A clip plate flipping mechanism for a pipette tip
Patent Information
- Application Number
- CN202522298328.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-30
- Publication Date
- 2026-10-09
- Estimated Expiration
- 2035-10-30
AI Technical Summary
[0003]然而，在上述转移设备将吸头转移到夹持机构（即第二夹持机构）的过程中，由于缺乏有效的实时监测与精准控制手段，难以准确判断吸头是否成功插入夹持机构中的卡孔，若吸头未准确对准卡孔，虽然可能会出现夹持机构至转移设备距离接近 0 的情况，但吸头会因夹持机构中限位板的阻挡而掉落
[0011]本实用新型的有益效果是：通过设置光电传感器(编码器和测距传感器)与控制器形成闭环控制，能够实时监测夹持机构的状态并精准控制其运行，结合多维调节机构实现了吸头夹持、高度调节和翻转的自动化协同操作，大幅提升了移液枪吸头转移过程的精度和稳定性，降低吸头转移和装配的错误率，提高了整体工作效率。
Smart Images
Figure CN224831106U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of pipette tip manufacturing technology, specifically relating to a clamping and flipping mechanism for pipette tips. Background Technology
[0002] In the fields of biomedicine, gene sequencing, and laboratory automation, standardized packaging of pipette tips is a crucial step in ensuring experimental accuracy and efficiency. As consumables that come into direct contact with samples, the production process of pipette tips must strictly adhere to aseptic and contamination-free standards, ensuring consistent packaging to avoid experimental errors. During pipette tip production, after cleaning and sterilization, the tips are first transferred to a material handling device and evenly arranged, with their tips facing the first clamping mechanism within the transfer device. A first drive mechanism aligns the locking holes on the first clamping mechanism with the pipette tip and clamps it, then detaches the tip from the material handling device and drives the first clamping mechanism to align with the second clamping mechanism on a flipping device. When the pipette tip on the first clamping mechanism aligns with the locking holes on the second clamping mechanism, the clamping of the first clamping mechanism is released, allowing the tip to transfer to the second clamping mechanism, at which point the tip tip is facing away from the second clamping mechanism. When the second drive mechanism drives the second clamping mechanism to rotate 90 degrees until it is parallel to the mounting plate at the top of the lower guide tube, the clamping of the second clamping mechanism is released, allowing the pipette tip to fall tip-down into the guide tube and finally into the storage slot of the packaging box.
[0003] However, during the process of transferring the suction head to the clamping mechanism (i.e., the second clamping mechanism) by the aforementioned transfer device, due to the lack of effective real-time monitoring and precise control methods, it is difficult to accurately determine whether the suction head has been successfully inserted into the locking hole in the clamping mechanism. If the suction head is not accurately aligned with the locking hole, although the distance between the clamping mechanism and the transfer device may be close to zero, the suction head will fall due to the obstruction of the limiting plate in the clamping mechanism. If the worker is at the workstation at this time, they may immediately notice this abnormality. If the worker is not at the workstation at this time, they may not be able to notice this abnormality in time, resulting in a large number of suction head transfer failures. This not only affects production efficiency but may also cause suction head damage or production process interruption, increasing production costs. Utility Model Content
[0004] To address the above problems, the purpose of this utility model is to provide a clamping and flipping mechanism for pipette tips, thereby solving the problems mentioned in the background art.
[0005] This invention provides a clamping and flipping mechanism for pipette tips, including a multi-dimensional adjustment mechanism for changing the position of a clamping mechanism holding a pipette tip being transferred from a transfer device. The multi-dimensional adjustment mechanism includes a vertical adjustment component for adjusting the height of the clamping mechanism and a flipping component for flipping the clamping mechanism. It also includes a photoelectric sensor and a controller. The output terminal of the photoelectric sensor is connected to the signal input terminal of the controller to provide the controller with a real-time status signal of the clamping mechanism. The controller controls the operation of the clamping mechanism, the vertical adjustment component, and the flipping component based on the status signal monitored by the photoelectric sensor.
