Double-needle sample adding mechanical arm
By designing a robotic arm with dual-needle sample addition, and using X and Y guide rail components and a dual-needle pipetting module, the problems of cumbersome operation and large error of single-needle robotic arms are solved, and efficient and accurate multi-parameter detection is achieved.
Patent Information
- Application Number
- CN202423081673.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-13
- Publication Date
- 2025-12-05
- Estimated Expiration
- 2034-12-13
AI Technical Summary
Existing single-needle robotic arms cannot meet the needs of efficient and accurate multi-parameter detection, resulting in cumbersome operation, increased human error, and higher costs.
Design a robotic arm for dual-needle pipetting, comprising an X-rail assembly, a Y-rail assembly, a dual-needle pipetting module, and a Z-axis gripper module. The independent movement of the two needles is achieved through a needle motor and a Z-axis linear motor, and the X and Y rail assemblies are combined to improve operational flexibility.
It achieves efficient and accurate multi-parameter detection, reduces experimental operation time and human error, and improves detection efficiency and automation.
Smart Images
Figure CN223628666U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to clinical examination instrument technical field, concretely relates to a double needle sample adding mechanical arm. BACKGROUND
[0002] In biochemical analysis experiments, detecting different biochemical parameters of the same sample is a common requirement. Traditional single needle sampling method needs to take samples multiple times when analyzing different parameters of a sample. This operation is not only cumbersome, but also prone to human error, and significantly reduces the detection efficiency. In addition, the single needle sampling method needs to frequently replace the needle when processing a large number of samples, which increases the operation complexity and cost. With the development of laboratory automation technology, mechanical arms are increasingly widely used in sample processing. However, the existing mechanical arms mostly adopt single needle design, which cannot meet the efficient and accurate multi-parameter detection requirement. Therefore, it is urgent to develop a double needle sample adding mechanical arm capable of simultaneously extracting two samples in a sample and delivering them to different detection channels. SUMMARY
[0003] To solve the problems in the background art, the utility model provides a double needle sample adding mechanical arm, which comprises an X guide rail assembly, a Y guide rail assembly, a double needle pipetting module, a Z direction gripper module and a control system. One end of the Y guide rail assembly is slidably connected to the X guide rail assembly. The double needle pipetting module and the Z direction gripper module are slidably arranged on the two sides of the Y guide rail assembly.
[0004] The double needle pipetting module comprises two first sample adding fixed plates and second sample adding fixed plates arranged side by side. Sample adding assemblies are slidably connected to the same side of the first sample adding fixed plate and the second sample adding fixed plate. Y guide rail seats are arranged on the other side of the first sample adding fixed plate and the second sample adding fixed plate. The first sample adding fixed plate is fixedly connected to the Y guide rail seat, and the second sample adding fixed plate is horizontally slidably connected to the Y guide rail seat. Z direction linear motors for driving the sample adding assemblies to slide in the Z direction are arranged on the upper parts of the first sample adding fixed plate and the second sample adding fixed plate. Each sample adding assembly is connected to the screw rod of the corresponding Z direction linear motor through a sample adding linkage plate. A needle separating motor is fixed to the top of the Y guide rail seat on one side of the first sample adding fixed plate. An optical switch is arranged on the top of the needle separating motor. A needle separating connecting plate is connected to the output shaft of the needle separating motor through a motor nut. The sidewall of the needle separating connecting plate is connected to the second sample adding fixed plate. A needle separating zero position sheet is arranged on the top of the needle separating connecting plate. The needle separating zero position sheet corresponds to the position of the optical switch. The needle separating motor and the optical switch are electrically connected to the control system.
