CN109514592A - Pawl structure, switch cover external member and robot for switch cover - Google Patents
Pawl structure, switch cover external member and robot for switch cover Download PDFInfo
- Publication number
- CN109514592A CN109514592A CN201811586342.0A CN201811586342A CN109514592A CN 109514592 A CN109514592 A CN 109514592A CN 201811586342 A CN201811586342 A CN 201811586342A CN 109514592 A CN109514592 A CN 109514592A
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- China
- Prior art keywords
- claw
- pawl structure
- shell
- switch cover
- pressing plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
- B67B3/2066—Details of capping heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/28—Mechanisms for causing relative movement between bottle or jar and capping head
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/14—Hand- or power-operated devices for opening closed containers for removing tightly-fitting lids or covers, e.g. of shoe-polish tins, by gripping and rotating
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Devices For Opening Bottles Or Cans (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The present invention provides a kind of pawl structures, switch cover external member and robot for switch cover, pawl structure includes multiple claws, driving assembly, the first shell, multiple elastic components and pressing plate, multiple claws are arranged in the first shell, elastic component is arranged between two adjacent claws, and pressing plate is connected on driving assembly.Claw and the first shell are equipped with the tapered face being mutually matched, and are in confined state always in the elastic component under the limitation of the inner wall of the first shell, between multiple claws.When driving assembly travels forward, driving pressing plate pushes multiple claws to travel forward, under the limitation of the inner wall of the first shell, multiple claws be in tightening state；When driving assembly moves backward, each elastic component elastic force effect under, multiple claws be in open configuration.The present invention can minimize the size of pawl structure as far as possible, can be suitable for carrying out switch cover operation simultaneously to multiple sample bottles；And during turn, it is not easy to skid.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of pawl structure, switch cover external member and machine for switch cover
People.
Background technique
The most fundamental difference of both robot and operation machine (such as crane or purely mechanic equipment) is crane etc.
Purely mechanic equipment is driver to be controlled by people, and robot is that robot pawl is controlled by computer programming, robot when use
Mainly according to scheduled route from initial position clamping target object (for example, test tube) to target position.
With the development of economy and society, the application field of robot is more and more wider, such as life science.In life section
Field is important a ring to the inspection of sample, such as needs blood, urine equal samples to acquisition in the clinical laboratory of hospital
Various chemical examinations are carried out, needs to carry out microorganism detection to the sample of acquisition in microorganism laboratory, be tested in gene sequencing
Room needs the gene such as to be sequenced, in this way by examining available various testing results, and then can help doctor or
Other reviewers judge the state of tested sample (or tested person).And occurs or occur not yet in robot but go back
The initial stage not being widely popularized, above-mentioned detection process are substantially by what is be accomplished manually, and also some may be by pure machine certainly
What tool device was completed.
And with the progress of automatic technology, present detection process to automatic detection direction via manually developing
?.Artificial participation is also but needed in many links entirely detected, such as when blood testing, usually by the blood of tested personnel
Liquid is collected into test tube, and test tube is to use test tube cap closed, is not easy to spill so during transportation, is not easy to be secondary polluted,
When being sent to laboratory and being detected, it is necessary to which bottle cap is first opened, handled again invisible spectro blood by testing staff, is examined
The bottle cap of test tube is covered again after having surveyed, finally carries out storing/discarding equal operation.However switch cover operation is by testing staff's craft
Not only waste of resource (in laboratory, general testing staff is high level intellectual) is completed, and for some samples, is being opened
It is easy to impact the health of operator when lid, for example, some samples are easy to produce aerosol when opening lid, and
Aerosol will affect the health of operator, it is therefore desirable to and machine or equipment replace manually performing switch cover operation, from
And guarantee the health of testing staff.
Occur some technical solutions for switch cover in the prior art, for example, notification number is CN104444983A, name
It is automatic that a kind of pair of sample tube referred to as is disclosed in the Chinese patent of " sample tube go automatically close the lid and handling device "
Remove the device to close the lid, including board, clamping test tube vertical movement electric cylinders, test tube rotary-top motor, the rotation of clamping test tube bottom
Turn electric cylinders, test tube clamping electric cylinders and test tube to uncap and clamp electric cylinders, rotation electric cylinders in clamping test tube bottom are connect with board, clamp test tube
Vertical movement electric cylinders are connect with clamping test tube bottom rotation electric cylinders, and test tube clamps electric cylinders and clamps the one of test tube vertical movement electric cylinders
End connection, test tube rotary-top motor are connect with the other end of clamping test tube vertical movement electric cylinders, and test tube clamps electric cylinders and is equipped with two
A clamping jaw, test tube rotary-top motor are connected with lid rotator, and test tube, which is uncapped, to be clamped electric cylinders and connect with board, and test tube, which is uncapped, clamps electricity
Cylinder is set there are two clamping jaw, although be able to achieve test tube concussion, go lid, scanning, upper cover entire roboticized work, there are with
Lower shortcoming:
1, it needs that test tube rotary-top motor and multiple electric cylinders is arranged, so that the size of device entirety is larger, it is desirable that there is foot
Enough big installation spaces.
2, test tube rotary-top motor is easy coiling, and since installation space limits, each power driver is (i.e. at the top of test tube
Rotating electric machine and multiple electric cylinders) that there are cablings is in disorder, it has not been convenient to the problem of cabling.
3, sample tube close the lid by lid rotator, lid rotator is limited by sample tube shapes and sizes,
All sample tubes cannot be common to, sample tube is enveloped additionally by lid rotator and is screwed or unscrewed, in turn
In the process, it after especially with a period of time, is easy to skid between lid rotator and sample tube lid, causes to close the lid unsuccessfully.
4, switch cover operation can only be carried out to single test tube, can not achieve pipelining, when switch cover, test tube need from
Test tube place hole location be first moved to test tube bearing, then just can be carried out switch cover operation, take a long time, working efficiency compared with
It is low；Especially when sample especially more (such as a samples up to a hundred of genetic test one-time detection tens) for needing to detect, work effect
Rate is especially low.
Summary of the invention
In order at least solve the problems, such as above-mentioned 3rd and the 4th, according to an aspect of the present invention, a kind of pawl is provided first
Structure, the pawl structure by utilizing elastic component, and the tapered face for combining claw, pressing plate and the first shell to match, so as to
The size of pawl structure is minimized as far as possible, and can be suitable for carrying out switch cover operation simultaneously to multiple sample bottles, more, is passed through
Claw clamps sample tube and is screwed or unscrewed, during turn, it is not easy to skid, avoid and close the lid unsuccessfully
The case where occur.
Provided by the present invention for the pawl structure of switch cover, the pawl structure includes multiple claws and described more for driving
The driving assembly of a claw movement, the pawl structure further include:
First shell, the multiple claw are arranged in first shell；
Multiple elastic components, the elastic component are arranged between two adjacent claws；And
Pressing plate, the pressing plate are connected in the driving component；
Wherein, the claw and first shell are equipped with the tapered face being mutually matched, in the inner wall of first shell
Limitation under, the elastic component between the multiple claw be in confined state always；
When the driving component travels forward, drive the pressing plate that the multiple claw is pushed to travel forward, described
Under the limitation of the inner wall of first shell, the multiple claw be in tightening state；
When the driving component moves backward, under the elastic force effect of each elastic component, at the multiple claw
In open configuration.
