Clamping jaw device of doping robot and doping system

Abstract

The utility model relates to the field of automatic experiment and detection, and provides a doping robot clamping jaw device and a doping system.The device comprises a clamping jaw mechanism suitable for clamping a container bearing a sample; the fixing piece is connected to the clamping jaw mechanism and is used for fixing the pipette; the driving end of the pressing driving mechanism is opposite to the fixed part and is propped against a control key of the pipette; and the force sensor is arranged on the pressing driving mechanism. According to the clamping jaw device of the doping robot provided by the utility model, the pipette can be stably mounted on the clamping jaw mechanism due to the arrangement of the fixing piece, so that inaccurate sampling caused by shaking of the pipette is avoided. The integration of the force sensor enables the system to monitor the pressing force applied to the pipette by the pressing driving mechanism in real time. Whether the pipette and the fixing piece are installed tightly or not can be judged through the change of the pressing force, and therefore potential installation problems can be found and corrected in time.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of automation experiment and detection, especially to a doping robot clamping jaw device and doping system. BACKGROUND

[0002] In the field of automation experiment and detection, robot technology is increasingly becoming a key means to improve experimental efficiency and accuracy. In particular, in the sample processing process, the combination of mechanical arm and pipetting system greatly improves the accuracy and repeatability of operation. However, the existing automated pipetting system still faces some technical challenges in practical application.

[0003] The traditional automated pipetting process usually relies on the mechanical arm of the robot to take the pipetting gun and install the sample head to directly suck the sample. In this process, the installation stability of the sample head is crucial because it is directly related to the accuracy and integrity of sample transfer. However, a common problem in existing technology is that the sample head may not be tightly installed due to various factors such as insufficient installation accuracy, mechanical wear, etc. This loose installation state can cause a series of problems during sample transfer, such as sample dripping on the experimental table, which not only reduces the amount of sample taken, but also may adversely affect the experimental results. More seriously, since personnel cannot monitor each liquid taking process in real time, it is often difficult to identify such abnormalities in a timely manner, further exacerbating the uncertainty of the experiment. SUMMARY

[0004] The utility model provides a kind of doping robot clamping jaw device and doping system to solve the problem of existing pipetting gun installation not tight, there is leakage affecting the accuracy in experimental process.

[0005] The utility model provides a kind of doping robot clamping jaw device, comprising:

[0006] Clamping jaw mechanism is suitable for clamping the container carrying sample;

[0007] Fixing piece is connected on the clamping jaw mechanism, for fixing pipetting gun;

[0008] Pressing drive mechanism, the driving end of the pressing drive mechanism is opposite to the fixing piece, and is in abutment with the control button of pipetting gun, so that pipetting gun sucks sample or releases sample in the process of moving the driving end of the pressing drive mechanism;

[0009] Force sensor is arranged on the pressing drive mechanism, for detecting the pressing force degree applied on pipetting gun in the process of moving the pressing drive mechanism.

[0010] According to the utility model provides a kind of doping robot clamping jaw device, the fixing piece includes:

[0011] Two mounting plates are oppositely arranged, and the two mounting plates are spaced apart to form a placement groove suitable for clamping the pipette;

[0012] A bearing block is located in the placement groove and connected with at least one of the mounting plates, and is used for abutting against the pipette to fix the pipette.

[0013] According to the doped robot clamping jaw device, the two bearing blocks are spaced apart, so that the gun head on the pipette passes through between the two bearing blocks, and the two bearing blocks are fixed with part of the gun body on the pipette.

[0014] According to the doped robot clamping jaw device, the pressing driving mechanism comprises a first driving member, a sliding block and a sliding rail.

[0015] The sliding rail is connected to the clamping jaw mechanism, the sliding rail is opposite to the placement groove and extends along the direction of the placement groove, the sliding block is slidably arranged on the sliding rail, the first driving member is connected with the sliding block, and the first driving member is used for driving the sliding block to move on the sliding rail to control the pipette to suck or release the sample.

[0016] The force sensor is connected to the first driving member and is used for detecting the pressing force of the first driving member applied to the sliding block.