[0005] Further, the sample adding assembly comprises a pipetting channel, a sample adding needle, a pipetting fixed plate and a needle removing motor, the pipetting channel is fixed on the pipetting fixed plate, the pipetting fixed plate is fixed with the needle removing motor at the top, the output end of the pipetting channel is connected with the sample adding needle through a needle removing device, the needle removing motor is used for controlling the needle removing device, and the needle removing motor is electrically connected with the control system; the sample adding linkage plate is an L-shaped plate, one side of the vertical plate of the L-shaped plate is fixed with the pipetting fixed plate, the other side of the L-shaped vertical plate is fixed with a first sliding block, the first sample adding fixed plate and the second sample adding fixed plate are both fixed with first sliding rails, the first sample adding fixed plate and the second sample adding fixed plate are slidably connected with the respective L-shaped vertical plates through the sliding cooperation of the first sliding rails and the first sliding block, and the horizontal plate of the L-shaped plate is threadedly connected with the lead screw of the Z-direction linear motor; the second sample adding fixed plate and the Y guide rail seat are slidably connected through the cooperation of a second sliding rail and a second sliding block, the second sliding rail is fixed on the Y guide rail seat, and the second sliding block is fixed on the second sample adding fixed plate.
[0006] Further, the Z-direction gripper module comprises a gripper motor seat, a gripper seat, a gripper fixed plate and a gripper finger seat, the gripper motor seat is provided with a gripper motor, the output end of the gripper motor is connected with a gripper sliding seat, the gripper fixed plate is provided with a fourth sliding rail, one side of the gripper sliding seat is fixed with the gripper seat, the other side of the gripper sliding seat is slidably connected with the fourth sliding rail through a sliding block, the top of the gripper fixed plate is fixed with the gripper motor seat, the lower part of the gripper seat is arranged as a u-shaped groove opening downward, the top of the u-shaped groove is provided with a fifth sliding rail, the gripper finger seat is provided with two, the two gripper finger seats are slidably connected with the two ends of the fifth sliding rail through finger sliding blocks respectively, the two gripper finger seats are connected through a finger motor, and the finger motor is fixed with the u-shaped groove.
[0007] Further, the X guide rail assembly comprises an X-direction plate, an X-direction motor, an X-direction driving wheel and an X-direction driven wheel, X upper and lower guide rails are fixed at the upper and lower ends of the X-direction plate, the X-direction driving wheel and the X-direction driven wheel are arranged at the two ends of the length direction of the X-direction plate respectively, the X-direction driving wheel is connected with the output shaft of the X-direction motor, and an X synchronous belt is connected between the X-direction driving wheel and the X-direction driven wheel.
[0008] Further, the Y guide rail assembly comprises a Y-direction plate, an X upper connecting plate, an X lower connecting plate, a Y-direction driving wheel and a Y-direction driven wheel, the X upper connecting plate and the X lower connecting plate are fixed at the ends of the Y-direction plate in opposite directions, a Y-direction motor for driving the Y-direction driving wheel to rotate is arranged between the X upper connecting plate and the X lower connecting plate, the ends, away from the Y-direction plate, of the X upper connecting plate and the X lower connecting plate are slidably connected with the X upper guide rail and the X lower guide rail respectively, and the X lower connecting plate is fixedly connected with the X synchronous belt through an X synchronous belt seat.
[0009] The Y-direction driving wheel and the Y-direction driven wheel are arranged at two ends of the same side of the Y-direction plate along the Y-direction, a third sliding rail is arranged on the other side of the Y-direction plate along the Y-direction, a Y-direction synchronous belt is connected between the Y-direction driving wheel and the Y-direction driven wheel, a Y-direction synchronous belt seat is fixed on the Y-direction synchronous belt, and a gripper connecting plate is connected to the Y-direction synchronous belt seat.
[0010] Further, a Y-direction wire slot is arranged on the upper portion of the Y-direction plate, two connecting plates are respectively fixed at two ends of the length direction of the Y-direction plate, the two ends of the Y-direction wire slot are respectively fixedly connected with the top portions of the two connecting plates, and an X-direction wire slot is fixed on the side of the X-direction plate away from the Y-guide rail assembly.
[0011] Further, the control system comprises a cantilever main control board and a top circuit board, the cantilever main control board is fixed on the connecting plate close to the X-guide rail assembly, the cantilever main control board is electrically connected with the X-direction motor and the Y-direction motor through a wire, the wire is arranged in the X-direction wire slot, the double-needle pipetting module and the Z-direction gripper module are provided with a circuit board support, the top circuit board is fixed on the circuit board support, the top circuit board is electrically connected with the Z-direction linear motor through a wire, and the wire is arranged in the Y-direction wire slot.