[0006] Preferably, the flipping assembly includes a robotic arm connected to the vertical adjustment assembly, a connector fixedly mounted on the clamping mechanism and rotatably connected to the robotic arm via a rotating shaft, and a first motor mounted on the rotating shaft passing through one end of the robotic arm.
[0007] Preferably, the vertical adjustment component is one of an electric push rod, a cylinder, or a lead screw and nut mechanism.
[0008] Preferably, the photoelectric sensor includes an encoder mounted on the output shaft of the first motor and a distance sensor mounted on the side of the clamping mechanism facing away from the connector.
[0009] Preferably, the controller controls the operating status of the clamping mechanism, the vertical adjustment component, and the flipping component based on the first motor rotation angle detected by the encoder and the distance from the clamping mechanism to the transfer device detected by the distance measuring sensor.
[0010] Preferably, the clamping mechanism includes two symmetrically arranged limiting plates, a clamping plate located between the two limiting plates, multiple sets of slots penetrating the limiting plates and the clamping plate, a mounting groove formed on the side wall of one of the limiting plates, a second motor fixedly installed in the mounting groove, a horizontally arranged transmission screw with one end fixedly connected to the output shaft of the second motor, and a slider threaded onto the transmission screw and fixedly connected to the side wall of the clamping plate.
[0011] The beneficial effects of this utility model are: by setting up photoelectric sensors (encoder and distance sensor) to form a closed-loop control with the controller, the status of the clamping mechanism can be monitored in real time and its operation can be precisely controlled. Combined with the multi-dimensional adjustment mechanism, the automated coordinated operation of pipette tip clamping, height adjustment and flipping is realized, which greatly improves the accuracy and stability of the pipette tip transfer process, reduces the error rate of pipette tip transfer and assembly, and improves the overall work efficiency. Attached Figure Description
[0012] Figure 1 This is a first-view structural diagram of the clamping mechanism transferring the suction head into the guide tube in this utility model; Figure 2 This is a second-view structural schematic diagram of the clamping mechanism transferring the suction head into the guide tube in this utility model; Figure 3 This is a first cross-sectional structural diagram of the clamping mechanism in this utility model, showing the state of the suction head being transferred into the guide tube. Figure 4 This is an enlarged structural diagram of point A in this utility model; Figure 5 This is a second cross-sectional structural diagram of the clamping mechanism in this utility model, showing the state of the suction head being transferred into the guide tube. Figure 6 This is an enlarged structural diagram of point B in this utility model; Figure 7 This is a schematic diagram of the clamping mechanism in the vertical position in this utility model; Figure 8 This is a structural schematic diagram of the transfer device transferring the suction head to the clamping mechanism in this utility model.
[0013] In the diagram: 1. Transfer device; 2. Suction head; 3. Clamping mechanism; 4. Vertical adjustment assembly; 5. Flipping assembly; 6. Photoelectric sensor; 7. Controller; 8. Robotic arm; 9. Rotating shaft; 10. Connector; 11. First motor; 12. Encoder; 13. Distance sensor; 14. Limiting plate; 15. Clamping plate; 16. Slot; 17. Mounting groove; 18. Second motor; 19. Drive screw; 20. Slider; 21. First clamping mechanism; 22. First drive mechanism; 23. Flat plate; 24. Guide tube. Detailed Implementation
[0014] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings. The description in this part is only exemplary and explanatory, and should not be used to limit the scope of protection of this utility model in any way.