[0017] According to the doped robot clamping jaw device, the pressing driving mechanism further comprises a connecting rod, one end of the connecting rod is connected with the driving end of the first driving member, and the other end of the connecting rod is connected with the sliding block.

[0018] According to the doped robot clamping jaw device, the sliding block is connected with a button, and the button is suitable for abutting against the control button of the pipette in the process that the sliding block moves on the sliding rail.

[0019] According to the doped robot clamping jaw device, the clamping jaw mechanism comprises:

[0020] A clamping jaw support;

[0021] Two clamping jaws are oppositely and spaced apart and are connected to the clamping jaw support, and a clamping space is formed between the two clamping jaws.

[0022] A second driving member is drivingly connected with the two clamping jaws to drive the two clamping jaws to grab the container.

[0023] The utility model also provides a doped system, which comprises:

[0024] mounting platform;

[0025] robot, disposed on the mounting platform;

[0026] doping robot gripper device, disposed on the robot;

[0027] sample buffer rack, disposed on the mounting platform, for placing a container carrying a sample;

[0028] pipette rack, disposed on the mounting platform, for placing at least one pipette.

[0029] According to the doping system provided by the utility model, further comprising:

[0030] optoelectronic sensor, disposed on the mounting platform or disposed on the robot, for detecting whether a pipette on the doping robot gripper device has drawn a sample.

[0031] According to the doping system provided by the utility model, further comprising:

[0032] doping buffer rack, disposed on the mounting platform, for placing a container carrying a sample released by a pipette.

[0033] The doping robot gripper device provided by the utility model is fixed on the gripper mechanism stably through the fixing member, so that the inaccuracy of sample taking caused by shaking of the pipette is avoided. The integration of the force sensor enables the system to monitor the pressing force applied on the pipette by the pressing driving mechanism in real time. Through the change of the pressing force, whether the pipette and the fixing member are installed tightly or not can be judged, so that potential installation problems can be found and corrected in time, the accuracy and reliability of sample transfer are improved, and the real-time monitoring function is provided, so that the error and uncertainty in the experiment process can be reduced significantly. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical scheme of the utility model or the prior art, the drawings needed in the embodiment or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0035] Figure 1 It is a schematic view of the doping robot gripper device provided by the utility model.

[0036] Figure 2 It is a schematic view of the doping robot gripper device provided by the utility model.

[0037] Figure 3This is a schematic diagram of the doping system provided by this utility model.

[0038] Figure label:

[0039] 1. Doping robot gripper device; 11. Gripper mechanism; 111. Gripper support; 112. Gripper;

[0040] 12. Fixing component; 121. Mounting plate; 122. Bearing block; 13. Pressing drive mechanism; 131. Slider; 132. Slide rail; 133. First driving component; 134. Connecting rod; 135. Button; 14. Force sensor; 2. Mounting platform; 3. Robot; 4. Sample buffer rack; 5. Pipette holder; 6. Photoelectric sensor; 7. Doping buffer rack; 8. Base. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0042] The following is combined Figures 1-3 The present invention describes a doping robot gripper device 1 and a doping system. The doping robot gripper device 1 can grasp a container holding a sample and can also work with a fixed pipette to control the pipette to sample and pipette liquid samples.

[0043] This utility model provides a doping robot gripper device 1, such as Figures 1 to 3 As shown, the doping robot gripper device 1 includes: a gripper mechanism 11, a fixing member 12, a pressing drive mechanism 13, and a force sensor 14. The gripper mechanism 11 is adapted to grip a container carrying a sample; the fixing member 12 is connected to the gripper mechanism 11 and is used to fix the pipette; the driving end of the pressing drive mechanism 13 is opposite to the fixing member 12 and abuts against the control button of the pipette, so that the pipette can aspirate or release the sample during the movement of the driving end of the pressing drive mechanism 13; the force sensor 14 is disposed on the pressing drive mechanism 13 and is used to detect the pressing force applied to the pipette by the pressing drive mechanism 13 during the movement.

