Robotic arm with pipetting and grasping dual functionality

Abstract

The utility model relates to a mechanical arm with the dual function of pipetting and grabbing belongs to the field of laboratory automation equipment, including mechanical arm, mechanical arm pivot, the end assembly of the lower end installation of mechanical arm pivot, the drive mechanism of the lower installation of end assembly, the mounting plate for connecting pipette and mechanical arm, mechanical arm jaw and pipette, the utility model installs pipette in the same side of mechanical arm jaw, carries out the operation of pipetting and grabbing respectively in different technological process, avoids the conversion of jaw and pipette in the experiment in prior art through rotation, fast and efficient, speeds up the experiment process, improves the efficiency of experiment.

Description

Technical Field

[0001] This utility model belongs to the field of laboratory automation equipment, specifically relating to a robotic arm with dual functions of pipetting and grasping. Background Technology

[0002] In the operation of automated biochemical laboratories, frequent liquid handling is required, including various pipetting operations such as aspiration, quantification, and dilution. These operations are performed using pipettes mounted on robotic arms. Simultaneously, automated biochemical laboratories also utilize robotic arms equipped with mechanical grippers to handle and transfer various containers and consumables. Existing technologies include products that integrate these two functions onto a single robotic arm. The pipette is mounted to the side or rear of the mechanical gripper using mounting components. When using the pipette, the robotic arm gripper is rotated to position the pipette at the working surface, allowing for the alternating use of both functions. However, each switch between the mechanical gripper and the pipette requires a positional change, extending the process time and reducing efficiency. Therefore, the problem this invention aims to solve is how to enable a robotic arm to perform both pipetting and gripping functions without switching equipment. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a robotic arm with dual functions of pipetting and gripping, which can use pipetting and gripping operations respectively in different processes.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a robotic arm with dual functions of pipetting and gripping, comprising a robotic arm, a robotic arm pivot, an end effector assembly, a drive mechanism, robotic arm grippers, a mounting plate, and a pipette; the end of the robotic arm is connected to the robotic arm pivot; the end effector assembly is rotatably disposed at the bottom end of the robotic arm pivot; the top end of the drive mechanism is fixedly connected to the bottom end of the end effector assembly; the robotic arm grippers are disposed on the front side of the drive mechanism; the pipette is fixed to the mounting plate and on the same side as the end effector assembly.

[0005] One end of the mechanical arm is rotatably connected to a fixed device, and the other end is rotatably connected to a secondary arm, which is then rotatably connected to the mechanical arm's rotating shaft.

[0006] The robotic arm gripper has two symmetrically arranged robotic fingers in parallel; the base of each robotic finger has an arc-shaped groove, and the front end of each robotic finger has a fingertip.

[0007] The fingertip has an arc-shaped opening, the inner side of the fingertip has strip-shaped serrations, and the lower end of the fingertip has multiple vertical columns.

[0008] The end component has a screw hole on one side.

[0009] The mounting plate includes a horizontal portion and a vertical portion. The horizontal portion is used to connect to the end assembly, and the vertical portion is used to mount the pipette.

[0010] The horizontal portion of the mounting plate is provided with pin holes, and the end assembly is provided with mounting screws. The mounting screws pass through the pin holes and screw holes to fix the mounting plate to the end assembly, and the horizontal portion of the mounting plate is connected to the end assembly.

[0011] The vertical portion of the mounting plate extends towards the front end of the drive mechanism.

[0012] The pipette is fixed to the vertical part of the mounting plate, located in the middle of the front of the drive mechanism perpendicular to the horizontal direction, and directly above the arc-shaped opening.

[0013] The top end of the drive mechanism and the bottom end of the end component are fixedly connected by a flange; the bottom end of the end component is provided with a circular boss that fits into the flange.

[0014] The main beneficial effects of this utility model are as follows: The pipette is mounted on the end effector, above the gripper, with both located on one side of the working surface; the robotic arm gripper is equipped with an avoidance arc groove so as not to affect the normal liquid operation of the pipette; the compact structure makes the overall space occupied smaller. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model.

[0017] Figure 2 This is a partial enlarged view of the mechanical gripper position in this utility model.

[0018] Figure 3 This is a schematic diagram of the gripper finger part of the robotic arm of this utility model.

[0019] Figure 4 This is a schematic diagram of the pipette of this utility model.

[0020] Figure 5 This is a schematic diagram showing the connection between the end component and the drive mechanism of this utility model.

