A dual arm device

Abstract

This application relates to a dual-arm device, comprising: a sample feeding component, a material handling component, and a support. The sample feeding component includes a first linear module and a sample feeding module that cooperates with the first linear module. The material handling component includes a second linear module and a gripping module that cooperates with the second linear module. A first transmission module and a second transmission module are mounted on the support. One end of the first linear module and the second linear module are respectively connected to the first transmission module and the second transmission module, and the other end is slidably connected to the support via a guide member. The sample feeding module and the gripping module are respectively located between the two ends of the first linear module and the second linear module. The first transmission module and the second transmission module support one end of the sample feeding component and the material handling component, and the other end of the sample feeding component and the material handling component are supported on a support profile via the guide member, thereby increasing the support strength of the sample feeding component and the material handling component and improving the stability of their movement.

Description

Technical Field

[0001] This application relates to the field of laboratory testing equipment technology, specifically to a dual-arm device. Background Technology

[0002] Existing laboratory testing equipment requires a single workstation to perform operations such as sample aspiration and consumable retrieval during sample culture. To efficiently perform these operations, a two-axis robotic arm device, protected by publication number CN215656530U, is described. This device includes a first robotic arm, with a second robotic arm perpendicularly positioned to it. The second robotic arm is movably connected to the first robotic arm via a first sliding fastener. Two axes are symmetrically arranged within the first robotic arm, and the first robotic arm uses two horizontal axes to stabilize the second robotic arm during movement. The second robotic arm is movably connected to a gripper via a second sliding fastener. The advantages of this device are: The first robotic arm includes two horizontal axes, and the device uses symmetrically arranged nuts on the first sliding fastener to engage with the two horizontal axes, thus maintaining the stability of the second robotic arm during movement. However, this two-axis robotic arm device separates the movement along three axes, resulting in a relatively small working range.

[0003] The existing patent CN112060067A protects an automated robotic arm device for biological sample processing, comprising a worktable, a three-axis robotic arm, a multi-channel pipette, and a robotic gripper. The worktable has multiple workstations on its upper surface. The three-axis robotic arm includes an X-axis robotic arm, a Y-axis robotic arm, and a Z-axis robotic arm, which are independently fixed and movable along the X, Y, and Z axes of the worktable's horizontal plane. The multi-channel pipette is detachably fixed to the lower end of one set of Z-axis robotic arms. The robotic gripper is fixed to the lower end of another set of Z-axis robotic arms via a mechanical connector. This invention, by integrating a three-axis robotic arm, a multi-channel pipette, and a robotic gripper, automates the transfer of liquid reagents and consumables during biological sample processing. It features speed and flexibility, providing an important means for high-throughput nucleic acid detection and automated pathogen identification.

[0004] Existing robotic arm devices also employ cantilever structures to expand the working range. However, it can be observed that with long-term operation and placement of the cantilever, the Y-axis is constantly under stress. Specifically, the cantilever can be considered as a support rod. As the pipette on the cantilever moves, the torque on the cantilever changes, causing oscillation, which in turn leads to a decrease in the movement accuracy of the robotic arm. Utility Model Content

[0005] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0006] This application provides a dual-arm device, comprising:

[0007] The sample feeding assembly includes a first linear module and a sample feeding module that cooperates with the first linear module;

[0008] The material handling assembly includes a second linear module and a gripping module that cooperates with the second linear module;

[0009] The bracket has a first transmission module and a second transmission module mounted on it. One end of the first linear module and the second linear module are respectively connected to the first transmission module and the second transmission module, and the other end is slidably connected to the bracket through a guide.

[0010] The sample loading module and the gripping module are located between the two ends of the first linear module and the second linear module, respectively.

[0011] In one embodiment, the bracket has a support profile, and the other ends of the first linear module and the second linear module are slidably connected to the support profile via guide members.

[0012] In one embodiment, the guide includes at least two cams rotatably connected to a first linear module and a second linear module, with the two cams abutting against opposite sides of the support profile.

[0013] In one embodiment, a limiting part is provided between the support profile and the cam to limit the movement path of the cam on the support profile.