[0012] The utility model has the beneficial effect that: first, the double-needle pipetting module is adopted in the scheme: the split needle motor receives the signal of the control system, drives the motor nut to drive the split needle connecting plate to move away from the split needle motor, at this time, the split needle connecting plate drives the second sample adding fixed plate to move away from the first sample adding fixed plate, the first sample adding fixed plate and the second sample adding fixed plate are separated, drive two sample adding assemblies to be separated, each sample adding assembly can independently slide up and down along the vertical direction of the first sample adding fixed plate or the second sample adding fixed plate, realize that two samples in one sample are extracted at the same time without interference, and the high -efficient, accurate multi -parameter detection demand is improved.
[0013] Secondly, through the combination use of the double-needle pipetting module and the Z-direction gripper module, the accurate sucking and releasing of experimental liquid and the rapid replacement of experimental objects can be realized.The introduction of the X, Y guide rail assembly makes the whole operation process more flexible, can be quickly positioned to the specified position, greatly reduces the time of experimental operation, improves the experimental efficiency, and reduces the need for human intervention, thereby reducing the experimental error caused by human factors. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 The utility model mechanical arm whole structure shows Figure 1 ;
[0015] Figure 2 For the whole structure of the mechanical arm of the utility model Figure 2 ;
[0016] Figure 3 For the structure diagram of the X guide rail assembly and Y guide rail assembly of the utility model
[0017] Figure 4 For the structure diagram of the double needle pipette module of the utility model Figure 1 ;
[0018] Figure 5 For the structure diagram of the double needle pipette module of the utility model Figure 2 ;
[0019] Figure 6 For the structure diagram of the Z direction gripper module of the utility model
[0020] Reference numerals in the drawing: 1, X guide rail assembly; 101, X direction plate; 102, X direction motor; 103, X direction driving wheel; 104, X direction driven wheel; 105, X synchronous belt; 106, X synchronous belt seat; 2, Y guide rail assembly; 201, Y direction plate; 202, X upper connecting plate; 203, X lower connecting plate; 204, Y direction driving wheel; 205, Y direction driven wheel; 206, Y direction motor; 207, third slide rail; 208, Y synchronous belt; 209, Y synchronous belt seat; 210, gripper connecting plate; 3, double needle pipette module; 301, first sample adding fixed plate; 302, second sample adding fixed plate; 303, Y guide rail seat; 304, Z direction linear motor; 305, sample adding linkage plate; 306, split needle motor; 307, photoelectric switch; 308, motor nut; 309, split needle connecting plate; 310, split needle zero position sheet; 311, pipette channel; 312, sample adding needle; 313, pipette fixed plate; 314, needle removing motor; 315, second slide rail; 316, third slide block; 4, Z direction gripper module; 401, gripper motor seat; 402, gripper seat; 403, gripper fixed plate; 404, gripper finger seat; 405, gripper sliding seat; 406, fourth slide rail; 407, u-shaped groove; 408, finger slide block; 409, finger motor; 5, Y direction wire slot; 6, X direction wire slot; 7, cantilever main control board; 8, top circuit board; 9, circuit board support. DETAILED DESCRIPTION
[0021] In order to make the utility model more clear, the following combining with the drawing, explanation and example, make further detailed description to the utility model, should understand, the given example is only a kind of implementation, and it does not represent all examples.
[0022] Example one
[0023] Combining Figures 1-6The embodiment provides a double-needle pipetting mechanical arm, which comprises an X guide rail assembly 1, a Y guide rail assembly 2, a double-needle pipetting module 3, a Z-direction gripper module 4 and a control system, one end of the Y guide rail assembly 2 is slidably connected with the X guide rail assembly 1, and the double-needle pipetting module 3 and the Z-direction gripper module 4 are oppositely and slidably arranged on two sides of the Y guide rail assembly 2.
