CN112573182B

CN112573182B - Snatch transfer device and biochemical analysis appearance

Info

Publication number: CN112573182B
Application number: CN201910926731.1A
Authority: CN
Inventors: 李骏杨; 孙磊林; 陈泽华; 黄立平; 余利; 陈文�; 刘卓; 李开金
Original assignee: MGI Tech Co Ltd
Current assignee: MGI Tech Co Ltd
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2022-05-27
Anticipated expiration: 2039-09-27
Also published as: CN112573182A; CN114919986A; CN114919986B

Abstract

A grabbing and transferring device is used for grabbing a carrier and transferring the carrier onto a bearing platform, wherein a first limiting notch and a second limiting notch are formed in the carrier; snatch transfer device includes the manipulator structure, and the manipulator structure includes: the mechanical arm comprises a sliding assembly and a connecting assembly fixed on the sliding assembly; the fixing piece is fixed on the connecting component; the clamping jaw is fixed on the fixing piece, a first limiting block and a second limiting block are formed on the clamping jaw, the first limiting block is matched with the first limiting notch, and the second limiting block is matched with the second limiting notch; the sliding component drives the connecting component to slide, so that the two clamping jaws are driven to contract or expand to grab or release the carrier. The invention also relates to a biochemical analyzer.

Description

Snatch transfer device and biochemical analysis appearance

Technical Field

The invention relates to a grabbing and transferring device and a biochemical analyzer comprising the grabbing and transferring device.

Background

The gene sequencing technology is widely applied to whole genome sequencing, transcriptome sequencing, metagenome sequencing and the like at present, is a powerful tool for analyzing evolution and classification of organisms, researching disease-related genes such as cancers, autism and the like, performing in-vitro diagnosis and the like, promotes people to further understand life science, and also promotes the development of health industry.

In the prior art, a gene sequencer is often used to perform gene sequencing on a flow cell. The flow cell is also called a sequencing chip, and the sequencing chip is an area for loading a gene sequencing sample and carrying out a sequencing reaction. Due to the non-repeatability of sample loading and the requirement of avoiding cross contamination between different samples, sequencing chips are usually designed to be disposable, repeatedly assembled and disassembled, and in a totally enclosed manner. The lower surface of the sequencing chip is usually a substrate, and the gene sample to be tested can be fixed on the surface of the sequencing chip through some biological or chemical reaction. Because the sequencing chip is transferred to the signal detection system for signal detection in the sequencing reaction follow-up, the sequencing reaction can be carried out again after the signal detection, or the transfer of the waste chip is finished through manual work after the sequencing is finished, so that the automation is realized, and the gene sequencing is not facilitated.

Disclosure of Invention

In view of this, the present invention provides a grabbing and transferring device which is beneficial to realizing automation.

There is also a need to provide a biochemical analyzer using the grasping and transferring device which is advantageous for automation.

A grabbing and transferring device is used for grabbing a carrier and transferring the carrier to a bearing platform, wherein at least one first limiting notch and at least one second limiting notch are formed in the carrier; snatch transfer device includes a manipulator structure, manipulator structure includes: the mechanical arm comprises at least two sliding assemblies and at least two connecting assemblies fixed on the sliding assemblies; at least two fixing pieces, one of which is fixed to one of the connecting members; the clamping jaws are fixed on the fixing piece, at least one first limiting block and at least one second limiting block are formed on each clamping jaw, the first limiting blocks are matched with the first limiting notch, and the second limiting blocks are matched with the second limiting notches; the sliding assembly drives the connecting assembly to slide, so that the two clamping jaws are driven to contract or expand to grab or release the carrier.

Further, the gripping and transferring device further comprises at least two ejection assemblies, the ejection assemblies are accommodated in the clamping jaws, when the clamping jaws grip the carrier, one end of each ejection assembly abuts against the carrier and is in a compressed state, and when the clamping jaws release the carrier, each ejection assembly applies pre-pressure to the carrier to assist the bearing platform in absorbing the carrier.

Furthermore, each clamping jaw is provided with at least one first accommodating groove, each ejection assembly comprises a top cover, an elastic piece and a top column, the top cover is accommodated and fixed at one end of the first accommodating groove, the top column is accommodated at the other end of the first accommodating groove and can move in a small range in the depth direction of the first accommodating groove, and the elastic piece is located between the top cover and the top column or accommodated in the top cover and the top column.

