottom is discharged, the opening and closing nozzle body 611 is closed, and the double-plug tip separation device is driven to make the pipette tip located at the top reach the expected position, and then the opening and closing nozzle body 611 is opened again for another discharge. If two plugged pipette tips are not detected, the opening and closing nozzle body 611 can be directly opened for discharge.

[0079] Furthermore, the double-insertion suction head separation device includes a fixed bottom plate 602, an intermediate movable plate 606 and a fixed panel 607. The fixed bottom plate 602 is fixed on the rack body 1, and the intermediate movable plate can move up and down.

[0080] The fixed bottom plate 602 is provided with a movable plate vertical driving device, a tip clamping claw and a clamping claw driving device. The movable plate vertical driving device is used to drive the middle movable plate to move up and down, and the clamping claw driving device is used to drive the tip clamping claw to clamp the tip in the middle and lower part of the double-insert pipette tip.

[0081] The middle movable plate 606 is provided with a tip separation jaw and a separation jaw driving device, and the separation jaw driving device is used to drive the tip separation jaw to clamp the upper tip in the double-insertion liquid transfer tip and can drive the upper tip in the double-insertion liquid transfer tip to move upward.

[0082] The clamping jaw driving device includes a bottom plate transverse guide rail 6021 arranged on the fixed bottom plate 602, a clamping jaw driving motor 603 and two moving plate vertical guide rails 604. The output shaft of the clamping jaw driving motor 603 is provided with a moving plate driving screw rod, and a moving plate driving nut is threadedly connected to the moving plate driving screw rod, and the moving plate driving nut is fixed to one side of the middle moving plate 606. The two moving plate vertical guide rails 604 are arranged in parallel, and a moving plate fixed slider 605 is slidably connected to each moving plate vertical guide rail 604. The two moving plate fixed sliders 605 are respectively fixed to both sides of the middle moving plate 606. When the clamping jaw driving motor 603 drives the moving plate driving screw rod to rotate, due to the limiting effect of the middle moving plate 606, the moving plate driving nut can only reciprocate up and down along the moving plate driving screw rod. Further, the middle moving plate 606 reciprocates on the moving plate vertical guide rail 604 through the moving plate fixed slider 605. The bottom plate transverse guide rail 6021 is perpendicular to the movable plate vertical guide rail 604, and both ends of the bottom plate transverse guide rail 6021 are slidably connected to a bottom plate first slider 60211 and a bottom plate second slider 60212, that is, the bottom plate transverse guide rail 6021 is symmetrically distributed on both sides based on the middle line of the bottom plate transverse guide rail 6021, and each side is provided with a bottom plate first slider 60211 and a bottom plate second slider 60212. A total of two bottom plate first sliders 60211 and two bottom plate second sliders 60212 are slidably connected to the bottom plate transverse guide rail 6021, and the two bottom plate first sliders 60211 are located between the two bottom plate second sliders 60212. The suction head clamping jaw includes two clamping jaw bodies 60213, a clamping jaw body 60213 is fixed on each first slider 60211 of the base plate, a clamping jaw driving block 60214 is fixed on the second slider 60212 of the base plate, a clamping driving spring 60216 is connected between the clamping jaw body 60213 and the clamping jaw driving block 60214 located on the same side, each clamping jaw driving block 60214 is provided with a driving block track groove 60215, and the driving block track groove 60215 is a C-shaped groove, and a clamping driving bearing 6064 is fixed on both sides of the middle movable plate 606, and the two clamping driving bearings 6064 are respectively slidably connected in the two driving block track grooves 60215.