[0024] The mechanical arm in the embodiment mainly realizes the following experimental process: the double-needle pipetting module 3 is used to suck experimental liquid in a reagent bottle and drop the experimental liquid on an experimental culture plate, and the Z-direction gripper module 4 is used to replace the experimental culture plate after the experiment is completed. In the process, the double-needle pipetting module 3 can move in the X direction and the Y direction through the X guide rail assembly 1 and the Y guide rail assembly 2, and the double-needle pipetting module 3 and the Z-direction gripper module 4 can move vertically by themselves. Through the combined use of the double-needle pipetting module 3 and the Z-direction gripper module 4, the experimental liquid can be accurately sucked and released, and the experimental object can be quickly replaced. The introduction of the X guide rail assembly 1 and the Y guide rail assembly 2 makes the whole operation process more flexible, can quickly position to a specified position, greatly reduces the experimental operation time, improves the experimental efficiency, and reduces the need for human intervention in the automatic operation, thereby reducing the experimental error caused by human factors.
[0025] The double-needle pipetting module 3 comprises two first and second sample adding fixed plates 301 and 302 arranged side by side, the first and second sample adding fixed plates 301 and 302 are respectively slidably connected with sample adding assemblies on the same side, Y guide rail seats 303 are arranged on the other sides of the first and second sample adding fixed plates 301 and 302, the first sample adding fixed plate 301 is fixedly connected with the Y guide rail seat 303, and the second sample adding fixed plate 302 is transversely slidably connected with the Y guide rail seat 303; a Z-direction linear motor 304 for driving the sample adding assemblies to slide in the Z direction is fixed to the upper part of each of the first and second sample adding fixed plates 301 and 302, each sample adding assembly is connected with the lead screw of the corresponding Z-direction linear motor 304 through a sample adding linkage plate 305; a split needle motor 306 is fixed to the top of the side of the first sample adding fixed plate 301, and a photoelectric switch 307 is arranged on the top of the split needle motor 306; a split needle connecting plate 309 is connected with the output shaft of the split needle motor 306 through a motor nut 308, the side wall of the split needle connecting plate 309 is connected with the second sample adding fixed plate 302, a split needle zero position sheet 310 is connected with the top of the split needle connecting plate 309, the split needle zero position sheet 310 corresponds to the position of the photoelectric switch 307, and the split needle motor 306 and the photoelectric switch 307 are electrically connected with a control system respectively. The split needle zero position sheet 310 makes the photoelectric switch 307 receive a position signal by moving close to or away from the photoelectric switch 307. In use, the split needle motor 306 receives a signal of the control system, drives the motor nut 308 to drive the split needle connecting plate to move away from the split needle motor 306, at this time, the split needle connecting plate drives the second sample adding fixed plate 302 to move away from the first sample adding fixed plate 301, the first and second sample adding fixed plates 301 and 302 are separated, the two sample adding assemblies are separated, each sample adding assembly can slide up and down in the vertical direction of the first or second sample adding fixed plate 301 or 302, and mutual interference is avoided when two samples in one sample are simultaneously extracted.
[0026] Specifically, the sample adding assembly comprises a pipetting channel 311, a sample adding needle 312, a pipetting fixed plate 313 and a needle removing motor 314. The pipetting channel 311 is fixed on the pipetting fixed plate 313, and the pipetting fixed plate 313 is fixed with the needle removing motor 314 at the top. The output end of the pipetting channel 311 is connected with the sample adding needle 312 through a needle removing device, and the needle removing motor 314 is used for controlling the needle removing device. The needle removing motor 314 is electrically connected with the control system. The sample adding linkage plate 305 is an L-shaped plate. One side of the vertical plate of the L-shaped plate is fixed with the pipetting fixed plate 313. The other side of the vertical plate of the L-shaped plate is fixed with a first sliding block. The first sample adding fixed plate 301 and the second sample adding fixed plate 302 are both fixed with a first sliding rail. The first sample adding fixed plate 301 and the second sample adding fixed plate 302 are both slidably connected with the corresponding L-shaped vertical plate through the sliding cooperation of the first sliding rail and the first sliding block. The horizontal plate of the L-shaped plate is threadedly connected with the lead screw of the Z-direction linear motor 304. The second sample adding fixed plate 302 is slidably connected with the Y guide rail seat 303 through the cooperation of a second sliding rail 315 and a second sliding block. The second sliding rail 315 is fixed on the Y guide rail seat 303, and the second sliding block is fixed on the second sample adding fixed plate 302. The needle removing motor 314 controlling the needle removing device is a conventional setting, and will not be described herein.
