CN115400821A - Test tube clamping manipulator and closed brucella detector - Google Patents
Test tube clamping manipulator and closed brucella detector Download PDFInfo
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- CN115400821A CN115400821A CN202210920291.0A CN202210920291A CN115400821A CN 115400821 A CN115400821 A CN 115400821A CN 202210920291 A CN202210920291 A CN 202210920291A CN 115400821 A CN115400821 A CN 115400821A
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- 238000012360 testing method Methods 0.000 title claims abstract description 75
- 241000589562 Brucella Species 0.000 title claims abstract description 14
- 238000006243 chemical reaction Methods 0.000 claims description 34
- 239000003153 chemical reaction reagent Substances 0.000 claims description 18
- 210000002966 serum Anatomy 0.000 claims description 13
- 238000012546 transfer Methods 0.000 claims description 13
- 239000002699 waste material Substances 0.000 claims description 11
- 238000002360 preparation method Methods 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 2
- 230000001954 sterilising effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 7
- 210000004369 blood Anatomy 0.000 description 6
- 239000008280 blood Substances 0.000 description 6
- 241000282376 Panthera tigris Species 0.000 description 5
- 230000004520 agglutination Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 239000003381 stabilizer Substances 0.000 description 3
- 206010006500 Brucellosis Diseases 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 239000000427 antigen Substances 0.000 description 1
- 102000036639 antigens Human genes 0.000 description 1
- 108091007433 antigens Proteins 0.000 description 1
- 238000005119 centrifugation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 239000011259 mixed solution Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 206010048282 zoonosis Diseases 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/06—Test-tube stands; Test-tube holders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
- G01N33/50—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing
- G01N33/53—Immunoassay; Biospecific binding assay; Materials therefor
- G01N33/569—Immunoassay; Biospecific binding assay; Materials therefor for microorganisms, e.g. protozoa, bacteria, viruses
- G01N33/56911—Bacteria
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2333/00—Assays involving biological materials from specific organisms or of a specific nature
- G01N2333/195—Assays involving biological materials from specific organisms or of a specific nature from bacteria
- G01N2333/23—Assays involving biological materials from specific organisms or of a specific nature from bacteria from Brucella (G)
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- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The invention relates to a test tube clamping manipulator and a closed brucella detector, wherein the clamping manipulator comprises a mounting seat arranged on the mechanical arm, a fixed clamp arm fixedly arranged on the mounting seat and a deflecting clamp arm, one end of the deflecting clamp arm is arranged on the mounting seat through a rotating shaft, an upper groove and a lower groove for clamping a test tube are correspondingly formed in the fixed clamp arm and the deflecting clamp arm, and an elastic pushing device is arranged in the lower groove; the invention adopts a scissor-like clamping form, the upper clamping arm and the lower clamping arm are correspondingly provided with grooves for clamping test tubes, and the grooves are correspondingly provided with elastic pushing devices, when one test tube is grabbed and the second test tube is clamped, the two clamping arms are opened, the elastic pushing devices can still apply acting force to the grabbed test tube, the grabbed test tube can still be fixed under the action of the spring, so that the test tubes cannot fall off, the test tubes are grabbed and put down one by one, and the grabbing work efficiency can be greatly improved.
Description
Technical Field
The invention relates to a test tube clamping manipulator and a closed brucella detector.
Background
Brucellosis is one of the most prevalent and most harmful zoonosis in the world at present. Clinically, the tiger red plate agglutination test is used as a primary screening means for brucellosis. The operating method of the tiger red plate agglutination test comprises the following steps: the whole blood sample collected on site was centrifuged for 8 to 10 minutes, 0.03ml of the serum to be tested (hereinafter referred to as sample) was dropped on a clean slide, 0.03ml of tiger red plate agglutination antigen (hereinafter referred to as reagent) was added thereto and mixed well, and the result was observed within 5 minutes and observed under a 10-fold microscope.