[0021] Figure 6 This is a schematic diagram of the structure of the end component of this utility model.

[0022] In the diagram: 1. Mechanical arm; 2. Mechanical arm pivot; 3. End effector; 4. Drive mechanism; 5. Mechanical arm gripper; 6. Mounting plate; 7. Pipette; 8. Fixing device; 9. Secondary arm; 10. Mechanical finger; 11. Arc groove; 12. Fingertip; 13. Arc opening; 14. Strip tooth pattern; 15. Vertical column; 16. Screw hole; 17. Pin hole; 18. Mounting screw; 19. Flange. Detailed Implementation

[0023] like Figures 1-6 A robotic arm with dual functions of pipetting and gripping is disclosed. It includes a robotic arm 1, a robotic arm pivot 2, an end effector 3, a drive mechanism 4, robotic arm grippers 5, a mounting plate 6, and a pipette 7. The end of the robotic arm 1 is connected to the robotic arm pivot 2. The end effector 3 is rotatably mounted at the bottom of the robotic arm pivot 2. The top of the drive mechanism 4 is fixedly connected to the bottom of the end effector 3. The robotic arm grippers 5 are located on the front side of the drive mechanism 4. The pipette 7 is fixed to the mounting plate 6 and on the same side as the end effector 3. In a biological laboratory, this invention is fixed to an experimental table via a fixing device 8 at the front end of the robotic arm 1. A secondary arm 9 located at the end of the robotic arm is connected to the robotic arm pivot 2. The end effector 3 is rotatably connected to the secondary arm 2. The drive mechanism 4 is installed under the end effector 3 and is connected and fixed to the end effector 3 via a flange 19, allowing the drive mechanism 4 and the robotic arm pivot 2 to rotate relative to each other. The rotational freedom of the drive mechanism 4 allows the robotic grippers 5 and the pipette 7 to flexibly perform various experimental operations.

[0024] In a preferred embodiment, one end of the mechanical arm 1 is rotatably connected to the fixing device 8, and the other end is rotatably connected to the auxiliary arm 9. The auxiliary arm 9 is then rotatably connected to the mechanical arm pivot 2, enabling the mechanical arm 1 to perform bending, extension, and rotation movements, thereby driving the mechanical gripper 5 and the pipette 7 to adjust their working positions.

[0025] In a preferred embodiment, the drive mechanism 4 is a rack with the roots of two mechanical fingers 10 arranged opposite each other. A motor is installed inside the drive mechanism 4, and a gear is installed on the shaft of the motor. The gear cooperates with the rack of the two mechanical fingers 10 to enable the two mechanical fingers 10 to move towards each other and complete the material picking and placing action.

[0026] In a preferred embodiment, the robotic arm gripper 5 has two symmetrically arranged robotic fingers 10 in parallel; the base of each robotic finger 10 is provided with an arc-shaped groove 11, and the front end of each robotic finger 10 is provided with a fingertip 12.

[0027] In a preferred embodiment, the fingertip 12 is provided with an arc-shaped opening 13, the inner side of the fingertip 12 is provided with strip-shaped serrations 14, and the lower end of the fingertip 12 is provided with multiple vertical columns 15. Anti-slip sleeves can be fitted on the vertical columns. The anti-slip sleeves and strip-shaped serrations 14 and other structures can ensure that the robotic arm gripper 5 can effectively pick up and place materials and reduce errors.

[0028] In a preferred embodiment, the end component 3 has a screw hole 16 on one side.

[0029] In a preferred embodiment, the mounting plate 6 includes a horizontal portion and a vertical portion. The horizontal portion is used to connect with the end component 3, and the vertical portion is used to mount the pipette 7.

[0030] In a preferred embodiment, the horizontal portion of the mounting plate 6 is provided with a pin hole 17, and the end component 3 is provided with a mounting screw 18. The mounting screw 18 passes through the pin hole 17 and the screw hole 16 to fix the mounting plate 6 to the end component 3, and the horizontal portion of the mounting plate 6 is connected to the end component 3.

[0031] In a preferred embodiment, the vertical portion of the mounting plate 6 extends toward the front end of the drive mechanism 4.

[0032] In the preferred embodiment, the pipette 7 is fixed to the vertical part of the mounting plate 6, located in the middle of the front of the drive mechanism 4 perpendicular to the horizontal direction, and directly above the arc-shaped opening 13. The pipette 10 is pneumatic, smaller in size, and can be conveniently and effectively controlled by the drive mechanism 4.