[0027] Specifically, the Z-direction gripper module 4 comprises a gripper motor seat 401, a gripper seat 402, a gripper fixed plate 403 and a gripper finger seat 404. The gripper motor seat 401 is provided with a gripper motor. The output end of the gripper motor is connected with a gripper sliding seat 405. The gripper fixed plate 403 is provided with a fourth sliding rail 406. One side of the gripper sliding seat 405 is fixed with the gripper seat 402. The other side of the gripper sliding seat 405 is slidably connected with the fourth sliding rail 406 through a sliding block. The top of the gripper fixed plate 403 is fixed with the gripper motor seat 401. The lower part of the gripper seat 402 is provided with a u-shaped groove 407 opening downward. The top of the u-shaped groove 407 is provided with a fifth sliding rail. The gripper finger seat 404 is provided with two. The two gripper finger seats 404 are slidably connected with the two ends of the fifth sliding rail through a finger sliding block 408 respectively. The two gripper finger seats 404 are connected through a finger motor 409. The finger motor 409 is fixed with the u-shaped groove 407. The two sides of the finger motor 409 are connected with the two gripper finger seats 404 through output shafts respectively, for driving the gripper finger seat 404 to move.
[0028] Specifically, the X rail assembly 1 comprises an X plate 101, an X motor 102, an X driving wheel 103 and an X driven wheel 104, the upper and lower ends of the X plate 101 are fixed with an X upper rail and an X lower rail, the X driving wheel 103 and the X driven wheel 104 are respectively arranged at the two ends of the length direction of the X plate 101, the X driving wheel 103 is connected with the output shaft of the X motor 102, and the X synchronous belt 105 is connected between the X driving wheel 103 and the X driven wheel 104.
[0029] Specifically, the Y rail assembly 2 comprises a Y plate 201, an X upper connecting plate 202, an X lower connecting plate 203, a Y driving wheel 204 and a Y driven wheel 205, the X upper connecting plate 202 and the X lower connecting plate 203 are oppositely fixed at the ends of the Y plate 201, the Y motor 206 for driving the Y driving wheel 204 to rotate is arranged between the X upper connecting plate 202 and the X lower connecting plate 203, the ends of the X upper connecting plate 202 and the X lower connecting plate 203 away from the Y plate 201 are respectively connected with the X upper rail and the X lower rail in a sliding mode, the X lower connecting plate 203 is fixedly connected with the X synchronous belt 105 through the X synchronous belt seat 106; the Y driving wheel 204 and the Y driven wheel 205 are respectively arranged at the two ends of the same side of the Y plate 201 along the Y direction, the third slide rail 207 is arranged on the other side of the Y plate 201 along the Y direction, the Y synchronous belt 208 is connected between the Y driving wheel 204 and the Y driven wheel 205, the Y synchronous belt seat 209 is fixed on the Y synchronous belt 208, and the gripper connecting plate 210 is connected with the Y synchronous belt seat 209.
[0030] The third slide block 316 is fixed on the Y rail seat 303 and is connected with the third slide rail 207 in a sliding mode, the top and bottom of the third slide block 316 are respectively connected with slide block connecting plates, the slide block connecting plates are fixed with the upper and lower ends of the gripper connecting plate 210, and the side wall of the gripper connecting plate 210 is fixed with the gripper fixed plate 403.
[0031] In the embodiment, the X motor 102, the X driving wheel 103 and the X driven wheel 104 cooperatively drive the Y rail assembly 2 to slide along the X upper rail and the X lower rail, and the double-rail sliding is more conducive to the stable movement of the Y rail assembly 2.
[0032] Specifically, the upper part of the Y-direction plate 201 is provided with a Y-direction wire slot 5, and the two ends of the Y-direction plate 201 in the length direction are respectively fixed with connecting plates, the two ends of the Y-direction wire slot 5 are respectively fixedly connected with the top of the two connecting plates, and the side of the X-direction plate 101 away from the Y-guide rail assembly 2 is fixed with an X-direction wire slot 6. The control system comprises a cantilever main control board 7 and a top circuit board 8, the cantilever main control board 7 is fixed on the connecting plate close to the X-guide rail assembly 1, the cantilever main control board 7 is electrically connected with the X-direction motor 102 and the Y-direction motor 206 through a wire, and the wire is arranged in the X-direction wire slot 6, the double-needle pipette module 3 and the Z-direction gripper module 4 are provided with a circuit board support 9 on the top cover, the top circuit board 8 is fixed on the circuit board support 9, the top circuit board 8 is electrically connected with the Z-direction linear motor 304 through a wire, and the wire is arranged in the Y-direction wire slot 5.
