CN106864797B

CN106864797B - Gun head filling equipment

Info

Publication number: CN106864797B
Application number: CN201710208555.9A
Authority: CN
Inventors: 刘胜平
Original assignee: Hainan Xinkong Biomedical Technology Co ltd
Current assignee: Hainan Xinkong Biomedical Technology Co ltd
Priority date: 2017-03-31
Filing date: 2017-03-31
Publication date: 2023-09-19
Anticipated expiration: 2037-03-31
Also published as: CN106864797A

Abstract

The application provides gun head filling equipment, which comprises: the automatic gun head filling device comprises a base, a frame, a manipulator, a guide pipe, a filling table, a first screw rod, a second screw rod and a controller, wherein the frame is arranged on the base, the manipulator and the guide pipe are both arranged at the upper end of the frame, the guide pipe is arranged in the vertical direction, and the manipulator is provided with a scanning device for identifying the position of a gun head; the first lead screw and the second lead screw are both arranged on the base, the first lead screw is arranged along the X direction, the second lead screw is arranged along the Y direction, the first lead screw is connected with the base in a manner of sliding along the Y direction, the second lead screw is connected with the base in a manner of sliding along the X direction, and the filling table is positioned below the guide pipe and is respectively in threaded connection with the first lead screw and the second lead screw. The gun head filling equipment provided by the application can automatically fill the gun head into the gun head box, saves labor cost and improves filling efficiency.

Description

Gun head filling equipment

Technical Field

The application relates to a pipette, in particular to gun head filling equipment.

Background

Most scientific research medical detection liquid adding and pipetting needs to use a pipetting gun, and a large number of disposable gun heads are consumed by using a pipetting device. Most of gun heads used in the market at present are bagged bulk gun heads, so that the cost is low, but before the gun heads are used, the bulk gun heads are required to be put into gun head boxes, a plurality of gun head holes corresponding to the gun heads are formed in the gun head boxes, and a manual filling mode is adopted, so that a great amount of precious time and energy of scientific researchers or medical staff are wasted. Therefore, the device can automatically assemble and disassemble the suction head in a mechanical way, thereby saving precious time and energy.

Disclosure of Invention

Aiming at the defects in the prior art, the application provides the gun head filling equipment which can automatically fill gun heads into gun head boxes, save labor cost and improve filling efficiency.

The application provides gun head filling equipment, which comprises: the automatic gun head filling device comprises a base, a frame, a manipulator, a guide pipe, a filling table, a first screw rod, a second screw rod and a controller, wherein the filling table is used for setting a gun head box, the frame is arranged on the base, the manipulator and the guide pipe are both arranged at the upper end of the frame, the guide pipe is arranged in the vertical direction, and the manipulator is provided with a scanning device for identifying the gun head position; the first screw rod and the second screw rod are both arranged on the base, the first screw rod is arranged along the X direction, the second screw rod is arranged along the Y direction, the first screw rod is connected with the base in a manner of being capable of sliding along the Y direction, a first driving device is arranged for driving the first screw rod to rotate, the second screw rod is connected with the base in a manner of being capable of sliding along the X direction, a second driving device is arranged for driving the second screw rod to rotate, and the filling table is positioned below the guide pipe and is respectively connected with the first screw rod and the second screw rod in a threaded manner; the controller is respectively connected with the manipulator, the first driving device and the second driving device in a control way and is used for adjusting the position of the filling table, so that the outlets of the guide pipes are sequentially aligned with different gun head holes on the gun head box.

According to an embodiment of the present application, the device further comprises a funnel, wherein an inlet of the funnel is upward, and an outlet of the funnel is communicated with an inlet of the conduit.

According to an embodiment of the present application, the device further comprises a cone-shaped adjusting nozzle, wherein the big end of the adjusting nozzle is detachably communicated with the outlet of the guide pipe.

According to an embodiment of the present application, the bulk material box for placing the bulk gun head is further included, and the bulk material box is disposed on the rack.

According to an embodiment of the present application, the first driving device and the second driving device are driving motors.

According to an embodiment of the present application, the vibration table is provided with a vibration motor, and the bulk bin is disposed on the vibration table.

According to one embodiment of the application, the manipulator comprises a mechanical arm and a mechanical claw, wherein the mechanical claw can be rotatably arranged on the mechanical arm.

According to one embodiment of the application, the bottom of the bulk material box is provided with a plurality of grooves, and the width of each groove is larger than the diameter of the small end of the gun head and smaller than the diameter of the large end of the gun head.

