Sample pipetting device with centering function

Abstract

The utility model relates to sample tube picking device technical field, the utility model discloses sample tube picking device with righting function, including placing groove, righting mechanism, guide, transmission mechanism and error adjusting spare, wherein, the device only uses a motor as power source to realize all righting function, and one power source drives whole power line, through the pre -set every righting mechanism spacing, to make two righting mechanism under the drive of a power line simultaneously righting sample box in two perpendicular guide direction, reduce the use number of power source, do not need to right sample box from two guide direction one by one, improve the efficiency of righting, when two righting mechanism can not simultaneously push sample box and return to the original position, the error adjusting spare on the first righting mechanism is back on the righting mechanism and exits one end distance, so that the second righting mechanism can continue to complete righting operation, to make up the error in the equipment control and running process, improve the accuracy of righting.

Description

Technical Field

[0001] This utility model relates to the technical field of sample tube picking devices, specifically a sample tube picking device with a correction function. Background Technology

[0002] A dual-station sample tube picking device refers to a device that uses two sample tube picking devices to perform sample tube picking operations at two stations simultaneously. The main function of the sample tube picking device is to use robotic grippers to transfer test tubes from one sample box to another, thus realizing the process of picking and transferring.

[0003] The robotic gripper is controlled by a CNC system. To improve the gripping accuracy of the robotic gripper during selection, a center of alignment is set on the worktable. A series chart of the robotic gripper's movement position is created with the center of alignment for computer control. Each time, the sample box is placed at a specific position on the worktable. At that position, the test tubes on the sample box correspond to the series chart, thereby improving the control accuracy of the robotic gripper and avoiding incorrect gripping or sample breakage.

[0004] The sample picking device includes a sample stage with two symmetrical placement slots. A sample box is placed in each of the two placement slots. If the outer contour of the bottom of the sample box does not completely fit the placement slot, it is necessary to use manpower or a device to straighten the sample box.

[0005] In existing technologies, a correction mechanism is set on the guide member. The correction mechanism moves closer to the sample box and corrects the sample box after contact. Each correction mechanism is driven by at least one motor or by two electric push rods. Since the sample box is rectangular, at least two guide members and two correction mechanisms are used. The two guide members are perpendicular to each other and the correction operation is performed along the two guide members. This requires at least two motors, which increases the number of power sources used and the corresponding increase in use and maintenance costs. Utility Model Content

[0006] The purpose of this invention is to provide a sample tube picking device with a correction function to solve the problems raised in the prior art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a sample tube picking device with a correction function, the device comprising: Workbench; A sample table is provided on the workbench, and a placement slot is provided on it for placing sample boxes; A guide component is provided on the worktable, including a first guide component and a second guide component. The first guide component and the second guide component are arranged in a cross shape, and the intersection point is the center of alignment. There are two correction mechanisms, which are respectively set on the first guide and the second guide. Each correction mechanism includes two correction plates, which are symmetrically distributed on the corresponding first guide or the second guide and slide in cooperation with the corresponding first guide or the second guide. The transmission mechanism is arranged along the outer contour of the guide to form a cross-shaped power line. Each aligning plate is fixed on the power line and can move closer or further away from each other as the power line moves.

[0008] Furthermore, the transmission mechanism includes a belt, a motor mounted on the workbench, and several pulleys. The output shaft of the motor is connected to one of the pulleys. The pulleys include four first pulleys and four second pulleys. The four first pulleys are distributed one by one in the four intervals of the first guide and the second guide, and are equidistant from the center of alignment. The four second pulleys are distributed at the four ends of the guides. The belt alternately passes over the inside of the first pulley and the outside of the second pulley.

[0009] Furthermore, the correction mechanism also includes a connecting block; in a correction mechanism, two correction plates are symmetrically distributed on both sides of the sample stage, and the connecting block is located on one side of the correction plate, on the belt on the pulley side; on the same guide, the installation positions of the two connecting blocks are symmetrical about the correction center.

[0010] Furthermore, the correction mechanism also includes: Several error adjustment components are provided and distributed on the top of each correction plate. When the two correction mechanisms approach the correction center at the same time, the transmission mechanism stops after one of them completes the sample box correction operation first. The error adjustment components provide space for the first one to approach further, so that the transmission mechanism can run again to drive the first and the second to complete the correction operation at the same time.