Furthermore, a hollow limiting piece is formed in the first accommodating groove, and a part of the top post extends out of the hollow part of the limiting piece.

Further, each fixing piece comprises a first surface and a second surface, the first surface is lower than the second surface, and the machining precision of the second surface is higher than that of the first surface; every coupling assembling is formed with one and firstly dodges the groove, firstly dodge the groove and include a first fitting surface, the second surface with just interference fit is pasted mutually to first fitting surface, the first surface with first fitting surface clearance fit.

Further, the arm includes a mechanical arm main part, the slip subassembly includes one and fixes slide rail and a sliding connection in the arm main part are in slide on the slide rail, coupling assembling fixes on the slide, the slide drives coupling assembling is in slide on the slide rail, coupling assembling indirectly drives the clamping jaw is in slide on the slide rail.

Furthermore, snatch transfer device still includes a leveling structure, leveling structure includes a leveling board and a pressure beam, and in the equipment manipulator structure's in-process, the arm, the mounting reaches the clamping jaw is all arranged in on the leveling board, the pressure beam violently is in two at least on the clamping jaw and fix on the leveling board.

A pick and transfer device for picking and transferring a carrier onto a load-bearing platform, the pick and transfer device comprising a robot structure, the robot structure comprising: a mechanical arm; the fixing parts are fixed on the mechanical arm; at least two clamping jaws, one clamping jaw being fixed on one fixing piece; two of said jaws cooperating to grasp said carrier; and the leveling structure comprises a leveling plate and a pressing beam, the mechanical arm, the fixing part and the clamping jaws are arranged on the leveling plate in the process of assembling the mechanical arm structure, and the pressing beam is transversely arranged on at least two clamping jaws and is fixed on the leveling plate.

A biochemical analyzer comprises at least one bearing platform and further comprises the grabbing and transferring device, and the grabbing and transferring device is used for transferring the carrier to the bearing platform.

The invention provides a grabbing and transferring device which comprises a mechanical arm, at least two fixing parts and at least two clamping jaws, wherein the mechanical arm comprises at least two sliding assemblies and at least two connecting assemblies fixed on the sliding assemblies, the fixing parts are fixed on the connecting assemblies, the clamping jaws are fixed on the fixing parts, the sliding assemblies drive the connecting assemblies to slide, and further drive the clamping jaws to slide, so that two clamping jaws in the same group are contracted or expanded, and therefore a carrier is grabbed or released, 1) the clamping jaws are provided with a first limiting block and a second limiting block which are matched with a first limiting notch and a second limiting notch of the carrier, and the contraction or expansion of the clamping jaws is matched, so that the carrier can be grabbed or released quickly, and the firmness of the carrier in the transferring process can be ensured; 2) arranging an ejection assembly on the clamping jaw, wherein the ejection assembly can apply pre-pressure to the carrier so as to press the carrier on the bearing platform, so that the bearing platform is assisted in adsorbing the carrier; 3) the fixing piece is provided with a first surface and a second surface with height difference, the second surface is in interference fit with the second connecting piece, the first surface is in clearance fit with the second connecting piece, the fixing piece can be prevented from rotating in a torque mode in the assembling process, and therefore assembling accuracy can be improved; 4) in the process of assembling the clamping jaws, the clamping jaws can be pressed and leveled by using a leveling structure, so that the clamping jaws cannot rotate around a second positioning pin when the clamping jaws are assembled on the fixing piece, and after the clamping jaws are fixed on the fixing piece, the clamping jaws have better relative positions and levelness; 5) the grabbing and transferring device is used in a biochemical analyzer, and automation of biochemical analysis is facilitated.

Drawings

Fig. 1 is a schematic block diagram of a biochemical analyzer according to the present invention.

Fig. 2 is a schematic perspective view of the grasping and transferring device in the biochemical analyzer shown in fig. 1.

Fig. 3 is a perspective view of a robot assembly in the grasping and transferring device shown in fig. 2.

Fig. 4 is an exploded view of the grasping and transferring device shown in fig. 3 (including a carrier to be grasped and transferred).