[0015] After injection molding, the pipette tip 2 needs to be transferred to the cleaning and sterilization station for processing. After sterilization, the pipette tip 2 needs to be transferred to the material handling equipment and arranged evenly on the equipment. At this time, the tip of the pipette tip 2 faces the first clamping mechanism 21 in the transfer device 1. The first drive mechanism 22 aligns the locking hole 16 on the first clamping mechanism 21 with the pipette tip 2 and clamps the pipette tip 2. Then, under the action of the first drive mechanism 22, the pipette tip 2 is disengaged from the material handling equipment, and the entire first clamping mechanism 21 is driven to align with the second clamping mechanism 3 on the flipping equipment until the pipette tip 2 on the first clamping mechanism 21 is aligned with the second clamping mechanism 3. The first clamping mechanism 21 releases the suction head 2 from the clamping hole 16 on the second clamping mechanism 3, allowing the suction head 2 to transfer into the clamping hole 16 on the second clamping mechanism 3. At this time, the tip of the suction head 2 faces away from the second clamping mechanism 3. The number of suction heads 2 on the material handling equipment, the first clamping mechanism 21, and the second clamping mechanism 3 is the same as the storage slot for placing the suction head 2 in the packaging box. When the second driving mechanism drives the second clamping mechanism 3 to rotate 90 degrees and become parallel to the mounting plate 23 on the top of the guide tube 24 below, the second clamping mechanism 3 releases the clamping of the suction head 2, causing the suction head 2 to fall into the guide tube 24 with its tip facing down, and enter the storage slot of the packaging box through the guide tube 24. During the transfer and assembly of the suction head 2, the first clamping mechanism 21 and the second clamping mechanism 3 have the same structure as the clamping mechanism 3 in this utility model, but the operation is different during the transfer of the suction head 2. The first driving mechanism 22 in the above process can be a hydraulic cylinder or a pneumatic cylinder. The second driving mechanism is similar to the flipping mechanism in this utility model. Both are devices that can flip and reset the clamping mechanism 3, such as the motor 11.
[0016] As can be seen from the above, the existing clamping and flipping mechanism for pipette tips 2 has the following defects when in use: When the first clamping mechanism 21 transfers the pipette tip 2 to the second clamping mechanism 3, the existing equipment cannot detect the relative position of the two and the insertion status of the pipette tip 2 in real time. If the locking hole 16 of the second clamping mechanism 3 is not precisely aligned with the pipette tip 2, the pipette tip 2 is prone to falling off due to contact with the limiting plate 14 of the second clamping mechanism 3, and this can only be detected by manual inspection, which not only leads to wear and tear on the pipette tip 2, but also interrupts the production process and reduces production efficiency; The control of the second drive mechanism (flipping device) and the height adjustment component lacks precise feedback, making it impossible to ensure that the flipping angle of the second clamping mechanism 3 is exactly 90° (parallel to the mounting plate 23 at the top of the guide tube 24), and it is also difficult to accurately control the clamping mechanism 3 to descend to the distance matching the mounting plate 23 (such as the target distance of 10cm). Angle deviation can cause the suction head 2 to fail to fall smoothly into the guide tube 24, while height deviation may cause the suction head 2 to hit the mounting plate 23 or deviate from the dropping position due to excessive distance, affecting the boxing accuracy. Based on the above problems, the present invention adopts the following improvement method to solve them.
[0017] like Figure 1-8 As shown, a clamping and flipping mechanism for a pipette tip 2 includes a photoelectric sensor 6 and a controller 7. The output of the photoelectric sensor 6 is connected to the signal input of the controller 7, providing the controller 7 with a real-time status signal of the clamping mechanism 3. The controller 7 controls the operation of the clamping mechanism 3, the vertical adjustment component 4, and the flipping component 5 based on the status signal monitored by the photoelectric sensor 6. Specifically, the flipping component 5 includes a robotic arm 8 connected to the vertical adjustment component 4, a connector 10 fixedly mounted on the clamping mechanism 3 and rotatably connected to the robotic arm 8 via a rotating shaft 9, and a first motor 11 mounted on the rotating shaft 9 passing through one end of the robotic arm 8. The vertical adjustment component 4 is one of an electric push rod, a cylinder, or a screw-nut mechanism; the specific type chosen depends on the requirements of the actual application scenario. The flexible selection of these adjustment methods ensures stable adjustment and rapid response, guaranteeing precise positioning of the clamping mechanism 3 in the height direction. The photoelectric sensor 6 is an encoder 12 (such as an incremental encoder 12 or an absolute encoder 12) installed on the output shaft of the motor 11, which detects the rotational position of the motor 11 shaft by photoelectric, magnetoelectric or mechanical means, and outputs pulse signals or digital signals for calculating angle, speed and direction. The controller 7 controls the operating status of the clamping mechanism 3, the vertical adjustment component 4 and the flipping component 5 based on the first motor 11 rotation angle detected by the encoder 12 and the distance from the clamping mechanism 3 to the transfer device 1 detected by the distance sensor 13. By setting up a closed-loop control system with photoelectric sensor 6 and controller 7, the status of clamping mechanism 3 can be monitored in real time and its operation can be precisely controlled. Combined with the multi-dimensional adjustment mechanism, the automated coordinated operation of pipette tip 2 clamping, height adjustment and flipping is realized, which greatly improves the accuracy and stability of the pipette tip 2 transfer process, reduces the error caused by manual intervention and improves the overall work efficiency.