[0014] In one embodiment, the guide includes a slider, and the support profile is provided with a groove adapted to the slider, and the slider is slidably connected in the groove.

[0015] In one embodiment, the first linear module includes a first cantilever and a first conveyor belt, the first conveyor belt being disposed on the first cantilever and a guide being disposed on the first cantilever.

[0016] In one embodiment, the sample loading module includes a substrate, a pipette pump, and a first lifting motor. The pipette pump works in conjunction with the first lifting motor, and the first lifting motor is connected to a first conveyor belt via the substrate.

[0017] In one embodiment, the number of pipette pumps is at least two, and the number of first lifting motors is the same as the number of pipette pumps, with each first lifting motor corresponding to and cooperating with a pipette pump.

[0018] In one embodiment, the sample loading module further includes a spacing plate mounted on a base plate, and a plurality of first lifting motors are slidably connected to the spacing plate.

[0019] In one embodiment, the first transmission module and the second transmission module include belts arranged in parallel, and the sample feeding component and the material taking component are respectively connected to the two belts.

[0020] This application has at least the following beneficial effects:

[0021] In this application, a first transmission module and a second transmission module support one end of a first linear module and a second linear module. The other ends of the first linear module and the second linear module are supported on a support profile by guide members. The sample feeding module and the gripping module move on the first linear module and the second linear module, respectively. Since there are supports at both ends of the first linear module and the second linear module, and the sample feeding module and the gripping module are located between the two ends of the first linear module and the second linear module, the support strength of the sample feeding module and the gripping module is increased, thereby improving the stability of the movement of the sample feeding module and the gripping module. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of a dual-arm device provided in an embodiment of this application.

[0023] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0024] Figure 3 This is a partial structural schematic diagram of a dual-arm device provided in an embodiment of this application.

[0025] Figure 4 This is a three-dimensional structural diagram of a sample feeding component provided in an embodiment of this application.

[0026] Figure 5 This is a three-dimensional structural diagram of a dividing plate provided in an embodiment of this application.

[0027] Figure 6 This is a three-dimensional structural diagram of a material handling component provided in an embodiment of this application.

[0028] Figure label:

[0029] 11. Bracket;

[0030] 111. First transmission module; 112. Second transmission module; 113. Supporting profile;

[0031] 12. Sample loading assembly;

[0032] 121. First linear module; 122. Sample loading module;

[0033] 1211. First cantilever; 1212. First conveyor belt;

[0034] 1221. Substrate; 1222. Pipette pump; 1223. First lifting motor; 1224. Split plate;

[0035] 12241, First guide groove; 12242, Second guide groove;

[0036] 13. Material handling assembly;

[0037] 131. Second linear module; 132. Grasping module; 133. Cam;

[0038] 1311. Second cantilever; 1312. Transmission motor; 1313. Second conveyor belt; 1314. Slide rail;

[0039] 1321. Second lifting motor; 1322. Gripper; 1323. Slide table. Detailed Implementation

[0040] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0041] Where the terms "first," "second," and "third" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," and "third" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] The embodiments of this application are described in detail below with reference to the accompanying drawings.

[0045] Reference Figure 1-3 As shown, some embodiments of this application provide a dual-arm device, including: a support 11, a sample dispensing component 12, and a material handling component 13. The sample dispensing component 12 and the material handling component 13 are independently configured on the support 11. The sample dispensing component 12 is used to dispense and place sample solutions, and the material handling component 13 is used to grasp consumables, such as microplates during experiments. The sample dispensing component 12 and the material handling component 13 can move independently, facilitating mutual avoidance and collaborative work to improve efficiency. To achieve independent movement of the sample dispensing component 12 and the material handling component 13, in this design, a first transmission module 111 and a second transmission module 112 are mounted on the support 11. The sample dispensing component 12 is configured on the first transmission module 111, and the material handling component 13 is configured on the second transmission module 112, so that the first transmission module 111 drives the sample dispensing component 12 to move, and the second transmission module 112 drives the material handling component 13 to move. In one specific embodiment, the first transmission module 111 and the second transmission module 112 include belts, and the sample feeding component 12 and the material picking component 13 are respectively connected to the two belts. The belts can move in a straight line, and the sample feeding component 12 and the material picking component 13 connected to the belts can move with the movement of the belts.