Fig. 5 is an enlarged view of the fastener and the connecting member in the grip transfer apparatus shown in fig. 3.

Fig. 6 is a schematic view of the clamping jaws and the carrier of the grabbing and transferring device shown in fig. 3 and a partially enlarged view of the clamping jaws and the carrier.

Figure 7 is a schematic view of the carrier of figure 6 assembled on a jaw.

Figure 8 is a cross-sectional view taken along section line VIII-VIII on the jaws in the robot assembly shown in figure 3.

Description of the main elements

Biochemical analyzer 100

Grabbing and transferring device 110

Robot structure 1101

Mechanical arm 10

Arm body 11

Sliding assembly 12

Slide rail 121

Slider 122

Connecting assembly 13

First connecting member 131

Second connecting member 132

First avoidance groove 133

First fitting surface 1331

Second mounting surface 1332

First alignment pin 134

Fixing member 20

First surface 21

Second surface 22

Third surface 23

Fourth surface 24

First positioning hole 25

Second positioning hole 26

Second avoidance groove 27

Clamping jaw 30

Fixed segment 301

Grabbing segment 302

Second positioning pin 303

Upper surface 31

Lower surface 32

First stopper 33

First inclined plane 331

Second stopper 34

Second inclined plane 341

First receiving groove 35

Position limiting member 351

Second receiving groove 36

Ejection assembly 40

Top cover 41

First accommodation cavity 411

Elastic member 42

Top pillar 43

Receptacle 431

Ejecting part 432

Second accommodating cavity 433

Leveling structure 1102

Leveling plate 50

Pressing beam 60

First platform 120

Second platform 130

Carrier 140

First limit notch 141

First mating surface 1411

Second limit notch 142

Second matching surface 1421

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 8 in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Referring to fig. 1, a biochemical analyzer 100 according to a preferred embodiment of the present invention includes a grasping and transferring device 110, wherein the grasping and transferring device 110 is used for grasping a carrier 140 to be transferred and transferring the carrier 140 to a designated carrying platform. The carrier platform adsorbs the carrier 140 by negative pressure.

In this embodiment, the supporting platform may be a first platform 120 and a second platform 130. The grasping and transferring device 110 is located at one side of the first stage 120 and the second stage 130.

In this embodiment, the biochemical analyzer 100 is a gene sequencer, the first platform 120 is a sequencing reaction platform, the second platform 130 is a signal detection platform, and the carrier 140 is a sequencing chip. The grasping and transferring device 110 transfers the carrier 140 to the first platform 120 for a sequencing reaction, transfers the reacted carrier 140 to the second platform 130 for signal detection, and transfers the detected carrier 140 to the first platform 120 for a secondary sequencing reaction until the gene sequencing is completed. When gene sequencing is completed, the grab transfer device 110 transfers the sequenced vector 140 to a waste chip storage (not shown).

The carrier in the present invention may be an area for loading a sample of biochemical substances and performing a detection analysis reaction, and generally contains a chamber for containing the sample and a fluid. In the sequencing field, a carrier is a region for loading a gene sequencing sample and performing a sequencing reaction, and generally includes a cavity for accommodating the sample and a fluid, and may be also referred to as a Flow Cell, a reaction Cell, a Chip, a sequencing Chip, a gene sequencing Chip or a cassette, and the like. Of course, the carrier may be other articles to be transferred.

In other embodiments, the biochemical analyzer 100 further comprises additional platforms.

In other embodiments, the biochemical analyzer 100 may be a medical device, a liquid chromatograph, or the like.

Referring to fig. 2-3, the grabbing and transferring device 110 includes a robot structure 1101 and a leveling structure 1102. The robot structure 1101 is used to grasp and transfer the carrier 140 to be transferred. The leveling structure 1102 is used to level the robot structure 1101.

Referring to fig. 4-7, the robot structure 1101 includes a robot arm 10, at least two fixing members 20, and at least two clamping jaws 30. At least two of the fixing members 20 are fixed to the robot arm 10, and one of the clamping jaws 30 is fixed to one of the fixing members 20. Every two fixing pieces 20 and every two clamping jaws 30 corresponding to the fixing pieces 20 form a group and are used for grabbing the carrier 140 to be transferred.