At present, no automatic medical equipment for detecting the brucella by adopting a tiger red plate agglutination test method exists. And in order to realize the automation, the manipulator that the test tube used when shifting is indispensable, the manipulator that is used for snatching the test tube on the market now all is single test tube or whole row of test tube is got simultaneously and presss from both sides, can't realize getting one by one of a plurality of test tubes and press from both sides, this will have certain restriction in certain service environment, for example on centrifuge, when need put into one by one or take out the test tube, conventional manipulator can only come and go test tube station and centrifuge many times, can't realize once snatching put into centrifuge one by one behind a plurality of test tubes, work efficiency is just also than lower.
Disclosure of Invention
The invention aims to solve the technical problem of providing a test tube clamping manipulator and a closed brucella detector, which can realize that a plurality of test tubes are grabbed and put down one by one, and greatly improve grabbing efficiency.
The technical scheme adopted by the invention is as follows: the utility model provides a test tube clamping manipulator, its is including installing mount pad on the arm, fixed arm lock and the one end of setting on the mount pad through the pivot arm lock that deflects of installing on the mount pad fixed arm lock and the arm lock that deflects correspond to open and have the upper tank and the lower groove that are used for the centre gripping test tube, are equipped with elasticity thrustor in the lower inslot.
Furthermore, the elastic pushing device comprises a blind hole formed in the lower groove, a spring arranged in the blind hole and a pushing concave plate arranged at the top of the spring, and the bending radius of the pushing concave plate is matched with that of the upper groove so as to clamp the test tube;
in a natural state, the distance between the pushing concave plate in each lower groove and the corresponding lower groove is gradually increased from one end close to the rotating shaft to the other end.
Furthermore, a deflection cylinder is further arranged on the mounting seat, a cylinder body of the deflection cylinder is hinged with the mounting seat, and a cylinder rod is hinged with the free end of the deflection clamping arm.
Furthermore, fixed arm lock is hollow structure, is equipped with the conveyer belt in fixed arm lock, and it has the groove of stepping down to open on the inboard lateral wall in last groove, and the conveyer belt passes the groove of stepping down in every goes up the inslot, makes every go up the inslot and all has the conveyer belt to pass through.
Furthermore, the surface of the conveying belt is provided with anti-slip rubber.
A closed Brucella detection instrument comprises a closed operation box body, a sample bar code identification station, a serum preparation station, a sample reaction station, a result interpretation station, a waste treatment station and a test tube clamping manipulator according to any one of claims, wherein the sample bar code identification station, the serum preparation station, the sample reaction station, the result interpretation station and the waste treatment station are arranged in the operation box body, and the test tube clamping manipulator is used for transferring test tubes among the stations.
Further, the sample bar code identification station comprises a sample tray and a scanning device for identifying a sample information bar code;
the serum preparation station adopts a centrifuge.
Furthermore, the sample reaction station comprises a sample transfer device, a sample bearing device, a reagent transfer device, a reagent storage device, a cleaning device and a reaction device, wherein the reaction device is a transparent reaction cup.
Further, the result interpretation station comprises a light source emitting end and a light source receiving end which are respectively arranged at two sides of the transparent reaction cup, a photoelectric signal conversion device and an analysis and discrimination software system, wherein the analysis and discrimination software system detects the intensity of the projected light and/or refracted light of the solution after the sample and the reagent react according to an immunoturbidimetry method, and compares the intensity with the data stored in the system to make result interpretation.
Further, the waste treatment station comprises a closed storage room and a disinfection device.
The invention has the positive effects that: the invention adopts a scissor-like clamping form, the upper clamping arm and the lower clamping arm are correspondingly provided with grooves for clamping test tubes, and the grooves are correspondingly provided with elastic pushing devices, when one test tube is grabbed and the second test tube is clamped, the two clamping arms are opened, the elastic pushing devices can still apply acting force to the grabbed test tube, the grabbed test tube can still be fixed under the action of the spring, so that the test tubes cannot fall off, the test tubes are grabbed and put down one by one, and the grabbing work efficiency can be greatly improved.