[0083] The separation jaw driving device includes a horizontally arranged moving plate transverse guide rail 6061 arranged on the middle moving plate 606, and the moving plate transverse guide rail 6061 is located above the bottom plate transverse guide rail 6021. Both ends of the moving plate transverse guide rail 6061 are slidably connected to a moving plate first slider 60611 and a moving plate second slider 60612, that is, the moving plate transverse guide rail 6061 is symmetrically distributed on both sides with the center line of the moving plate transverse guide rail 6061 as a reference, and each side is provided with a moving plate first slider 60611 and a moving plate second slider 60612, and the moving plate transverse guide rail 6061 is provided with two moving plate first sliders 60611 and two moving plate second sliders 60612 in total, and the two moving plate first sliders 60611 are located between the two moving plate second sliders 60612. The suction head separation clamp comprises two separation clamp bodies 60613, a separation clamp body 60613 is fixed on each moving plate first slider 60611, a separation clamp driving block 60614 is fixed on the moving plate second slider 60612, and a separation driving spring 60616 is connected between the separation clamp body 60613 and the separation clamp driving block 60614 on the same side. A separation driving bearing 60615 is connected to each separation clamp driving block 60614, and a fixed panel 607 is also fixed on the frame body 1, and the fixed panel 607 is fixedly connected to the fixed bottom plate 602, and the fixed bottom plate 602 is closer to the inside of the frame body 1 than the fixed panel 607, and the middle moving plate 606 is arranged between the fixed bottom plate 602 and the fixed panel 607, and a panel track groove 6071 is respectively provided on both sides of the fixed panel 607, as shown in FIG. Figure 5 As shown, the panel track groove 6071 includes a vertical groove and an inclined groove, and the upper end of the inclined groove is fixed to the lower end of the vertical groove, and the two separation drive bearings 60615 are respectively slidably connected in the two panel track grooves 6071.

[0084] Further, such as Figure 6 As shown, a photoelectric sensor is provided in the middle part of the middle movable plate 606, specifically two of them, namely a first photoelectric sensor 6062 and a second photoelectric sensor 6063. The first photoelectric sensor 6062 is located above the second photoelectric sensor 6063, and its function is to detect whether there is a double-inserted pipette tip.

[0085] The double-insert suction head separation device specifically includes the clamping process and the separation process:

[0086] During the clamping process, when the double-inserted pipette tip falls into the double-inserted separation module, the inner convex clamping part of the opening and closing nozzle body 611 and the magnetic discharge tube back plate 601 clamps the retaining edge on the pipette tip. At this time, the first photoelectric sensor 6062 and the second photoelectric sensor 6063 are blocked and triggered by the double-inserted pipette tip at the same time. The clamping claw drive motor 603 rotates and drives the middle moving plate 606 to move upward along the moving plate vertical guide rail 604 through the moving plate drive screw. Since the inclined groove of the panel track groove 6071 is at a certain angle to the vertical groove, the two separation drive bearings 60615 move inward along the corresponding panel track groove 6071 while following the middle moving plate 606 to move vertically upward. At the same time, the two separation jaw drive blocks 60614 push the two separation jaw bodies 60613 to move closer to the middle along the moving plate transverse guide rail 6061 through the separation drive spring 60616, until the two separation jaw bodies 60613 are completely closed in the middle position (such as Fig.10 At the same time, the clamping drive bearing 6064 fixed on the intermediate moving plate 606 moves vertically upward with the intermediate moving plate 606. Since the clamping drive bearing 6064 is slidably connected with the drive block track groove 60215, it pushes the two clamping jaw drive blocks 60214 to move toward the middle simultaneously along the bottom plate transverse guide rail 6021. The clamping jaw drive blocks 60214 also push the corresponding clamping jaw bodies 60213 toward the middle through the clamping drive springs 60216, until the two clamping jaw bodies 60213 are completely closed in the middle position. The state at this time can be referred to Fig.10 At this time, the two clamping jaw bodies 60213 and the two separation jaw bodies 60613 are both in a closed state, and the two clamping jaw bodies 60213 are used to clamp the pipette tip located below, and the two separation jaw bodies 60613 are used to clamp the pipette tip located above.

[0087] Separation process: The intermediate movable plate 606 continues to move upward, and drives the two separation jaw bodies 60613 to remain closed while also moving upward. At the same time, the two clamping jaw bodies 60213 still remain closed. In this process, the two inserted pipette tips are pulled apart by friction or by clamping the retaining edge on the pipette tip. Then the intermediate movable plate 606 continues to move upward until the clamping drive bearing 6064 contacts the end (i.e., the top) of the drive block track groove 60215, and pushes the two clamping jaw drive blocks 60214 to move outward simultaneously along the bottom plate transverse guide rail 6021. The two clamping jaw drive blocks 60214 also pull the two clamping jaw bodies 60213 to open outward through the clamping drive spring 60216. During this process, the two separation jaw bodies 60613 always remain completely closed in the middle position. Until the intermediate movable plate 606 moves upward to the extreme position (such as Fig.11As shown in the figure, the opening and closing nozzle driving device drives the opening and closing nozzle body 611 to open, and puts the lower pipette tip into the tip box. The opening and closing nozzle body 611 is closed, and moves to the next empty space in the tip box. The driving jaw driving motor 603 is reversed to move the middle moving plate 606 downward, so that the clamping jaw body 60213 and the separation jaw body 60613 are both opened and returned to their positions. At this time, the upper pipette tip falls into the opening and closing nozzle body 611. The opening and closing nozzle body 611 is opened again, and the upper pipette tip is put into the tip box.