Illustratively, the pulling plate for pulling the multiple claw is also connected in the driving component by the pressing plate, when
When the driving component moves backward, the pulling plate applies pulling force to the multiple claw to facilitate the multiple claw from described
Tightening state switches to the open configuration.
Illustratively, the tapered face is the conical surface.
Illustratively, the driving component includes fixed axial linear motor, the motor of the fixed axial linear motor
The end of axis is connected with the pressing plate.
Illustratively, the pressing plate includes pressing plate ontology, the first trunk portion and the second trunk portion, first trunk portion and
Second trunk portion is extended from two opposing end surfaces of the pressing plate ontology respectively, first trunk portion and the fixation
The motor axis connection of axial linear motor, second trunk portion are connect with the pulling plate, when the fixed axial linear motor
Motor shaft when travelling forward, the motor shaft drives the pressing plate ontology that the multiple claw is pushed to travel forward, described
Under the limitation of the inner wall of first shell, the multiple claw be in tightening state.
Illustratively, the end of the motor shaft of the fixed axial linear motor is provided with threaded joints, and described first
The first thread segment is provided in trunk portion, first thread segment is threadedly coupled with the threaded joints.
Illustratively, the pulling plate includes pulling plate ontology and interconnecting piece, and the interconnecting piece is from one end of the pulling plate ontology
Extend on face, screw thread is provided on the interconnecting piece, the second thread segment, the interconnecting piece are provided in second trunk portion
It is threadedly coupled with the second thread segment of second trunk portion, when the driving component moves backward, the pulling plate ontology pair
The multiple claw applies pulling force to facilitate the multiple claw to switch to the open configuration from the tightening state.
Illustratively, each claw includes flat part and the rake with the conical surface, the flat part and institute
Rake is stated in the side close to the elastic component by step transition, the respective flat part of the multiple claw is common
Form cylindrical body, the respective rake of the multiple claw is collectively formed bullet, the multiple claw it is respective
Limit end face is collectively formed in the step, and the pulling plate ontology is located in the bullet and draws applying to the multiple claw
When power with the positive stop end face contact.
Illustratively, the elastic component is spring, is provided with blind hole, the both ends of each spring on each claw
It is only against in the accordingly described blind hole of two adjacent claws respectively.
Illustratively, the claw is three, and accordingly, the spring is three, and three springs are evenly distributed
Between three claws.
Illustratively, the claw consistently forms line with the inner wall of first shell and contacts.
According to another aspect of the present invention, a kind of switch cover external member is provided, the switch cover external member includes such as above-mentioned pawl
Structure；The switch cover external member further includes installing ontology, making the lifting assembly of the pawl structure lifting and revolve the pawl structure
The rotary components turned, the lifting assembly are mounted on the installation ontology.
According to a further aspect of the invention, a kind of robot with switch lid function is provided, the robot includes
Fixed frame and such as above-mentioned switch cover external member, the installation ontology is fixed with the fixed frame.
In the present invention, by utilizing elastic component, and the tapered face for combining claw, pressing plate and the first shell to match, thus
The size of pawl structure can be minimized as far as possible, and can be suitable for carrying out switch cover operation simultaneously to multiple sample bottles, more,
It clamps sample tube by claw to be screwed or unscrewed, during turn, it is not easy to skid, avoid and close the lid
The case where failing.In addition, the pawl structure in the present invention is under the action of elastic component elastic force and pressing plate, while in the first shell
Inner wall limitation under can be very stable, firm clamping sample bottle cap, it is not easy to fall.
Detailed description of the invention
The embodiment of the present invention is described in more detail in conjunction with the accompanying drawings, the above and other purposes of the present invention,
Feature and advantage will be apparent.Attached drawing is used to provide to further understand the embodiment of the present invention, and constitutes explanation
A part of book, is used to explain the present invention together with the embodiment of the present invention, is not construed as limiting the invention.In the accompanying drawings,
Identical reference label typically represents same parts or step.
Fig. 1 is the structural schematic diagram of robot according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of switch cover external member according to an embodiment of the present invention；
Fig. 3 is the structure chart of the pawl structure of connection on the rotary shaft in Fig. 2；
Fig. 4 is the explosive view of Fig. 3；
Fig. 5 is the structural schematic diagram of the claw of the pawl structure in Fig. 3.
Wherein, appended drawing reference is
110-switch cover external members
1110-pawl structures
1111-claws
11111-flat parts
11112-rakes
11113-steps
11114-blind holes
11115-arc grooves
1112-driving assemblies
11121-shells
11122-first flanges
11123-second flanges
11124-motor shafts
111241-threaded joints
1113-the first shell
1114-second housings
1115-elastic components
1116-pressing plates
11161-pressing plate ontologies
11162-the first trunk portion
111621-the first thread segment
11163-the second trunk portion
111631-the second thread segment
1117-pulling plates
11171-pulling plate ontologies
11172-interconnecting pieces
1120-lifting assemblies
1121-the second motor
1122-lead screws
1123-sliding blocks
1124-the first support base
1125-the second support base
1126-handwheels
1130-rotary components
1131-first motors
1132-rotary shafts
114-installation ontologies
1141-sliding rails
1150-connection frames
1151-first parts
1152-second parts
1153-Part III
1160-anti-winding structures
1161-anti-coiling slip rings
1162-drag chains
11621-vertical sections
11622-bending sections
1163-aviation plugs
1170-anti-collision structures
1171-optocoupler baffles
1172-optocouplers
1173-optocoupler brackets
12-fixed frames
121-bottom plates
122-the first column
123-the second column
125-reinforcing beams
126-mounting rails
13-sample bottle racks
131-sample bottles
132-sample bottle stand driving mechanisms
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the present invention
The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor
It should all fall under the scope of the present invention.
In conjunction with refering to fig. 1, a specific embodiment of the invention is related to a kind of robot, which has switch cover function
Can, robot includes switch cover external member 110, fixed frame 12, sample bottle rack 13 and controller (attached to be not shown in the figure) etc.,
In order to better understand the present invention, each component will be hereafter described in detail.
In conjunction with referring to Fig.2, switch cover external member 110 includes pawl structure 1110, lifting assembly 1120, rotary components 1130, peace
Fill ontology 114 and connection frame 1150.Pawl structure 1110 is for executing switch cover operation.Lifting assembly 1120 is used for band pawl structure
1110 move up and down.Rotary components 1130 are used for band pawl structure 1110 and rotate.Lifting assembly 1120 is mounted on installation ontology 114
On, in use, installation ontology 114 can be fixed in place, such as a workbench, or it is fixed on this embodiment party
On fixed frame 12 in formula, it is discussed in detail below about this point.Wherein, rotary components 1130 and lifting assembly 1120 be side by side
Setting.