[0018] Specifically, when the transfer device 1 transfers the suction head 2 to the clamping mechanism 3, the distance sensor 13 determines whether the suction head 2 is inserted into the slot 16 in the clamping mechanism 3 by detecting the distance from the clamping mechanism 3 to the first clamping mechanism 21 in the transfer device 1 (assuming that when the distance from the clamping mechanism 3 to the first clamping mechanism 21 is close to 0, it means that the suction head 2 is inserted into the slot 16, because if the suction head 2 is not aligned with the corresponding slot 16, the suction head 2 cannot be inserted into the slot 16. At this time, although the distance from the clamping mechanism 3 to the first clamping mechanism 21 is close to 0, the suction head 2 will fall off due to the obstruction of the limit plate 14 in the clamping mechanism 3. If the suction head 2 falls off obviously, the staff will notice it immediately and carry out maintenance). The encoder 12 can detect... The controller 7 measures the real-time status of the first motor 11 and determines the required rotation angle of the first motor 11 and whether the clamping mechanism 3 has reached the target position based on the distance signal transmitted by the distance sensor 13. For example, in the initial state, the limiting plate 14 and the clamping plate 15 in the clamping mechanism 3 are in a vertical state. At this time, the encoder 12 detects that the angle of the first motor 11 is 0. When it is necessary to transfer the suction head 2 held by the clamping mechanism 3 to the lower guide tube, the controller 7 needs to control the first motor 11 to rotate 90 degrees, flipping the limiting plate 14 and the clamping plate 15 to be parallel to the mounting plate 23 at the top of the lower guide tube 24. Then, the distance sensor 13 detects the distance from the clamping mechanism 3 to the lower mounting plate 23. If the distance sensor 13 detects the clamping mechanism 3, the controller 7 will determine the angle of rotation of the first motor 11 and whether the clamping mechanism 3 has reached the target position. When the distance between the holding mechanism 3 and the mounting plate 23 is 50cm, according to the preset program, the controller 7 needs to control the vertical adjustment component 4 to move the clamping mechanism 3 to 10cm from the mounting plate 23 before it can control the clamping mechanism 3 to release the suction head 2, allowing the suction head 2 to be guided along the hole on the mounting plate 23 into the guide tube 24, and then guided along the guide tube 24 into the packaging box below. The specific structure of the clamping mechanism 3 for clamping and releasing the suction head 2 includes two symmetrically arranged limiting plates 14, a clamping plate 15 located between the two limiting plates 14, multiple sets of locking holes 16 penetrating the limiting plates 14 and the clamping plate 15, a mounting groove 17 opened on the side wall of one of the limiting plates 14, and a second motor fixedly installed in the mounting groove 17. 18. A horizontally positioned transmission screw 19, one end of which is fixedly connected to the output shaft of the second motor 18, and a slider 20 threaded onto the transmission screw 19 and fixedly connected to the side wall of the clamping plate 15. When the second motor 18 drives the transmission screw 19 to rotate clockwise, the slider 20 slides along the transmission screw 19, and at the same time, the clamping plate 15 moves along the guide rail channel formed by the two limiting plates 14, causing misalignment with the two limiting plates 14. This results in a reduction of the internal space of the locking hole 16, causing the clamping plate 15 and the two limiting plates 14 to abut against different parts of the suction head 2, thereby achieving misaligned clamping of the suction head 2 and improving the stability of clamping the suction head 2. Conversely, when it is necessary to release the clamping of the suction head 2, the second motor 18 can be controlled to rotate counterclockwise.Since the suction heads 2 of the same batch are of the same model, when the suction head 2 is not clamped, the clamping plate 15 moves away from the card hole 16 through the clamping mechanism 3 to a preset distance. The preset distance is the distance from the clamping plate 15 to the outer surface of the suction head 2 inserted into the card hole 16. When it is necessary to clamp the suction head 2, the second motor 18 is controlled to rotate at the corresponding angle according to the model of the suction head 2 in this batch, so that the clamping plate 15 in the clamping mechanism 3 moves a preset distance to clamp the suction head 2.