[0088] It should be noted that the movement of the double-insertion tip separation device in this embodiment is driven by only one motor. Obviously, each of the above-mentioned actuators (tip clamping jaws and tip separation jaws) can be driven by multiple independent driving structures (motors) to complete the action. However, the single-motor solution of this embodiment can save space and cost, improve system reliability, and reduce the risk of failure.

[0089] In this embodiment, if Figure 7-Figure 9 As shown, the opening and closing nozzle driving device includes an opening and closing driving motor 608, an opening and closing driving rotating arm 609, a flexible belt 610, an opening and closing rotating block 612 and a rotating block fixed base 613. Among them, the opening and closing driving motor 608 and the rotating block fixed base 613 are both fixed to the double-plug suction head separation device, specifically fixed to the back of the fixed bottom plate 602. One end of the opening and closing driving rotating arm 609 is connected to the output shaft of the opening and closing driving motor 608, and the other end of the opening and closing driving rotating arm 609 is connected to the lower end of the opening and closing nozzle body 611 through the flexible belt 610. The opening and closing rotating block 612 is rotatably connected to the rotating block fixed base 613, and the opening and closing rotating block 612 is connected to the upper end of the opening and closing nozzle through a connecting piece.

[0090] When it is necessary to open the opening and closing mouth body 611, start the opening and closing drive motor 608, the opening and closing drive motor 608 drives the opening and closing drive arm 609 to rotate, and the opening and closing drive arm 609 then pulls the opening and closing mouth body 611 through the flexible belt 610. At the same time, the opening and closing mouth body 611 rotates under the connection limit of the opening and closing rotating block 612, thereby opening the opening and closing mouth body 611.

[0091] In addition, a magnet with the same magnetic pole can be fixed on the opening and closing rotating block 612 and the rotating block fixed base 613 respectively, and the two magnets are not coaxial and repel each other. When the opening and closing mouth body 611 is opened, under the pulling force of the flexible belt 610, the magnet on the opening and closing rotating block 612 gradually approaches the magnet on the rotating block fixed base 613. When the opening and closing mouth body 611 needs to be closed, the opening and closing drive motor 608 is reversed to release the pulling force of the flexible belt 610 on the opening and closing mouth body 611, and then due to the repulsive force between the magnet on the opening and closing rotating block 612 and the magnet on the rotating block fixed base 613, the opening and closing mouth body 611 is pushed to close.

[0092] In this embodiment, the cross-section of the collecting trough 4 is V-shaped, so that the pipette tips in the collecting trough 4 can be collected to the bottom discharge trough more quickly.

[0093] like Figure 1 As shown, a preliminary cleaning device 8 is installed on the inner wall of the aggregate trough 4. The preliminary cleaning device 8 includes a preliminary cleaning motor and a cleaning arm 801. The cleaning arm 801 is connected to the output shaft of the preliminary cleaning motor. The cleaning arm 801 is used to clean the pipette tips located at the bottom discharge trough of the aggregate trough 4 to avoid excessive pipette tips from accumulating at the bottom discharge trough of the aggregate trough 4 and causing blockage of the material conveying device 5.

[0094] like Figure 3 As shown, a residual material cleaning device 9 is also provided on the material conveying conveyor belt 502, and the residual material cleaning device 9 includes a residual material cleaning motor 901 and a cleaning wheel 902, and the cleaning wheel 902 is connected to the output shaft of the residual material cleaning motor 901. In the process of the material conveying conveyor belt 502 conveying the liquid transfer tip, the correct posture of the liquid transfer tip should be that the ribs on both sides of the liquid transfer tip are respectively stuck on the two material conveying conveyor belts 502, and when the liquid transfer tip in this posture passes through the cleaning wheel 902, the cleaning wheel 902 will sweep it off.

[0095] Furthermore, a recovery guide trough 10 is provided below the residual material cleaning device 9, and one side of the recovery guide trough 10 is connected to the storage bin 2. The pipette tips screened by the cleaning wheel 902 fall directly onto the recovery guide trough 10, and then return to the storage bin 2 again through the recovery guide trough 10.