[0044] In this embodiment, the main function of the gripper mechanism 11 is to clamp the containers carrying the samples. The main function of the fixing part 12 is to fix the pipette. The pipette is used to accurately suck and release micro-liquid. Through the fixing part 12, the pipette can be stably installed on the gripper mechanism 11, so as to ensure the stability and accuracy during operation. The driving end of the pressing driving mechanism 13 is opposite to the control button of the pipette on the fixing part 12. When the driving end of the pressing driving mechanism 13 moves, it directly acts on the control button of the pipette, so as to trigger the pipette to suck or release the sample. The task of the force sensor 14 is to detect the pressing force of the pressing driving mechanism 13 on the pipette during movement. This function is crucial to ensure that the pipette can apply the right pressure when sucking or releasing the sample, so as to avoid sample loss or contamination due to loose installation.

[0045] During operation, the gripper mechanism 11 is in an open state. The robot 3 moves the gripper mechanism 11 above the container carrying the sample. The closing of the gripper mechanism 11 can clamp the container. The robot 3 moves the gripper mechanism 11 (together with the container) to the designated position and adjusts the position of the container.

[0046] At the same time, the gripper mechanism 11 can also be controlled to move so that the pipette can be taken and fixed on it through the fixing part 12. The driving end of the pressing driving mechanism 13 is in contact with the control button of the pipette. The driving end of the pressing driving mechanism 13 starts to move and applies pressure to the control button of the pipette, and the pipette sucks the sample through the pressing control of the pressing driving mechanism 13. The force sensor 14 monitors the pressing force in real time to ensure that the pressure is within the set range. When the sample needs to be released, the driving end of the pressing driving mechanism 13 moves again, contacts the control button of the pipette and applies appropriate pressure. The pipette starts to release the sample. After the release is completed, the driving end of the pressing driving mechanism 13 stops applying pressure, and the pipette stops releasing. The force sensor 14 continues to monitor the pressing force to ensure that the pressing force is always within a certain range during the whole process, so as to judge whether the pipette and the fixing part 12 are tightly installed, and avoid errors caused by loose installation of the pipette during pipetting.

[0047] The pipette can be stably installed on the gripper mechanism 11 through the fixing part 12, so as to avoid inaccurate sampling caused by shaking of the pipette. The integration of the force sensor 14 enables the system to monitor the pressing force of the pressing driving mechanism 13 on the pipette in real time. Through the change of the pressing force, it can be judged whether the pipette and the fixing part 12 are tightly installed, so as to timely find and correct potential installation problems, improve the accuracy and reliability of sample transfer, and have the function of real-time monitoring, so as to significantly reduce the errors and uncertainties in the experiment process.

[0048] In some embodiments, as shown in Figure 1 and Figure 2 The fixing member 12 includes a bearing block 122 and two oppositely arranged mounting plates 121. The two mounting plates 121 are spaced apart to form a placement slot suitable for clamping the pipette. The bearing block 122 is located in the placement slot and connected with at least one of the mounting plates 121, used to abut with the pipette to fix the pipette.

[0049] Specifically, the two mounting plates 121 are kept at a certain interval to form a placement slot suitable for clamping the pipette. The pipette is fixed in the placement slot by clamping action. The mounting plates 121 can be connected with other parts of the clamping jaw mechanism 11 to ensure the stability of the overall structure of the fixing member 12. The placement slot provides a stable placement environment for the pipette, preventing shaking or moving during operation. The bearing block 122 is located in the placement slot formed between the two mounting plates 121. The bearing block 122 abuts with part of the structure of the pipette to provide additional support and fixing force. The bearing block 122 is connected with at least one of the mounting plates 121, which can be welding, bolt connection or other reliable connection mode.

[0050] When it is necessary to fix the pipette on the clamping jaw mechanism 11, first, the pipette is placed into the placement slot formed by the two mounting plates 121 through the movement of the clamping jaw mechanism 11. Then, through the abutting action of the bearing block 122 with the pipette and the clamping action of the mounting plate 121 on the pipette, the pipette is stably fixed in the placement slot. This structural design not only provides a stable fixing effect, but also can adapt to pipettes of different sizes and shapes, improving the universality and practicality of the device.