Rotary components 1130 include first motor 1131 and the rotary shaft 1132 connecting with the output end of first motor 1131,
Rotary shaft 1132 is connected with pawl structure 1110, with band pawl structure 1110 rotation when first motor 1131 starts.
Lifting assembly 1120 includes the second motor 1121 and the lead screw 1122 with the output axis connection of the second motor 1121, silk
Sliding block 1123 is threaded on thick stick 1122.Certainly, lifting assembly 1120 can also include that the first support base 1124, second supports
Seat 1125 and handwheel 1126.Lead screw 1122 is preferably chosen lead screw, in this way compared to selection ball-screw, can be reduced lubrication
Sample is not polluted in maintenance, and cost reduces.
Rotary components 1130 and the arranged side by side of lifting assembly 1120 are realized by connection frame 1150, connection frame 1150
It is fixedly connected with sliding block 1123, rotary components 1130 and pawl structure 1110 are installed on connection frame 1150；When the second motor
When 1121 starting, the band movable slider 1123 under the driving of the second motor 1121 of lead screw 1122 is slided, and sliding block 1123 passes through connection frame
1150 drive rotary components 1130 and pawl structure 1110 move linearly along the axial direction of lead screw 1122.
Specifically, lead screw 1122 rotates with it, and sliding block 1123 will be rotated in lead screw 1122 when the rotation of the second motor 1121
When move linearly along the axis of lead screw 1122, and since connection frame 1150 and sliding block 1123 are fixed, rotary components 1130 and pawl
Structure 1110 is in turn mounted on connection frame 1150, therefore rotary components 1130 and pawl structure 1110 are with connection frame 1150 together edge
The axis of lead screw 1122 is for linear motion.Pawl structure 1110 can be mobile up and down (lifting) in practical applications, such as pawl knot
Structure 1110 moves downward, so that sample bottle cap is moved closer to, after pawl structure 1110 is moved down into suitable position, pawl structure
1110 crawl sample bottle caps simultaneously clamp, and are rotated under the drive of the second motor 1131, to drive sample bottle cap together
Rotation, and then realize the operation of uncapping of sample bottle, similarly, when closing lid, other operate with uncap operate it is identical, the difference is that need
The rotation direction for changing pawl structure 1110, so that sample bottle cap be made to be tightened on sample bottle.
In the present invention, by the way that rotary components 1130 and lifting assembly 1120 are arranged side by side, rotary components arranged side by side
It is connected between 1130 and lifting assembly 1120 by connection frame 1150 and sliding block 1123, and lifting assembly 1120 is motor+lead screw
Structure so that the structure of switch cover external member 110 is more compact, size can minimize as far as possible, compared to existing skill
Electric cylinders+synchronous belt structure size in art greatly reduces, and saves occupied space.It is applied to when by the switch cover external member 110
When in robot, more set switch cover external members 110 can be set, since the size of every set switch cover external member 110 is smaller, occupied space
It is smaller, therefore can be adapted for carrying out switch cover operation to multiple sample bottles being closer simultaneously, without first to sample bottle
It is shifted, and then realizes pipelining, working efficiency is higher, can obtain good user experience.
In the present invention, by the way that rotary components 1130 and lifting assembly 1120 are arranged side by side, and the lifting of pawl structure 1110
Movement is realized by the sliding of sliding block 1123, is more had the following advantages: 1, being efficiently reduced the cantilever of switch cover external member, in this way
Can be effectively reduced vibration, and the reduction of cantilever can also reduce due to cantilever it is longer caused by lacking of amplifying of concentricity
It falls into；It 2, is to separate with lifting action due to the spinning movement of pawl structure, during tightening lid, pawl structure 1110 is rotating
It does not need to simultaneously decline when lid, that is to say, that do not needed when cap through pawl structure 1110 to bottle cap one
Downward thrust, can easily control bottle cap in this way tightens degree.Wherein, for lifting assembly 1120, due to lead screw
Only it is rotated, and without elevating movement, the elevating movement of pawl structure 1110 is realized by the sliding of sliding block, thus
It does not need to limit the lead of lead screw, so as to select the lead screw of any lead (to fix if it is sliding block, lead screw is revolving
It is moved up and down during turning, then needs that lead screw is required to turn around, bottle cap is also tightened a circle).
First support base 1124 and the second support base 1125 are separately fixed on installation ontology 114, and the first support base
1124 and second support base 1125 be respectively supported at the both ends of lead screw 1122, so that entire lifting assembly 1120 is mounted on installation
On ontology 114.Why first support base 1124 is set and the second support base 1125 be because, lead screw 1122 belongs to elongate articles,
And it needs to be rotated and moved linearly simultaneously at work, and be also threaded with sliding block 1123 thereon, therefore in silk
In the motion process of thick stick 1122, lead screw 1122 may be damaged or even fracture, while also be easy to appear rolling during the motion
Dynamic (especially when pawl structure 1110 grabs sample bottle cap or when its own is by external force collision), and at 1122 both ends of lead screw
Two support bases are set, so as to avoid the generation of above situation to a certain extent.
Even if the first support base 1124 and the second support base 1125 are provided at the both ends of lead screw 1122 certainly, in lead screw
It in 1122 motion process or may shake, be provided between the first support base 1124 and the second support base 1125 thus
Sliding rail 1141, sliding rail 1141 can be fixed on installation ontology 114 and be arranged in parallel with lead screw 1122, sliding block 1123 and sliding rail 1141
It is slidably connected.In this way, sliding rail 1141 can share a part of power for lead screw 1122, simultaneously in the motion process of lead screw 1122
Since sliding block 1123 and sliding rail 1141 are slidably connected, during lead screw 1122 moves, sliding rail 1141 can also be played
The effect of guiding so as to effectively avoid the shaking of lead screw 1122 during the motion, and then avoids pawl structure 1110 from shaking.
The first support base 1124 or the second support base 1125, switch cover set are hit in 1123 sliding process of sliding block in order to prevent
Part 110 is additionally provided with anti-collision structure 1170, which can use the fit structure of optocoupler and optocoupler baffle, due to
The fit structure of optocoupler and optocoupler baffle is a kind of common technology, and about its structure and principle, which is not described herein again, below
Only its mounting means is once introduced.
Having lateral clearance between first motor 1131 and the second motor 1121, (transverse direction herein is X as shown in Figure 2
To), anti-collision structure 1170 is located in lateral clearance, in the present invention, due to by anti-collision structure setting in first motor 1131 and the
In lateral clearance between two motors 1121, so as to save installation space.Specifically, optocoupler baffle 1171 passes through optocoupler branch
Frame 1173 is fixed on the shell of the second motor 1121；Optocoupler 1172 is fixed on the shell of first motor 1131 and can be with
One motor 1131 moves up and down；The both ends of optocoupler baffle 1171 are corresponding first support base 1124 of sliding block 1123 and the second support base
1125 extreme position.Based on the setting, it is avoided that in 1123 sliding process of sliding block and hits the first support base 1124 or second
Support seat 1125.