In this embodiment, the manipulator structure 1101 includes four fixing members 20 and four clamping jaws 30, and each two clamping jaws 30 form a group. In other embodiments, the number of the fixing members 20 and the clamping jaws 30 included in the manipulator structure 1101 is not limited to 4, and may be determined according to actual situations.

Referring to fig. 4, the robot arm 10 includes a robot arm body 11, at least two sliding assemblies 12 fixed on the robot arm body 11, at least two connecting assemblies 13 fixed on the sliding assemblies 12, and at least one driver (not shown). The driver drives the sliding assembly 12 to slide, the sliding assembly 12 drives the connecting assembly 13 to slide, the connecting assembly 13 drives the fixing member 20 to slide, and the fixing member 20 drives the clamping jaws 30 to slide, so that two clamping jaws 30 in the same group contract or expand, and the carrier 140 is grabbed or released.

Specifically, the sliding assembly 12 includes a slide rail 121 fixed to the robot body 11 and a sliding member 122 slidably connected to the slide rail 121.

Specifically, the connecting assembly 13 includes a first connecting member 131 and a second connecting member 132, the first connecting member 131 is fixed on the sliding member 122, and the second connecting member 132 is fixed on the first connecting member 131. One of the fixing members 20 is fixed to one of the second connecting members 132.

Specifically, referring to fig. 5, a first avoiding groove 133 is further formed on the second connecting member 132, and the first avoiding groove 133 includes a first assembling surface 1331 and a second assembling surface 1332 connected to the first assembling surface 1331. In the present embodiment, the second mounting surface 1332 is perpendicular to the first mounting surface 1331. The second connecting member 133 is further formed with a first positioning pin 134, and the first positioning pin 134 is vertically fixed on the second assembling surface 1332. The first positioning pin 134 is used for positioning the relative position of the second connecting member 132 and the fixing member 20.

Referring to fig. 4, in the present embodiment, the fixing member 20 is fixed on the second connecting member 132 by at least one screw 70. In other embodiments, the fixing member 20 can be fixed on the second connecting member 132 by gluing, snapping, or the like.

Specifically, referring to fig. 5, the fixing member 20 includes a first surface 21 and a second surface 22 parallel to the first surface 21. In the present embodiment, the second surface 22 is slightly higher than the first surface 21, and the machining accuracy of the second surface 22 is higher than that of the first surface 21. The second surface 22 is intended to prevent the fastener 20 from rotating due to torque when the fastener 20 is tightened using the screw 70, which facilitates accurate assembly of the fastener 20.

Specifically, the fixing member 20 further includes a third surface 23 connected to the second surface 22 and a fourth surface 24 opposite to the third surface 23. In the present embodiment, the first surface 21 is perpendicularly connected to the fourth surface 24, and the third surface 23 is perpendicularly connected to the second surface 22.

Specifically, the fixing member 20 further includes at least one first positioning hole 25 and at least one second positioning hole 26, and the first positioning hole 25 and the second positioning hole 26 are formed by being recessed from the third surface 23 to the fourth surface 24. The first positioning hole 25 is close to the second surface 22 and opposite to the first positioning pin 134, and the second positioning hole 26 is disposed away from the second surface 22. Wherein the first surface 21 is for facilitating alignment and assembly of the first positioning pin 134 with the first positioning hole 25.

Specifically, the fixing member 20 further includes a second avoiding groove 27, and the second avoiding groove 27 is formed by recessing the first surface 21 and the fourth surface 24 toward the inside of the fixing member 20. The second avoidance groove 27 is located opposite to the first avoidance groove 133.

Referring to fig. 4, when the fixing element 20 is fixed on the second connecting element 132, the first positioning pin 134 is received in the first positioning hole 25, the first assembling surface 1331 is in clearance fit with the first surface 21, and the first assembling surface 1331 is attached to the second surface 22 and in interference fit with the second surface 22. The interference fit between the first assembling surface 1331 and the second surface 22 can make the rotation angle of the fixing member 20 little or not rotate, thereby ensuring the assembling accuracy of the fixing member 20 and the second connecting member 132.

Referring to fig. 4-7, each of the clamping jaws 30 includes a fixing section 301 and a grabbing section 302 connected to the fixing section 301, at least one second positioning pin 303 is formed on the fixing section 301, and when the clamping jaw 30 is assembled to the corresponding fixing member 20, the second positioning pin 303 is received in the second positioning hole 26.