[0051] In some embodiments, as shown in Figure 1 and Figure 2 The bearing block 122 is provided with two, two bearing blocks 122 are connected on two mounting plates 121 respectively, two bearing blocks 122 are spaced apart to make the tip of the pipette pass through between two bearing blocks 122, two bearing blocks 122 are fixed with part of the body of the pipette.

[0052] Among them, the main function of the two bearing blocks 122 is to clamp and fix the body part of the pipette. By adjusting the position and interval of the bearing block 122, different models and sizes of pipettes can be adapted. The fixing between the bearing block 122 and the pipette can be realized by friction, buckle or other suitable structure. The interval between the two bearing blocks 122 can be adjusted as needed to ensure that the tip of the pipette can pass through easily.

[0053] When it is necessary to fix the pipette on the clamping jaw mechanism 11, first, the tip of the pipette is inserted through the gap between the two bearing blocks 122, and then the body of the pipette is placed between the two bearing blocks 122. Through the clamping action of the bearing blocks 122 on the pipette body and the support action of the mounting plate 121 on the whole pipette, the pipette is stably fixed on the clamping jaw mechanism 11. This design not only provides a stable fixing effect, but also can adapt to pipettes of different models and sizes, improving the versatility and practicality of the clamping jaw mechanism 11.

[0054] In some embodiments, as shown in Figure 1 and Figure 2 The pressing driving mechanism 13 includes a first driving member 133, a sliding block 131 and a sliding rail 132. The sliding rail 132 is connected to the clamping jaw mechanism 11, and the sliding rail 132 extends in the direction of the installation groove. The sliding block 131 is slidably arranged on the sliding rail 132. The first driving member 133 is connected to the sliding block 131, and the first driving member 133 is used to drive the sliding block 131 to move on the sliding rail 132 to control the pipette to suck or release the sample. The force sensor 14 is connected to the first driving member 133, and is used to detect the pressing force of the first driving member 133 on the sliding block 131.

[0055] In this embodiment, the first driving member 133 can be selected from an electric driving member, a pneumatic driving member or a hydraulic driving member, etc. The first driving member 133 is used to provide a driving force to drive the sliding block 131 to move on the sliding rail 132. The first driving member 133 is connected to the sliding block 131, and the movement speed and position of the sliding block 131 are controlled by controlling the output force of the first driving member 133. The force sensor 14 is connected to the first driving member 133, or directly connected to the connecting structure between the sliding block 131 and the first driving member 133. The pressing force of the first driving member 133 on the sliding block 131 is detected to ensure that the pressing force is within a set range.

[0056] When it is necessary to control the pipette to suck or release the sample, the first driving member 133 is started to drive the sliding block 131 to move on the sliding rail 132. In the process of moving the sliding block 131, the control button of the pipette is pressed to trigger the pipette to suck or release the sample. The force sensor 14 monitors the pressing force of the first driving member 133 on the sliding block 131 in real time to ensure that the pressing force is within a set range. If the pressing force is too large or too small, it can be determined that there is a problem with the installation of the pipette and the fixing member 12. In order to avoid the situation that the sample will drip during the transfer process, it is necessary to adjust the installation of the pipette and the fixing member 12 at this time.

[0057] It should be noted that the pressure driving mechanism further comprises a connecting rod 134, one end of the connecting rod 134 is connected with the driving end of the first driving member 133, and the other end of the connecting rod 134 is connected with the sliding block 131. The connecting rod 134 serves as a transmission component between the first driving member 133 and the sliding block 131, and is responsible for stably and accurately transmitting the driving force of the first driving member 133 to the sliding block 131. Through the connecting rod 134, it can be ensured that the movement of the sliding block 131 on the slide rail 132 is synchronized with the output of the first driving member 133, thereby improving the accuracy and stability of the pressing control.

[0058] As shown in Figure 1 and Figure 2 , the sliding block 131 is connected with a button 135, and the button 135 is adapted to abut against the control button of the pipette during the movement of the sliding block 131 on the slide rail 132. The button 135 serves as a contact component between the sliding block 131 and the control button of the pipette, and is responsible for converting the movement of the sliding block 131 into a pressing action on the control button of the pipette. Through the design of the button 135, it can be ensured that the pressing action is more direct and accurate, and the friction and wear between the sliding block 131 and the control button of the pipette are reduced.