The working principle of the gun head filling equipment provided by the application is as follows: a filling table is arranged on the base, a guide pipe is arranged above the filling table, and the gun head box is arranged on the filling table during operation; after the manipulator identifies the gun head through the scanning device, the gun head is grabbed and put into the guide pipe, and the gun head falls down along the guide pipe and enters the filling table. In order to enable the gun head to fall into the gun head hole of the gun head box, the filling table is respectively in threaded connection with the first screw rod and the second screw rod, so that two groups of screw rod sliding block mechanisms are formed, the first screw rod is arranged along the X axis, the second screw rod is arranged along the Y axis, the first screw rod can slide along the Y axis relative to the base, the second screw rod can slide along the X axis, when the first screw rod and the second screw rod respectively rotate, the filling table moves along the X direction under the action of the first screw rod, and moves along the Y direction under the action of the second screw rod, so that the plane coordinate position of the filling table on the base is adjusted, the outlet of the guide pipe is opposite to the gun head hole needing to be filled into the gun head, the gun head falls into the gun head hole from the outlet of the guide pipe under the action of gravity for filling, and the controller is respectively in control connection with the manipulator, the first driving device and the second device for adjusting the position of the filling table, so that the outlet of the guide pipe is sequentially aligned with different gun head holes on the gun head box, and finally, gun heads are all installed in the gun head holes of the gun head box. Therefore, the gun head filling equipment provided by the application can automatically fill the gun head into the gun head box, saves labor cost and improves filling efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of a gun head filling apparatus according to a first embodiment;

FIG. 2 is a schematic view of a base of a gun head filling apparatus according to a first embodiment;

fig. 3 is a schematic structural diagram of a gun head filling apparatus according to a second embodiment;

fig. 4 is a schematic structural diagram of a bulk material box in the second embodiment.

Description of the reference numerals

10. Base seat

20. Rack

30. Mechanical arm

31. Mechanical arm

32. Mechanical claw

40. Catheter tube

41. Funnel(s)

42. Adjusting nozzle

50. Filling table

51. First screw rod

52. Second screw rod

53. First driving device

54. Second driving device

60. Scanning device

70. Gun head box

80. Vibrating table

81. Bulk material box

82. Groove(s)

Detailed Description

Embodiments of the technical scheme of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.

Example 1

Referring to fig. 1 and 2, the gun head filling apparatus provided in this embodiment includes: the gun head device comprises a base 10, a frame 20, a manipulator 30, a guide pipe 40, a filling table 50, a first screw rod 51, a second screw rod 52 and a controller, wherein the filling table 50 is used for setting a gun head box 70, the frame 20 is arranged on the base 10, the manipulator 30 and the guide pipe 40 are both arranged at the upper end of the frame 20, the guide pipe 40 is arranged in the vertical direction, and the manipulator 30 is provided with a scanning device 60 for identifying the gun head position; the first screw rod 51 and the second screw rod 52 are both arranged on the base 10, the first screw rod 51 is arranged along the X direction, the second screw rod 52 is arranged along the Y direction, the first screw rod 51 is connected with the base 10 in a manner of being capable of sliding along the Y direction, a first driving device 53 is arranged for driving the first screw rod 51 to rotate, the second screw rod 52 is connected with the base 10 in a manner of being capable of sliding along the X direction, a second driving device 54 is arranged for driving the second screw rod 52 to rotate, and the filling table 50 is positioned below the guide pipe 40 and is respectively connected with the first screw rod 51 and the second screw rod 52 in a threaded manner; the controller is in control connection with the manipulator 30, the first driving device 53 and the second driving device 54, respectively, for adjusting the position of the filling table 50 so that the outlets of the guide tube 40 are sequentially aligned with different gun head holes on the gun head box 70. Specifically, the two driving devices are motors, the output shafts of the motors are respectively and directly connected with corresponding screw rods, and corresponding nuts are arranged in the filling table.