[0011] Furthermore, the error adjustment component includes a telescopic component, and two through holes are symmetrically provided on the correction plate. One end of the telescopic component is disposed in the through hole, and the end of the telescopic component near the worktable is the contact end e, which is used to change the distance between the contact end e and the correction plate by telescopic movement.

[0012] Furthermore, the telescopic component consists of an adjusting rod and a spring, with the adjusting rod passing through the through hole; the spring is sleeved on the adjusting rod, with the adjusting rod close to the spring located between the contact end e and the aligning plate; the deformation trigger value of the spring when compressed is greater than the total weight of the worktable and the sample on it.

[0013] Furthermore, the device also includes: The pipe-picking robotic arm, located on the worktable, is used to move along the X, Y, and Z axes above the worktable. The mechanical gripper, mounted on the tube-picking robotic arm, moves with the arm to transfer samples from one sample container to another.

[0014] Furthermore, the telescopic component also includes a push plate, and the contact ends e of the two adjusting rods on the same straightening plate are connected by the push plate.

[0015] Furthermore, the device also includes two photoelectric sensors, which are arranged side by side in the middle of the corresponding two placement slots on the sample stage.

[0016] Compared with the prior art, the beneficial effects of this utility model are: This utility model includes a placement slot, a correction mechanism, a guide component, a transmission mechanism, and an error adjustment component. The device uses only one motor as a power source to achieve all correction functions, with one power source driving the entire power line. By pre-setting the spacing between each correction mechanism, two correction mechanisms can simultaneously correct the sample box in two perpendicular guide directions under the drive of a single power line, reducing the number of power sources required and eliminating the need to correct the sample box one by one from both guide directions, thus improving correction efficiency. When the two correction mechanisms cannot simultaneously push the sample box into position, the error adjustment component on the first correction mechanism retracts a certain distance, allowing the second correction mechanism to continue the correction operation, compensating for errors in equipment control and operation, and improving correction accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a partial structural schematic diagram of the present invention; Figure 3 This is a perspective view of the transmission mechanism in this utility model; Figure 4 This is a top view of the transmission mechanism in this utility model; Figure 5 This is a partial sectional view of the present invention; In the diagram: 1. Placement slot; 2. Sample stage; 3. Sample box; 4. Alignment mechanism; 5. First guide; 6. Second guide; 7. Transmission mechanism; 8. Worktable; 9. Tube-picking robotic arm; 10. Mechanical gripper; 11. Photoelectric sensor; 40. Alignment plate; 41. Connecting block; 42. Error adjustment component; 43. Through hole; 70. Motor; 71. Belt; 72. Pulley; 72A. First pulley; 72B. Second pulley; 420. Telescopic component; 4201. Adjusting rod; 4202. Spring; 4203. Push plate. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] See Figures 1-5 .

[0020] This utility model provides a sample tube picking device with a correction function, the device comprising: Workbench; Sample table 2 is set on the workbench and has a placement slot 1 for placing sample box 3; A guide component is provided on the workbench, including a first guide component 5 and a second guide component 6. The first guide component 5 and the second guide component 6 are arranged in a cross shape, and the intersection point is the center of alignment. There are two correction mechanisms 4, which are respectively disposed on the first guide member 5 and the second guide member 6. Each correction mechanism 4 includes two correction plates 40, which are symmetrically distributed on the corresponding first guide member 5 or the second guide member 6 and slide in cooperation with the corresponding first guide member 5 or the second guide member 6. The transmission mechanism 7 is arranged along the outer contour of the guide to form a cross-shaped power line. Each aligning plate 40 is fixed on the power line and can move closer or further away from each other as the power line moves.