In this embodiment, the fixing segment 301 is integrally formed with the grasping segment 302. In other embodiments, the securing section 301 is secured to the grasping section 302 by screws 70, glue, snaps, or the like.

In the present embodiment, the fixing segment 301 is fixed to the fixing member 20 by at least one screw 70. In other embodiments, the fixing segment 301 can be fixed on the fixing member 20 by gluing, snapping, or the like.

Referring to fig. 6, each of the clamping jaws 30 further includes at least one first stopper 33 and at least one second stopper 34. The first stopper 33 and the second stopper 34 are fixed to the grasping section 302. Wherein the second stopper 34 is closer to the fixed segment 301 than the first stopper 33. The first stopper 33 and the second stopper 34 cooperate with the contraction and expansion of the clamping jaw 30 to grasp or release the carrier 140 to be transferred. The grasping section 302 includes an upper surface 31 parallel to the first surface 21 and a lower surface 32 opposite to the upper surface 31. The first stopper 33 and the second stopper 34 are fixed to the upper surface 31.

Specifically, referring to fig. 6, each of the first stoppers 33 includes at least one first inclined surface 331, and each of the second stoppers 34 includes at least one second inclined surface 341. In this embodiment, the first stopper 33 includes one first inclined surface 331, the second stopper 34 includes two second inclined surfaces 341, and the two second inclined surfaces 341 intersect to form a sharp angle.

Referring to fig. 6, each of the carriers 140 is provided with at least two first limiting notches 141 and at least two second limiting notches 142. The positions of at least two first limit notches 141 are opposite to the positions of two first limit blocks 33 on the same group of two clamping jaws 30. The positions of at least two of the second stop notches 142 are opposite to the positions of two of the second stop blocks 34 on the same set of two of the clamping jaws 30. The two first stoppers 33 and the two second stoppers 34 on the two clamping jaws 30 of the same group are used for limiting the horizontal movement of the carrier 140.

Wherein each of the first retaining notches 141 includes a first mating surface 1411, one of the first mating surfaces 1411 mating with one of the first sloped surfaces 331. Each of the second limiting notches 142 includes two second matching surfaces 1421, and the two second matching surfaces 1421 are matched with the two second inclined surfaces 341. After the first limiting block 33 and the second limiting block 34 are respectively inserted into the first limiting notch 141 and the second limiting notch 142, the two corresponding clamping jaws 30 are spread open in opposite directions, so that the carrier 140 is firmly assembled on the clamping jaws 30, and the carrier is prevented from loosening.

Referring to fig. 8, each of the clamping jaws 30 further has at least one first receiving groove 35. The first receiving groove 35 is used for receiving the ejection assembly 40 (see below). A hollow stopper 351 is further formed in each first receiving groove 35, and the stopper 351 is used for limiting the moving range of the top pillar 43 (see below) in the ejection assembly 40.

Referring to fig. 8, each of the clamping jaws 30 further has at least one second receiving groove 36. The second receiving groove 36 is used for receiving and fixing a portion of a top cover 41 (see below) of an ejector assembly 40 (see below). In other embodiments, the second receiving groove 36 may be omitted.

Referring to fig. 8, the robot structure 1101 further includes at least two ejection assemblies 40, the ejection assemblies 40 are accommodated in the clamping jaws 30, when the clamping jaws 30 grasp the carrier 140, one end of the ejection assemblies 40 abuts against the carrier 140 and is in a compressed state, and when the clamping jaws 30 release the carrier 140, the ejection assemblies 40 pre-stress the carrier 140 to assist the carrying platform to adsorb the carrier 140. At the same time, the ejector assembly 40 can also provide pressure when the clamping jaws 30 clamp the carrier 140, further preventing it from loosening.

Specifically, each of the ejecting assemblies 40 is received in the first receiving slot 35, and each of the ejecting assemblies 40 can be extended and retracted in the first receiving slot 35, so as to eject the corresponding carrier 140 onto a carrying platform (not shown). In this embodiment, the loading platforms are the first platform 120 and the second platform 130 (see fig. 1).