[0059] The button 135 is connected to the sliding block 131, which can be fixedly connected or detachably connected, depending on the actual application scenario and user demand. The shape, size and material of the button 135 and other parameters need to be reasonably designed according to the shape and characteristics of the control button of the pipette, so as to ensure that the button 135 can closely fit the control button of the pipette and realize stable pressing action.

[0060] In some embodiments, as shown in Figure 1 and Figure 2 , the clamping jaw mechanism 11 comprises a clamping jaw bracket 111, two clamping jaws 112 and a second driving member. The two clamping jaws 112 are arranged in opposite spaced relationship and connected to the clamping jaw bracket 111, and a clamping space is formed between the two clamping jaws 112; the second driving member is in transmission connection with the two clamping jaws 112 for driving the two clamping jaws 112 to clamp the container.

[0061] In this embodiment, the gripper bracket 111 serves as the support structure for the gripper mechanism 11, responsible for fixing and supporting the two grippers 112 and the second driving member. The two grippers 112 are spaced apart on the gripper bracket 111, forming a gripping space between them for accommodating and grasping containers. The design of the grippers 112 needs to consider factors such as the shape, size, and material of the container to ensure a tight fit and stable gripping. The surface of the grippers 112 can be designed with anti-slip textures or elastic materials to increase friction with the container and prevent it from slipping during gripping. The second driving member serves as the power source for the gripper mechanism 11, responsible for driving the two grippers 112 to open and close. The selection of the second driving member needs to consider factors such as the magnitude of the driving force, speed, and control precision to ensure it meets the requirements for gripping containers. Simultaneously, the second driving member also needs to possess good reliability and durability, maintaining stable and accurate performance during long-term operation.

[0062] When the second drive unit is activated, it generates a driving force and transmits this force to the two grippers 112 through a transmission mechanism (such as gears, connecting rods, etc.). Under the action of the driving force, the two grippers 112 begin to move relative to each other, gradually shrinking or expanding the gripping space between them. When the gripping space shrinks to a certain extent, the grippers 112 can tightly fit and grasp the container; when the gripping space expands, the grippers 112 release the container. By precisely controlling the output of the second drive unit and the movement of the transmission mechanism, the grippers 112 can accurately grasp and release the container.

[0063] This utility model also provides a doping system, such as Figures 1 to 3 As shown, the doping system includes: a mounting platform 2, a robot 3, a doping robot gripper device 1, a sample buffer rack 4, and a pipette holder 5. The robot 3 is mounted on the mounting platform 2. The doping robot gripper device 1 is mounted on the robot 3; the sample buffer rack 4 (e.g., a buffer rack for a raw milk tray) is mounted on the mounting platform 2 and is used to hold containers carrying samples; the pipette holder 5 is mounted on the mounting platform 2 and is used to hold at least one pipette.

[0064] In this embodiment, the mounting platform 2 serves as the supporting foundation for the entire doping system, responsible for fixing and supporting all other components. The robot 3 is a GOFA robot, responsible for driving the doping robot gripper device 1 to perform various movements and operations. The robot 3 is mounted on the mounting platform 2 via a base 8. The robot 3 features high precision, high speed, and high reliability, ensuring accurate sample gripping, movement, and release during complex doping processes.

[0065] During operation, robot 3, according to a preset program and instructions, uses the doping robot gripper device 11 to pick up the required sample container from the sample buffer rack 4. The gripper mechanism 11 is initially in the open state. Robot 3 moves the gripper mechanism 11 to the sample buffer rack 4. The gripper mechanism 11 closes to grip the container. Robot 3 moves the gripper mechanism 11 (along with the container) to the designated position and adjusts the container's position.