[0046] In this specific embodiment, driven by the first transmission module 111 and the second transmission module 112, the sample feeding component 12 and the material taking component 13 move along a first straight line (i.e., the x-axis). To ensure that both the sample feeding component 12 and the material taking component 13 move along the x-axis, the belts within the first transmission module 111 and the second transmission module 112 are arranged in parallel. Specifically, the belts are arranged in parallel directions.

[0047] The support frame 11 has a support profile 113. The sample feeding component 12 and the material taking component 13 are slidably connected to the support profile 113 through guides. Driven by the first transmission module 111 and the second transmission module 112, the sample feeding component 12 and the material taking component 13 slide relative to the support profile 113.

[0048] In this scheme, the first transmission module 111 and the second transmission module 112 support one end of the sample feeding component 12 and the material picking component 13, respectively. The other end of the sample feeding component 12 and the material picking component 13 is supported on the support profile 113 by the guide member, so that both ends of the sample feeding component 12 and the material picking component 13 are supported. Under the drive of the first transmission module 111 and the second transmission module 112, the sample feeding component 12 and the material picking component 13 move between the two ends of the first transmission module 111 and the second transmission module 112 to increase the support strength of the sample feeding component 12 and the material picking component 13, thereby improving the stability of the sample feeding component 12 and the material picking component 13 moving in the x-axis direction.

[0049] Furthermore, the guide includes at least two cams 133, which abut against opposite sides of the support profile 113. Specifically, the two cams 133 are located on the top and bottom surfaces of the support profile 113, respectively, clamping the support profile 113 and ensuring support for the other ends of the sample feeding assembly 12 and the material taking assembly 13. Simultaneously, since the sample feeding assembly 12 and the material taking assembly 13 can move along the first straight line (i.e., the x-axis), they will also slide relative to the support profile 113. To reduce friction between the sample feeding assembly 12 / 13 and the support profile 113, the cams 133 roll on the support profile 113, converting friction into rolling friction with lower friction force. In this design, the cams 133 can be circular rollers.

[0050] It should be noted that in this design, the main function of the guide is to ensure that one end of the sample feeding assembly 12 and the material taking assembly 13 is supported on the support profile 113, while also ensuring that the sample feeding assembly 12 and the material taking assembly 13 can move relative to the support profile 113. Therefore, the guide includes, but is not limited to, the cam 133, and can also be a slider. Adapted to the slider, the support profile 113 has a groove, and the slider is slidably connected to the groove to realize the sliding of the sample feeding assembly 12 and the material taking assembly 13 on the support profile 113.

[0051] Furthermore, a limiting part is provided between the support profile 113 and the cam 133 to restrict the movement path of the cam 133 on the support profile 113. Specifically, the limiting part can be a groove extending along the x-axis on the support profile 113, with part of the cam 133 embedded in the groove, and the cam 133 rolling along the extension direction of the groove, thereby restricting the movement of the cam 133 along the x-axis. The limiting part can also be a groove provided on the arc surface of the cam 133, with protrusions distributed along the x-axis on the support profile 113, and the protrusions installed in the groove of the cam 133, thereby restricting the movement of the cam 133 along the x-axis through the cooperation between the protrusions and the groove.

[0052] In some embodiments of this application, reference is made to Figure 4 , 5 As shown, the sample dispensing assembly 12 includes a first linear module 121 and a sample dispensing module 122. The sample dispensing module 122 can aspirate or dispense sample liquid. The first linear module 121 is connected to the first transfer module 111. The sample dispensing module 122 cooperates with the first linear module 121 to realize the transfer of sample liquid. Specifically, the first linear module 121 includes a first cantilever 1211 and a first conveyor belt 1212. The first conveyor belt 1212 is disposed on the first cantilever 1211. The first conveyor belt 1212 includes two drive wheels, a belt, and a drive motor. The drive wheels and the motor are mounted on the first cantilever 1211, and the motor is drivenly connected to one of the drive wheels. The belt is connected between the two drive wheels. The sample dispensing module 122 is connected to the first conveyor belt 1212 and moves relative to the first cantilever 1211 with the first conveyor belt 1212. With the first conveyor belt 1212 as a reference, the first cantilever 1211 is the fixed end of the first linear module 121. The guide is provided on the fixed end of the first linear module 121, that is, the guide is installed on the first cantilever 1211. The first cantilever 1211 extends along the y-axis direction close to the supporting profile 113, and the movement direction of the first conveyor belt 1212 is also in the y-axis direction.