Specifically, each of the ejecting assemblies 40 includes a top cover 41, an elastic member 42 and a top pillar 43. The top cover 41 is received and fixed in one end of the first receiving groove 35. The top post 43 is accommodated in the other end of the first accommodation groove 35 and is movable in a small range in the depth direction of the first accommodation groove 35. The elastic member 42 is located between the top cover 41 and the top pillar 43 or is accommodated in the top cover 41 and the top pillar 43. In the present embodiment, the elastic member 42 is housed in the top cover 41 and the top post 43. A part of the top cover 41 is received and fixed in the second receiving groove 36.

Specifically, the top cover 41 is formed with a first receiving cavity 411. The top pillar 43 includes an accommodating portion 431 and a protruding portion 432 formed on the accommodating portion 431, the accommodating portion 431 is provided with a second accommodating cavity 433, and the elastic member 42 is accommodated in the first accommodating cavity 411 and the second accommodating cavity 433. Specifically, the diameter of the ejecting portion 432 is smaller than the diameter of the accommodating portion 431. The accommodating portion 431 is restricted by the stopper 351 in the first receiving groove 35, and the ejecting portion 432 protrudes from a hollow portion of the stopper 351.

In the present embodiment, the elastic member 42 is a pressure spring.

The leveling structure 1102 includes a leveling plate 50 and a pressing beam 60. The leveling plate 50 is used for placing the robot arm 10, the fixing member 20 and the clamping jaw 30 when the clamping jaw 30 is assembled on the fixing member 20, and the pressing beam 60 is used for pressing the clamping jaw 30 on the leveling plate 50. The leveling plate 50 cooperates with the pressing beam 60 to press and level the clamping jaws 30, so as to ensure that the clamping jaws 30 have better relative positions and levelness when the clamping jaws 30 are assembled on the fixing member 20.

The assembly method of the gripping and transferring device 110 (taking four clamping jaws 30 as an example) includes the following steps:

in a first step, the fixing member 20 is locked to the second connecting member 132.

In a second step, the clamping jaws 30 are pretensioned onto the fastening element 20.

And thirdly, putting the whole mechanical arm 10 on the leveling plate 50, adjusting the clamping jaws 30 to the same plane, and then locking the screws 70 between the clamping jaws 30 and the fixing piece.

The use method of the manipulator structure 1101 includes the steps of:

in the first step, the clamping jaws 30 are moved to a position right above the carrier 140 to be transferred, and the driver (not shown) drives the clamping jaws 30 to move on the slide rail 121, so as to adjust the distance between two clamping jaws 30 in the same group, and make the first limiting block 33 and the second limiting block 34 directly face the first limiting notch 141 and the second limiting notch 142 of the carrier 140.

In a second step, the driver drives the two clamping jaws 30 to move in opposite directions on the sliding rail 121, so that the first inclined surface 331 of the first limiting block 33 is matched with the first matching surface 1411 of the first limiting notch 141, and the second inclined surface 341 of the second limiting block 34 is matched with the second matching surface 1421 of the second limiting notch 142, so as to grasp and fix the carrier 140.

In a third step, the manipulator structure 1101 transfers the carrier 140 to a designated position, and the driver drives the two clamping jaws 30 to move relatively on the slide rail 121, so that the first inclined surface 331 of the first limiting block 33 is disengaged from the first matching surface 1411 of the first limiting notch 141, and the second inclined surface 341 of the second limiting block 34 is disengaged from the second matching surface 1421 of the second limiting notch 142, so as to release the carrier 140.

Fourthly, the elastic member 42 of the ejection assembly 40 ejects the ejection portion 432, and the ejection portion 432 presses the carrier 140 against the supporting platform.