[0033] In a preferred embodiment, the top end of the drive mechanism 4 and the bottom end of the end component 3 are fixedly connected by a flange 19; the bottom end of the end component 3 is provided with a circular boss that fits into the flange 19.

[0034] In the preferred embodiment, when the robotic arm gripper 5 is working, the pipette 7 is located above the robotic arm gripper and does not affect the normal operation of the robotic arm gripper 5. The robotic arm gripper 5 moves according to process requirements and picks up and puts in consumables, containers and other equipment. When liquid operation is required, the tip of the pipette 7 is pressed down, and the pipette tip is put on the tip holder before liquid operation. Due to the existence of the arc groove 11 between the robotic fingers 6, the pipette tip passes through the arc groove 11 without affecting its operation. Alternatively, the robotic fingers 6 can be opened to a certain degree to give the pipette 7 more operating space.

[0035] The above embodiments are merely preferred technical solutions of this utility model and should not be considered as limitations on this utility model. The embodiments and features described in this application can be arbitrarily combined without conflict. The protection scope of this utility model should be defined as the technical solution described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the protection scope of this utility model.

Claims

1. A robotic arm with dual functions of pipetting and grasping, characterized in that: It includes a mechanical arm (1), a mechanical arm pivot (2), an end effector (3), a drive mechanism (4), a mechanical arm gripper (5), a mounting plate (6), and a pipette (7); the end of the mechanical arm (1) is connected to the mechanical arm pivot (2); the end effector (3) is rotatably mounted on the bottom of the mechanical arm pivot (2); the top of the drive mechanism (4) is fixedly connected to the bottom of the end effector (3); the mechanical arm gripper (5) is located on the front side of the drive mechanism (4); the pipette (7) is fixed on the mounting plate (6) and on the same side as the end effector (3).

2. The robotic arm with dual functions of pipetting and grasping according to claim 1, characterized in that: One end of the mechanical arm (1) is rotatably connected to the fixing device (8), and the other end is rotatably connected to the auxiliary arm (9). The auxiliary arm (9) is then rotatably connected to the mechanical arm shaft (2).

3. The robotic arm with dual functions of pipetting and grasping according to claim 1, characterized in that: The robotic arm gripper (5) has two symmetrical robotic fingers (10) arranged in parallel; the base of the robotic fingers (10) is provided with an arc-shaped groove (11), and the front end of the robotic fingers (10) is provided with a fingertip (12).

4. The robotic arm with dual functions of pipetting and grasping according to claim 3, characterized in that: The fingertip (10) is provided with an arc-shaped opening (13), the inner side of the fingertip (12) is provided with strip-shaped teeth (14), and the lower end of the fingertip (12) is provided with multiple vertical columns (15).

5. A robotic arm with dual functions of pipetting and grasping according to claim 1, characterized in that: The end component (3) is provided with a screw hole (16) on one side.

6. A robotic arm with dual functions of pipetting and grasping according to claim 5, characterized in that: The mounting plate (6) includes a horizontal portion and a vertical portion. The horizontal portion is used to connect with the end assembly (3), and the vertical portion is used to set the pipette (7).

7. A robotic arm with dual functions of pipetting and grasping according to claim 6, characterized in that: The horizontal portion of the mounting plate (6) is provided with a pin hole (17), and the end component (3) is provided with a mounting screw (18). The mounting screw (18) passes through the pin hole (17) and the screw hole (16) to fix the mounting plate (6) to the end component (3). The horizontal portion of the mounting plate (6) is connected to the end component (3).

8. A robotic arm with dual functions of pipetting and grasping according to claim 6 or 7, characterized in that: The vertical portion of the mounting plate (6) extends toward the front end of the drive mechanism (4).

9. A robotic arm with dual functions of pipetting and grasping according to claim 1, characterized in that: The pipette (7) is fixed to the vertical part of the mounting plate (6), located in the middle of the front of the drive mechanism (4) perpendicular to the horizontal direction, and directly above the arc-shaped opening (13).

10. A robotic arm with dual functions of pipetting and grasping according to claim 1, characterized in that: The top end of the drive mechanism (4) is fixedly connected to the bottom end of the end component (3) via a flange (19); the bottom end of the end component (3) is provided with a circular boss that fits into the flange (19).

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