Handwheel 1126 is connected on the end of the second support base of stretching 1125 of lead screw 1122, the setting energy side of handwheel 1126
Just the manual rotational lead screw 1122 in power failure or debugging.
In the present invention, shaft coupling is preferably used to connect (including second motor 1121 and the connection of lead screw 1122
One motor 1131 is with the connection of rotary shaft 1132 it is also preferred that being connect using shaft coupling, why using the first electricity in present embodiment
The statement of machine, the second motor be intended merely to describe it is clear, and actually first motor, the second motor can be identical motor),
The size of counter structure (such as switch cover external member, pawl structure) not only can be reduced, and transmission efficiency is higher.
Illustrate as an example, connection frame 1150 includes first part 1151, second part 1152 and is connected to the
Part III 1153 between a part 1151 and second part 1152, and connection frame 1150 is whole C-shaped, sliding block 1123 and the
Three parts 1153 are fixedly connected.First bearing mounting hole (not shown), first bearing peace are offered in first part 1151
Dress hole in it is mountable have first bearing, one end of rotary shaft 1132 is threaded through in first bearing, the other end of rotary shaft 1132 with
Pawl structure 1110 is connected.Second bearing mounting hole (not shown), second bearing installation are offered on second part 1152
Second bearing is installed, which is used to support the motor shaft 11124 of fixation axial linear motor hereinafter in hole.This
In invention, by the setting of first bearing and second bearing, concentricity issues are substantially improved, but also can reduce
Friction is so that the rotation of pawl structure 1110 is more flexible.On the one hand 1150 whole design of connection frame can be convenient and sliding block at C-shaped
1123 connections；On the other hand it can be convenient the motor shaft 11124 of the first rotary shaft of support 1132 and fixed axial linear motor；Also
Have, the setting of shell 11121 by anti-coiling slip ring 1161 and fixed axial linear motor hereinafter can be facilitated corresponding in C-shaped
In opening.
About pawl structure 1110, generally, different demands corresponds to the pawl structure of different structure, and the size of pawl structure,
The detailed structures such as structure, which determine, can precisely, reliably grab target bottle cap.
In conjunction with refering to Fig. 3, Fig. 4 and Fig. 5, pawl structure 1110 includes claw 1111, driving assembly 1112, the first shell
1113, second housing 1114, multiple elastic components 1115, pressing plate 1116 and pulling plate 1117.It should be noted that above-mentioned technology is special
Sign it is not necessary to occur, but can be combined into different technical sides according to actual needs simultaneously in the same technical solution
Case.Practical pawl structure 1110 is exactly to prevent sample bottle cap from falling during uncapping or closing lid for firmly grasping sample bottle cap
Or skid, to influence switch cover operation.
In a technical solution, pawl structure 1110 may include claw 1111, driving assembly 1112, the first shell 1113
With multiple elastic components 1115.The claw 1111 is multiple (being also considered as being independent of each other more claws), the first shell
1113 can be regarded as the installation foundation of claw 1111.Multiple claws 1111 are installed in the first shell 1113, elastic component
1115 are arranged between two adjacent claws 1111, and claw 1111 and the first shell 1113 are equipped with the tapered face being mutually matched,
It is in confined state always in the elastic component 1115 under the limitation of the inner wall of the first shell 1113, between multiple claws 1111；
When driving assembly 1112 pushes multiple claws 1111 to travel forward, under the limitation of the inner wall of the first shell 1113, multiple claws
1111 are in tightening state；When driving assembly 1112 moves backward, under the elastic force effect of each elastic component 1115, multiple claws
1111 are in open configuration.Wherein, " forward " in embodiments of the present invention, " backward " can be understood as relative to driving
" forward " and " backward " of component.In practical applications it can be appreciated that in diagram up and down.
Tapered face referred to above refers in the present invention: relative to driving assembly 1112, along far from driving assembly 1112
Direction (i.e. forward), the inner edge perimeter of the first shell 1113 and the outer rim perimeter of claw are gradually reduced, it is understood that are the
One shell and claw are smaller and smaller for external opening.Wherein, tapered face can be the conical surface, and the conical surface is advantageously selected for adding
Work, and on production cost also can compared to other forms tapered face (for example, the diminishing arcwall face of radius) significantly
It reduces.When switching from open configuration to tightening state, during multiple claws 1111 travel forward, due to claw 1111
It is two neighboring with the restriction effect (opening of claw and the first shell is smaller and smaller) for the conical surface of the first shell 1113 to match
The decrement of elastic component 1115 between claw 1111 is gradually increased, so that the distance between two neighboring claw 1111 gradually subtracts
Small, until the distance between two neighboring claw 1111 is reduced to minimum, multiple claws 1111 are in tightening state at this time.Together
Reason starts driving assembly 1112, driving assembly 1112 moves backward, to solve when switching from tightening state to open configuration
Except the thrust to claw 1111, claw 1111 elastic component 1115 elastic force effect under move backward, multiple claws 1111 to
During moving afterwards, due to change in size (claw and first of claw 1111 and the conical surface of the first shell 1113 to match
The opening of shell is increasing), the decrement of the elastic component 1115 between two neighboring claw 1111 is gradually reduced, thus adjacent
The distance between two claws 1111 are gradually increased, until the maximum that the distance between two neighboring claw 1111 increases to, this
When multiple claws 1111 be in open configuration.
As a kind of deformation, tapered face can also be the diminishing arcwall face of radius, and this tapered face also can use
The gradual change of its radius, to realize the tightening and opening of pawl structure.
As another deformation, tapered face can also be the curved surface etc. for the continual curvature that other sizes are gradually reduced.
In the present invention, by the way that using the lesser elastic component 1115 of size, (elastic component can be processed according to actual needs
It is very small), and the tapered face for combining claw 1111 and the first shell 1113 to match, so as to by the size of pawl structure 1110
Minimize as far as possible, can be suitable for multiple sample bottles simultaneously carry out switch cover operation (especially suitable for neighboring samples bottle it
Between the very small situation of distance), realize continuous productive process；And pawl knot 1110 in the prior art is due to the limitation of its structure,
Pawl structure cannot design very small, so that when carrying out switch cover operation switch cover operation can only be carried out to simple sample bottle,
It can not achieve continuous productive process.And the pawl structure in the present invention is under the action of 1115 elastic force of elastic component, while in the first shell
Clamping sample bottle cap that can be very firm under the limitation of 1113 inner wall, it is not easy to fall.
Pawl structure in present embodiment include tightening state, open configuration and between tightening state and open configuration it
Between intermediate state, these three states will be described in detail below:
Assuming that initial conditions are open configuration, when needing to grab using pawl structure 1110 and clamp sample bottle cap, also
It is when saying that pawl structure 1110 is needed to be switched to tightening state from open configuration, sample bottle cap to be made to be located at the more of pawl structure 1110 first
In the space that a claw 1111 is formed, then start driving assembly, under the driving of driving assembly, multiple claws 1111 are transported forward
It is dynamic, during multiple claws 1111 travel forward, due to the tapered face of claw 1111 and the first shell 1113 to match
Restriction effect (opening of claw and the first shell is smaller and smaller), the pressure of the elastic component 1115 between two neighboring claw 1111
Contracting amount is gradually increased, so that the distance between two neighboring claw 1111 is gradually reduced, until between two neighboring claw 1111
Distance be reduced to minimum, multiple claws 1111 are in tightening state at this time, before this it is considered that claw is in intermediate shape
State.