[0033] The specific embodiments of the utility model are described in detail in combination with the drawings above, but the utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, replacements and modifications can be made to these embodiments without departing from the principles and spirits of the utility model, and still fall within the protection scope of the utility model.
Claims
1. A dual pinning mechanical arm, characterized by: The utility model relates to a double-needle pipette module and a double-needle pipette device, and belongs to the technical field of pipette devices. The double-needle pipette module (3) comprises two first sample adding fixed plates (301) and two second sample adding fixed plates (302) arranged side by side, the first sample adding fixed plates (301) and the second sample adding fixed plates (302) are slidably connected with sample adding assemblies on the same side, Y guide rail seats (303) are arranged on the other sides of the first sample adding fixed plates (301) and the second sample adding fixed plates (302), the first sample adding fixed plates (301) are fixedly connected with the Y guide rail seats (303), the second sample adding fixed plates (302) are slidably connected with the Y guide rail seats (303) in the transverse direction, Z linear motors (304) for driving the sample adding assemblies to slide in the Z direction are arranged on the upper portions of the first sample adding fixed plates (301) and the second sample adding fixed plates (302), each sample adding assembly is connected with a screw rod of a corresponding Z linear motor (304) through a sample adding linkage plate (305); a needle separating motor (306) is arranged on the top of the Y guide rail seat (303) on one side of the first sample adding fixed plate (301), an optical switch (307) is arranged on the top of the needle separating motor (306), a needle separating connecting plate (309) is connected with an output shaft of the needle separating motor (306) through a motor nut (308), a side wall of the needle separating connecting plate (309) is connected with the second sample adding fixed plate (302), a needle zero position plate (310) is arranged on the top of the needle separating connecting plate (309), the needle zero position plate (310) corresponds to the position of the optical switch (307), and the needle separating motor (306) and the optical switch (307) are electrically connected with the control system.
2. The dual pinning mechanical arm of claim 1, wherein: The sample adding assembly comprises a pipetting channel (311), a sample adding needle (312), a pipetting fixed plate (313), and a needle separating motor (314), the pipetting channel (311) is fixed on the pipetting fixed plate (313), the pipetting fixed plate (313) is fixed with the needle separating motor (314) on the top, an output end of the pipetting channel (311) is connected with the sample adding needle (312) through a needle separating device, the needle separating motor (314) is used for controlling the needle separating device, and the needle separating motor (314) is electrically connected with the control system. The sample adding linkage plate (305) is an L-shaped plate, one side of the vertical plate of the L-shaped plate is fixed with the pipette fixing plate (313), the other side of the L-shaped vertical plate is fixed with a first sliding block, the first sample adding fixing plate (301) and the second sample adding fixing plate (302) are both fixed with a first sliding rail, the first sample adding fixing plate (301) and the second sample adding fixing plate (302) are slidably connected with the respective corresponding L-shaped vertical plate through the sliding cooperation of the first sliding rail and the first sliding block, and the horizontal plate of the L-shaped plate is threadedly connected with the lead screw of the Z-direction linear motor (304); the second sample adding fixing plate (302) and the Y-rail seat (303) are slidably connected through the cooperation of a second sliding rail (315) and a second sliding block, the second sliding rail (315) is fixed on the Y-rail seat (303), and the second sliding block is fixed on the second sample adding fixing plate (302).