[0021] It should be noted that the reference Figure 1 and 4 The power mechanism uses a single motor as the power source, driving a power line with two alignment mechanisms 4 spaced apart. The two alignment mechanisms 4 move synchronously, driven by the same power source. Specifically, the first alignment mechanism 4 moves closer to each other along the guide direction a of the first guide 5 to align the workpiece, or moves further away from each other; the second alignment mechanism 4 moves closer to each other along the guide direction b of the second guide 6 to align the workpiece, or moves further away from each other. The bottom surface of the sample box is rectangular. By pre-setting the spacing between each alignment mechanism 4, the two alignment mechanisms 4 simultaneously align the sample box in two perpendicular guide directions under the drive of a single power line. This reduces the number of power sources required and eliminates the need to align the sample box 3 individually from each guide direction, improving alignment efficiency. In use, two of these devices can be placed side-by-side to achieve simultaneous multi-station sample picking operations, further improving picking efficiency.

[0022] In one embodiment, the correction mechanism 4 further includes a connecting block 41; in a correction mechanism 4, two correction plates 40 are symmetrically distributed on both sides of the sample stage 2, and the connecting block 41 is located on one side of the correction plate 40, and the connecting block 41 is on the belt 71 on one side of the pulley 72; on the same guide, the installation positions of the two connecting blocks 41 are symmetrical about the correction center.

[0023] The transmission mechanism 7 includes a belt 71, a motor 70 mounted on the worktable 8, and several pulleys 72. The output shaft of the motor 70 is connected to one of the pulleys 72. The pulley 72 includes four first pulleys 72A and four second pulleys 72B. The four first pulleys 72A are distributed one by one in the four intervals of the first guide member 5 and the second guide member 6, and are equidistant from the center of alignment. The four second pulleys 72B are distributed at the four ends of the guide members. The belt 71 alternately passes over the inside of the first pulley 72A and the outside of the second pulley 72B.

[0024] This design, for reference Figure 3-4 The belt 71 and pulley 72 are located between the worktable 8 and the sample table 2. The transmission mechanism 7 simultaneously drives two alignment mechanisms 4. The two alignment plates 40 of the first alignment mechanism 4 move closer to each other or move further apart along the guide direction a of the first guide member 5 to align the workpiece. The two alignment plates 40 of the second alignment mechanism 4 move closer to each other or move further apart along the guide direction b of the second guide member 6 to align the workpiece. The bottom of the alignment plates 40 is positioned and guided by the guide mechanism to prevent the alignment plates 40 from shaking during movement. Under the action of the transmission mechanism 7, the two alignment plates 40 that move closer to each other abut against the sample box. At this time, the first alignment mechanism 4 can push the two sample boxes towards the alignment center along the guide direction a until the side of the sample box closest to the alignment center is in contact with the sample slot. At this time, the sample box is aligned in the guide direction a. At the same time, the second alignment mechanism 4 can push the two sample boxes towards the alignment center along the guide direction b. The two alignment plates 40 of the second alignment mechanism abut against the sample box.

[0025] In one embodiment, the correction mechanism 4 further includes: Error adjustment components 42 are provided in several units and distributed on the top of each correction plate 40. When the two correction mechanisms 4 approach the correction center at the same time, the transmission mechanism 7 stops after one of them completes the correction of the sample box 3. The error adjustment components 42 provide space for the first one to approach further, so that the transmission mechanism 7 runs again to drive the first and the latter to complete the correction at the same time.

[0026] This design, for reference Figure 1-4The sample stage 2 is rectangular. The distance between the first alignment plate 40 and the second guide 6 and the distance between the second alignment plate 40 and the first guide 5 need to be designed based on the length and width of the sample stage 2 and the length and width of the sample. Only by designing and coordinating the above two distances can the two alignment mechanisms 4 simultaneously abut and push the sample box into place. This operation requires precise control. If there is a slight error, the two alignment mechanisms 4 will not be able to push the sample box into place at the same time. This will cause one alignment mechanism 4 to push the sample box into place first, and the power mechanism will not be able to drive the two alignment mechanisms 4 to move, resulting in the second alignment mechanism 4 being unable to push the sample box into place completely. To overcome the above problems, in this case, several error adjustment components 42 are set on the top of each correction mechanism 4. In one correction mechanism 4, the error adjustment components 42 on the two correction plates 40 are arranged opposite each other. So when it is close to the correction center, the error adjustment component 42 is located in front of the correction mechanism 4 and is used to contact the sample box. After contact, the error adjustment component 42 pushes the sample box to correct. In use, when one of the two correction mechanisms 4 pushes the sample box to the position first, and the latter cannot continue to push the sample box to the position, the error adjustment component 42 on the correction mechanism 4 will move back a distance on the correction mechanism 4. This distance is equal to the distance that the second correction mechanism 4 needs to advance, so that the second correction mechanism 4 can continue to complete the correction operation, so as to make up for the error in the equipment control and operation process and improve the accuracy of correction.