[0066] Meanwhile, robot 3 can also control the movement of gripper mechanism 11, enabling it to pick up pipettes from pipette holder 5 and fix them thereon via fastener 12. The drive end of press drive mechanism 13 contacts the control button on the pipette. The drive end of press drive mechanism 13 begins to move, applying pressure to the control button on the pipette, thus controlling the pipette to aspirate samples. Force sensor 14 monitors the pressing force in real time to ensure the pressure remains within the set range.

[0067] When sample release is required, robot 3 drives the doping robot gripper 1 to move to the doping buffer rack 7. The drive end of the pressing drive mechanism 13 moves again, contacting the control button of the pipette and applying appropriate pressure. The pipette begins to release the sample. After release, the drive end of the pressing drive mechanism 13 stops applying pressure, and the pipette stops releasing. The force sensor 14 continues to monitor the pressing force to ensure that the pressing force remains within a certain range throughout the process. This allows the sensor to determine whether the pipette and the fixing component 12 are securely installed, preventing errors during pipetting due to loose pipette installation.

[0068] The doping system provided by this invention features a fixing component 12 that allows the pipette to be securely mounted on the gripper mechanism 11, preventing inaccurate sampling caused by pipette movement. The integrated force sensor 14 enables the system to monitor the pressure applied to the pipette by the pressing drive mechanism 13 in real time. Changes in pressure allow the system to determine whether the pipette and fixing component 12 are properly installed, thus promptly identifying and correcting potential installation problems. This improves the accuracy and reliability of sample transfer and, with its real-time monitoring function, significantly reduces errors and uncertainties during experiments.

[0069] In some embodiments, such as Figure 3 As shown, it also includes: a photoelectric sensor 6. The photoelectric sensor 6 is mounted on the mounting platform 2 or on the robot 3, and is used to detect whether a sample has been aspirated into the pipette on the gripper device 1 of the doping robot.

[0070] Specifically, the photoelectric sensor 6 monitors in real time whether the transparent part of the pipette tip (such as the pipette tip) contains a sample by emitting and receiving a light beam. When the light beam is blocked by the sample, the sensor emits a signal indicating that the pipette has successfully aspirated the sample.

[0071] The photoelectric sensor 6 can be mounted on the mounting platform 2, near the pipette holder 5, to detect the pipette before it is gripped by the gripper mechanism 11 and moved to the operating position. Alternatively, the photoelectric sensor 6 can be mounted directly on the robot 3, particularly near the gripper mechanism 11, for immediate detection after sample aspiration. The specific mounting location of the sensor depends on the overall system layout and operating procedures to ensure optimal detection results and ease of operation.

[0072] During the doping process, when robot 3 grasps the pipette using gripper mechanism 11 and moves it above the sample container, photoelectric sensor 6 activates. If the pipette successfully picks up the sample, the light beam will be blocked by the sample, and the sensor will emit a signal. This signal is received and processed by the system to confirm that the sample has been correctly picked up. If the sensor does not detect that the light beam is blocked, the system will issue a warning or stop operation to avoid using a pipette that has not picked up a sample for subsequent doping operations. Simultaneously, photoelectric sensor 6 detects the presence of liquid in the pipette tip and whether the corresponding liquid level has been reached by outputting high and low level signals. If the liquid level is below the corresponding level, an alarm signal is issued to remind personnel that the liquid volume is inaccurate or that there is an abnormality in the sampling process.

[0073] In some embodiments, such as Figure 3 As shown, the doping system also includes a doping buffer rack 7. The doping buffer rack 7 is disposed on the mounting platform 2 and is used to hold the container loaded with the sample after being released by the pipette.

[0074] In this embodiment, the robot 3 can control the gripper mechanism 11 to move, enabling it to pick up the pipette from the pipette holder 5 and fix it thereon via the fastener 12. The drive end of the press drive mechanism 13 contacts the control button on the pipette. Then, the robot 3 controls the gripper mechanism 11 to move the sample to the buffer rack. The drive end of the press drive mechanism 13 begins to move, applying pressure to the control button on the pipette, and the pipette is controlled to pick up the sample by pressing the press drive mechanism 13. The force sensor 14 monitors the pressing force in real time to ensure that the pressure is within the set range.