[0053] By driving the first transfer module 111 to move along the x-axis and the first linear module 121 to move along the y-axis, the sample can be precisely moved in the horizontal plane. Specifically, with the cooperation of the x and y axes, the sample dispensing module 122 automatically dispenses liquids into different wells of porous containers such as microplates, improving experimental efficiency and reducing human error. Simultaneously, the sample dispensing component 12 enables automated sample collection, effectively improving work efficiency and reducing sample contamination caused by human factors. In clinical diagnosis, samples or reagents can be quickly dispensed into multiple detection wells, achieving high-throughput detection. By precisely controlling the volume of liquid transfer and the transfer of liquid, automatic dilution or concentration adjustment of samples can also be performed to meet the sample concentration requirements of different experiments. In pharmacokinetic studies in drug development, it can be used to prepare drug solutions of different concentrations.

[0054] Furthermore, the sample loading module 122 includes a substrate 1222, a pipette pump 1221, and a first lifting motor 1223. The pipette pump 1221 can accurately aspirate a specific volume of sample liquid. The pipette pump 1221 cooperates with the first lifting motor 1223, which is connected to the first conveyor belt 1212 via the substrate 1222. The first lifting motor 1223 drives the pipette pump 1221 to move in the z-axis direction. In conjunction with the pipette pump 1221, it can also move in the x and y axes, enabling the transfer of aspirated liquid from one position to another. This is suitable for various experimental and production processes requiring precise pipetting, such as the transfer of biological samples and the addition of chemical reagents. In cell culture in the biopharmaceutical field, it can precisely transfer culture medium to ensure a stable cell growth environment.

[0055] Furthermore, the number of pipette pumps 1221 is at least two, and the number of first lifting motors 1223 is the same as the number of pipette pumps 1221, with each first lifting motor 1223 corresponding to and cooperating with a pipette pump 1221. Multiple pipette pumps 1221 can independently achieve movement along the z-axis. Depending on experimental needs, several of the pipette pumps 1221 can be selected to operate. In one specific embodiment, the number of pipette pumps 1221 and the number of first lifting motors 1223 are both four.

[0056] More specifically, the sample loading module 122 also includes a spacing plate 1224, which is mounted on the base plate 1222. Multiple first lifting motors 1223 are slidably connected to the spacing plate 1224. The spacing plate 1224 has guide grooves corresponding to the number of first lifting motors 1223. Parts of the first lifting motors 1223 are installed within the guide grooves, allowing the first lifting motors 1223 and the pipette pumps 1221 to slide along the extension direction of the guide grooves. This enables adjustment of the spacing between the pipette pumps 1221 corresponding to the first lifting motors 1223 located in different guide grooves. The guide grooves are inclined relative to the y-axis direction.

[0057] In this design, the guide grooves include a first guide groove 12241 and a second guide groove 12242. There are two of each type, and the two first guide grooves 12241 and two second guide grooves 12242 are symmetrically arranged. The angle between the first guide groove 12241 and the y-axis is greater than the angle between the second guide groove 12242 and the y-axis. The first lifting motor 1223 is located at different positions within the first guide groove 12241 or the second guide groove 12242, enabling control over the spacing between the corresponding pipette pumps 1221.

[0058] In some embodiments of this application, reference is made to Figure 6 As shown, the material handling assembly 13 includes a second linear module 131 and a gripping module 132. The second linear module 131 cooperates with the gripping module 132 and is connected to the second transmission module 112. Similar to the structure of the first linear module 121, the second linear module 131 includes a second cantilever 1311, a transmission motor 1312, a second conveyor belt 1313, and a slide rail 1314. The transmission motor 1312, the second conveyor belt 1313, and the slide rail 1314 are mounted on the second cantilever 1311, and the transmission motor 1312 is used to drive the second conveyor belt 1313 to move.