The invention provides a grabbing and transferring device and a biochemical analyzer, the grabbing and transferring device comprises a mechanical arm 10, at least two fixing parts 20 and at least two clamping jaws 30, the mechanical arm 10 comprises at least two sliding components 12 and at least two connecting components 13 fixed on the sliding components 12, the fixing parts 20 are fixed on the connecting components 13, the clamping jaws 30 are fixed on the fixing parts 20, the sliding components 12 drive the connecting components 13 to slide, and further drive the clamping jaws 30 to slide, so that the two clamping jaws 30 in the same group are contracted or expanded, and therefore the carrier 140 is grabbed or released, 1) the clamping jaws 30 are provided with a first limiting block 33 and a second limiting block 34 which are matched with a first limiting notch 141 and a second limiting notch 142 of the carrier 140, and then the carrier 140 can be grabbed or released quickly by matching with the contraction or expansion of the clamping jaws 30, and can ensure the firmness of the carrier 140 in the process of being transferred; 2) an ejection assembly 40 is disposed on the clamping jaw 30, and the ejection assembly 40 can pre-stress the carrier 140 to press the carrier 140 against the carrying platform, so as to assist the carrying platform in absorbing the carrier 140; 3) the fixing element 20 is designed with a first surface 21 and a second surface 22 having a height difference, and the second surface 22 and the second connecting element 132 are in interference fit, so that the first surface 21 and the second connecting element 132 are in clearance fit, and the fixing element 20 can be prevented from rotating by torque in the assembling process, thereby improving the assembling precision; 4) during the process of assembling the clamping jaws 30, the leveling structure 1102 is used to press and level the clamping jaws 30, so as to ensure that the clamping jaws 30 do not rotate around the second positioning pin 303 when the clamping jaws 30 are assembled on the fixing member 20, so that after the clamping jaws 30 are fixed on the fixing member 20, a plurality of clamping jaws 30 have better relative positions and levelness.

Although the present invention has been described with reference to the above preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A grabbing and transferring device is used for grabbing a carrier and transferring the carrier to a bearing platform, wherein at least one first limiting notch and at least one second limiting notch are formed in the carrier; snatch transfer device includes a manipulator structure, manipulator structure includes:

the mechanical arm comprises at least two sliding assemblies and at least two connecting assemblies fixed on the sliding assemblies;

at least two fixing pieces, one of which is fixed to one of the connecting members;

the clamping jaw is fixed on the fixing piece, at least one first limiting block and at least one second limiting block are formed on each clamping jaw, the first limiting blocks are matched with the first limiting notch, and the second limiting blocks are matched with the second limiting notch; the sliding component drives the connecting component to slide, so as to drive the two clamping jaws to contract or expand to grab or release the carrier,

the grabbing and transferring device further comprises an ejection assembly, the ejection assembly is contained in the clamping jaw, when the clamping jaw grabs the carrier, one end of the ejection assembly abuts against the carrier and is in a compressed state, and when the clamping jaw releases the carrier, the ejection assembly gives pre-pressure to the carrier so as to assist the bearing platform in absorbing the carrier.

2. The apparatus according to claim 1, wherein each of the jaws defines at least a first receiving slot, each of the ejecting assemblies includes a top cap, an elastic member and an ejecting post, the top cap is received in and fixed to one end of the first receiving slot, the ejecting post is received in the other end of the first receiving slot and can move within a small range in a depth direction of the first receiving slot, and the elastic member is located between or received in the top cap and the ejecting post.

3. The apparatus according to claim 2, wherein a hollow retainer is formed in said first receiving cavity, and a portion of said top post extends from a hollow portion of said retainer.

4. The grip transfer apparatus of claim 1, wherein each of said securing members includes a first surface and a second surface, said first surface being lower than said second surface, said second surface being machined to a higher precision than said first surface; every coupling assembling is formed with a first groove of dodging, first groove of dodging includes a first fitting surface, the second surface with just interference fit is pasted mutually to first fitting surface, the first surface with first fitting surface clearance fit.

5. The grasping and transferring device according to claim 1, wherein said robot arm includes a robot arm body, said sliding assembly includes a slide rail fixed to said robot arm body and a sliding member slidably connected to said slide rail, said connecting assembly is fixed to said sliding member, said sliding member drives said connecting assembly to slide on said slide rail, and said connecting assembly indirectly drives said gripping jaws to slide on said slide rail.

6. The grip transfer apparatus of claim 1, further comprising a leveling structure comprising a leveling plate and a pressure bar, wherein said robot arm, said fixture and said jaws are disposed on said leveling plate during assembly of said robot structure, and wherein said pressure bar extends across at least two of said jaws and is secured to said leveling plate.

7. A biochemical analyzer comprising at least one carrier platform, wherein the biochemical analyzer further comprises a grasping and transferring device according to any one of claims 1 to 6 for transferring the carrier onto the carrier platform.