[0096] In addition, a tip box moving platform 7 can be set below the rack body 1, and the tip box is installed on the tip box moving platform 7. The tip box moving platform 7 can drive the tip box to move in the X and Y directions. The tip box moving platform 7 can adopt any existing XY plane moving platform.

[0097] In this embodiment, from Figure 1 It can be seen that the feeding device 3 is arranged between the storage bin 2 and the aggregate trough 4, that is, the lifting step 301 at the feeding end of the feeding device 3 is connected to the storage bin 2, and the lifting step 301 at the discharging end of the feeding device 3 is connected to the aggregate trough 4. The storage bin 2 and the aggregate trough 4 are located on both sides of the frame body 1.

[0098] Furthermore, there is an angle between the middle edge between the collecting trough 4 and the adjacent lifting step 301 and the material conveying conveyor belt 502, that is, the material conveying conveyor belt 502 and Figure 3There is an angle between the vertical lines in the figure, and the angle is preferably 20°. Of course, those skilled in the art can also adjust the angle according to actual needs. Figure 3 As can be seen from the figure, the unloading device 6 is arranged in the middle position of the frame body 1. If the material conveying conveyor belt 502 is arranged in a straight line state (i.e. Figure 3 The vertical center line in the middle of the material storage bin 2 is not shown in FIG. 3 ), which will greatly reduce the volume of the material storage bin 2. However, according to the present embodiment, the inclined arrangement can effectively increase the volume of the material storage bin 2 without changing the position of the material discharge device 6.

[0099] Embodiment 2

[0100] like Figure 12-13 As shown, this embodiment provides a fully automatic boxing robot for pipette tips. The technical features provided in this embodiment are basically the same as those disclosed in the first embodiment, except that:

[0101] In this embodiment, if Fig.12 As shown, the feeding device 3 is located on one side of the discharge end of the storage bin 2, the aggregate trough 4 is located above the feeding device 3, and the aggregate trough 4 is located in the middle position of one side of the frame body 1, the feeding end of the feeding device 3 and the discharge end of the feeding device 3 are respectively located on both sides of the aggregate trough 4, the feeding device 3 first takes the material from the storage bin 2 located on one side of the aggregate trough 4, and then transports the material to the discharge end of the feeding device 3, and finally pours the material from the other side of the aggregate trough 4 by the lifting step 301 at the discharge end.

[0102] The advantage of this arrangement is that, since the collecting trough 4 is arranged at the middle position of one side of the frame body 1, the material conveying conveyor belt 502 is in a straight state (that is, the material conveying conveyor belt 502 is aligned with the frame body 1). Figure 3 The material conveying conveyor belt 502 is parallel to the vertical line in the drawing, and the moving stroke of the material conveying conveyor belt 502 is shorter. Once the residual material cleaning device 9 sweeps the material off the material conveying conveyor belt 502, it can fall to the recovery material guide trough 10 below more quickly, and can return to the storage bin 2 along the recovery material guide trough 10 more quickly.

[0103] In this embodiment, a flip support block 11 is fixed on the side of the lifting step 301 located at the discharge end of the loading device 3 away from the storage bin 2, and a flip feeding block 12 is hinged on the upper end of the flip support block 11 through a pin shaft. A feeding chute is provided at the upper end of the flip feeding block 12. The material on the lifting step 301 at the discharge end of the loading device 3 can be transported to the feeding chute along the material guide slope above it.

[0104] The frame body 1 is also fixed with an arc-shaped guide plate 13 and a vertical plate, the arc-shaped guide plate is fixed to the upper end of the vertical plate, and the arc-shaped guide plate 13 is located on the side of the feeding device 3 away from the storage bin 2. An arc-shaped guide surface is provided on the arc-shaped guide plate 13, and when the lifting step 301 at the discharge end of the feeding device 3 is lifted and lowered, the flip feed block 13 can be lifted and lowered along the vertical plate and the arc-shaped guide surface, and it should be noted that when the flip feed block 13 rises to the arc-shaped guide surface, it can also flip during the rising process, and the material in the feeding chute after flipping will be poured into the collecting trough 4.

[0105] In this embodiment, if Fig.13 As shown, a first flip magnet 1101 is provided on the flip support block 11, and a second flip magnet 1201 is provided on the flip feed block 12. The first flip magnet 1101 and the second flip magnet 1201 can be attracted to each other. After the flip feed block 12 completes the process of rising, flipping and pouring, it starts to fall, and under the mutual attraction force between the first flip magnet 1101 and the second flip magnet 1201, the flip feed block 12 can be reset as soon as possible.

