Automatic manipulator clamping jaw for biological experiment

Abstract

The utility model relates to a biological experiment automatic manipulator clamping jaw which comprises a mechanical arm and a clamping jaw body. One end of the mechanical arm is fixed on the experiment table top, and the other end of the mechanical arm is connected with the clamping jaw; the clamping jaw comprises a connecting part and a clamping part, one end of the connecting part is connected with the clamping part, and the other end of the connecting part is connected with the mechanical arm; a first movable plate and a second movable plate are arranged at the end, connected with the clamping part, of the connecting part, and the first movable plate and the second movable plate are arranged to be two plates capable of moving left and right relatively. Compared with the prior art, by arranging the uncovering clamping jaw, the operation of moving and uncovering is combined, so that the automation level is greatly improved, meanwhile, by configuring the recognition chip on the clamping jaw, real-time monitoring of an experimental object is guaranteed, and the effectiveness of an experiment is guaranteed.

Description

Technical Field

[0001] This application relates to biological experiments, and more particularly to an automated robotic gripper for biological experiments. Background Technology

[0002] Existing robotic grippers typically separate the opening and moving steps, which leads to low efficiency. Therefore, a robotic gripper that can perform opening and moving simultaneously is needed to improve the effectiveness of experiments.

[0003] Automation in biological experiments is an important direction in automation research and application, which can greatly improve the efficiency of scientific research and bioengineering production. Biological experiments require various consumables, such as cell culture plates and pipette tip boxes. These consumables consist of a container cap and a container body, characterized by a separate upper and lower structure. The basic operating procedures for these consumables in biological automation can be divided into two categories. The first category involves procedures that do not require retaining the container cap, such as sending a pipette tip box to a pipetting workstation for medium exchange or sending a well plate containing small molecule inhibitors to the sample loading position. The standard steps for this type of procedure are: obtain the consumable container, place the consumable container in the designated position, remove the consumable container cap, and perform the operation based on the consumable body. The other type of procedure requires retaining the consumable container cap, such as sending a culture plate containing cells to a pipetting workstation for medium exchange and mixing. The standard steps for this type of procedure are: obtain the consumable container, place the consumable container in the designated position, separate and store the consumable container cap, perform the operation based on the consumable body, and return the consumable container cap to close it with the consumable body. Existing automated biological experiment systems typically use robotic arms with only one gripper. To complete the two types of operations mentioned above, the gripper position needs to be repeatedly switched, and the robotic arm needs to perform multiple operations to complete the task. This introduces additional steps and time costs to the automated system, negatively impacting its stability and efficiency. However, by introducing a second gripping mechanism into the traditional robotic arm gripping mechanism, creating a composite gripping mechanism with separate upper and lower movements, unnecessary steps can be reduced, improving system stability and efficiency. For example, the lower gripper holds the consumable body, while the upper gripper holds the consumable container lid. When opening the container lid, the lower gripper opens while the upper gripper continues to close, moving upwards to directly separate the lid from the body without switching gripping positions. Simultaneously, the lower gripper guides the container's landing path, allowing it to land more accurately in the designated location.

[0004] Meanwhile, since automated biological culture often involves processing large quantities of biological samples, such as thousands of cell culture plates, barcode systems are often introduced on these plates to ensure that the automated system handles the correct plates for different experimental procedures. This automated robotic arm also integrates an antenna system capable of scanning and reading RFID-tagged barcodes, ensuring that the samples undergo the correct and prescribed operations. This further improves the stability of the automated system. Summary of the Invention

[0005] The purpose of this application is to provide an automated robotic gripper for biological experiments, which can facilitate the automation of experiments.

[0006] This application discloses an automated robotic gripper for biological experiments, comprising: a robotic arm and grippers; one end of the robotic arm is fixed to the experimental table, and the other end is connected to the grippers;

[0007] The gripper includes a connecting part and a clamping part, wherein: one end of the connecting part is connected to the clamping part and the other end is connected to the robotic arm; a first movable plate and a second movable plate are disposed on the end of the connecting part connected to the clamping part, and the first movable plate and the second movable plate are configured as two plates that can move relative to each other left and right.

[0008] The clamping part includes an opening jaw and a clamping jaw, wherein the opening jaw is disposed on the first movable plate and the clamping jaw is disposed on the second movable plate.

[0009] In a preferred embodiment, the opening gripper is equipped with an identification chip.

[0010] In a preferred embodiment, a motor is provided inside the connecting part, and the motor is connected to the first movable plate and the second movable plate to drive the first movable plate and the second movable plate to move.

[0011] In a preferred embodiment, the clamping jaws and the opening jaws are stacked together.

[0012] In a preferred embodiment, the clamping jaws and the opening jaws are fixed to the first movable plate and the second movable plate by bolts.

[0013] In a preferred embodiment, the connection is provided with a guide rail, on which the first movable plate and the second movable plate are disposed.

[0014] In a preferred embodiment, the opening gripper can be controlled independently of the holding gripper.

[0015] In a preferred embodiment, a connector is disposed between the connecting part and the robotic arm, and the connector is fixed to the connecting part by bolts.

[0016] The advantages of this utility model are:

[0017] 1) By setting an identification chip on the opening gripper, the experimental target can be monitored in real time, thus ensuring the effectiveness of the experiment.

[0018] 2) By setting up opening grippers, this application ensures that the movement and opening of the experimental target can be completed in one automated action, thereby greatly saving the time of multiple operations of a single gripper and thus improving the level of automation.