Drawings
FIG. 1 is a schematic view of a robot according to the present invention;
FIG. 2 is a schematic view of the open state of the robot of the present invention;
FIG. 3 is a schematic view of an abdicating groove structure according to the present invention;
FIG. 4 is a schematic diagram of the detector of the present invention;
FIG. 5 is a schematic view of the working process of the present invention.
Detailed Description
Example 1
The present embodiment provides a test tube clamping manipulator, as shown in fig. 1-3, which includes a mounting base 13 mounted on the manipulator, a fixed clamp arm 14 fixed on the mounting base 13, and a deflecting clamp arm 15 having one end mounted on the mounting base 13 through a rotating shaft, where the fixed clamp arm 14 and the deflecting clamp arm 15 are correspondingly disposed, and an upper slot 17 and a lower slot 6 for clamping a test tube are correspondingly disposed on the fixed clamp arm 14, and when the rotating clamp arm 15 deflects inward, the test tube can be clamped, and when the rotating clamp arm 15 deflects outward, the test tube is put down. Be equipped with elasticity ejecting device in lower groove 6, after the test tube is got in the centre gripping, elasticity ejecting device can withstand the test tube lateral wall, even deflection arm lock 15 is opened, its effect that still can play the withstand test tube under the elastic action, the condition that drops appears in the test tube that can effectively prevent to get. The groove correspondence is equipped with a plurality of side by side about, and the test tube is got at first to the most inboard groove clamp, then outwards in proper order, can realize getting the test tube one by one and press from both sides. After a certain degree is opened to deflection arm lock 15, the test tube in the outside at first drops, and inboard test tube can not drop under elasticity ejecting device's effect, along with opening degree constantly increases, and the test tube can realize dropping in proper order.
Go up groove 17 and lower groove 6 and all be circular-arcly, elasticity ejection device is including seting up blind hole 8 on 6 lateral walls of lower groove, setting up spring 10 in blind hole 8 and setting up the ejection concave plate 9 at spring 10 top, and the bend radius of this ejection concave plate 9 and the internal diameter looks adaptation of last groove 17 for the cooperation centre gripping test tube. A telescopic stabilizer bar 11 is arranged in the spring 10, one end of the stabilizer bar 11 is fixed with the bottom of the blind hole 8, and the other end of the stabilizer bar 11 is fixed with the ejection concave plate 9, so that shaking in the telescopic process is prevented.
Under the natural state, from the one end that is close to the pivot to the other end, the distance between the groove 6 under every ejector notch 9 in the groove 6 and the correspondence increases gradually, this is because at the in-process that deflection arm lock 15 was opened, the lower groove opening degree of the innermost is minimum, need not too big top push effort, and the upper and lower groove opening degree that is in the outside more is big more, need the earlier effort that provides of elasticity ejector device, just can prevent that the test tube of this department from droing, the unexpected drop that appears in the test tube that can better prevent of such design.
Preferably, a deflecting cylinder 16 is further arranged on the mounting base 13, a cylinder body of the deflecting cylinder 16 is hinged with the mounting base 13, and a cylinder rod is hinged with the free end of the deflecting clamping arm 15. The deflecting clamping arm 15 is driven to rotate by the deflecting air cylinder 16.
Preferably, the fixed clamping arm 14 is of a hollow structure, the conveyor belt 7 is arranged in the fixed clamping arm 14, the yielding groove 12 is formed in the inner side wall of the upper groove 17, the conveyor belt 7 penetrates through the yielding groove 12 in each upper groove 17, the conveyor belt 7 passes through each upper groove 17, and the conveyor belt 7 is provided with anti-skid rubber on the surface. Like this when the centre gripping to the test tube, under the frictional force effect of conveyer belt, can make the test tube rotate, be convenient for sweep going on of sign indicating number work. Preferably, if it is considered that the pushing force of the pushing concave plate 9 is large, which makes the test tube difficult to rotate, a roller or a roller may be designed on the pushing concave plate 9 to reduce the friction force.