On the contrary, when that is, claw 1111 switches from tightening state to open configuration, starting is driven when needing to unclamp sample bottle cap
Dynamic component 1112, driving assembly 1112 move backward, to release the thrust to claw 1111, claw 1111 is in elastic component 1115
Elastic force effect under move backward, during multiple claws 1111 move backward, due to claw 1111 and the first shell
The change in size (being gradually increased) in the 1113 tapered face to match, the pressure of the elastic component 1115 between two neighboring claw 1111
Contracting amount is gradually reduced, so that the distance between two neighboring claw 1111 is gradually increased, until between two neighboring claw 1111
Distance increase to maximum, multiple claws 1111 are in open configuration at this time, before this it is considered that claw is in intermediate shape
State.
About driving assembly 1112, driving assembly 1112 illustrates as an example, drives for driving claw 1111 to move
For dynamic component 1112 using fixed axial linear motor, fixed axial linear motor includes shell 11121, first flange 11122, the
Two flanges 11123 and motor shaft 11124, shell 11121, first flange 11122 and second flange 11123 are for installing fixing axle
Formula linear motor, wherein first flange 11122 is respectively fixedly connected with rotary shaft 1132 and shell 11121, second flange
11123 are fixedly connected with shell 11121.For motor shaft 11124 for transmitting power, the selection of fixed axial linear motor can
Greatly simplify structure.It can also pass through other than it can provide power by fixed axial linear motor as a kind of deformation
The modes such as hydraulic-driven, pneumatic provide power, herein a just different citing.
Illustrate as an example, the pressing plate 1116 for pushing multiple claws 1111 is connected on driving assembly 1112, works as drive
When dynamic component 1112 is using fixed axial linear motor, pressing plate 1116 is connected to the motor shaft 11124 of fixed axial linear motor
End.The operating principle of the pawl structure 1111 with pressing plate 1116 is described in detail below:
Assuming that initial conditions are open configuration, when needing to grab using pawl structure 1110 and clamp sample bottle cap, also
It is when saying that pawl structure 1110 is needed to be switched to tightening state from open configuration, sample bottle cap to be made to be located at the more of pawl structure 1110 first
In the space that a claw 1111 is formed, then starts driving assembly and the driving component is made to travel forward, in driving assembly
Under driving, when driving assembly (for example, motor shaft 11124 of fixed axial linear motor) band dynamic pressure plate 1116 travels forward, from
And make pressing plate 1116 that multiple claws 1111 be pushed to travel forward, during multiple claws 1111 travel forward, due to pawl
The restriction effect (opening of claw and the first shell is smaller and smaller) in portion 1111 and the tapered face of the first shell 1113 to match,
The decrement of elastic component 1115 between two neighboring claw 1111 is gradually increased, thus between two neighboring claw 1111 away from
From being gradually reduced, until the distance between two neighboring claw 1111 is reduced to minimum, multiple claws 1111 are in tightening at this time
State, before this it is considered that claw is in intermediate state.
On the contrary, when that is, claw 1111 switches from tightening state to open configuration, starting is driven when needing to unclamp sample bottle cap
Dynamic component 1112, driving assembly 1112 move backward, to release the thrust to claw 1111, claw 1111 is in elastic component 1115
Elastic force effect under move backward, during multiple claws 1111 move backward, due to claw 1111 and the first shell
The change in size (being gradually increased) in the 1113 tapered face to match, the pressure of the elastic component 1115 between two neighboring claw 1111
Contracting amount is gradually reduced, so that the distance between two neighboring claw 1111 is gradually increased, until between two neighboring claw 1111
Distance increase to maximum, multiple claws 1111 are in open configuration at this time, before this it is considered that claw is in intermediate shape
State.
In the present invention, it since multiple claws 1111 are mutual independent component, is pushed in driving assembly 1112 more
When a claw 1111 travels forward, travel forward since the presence of pressing plate 1116 can guarantee that multiple claws can synchronize, thus
Improve the reliability of total.
Illustrate as an example, pressing plate 1116 includes pressing plate ontology 11161, the first trunk portion 11162 and the second cylinder
Portion 11163, the first trunk portion 11162 and the second trunk portion 11163 extend from two opposing end surfaces of pressing plate ontology 11161 respectively
Out, the first trunk portion 11162 is connect with the motor shaft 11124 of fixed axial linear motor, the second trunk portion 11163 with it is subsequent
Pulling plate 1117 connects.Specifically, the end of the motor shaft 11124 of fixed axial linear motor is provided with threaded joints
111241, the first thread segment 111621, the first thread segment 111621 and threaded joints are provided in the first trunk portion 11162
111241 are threadedly coupled, to realize being fixedly connected for pressing plate 1116 and motor shaft 11124.In this way, when fixed shaft type straight-line electric
When the motor shaft 11124 of machine travels forward, which can drive pressing plate ontology 11161 that multiple claws 1111 is pushed to transport forward
It is dynamic, under the limitation of the inner wall of the first shell 1113, multiple claws 1111 be in tightening state.
Illustrate as an example, is also connected with by pressing plate 1116 on driving assembly 1112 and pulls multiple claws 1111
Pulling plate 1117, when driving assembly 1112 moves backward, pulling plate 1117 applies pulling force to multiple claws 1111 to facilitate multiple pawls
Portion 1111 switches to open configuration from tightening state.Setting based on pressing plate 1116 and pulling plate 1117, pawl structure of the invention
1110 tightening and opening can reliably switch very much, and realize claw 1111 by the cooperation of pressing plate 1116 and pulling plate 1117
It shrinks and opens, the contraction of pressing plate 1116 and pulling plate 1117 and opening can not only be made more stable, moreover it is possible to extend elastic component 1115
Service life because the tightening of pawl structure 1110 is no longer completely dependent on the elastic force (elastic component 1115 of elastic component 1115 with opening
Main function be to prevent claw 1111 from shaking for multiple claws 1111 of separation to be combined into an entirety), but pass through
The promotion of pressing plate 1116 and the pulling of pulling plate 1117, so that structure is relatively reliable.
The operating principle with pressing plate 1116 and the pawl structure 1111 of pulling plate 1117 is described in detail below:
Assuming that initial conditions are open configuration, when needing to grab using pawl structure 1110 and clamp sample bottle cap, also
It is when saying that pawl structure 1110 is needed to be switched to tightening state from open configuration, sample bottle cap to be made to be located at the more of pawl structure 1110 first
In the space that a claw 1111 is formed, then starts driving assembly and the driving component is made to travel forward, in driving assembly
Under driving, driving assembly (such as the motor shaft 11124 that specifically can be fixed axial linear motor) band dynamic pressure plate 1116 is forward
When movement, pressing plate 1116 pushes multiple claws 1111 to travel forward, during multiple claws 1111 travel forward, due to pawl
The restriction effect (opening of claw and the first shell is smaller and smaller) in portion 1111 and the tapered face of the first shell 1113 to match,
The decrement of elastic component 1115 between two neighboring claw 1111 is gradually increased, thus between two neighboring claw 1111 away from
From being gradually reduced, until the distance between two neighboring claw 1111 is reduced to minimum, multiple claws 1111 are in tightening at this time
State, before this it is considered that claw is in intermediate state.