[0075] When sample release is required, robot 3 drives the doping robot gripper 1 to move to the doping buffer rack 7. The drive end of the pressing drive mechanism 13 moves again, contacting the control button of the pipette and applying appropriate pressure. The pipette begins to release the sample into the empty container. After release, the pressure applied to the drive end of the pressing drive mechanism 13 is stopped, and the pipette stops releasing, thus completing the sample pipetting.

[0076] Finally, it should be noted that: the above examples are used to illustrate the technical solutions of the present application, but not limited to; although the present application is described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still be modified to the technical solutions recorded in the foregoing examples, or part of the technical features are replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A doped robotic gripper device (1), characterized in that, include: The gripper mechanism (11) is suitable for gripping the container carrying the sample; A fixing element (12) is connected to the gripper mechanism (11) for fixing the pipette; Press drive mechanism (13), the drive end of the press drive mechanism (13) is opposite to the fixing member (12) and abuts against the control button of the pipette, so that the pipette can pick up or release the sample during the movement of the drive end of the press drive mechanism (13). A force sensor (14) is provided on the pressing drive mechanism (13) to detect the pressing force applied to the pipette by the pressing drive mechanism (13) during the movement.

2. The doped robot gripper device (1) according to claim 1, characterized in that, The fastener (12) includes: Two mounting plates (121) are arranged opposite to each other, with the two mounting plates (121) spaced apart to form a mounting groove suitable for clamping a pipette; A support block (122), located in the placement groove, is connected to at least one of the mounting plates (121) for contacting the pipette to secure it.

3. The doped robot gripper device (1) according to claim 2, characterized in that, Two support blocks (122) are provided, and the two support blocks (122) are respectively connected to the two mounting plates (121). The two support blocks (122) are spaced apart so that the pipette tip on the pipette passes between the two support blocks (122). The two support blocks (122) are fixed to the pipette body.

4. The doping robot gripper device (1) according to claim 2, characterized in that, The pressing drive mechanism (13) includes: a first drive member (133), a slider (131), and a slide rail (132). The slide rail (132) is connected to the gripper mechanism (11). The slide rail (132) is opposite to the placement groove and extends along the direction of the placement groove. The slider (131) is slidably disposed on the slide rail (132). The first driving member (133) is connected to the slider (131). The first driving member (133) is used to drive the slider (131) to move on the slide rail (132) to control the pipette to aspirate or release samples. The force sensor (14) is connected to the first drive member (133) and is used to detect the pressure applied by the first drive member (133) to the slider (131).

5. The doping robot gripper device (1) according to claim 4, characterized in that, The pressing drive mechanism (13) further includes a connecting rod (134), one end of which is connected to the driving end of the first driving member (133), and the other end of which is connected to the slider (131).

6. The doped robot gripper device (1) according to claim 4, characterized in that, A button (135) is connected to the slider (131). As the slider (131) moves on the slide rail (132), the button (135) is adapted to abut against the control button of the pipette.

7. The doping robot gripper device (1) according to claim 1, characterized in that, The gripper mechanism (11) includes: Gripper support (111); Two grippers (112) are arranged at a distance from each other and connected to the gripper bracket (111), and a gripping space is formed between the two grippers (112); The second drive unit is kinetically connected to the two grippers (112) for driving the two grippers (112) to grasp the container.

8. A doping system, characterized in that, include: Installation platform (2); Robot (3) is mounted on the installation platform (2); The doped robot gripper device (1) as described in any one of claims 1-7 is disposed on the robot (3); A sample buffer rack (4) is set on the mounting platform (2) and is used to place a container that carries the sample; A pipette holder (5) is disposed on the mounting platform (2) for placing at least one pipette.

9. The doping system according to claim 8, characterized in that, Also includes: A photoelectric sensor (6) is installed on the mounting platform (2) or on the robot (3) to detect whether a sample has been drawn into the pipette on the gripper device (1) of the doping robot.

10. The doping system according to claim 8, characterized in that, Also includes: A doping buffer rack (7) is disposed on the mounting platform (2) for holding a container loaded with a sample after being released by a pipette.

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