3. The dual pinning mechanical arm of claim 1, wherein: The Z-direction gripper module (4) comprises a gripper motor seat (401), a gripper seat (402), a gripper fixing plate (403) and a gripper finger seat (404), the gripper motor seat (401) is provided with a gripper motor, the output end of the gripper motor is connected with a gripper sliding seat (405), the gripper fixing plate (403) is provided with a fourth sliding rail (406), one side of the gripper sliding seat (405) is fixed with the gripper seat (402), the other side of the gripper sliding seat (405) is slidably connected with the fourth sliding rail (406) through a sliding block, the top of the gripper fixing plate (403) is fixed with the gripper motor seat (401), the lower part of the gripper seat (402) is provided with a u-shaped groove (407) opening downward, the top of the u-shaped groove (407) is provided with a fifth sliding rail, the gripper finger seat (404) is provided with two, the two gripper finger seats (404) are slidably connected with the two ends of the fifth sliding rail through a finger sliding block (408) respectively, the two gripper finger seats (404) are connected through a finger motor (409), and the finger motor (409) is fixed with the u-shaped groove (407).
4. The dual pinning mechanical arm of claim 3, wherein: The X-rail assembly (1) comprises an X-direction plate (101), an X-direction motor (102), an X-direction driving wheel (103) and an X-direction driven wheel (104), the upper and lower ends of the X-direction plate (101) are fixed with an X-direction upper rail and an X-direction lower rail, the X-direction driving wheel (103) and the X-direction driven wheel (104) are arranged at the two ends of the length direction of the X-direction plate (101) respectively, the X-direction driving wheel (103) is connected with the output shaft of the X-direction motor (102), and the X-direction driving wheel (103) and the X-direction driven wheel (104) are connected with an X-direction synchronous belt (105).
5. The dual pinning mechanical arm of claim 4, wherein: The Y guide rail assembly (2) comprises a Y direction plate (201), an X upper connecting plate (202), an X lower connecting plate (203), a Y direction driving wheel (204) and a Y direction driven wheel (205), the X upper connecting plate (202) and the X lower connecting plate (203) are fixed on the ends of the Y direction plate (201) oppositely, a Y direction motor (206) is arranged between the X upper connecting plate (202) and the X lower connecting plate (203) for driving the Y direction driving wheel (204) to rotate, the ends of the X upper connecting plate (202) and the X lower connecting plate (203) away from the Y direction plate (201) are respectively connected with the X upper guide rail and the X lower guide rail, and the X lower connecting plate (203) is fixedly connected with the X synchronous belt (105) through an X synchronous belt seat (106). The Y direction driving wheel (204) and the Y direction driven wheel (205) are arranged at the two ends of the same side of the Y direction plate (201) along the Y direction, a third slide rail (207) is arranged on the other side of the Y direction plate (201) along the Y direction, the Y direction driving wheel (204) and the Y direction driven wheel (205) are connected with a Y synchronous belt (208), the Y synchronous belt (208) is fixed with a Y synchronous belt seat (209), and the Y synchronous belt seat (209) is connected with a gripper connecting plate (210). A third slide block (316) is fixed on the Y guide rail seat (303), the third slide block (316) is slidably connected with the third slide rail (207), the top and the bottom of the third slide block (316) are respectively connected with slide block connecting plates, the slide block connecting plates are fixed with the upper end and the lower end of the gripper connecting plate (210), and the side wall of the gripper connecting plate (210) is fixed with a gripper fixed plate (403).
6. The dual pinning mechanical arm of claim 5, wherein: A Y direction wire slot (5) is arranged on the upper portion of the Y direction plate (201), two connecting plates are respectively fixed at the two ends of the Y direction plate (201) in the length direction, the two ends of the Y direction wire slot (5) are respectively fixed with the top portions of the two connecting plates, and an X direction wire slot (6) is fixed on the side of the X direction plate (101) away from the Y guide rail assembly (2).
7. The dual pinning mechanical arm of claim 6, wherein: The control system comprises a cantilever main control board (7) and a top circuit board (8), the cantilever main control board (7) is fixed on the connecting plate close to the X guide rail assembly (1), the cantilever main control board (7) is electrically connected with the X direction motor (102) and the Y direction motor (206) through wires, the wires are arranged in the X direction wire slot (6), the double-needle pipetting module (3) and the Z direction gripper module (4) are provided with a circuit board support (9), the top circuit board (8) is fixed on the circuit board support (9), and the top circuit board (8) is electrically connected with the Z direction linear motor (304) through wires, and the wires are arranged in the Y direction wire slot (5).