[0027] In one embodiment, the error adjustment component 42 includes a telescopic component 420. The correction plate 40 is symmetrically provided with two through holes 43. One end of the telescopic component 420 is disposed in the through hole 43. The end of the telescopic component 420 near the worktable 8 is a contact end e, which is used to change the distance between the contact end e and the correction plate 40 by telescopic movement.

[0028] The telescopic component 420 consists of an adjusting rod 4201 and a spring 4202. The adjusting rod 4201 passes through the through hole 43. The spring 4202 is sleeved on the adjusting rod 4201. The adjusting rod 4201 is close to the spring 4202, which is located between the contact end e and the straightening plate 40. The deformation trigger value of the spring 4202 when compressed is greater than the total weight of the worktable 8 and the sample on it.

[0029] This design, for reference Figure 1 and Figure 5After the contact end e of the adjusting rod 4201 comes into contact with the sample box, the straightening mechanism 4 continues to drive the adjusting rod 4201 to push the sample box. However, because the deformation trigger value of the spring 4202 when compressed is greater than the total weight of the worktable 8 and the sample on it, the spring 4202 will not be compressed and the adjusting rod 4201 will not move in the through hole 43. Then the adjusting rod 4201 pushes the sample box back to its position. For example, when the first straightening mechanism 4 and the adjusting rod 4201 push the sample box into place first, the second straightening mechanism 4 has not yet been straightened. At this time, the power mechanism continues to rotate, driving the two straightening mechanisms 4 to move closer to the straightening center at the same time. At this time, the squeezing force between the first straightening mechanism 4 and the sample box causes the spring 4202 on it to deform. The spring 4202 is compressed, and at the same time the adjusting rod 4201 moves backward along the through hole 43, thus presenting a situation where the first straightening mechanism 4 moves forward while the adjusting rod 4201 on it moves backward. Then, it ensures that the second straightening mechanism 4 continues to move forward to complete the straightening operation. After completion, the power mechanism stops.

[0030] In one embodiment, the telescopic member 420 further includes a push plate 4203, through which the contact ends e of two adjusting rods 4201 on the same straightening plate 40 are connected.

[0031] This design increases the contact area between the error adjustment component 42 and the sample box, improving stability during contact.

[0032] In one embodiment, the device further includes two photoelectric sensors 11, which are arranged side by side in the middle of two corresponding placement slots 1 on the sample stage 2.

[0033] This design, for reference Figure 1 Two photoelectric sensors 11 are used to monitor whether sample boxes are placed on the two placement slots 1 respectively. After detecting that sample boxes are placed on both slots, the correction mechanism 4 starts to operate.

[0034] In one embodiment, the device further includes: The pipe-picking robotic arm 9 is located on the worktable 8 and is used to move along the X-axis, Y-axis and Z-axis directions above the worktable 8; The mechanical gripper 10 is mounted on the tube-picking robotic arm 9 and moves with the tube-picking robotic arm 9 to transfer samples from one sample box to another. The worktable 8 and sample table 2 are located on the worktable 8, and the guide and transmission mechanism 7 are both located on the worktable 8.

[0035] This design, for reference Figure 1 After the alignment mechanism 4 completes the sample box alignment operation, the tube picking robot arm 9 and the robotic claw 10 operate together to pick up and transfer the target test tube from one sample box to another.

[0036] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0037] It should be noted that if the utility model embodiment involves directional indicators (such as up and down), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, the meaning of "and / or" throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B. Additionally, if the utility model embodiments involve descriptions such as "first," "second," etc., these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" can explicitly or implicitly include at least one of those features. Furthermore, "multiple" refers to two or more.