On the contrary, when that is, claw 1111 switches from tightening state to open configuration, starting is driven when needing to unclamp sample bottle cap
Dynamic component 1112, driving assembly 1112 move backward, to release the thrust to claw 1111, and backward due to pressing plate 1116
Movement, therefore pulling plate 1117 is pulled to move backward, elastic force effect and the drawing of pulling plate 1117 of the claw 1111 in elastic component 1115
It is moved backward under dynamic, during multiple claws 1111 move backward, due to the phase of claw 1111 and the first shell 1113
The decrement of the change in size (being gradually increased) in the tapered face matched, the elastic component 1115 between two neighboring claw 1111 gradually subtracts
It is small, so that the distance between two neighboring claw 1111 is gradually increased, until the distance between two neighboring claw 1111 increases
To maximum, multiple claws 1111 are in open configuration at this time, before this it is considered that claw is in intermediate state.
Illustrate as an example, pulling plate 1117 include pulling plate ontology 11171 and interconnecting piece 11172, interconnecting piece 11172 from
Extend on one end face of pulling plate ontology 11171, screw thread (not shown), the second trunk portion are provided on interconnecting piece 11172
The second thread segment 111631, the second thread segment 111631 of interconnecting piece 11172 and the second trunk portion 11163 are provided on 11163
It is threadedly coupled, so that being fixedly connected for pressing plate 1116 and pulling plate 1117 is realized, in this way, when the motor shaft of fixation axial linear motor
11124 when moving backward, and pulling plate ontology 11171 applies pulling force to multiple claws 1111 to facilitate multiple claws 1111 from tightening shape
State switches to open configuration.Certainly, pressing plate 1116 and the connection type of pulling plate 1117 are not limited thereto, as long as other can incite somebody to action
The mode that pressing plate 1116 is fixedly connected with pulling plate 1117 can also be with.
About claw 1111, as shown in figure 5, each claw 1111 includes flat part 11111 and rake 11112, inclination
Portion 11112 has the conical surface.In the side close to elastic component 1115, flat part 11111 and rake 11112 pass through step 11113
Limit end face is collectively formed in transition, the respective step 11113 of multiple claws 1111；The respective flat part of multiple claws 1111
11111 be collectively formed it is cylindric；Cone-shaped is collectively formed in the respective rake 11112 of multiple claws 1111.Pulling plate 1117
Pulling plate ontology 11171 is located in bullet and when applying pulling force to multiple claws with positive stop end face contact, limits the shape of end face
Pulling force is applied to multiple claws 1111 to facilitate multiple claws 1111 to switch to from tightening state and open at can be convenient pulling plate 1117
Open state.Wherein, the installation site of pulling plate 1117 defines that pawl structure 1110 grasps the grasping height of sample bottle cap.
Illustrate as an example, in order to increase the frictional force between 1111 inner wall of sample bottle cap and claw, so that claw
The grasping of 1111 pairs of sample bottle caps is tighter, can preferably add in the side of the close elastic component 1115 of each flat part 11111
Work annular knurl or decorative pattern.
As a kind of deformation, can also be increased between sample bottle cap and 1111 inner wall of claw using the structure of other forms
Frictional force, such as in structures such as the side setting convex ribs of close elastic component 1115 of each flat part 11111.
In order to whole substantially at cylindric after installing pawl structure 1110, by claw 1111, pressing plate 1116 and pulling plate
In 1117 equal components are wrapped in, so that each component is not easy to be broken or damaged, pawl structure 1110 further includes second housing
1114, second housing 1114 is fixed with the first shell 1113, driving assembly 1112 respectively.Specifically, in conjunction with refering to Fig. 3 and Fig. 4,
Second housing 1114 can be using cylindric, and multiple first peaces are provided on the side close to one end of the first shell 1113
Hole is filled, accordingly, multiple second mounting holes are arranged in one end of the close second housing 1114 of the first shell 1113, and outside first
A part of the end of shell 1113 can be inserted in second housing 1114, so that the first mounting hole and the alignment of the second mounting hole,
Second housing and the first shell are fixed to be each passed through the first mounting hole and the second mounting hole by fasteners such as screws.
Similarly, the fixation about second housing 1114 and driving assembly 1112 again may be by fastener realization.
About elastic component 1115, illustrate as an example, the elastic component 1115 can be spring (such as pressure spring, gas
Spring etc.), the two sides of each claw 1111 are provided with blind hole 11114, and the both ends of each spring are only against two neighboring respectively
In opposite two blind hole 11114 of claw 1111, wherein being to guarantee the steady of pawl structure by the installation spring of blind hole 11114
Qualitative and reliability prevents spring from disengaging, failure.In the present embodiment, claw 1111 is three, accordingly, spring three
A, three springs are evenly distributed between three claws.
As a kind of deformation, elastic component is also possible to relatively thin metalwork in irregular shape, since its thickness is smaller,
With certain elasticity.
Illustrate as an example, claw 1111 consistently forms line with the inner wall of the first shell 1113 and contacts, line here
Contact is contact for face contact, between two components in fact if it is contact (the abbreviation face between face and face
Contact), then opposite sliding between the two can be relatively difficult (larger because of frictional force), if the contact between two components is
Line directly contacts (contact of abbreviation line) with line, then opposite sliding between the two will be easy very much (friction is small),
That is line contact employed in the present invention, which is intended to reduce by two components, (refers mainly to claw 1111 and the in present embodiment
One shell 1113) between friction can specifically include a variety of feelings so that opposite sliding between the two can be easier
Condition finally connects into a line for example, each claw contacts a point with the first shell；For another example, each claw 1111 and first
All positions that shell 1113 contacts can connect in alignment.
Illustrate as an example, be all provided with arc groove 11115 on each claw 1111, multiple claws 1111 it is respective
Arc groove 11115 punched out is collectively formed, which is used to be pierced by for the lower part of the second trunk portion 11163.
Since during switch cover, pawl structure 1110 needs to rotate with rotary shaft 1132, in this way, the drive of pawl structure 1110
The harness of dynamic component 1112 will be rotated with pawl structure 1110, and coiling phenomenon is easy to cause to occur in this way.In order to avoid around
Line, in a technical solution, switch cover external member 110 further includes anti-winding structure 1160.