[0106] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A fully automatic boxing robot for pipette tips, characterized in that: The machine comprises a frame body, on which a material storage bin, a loading device, a material collecting trough, a material conveying device and a material unloading device are arranged. The loading device is used to convey the pipette tip in the material storage bin to the material collecting trough. One end of the material conveying device is located at the bottom discharge trough of the material collecting trough, and the other end of the material conveying device is located at the inlet of the unloading device. The loading device includes a plurality of lifting steps and a plurality of fixed steps, and the lifting steps and the fixed steps are arranged in an alternating manner. The fixed steps are fixed on the frame body, and the lower ends of the lifting steps are commonly fixed on a lifting step connecting frame. The lifting step connecting frame is connected with a step lifting device, and the step lifting device is used to drive the lifting steps to move synchronously.

2. The fully automatic boxing robot for pipette tips according to claim 1, characterized in that: The upper surfaces of the lifting step and the fixed step are not perpendicular to the direction of gravity, so that the suction head can move toward a fixed direction on the upper surface of the lifting step or the fixed step under the action of gravity.

3. The fully automatic boxing robot for pipette tips according to claim 2, characterized in that: A material guiding inclined block is fixed on the upper surface of each of the lifting step and the fixed step. The upper surface of the material guiding inclined block is a material guiding inclined surface. The height of the end of the material guiding inclined surface close to the material storage bin is higher than the height of the end of the material guiding inclined surface away from the material storage bin. A plurality of long holes are provided on the material guiding inclined block. The material guiding inclined block is fixed to the lifting step or the fixed step by screws. Alternatively, the lifting step and the fixed step are arranged inclined.

4. The fully automatic boxing robot for pipette tips according to claim 1, characterized in that: The step lifting device comprises a lifting drive motor, a first connecting rod and a second connecting rod, wherein the lifting drive motor is fixed to the frame body, the first end of the first connecting rod is fixed to the output shaft of the lifting drive motor, the second end of the first connecting rod is hinged to the first end of the second connecting rod, the second end of the second connecting rod is fixed with a lifting cross bar, and the two ends of the lifting cross bar are respectively fixed to the two ends of the lifting step connecting frame; Both ends of the lifting step connecting frame are respectively provided with step limiting protrusions, and the frame body is provided with two vertical step limiting sliding grooves, and the two step limiting protrusions are respectively slidably connected to the two step limiting sliding grooves.

5. The fully automatic boxing robot for pipette tips according to claim 1, characterized in that: The frame body is provided with a counterweight bearing seat, the counterweight bearing seat is connected to a counterweight pulley, the counterweight pulley is connected to a counterweight transmission belt, a counterweight body is fixed to one side of the counterweight transmission belt, and the other side of the counterweight transmission belt is connected to the lifting step connecting frame; A counterweight sliding block is fixed on the counterweight body, a counterweight sliding rail is arranged on the frame body, and the counterweight sliding block is slidably connected with the counterweight sliding rail.

6. The fully automatic boxing robot for pipette tips according to claim 1, characterized in that: A step guide wheel is provided on one side of the lifting step; A step slider and a step slide rail are provided between the lifting step and the fixed step, and the lifting step is kept moving up and down by the step slide rail and the step slider.

7. The fully automatic boxing robot for pipette tips according to claim 1, characterized in that: The material conveying device comprises a material conveying motor, a material conveying driving wheel is fixed on the output shaft of the material conveying motor, the material conveying driving wheel is connected to one end of a material conveying conveyor belt, and the other end of the material conveying conveyor belt is provided with a material conveying driven wheel.

8. The fully automatic boxing robot for pipette tips according to claim 1, characterized in that: The feeding device comprises a magnetic feeding tube back plate, an opening and closing nozzle body and an opening and closing nozzle driving device, and the opening and closing nozzle driving device is used to drive the opening and closing nozzle body to rotate.

9. The fully automatic boxing robot for pipette tips according to claim 1, characterized in that: A double-plug suction head separation device is also fixed on the frame body, and the double-plug suction head separation device includes a fixed bottom plate and an intermediate movable plate, and the fixed bottom plate is fixed on the frame body; The fixed bottom plate is provided with a moving plate vertical driving device, a suction head clamping claw and a clamping claw driving device, the moving plate vertical driving device is used to drive the middle moving plate to move up and down, and the clamping claw driving device is used to drive the suction head clamping claw to clamp the suction head in the lower middle of the double-insert liquid transfer suction head; The middle movable plate is provided with a tip separation clamp and a separation clamp driving device, and the separation clamp driving device is used to drive the tip separation clamp to clamp the upper tip in the double-insertion liquid transfer tip and can drive the upper tip in the double-insertion liquid transfer tip to move upward.