A filling table 50 is arranged on the base 10, a guide pipe 40 is arranged above the filling table 50, and a gun head box 70 is arranged on the filling table 50 during operation; after the manipulator 30 recognizes the gun head through the scanning device 60, the gun head is grasped and thrown into the guide pipe 40, and the gun head falls down along the guide pipe 40 and enters the filling table 50. In order to enable the gun heads to fall into gun head holes of the gun head box 70, the filling table 50 is respectively in threaded connection with the first screw rod 51 and the second screw rod 52, so that two groups of screw rod sliding block mechanisms are formed, the first screw rod 51 is arranged along the X axis, the second screw rod 52 is arranged along the Y axis, the first screw rod 51 can slide along the Y axis relative to the base 10, the second screw rod 52 can slide along the X axis, when the first screw rod 51 and the second screw rod 52 respectively rotate, the filling table 50 moves along the X direction under the action of the first screw rod 51 and moves along the Y direction under the action of the second screw rod 52, so that the plane coordinate position of the filling table 50 on the base 10 is adjusted, the gun heads are right opposite to gun head holes needing to be filled into the gun heads, the gun heads fall into the gun head holes from the outlet of the guide pipe 40 under the action of gravity, and the controller is respectively connected with the manipulator 30, the first driving device 53 and the second driving device 54 for adjusting the positions of the filling table 50, so that the outlet of the guide pipe 40 is sequentially aligned with gun head holes of different gun head boxes 70, and each gun head hole of the gun head is filled with the gun head holes of the gun head box. Therefore, the gun head filling equipment provided by the embodiment can automatically fill gun heads into the gun head box 70, so that the labor cost is saved, and the filling efficiency is improved.

Specifically, the device further comprises a funnel 41, wherein the inlet of the funnel 41 is upward, and the outlet is communicated with the inlet of the conduit 40. Although the manipulator 30 has the characteristic of accurate operation, in order to make the gun head accurately fall into the guide pipe 40 more conveniently, a funnel 41 is disposed above the guide pipe 40 in this embodiment. As long as the manipulator 30 is put in above the funnel 41, the gun heads can enter the guide pipe 40, so that the requirement on the accuracy of the manipulator 30 can be reduced to a certain extent, and the cost is reduced.

Wherein, be equipped with the first slide rail along X direction and the second slide rail along Y direction respectively on base 10, first lead screw 51 slides and sets up on the second slide rail, and second lead screw 52 slides and sets up on first slide rail to can freely slide respectively. The first driving device 53 is provided on the first screw 51 to slide with the screw, and the second driving device 54 is fixed on the second screw 52 to slide with the second screw 52.

More specifically, a cone-shaped regulating nozzle 42 is further included, and the large end of the regulating nozzle 42 is detachably communicated with the outlet of the duct 40. The gun heads commonly used at present are divided into a plurality of models according to the size, if the inner diameter of the guide pipe 40 is too large, the smaller gun heads can move radially when falling down, and can not be ensured to accurately fall into gun head holes smaller than the inner diameter of the guide pipe 40, and if the inner diameter of the guide pipe 40 is too small, the gun heads with large diameters can not be used. Therefore, in order to be suitable for gun heads of different specifications, a detachable adjusting nozzle 42 is specially arranged below the guide pipe 40, the guide pipe 40 has a larger inner diameter, so that gun heads of any specification can pass through, according to the filled gun heads, the adjusting nozzle 42 with different outlets is replaced, and the outlet of the adjusting nozzle 42 is matched with the diameter of the gun head to be filled, so that the gun heads accurately fall into gun head holes.

More specifically, a bulk magazine 81 for placing bulk gun heads is also included, said bulk magazine 81 being arranged on said frame 20. In operation, the gun heads are placed in the bulk bin 81 in a concentrated manner, and the manipulator 30 automatically grabs the gun heads from the bulk bin 81, moves the gun heads to the position above the guide pipe 40, and drops the gun heads into the guide pipe 40.

More specifically, the first driving device 53 and the second driving device 54 are driving motors. The drive motor is highly controllable, facilitating accurate control of the position of the priming station 50.

Example two

Referring to fig. 3 and 4, the gun head filling apparatus provided in this embodiment further includes a vibration table 80 provided on the frame 20, the vibration table 80 is provided with a vibration motor, and the bulk bin 81 is provided on the vibration table 80.

When the gun heads are stacked in the bulk bin 81, the gun heads are staggered in the vertical direction, which is not beneficial to the recognition of the scanning device 60 and is easy to make mistakes. The vibration table 80 is provided to vibrate the bulk bin 81 so that gun heads in the bulk bin 81 are uniformly arranged at the bottom of the bulk bin 81.