[0019] It should be noted that, in this document, the terms “comprising,” “including,” 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 process, method, article, or apparatus.
[0020] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The above examples are only for the purpose of helping to understand the method and core ideas of this utility model. The above description is only a preferred embodiment of this utility model. It should be noted that due to the limitations of textual expression, there are objectively infinite specific structures. For those skilled in the art, several improvements, modifications, or changes can be made without departing from the principles of this utility model, and the above technical features can also be combined in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the protection scope of this utility model.
Claims
1. A clamping and flipping mechanism for a pipette tip, comprising a multi-dimensional adjustment mechanism for changing the position of a clamping mechanism (3) holding a pipette tip (2) transferred from a transfer device (1), the multi-dimensional adjustment mechanism comprising a vertical adjustment component (4) for adjusting the height of the clamping mechanism (3) and a flipping component (5) for flipping the clamping mechanism (3), characterized in that: It also includes a photoelectric sensor (6) and a controller (7). The output end of the photoelectric sensor (6) is connected to the signal input end of the controller (7) to provide the controller (7) with a real-time status signal of the clamping mechanism (3). The controller (7) controls the operation of the clamping mechanism (3), the vertical adjustment component (4) and the flipping component (5) according to the status signal monitored by the photoelectric sensor (6).
2. The clamping and flipping mechanism for a pipette tip (2) according to claim 1, characterized in that: The flipping assembly (5) includes a robotic arm (8) connected to the vertical adjustment assembly (4), a connector (10) fixedly mounted on the clamping mechanism (3) and rotatably connected to the robotic arm (8) via a rotating shaft (9), and a first motor (11) mounted on the rotating shaft (9) and passing through one end of the robotic arm (8).
3. The clamping and flipping mechanism for a pipette tip (2) according to claim 1, characterized in that: The vertical adjustment component (4) is one of an electric push rod, a cylinder, or a lead screw and nut mechanism.
4. The clamping and flipping mechanism for a pipette tip (2) according to claim 2, characterized in that: The photoelectric sensor (6) includes an encoder (12) mounted on the output shaft of the first motor (11) and a distance sensor (13) mounted on the side of the clamping mechanism (3) facing away from the connector (10).
5. The clamping and flipping mechanism for a pipette tip (2) according to claim 4, characterized in that: The controller (7) controls the operating status of the clamping mechanism (3), the vertical adjustment component (4), and the flipping component (5) based on the rotation angle of the first motor (11) detected by the encoder (12) and the distance from the clamping mechanism (3) to the transfer device (1) detected by the distance sensor (13).
6. The clamping and flipping mechanism for a pipette tip (2) according to claim 1, characterized in that: The clamping mechanism (3) includes two symmetrically arranged limiting plates (14), a clamping plate (15) located between the two limiting plates (14), multiple sets of slots (16) through the limiting plates (14) and the clamping plate (15), a mounting groove (17) on the side wall of one of the limiting plates (14), a second motor (18) fixedly installed in the mounting groove (17), a horizontally arranged transmission screw (19) with one end fixedly connected to the output shaft of the second motor (18), and a slider (20) threaded onto the transmission screw (19) and fixedly connected to the side wall of the clamping plate (15).