Illustrate as an example, anti-winding structure 1160 includes anti-coiling slip ring 1161, and anti-coiling slip ring 1161 can be with
Including fixing shell and it can be rotatably set in the hollow inner ring in fixing shell, hollow inner ring is set in rotary shaft 1132 simultaneously
It can be rotated with rotary shaft 1132, the harness of fixed axial linear motor is connected on hollow inner ring, is led in fixing shell
Power supply harness, power supply harness are electrically connected by fixing shell, hollow inner ring with the harness of fixed axial linear motor, electricity herein
Connection type can be contact connection, for example, contact is arranged on the inner wall of fixing shell, the outer wall of hollow inner ring always with touching
Point contact；It is, of course, also possible to be helix structure connection.Setting based on anti-coiling slip ring 1161, on the one hand, pawl structure 1110
When rotation, fixing shell can't be rotated with pawl structure 1110, so that the power supply harness drawn from fixing shell will not go out
Problem is now wound, on the other hand, when pawl structure 1110 rotates, although hollow inner ring is rotated with pawl structure 1110, connection
The problem of can't being rotated in the harness of the fixation axial linear motor of hollow inner ring, coiling is also just not present, this is because
Fixed axial linear motor also rotates while hollow inner ring rotates, and the two is in opposing stationary state, therefore lap guard always
The setting of line slip ring 1161 can be avoided conducting wire and sprain or pull apart in rotary course.Anti- coiling slip ring 1161 is a kind of common
Well-known device, about its structure, principle and mounting means, which is not described herein again.
Illustrate as an example, anti-winding structure 1160 further includes drag chain 1162, one end of drag chain 1162 and the first electricity
The top of machine 1131 is fixed, the other end and installation ontology 114 are fixed.The power supply harness drawn on the shell of anti-coiling slip ring 1161
Drag chain 1162 can be introduced to by aviation plug 1163.Similarly, the harness of first motor 1131 can also be introduced to drag chain
It is drawn in 1162 and by drag chain 1162；The harness of second motor 1121 can also be introduced in drag chain 1162 and pass through drag chain
1162 draw.Based on the setting of drag chain 1162, it is able to achieve cabling, further avoids the generation of coiling phenomenon.
Again referring to Fig.2, illustrating as an example, drag chain 1162 may include vertical section 11621 and bending section
11622, the lower end of vertical section 11621 is fixed with installation ontology 114, upper end and bending section 11622 are connect, and bending section 11622 is remote
The top of one end and first motor 1131 from vertical section 11621 is fixed.The harness of second motor 1121 can connect to vertical
The junction of section 11621 and bending section 11622.The harness of first motor 1131 can connect to bending section 11622 far from perpendicular
On one end of straight section 11621.The harness drawn from aviation plug 1163 also can connect to the separate vertical section of bending section 11622
On 11621 one end.In addition, the harness of optocoupler 1172 also can connect to the one of the separate vertical section 11621 of bending section 11622
On end.Arranged based on this kind of cabling, be not only avoided that coiling phenomenon occurs, moreover it is possible to make cabling it is clean and tidy, will not be in disorder.As one kind
For example, the shell 11121 and anti-coiling slip ring 1161 of fixed axial linear motor are all located at first part 1151 and second
Between part 1152, so that the structure of switch cover external member 110 is more compact, size can minimize as far as possible.
As another embodiment, referring to figs. 1 and 2, in a technical solution, robot includes opening
Close lid external member 110, controller, fixed frame 12 and the sample bottle rack 13 being mounted on fixed frame 12；Wherein, sample bottle is placed
Multiple sample bottle putting holes are provided on frame 13.In order to execute switch cover operation, the switch cover to multiple sample bottles 131 simultaneously
External member 110 is more sets, and the installation ontology 114 of every set switch cover external member 110 is fixed on the corresponding position of fixed frame 12, and every set is opened
The pawl structure 1110 for closing lid external member 110 is located at the top of corresponding sample bottle putting hole；Controller control covers switch cover external member
110 carry out switch cover operation to multiple sample bottles simultaneously.
In use, the sample bottle 131 (for example, test tube) equipped with sample to be tested (for example, blood, urine etc.) is placed into
In corresponding sample bottle putting hole.When carrying out switch cover operation to sample bottle 131, need switch cover external member 110 and sample
One of bottle 131 is fixed, and the other of switch cover external member 110 and sample bottle 131 rotate, thus by sample bottle 131
Lid remove or by lid spiral cover on sample bottle 131.In the present embodiment, switch cover external member 110 is can to rotate
(specific rotation mode is being described in detail above, and details are not described herein), then sample bottle 131 needs to fix, sample bottle
131 fixed form has very much, such as is positioned by gluing or a positioning mechanism, for ease of operation, improves effect
Rate can be arranged groove (specifically can be set in the bottom of sample bottle), simultaneously on sample bottle 131 in the present embodiment
Protrusion is set in the inner wall of sample bottle putting hole, protrusion can be passed through when sample bottle 131 to be placed into sample bottle putting hole
It is clamped in a groove, to prevent the rotation of sample bottle 131 in switch cover operation.Certainly, the position of groove and protrusion can also
To exchange, i.e., groove is set in the inner wall of sample bottle putting hole, and protrusion is set on sample bottle.
In the present invention, since the size of pawl structure 1110 is smaller, robot can adjust the distance closer sample simultaneously
Product bottle executes switch cover operation, pipelining easy to accomplish, such as robot can be cooperated to replace sample bottle or sample automatically
Bottle stand, achievees the purpose that pipelining, and efficiency is higher.Moreover, robot can cooperate other robot (such as four axis machines
People or six-joint robot etc.), other steps carry out automation matching with upstream and downstream, do not need manually to place test tube, can be certainly
It is dynamic to place, test tube or sample bottle stand can also be operated by other robot after upper cover.In addition, in the present invention, robot
When executing switch cover operation, do not need first to be moved to sample bottle from the device of fixed sample bottle from its putting hole position, but
Can be directly in the i.e. executable switch cover operation of installation site, efficiency is higher.
About fixed frame 12, fixed frame 12 includes bottom plate 121, the first column 122 and the second column 123.First column
122 and second column 123 upwardly extended respectively from the two sides of bottom plate 121, sample rack 13 and switch cover external member 110 are respectively positioned on
Between first column 122 and the second column 123, the installation ontology 114 of every set switch cover external member 110 is fixed on pair of fixed frame 12
It answers at position.From the foregoing, it will be observed that this structure of fixed frame 12 is similar compared with " door " font structure, this structure can will cover more
Switch cover external member 110 is arranged in " door " font, i.e., both can be in the centre that the first column 122 and the second column 123 are formed
Installation space is saved, and the simplifying the structure of robot, densification can be made, especially suitable for the limited place of installation space.
Further, fixed frame 12 further includes reinforcing beam 125 and mounting rail 126, and reinforcing beam 125 is located at mounting rail 126
Top, for improving the structural strength of fixed frame 12, so that fixed frame 12 is more stable.Specifically, the peace of switch cover external member 110
Filling ontology 114 is fixedly connected with mounting rail 126.