Specifically, the manipulator 30 includes a manipulator arm 31 and a gripper 32, and the gripper 32 is rotatably provided on the manipulator arm 31. In order to make the large end of the gun head in the input duct 40 face upward, it is necessary to make the large end of the gun head face upward before input. Although the scanning device 60 can predict in advance and maintain the correct orientation of the gun tips during gripping, the gun tips in the bulk bin 81 are relatively large, interfere with each other, and easily identify errors. Therefore, in this embodiment, the gripper 32 can rotate relative to the mechanical arm 31, and after the gun head is grabbed, the direction of the gun head is identified, so that interference of other gun heads is eliminated, and according to the direction of the gun head, the gripper 32 is rotated to make the big end of the grabbed gun head upward, and then the gun head is thrown.

More specifically, the bottom of the bulk bin 81 is provided with a plurality of grooves 82, and the width of the grooves 82 is larger than the diameter of the small end of the gun head and smaller than the diameter of the large end of the gun head. In a specific implementation, the depth of the groove 82 is preferably greater than the length of the gun head, and the small end of the gun head falls into the groove 82 under the action of the vibrating table 80, and the large end is clamped outside the groove 82, so that the large end of the gun head faces upwards and the small end faces downwards. When the gun head is grabbed by the manipulator 30, the direction of the gun head is not required to be identified, and the gun head is only required to be grabbed and put into the funnel 41 or the guide pipe 40.

Here, the functions, algorithms, methods, and the like of the scanner device, the robot, and the driving motor according to the present application are merely conventional adaptive applications of the prior art. The present application is therefore an improvement over the prior art in that the connection between hardware is essentially not a function, algorithm, method itself, i.e. the present application, although it relates to a point of function, algorithm, method, does not include the improvement proposed by the function, algorithm, method itself. The description of the functions, algorithms and methods of the present application is presented in terms of a better understanding of the present application.

In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "plurality" is two or more unless specifically defined otherwise.

In the description of the present application, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

In the description of the present specification, a particular feature, structure, material, or characteristic may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description.

Claims

1. Gun head filling equipment, its characterized in that includes: the gun head device comprises a base (10), a frame (20), a manipulator (30), a guide pipe (40), a filling table (50), a first screw rod (51), a second screw rod (52) and a controller, wherein the filling table (50) is used for setting a gun head box, the frame (20) is arranged on the base (10), the manipulator (30) and the guide pipe (40) are both arranged at the upper end of the frame (20), the guide pipe (40) is arranged in the vertical direction, and the manipulator (30) is provided with a scanning device (60) for identifying the gun head position; the first screw rod (51) and the second screw rod (52) are both arranged on the base (10), the first screw rod (51) is arranged along the X direction, the second screw rod (52) is arranged along the Y direction, the first screw rod (51) is connected with the base (10) in a manner of being capable of sliding along the Y direction, a first driving device (53) is arranged for driving the first screw rod (51) to rotate, the second screw rod (52) is connected with the base (10) in a manner of being capable of sliding along the X direction, a second driving device (54) is arranged for driving the second screw rod (52) to rotate, and the filling table (50) is positioned below the guide pipe (40) and is respectively connected with the first screw rod (51) and the second screw rod (52) in a threaded manner. The controller is respectively connected with the manipulator, the first driving device and the second driving device in a control way and is used for adjusting the position of the filling table (50) so that the outlets of the guide pipes (40) are sequentially aligned with different gun head holes on the gun head box;

the device also comprises a cone-shaped adjusting nozzle (42), wherein the big end of the adjusting nozzle (42) is detachably communicated with the outlet of the conduit (40);

the device also comprises a bulk bin (81) for placing a bulk gun head, wherein the bulk bin (81) is arranged on the frame (20);

the vibrating table (80) is arranged on the frame (20), the vibrating table (80) is provided with a vibrating motor, and the bulk bin (81) is arranged on the vibrating table (80); the bottom of bulk cargo box (81) is equipped with a plurality of slots (82), and is a plurality of slot parallel interval arrangement, the width of slot (82) is greater than the diameter of rifle head tip, and is less than the diameter of rifle head tip big end.

2. Gun head filling apparatus according to claim 1, further comprising a funnel (41), the inlet of the funnel (41) being arranged upwards and the outlet communicating with the inlet of the duct (40).

3. Gun head filling apparatus according to claim 1, characterized in that the first drive means (53) and the second drive means (54) are drive motors.

4. Gun head filling apparatus according to claim 1, characterized in that the manipulator (30) comprises a mechanical arm (31) and a gripper (32), the gripper (32) being rotatably arranged on the mechanical arm (31).