[0059] Meanwhile, the gripping module 132 includes a second lifting motor 1321, a gripper 1322, and a slide 1323. The second lifting motor 1321 is mounted on the slide 1323, which is mounted on the second conveyor belt 1313 and slidably connected to the slide rail 1314. The second lifting motor 1321 drives the gripper 1322 to move up and down along the z-axis. The gripper 1322 includes two clamping parts, which can clamp the consumables according to their size. The gripper 1322 can precisely adjust the clamping force, achieving stable and reliable gripping without damaging the consumables. In actual experiments, because the gripping force of the gripper 1322 has a wide adjustable range, it can adapt to different materials and specifications of ELISA plates. The gripping action of the gripper 1322 is simple, enabling efficient transfer of ELISA plates, improving experimental efficiency and throughput, and saving experimental time.

[0060] In this design, the gripper 1322 also has a rotating part, which can rotate the clamping consumable 360° to adjust it so that it can be placed at a suitable angle to meet the needs of subsequent experimental operations. After rotation, the position of the consumable can be precisely adjusted to improve the accuracy and reliability of the experiment.

[0061] The above embodiments are used to further illustrate this application, but do not limit this application to these specific implementations. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be understood as falling within the protection scope of this application.

Claims

1. A dual arm device, characterized in that, include: The sample feeding component (12) includes a first linear module (121) and a sample feeding module (122) that cooperates with the first linear module (121). The material handling component (13) includes a second linear module (131) and a gripping module (132) that cooperates with the second linear module (131). A bracket (11) is provided, on which a first transmission module (111) and a second transmission module (112) are mounted. One end of the first linear module (121) and the second linear module (131) are connected to the first transmission module (111) and the second transmission module (112) respectively, and the other end is slidably connected to the bracket (11) through a guide. The sample loading module (122) and the gripping module (132) are located between the two ends of the first linear module (121) and the second linear module (131), respectively.

2. The dual arm device of claim 1, wherein, The bracket (11) has a support profile (113), and the other ends of the first linear module (121) and the second linear module (131) are slidably connected to the support profile (113) through the guide.

3. The dual arm device of claim 2, wherein, The guide includes at least two cams (133), which are rotatably connected to the first linear module (121) and the second linear module (131), and the two cams (133) respectively abut against the opposite two sides of the support profile (113).

4. The dual arm device of claim 3, wherein, A limiting part is provided between the support profile (113) and the cam (133), the limiting part being used to restrict the movement path of the cam (133) on the support profile (113).

5. The dual arm device of claim 2, wherein, The guide includes a slider, and the support profile (113) is provided with a groove adapted to the slider, and the slider is slidably connected in the groove.

6. The dual arm device according to any one of claims 1-5, wherein, The first linear module (121) includes a first cantilever (1211) and a first conveyor belt (1212), the first conveyor belt (1212) is disposed on the first cantilever (1211), and the guide is disposed on the first cantilever (1211).

7. The dual arm device of claim 6, wherein, The sample loading module (122) includes a substrate (1222), a pipette pump (1221) and a first lifting motor (1223). The pipette pump (1221) cooperates with the first lifting motor (1223), and the first lifting motor (1223) is connected to the first conveyor belt (1212) through the substrate (1222).

8. The dual arm device of claim 7, wherein, The number of the pipette pumps (1221) is at least two, and the number of the first lifting motors (1223) is the same as that of the pipette pumps (1221). The first lifting motors (1223) and the pipette pumps (1221) are in one-to-one correspondence and cooperation.

9. The dual arm device of claim 8, wherein, The sample loading module (122) also includes a spacing plate (1224), which is mounted on the substrate (1222), and a plurality of the first lifting motors (1223) are slidably connected to the spacing plate (1224).

10. The dual arm device of any one of claims 1-5, wherein, The first transmission module (111) and the second transmission module (112) comprise two belts arranged in parallel, and the sample adding assembly (12) and the sample taking assembly (13) are connected to the two belts respectively.

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