The manipulator of this embodiment can realize getting one by one the clamp of test tube, realizes one row of whole clamp to placing the test tube on the sample tray simultaneously and gets, then puts into the centrifuge one by one, puts into the situation of test tube one by one to other needs, and the structure of this embodiment is thrown applicable, has improved the availability factor of manipulator greatly, need not single transport again.
Example 2
This embodiment provides a closed brucella detection apparatus with a test tube holding manipulator in embodiment 1, as shown in fig. 4 and 5, including a sample barcode recognition station 1, a serum preparation station 2, a sample reaction station 3, a result interpretation station 4, and a waste treatment station 5, all of which are performed in a closed space. Wherein the sample bar code identification station 1 is used for identifying information codes on samples. The main mechanism of the serum preparation station 2 is a centrifuge 201, a blood sample is prepared into a serum sample, and the blood sample is transferred to the centrifuge 201 through a clamping manipulator; the clamping manipulator is also used for transferring the waste sample carrier to the waste treatment station 5; the sample reaction station 3 is closed and comprises a sample transfer device 301, a sample carrying device 302, a reagent transfer device 303, a reagent storage device 304, a cleaning device 305 and a reaction device 306; the sample transferring device 301 is used for transferring the serum sample into the reaction device 306; the reagent transferring device 303 is used for transferring the reaction reagent into the reaction device 306; the reaction device 306 comprises a transparent reaction cup 3061, which is arranged between the light source emitting end 401 and the light source receiving end 402 of the result interpretation station 4; the cleaning device 305 mainly cleans the grip robot and the sample transfer device 301 and the reagent transfer device 303; the result interpretation station 4 comprises a light source emitting end 401, a light source receiving end 402, a photoelectric signal conversion device 403 and an analysis and discrimination software system 404, wherein the analysis and discrimination software system 404 detects the intensity of the projected light and/or refracted light of the solution after the reaction of the sample and the reagent according to an immunoturbidimetry method, and compares the intensity of the projected light and/or the refracted light with data stored in the system to make result interpretation. The waste treatment station 5 comprises a sealed storage chamber 501 and a disinfection device 502.
The bottom of the transparent reaction cup 3061 is flat and is used for loading a mixed solution of the serum sample and the reagent.
The sample bar code recognition station 1 comprises a sample tray 101, a scanning device 102 for recognizing a sample information bar code, a clamping mechanical arm clamps a plurality of sample test tubes from the sample tray 101, and a conveying belt is utilized to axially rotate the blood sample test tubes by 360 degrees, so that the scanning device 102 can read the bar code information attached to a sample carrier in real time.
The operation flow of this embodiment is:
1. starting the system, and performing self-checking on each mechanism;
2. the clamping robot takes several blood sample tubes at a time from the sample tray 101, and sequentially puts them into the centrifuge 201. After the centrifuge 201 is operated for a certain time, the centrifugation is completed.
3. The clamping manipulator grabs the centrifuged sample test tubes one by one and then moves the centrifuged sample test tubes to the vicinity of the scanning device 102, the conveyor belt drives the blood sample test tubes to rotate in the axial direction by 360 degrees, so that the bar codes on the samples are identified by the scanning device 102, and the information is sent to the software system 404.
4. The gripper robot places the scanned sample carrier on the sample carrier 302 at a position specified by the software system 404.
5. The sample transfer apparatus 301 sucks the serum sample into the cuvette 3061 of the reaction apparatus 306, and the cleaning apparatus 305 cleans the sample transfer apparatus 301.
6. The clamping manipulator moves the sucked sample carrier to a waste treatment station 5.
7. The reagent transfer device 303 transfers the reagent into the reaction cup 3061, and the cleaning device 305 cleans the reagent transfer device 303.
8. The reaction device 306 operates, the reaction cup 3061 is rotated to a position between the light source emitting end 401 and the receiving end 402 of the result interpretation station 4, the photoelectric signal conversion device 403 converts the optical signal into an electric signal, the software system detects the intensity of the projected light and/or refracted light signal of the solution after the sample and the reagent react according to the immunoturbidimetry, and the intensity is compared with the data stored in the system to make result interpretation.