[0019] The specification of this application contains numerous technical features distributed across various technical solutions. Listing all possible combinations of these features (i.e., technical solutions) would make the specification excessively lengthy. To avoid this problem, the various technical features disclosed in the above-described invention, the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined to form various new technical solutions (all of which are considered to have been described in this specification), unless such a combination of technical features is technically infeasible. For example, one example discloses feature A+B+C, and another example discloses feature A+B+D+E. Features C and D are equivalent technical means that serve the same function; technically, only one needs to be used, not both. Feature E can be combined with feature C. Therefore, the solution A+B+C+D should not be considered as described because it is technically infeasible. Attached Figure Description

[0020] Figure 1 This is a perspective view of the device described in this utility model.

[0021] Figure 2 This is a schematic diagram of the connection part and gripper of the device described in this utility model.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1-Robotic arm; 2-Connecting part; 3-Opening gripper; 4-Clamping gripper; 5-First movable plate; 6-Second movable plate; 7-Guide rail; 8-Connecting component. Detailed Implementation

[0024] Through in-depth research and extensive screening, the inventors of this application have developed an automated robotic gripper for biological experiments. Compared with existing technologies, this application combines movement and opening operations by setting up opening grippers, thereby greatly improving the level of automation. At the same time, by configuring recognition chips on the grippers, this application ensures real-time monitoring of experimental subjects, thus guaranteeing the effectiveness of the experiment.

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0026] Example

[0027] An embodiment of this utility model is as follows: Figures 1-2 As shown, specifically, this application discloses an automated robotic gripper for biological experiments, the robotic gripper comprising: a robotic arm 1 and a gripper; one end of the robotic arm 1 is fixed to the experimental table, and the other end is connected to the gripper;

[0028] The gripper includes a connecting part 2 and a clamping part, wherein: one end of the connecting part is connected to the clamping part and the other end is connected to the robotic arm; a first movable plate 5 and a second movable plate 6 are disposed on the end of the connecting part connected to the clamping part, and the first movable plate 5 and the second movable plate 6 are configured to be movable relative to each other in the left and right directions.

[0029] The clamping part includes an opening claw 3 and a clamping claw 4, wherein the opening claw 3 is disposed on the first movable plate and the clamping claw 4 is disposed on the second movable plate.

[0030] Optionally, in one embodiment, the 3 homophones are used to describe the lover, and the opening claw 3 is equipped with an identification chip.

[0031] Optionally, in one embodiment, a motor is provided inside the connecting part, and the motor is connected to the first movable plate and the second movable plate 7, 1, for driving the first movable plate and the second movable plate to move.

[0032] Optionally, in one embodiment, the clamping claw 4 and the opening claw 3 are stacked together.

[0033] Optionally, in one embodiment, the clamping claw 4 and the opening claw 3 are fixed to the first movable plate and the second movable plate by bolts.

[0034] Optionally, in one embodiment, the connection is provided with a guide rail 7, and the first movable plate 5 and the second movable plate 6 are disposed on the guide rail 7.

[0035] Alternatively, in one embodiment, the opening gripper 3 can be controlled independently of the clamping gripper 4.

[0036] Optionally, in one embodiment, a connector is provided between the connecting part 2 and the robotic arm 1, and the connector is fixed to the connecting part by bolts.

[0037] Specifically, in this embodiment, the robotic gripper introduces a second gripping mechanism on top of the traditional robotic arm gripping mechanism, forming a composite gripping mechanism with split upper and lower movements. This reduces unnecessary motion steps and improves system stability and efficiency. For example, the lower gripper grasps the consumable body, while the upper gripper grasps the consumable container lid. When opening the container lid, the lower gripper opens while the upper gripper continues to close, moving upwards to directly separate the lid from the body without switching gripping positions. Simultaneously, the lower gripper guides the container's landing path, allowing it to land more accurately at the designated location.

[0038] It should be noted that in this patent application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "in this case," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A gripper for a robotic arm for biological experiments, characterized in that, The mechanical hand gripper comprises a mechanical arm and a gripper; one end of the mechanical arm is fixed on the tabletop, and the other end is connected with the gripper; The gripper comprises a connecting part and a clamping part, wherein: one end of the connecting part is connected with the clamping part, and the other end is connected with the mechanical arm; the connecting part is provided with a first movable plate and a second movable plate at the end connected with the clamping part; the first movable plate and the second movable plate are configured to be relatively movable left and right. The clamping part comprises an opening cover gripper and a clamping gripper, wherein the opening cover gripper is arranged on the first movable plate, and the clamping gripper is arranged on the second movable plate.

2. The automated robotic gripper of claim 1, wherein, The opening cover gripper is provided with an identification chip.

3. The automated robotic gripper of claim 2, wherein, The connecting part is internally provided with a motor, which is connected with the first movable plate and the second movable plate, and is used to drive the first movable plate and the second movable plate to move.

4. The automated robotic gripper of claim 2, wherein, The clamping gripper and the opening cover gripper are stacked together.

5. The automated robotic gripper of claim 1, wherein, The clamping gripper and the opening cover gripper are fixed on the first movable plate and the second movable plate by bolts.

6. The automated robotic gripper of claim 1, wherein, The connecting part is provided with a guide rail, and the first movable plate and the second movable plate are arranged on the guide rail.

7. The automated robotic gripper of claim 1, wherein, The opening cover gripper can be controlled independently of the clamping gripper.

8. The automated robotic gripper of claim 1, wherein, The connecting part and the mechanical arm are provided with a connecting piece, and the connecting piece is fixed with the connecting part by bolts.

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