10. The fully automatic boxing robot for pipette tips according to claim 9, characterized in that: The movable plate vertical driving device comprises a claw driving motor and two movable plate vertical guide rails, the output shaft of the claw driving motor is provided with a movable plate driving screw, the movable plate driving screw is threadedly connected with a movable plate driving nut, the movable plate driving nut is fixed to one side of the middle movable plate, the two movable plate vertical guide rails are arranged in parallel, each movable plate vertical guide rail is slidably connected with a movable plate fixed slider, and the two movable plate fixed sliders are respectively fixed on both sides of the middle movable plate; The two ends of the bottom plate transverse guide rail are slidably connected to a first bottom plate slider and a second bottom plate slider, and the two first bottom plate sliders are located between the two second bottom plate sliders. The suction head clamping jaws include two clamping jaw bodies, the clamping jaw body is fixed on the first bottom plate slider, and the clamping jaw driving block is fixed on the second bottom plate slider, and a clamping driving spring is connected between the clamping jaw body and the clamping jaw driving block on the same side. Each clamping jaw driving block is provided with a driving block track groove, and a clamping driving bearing is respectively fixed on both sides of the middle moving plate, and the two clamping driving bearings are respectively slidably connected to the two driving block track grooves. The separation jaw driving device comprises a moving plate transverse guide rail arranged on the middle moving plate, and both ends of the moving plate transverse guide rail are slidably connected to a first moving plate slider and a second moving plate slider, and the two moving plate first sliders are located between the two moving plate second sliders, and the suction head separation jaw comprises two separation jaw bodies, a separation jaw body is fixed on the first moving plate slider, and a separation jaw driving block is fixed on the second moving plate slider, and a separation driving spring is connected between the separation jaw body and the separation jaw driving block located on the same side, and each separation jaw driving block is connected to a separation driving bearing. A fixed panel is fixed on the frame body, and a panel track groove is respectively provided on both sides of the fixed panel, and the two separation driving bearings are respectively slidably connected to the two panel track grooves; A photoelectric sensor is provided at the middle portion of the middle moving plate.

11. The fully automatic boxing robot for pipette tips according to claim 8, characterized in that: The opening and closing mouth driving device includes an opening and closing driving motor, an opening and closing driving rotating arm, a flexible belt, an opening and closing rotating block and a rotating block fixed base, the opening and closing driving rotating arm is connected to the output shaft of the opening and closing driving motor, the opening and closing driving rotating arm is connected to the lower end of the opening and closing mouth body through the flexible belt, the opening and closing rotating block is rotatably connected to the rotating block fixed base, and the opening and closing rotating block is connected to the upper end of the opening and closing mouth through a connecting piece.

12. The fully automatic boxing robot for pipette tips according to claim 7, characterized in that: The cross section of the aggregate trough is V-shaped; The material conveying conveyor belt is also provided with a residual material cleaning device, which includes a residual material cleaning motor and a cleaning wheel, and the cleaning wheel is connected to the output shaft of the residual material cleaning motor; A recovery material guide trough is provided below the residual material cleaning device, and one side of the recovery material guide trough is communicated with the material storage bin.

13. The fully automatic boxing robot for pipette tips according to claim 1, characterized in that: A flip support block is fixed on the side of the lifting step at the discharge end of the loading device away from the storage bin, and a flip feeding block is hingedly connected to the upper end of the flip feeding block, and a feeding chute is provided at the upper end of the flip feeding block; An arc-shaped guide plate is also fixed on the frame body, and the arc-shaped guide plate is located on the side of the feeding device away from the storage bin. An arc-shaped guide surface is provided on the arc-shaped guide plate. When the lifting step at the discharge end of the feeding device performs a lifting motion, the flip feeding block performs a lifting motion along the arc-shaped guide surface and can also flip.

14. The fully automatic boxing robot for pipette tips according to claim 13, characterized in that: The flip support block is provided with a first flip magnet, and the flip feeding block is provided with a second flip magnet. The first flip magnet and the second flip magnet can be attracted to each other.

Images