8. The cleaning device 305 cleans the reaction cup 3061.
9. And entering the next detection period.
The method realizes automation, sealing and batch detection of the brucella by the manual tiger red plate agglutination method, improves the detection efficiency, reduces the infection risk of medical inspectors, and can be applied to other detection projects.
Claims (10)
1. The utility model provides a test tube clamping manipulator, its characterized in that its is including installing mount pad (13) on the arm, fixed arm lock (14) and one end of setting on mount pad (13) through pivot install deflection arm lock (15) on mount pad (13) fixed arm lock (14) and deflection arm lock (15) go up the correspondence and open last groove (17) and lower groove (6) that are used for the centre gripping test tube, are equipped with elasticity thrustor in lower groove (6).
2. The test tube clamping manipulator according to claim 1, wherein the elastic pushing device comprises a blind hole (8) formed in the lower groove (6), a spring (10) arranged in the blind hole (8), and a pushing concave plate (9) arranged at the top of the spring (10), and the bending radius of the pushing concave plate (9) is matched with that of the upper groove (17) to clamp the test tube;
in a natural state, the distance between the pushing concave plate (9) in each lower groove (6) and the corresponding lower groove (6) is gradually increased from one end close to the rotating shaft to the other end.
3. A test tube clamping manipulator according to claim 1 or 2, characterized in that a deflecting cylinder (16) is further arranged on the mounting base (13), the cylinder body of the deflecting cylinder (16) is hinged with the mounting base (13), and the cylinder rod is hinged with the free end of the deflecting clamping arm (15).
4. A test tube clamping manipulator according to claim 1, wherein the fixed clamping arm (14) is hollow, a conveyor belt (7) is arranged in the fixed clamping arm (14), the inner side wall of each upper groove (17) is provided with a yielding groove (12), and the conveyor belt (7) passes through the yielding groove (12) in each upper groove (17) so that the conveyor belt (7) passes through each upper groove (17).
5. A test tube holding manipulator according to claim 4, characterized in that the surface of the conveyor belt (7) is provided with non-slip rubber.
6. A closed Brucella detection instrument is characterized by comprising a closed operation box body, a sample bar code identification station, a serum preparation station, a sample reaction station, a result interpretation station, a waste treatment station and a test tube clamping manipulator according to any one of claims 1 to 5, wherein the sample bar code identification station, the serum preparation station, the sample reaction station, the result interpretation station and the waste treatment station are arranged in the operation box body, and the test tube clamping manipulator is used for transferring test tubes among the stations.
7. The enclosed brucella detector of claim 6, wherein said sample barcode identification station comprises a sample tray and a scanning device for identifying a sample information barcode;
the serum preparation station adopts a centrifuge.
8. The enclosed brucella detector of claim 6, wherein said sample reaction station comprises a sample transfer device, a sample carrier, a reagent transfer device, a reagent storage device, a cleaning device and a reaction device, said reaction device is a transparent reaction cup.
9. The enclosed brucella detector according to claim 8, wherein said result interpretation station comprises a light source emitting end and a light source receiving end respectively disposed at two sides of the transparent reaction cup, a photoelectric signal conversion device and an analysis and discrimination software system, said analysis and discrimination software system detects the intensity of the projected light and/or refracted light of the solution after the reaction between the sample and the reagent according to immunoturbidimetry, and compares the intensity with the data stored in the system to make the result interpretation.
10. The enclosed brucella detector of claim 6, wherein said waste disposal site comprises a sealed storage room and a sterilizing device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210920291.0A CN115400821A (en) | 2022-08-02 | 2022-08-02 | Test tube clamping manipulator and closed brucella detector |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210920291.0A CN115400821A (en) | 2022-08-02 | 2022-08-02 | Test tube clamping manipulator and closed brucella detector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038669A (en) * | 2022-12-31 | 2023-05-02 | 同济大学附属东方医院胶州医院 | Mechanical arm structure for sample collection |
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| CN112371203A (en) * | 2020-11-05 | 2021-02-19 | 福建师范大学 | Tubular frame |
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Application publication date: 20221129 |