[0039] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection of the utility model.

Claims

1. A sample tube picking device with a correction function, characterized in that, The device includes: Workbench; A sample table (2) is set on the workbench, and a placement slot (1) is provided thereon for placing sample boxes (3). The guide is provided on the workbench and includes a first guide (5) and a second guide (6). The first guide (5) and the second guide (6) are arranged in a cross shape, and the intersection point is the center of alignment. There are two correction mechanisms (4). The two correction mechanisms (4) are respectively set on the first guide (5) and the second guide (6). Each correction mechanism (4) includes two correction plates (40). The two correction plates (40) are symmetrically distributed on the corresponding first guide (5) or second guide (6) and slide in cooperation with the corresponding first guide (5) or second guide (6). The transmission mechanism (7) is arranged along the outer contour of the guide to form a cross-shaped power line. Each centering plate (40) is fixed on the power line and can move closer or further away from each other as the power line moves.

2. The sample tube picking device with correction function according to claim 1, characterized in that, The transmission mechanism (7) includes a belt (71), a motor (70) mounted on the workbench (8), and several pulleys (72). The output shaft of the motor (70) is connected to one of the pulleys (72). The pulley (72) includes four first pulleys (72A) and four second pulleys (72B). The four first pulleys (72A) are distributed one by one in the four intervals of the first guide (5) and the second guide (6), and are equidistant from the center of alignment. The four second pulleys (72B) are distributed at the four ends of the guides. The belt (71) alternately passes inside the first pulley (72A) and outside the second pulley (72B).

3. The sample tube picking device with correction function according to claim 2, characterized in that, The correction mechanism (4) also includes a connecting block (41); in a correction mechanism (4), two correction plates (40) are symmetrically distributed on both sides of the sample stage (2), and the connecting block (41) is located on one side of the correction plate (40) and on the belt (71) on one side of the pulley (72); on the same guide, the installation positions of the two connecting blocks (41) are symmetrical about the correction center.

4. The sample tube picking device with correction function according to claim 3, characterized in that, The correction mechanism (4) also includes: Error adjustment components (42) are provided in several places and distributed on the top of each correction plate (40). When the two correction mechanisms (4) approach the correction center at the same time, the transmission mechanism (7) stops after one of them completes the correction of the sample box (3). The error adjustment component (42) provides space for the first one to approach further, so that the transmission mechanism (7) runs again and drives the first and the second to complete the correction at the same time.

5. The sample tube picking device with correction function according to claim 4, characterized in that, The error adjustment component (42) includes a telescopic component (420). Two through holes (43) are symmetrically provided on the correction plate (40). One end of the telescopic component (420) is located in the through hole (43). The end of the telescopic component (420) near the workbench (8) is the contact end e, which is used to change the distance between the contact end e and the correction plate (40) by telescopic extension.

6. The sample tube picking device with correction function according to claim 5, characterized in that, The telescopic component (420) consists of an adjusting rod (4201) and a spring (4202). The adjusting rod (4201) passes through the through hole (43). The spring (4202) is sleeved on the adjusting rod (4201). The adjusting rod (4201) is close to the adjusting rod (4201). The spring (4202) is located between the contact end e and the straightening plate (40). The deformation trigger value of the spring (4202) when it is compressed is greater than the total weight of the worktable (8) and the sample on it.

7. The sample tube picking device with correction function according to claim 1, characterized in that, The device also includes: The pipe-picking robotic arm (9) is located on the worktable (8) and is used to move along the X-axis, Y-axis and Z-axis directions above the worktable (8); A mechanical gripper (10) is mounted on a tube-picking robotic arm (9) and moves with the tube-picking robotic arm (9) to transfer samples from one sample box to another.

8. The sample tube picking device with correction function according to claim 6, characterized in that, The telescopic component (420) also includes a push plate (4203), and the contact ends e of two adjusting rods (4201) on the same straightening plate (40) are connected by the push plate (4203).

9. The sample tube picking device with correction function according to claim 1, characterized in that, The device also includes two photoelectric sensors (11), which are arranged side by side in the middle of the two corresponding placement slots (1) on the sample stage (2).

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