About sample bottle rack 13, as described above, sample bottle rack 13 is mounted on fixed frame 12.Wherein, described
Sample bottle putting hole on sample bottle rack 13 can be set to multiple rows of multiple row, the quantity and switch of every row's sample bottle putting hole
The quantity of lid external member is identical (that is corresponding sample bottle cap of a set of switch cover external member), for example, as shown in fig. 1, in figure
Sample bottle rack be standard 32 orifice plates, i.e. 4*8,4 rows 8 column, just be also say that every row can place 8 sample bottles.
Wherein, the sample rack 13 and 121 slidable connection of bottom plate, so that pawl structure 1110 is directed at corresponding sample
Product bottle putting hole.In this way, sample rack 13 can be driven the bottom of along by sample bottle stand driving mechanism 132 according to the actual situation
Plate 121 is mobile.Wherein, sample bottle stand driving mechanism 132 may include motor, and driving method can use the shape of sliding block and sliding rail
Formula, specifically can on bottom plate 121 fixed rack, and in the fixed sliding block in the lower surface of bottom plate, in this way after electric motor starting, Gu
The sample rack 13 for being scheduled on plate upper surface can move under the drive of sliding block along sliding rail.Wherein, when sample bottle is placed
When hole is set as multiple rows of multiple row, the sample rack 13 and bottom plate slidably connect along the direction of the column arrangement of sample bottle putting hole
It connects, switch cover operation can be carried out to all sample bottles 13 by movement in this way.
In the present invention, pawl structure is improved, by utilizing elastic component, and combines claw, pressing plate and the first outer shell phase
Matched tapered face so as to minimize the size of pawl structure as far as possible, and can be suitable for multiple sample bottles simultaneously
Carry out switch cover operation；More, it clamps sample tube by claw to be screwed or unscrewed, during turn, it is not easy to
It skids, avoids the case where closing the lid failure generation；In addition, the work of pawl structure in the present invention in elastic component elastic force and pressing plate
Under, while clamping sample bottle cap that can be very stable, firm under the limitation of the inner wall in the first shell, it is not easy to it falls.Separately
Outside, it when carrying out switch cover operation, does not need the hole location that test tube is placed from test tube being first moved to test tube bearing, then could
Switch cover operation is carried out, work efficiency is high, pipelining easy to accomplish.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (13)
1. a kind of pawl structure for switch cover, the pawl structure includes multiple claws and for driving the multiple claw to move
Driving assembly, which is characterized in that the pawl structure further include:
First shell, the multiple claw are arranged in first shell；
Multiple elastic components, the elastic component are arranged between two adjacent claws；And
Pressing plate, the pressing plate are connected in the driving component；
Wherein, the claw and first shell are equipped with the tapered face being mutually matched, in the limit of the inner wall of first shell
The elastic component under system, between the multiple claw is in confined state always；
When the driving component travels forward, drive the pressing plate that the multiple claw is pushed to travel forward, described first
Under the limitation of the inner wall of shell, the multiple claw be in tightening state；
When the driving component moves backward, each elastic component elastic force effect under, the multiple claw be in
Open state.
2. pawl structure according to claim 1, which is characterized in that be also connected with by the pressing plate in the driving component
The pulling plate for pulling the multiple claw, when the driving component moves backward, the pulling plate, which applies the multiple claw, to be drawn
Power is to facilitate the multiple claw to switch to the open configuration from the tightening state.
3. pawl structure according to claim 2, it is characterised in that:
The tapered face is the conical surface.
4. pawl structure according to claim 3, which is characterized in that the driving component includes fixed axial linear motor,
The end of the motor shaft of the fixed axial linear motor is connected with the pressing plate.
5. pawl structure according to claim 4, which is characterized in that the pressing plate include pressing plate ontology, the first trunk portion and
Second trunk portion, first trunk portion and second trunk portion extend from two opposing end surfaces of the pressing plate ontology respectively
Out, the motor axis connection of first trunk portion and the fixed axial linear motor, second trunk portion and the pulling plate
Connection, when the motor shaft of the fixed axial linear motor travels forward, the motor shaft drives the pressing plate ontology to push
The multiple claw travels forward, under the limitation of the inner wall of first shell, the multiple claw be in tightening state.
6. pawl structure according to claim 5, which is characterized in that the end of the motor shaft of the fixed axial linear motor
Threaded joints are provided with, the first thread segment is provided in first trunk portion, first thread segment and the screw thread connect
Socket part is threadedly coupled.
7. pawl structure according to claim 5 or 6, which is characterized in that the pulling plate includes pulling plate ontology and interconnecting piece, institute
It states interconnecting piece to extend from an end face of the pulling plate ontology, screw thread, second trunk portion is provided on the interconnecting piece
On be provided with the second thread segment, the interconnecting piece is threadedly coupled with the second thread segment of second trunk portion, when the driving
When component moves backward, the pulling plate ontology applies pulling force to the multiple claw to facilitate the multiple claw from the tightening
State switches to the open configuration.
8. pawl structure according to claim 7, it is characterised in that:
Each claw includes flat part and the rake with the conical surface, and the flat part is with the rake close
Cylindrical body is collectively formed by step transition, the respective flat part of the multiple claw in the side of the elastic component, institute
Bullet, the respective common shape of step of the multiple claw is collectively formed in the respective rake for stating multiple claws
At limit end face, the pulling plate ontology is located in the bullet and when applying pulling force to the multiple claw and the limit
End face contact.
9. pawl structure according to claim 1, which is characterized in that the elastic component is spring, is set on each claw
It is equipped with blind hole, the both ends of each spring are only against in the accordingly described blind hole of two adjacent claws respectively.
10. the pawl structure according to claim 9 for switch cover, it is characterised in that:
The claw is three, and accordingly, the spring is three, and three springs are evenly distributed in three claws
Between.
11. the pawl structure according to claim 1 for switch cover, it is characterised in that:
The claw consistently forms line with the inner wall of first shell and contacts.
12. a kind of switch cover external member, it is characterised in that:
The switch cover external member includes the pawl structure as described in any one of claim 1-11；
The switch cover external member further includes installing ontology, making the lifting assembly of the pawl structure lifting and rotate the pawl structure
Rotary components, the lifting assembly is mounted on the installation ontology.
13. a kind of robot, which is characterized in that the robot includes fixed frame and switch cover set as claimed in claim 12
Part, the installation ontology are fixed with the fixed frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586342.0A CN109514592B (en) | 2018-12-25 | 2018-12-25 | Claw structure for opening and closing cover, opening and closing cover kit and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586342.0A CN109514592B (en) | 2018-12-25 | 2018-12-25 | Claw structure for opening and closing cover, opening and closing cover kit and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109514592A true CN109514592A (en) | 2019-03-26 |
| CN109514592B CN109514592B (en) | 2023-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811586342.0A Active CN109514592B (en) | 2018-12-25 | 2018-12-25 | Claw structure for opening and closing cover, opening and closing cover kit and robot |
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| CN (1) | CN109514592B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN115651808A (en) * | 2022-11-30 | 2023-01-31 | 苏州工业园区优德生物技术有限公司 | Automatic opening and closing device for nucleic acid detection amplification tube |
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|---|---|
| CN109514592B (en) | 2023-10-03 |
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